公开(公告)号：US20240359328A1

公开(公告)日：2024-10-31

申请号：US18761968

申请日：2024-07-02

申请人： Berkshire Grey Operating Company, 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 Carlton SMITH ,  Siddhartha SRINIVASA ,  Prasanna VELAGAPUDI ,  Thomas ALLEN

IPC分类号： B25J9/16 ,  B07C3/18 ,  B07C5/36 ,  B25J9/00 ,  B25J19/04 ,  G05B19/418

CPC分类号： B25J9/1669 ,  B07C3/18 ,  B07C5/36 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1687 ,  B25J9/1697 ,  B25J19/04 ,  G05B19/4183 ,  G05B2219/32037 ,  G05B2219/39106 ,  G05B2219/39295 ,  G05B2219/39476 ,  G05B2219/39484 ,  G05B2219/39504 ,  G05B2219/39548 ,  G05B2219/40053 ,  G05B2219/40078 ,  G05B2219/40116 ,  G05B2219/40538 ,  G05B2219/45045 ,  Y02P90/02

摘要： A sortation system is disclosed that 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, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.

公开(公告)号：US12098027B2

公开(公告)日：2024-09-24

申请号：US18134456

申请日：2023-04-13

申请人： Berkshire Grey Operating Company, 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： G05B19/042 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B65G67/02 ,  B07C5/36 ,  B07C5/38 ,  B25J9/10 ,  B25J9/16 ,  B61B13/00 ,  B61D3/00 ,  B61D9/00 ,  B65G1/00 ,  B65G1/02 ,  B65G1/08 ,  B65G9/00 ,  B65G37/00 ,  B65G41/02 ,  B65G47/48 ,  B65G47/90 ,  B65G47/96 ,  B65G65/00 ,  B65G65/23 ,  G05B19/418

CPC分类号： B65G1/0471 ,  B65G1/0492 ,  B65G1/065 ,  B65G1/1375 ,  B65G67/02 ,  B07C5/361 ,  B07C5/38 ,  B07C2301/0091 ,  B25J9/106 ,  B25J9/162 ,  B25J9/1687 ,  B61B13/00 ,  B61D3/00 ,  B61D9/00 ,  B65G1/00 ,  B65G1/026 ,  B65G1/0478 ,  B65G1/0485 ,  B65G1/08 ,  B65G1/1371 ,  B65G1/1373 ,  B65G1/1378 ,  B65G9/002 ,  B65G9/008 ,  B65G37/00 ,  B65G41/02 ,  B65G47/48 ,  B65G47/902 ,  B65G47/904 ,  B65G47/96 ,  B65G65/005 ,  B65G65/23 ,  B65G2201/0258 ,  B65G2203/0216 ,  B65G2203/044 ,  B65G2811/0678 ,  B65G2814/0346 ,  G05B19/0428 ,  G05B19/41815 ,  G05B19/41895 ,  G05B2219/24001 ,  G05B2219/40078 ,  G05B2219/40252

摘要： A maintenance system is disclosed for assisting in maintaining an automated carrier system for moving objects to be processed. The maintenance system includes a plurality of automated carriers that are adapted to move on an array of discontinuous standard track sections, each said automated carrier including a carrier body that is no larger in either a length or width direction that a standard track section, and an automated maintenance carrier that is adapted to move on the array of discontinuous track sections, said automated maintenance system including a maintenance body that is larger in at least one of a length or width direction than the standard track section.

公开(公告)号：US20170136632A1

公开(公告)日：2017-05-18

申请号：US15348498

申请日：2016-11-10

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： B25J19/04 ,  B25J9/16

CPC分类号： B25J19/04 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1687 ,  B25J9/1697 ,  G05B19/4183 ,  G05B2219/32037 ,  G05B2219/39106 ,  G05B2219/39295 ,  G05B2219/39476 ,  G05B2219/39484 ,  G05B2219/39504 ,  G05B2219/39548 ,  G05B2219/40053 ,  G05B2219/40078 ,  G05B2219/40116 ,  G05B2219/40538 ,  G05B2219/45045 ,  Y02P90/10 ,  Y02P90/20

摘要： A sortation system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The sortation 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, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.

公开(公告)号：US20160136816A1

公开(公告)日：2016-05-19

申请号：US14541157

申请日：2014-11-14

申请人： James Charles Pistorino

发明人： James Charles Pistorino

IPC分类号： B25J9/16 ,  B65B11/00

CPC分类号： B25J9/1697 ,  B07C5/3422 ,  B07C2501/0081 ,  G05B2219/40053 ,  G05B2219/40078

摘要： A system for sorting comprising an x-y-z stage including a suction cup attached thereto, a camera, a computer connected to the x-y-z stage and the camera, and a translucent platform for sorting with the platform mounted below the camera and the x-y-z stage.

摘要翻译： 一种用于排序的系统，包括附接到其上的吸盘的x-y-z台，相机，连接到x-y-z台和相机的计算机，以及用于安装在相机和x-y-z平台下方的平台进行分类的半透明平台。

公开(公告)号：US09327397B1

公开(公告)日：2016-05-03

申请号：US14726458

申请日：2015-05-30

申请人： Jeff Williams ,  Ravi Bhaskaran ,  Charlie Martin

发明人： Jeff Williams ,  Ravi Bhaskaran ,  Charlie Martin

IPC分类号： G06F19/00 ,  B25J3/00 ,  B65G1/137 ,  B25J13/00

CPC分类号： B65G1/137 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0087 ,  B25J9/1687 ,  B25J9/1689 ,  B25J13/006 ,  B25J13/025 ,  B65G2209/04 ,  G05B2219/39106 ,  G05B2219/40014 ,  G05B2219/40078 ,  G05B2219/40116 ,  G05B2219/40192 ,  G05D1/005 ,  G05D2201/0216

摘要： Disclosed are a system and/or a method of telepresence based inventory pick and place operations through actuator controlled robotic arms affixed to each row of a shelf. A method includes mounting a robotic arm at an end of a row of a shelf of inventory on a set of rails affixed to the row of a shelf. The robotic arm is permitted to move horizontally along the row of the shelf. The robotic arm is repositioned along the three axes using a set of actuators. A haptic motion of a human user is mirrored that is remotely using a positioning device (e.g., human may feel the feedback of the remote arm as it touches the objects). An item is placed on a counting platform in front of the robotic arm. The items are placed automatically in the designated location down through a transport means when a pick operation is completed.

摘要翻译： 公开了一种通过致动器控制的机器人手臂固定到搁架的每一行的基于远程呈现的库存拾取和放置操作的系统和/或方法。 一种方法包括将机架手臂放置在一列存放在货架上的一端的固定在货架行上的一组导轨上。 允许机器人手臂沿着货架的行水平移动。 使用一组致动器沿着三个轴重新定位机器臂。 人类用户的触觉运动被镜像，远程使用定位设备（例如，人可能感觉到远程臂在触摸物体时的反馈）。 一个物品放置在机器臂前面的计数平台上。 当拾取操作完成时，物品通过传送装置自动放置在指定位置。

公开(公告)号：US20050162183A1

公开(公告)日：2005-07-28

申请号：US11023551

申请日：2004-12-29

申请人： Hun-Jun Choo ,  Ji-Heum Uh ,  Hye-Sook Kang ,  Cheol-Han Kim ,  Seong-Chul Yeo

发明人： Hun-Jun Choo ,  Ji-Heum Uh ,  Hye-Sook Kang ,  Cheol-Han Kim ,  Seong-Chul Yeo

IPC分类号： G02F1/13 ,  B25J9/16 ,  G01R31/00

CPC分类号： B25J9/1687 ,  G05B2219/40078

摘要： An apparatus for automatically displaying a grade of a liquid crystal display device and operating method thereof, includes a grade determining unit of a liquid crystal display panel; a grade inputting unit for inputting the grade of the liquid crystal display panel whose grade has been determined in the grade determining unit; a grade discriminating unit for transferring the grade of a corresponding liquid crystal display panel based upon receiving data input to the grade inputting unit; a storing unit having a grade displaying unit for classifying the graded liquid crystal display panels according to grades and storing the grades; and a robot driving unit for transferring the liquid crystal display panel to the storing unit according to instructions from the grade discriminating unit.

摘要翻译： 一种用于自动显示液晶显示装置的等级的装置及其操作方法，包括液晶显示面板的等级确定单元; 等级输入单元，用于输入在等级确定单元中确定了等级的液晶显示面板的等级; 等级识别单元，用于基于接收到输入到等级输入单元的数据来传送相应的液晶显示面板的等级; 存储单元，具有用于根据等级分级分级液晶显示面板并存储等级的等级显示单元; 以及机器人驱动单元，用于根据来自等级识别单元的指令将液晶显示面板传送到存储单元。

公开(公告)号：US06577913B2

公开(公告)日：2003-06-10

申请号：US09328393

申请日：1999-06-09

申请人： Sung-Joon Byun ,  Jong-Beom An ,  Min-Young Heo

发明人： Sung-Joon Byun ,  Jong-Beom An ,  Min-Young Heo

IPC分类号： G06F1900

CPC分类号： G05B19/4183 ,  G05B2219/31311 ,  G05B2219/40078 ,  Y02P90/10

摘要： Disclosed are a system for workpiece cutting and sorting automation, and a method for controlling the system. The system includes a cutting/sorting equipment for cutting a substrate having a plurality of cells into cut substrates, and sorting the cut substrates according to a predetermined mode; and a system controller for receiving a request for operation information on the cut substrates from the cutting/sorting equipment, and transmitting the operation information and operation commands to the cutting/sorting equipment. The method includes the steps of (a) determining an operating mode of the cut substrates; (b) sorting the cut substrates and supplying the sorted cut substrates to one of the plurality of cassettes according to the operating mode of the cut substrates determined in step (a); and (c) repeating steps (a) and (b) for a predetermined lot number of cut substrates.

摘要翻译： 公开了一种用于工件切割和分选自动化的系统，以及用于控制系统的方法。 该系统包括用于将具有多个单元的基板切割成切割基板的切割/分选设备，以及根据预定模式分选切割的基板; 以及系统控制器，用于从切割/分选设备接收对切割的基板的操作信息的请求，并将操作信息和操作命令发送到切割/分选设备。 该方法包括以下步骤：（a）确定切割的基板的操作模式; （b）根据步骤（a）中确定的切割衬底的操作模式，对切割的衬底进行分选并将分选的切割衬底提供给多个盒体中的一个; 和（c）重复步骤（a）和（b）对于预定批次的切割的基底。

公开(公告)号：US12064792B2

公开(公告)日：2024-08-20

申请号：US18250963

申请日：2021-10-26

申请人： MP ZENROBOTICS OY

发明人： Harri Holopainen ,  Tuomas Lukka

IPC分类号： B07C5/36 ,  B07C5/06 ,  B25J9/00 ,  B25J9/02 ,  B25J9/16 ,  B25J15/06 ,  B65G47/91 ,  G06N20/00

CPC分类号： B07C5/36 ,  B07C5/065 ,  B25J9/0093 ,  B25J9/026 ,  B25J9/1679 ,  B25J9/1694 ,  B25J15/0616 ,  B65G47/917 ,  G06N20/00 ,  B07C2501/0054 ,  B07C2501/0063 ,  B65G2203/0225 ,  B65G2203/042 ,  G05B2219/37094 ,  G05B2219/37134 ,  G05B2219/37431 ,  G05B2219/40078 ,  G05B2219/40586 ,  G05B2219/40607

摘要： It A waste sorting robot (100) comprises a manipulator (101) moveable within a working area (102). A gripper (103) is connected to the manipulator (101) and arranged to selectively grip a waste object (104, 104a, 104b, 104c) in the working area (102). A controller (108) is in communication with a sensor (107) and is configured to receive detected object parameters, and determine a throw trajectory (109) of the gripped waste object (104) towards a target position (106) based on the detected object parameters of the gripped waste object (104). The controller (108) is configured to send control instructions to the gripper (103) and/or manipulator (101) so that the gripper (103) and/or manipulator (101) accelerates the gripped waste object (104) and releases the waste object (104) at a throw position with a throw velocity and throw angle towards the target position (106) so that the waste object (104) is thrown along the determined throw trajectory (109). A related method of controlling a waste robot is also disclosed.

公开(公告)号：US12013689B2

公开(公告)日：2024-06-18

申请号：US17231059

申请日：2021-04-15

申请人： TRUMPF Werkzeugmaschinen GmbH + Co. KG

发明人： Manuel Kiefer ,  Korbinian Weiss ,  Benjamin Schwarz ,  Willi Poenitz

IPC分类号： G05B19/418 ,  B26D5/00

CPC分类号： G05B19/41875 ,  B26D5/007 ,  G05B19/4183 ,  G05B2219/31472 ,  G05B2219/32218 ,  G05B2219/40078

摘要： A method visualizes manufacturing process information during manufacturing of workpieces with a flatbed machine tool. The workpieces are output as cut material on a pallet of the flatbed machine tool, a sorting table, or a conveyor belt. Workpiece image data is provided in a control system. The image data is associated with a workpiece and is for display on a display unit. Workpiece-specific manufacturing process information is provided in the manufacturing control system, and is acquired during manufacturing of the workpieces and includes features of cutting processes. A database of illustration options is provided in the manufacturing control system, the options are associated with a specific manufacturing feature and are applicable to the workpiece image data to cause an illustration of the respective workpiece image data on the display unit. The workpiece image data is displayed on the display unit, while taking into account illustration options in the workpiece-specific manner.

公开(公告)号：US20240033780A1

公开(公告)日：2024-02-01

申请号：US18377417

申请日：2023-10-06

申请人： Bershire Grey Operating Company, 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 ,  G06Q10/087

CPC分类号： B07C5/36 ,  G05B19/4189 ,  B07C3/082 ,  B65G47/962 ,  B07C5/3412 ,  B07C3/008 ,  B07C3/02 ,  B07C3/14 ,  G06Q10/087 ,  G05B2219/40078 ,  G05B2219/45056 ,  B07C2501/0063 ,  G05B2219/32328 ,  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.