公开(公告)号：US20240173872A1

公开(公告)日：2024-05-30

申请号：US18384923

申请日：2023-10-30

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas WAGNER ,  John Richard AMEND, JR. ,  William FARMER ,  Andrew GAUTHIER ,  Victoria HINCHEY ,  Kyle MARONEY ,  Matthew T. MASON ,  Richard MUSGRAVE ,  Samuel NASEEF ,  Thomas ALLEN

IPC分类号： B25J15/04

CPC分类号： B25J15/0408 ,  B25J15/0441 ,  B25J15/0491 ,  G05B2219/39468

摘要： A method is disclosed of changing a tool on a programmable motion device. The method includes the steps of moving an attachment portion of an end effector of the programmable motion device in a continuous motion; while the attachment portion of the end effector moves in the continuous motion, engaging one of: the attachment portion of the end effector with the tool, or the tool attached to the attachment portion of the end effector with an exchange system, and continuing to move the attachment portion of the end effector in the continuous motion to change a connection status of the attachment portion of the end effector while the attachment portion of the end effector moves in the continuous motion.