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公开(公告)号：US12128557B2
公开(公告)日：2024-10-29
申请号：US17874337
申请日：2022-07-27
发明人： 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
CPC分类号： B25J9/0093 , B25J9/1615 , B65G1/0464 , B65G1/1371 , B65G1/1376 , B65G1/1378 , B65G47/82 , B65G47/905 , G06Q10/087 , B65G2201/0258 , G06Q10/08
摘要： 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.
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公开(公告)号：US20240343503A1
公开(公告)日：2024-10-17
申请号：US18643833
申请日：2024-04-23
发明人： 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
CPC分类号： B65G47/90 , B65G1/0485 , B65G1/1378 , B65G47/52 , B65G67/02
摘要： A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a storage bin system for receiving at a first end thereof, a plurality of storage bins providing storage of a plurality of objects, a retrieval conveyance system at a second end of the storage bin system that is generally opposite the first end of the storage bin system, where the retrieval conveyance system is in communication with the plurality of storage bins, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of storage 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 destination bin system for receiving the selected object from the end effector of the programmable motion device at first end of the destination bin system, and the destination bin system provides access to the plurality of destination bins at a second end thereof that is generally opposite the first end of the destination bin system.
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3.发明授权公开(公告)号：US12109708B2
公开(公告)日：2024-10-08
申请号：US18214759
申请日：2023-06-27
发明人： 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
CPC分类号： B25J9/1664 , B07C3/008 , B25J9/0093 , B25J9/1694 , B25J9/1697 , B25J15/0616 , G05B19/19 , G05B2219/39102 , G05B2219/40053 , G05B2219/40078 , G05B2219/40431 , G05B2219/40519 , G05B2219/45047 , G05B2219/45063
摘要： A processing system is disclosed for providing processing of objects that include a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin.
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公开(公告)号：US12076752B2
公开(公告)日：2024-09-03
申请号：US17852002
申请日：2022-06-28
发明人： 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分类号： B07C3/00 , B07C3/02 , B07C3/14 , B07C3/18 , B07C5/34 , B25J9/00 , B25J9/16 , B65G43/08 , B65G47/34 , B65G47/90 , B65G47/96 , G05B19/418 , G06K7/10 , G06Q10/08 , G06Q10/087 , G06V10/10
CPC分类号： B07C3/003 , B07C3/008 , B07C3/02 , B07C3/14 , B07C3/18 , B07C5/3412 , B25J9/0093 , B25J9/16 , B25J9/1694 , B65G43/08 , B65G47/34 , B65G47/90 , B65G47/905 , B65G47/962 , G05B19/4182 , G05B19/4189 , G06K7/10861 , G06Q10/087 , G06V10/10 , B07C2301/00 , G05B2219/32328 , G05B2219/40078 , G05B2219/45047 , G05B2219/45056 , Y02P90/02
摘要： 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.
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公开(公告)号：US12059810B2
公开(公告)日：2024-08-13
申请号：US17843666
申请日：2022-06-17
发明人： 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
CPC分类号： B25J9/1669 , B07C3/18 , B07C5/36 , B25J9/0093 , B25J9/1612 , B25J9/1664 , B25J9/1687 , B25J9/1697 , B25J19/04 , G05B19/4183 , G05B2219/32037 , G05B2219/39106 , G05B2219/39295 , G05B2219/39476 , G05B2219/39484 , G05B2219/39504 , G05B2219/39548 , G05B2219/40053 , G05B2219/40078 , G05B2219/40116 , G05B2219/40538 , G05B2219/45045 , Y02P90/02
摘要： A sortation system is disclosed that includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.
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6.发明公开公开(公告)号：US20240059489A1
公开(公告)日：2024-02-22
申请号：US18367014
申请日：2023-09-12
发明人： 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
CPC分类号： B65G1/0471 , B65G1/0492 , B65G1/1375 , B65G67/02 , B65G1/065 , B65G1/0478 , G05D2201/0216 , B25J9/106
摘要： A bin exchange system is disclosed that includes a plurality of automated carriers, each of which is adapted to be remotely movable on an array of track sections, at least one input station by which bins may be introduced to the array of track sections, at least one processing station in communication with the array of track sections wherein objects may be moved between bins, and at least one output station by which bins may be removed from the array of track sections.
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公开(公告)号：US11865722B2
公开(公告)日：2024-01-09
申请号：US16249582
申请日：2019-01-16
发明人： Joseph Romano , William Chu-Hyon McMahan , Benjamin Cohen , Andrew Gauthier , Matthew T. Mason , Thomas Wagner , Prasanna Velagapudi , Michael Dawson-Haggerty
CPC分类号： B25J9/1664 , B25J9/1612 , B25J15/0019 , B25J15/0441 , B25J15/0491 , B25J15/0616 , G05B2219/39468
摘要： A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes a plurality of acquisition units that are provided at an exchange station within an area accessible by the programmable motion device, and a coupling system for coupling any of the plurality of acquisition units to an end effector of the programmable motion device such that any of the acquisition units may be automatically selected from the exchange station and used by the programmable motion device without requiring any activation or actuation by the exchange station and without requiring any intervention by a human.
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公开(公告)号：US11842248B2
公开(公告)日：2023-12-12
申请号：US17395180
申请日：2021-08-05
发明人： 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
CPC分类号： G06K7/10693 , B07C5/3412 , B65G1/1378 , B65G25/04 , B65G47/12 , B65G47/18 , B65G47/46 , B65G47/962 , B65G2203/041
摘要： 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.
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公开(公告)号：US11826787B2
公开(公告)日：2023-11-28
申请号：US16998049
申请日：2020-08-20
发明人： 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分类号： 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分类号： 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
摘要： 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.
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公开(公告)号：US11813734B2
公开(公告)日：2023-11-14
申请号：US18093264
申请日：2023-01-04
发明人： 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
CPC分类号： B25J9/1694 , B25J9/1638 , B25J13/088 , B25J15/0616 , B25J17/0208
摘要： 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.
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