公开(公告)号：US20240278439A1

公开(公告)日：2024-08-22

申请号：US18601171

申请日：2024-03-11

Applicant: Berkshire Grey Operaating Company, Inc.

Inventor： Christopher GEYER ,  Matthew T. MASON ,  Grabriel NELSON ,  Aidan ROSE ,  Jason YAP

IPC: B25J15/06 ,  B25J9/00 ,  B25J15/00 ,  B65G47/91

CPC classification number: B25J15/0683 ,  B25J15/0028 ,  B65G47/91 ,  B25J9/0093

Abstract: An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface includes at least one aperture through which a vacuum is provided, and the body includes an outer surface that faces away from the open interior. The body provides that when the flow of air drawn by the vacuum source through the at least one aperture is reduced due to the at least one aperture being at least partially blocked, the outer surface of the body engages the object being grasped at least partially within the open interior of the body.