US Patent No. 10,335,956


Patent No. 10,335,956
Issue Date July 02, 2019
Title Systems And Methods For Acquiring And Moving Objects
Inventorship Thomas Wagner, Concord, MA (US)
Kevin Ahearn, Camden, SC (US)
Benjamin Cohen, Somerville, MA (US)
Michael Dawson-Haggerty, Pittsburgh, PA (US)
Christopher Geyer, Arlington, MA (US)
Thomas Koletschka, Cambrdige, MA (US)
Kyle Maroney, North Attleboro, MA (US)
Matthew T. Mason, Pittsburgh, PA (US)
Gene Temple Price, Somerville, MA (US)
Joseph Romano, Somerville, MA (US)
Daniel Smith, Pittsburgh, PA (US)
Siddhartha Srinivasa, Pittsburgh, PA (US)
Prasanna Velagapudi, Pittsburgh, PA (US)
Thomas Allen, Reading, MA (US)
Assignee Berkshire Grey, Inc., Lexington, MA (US)

Claim of US Patent No. 10,335,956

1. A method of engaging and moving an object using a programmable motion system, said method comprising the steps of:engaging the object with a primary end effector of a primary acquisition system;
moving the object toward a secondary retention system;
retaining the object with the secondary retention system, said step of retaining the object with the secondary retention system being independent of the prior steps of engaging the object and moving the object such that movement of the secondary retention system is not dependent on movement of the primary acquisition system, wherein the secondary retention system includes a retention area that is defined by at least one wall and a floor;
disengaging the object from the primary acquisition system;
transporting the object to an output destination; and
releasing the object from the secondary retention system by dropping the object through the floor of the retention area.