公开(公告)号：US10857682B2

公开(公告)日：2020-12-08

申请号：US16704463

申请日：2019-12-05

Applicant: Berkshire Grey, Inc.

Inventor： 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: B25J15/06 ,  B25J9/16 ,  B25J13/08

Abstract: A system is disclosed for providing high flow vacuum control to an end effector of an articulated arm. The system includes a high flow vacuum source that provides an opening with an area of high flow vacuum at the end effector such that objects may be engaged while permitting substantial flow of air through the opening, and a load detection system for characterizing the load presented by the object.

公开(公告)号：US20200377308A1

公开(公告)日：2020-12-03

申请号：US16995015

申请日：2020-08-17

Applicant: Berkshire Grey, Inc.

Inventor： 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: B65G47/49 ,  G05B19/418 ,  B65G47/40 ,  B65G47/82

Abstract: A processing system is disclosed for processing objects. The processing system includes a perception system for providing perception data regarding an object, and a primary transport system for providing transport of the object along a primary direction toward a processing location that is identified based on the perception data.

公开(公告)号：US20200369470A1

公开(公告)日：2020-11-26

申请号：US16993364

申请日：2020-08-14

Applicant: Berkshire Grey, Inc.

Inventor： 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: B65G1/02 ,  B65G65/00 ,  B65G1/137 ,  B65G1/04

Abstract: 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.

公开(公告)号：US20200290200A1

公开(公告)日：2020-09-17

申请号：US16887886

申请日：2020-05-29

Applicant: Berkshire Grey, Inc.

Inventor： 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: B25J9/16 ,  B25J15/00 ,  B25J15/06 ,  B25J9/10 ,  B25J9/12

Abstract: In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces.

公开(公告)号：US10730077B2

公开(公告)日：2020-08-04

申请号：US15901656

申请日：2018-02-21

Applicant: Berkshire Grey, Inc.

Inventor： 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: B07C5/34 ,  G01B11/245 ,  G06K7/10 ,  H04N5/247 ,  H04N5/225 ,  G06K9/00 ,  G05B19/418 ,  G06K7/14 ,  G06K19/06

Abstract: A drop perception system is disclosed that includes an open housing structure having an internal volume, an open top and an open bottom, and a plurality of perception units positioned to capture perception data within the internal volume at a plurality of locations between the open top and the open bottom of the open housing.

公开(公告)号：US20200215684A1

公开(公告)日：2020-07-09

申请号：US16825010

申请日：2020-03-20

Applicant: Berkshire Grey, Inc.

Inventor： 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: B25J9/10 ,  B25J15/00 ,  B25J17/02 ,  B25J15/06 ,  F16C19/36 ,  F16C19/18

Abstract: A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes an end effector that is coupled via a dynamic coupling to the programmable motion system, wherein the dynamic coupling provides that at least a portion of the end effector may spin with respect to an other portion of the end effector.

公开(公告)号：US10583986B2

公开(公告)日：2020-03-10

申请号：US15971087

申请日：2018-05-04

Applicant: Berkshire Grey, Inc.

Inventor： 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: B65G1/137 ,  B65G43/00

Abstract: 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.

公开(公告)号：US10576621B2

公开(公告)日：2020-03-03

申请号：US15928977

申请日：2018-03-22

Applicant: Berkshire Grey, Inc.

Inventor： 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: B25J9/00 ,  B65G1/04 ,  B65G1/137 ,  B07C3/00 ,  B25J9/16 ,  G06Q10/08

Abstract: 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.

公开(公告)号：US10315315B2

公开(公告)日：2019-06-11

申请号：US16047713

申请日：2018-07-27

Applicant: Berkshire Grey, Inc.

Inventor： 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: B25J15/06 ,  B25J13/08 ,  B25J9/16

Abstract: A system is disclosed for providing dynamic vacuum control to an end effector of an articulated arm. The system includes a first vacuum source for providing a first vacuum pressure with a first maximum air flow rate, and a second vacuum source for providing a second vacuum pressure with a second maximum air flow rate, wherein the second vacuum pressure is higher than the first vacuum pressure and wherein the second maximum air flow rate is greater than the first maximum air flow rate.

公开(公告)号：US09937532B2

公开(公告)日：2018-04-10

申请号：US15228692

申请日：2016-08-04

Applicant: Berkshire Grey Inc.

Inventor： 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: B07C5/00 ,  B07C5/34 ,  H04N5/247 ,  H04N5/225 ,  G06K9/00 ,  G06K19/06 ,  G06K7/14 ,  G06K7/10 ,  G01B11/245 ,  G05B19/418

CPC classification number: B07C5/3412 ,  B07C2301/0016 ,  G01B11/245 ,  G05B19/4183 ,  G05B2219/36371 ,  G05B2219/45045 ,  G05B2219/45047 ,  G06K7/10693 ,  G06K7/10732 ,  G06K7/10881 ,  G06K7/1413 ,  G06K9/00577 ,  G06K19/06028 ,  G06K2209/19 ,  H04N5/2256 ,  H04N5/247 ,  Y02P90/10

Abstract: A drop perception system is disclosed that includes an open housing structure having an internal volume, an open top and an open bottom, and a plurality of perception units positioned to capture perception data within the internal volume at a plurality of locations between the open top and the open bottom of the open housing.