公开(公告)号：US20240149462A1

公开(公告)日：2024-05-09

申请号：US18501303

申请日：2023-11-03

Applicant: Dexterity, Inc.

Inventor： Robert Holmberg ,  Gil Matzliach ,  Samir Menon ,  Zhouwen Sun ,  Prabhat Kumar Sinha

IPC: B25J9/16

CPC classification number: B25J9/1697

Abstract: A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.

公开(公告)号：US20240140712A1

公开(公告)日：2024-05-02

申请号：US18406983

申请日：2024-01-08

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

IPC: B65G1/137 ,  B07C5/34 ,  B07C5/36 ,  B25J9/00 ,  B25J9/16 ,  G06K7/10 ,  G06K7/14

CPC classification number: B65G1/1371 ,  B07C5/3412 ,  B07C5/362 ,  B25J9/0093 ,  B25J9/1664 ,  G06K7/10366 ,  G06K7/1413 ,  B07C2501/0063 ,  B25J9/1689

Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operating a robotic structure having a robotic arm to pick an item using an end effector of the robotic arm along a predetermined path from a source location to a destination location according to a plan. The picked item is moved according to the plan. An active measure is determined to be performed at least in part to obtain an identifier determined to be missing based on information received via the communication interface from one or more sensors. The robotic structure is autonomously operated to place the item at the destination location based at least in part on the plan.

公开(公告)号：US20240109205A1

公开(公告)日：2024-04-04

申请号：US18378548

申请日：2023-10-10

Applicant: Dexterity, Inc.

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

IPC: B25J15/06

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.

公开(公告)号：US11905115B2

公开(公告)日：2024-02-20

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

IPC: B07C5/36 ,  B65G1/137 ,  B25J9/00 ,  B25J9/16 ,  B07C5/34 ,  G06K7/14 ,  G06K7/10

CPC classification number: B65G1/1371 ,  B07C5/3412 ,  B07C5/362 ,  B25J9/0093 ,  B25J9/1664 ,  G06K7/10366 ,  G06K7/1413 ,  B07C2501/0063 ,  B25J9/1689

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.

公开(公告)号：US20230092900A1

公开(公告)日：2023-03-23

申请号：US17993595

申请日：2022-11-23

Applicant: Dexterity, Inc.

Inventor： Andrew Lovett ,  Zhouwen Sun ,  Matthew Rodolfo Molina ,  Robert Holmberg ,  Derek Pan

IPC: B25J9/16 ,  G05B19/4155

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.

公开(公告)号：US20220332509A1

公开(公告)日：2022-10-20

申请号：US17713077

申请日：2022-04-04

Applicant: Dexterity, Inc.

Inventor： Alberto Leyva Arvayo ,  Charles Richard Bieler ,  Matthew Rodolfo Molina ,  Andrew Lovett ,  Robert Holmberg ,  Cuthbert Sun

IPC: B65G17/00 ,  B65G17/34 ,  B65G61/00

Abstract: The present application discloses a robotic stack mover system, and a method and a computer system for controlling the robotic stack mover system. The robotic stack mover system includes a driving unit comprising a motor, a drive chain, a tensioning unit that enforces tension of the drive chain, and a guide rail traversing a distance between the driving unit and the tensioning unit. The motor is operatively coupled to the drive chain, and the motor is configured to drive the drive chain when the motor is driven. The guide rail comprises or supports the drive chain. The driving chain comprises a set of pusher units. The pusher units are respectively configured to engage one or more vehicles inserted to the system, and to cause one or more vehicles to traverse a path having a same direction as a longitudinal direction of the guide rail when the driving chain is driven.

公开(公告)号：US20220331956A1

公开(公告)日：2022-10-20

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.

公开(公告)号：US20220331946A1

公开(公告)日：2022-10-20

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

IPC: B25J5/02 ,  B25J9/00

Abstract: A repositionable riser is disclosed. The repositionable riser may be used in connection with a robotic arm deployed in a workspace. In various embodiments, 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.

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.