公开(公告)号：US11458639B2

公开(公告)日：2022-10-04

申请号：US16748539

申请日：2020-01-21

Applicant: Mujin, Inc.

Inventor： Lei Lei ,  Yixuan Zhang

IPC: B25J15/06

Abstract: A tool system for a robotic arm is provided. The tool system includes a tool support structure; a tool structure, coupled to the tool support structure, having at least one structural member; a connector mechanically coupled to the structural member and shaped for engaging the tool support structure; and a control unit mechanically coupled to the at least one structural member and configured to sense and adjust performance of the tool structure based on determining a connection to the tool support structure.

公开(公告)号：US20230052763A1

公开(公告)日：2023-02-16

申请号：US17885366

申请日：2022-08-10

Applicant: MUJIN, Inc.

Inventor： Lei Lei ,  Yixuan Zhang ,  Xutao Ye ,  Yi Xu ,  Brandon Coats ,  Rosen Nikolaev Diankov ,  Zhili Lai ,  Guohao Huang

IPC: B65G47/91

Abstract: Robotic systems with variable gripping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an object-gripping assembly coupled to the robotic arm. The object-gripping assembly can include a main body coupled to the robotic arm through an external connector on an upper surface of the main body and a vacuum operated gripping component coupled to a lower surface of the main body. The object-gripping assembly can also include a variable-width gripping component coupled to the main body. The variable-width gripping component is movable between a fully folded state, a plurality of extended states, and a clamping state to grip a variety of target objects of varying shapes, sizes, weights, and orientations.

公开(公告)号：US20210016456A1

公开(公告)日：2021-01-21

申请号：US16748539

申请日：2020-01-21

Applicant: Mujin, Inc.

Inventor： Lei Lei ,  Yixuan Zhang

IPC: B25J15/06

Abstract: A tool system for a robotic arm is provided. The tool system includes a tool support structure; a tool structure, coupled to the tool support structure, having at least one structural member; a connector mechanically coupled to the structural member and shaped for engaging the tool support structure; and a control unit mechanically coupled to the at least one structural member and configured to sense and adjust performance of the tool structure based on determining a connection to the tool support structure.

公开(公告)号：US12275551B2

公开(公告)日：2025-04-15

申请号：US17885421

申请日：2022-08-10

Applicant: MUJIN, Inc.

Inventor： Lei Lei ,  Yixuan Zhang ,  Xu Chen ,  Yi Xu ,  Brandon Coats ,  Rosen Nikolaev Diankov

IPC: B65C9/42 ,  B65C9/02 ,  B65C9/14 ,  B65C9/40 ,  B65C9/46

Abstract: A multi-purpose labeling system can include a conveyor, a visual analysis module, and a labeling assembly. The conveyor can move an object in a first direction. The visual analysis module can include an optical sensor directed toward the conveyor to generate image data depicting the object. The labeling assembly can be spaced from the conveyor in a second direction and include a printer, a labeling module, and an alignment assembly. The printer can print a label based on the image data, and the labeling module can have a labeling plate for receiving the label. The alignment assembly can include a lateral-motion module, a vertical-motion module, and a rotary module for moving the labeling module along or about the first, the second, and a third direction, and can place the labeling plate adjacent to an object surface.

公开(公告)号：US12246438B2

公开(公告)日：2025-03-11

申请号：US17955220

申请日：2022-09-28

Applicant: Mujin, Inc.

Inventor： Lei Lei ,  Yixuan Zhang

IPC: B25J15/06

Abstract: A tool system for a robotic arm is provided. The tool system includes a tool support structure; a tool structure, coupled to the tool support structure, having at least one structural member; a connector mechanically coupled to the structural member and shaped for engaging the tool support structure; and a control unit mechanically coupled to the at least one structural member and configured to sense and adjust performance of the tool structure based on determining a connection to the tool support structure.

公开(公告)号：US20240316779A1

公开(公告)日：2024-09-26

申请号：US18607407

申请日：2024-03-15

Applicant: MUJIN, Inc.

Inventor： Yoshiki Kanemoto ,  Shintaro Matsuoka ,  Jose Jeronimo Moreira Rodrigues ,  Kentaro Wada ,  Rosen Nikolaev Diankov ,  Puttichai Lertkultanon ,  Lei Lei ,  Yixuan Zhang ,  Xutao Ye ,  Yufan Du ,  Mingjian Liang ,  Lingping Gao ,  Xinhao Wen ,  Xu Chen

IPC: B25J9/16 ,  B25J9/00 ,  B65G67/08 ,  B65G67/20 ,  B65G67/24

CPC classification number: B25J9/1687 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/1697 ,  B65G67/08 ,  B65G67/20 ,  B65G67/24

Abstract: A robotic system may include a chassis operatively coupled to a proximal conveyor, a first segment including a first segment conveyor extending along a length of the first segment, and a gripper including a distal conveyor extending along a length of the gripper. The robotic system may further include a controller configured to operate the chassis, the conveyors, the segments, the gripper, or a combination thereof to remove and transfer objects away from a cargo loading structure, such as a cargo container.

公开(公告)号：US20230050326A1

公开(公告)日：2023-02-16

申请号：US17885421

申请日：2022-08-10

Applicant: MUJIN, Inc.

Inventor： Lei Lei ,  Yixuan Zhang ,  Xu Chen ,  Yi Xu ,  Brandon Coats ,  Rosen Nikolaev Diankov

IPC: B65C9/42 ,  B65C9/02 ,  B65C9/46 ,  B65C9/14

Abstract: A multi-purpose labeling system can include a conveyor, a visual analysis module, and a labeling assembly. The conveyor can move an object in a first direction. The visual analysis module can include an optical sensor directed toward the conveyor to generate image data depicting the object. The labeling assembly can be spaced from the conveyor in a second direction and include a printer, a labeling module, and an alignment assembly. The printer can print a label based on the image data, and the labeling module can have a labeling plate for receiving the label. The alignment assembly can include a lateral-motion module, a vertical-motion module, and a rotary module for moving the labeling module along or about the first, the second, and a third direction, and can place the labeling plate adjacent to an object surface.

公开(公告)号：US20240189982A1

公开(公告)日：2024-06-13

申请号：US18532868

申请日：2023-12-07

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Puttichai Lertkultanon ,  Shintaro Matsuoka ,  Yoshiki Kanemoto ,  Jose Jeronimo Moreira Rodrigues ,  Lei Lei ,  Yixuan Zhang ,  Xutao Ye ,  Yufan Du ,  Mingjian Liang ,  Lingping Gao ,  Xinhao Wen ,  Xu Chen

IPC: B25J9/00 ,  B25J5/00 ,  B65G67/08 ,  B65G67/24

CPC classification number: B25J9/0093 ,  B25J5/007 ,  B65G67/08 ,  B65G67/24

Abstract: A robotic system may include a chassis as well as a first leg and a second leg operatively coupled to the chassis. The first leg and the second leg may be configured to move in a vertical direction to move the chassis in a vertical translational degree of freedom. The robotic system may include a proximal conveyor, a first segment including a first segment conveyor extending along a length of the first segment, and a gripper including a distal conveyor extending along a length of the gripper. A first joint between the proximal conveyor and the first segment may be configured to provide a first rotational degree of freedom between the first segment and the proximal conveyor. A second joint between the gripper and the first segment may be configured to provide a second rotational degree of freedom between the first segment and the gripper.

公开(公告)号：US20230321846A1

公开(公告)日：2023-10-12

申请号：US18296762

申请日：2023-04-06

Applicant: MUJIN, Inc.

Inventor： Lei Lei ,  Xutao Ye ,  Xu Chen ,  Yixuan Zhang ,  Zhili Lai ,  Long Du ,  Pai Zheng ,  Rosen Nikolaev Diankov

IPC: B25J15/06 ,  B25J9/16 ,  B25J19/02

CPC classification number: B25J15/0616 ,  B25J9/1612 ,  B25J19/023

Abstract: Robotic systems with griping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool can include a frame and an actuator system coupled to the frame. The end-of-arm tool can also include a first clamping component, a second clamping component, and a third clamping component each coupled to the frame. The third clamping component is positioned peripheral to the second clamping component with respect to the first clamping component and includes one or more extension portions extending toward the first clamping component. The actuator system can be coupled to the first, second, and/or third clamping components to move the first, second, and/or third clamping components along a transverse axis of the end-of-arm tool.

公开(公告)号：US20230020813A1

公开(公告)日：2023-01-19

申请号：US17955220

申请日：2022-09-28

Applicant: Mujin, Inc.

Inventor： Lei Lei ,  Yixuan Zhang

IPC: B25J15/06

Abstract: A tool system for a robotic arm is provided. The tool system includes a tool support structure; a tool structure, coupled to the tool support structure, having at least one structural member; a connector mechanically coupled to the structural member and shaped for engaging the tool support structure; and a control unit mechanically coupled to the at least one structural member and configured to sense and adjust performance of the tool structure based on determining a connection to the tool support structure.