公开(公告)号：US20200338728A1

公开(公告)日：2020-10-29

申请号：US16855015

申请日：2020-04-22

Applicant: Berkshire Grey, Inc.

Inventor： Calvin Toothaker ,  John Richard Amend, JR. ,  Benjamin Cohen ,  Christopher Geyer ,  Matthew T. Mason ,  Thomas Wagner

IPC: B25J9/16 ,  B25J15/06 ,  B25J18/00

Abstract: A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm, and a hose coupling an end effector of the programmable motion robotic system to a vacuum source. The hose is attached to at least one arm section of the articulated arm by a pass-through coupling that permits the hose to pass freely through the coupling as the plurality of arm sections are moved about the plurality of joints.

公开(公告)号：US20200269416A1

公开(公告)日：2020-08-27

申请号：US16802810

申请日：2020-02-27

Applicant: Berkshire Grey, Inc.

Inventor： Calvin Toothaker ,  Alexander Paxson ,  Victoria Hinchey ,  John Richard Amend, JR. ,  Benjamin Cohen ,  Christopher Geyer ,  Matthew T. Mason ,  Thomas Wagner

IPC: B25J9/04 ,  B25J17/02 ,  B25J9/16

Abstract: A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm; and a hose coupling an end effector of the programmable motion robotic system to a vacuum source, the hose being attached, in a joint portion of the hose, to at least two adjacent arm sections of the plurality of arm sections mutually attached to a joint of the plurality of joints such that the joint portion of the hose remains substantially outside of any plane defined by motion of the mutually adjacent arm sections when rotated about the joint.

公开(公告)号：US20210237285A1

公开(公告)日：2021-08-05

申请号：US17167536

申请日：2021-02-04

Applicant: Berkshire Grey, Inc.

Inventor： Bretton Anderson ,  Calvin Toothaker

IPC: B25J19/00 ,  B25J9/00

Abstract: An end-effector for a programmable motion device is disclosed for use with a vacuum source. The end-effector includes an end-effector attachment portion for attaching the end-effector to the programmable motion device, the end-effector attachment portion including a vacuum channel coupled to the vacuum source, a contact portion of the end-effector for contacting an object to be acquired by the contact portion of the end-effector, a flexible intermediate section including a contact end of the flexible intermediate portion proximate the contact portion of the end-effector, the flexible intermediate section of the end-effector being intermediate the end-effector attachment portion and the contact portion of the end-effector, the flexible intermediate section including a bellows portion that extends radially outwardly of the vacuum channel, and a bellows insert that extends into the flexible intermediate section.