Everting end effector for use with an articulated arm in a robotic system

US10086519B2 · kind B2 · utility

Assignee

• Berkshire Grey, Inc. · US

Inventors

• Thomas Wagner · Concord, US
• Kevin Ahearn · Nebo, US
• Michael Dawson-Haggerty · Pittsburgh, US
• Christopher Geyer · Arlington, US
• Thomas Koletschka · Cambridge, US
• Kyle Maroney · Dodgeville, US
• Matthew T. Mason · Pittsburgh, US
• Gene Temple Price · Cambridge, US
• Joseph Romano · Arlington, US
• Daniel Smith · Pittsburgh, US
• Siddhartha Srinivasa · Seattle, US
• Prasanna Velagapudi · Pittsburgh, US
• Thomas Allen · Reading, US

Key dates

• Filing date: Sep 15, 2016
• Grant date: Oct 2, 2018
• Expiry date: Sep 15, 2036

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/40
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

An end effector for an articulated arm in a robotic system includes an enclosed flexible membrane generally in the form of a tubular annulus that contains a fluid within the membrane. The tubular annulus includes a distal end for engaging objects; and a linear actuator that is positioned for reciprocal movement within the tubular annulus. The linear actuator provides actuation of the tubular annulus to grasp an object and the linear actuator provides a vacuum source at a distal end of the linear actuator. The linear actuator is also selectively coupled to a source of positive air pressure for providing positive air pressure to an object-retaining area.