公开(公告)号：US20220306402A1

公开(公告)日：2022-09-29

申请号：US17216503

申请日：2021-03-29

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Cyril Nader ,  Varun Uday Nayak ,  Alberto Leyva Arvayo ,  Michael Root ,  Andrew Lovett ,  Kevin Jose Chavez

IPC: B65G47/90 ,  B25J9/16 ,  B25J13/08

Abstract: An autonomous tray handling robotic system is disclosed. In various embodiments, data indicating a set of output stacks to be assembled is stored, each output stack including an associated set of trays each of a corresponding tray type. Operation of one or more robots is controlled, each robot being configured to grasp, move, and place one or more trays at a time, according to a plan, to iteratively pick trays from source stacks of trays and assemble the set of output stacks, including by building each output stack by successively placing on the output stack trays picked from one or more corresponding source stacks. Each of the robots comprises a robotic arm and a tray handling end effector configured to grasp, move, and place one or more trays without assistance from another robot.

公开(公告)号：US11745956B2

公开(公告)日：2023-09-05

申请号：US17216503

申请日：2021-03-29

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Cyril Nader ,  Varun Uday Nayak ,  Alberto Leyva Arvayo ,  Michael Root ,  Andrew Lovett ,  Kevin Jose Chavez

IPC: B25J9/16 ,  B65G47/90 ,  B25J13/08

CPC classification number: B65G47/905 ,  B25J9/1612 ,  B25J9/1633 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/082 ,  B65G2201/0258 ,  B65G2203/041

Abstract: An autonomous tray handling robotic system is disclosed. In various embodiments, data indicating a set of output stacks to be assembled is stored, each output stack including an associated set of trays each of a corresponding tray type. Operation of one or more robots is controlled, each robot being configured to grasp, move, and place one or more trays at a time, according to a plan, to iteratively pick trays from source stacks of trays and assemble the set of output stacks, including by building each output stack by successively placing on the output stack trays picked from one or more corresponding source stacks. Each of the robots comprises a robotic arm and a tray handling end effector configured to grasp, move, and place one or more trays without assistance from another robot.

公开(公告)号：US20240228191A1

公开(公告)日：2024-07-11

申请号：US18393504

申请日：2023-12-21

Applicant: Dexterity, Inc.

Inventor： Shitij Kumar ,  Michael Root ,  Varun Uday Nayak ,  Cuthbert Sun ,  Kunal Shah ,  Yuan Gao ,  Zhouwen Sun ,  Andrew Bylard ,  Diego Rodriguez ,  Samir Menon

IPC: B65G47/90

CPC classification number: B65G47/905

Abstract: A robotic system receives from a first agent included in a plurality of robotically controlled agents a request to be provided a motion plan to perform a first pick and place task assigned to the first agent. A first motion plan is determined for the first agent, including by taking into consideration a second motion plan associated with a second agent included in the plurality of robotically controlled agents to perform a second pick and place task assigned to the second agent, at least in part by considering a swept volume associated with at least a remaining uncompleted portion of the second motion plan as an obstacle with which the first agent will not collide while implementing the first motion plan.