公开(公告)号：US20220371053A1

公开(公告)日：2022-11-24

申请号：US17852002

申请日：2022-06-28

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: B07C3/02 ,  B65G47/96 ,  B25J9/00 ,  B65G47/90 ,  B07C3/00 ,  B07C3/14 ,  B25J9/16 ,  B65G43/08 ,  B65G47/34 ,  G05B19/418 ,  G06Q10/08

Abstract: A method of processing objects is disclosed using a programmable motion device. The method includes the steps of acquiring an object from a plurality of mixed objects at an input area, perceiving identifying indicia in connection with the object, assigning an intermediate station to a destination location for the object responsive to the identifying indicia in connection with the object, and moving the acquired object toward the intermediate station.

公开(公告)号：US20220356017A1

公开(公告)日：2022-11-10

申请号：US17738346

申请日：2022-05-06

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Joseph ROMANO ,  Christopher BUCK ,  Thomas ALLEN ,  Christopher GEYER ,  Victoria HINCHEY ,  Charles BAPTISTA ,  Jacob TORREY ,  Ryan O'HERN ,  Andrew EWART ,  John Richard AMEND, JR. ,  Prasanna VELAGAPUDI ,  Benjamin COHEN ,  Guoming Alex LONG

IPC: B65G1/137 ,  B65G1/10

Abstract: An operator inducted object processing system is disclosed that includes an object induction station at which objects are provided for processing, said object induction station including at least one perception unit for providing perception data regarding an object, an object processing system for receiving objects from the object induction station, said object processing system including a carrier configured for movement in a first generally horizontal direction between two mutually opposing arrays of destination locations, each of which extends along the first generally horizontal direction, and the carrier also being configured for movement in a second generally vertical direction between the two mutually opposing arrays of destination locations, each of which also extends along the second generally vertical direction, wherein the movement in the first generally horizontal direction is independent of the movement in the second generally vertical direction, and wherein the carrier is further configured for movement in mutually opposing third directions that are generally orthogonal to the first and second directions, for urging an object thereon into a first end of an adjacent selected destination location, each of the destination locations including a first end that is accessible by the carrier, and a plurality of object collection stations, each of which is associated with a second end of each of the destination locations.

公开(公告)号：US20250153945A1

公开(公告)日：2025-05-15

申请号：US18930956

申请日：2024-10-29

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Benjamin COHEN ,  Christopher GEYER ,  Thomas KOLETSCHKA ,  Jay LINK ,  Joshua LURZ ,  Matthew T. MASON ,  Richard MUSGRAVE ,  Ryan O'HERN ,  Gene Temple PRICE ,  Joseph ROMANO ,  Prasanna VELAGAPUDI ,  Thomas WAGNER ,  Jeremy SASLAW

IPC: B65G1/137 ,  B65G47/91

Abstract: An automated packing system is disclosed for placing a plurality of objects into a shipping container. The system includes a supply bin receiving conveyor for receiving a supply bin at a supply station, the supply bin receiving conveyor including sensing unit for determining an extent of advancement of the supply bin in a conveyor direction along the supply bin receiving conveyor, a detection system for detecting a plurality of objects within the supply bin responsive to the position of the supply bin on the receiving conveyor as aligned by the alignment system, an object selection system for selecting a selected object from the plurality of objects to be placed into the shipping container, and a programmable motion device for grasping and acquiring the selected object from the plurality of objects at the supply station, and for placing the selected object into the shipping container in a selected orientation and pose.

公开(公告)号：US20250148404A1

公开(公告)日：2025-05-08

申请号：US18917372

申请日：2024-10-16

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Lakshman KUMAR ,  Abraham SCHNEIDER ,  Thomas KOLETSCHKA ,  Christopher GEYER ,  Joseph ROMANO ,  John Richard AMEND, JR. ,  Benjamin COHEN ,  William Chu-Hyon MCMAHAN ,  Kyle MARONEY ,  Thomas WAGNER

IPC: G06Q10/083 ,  B65G1/137 ,  G01G19/414 ,  G06K7/10 ,  G06K7/14

Abstract: A processing system for processing objects is disclosed that includes a plurality of receiving stations for receiving a plurality of objects, each object being associated with prerecorded data, and a plurality of processing stations, each of which is in communication with at least one processing station. Each processing station includes perception means for perceiving data regarding an identity of any of an object or a bin of objects, and capture means for capturing characteristic data regarding an object to provide captured data. Each processing station further includes comparison means for comparing the captured data with the prerecorded data to provide comparison data, and a plurality of distribution stations, each of which is in communication with at least one processing station for receiving objects from the at least one processing station responsive to the comparison data.

公开(公告)号：US20250128429A1

公开(公告)日：2025-04-24

申请号：US18919757

申请日：2024-10-18

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 Carlton SMITH ,  Siddhartha SRINIVASA ,  Prasanna VELAGAPUDI ,  Thomas ALLEN

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

Abstract: An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.

公开(公告)号：US20250128411A1

公开(公告)日：2025-04-24

申请号：US18911629

申请日：2024-10-10

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

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：US20240278438A1

公开(公告)日：2024-08-22

申请号：US18443681

申请日：2024-02-16

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 Carlton SMITH ,  Siddhartha SRINIVASA ,  Prasanna VELAGAPUDI ,  Thomas ALLEN

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

CPC classification number: B25J15/0616 ,  B25J9/1612 ,  B25J13/085 ,  B25J15/0625 ,  B25J15/0658 ,  B25J15/0675 ,  B25J15/0683 ,  B25J15/0691

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：US20240207898A1

公开(公告)日：2024-06-27

申请号：US18384875

申请日：2023-10-29

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: B07C5/34 ,  G01B11/245 ,  G05B19/418 ,  G06K7/10 ,  G06K7/14 ,  G06K19/06 ,  G06V20/80 ,  H04N23/56 ,  H04N23/90

CPC classification number: B07C5/3412 ,  G01B11/245 ,  G05B19/4183 ,  G06K7/10693 ,  G06K7/10732 ,  G06K7/10881 ,  G06K7/1413 ,  G06K19/06028 ,  G06V20/80 ,  H04N23/56 ,  H04N23/90 ,  B07C2301/0016 ,  G05B2219/36371 ,  G05B2219/45045 ,  G05B2219/45047 ,  G06V2201/06 ,  Y02P90/02

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：US20230330844A1

公开(公告)日：2023-10-19

申请号：US18213536

申请日：2023-06-23

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 Carlton SMITH ,  Siddhartha SRINIVASA ,  Prasanna VELAGAPUDI ,  Thomas ALLEN

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

CPC classification number: B25J9/1612 ,  B25J9/109 ,  B25J9/126 ,  B25J15/0028 ,  B25J15/0038 ,  B25J15/0616

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：US20220355467A1

公开(公告)日：2022-11-10

申请号：US17874337

申请日：2022-07-27

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: B25J9/00 ,  B65G1/137 ,  G06Q10/08 ,  B65G1/04 ,  B65G47/90 ,  B25J9/16 ,  B65G47/82

Abstract: A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a plurality of supply bins providing supply of a plurality of objects, with the plurality of supply bins being provided with a bin conveyance system, a programmable motion device in communication with the bin conveyance system, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected supply bin, and a movable carriage for receiving the selected object from the end effector of the programmable motion device, and for carrying the selected object to one of a plurality of destination containers.