公开(公告)号：US11842248B2

公开(公告)日：2023-12-12

申请号：US17395180

申请日：2021-08-05

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas Wagner ,  Kevin Ahearn ,  John Richard Amend, Jr. ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  William Hartman Fort ,  Christopher Geyer ,  Victoria Hinchey ,  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: G06K7/10 ,  B65G1/137 ,  B07C5/34 ,  B65G25/04 ,  B65G47/12 ,  B65G47/18 ,  B65G47/46 ,  B65G47/96

CPC classification number: G06K7/10693 ,  B07C5/3412 ,  B65G1/1378 ,  B65G25/04 ,  B65G47/12 ,  B65G47/18 ,  B65G47/46 ,  B65G47/962 ,  B65G2203/041

Abstract: A space efficient automated processing system for processing objects is disclosed. The processing system includes an input conveyance system for moving objects from an input area in at least an input conveyance vector that includes an input conveyance horizontal direction component and an input conveyance vertical direction component, a perception system for receiving objects from the input conveyance system and for providing perception data regarding an object, a primary transport system for receiving the object from the perception system and for providing transport of the object along at least a primary transport vector including an primary transport horizontal component and a primary transport vertical component that is generally opposite the input conveyance horizontal direction component, and at least two secondary transport systems, each of which receives the object from the primary transport system and moves the object in either of reciprocal directions.

公开(公告)号：US11826787B2

公开(公告)日：2023-11-28

申请号：US16998049

申请日：2020-08-20

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas Wagner ,  Kevin Ahearn ,  John Richard Amend, Jr. ,  Benjamin Cohen ,  William Hartman Fort ,  Michael Dawson-Haggerty ,  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: B07C1/04 ,  B07C3/00 ,  B07C3/08 ,  B07C5/02 ,  B07C5/36 ,  B25J9/00 ,  B65B5/10 ,  B65B5/12 ,  B65B35/06 ,  B65B35/24 ,  B65B35/36 ,  B65B57/14 ,  G05B19/418 ,  B65G47/08 ,  B65G47/28 ,  B25J9/16 ,  B65G61/00 ,  B65G47/96 ,  B65G47/46

CPC classification number: B07C1/04 ,  B07C3/00 ,  B07C3/08 ,  B07C5/02 ,  B07C5/36 ,  B25J9/0084 ,  B25J9/0093 ,  B65B5/101 ,  B65B5/106 ,  B65B5/12 ,  B65B35/06 ,  B65B35/24 ,  B65B35/36 ,  B65B57/14 ,  B65G47/08 ,  B65G47/28 ,  G05B19/4182 ,  B07C2501/0063 ,  B25J9/1697 ,  B65G47/46 ,  B65G47/96 ,  B65G47/962 ,  B65G61/00 ,  B65G2203/0208 ,  B65G2203/041 ,  G05B2219/40078 ,  G05B2219/40554

Abstract: A processing system including a singulation system is disclosed. The singulation system includes a conveying system for moving objects to be processed from a source area along a first direction, a detection system for detecting objects at the conveying system, and for selecting certain selected objects for redistribution on the conveying system, and a movement redistribution system for redistributing the certain selected objects on the conveying system for providing a singulated stream of objects.

公开(公告)号：US11813734B2

公开(公告)日：2023-11-14

申请号：US18093264

申请日：2023-01-04

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas Wagner ,  Kevin Ahearn ,  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: B25J9/00 ,  B25J9/16 ,  B25J15/06 ,  B25J13/08 ,  B25J17/02

CPC classification number: B25J9/1694 ,  B25J9/1638 ,  B25J13/088 ,  B25J15/0616 ,  B25J17/0208

Abstract: A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.

公开(公告)号：US11780684B2

公开(公告)日：2023-10-10

申请号：US16995015

申请日：2020-08-17

Applicant: Berkshire Grey Operating Company, 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

CPC classification number: B65G47/49 ,  B65G47/40 ,  B65G47/82 ,  G05B19/4183 ,  G05B19/4189 ,  B65G2201/0285 ,  B65G2203/041 ,  G05B2219/36371 ,  G05B2219/40078 ,  G05B2219/45045 ,  G05B2219/45047 ,  G05B2219/45051 ,  G05B2219/45054 ,  G05B2219/45056 ,  Y02P90/02

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：US11752521B2

公开(公告)日：2023-09-12

申请号：US16986984

申请日：2020-08-06

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Christopher Geyer ,  Joseph Romano ,  John Richard Amend, Jr. ,  Christopher Buck ,  Andrew Ewart ,  Kyle Maroney ,  Thomas Wagner

IPC: B07C3/08 ,  B07C3/00 ,  B07C5/18 ,  B65G13/02 ,  B65G15/02 ,  B65G15/42

CPC classification number: B07C3/08 ,  B07C3/008 ,  B07C5/18 ,  B65G13/02 ,  B65G15/02 ,  B65G15/42 ,  B65G2201/0258 ,  B65G2207/18

Abstract: An order fulfillment system is disclosed in which objects to be collected into orders are provided in output totes. The system includes a primary sortation system that includes a loop conveyance system that moves objects around a closed loop that includes a plurality of primary sortation exits, each of which leads to a location inside the closed loop, and a secondary sortation system that includes a plurality of secondary conveyances, each of which receives an object at one of the plurality of primary sortation exits, and conveys the object to one of a plurality of totes, the plurality of totes being within the closed loop of the primary sortation system.

公开(公告)号：US20230249362A1

公开(公告)日：2023-08-10

申请号：US18134458

申请日：2023-04-13

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas Wagner ,  Kevin AHEARN ,  Michael DAWSON-HAGGERTY ,  Christopher GEYER ,  Thomas KOLETSCHKA ,  Kyle MARONEY ,  Matthew T. MASON ,  Gene Temple PRICE ,  Joseph ROMANO ,  Daniel SMITH ,  Siddhartha SRINIVASA ,  Prasanna VALAGAPUDI ,  Thomas ALLEN

IPC: B25J15/06 ,  B65G47/91

CPC classification number: B25J15/0625 ,  B25J15/0633 ,  B25J15/0658 ,  B25J15/0691 ,  B65G47/91

Abstract: An end effector is disclosed for an articulated arm. The end effector includes a valve assembly including a plurality of supply channels, each supply channel including a supply conduit, a pressure sensor in fluid communication with the supply conduit, and a supply conduit plug. The supply conduit is in fluid communication with a vacuum source. During use, each supply conduit is either at vacuum such that the pressure within the supply conduit is substantially at a vacuum pressure, or is at a pressure that is substantially higher than vacuum pressure because the supply conduit plug has moved to block a portion of the supply conduit. The pressure sensor of each supply conduit provides a pressure sensor signal responsive to whether the pressure in the conduit is either substantially at vacuum or is at a pressure that is substantially higher than vacuum.

公开(公告)号：US11718479B2

公开(公告)日：2023-08-08

申请号：US17124925

申请日：2020-12-17

Applicant: Berkshire Grey Operating Company, 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 ,  B07C3/00 ,  B07C5/34 ,  G06K7/10 ,  G06Q10/08 ,  G06Q10/087 ,  B25J9/00

CPC classification number: B65G1/1376 ,  B07C3/008 ,  B07C5/3412 ,  B25J9/0093 ,  B65G1/1371 ,  G06K7/10861 ,  G06Q10/087 ,  B65G1/1373

Abstract: A method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device, said identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations that are radially spaced from the programmable motion device.

公开(公告)号：US20230234216A1

公开(公告)日：2023-07-27

申请号：US18099420

申请日：2023-01-20

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Bretton ANDERSON ,  Jason YAP ,  William Chu-Hyon MCMAHAN ,  Calvin TOOTHAKER ,  William FARMER

IPC: B25J9/00 ,  B25J9/10 ,  B25J17/00 ,  B25J15/06

CPC classification number: B25J9/0009 ,  B25J9/0093 ,  B25J9/102 ,  B25J15/0616 ,  B25J17/00

Abstract: An end-effector system is disclosed for use with a programmable motion device. The end-effector system includes an arm attachment portion for attachment to an arm of the programmable motion device, an end-effector attachment portion for attachment to an end-effector for grasping objects, a rotational shaft portion for rotational attachment to the arm attachment portion, said rotational shaft portion being coupled to the end-effector attachment portion at a distal end thereof, and a motor system providing rotation of the rotational shaft portion as well as the end-effector attachment portion with respect to the arm attachment portion.

公开(公告)号：US11691279B2

公开(公告)日：2023-07-04

申请号：US16855015

申请日：2020-04-22

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Calvin Toothaker ,  John Richard Amend, Jr. ,  Benjamin Cohen ,  Christopher Geyer ,  Matthew T. Mason ,  Thomas Wagner

IPC: B25J9/16 ,  B25J15/06 ,  B25J18/00

CPC classification number: B25J9/1633 ,  B25J15/0616 ,  B25J18/00

Abstract: A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm, and a hose coupling an end effector of the programmable motion robotic system to a vacuum source. The hose is attached to at least one arm section of the articulated arm by a pass-through coupling that permits the hose to pass freely through the coupling as the plurality of arm sections are moved about the plurality of joints.

公开(公告)号：US20230124854A1

公开(公告)日：2023-04-20

申请号：US17959009

申请日：2022-10-03

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Luis Galup ,  Thomas Koletschka

IPC: B25J9/16 ,  B25J15/06 ,  B25J9/00 ,  B65G47/91 ,  G06T7/73 ,  G06V20/50 ,  G06T1/00

Abstract: An object recognition system includes: an image capture system for capturing at least one image of an object, and for providing image data representative of the captured image; a patch identification system in communication with the image capture system for receiving the image data, and for identifying at least one image patch associated with the captured image, each image patch being associated with a potential grasp location on the object, each potential grasp location being described as an area that may be associated with a contact portion of an end effector of a programmable motion device; a feature identification system for capturing at least one feature of each image patch, for accessing feature image data in the database and for providing feature identification data responsive to the image feature comparison data; and an object identification system for providing object identify data responsive to the image feature comparison data.