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公开(公告)号：US11318623B2
公开(公告)日：2022-05-03
申请号：US16814658
申请日：2020-03-10
发明人： Thomas Wagner , Kevin Ahearn , Benjamin Cohen , Michael Dawson-Haggerty , Christopher Geyer , Thomas Koletschka , Kyle Maroney , Matthew T. Mason , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
摘要： An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.
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公开(公告)号：US12032367B2
公开(公告)日：2024-07-09
申请号：US17840123
申请日：2022-06-14
发明人： Thomas Wagner , Kevin Ahearn , John Richard Amend, Jr. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , 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： G05B19/418 , B07C3/00 , B25J9/00 , B25J9/16 , B65G1/04 , B65G1/137 , H04B7/0417 , H04B7/06 , H04B7/08
CPC分类号： G05B19/41895 , B07C3/00 , B07C3/008 , B25J9/0093 , B25J9/1615 , B65G1/0478 , B65G1/0485 , B65G1/0492 , B65G1/1371 , B65G1/1373 , B65G1/1376 , B65G1/1378 , H04B7/0417 , H04B7/0617 , H04B7/0695 , H04B7/086 , H04B7/088
摘要： A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a perception unit for perceiving identifying indicia representative of an identity of a plurality of objects received from an input conveyance system, an acquisition system for acquiring an object from the plurality of objects at an input area using an end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing bin, and the identified processing bin is associated with the identifying indicia and said identified processing location is provided as one of a plurality of processing bins, and a delivery system for bringing the identified processing bin toward the object, where the delivery system includes a carrier for carrying the identified processing bin toward the object.
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公开(公告)号：US12023818B2
公开(公告)日：2024-07-02
申请号：US18234847
申请日：2023-08-16
发明人： Thomas Wagner , Kevin Ahearn , Michael Dawson-Haggerty , Christopher Geyer , Thomas Koletschka , Kyle Maroney , Matthew T. Mason , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
CPC分类号： B25J9/1694 , B25J9/1638 , B25J13/088 , B25J15/0616 , B25J17/0208
摘要： A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.
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公开(公告)号：US11866261B2
公开(公告)日：2024-01-09
申请号：US18120687
申请日：2023-03-13
发明人： Thomas Wagner , Kevin Ahearn , John Richard Amend, Jr. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , 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
CPC分类号： B65G1/1376 , B65G43/00 , B65G2201/0235
摘要： A processing system for processing objects using a programmable motion device is disclosed. The processing system a perception unit for perceiving identifying indicia representative of an identity of an object associated with an input conveyance system, and an acquisition system for acquiring the object from a plurality of objects at an input area using an end effector of the programmable motion device, wherein the programmable motion device is adapted for assisting in the delivery of the object to an identified processing location. The identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations. The processing system also includes a delivery system for receiving the object in a carrier and for delivering the object toward the identified processing location.
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公开(公告)号：US11865699B2
公开(公告)日：2024-01-09
申请号：US17744068
申请日：2022-05-13
发明人： Thomas Wagner , Kevin Ahearn , Benjamin Cohen , Michael Dawson-Haggerty , Christopher Geyer , Thomas Koletschka , Kyle Maroney , Matthew T. Mason , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
CPC分类号： B25J15/0033 , B25J15/0004 , B25J15/0023 , B25J15/0052 , B25J15/0095 , B25J15/0616 , B25J15/10 , Y10S901/40
摘要： An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.
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公开(公告)号：US11845614B2
公开(公告)日：2023-12-19
申请号：US17873824
申请日：2022-07-26
发明人： Thomas Wagner , Thomas Allen , William Hartman Fort , Kyle Maroney , Samuel Naseef , Andrew Gauthier , Kevin Ahearn , John Richard Amend, Jr. , Benjamin Cohen , Michael Dawson-Haggerty , Christopher Geyer , Jennifer Eileen King , Thomas Koletschka , Matthew T. Mason , William Chu-Hyon McMahan , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi
IPC分类号： B65G43/10
CPC分类号： B65G43/10
摘要： A semi-autonomous processing system for processing objects is disclosed. The semi-autonomous processing system includes an input conveyance system for moving objects to a presentation area, a perception system including perception units that are directed toward a detection area for providing perception data regarding an object in the presentation area, at least two transport systems, each of which is adapted to receive the object and move the object in either of reciprocal directions, and a manual workstation area between the perception area the at least two transport systems.
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公开(公告)号：US11839902B2
公开(公告)日：2023-12-12
申请号：US17828314
申请日：2022-05-31
发明人： Thomas Wagner , Kevin Ahearn , Benjamin Cohen , Michael Dawson-Haggerty , Christopher Geyer , Thomas Koletschka , Kyle Maroney , Matthew T. Mason , Gene Temple Price , Joseph Romano , Daniel Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
IPC分类号： B07C5/36 , G05B19/418 , B07C3/08 , B65G47/96 , B07C5/34 , B07C3/00 , B07C3/02 , B07C3/14 , G06Q10/087
CPC分类号： B07C5/36 , B07C3/008 , B07C3/02 , B07C3/082 , B07C3/14 , B07C5/3412 , B65G47/962 , G05B19/4189 , G06Q10/087 , B07C2501/0063 , G05B2219/32328 , G05B2219/40078 , G05B2219/45056 , Y02P90/02
摘要： An automated shuttle sorter is disclosed that includes a carriage that is movable from a load position at which the carriage may be loaded, and at least two destination locations into which any contents of the carriage may be provided from the carriage.
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公开(公告)号：US11814245B2
公开(公告)日：2023-11-14
申请号：US17832484
申请日：2022-06-03
发明人： Thomas Wagner , Kevin Ahearn , John Richard Amend, Jr. , Benjamin Cohen , Michael Dawson-Haggerty , William Hartman Fort , Christopher Geyer , 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
CPC分类号： B65G1/02 , B65G1/0492 , B65G1/1378 , B65G65/005 , B65G2209/04
摘要： A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins is in communication with a bin conveyance system for moving selected storage bins to a storage bin processing location, a programmable motion device in communication with the bin processing location for receiving a selected storage bin from the plurality of 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 plurality of destination bins in communication with the bin conveyance system for moving a selected destination bin from a destination bin processing location that is proximate the programmable motion device to the plurality of destination bins.
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29.发明授权公开(公告)号：US11813744B2
公开(公告)日：2023-11-14
申请号：US17065042
申请日：2020-10-07
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
IPC分类号： B25J9/00 , B25J9/16 , B65G1/137 , G06Q10/08 , G05B19/418 , B65D5/42 , G06Q10/087 , B65D5/00
CPC分类号： B25J9/0093 , B25J9/16 , B25J9/1669 , B65D5/4212 , B65G1/1376 , B65G1/1378 , G05B19/4182 , G06Q10/08 , G06Q10/087 , B65D5/001 , B65G2201/025 , B65G2201/0258 , B65G2203/0216 , B65G2203/041 , B65G2203/044 , G05B2219/31078 , G05B2219/39102 , G05B2219/39106 , G05B2219/40554
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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30.发明公开公开(公告)号：US20230347515A1
公开(公告)日：2023-11-02
申请号：US18214759
申请日：2023-06-27
发明人： Thomas Wagner , Kevin Ahearn , Benjamin Cohen , Michael Dawson-Haggerty , Christopher Geyer , Thomas Koletschka , Kyle Maroney , Matthew T. Mason , Gene Temple Price , Joseph Romano , Daniel Carlton Smith , Siddhartha Srinivasa , Prasanna Velagapudi , Thomas Allen
CPC分类号： B25J9/1664 , B25J15/0616 , B25J9/1694 , B07C3/008 , B25J9/0093 , B25J9/1697 , G05B19/19 , G05B2219/40053 , G05B2219/40431 , G05B2219/39102 , G05B2219/40078 , G05B2219/40519 , G05B2219/45047 , G05B2219/45063
摘要： A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The processing system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin, wherein the unchanging portion of the trajectory path is chosen to provide a path from the base location to the destination bin location that is consistent with paths taken by other objects.
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