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公开(公告)号：US10438034B2
公开(公告)日：2019-10-08
申请号：US15956442
申请日：2018-04-18
申请人： Berkshire Grey, Inc.
发明人： Thomas Wagner , Kevin Ahearn , John Richard Amend, Jr. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , Victoria Hinchey , Jennifer Eileen King , Thomas Koletschka , Michael Cap Koval , Kyle Maroney , Matthew T. Mason , William Chu-Hyon McMahan , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
IPC分类号： G06K15/00 , G06K7/10 , B65G1/137 , B07C5/34 , B65G25/04 , B65G47/12 , B65G47/18 , B65G47/46 , B65G47/96
摘要： A space efficient automated processing system for processing objects is disclosed. The processing system includes an input conveyance system for moving objects from an input area in at least an input conveyance vector that includes an input conveyance horizontal direction component and an input conveyance vertical direction component, a perception system for receiving objects from the input conveyance system and for providing perception data regarding an object, a primary transport system for receiving the object from the perception system and for providing transport of the object along at least a primary transport vector including an primary transport horizontal component and a primary transport vertical component that is generally opposite the input conveyance horizontal direction component, and at least two secondary transport systems, each of which receives the object from the primary transport system and moves the object in either of reciprocal directions that are each generally parallel with the input conveyance horizontal direction component and the primary direction horizontal direction component.
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公开(公告)号：US20220134543A1
公开(公告)日：2022-05-05
申请号：US17512234
申请日：2021-10-27
申请人： Berkshire Grey, Inc.
发明人： John Richard Amend, JR. , Timothy Barber , Benjamin Cohen , Christopher Geyer , Evan Glasgow , James Guillochon , Kirsten Wang , Victoria Hinchey , Jennifer Eileen King , Thomas Koletschka , Guoming Alex Long , Kyle Maroney , Matthew T. Mason , William Chu-Hyon McMahan , Samuel Naseef , Kevin O'Brien , Dimitry Pechyoni , Joseph Romano , Max Saccoccio , Jessica Scolnic , Prasanna Velagapudi
摘要： An object induction system is disclosed for assigning handling parameters to an object. The system includes an analysis system, an association system, and an assignment system. The analysis system includes at least one characteristic perception system for providing perception data regarding an object to be processed. The association system includes an object information database and assigns association data to the object responsive to commonality with of any of the characteristic perception data with any of the characteristic recorded data. The assignment system is for assigning programmable motion device handling parameters to the indicia perception data based on the association data, and includes a workflow management system as well as a separate operational controller.
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公开(公告)号：US11205059B2
公开(公告)日：2021-12-21
申请号：US16737213
申请日：2020-01-08
申请人： Berkshire Grey, Inc.
发明人： Thomas Wagner , Matthew T. Mason , Christopher Geyer , John Richard Amend, Jr. , Kyle Maroney , Joseph Romano , Victoria Hinchey , Jeffrey Kittredge , Andrew Gauthier , Lakshman Kumar , Prasanna Velagapudi
摘要： A distribution system is disclosed for use in an induction system with an object processing system. The distribution system provides distribution of dissimilar objects into one of a plurality of receiving units. The distribution system includes an urging system for urging an object on a conveyor from the conveyor to one of a plurality of adjacent receiving stations via a receiving chute, wherein each receiving station is lower than the conveyor.
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24.发明授权公开(公告)号：US11200390B2
公开(公告)日：2021-12-14
申请号：US16737215
申请日：2020-01-08
申请人： Berkshire Grey, Inc.
发明人： Thomas Wagner , Matthew T. Mason , Christopher Geyer , John Richard Amend, Jr. , Kyle Maroney , Joseph Romano , Victoria Hinchey , Jeffrey Kittredge , Andrew Gauthier , Lakshman Kumar , Prasanna Velagapudi
摘要： A distribution system is disclosed for use with an induction system with an object processing system. The distribution system provides distribution of dissimilar objects into one of a plurality of receiving units. The distribution system includes an urging system for urging an object on a conveyor from the conveyor to a chute that includes at least one actuatable door for selectively dropping the object through the at least one actuable door, said chute leading to a first receiving station with a second receiving station being positioned below the at least one actuable door.
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公开(公告)号：US20210374367A1
公开(公告)日：2021-12-02
申请号：US17395180
申请日：2021-08-05
申请人： Berkshire Grey, Inc.
发明人： Thomas Wagner , Kevin Ahearn , John Richard Amend, JR. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , Victoria Hinchey , Jennifer Eileen King , Thomas Koletschka , Michael Cap Koval , Kyle Maroney , Matthew T. Mason , William Chu-Hyon McMahan , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
摘要： A space efficient automated processing system for processing objects is disclosed. The processing system includes an input conveyance system for moving objects from an input area in at least an input conveyance vector that includes an input conveyance horizontal direction component and an input conveyance vertical direction component, a perception system for receiving objects from the input conveyance system and for providing perception data regarding an object, a primary transport system for receiving the object from the perception system and for providing transport of the object along at least a primary transport vector including an primary transport horizontal component and a primary transport vertical component that is generally opposite the input conveyance horizontal direction component, and at least two secondary transport systems, each of which receives the object from the primary transport system and moves the object in either of reciprocal directions.
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公开(公告)号：US20210061585A1
公开(公告)日：2021-03-04
申请号：US17094792
申请日：2020-11-10
申请人： Berkshire Grey, Inc.
发明人： Thomas Wagner , Kevin Ahearn , John Richard Amend, JR. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , Victoria Hinchey , Jennifer Eileen King , Thomas Koletschka , Michael Cap Koval , Kyle Maroney , Matthew T. Mason , William Chu-Hyon McMahan , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
摘要： A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a storage bin system for receiving at a first end thereof, a plurality of storage bins providing storage of a plurality of objects, a retrieval conveyance system at a second end of the storage bin system that is generally opposite the first end of the storage bin system, where the retrieval conveyance system is in communication with the plurality of storage bins, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of storage bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and a destination bin system for receiving the selected object from the end effector of the programmable motion device at first end of the destination bin system, and the destination bin system provides access to the plurality of destination bins at a second end thereof that is generally opposite the first end of the destination bin system.
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27.发明申请公开(公告)号：US20210023696A1
公开(公告)日：2021-01-28
申请号：US17065042
申请日：2020-10-07
申请人： Berkshire Grey, Inc.
发明人： Thomas WAGNER , Kevin Ahearn , Benjamin Cohen , Michael Dawson-Haggerty , Christopher Geyer , Victoria Hinchey , Thomas Koletschka , Kyle Maroney , Matthew T. Mason , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
摘要： A method of processing objects using a programmable motion device is disclosed. The method includes the steps of providing an input conveyance system by which input bins of objects may be provided to a processing station that includes the programmable motion device that includes an end effector, perceiving at the processing station identifying indicia representative of an identity of a plurality of objects at an input area of the input conveyance system, grasping the an acquired object using the end effector, moving the acquired object toward an identified processing container using the programmable motion device, the identified processing container being associated with the identifying indicia and said identified processing container being provided as one of a plurality of processing containers at the processing station, and providing an output conveyance system in communication with the processing station, by which processing containers that contain processed objects may be provided.
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公开(公告)号：US20200269416A1
公开(公告)日：2020-08-27
申请号：US16802810
申请日：2020-02-27
申请人： Berkshire Grey, Inc.
发明人： Calvin Toothaker , Alexander Paxson , Victoria Hinchey , John Richard Amend, JR. , Benjamin Cohen , Christopher Geyer , Matthew T. Mason , Thomas Wagner
摘要： A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm; and a hose coupling an end effector of the programmable motion robotic system to a vacuum source, the hose being attached, in a joint portion of the hose, to at least two adjacent arm sections of the plurality of arm sections mutually attached to a joint of the plurality of joints such that the joint portion of the hose remains substantially outside of any plane defined by motion of the mutually adjacent arm sections when rotated about the joint.
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公开(公告)号：US20200223058A1
公开(公告)日：2020-07-16
申请号：US16830877
申请日：2020-03-26
申请人： Berkshire Grey, Inc.
发明人： Thomas Wagner , Kevin Ahearn , John Richard Amend, JR. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , Victoria Hinchey , Jennifer Eileen King , Thomas Koletschka , Michael Cap Koval , Kyle Maroney , Matthew T. Mason , William Chu-Hyon McMahan , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
摘要： A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a plurality of supply bins providing supply of a plurality of objects, with the plurality of supply bins being provided with a bin conveyance system, a programmable motion device in communication with the bin conveyance system, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected supply bin, and a movable carriage for receiving the selected object from the end effector of the programmable motion device, and for carrying the selected object to one of a plurality of destination containers.
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30.发明申请公开(公告)号：US20200151408A1
公开(公告)日：2020-05-14
申请号：US16737213
申请日：2020-01-08
申请人： Berkshire Grey, Inc.
发明人： Thomas Wagner , Matthew T. Mason , Christopher Geyer , John Richard Amend, JR. , Kyle Maroney , Joseph Romano , Victoria Hinchey , Jeffrey Kittredge , Andrew Gauthier , Lakshman Kumar , Prasanna Velagapudi
摘要： A distribution system is disclosed for use in an induction system with an object processing system. The distribution system provides distribution of dissimilar objects into one of a plurality of receiving units. The distribution system includes an urging system for urging an object on a conveyor from the conveyor to one of a plurality of adjacent receiving stations via a receiving chute, wherein each receiving station is lower than the conveyor.
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