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1.发明授权公开(公告)号：US11161689B2
公开(公告)日：2021-11-02
申请号：US16172231
申请日：2018-10-26
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 , 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： B65G67/02 , B65G1/04 , G05D1/02 , B62D1/00 , B62D1/28 , B65G1/137 , B65G1/06 , B25J9/10 , B25J9/16 , G05B19/042 , G05B19/418 , B61B13/00 , B61D3/00 , B61D9/00 , B65G1/02 , B65G1/08 , B65G37/00 , B65G47/90 , B07C5/36 , B07C5/38 , B65G9/00 , B65G41/02 , B65G47/48 , B65G47/96 , B65G65/00 , B65G65/23
摘要： An object processing system is disclosed that includes a plurality of track sections, and a plurality of remotely actuatable carriers for controlled movement along at least portions of the plurality of track sections, each of the actuatable carriers being instructed at any time to move a limited number of track section only.
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公开(公告)号：US20210101285A1
公开(公告)日：2021-04-08
申请号：US17123862
申请日：2020-12-16
申请人： Berkshire Grey, Inc.
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
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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3.发明授权公开(公告)号：US10906740B2
公开(公告)日：2021-02-02
申请号：US15928556
申请日：2018-03-22
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 , 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 method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device, said identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations that are radially spaced from the programmable motion device.
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公开(公告)号：US10796116B2
公开(公告)日：2020-10-06
申请号：US16543105
申请日：2019-08-16
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.
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公开(公告)号：US20200306799A1
公开(公告)日：2020-10-01
申请号：US16902351
申请日：2020-06-16
申请人： Berkshire Grey, Inc.
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 , G06Q10/08
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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6.发明申请公开(公告)号：US20200265201A1
公开(公告)日：2020-08-20
申请号：US16867127
申请日：2020-05-05
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：US20200223073A1
公开(公告)日：2020-07-16
申请号：US16830574
申请日：2020-03-26
申请人： Berkshire Grey, Inc.
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
摘要： An end effector is disclosed for an articulated arm. The end effector includes a valve assembly including a plurality of supply channels, each supply channel including a supply conduit, a pressure sensor in fluid communication with the supply conduit, and a supply conduit plug. The supply conduit is in fluid communication with a vacuum source. During use, each supply conduit is either at vacuum such that the pressure within the supply conduit is substantially at a vacuum pressure, or is at a pressure that is substantially higher than vacuum pressure because the supply conduit plug has moved to block a portion of the supply conduit. The pressure sensor of each supply conduit provides a pressure sensor signal responsive to whether the pressure in the conduit is either substantially at vacuum or is at a pressure that is substantially higher than vacuum.
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公开(公告)号：US20200164504A1
公开(公告)日：2020-05-28
申请号：US16776870
申请日：2020-01-30
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 plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins being in communication with a retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins 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 is adapted for movement of the programmable motion device along a first direction, and a plurality of destination bins that are provided in at least one linear arrangement along the first direction of movement of the programmable motion device.
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公开(公告)号：US20200147789A1
公开(公告)日：2020-05-14
申请号：US16744862
申请日：2020-01-16
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： B25J9/00 , B25J9/02 , B65G47/82 , B65G47/90 , B25J9/16 , B65G65/00 , B65G1/137 , G06Q10/08 , B65G1/04
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 retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins 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 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 bins.
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公开(公告)号：US10647002B2
公开(公告)日：2020-05-12
申请号：US15254592
申请日：2016-09-01
申请人： Berkshire Grey, Inc.
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
摘要： An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.
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