公开(公告)号：US11633864B2

公开(公告)日：2023-04-25

申请号：US17716388

申请日：2022-04-08

Applicant: Dexterity, Inc.

Inventor： Austen Poteet ,  Jeesu Baek ,  Devon Weinberger ,  Jordan Cedarleaf-Pavy ,  Timothy Ryan

IPC: B25J5/00 ,  B25J9/00 ,  B25J15/06 ,  B25B11/00

Abstract: A vacuum cup connected to a robotic arm for picking and placing items is disclosed. The vacuum cup includes one or more walls that defines (i) a first internal cavity and (ii) an opening to the first internal cavity, wherein the first internal cavity is defined at least in part by an interior surface adjacent to the opening to the first internal cavity, the interior surface defining an internal ridge positioned to mechanically engage a material drawn into the first internal cavity through the opening at an angle such that the mechanical engagement resists the material being removed from the first internal cavity via the opening. In response to the item being engaged and the suction system controlling the pressure within the first internal cavity to create a vacuum seal between the vacuum cup and the item, at least part of the item is caused to enter the first internal cavity at least during engagement of the vacuum seal.

公开(公告)号：US20220402708A1

公开(公告)日：2022-12-22

申请号：US17837797

申请日：2022-06-10

Applicant: Dexterity, Inc.

Inventor： Rohit Arka Pidaparthi ,  William Arthur Clary ,  Neeraja Abhyankar ,  Jonathan Kuck ,  Ben Varkey Benjamin Pottayil ,  Kevin Jose Chavez ,  Shitij Kumar ,  Robert Moreno ,  Arth Beladiya ,  Salvador Perez ,  Jeesu Baek

IPC: B65G57/24

Abstract: A robotic system is disclosed. The system includes a communication interface configured to receive, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that use a geometric model based at least in part on past item placements in combination with the sensor data to estimate a state of the pallet or other receptacle and one or more items stacked on or in the pallet or other receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next item on or in, or remove a next item from, the pallet or other receptacle in a manner that avoids having the next item collide with any other item stacked on or in the pallet or other receptacle.

公开(公告)号：US20220314460A1

公开(公告)日：2022-10-06

申请号：US17219509

申请日：2021-03-31

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Robert Holmberg ,  Shitij Kumar ,  Jeesu Baek ,  Joseph Li ,  Kishore Ranganath Ramakrishnan ,  Andrew Lovett

IPC: B25J15/06

Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.