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公开(公告)号：US20220315352A1
公开(公告)日：2022-10-06
申请号：US17219503
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
Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image including data associated with an item present in a workspace in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to move and place the item singly in a corresponding location in a singulation conveyance structure. The plan takes into consideration an attribute of the item determined based at least in part on the sensor data.
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公开(公告)号：US20220339800A1
公开(公告)日：2022-10-27
申请号：US17716388
申请日：2022-04-08
Applicant: Dexterity, Inc.
Inventor： Austen Poteet , Jeesu Baek , Devon Weinberger , Jordan Cedarleaf-Pavy , Timothy Ryan
Abstract: A vacuum cup connected to a robotic arm for picking and placing items is disclosed. The vacuum cup includes one or more walls that defines (i) a first internal cavity and (ii) an opening to the first internal cavity, wherein the first internal cavity is defined at least in part by an interior surface adjacent to the opening to the first internal cavity, the interior surface defining an internal ridge positioned to mechanically engage a material drawn into the first internal cavity through the opening at an angle such that the mechanical engagement resists the material being removed from the first internal cavity via the opening. In response to the item being engaged and the suction system controlling the pressure within the first internal cavity to create a vacuum seal between the vacuum cup and the item, at least part of the item is caused to enter the first internal cavity at least during engagement of the vacuum seal.
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公开(公告)号：US20220297312A1
公开(公告)日：2022-09-22
申请号：US17696237
申请日：2022-03-16
Applicant: Dexterity, Inc.
Inventor： Jeesu Baek , Salvador Perez , Andrew Dupree , Robert Moreno , Robert Holmberg
Abstract: A multi-mode robotic end effector is disclosed. In various embodiments, a multi-mode robotic end effector includes a first set of structures configured to grasp objects in a first mode of operation; a retraction mechanism configured to retract the first set of structures to a stowed position associated with a second mode of operation in response to a retraction command; and a second set of structures configured to grasp objects in a second mode of operation.
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公开(公告)号：US20220297294A1
公开(公告)日：2022-09-22
申请号：US17696263
申请日：2022-03-16
Applicant: Dexterity, Inc.
Inventor： Jeesu Baek , Salvador Perez , Andrew Dupree , Robert Moreno , Robert Holmberg
Abstract: A robotic system configured to use a multi-mode end effector is disclosed. In various embodiments, a grasp strategy is determined for a robot to grasp an object in a workspace, wherein the determined grasp strategy is associated with a corresponding one of a plurality of grasping modes of operation of a multi-mode robotic end effector associated with the robot. A command to grasp the object using the multi-mode robotic end effector in the grasping mode of operation associated with the determined grasp strategy is sent to the robot.
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公开(公告)号：US20240017940A1
公开(公告)日：2024-01-18
申请号：US18222289
申请日：2023-07-14
Applicant: Dexterity, Inc.
Inventor： Andrew Lovett , Samir Menon , Robert Holmberg , Jeesu Baek , Andrew Bylard
CPC classification number: B65G47/91 , B25J15/0683
Abstract: A robotic end effector is disclosed. The robotic end effector includes (a) an end effector body having a top side and an operative side opposite the top side, (b) a pull force gripper disposed on the operative side of the end effector body, and (c) a first end effector support structure that is connected to the end effector body and extends from the end effector body in a direction that is orthogonal to the operative side of the end effector body.
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Patent Agency Ranking
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：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：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
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.
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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.
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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
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.
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