Systems and methods for object processing with programmable motion devices using yawing grippers

Patent metadata

Field	Value
Publication number	US-12447605-B2
Application number	US-202318099420-A
Country	US
Kind code	B2
Filing date	Jan 20, 2023
Priority date	Jan 21, 2022
Publication date	Oct 21, 2025
Grant date	Oct 21, 2025

Abstract

An end-effector system is disclosed for use with a programmable motion device. The end-effector system includes an arm attachment portion for attachment to an arm of the programmable motion device, an end-effector attachment portion for attachment to an end-effector for grasping objects, a rotational shaft portion for rotational attachment to the arm attachment portion, said rotational shaft portion being coupled to the end-effector attachment portion at a distal end thereof, and a motor system providing rotation of the rotational shaft portion as well as the end-effector attachment portion with respect to the arm attachment portion.

First claim

What is claimed is:

1. An end-effector system for use with a programmable motion device, said end-effector system comprising:
an arm attachment portion for attachment to an arm of the programmable motion device, said arm attachment portion extending in an axial direction and including a spline gear with inwardly facing drive splines;
an end-effector attachment portion for attachment to an end-effector for grasping objects; and
a spline shaft received by the arm attachment portion, said spline shaft being coupled to the end-effector attachment portion at a distal end thereof, and including shaft splines that engage the drive splines of the spline gear to permit movement of the spline shaft with respect to the arm attachment portion in the axial direction;
wherein the spline shaft includes a vacuum hose connector at a proximal end of the spline shaft that is opposite the distal end, the vacuum hose connector being adapted to engage a vacuum hose terminus at a distal end of a vacuum hose.

2. The end-effector system as claimed in claim 1 , wherein the movement of the spline shaft with respect to the arm attachment portion in the axial direction is spring biased.

3. The end-effector system as claimed in claim 1 , wherein the end-effector system includes a cup detection sensor system that includes a helical wiring portion that accommodates movement of the rotational shaft portion with respect to the arm attachment portion.

4. The end-effector system as claimed in claim 1 further comprising a stop assembly to limit a range of motion of the spline shaft in the axial direction.

5. The end-effector system as claimed in claim 1 , wherein the spline gear and spline shaft have a rotational home position.

6. The end-effector system as claimed in claim 1 , wherein the arm attachment portion further includes a motor and a worm screw that engages the spline gear to cause the spline shaft to rotate with respect to the arm attachment portion.

7. The end-effector system as claimed in claim 6 , wherein the motor includes an exposed portion of a motor shaft that is adapted for manual rotation of the motor shaft.

8. The end-effector system as claimed in claim 1 , wherein the vacuum hose connector includes an annular shaft coupling that engages a rounded annular hose coupling with the vacuum hose connector.

9. The end-effector system as claimed in claim 8 , wherein the annular shaft coupling and the rounded annular hose coupling permits movement of the spline shaft with respect to the vacuum hose terminus in at least two degrees of freedom.

10. An end-effector system for use with a programmable motion device, said end-effector system comprising:
an arm attachment portion for attachment to an arm of the programmable motion device, said arm attachment portion extending in an axial direction and including a spline gear with inwardly facing drive splines;
an end-effector attachment portion for attachment to an end-effector for grasping objects; and
a spline shaft received by the arm attachment portion, said spline shaft being coupled to the end-effector attachment portion at a distal end thereof, and including shaft splines that engage the drive splines of the spline gear to permit movement of the spline shaft with respect to the arm attachment portion in the axial direction;
wherein the movement of the spline shaft with respect to the arm attachment portion in the axial direction is spring biased.

11. The end-effector system as claimed in claim 10 , wherein the end-effector system includes a cup detection sensor system that includes a helical wiring portion that accommodates movement of the rotational shaft portion with respect to the arm attachment portion.

12. The end-effector system as claimed in claim 10 , further comprising a stop assembly to limit a range of motion of the spline shaft in the axial direction.

13. The end-effector system as claimed in claim 10 , wherein the spline gear and spline shaft have a rotational home position.

14. The end-effector system as claimed in claim 10 , wherein the arm attachment portion further includes a motor and a worm screw that engages the spline gear to cause the spline shaft to rotate with respect to the arm attachment portion.

15. The end-effector system as claimed in claim 14 , wherein the motor includes an exposed portion of a motor shaft that is adapted for manual rotation of the motor shaft.

16. The end-effector system as claimed in claim 10 , wherein the spline shaft includes a vacuum hose connector at a proximal end of the spline shaft that is opposite the distal end, the vacuum hose connector being adapted to engage a vacuum hose terminus at a distal end of a vacuum hose and the vacuum hose connector includes an annular shaft coupling that engages a rounded annular hose coupling with the vacuum hose connector.

17. The end-effector system as claimed in claim 16 , wherein the annular shaft coupling and the rounded annular hose coupling permits movement of the spline shaft with respect to the vacuum hose terminus in at least two degrees of freedom.

18. An end-effector system for use with a programmable motion device, said end-effector system comprising:
an arm attachment portion for attachment to an arm of the programmable motion device, said arm attachment portion extending in an axial direction and including a spline gear with inwardly facing drive splines;
an end-effector attachment portion for attachment to an end-effector for grasping objects; and
a spline shaft received by the arm attachment portion, said spline shaft being coupled to the end-effector attachment portion at a distal end thereof, and including shaft splines that engage the drive splines of the spline gear to permit movement of the spline shaft with respect to the arm attachment portion in the axial direction;
wherein the arm attachment portion further includes a motor and a worm screw that engages the spline gear to cause the spline shaft to rotate with respect to the arm attachment portion.

19. The end-effector system as claimed in claim 18 , wherein the motor includes an exposed portion of a motor shaft that is adapted for manual rotation of the motor shaft.

20. The end-effector system as claimed in claim 18 , wherein the end-effector system includes a cup detection sensor system that includes a helical wiring portion that accommodates movement of the rotational shaft portion with respect to the arm attachment portion.

21. The end-effector system as claimed in claim 18 , further comprising a stop assembly to limit a range of motion of the spline shaft in the axial direction.

22. The end-effector system as claimed in claim 18 , wherein the spline gear and spline shaft have a rotational home position.

23. The end-effector system as claimed in claim 18 , wherein the spline shaft includes a vacuum hose connector at a proximal end of the spline shaft that is opposite the distal end, the vacuum hose connector being adapted to engage a vacuum hose terminus at a distal end of a vacuum hose, and wherein the vacuum hose connector includes an annular shaft coupling that engages a rounded annular hose coupling with the vacuum hose connector.

24. The end-effector system as claimed in claim 23 , wherein the annular shaft coupling and the rounded annular hose coupling permits movement of the spline shaft with respect to the vacuum hose terminus in at least two degrees of freedom.

25. An end-effector system for use with a programmable

Assignees

• Berkshire Grey Operating Company Inc

Inventors

• Anderson Bretton
• Yap Jason
• McMahan William Chu-Hyon
• Toothaker Calvin
• Farmer William

Classifications

• B25J17/00

  Joints · CPC title

• B25J15/0616 Primary

  with vacuum · CPC title

• B25J9/102

  Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H) · CPC title

• B25J9/0093

  co-operating with conveyor means · CPC title

• B25J15/04

  with provision for the remote detachment or exchange of the head or parts thereof · CPC title