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公开(公告)号：US20240017424A1
公开(公告)日：2024-01-18
申请号：US18222286
申请日：2023-07-14
Applicant: Dexterity, Inc.
Inventor： Kunal Vikas Shinde , Robert Moreno , Salvador Perez , Andrew Lovett , Robert Holmberg
IPC: B25J15/06
CPC classification number: B25J15/0616
Abstract: A pull force based robotic end effector with an integrated mechanical stop is disclosed. In various embodiments, the end effector includes an end effector body having a top side and an operative side opposite the top side; a pull force gripper disposed on the operative side of the end effector body; and an integrated mechanical stop positioned on the operative side of the end effector body adjacent to the suction gripper, the mechanical stop extending from the operative side to an extent that allows the suction gripper to be operatively engaged with an object to be grasped.
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公开(公告)号：US11833669B2
公开(公告)日：2023-12-05
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
CPC classification number: B25J15/0683 , B25J9/0093
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.
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公开(公告)号：US20230150137A1
公开(公告)日：2023-05-18
申请号：US17978608
申请日：2022-11-01
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Talbot Morris-Downing , Harry Zhe Su , Toby Leonard Baker , Alberto Leyva Arvayo , Salvador Perez , Samir Menon
CPC classification number: B25J9/1682 , B25J9/1612 , B25J9/1697 , B25J9/1666 , B25J9/0093 , B25J19/023
Abstract: A robotic system is disclosed to control multiple robots to cooperatively load/unload a truck or other container. In various embodiments, image data is received and used to control a first robotic arm and a second robotic arm to load or unload objects into or from the truck or other container, including by loading or unloading one or more of the objects using the first robotic arm and the second robotic arm together to cooperatively to grasp and move each of one or more of the objects along a corresponding trajectory.
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公开(公告)号：US20230114393A1
公开(公告)日：2023-04-13
申请号：US17963763
申请日：2022-10-11
Applicant: Dexterity, Inc.
Inventor： Matthew Rodolfo Molina , Robert Holmberg , Matthew LaGoy
Abstract: The present application discloses a robotic stack pusher system, and a method and a computer system for controlling the robotic stack pusher system. The robotic stack pusher system includes an actuation device and a plurality of pusher structures that are substantially planar. At least one of the plurality of pusher structures is nested within one or more other pusher structures of the plurality of pusher structures. The actuation device is the actuation device is operatively coupled to at least one of the plurality of pusher structures. The actuation device is configured to actuate a position of the plurality of pusher structures between a retracted state and an extended state in response to a control signal. Actuation of the actuation device causes the one of the plurality of structures that is nested to extend telescopically with sufficient force and to controllably push a payload
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公开(公告)号：US11571812B2
公开(公告)日：2023-02-07
申请号：US17716433
申请日：2022-04-08
Applicant: Dexterity, Inc.
Inventor： Andrew Lovett , Zhouwen Sun , Matthew Rodolfo Molina , Robert Holmberg , Derek Pan
IPC: B25J9/16
Abstract: The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.
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Patent Agency Ranking
公开(公告)号：US20220348409A1
公开(公告)日：2022-11-03
申请号：US17246356
申请日：2021-04-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett , Cyril Nader , Farshid Farhat , David Leo Tondreau, III
Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operate a robotic structure to move an item along a predetermined path from a source location to a destination location, and autonomously operating the robotic structure to place the item at the destination location based at least in part on the plan. The item comprises one or more identifiers, and in response to a determination that at least one of the one or more identifiers was not obtained by one or more sensors, an active measure is performed to cause the one or more sensors to obtain the at least one identifier that was not obtained. The predetermined path corresponds to a path along which the item is moved from the source location to the destination location. The predetermined path is planned so that the item is moved within a threshold range of the one or more sensors while the item is moved along the predetermined path.
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公开(公告)号：US20220334560A1
公开(公告)日：2022-10-20
申请号：US17716418
申请日：2022-04-08
Applicant: Dexterity, Inc.
Inventor： Andrew Lovett , Zhouwen Sun , Matthew Rodolfo Molina , Robert Holmberg , Derek Pan
IPC: G05B19/4155
Abstract: The present application discloses a mechanism to adjust backlash in a rack and pinion powertrain assembly. The mechanism to adjust backlash includes a mounting frame having an opening defined therein to receive an operative end of a drive assembly, a shoulder fastener positioned through a first complementary set of holes at a first end of a mounting flange to movably couple the mounting flange to the mounting frame, the fastener being fastened in a manner such that the mounting flange and drive assembly have freedom to pivot about a longitudinal axis of the first complementary set of holes, and an adjustable length coupling device having a first end coupled mechanically to the mounting plate and a second end coupled mechanically to the mounting flange at a location substantially opposite the first end of the mounting flange.
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公开(公告)号：US12258224B2
公开(公告)日：2025-03-25
申请号：US18407242
申请日：2024-01-08
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cuthbert Sun , Andrew Nguyen , Samuel Tay , Emilie Peck , Kevin Jose Chavez , Robert Holmberg
IPC: B25J13/08 , B25J5/02 , B25J9/00 , B25J9/16 , B25J19/02 , B25J19/06 , B65G1/137 , B65G47/90 , B65G61/00 , F16P3/08 , F16P3/14
Abstract: Data indicating a corresponding safety state information indicating an extent to which that operating zone currently is or is not available to the robotic system to perform tasks using one or more robotic instrumentalities associated with a robotic system is used, for each of a plurality of operating zones, to dynamically schedule and perform tasks associated with a higher level objective. The corresponding safety state information associated with the first operating zone indicating one of a plurality of safety states associated with a presence of a human worker in the first operating zone is received from one or more sensors associated with a first operating zone of the plurality of operating zones. Autonomous behavior of the one or more robotic instrumentalities is altered based on the one of the plurality of safety states associated with the presence of the human worker in the first operating zone indicated by the corresponding safety state information.
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公开(公告)号：US20240300104A1
公开(公告)日：2024-09-12
申请号：US18599859
申请日：2024-03-08
Applicant: Dexterity, Inc.
Inventor： Robert Moreno , Robert Holmberg , Zhouwen Sun
CPC classification number: B25J9/1661 , B25J9/161 , B25J9/1697 , B25J15/0019 , B25J19/023
Abstract: A robotic system is disclosed. The system includes a robotically-controlled equipment comprising a laser or other projector. An indication is received of an issue to be resolved by an intervening worker with respect to a target object. The robotically-controlled equipment is positioned to direct a projection emitted by the projector onto the target object.
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公开(公告)号：US12070854B2
公开(公告)日：2024-08-27
申请号：US17716396
申请日：2022-04-08
Applicant: Dexterity, Inc.
Inventor： Jordan Cedarleaf-Pavy , Austen Poteet , Timothy Ryan , Adam Kell , Robert Holmberg , Salvador Perez , Devon Weinberger
CPC classification number: B25J5/02 , B25J9/0009
Abstract: A repositionable riser is provided. The repositionable riser may be used in connection with a robotic arm deployed in a workspace. The repositionable riser includes a riser having one or more mounting locations at or near an upper end of the riser configured to fixedly mount an equipment on the riser, a lateral translation subsystem comprising a carriage on which the riser is mounted and a set of one or more elongated structures that define a constrained lateral path along which the carriage is movable, the path including a first end associated with active use of the equipment and a second end not associated with active use of the equipment, and an anchor structure to which one or both of the carriage and the riser are configured to be coupled to secure the riser at the first end.
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