US Patent 11084175 End-of-arm tool having concentric suction cups, and related systems and methods

An end-of-arm tool for attachment to a robotic arm, includes a housing, an outer suction cup assembly that includes an outer suction cup located at the distal end of the housing, and an inner suction cup assembly that extends centrally through the outer suction cup assembly. The inner suction cup assembly includes a lower suction tube, an inner suction cup that is positioned at a distal end of the lower suction tube and is in fluid communication with the lower suction tube. The inner suction cup is concentrically located relative to the outer suction cup. The tool includes an actuator configured to selectively extend and retract the lower suction tube with respect to the outer suction cup.