公开(公告)号：US12091263B2

公开(公告)日：2024-09-17

申请号：US17984558

申请日：2022-11-10

Applicant: The Gillette Company LLC

Inventor： Mark Knight Robinson

IPC: B65G47/91 ,  B25J15/06 ,  B65G17/32

CPC classification number: B65G47/911 ,  B25J15/0616 ,  B65G47/917

Abstract: A method is provided for transporting components using a gripping apparatus. The gripping apparatus includes a body defining a chamber and includes an exhaust at a first end of the body. The gripping apparatus also includes an air conveyor positioned within the chamber. The method includes attaching a gripper head to a second end of the body opposite to the first end. The gripper head defines one or more openings and a nest. The method further includes generating an air flow through an inlet of the air conveyor and out through the exhaust. The method further includes applying suction via the one or more openings in the gripper head to locate and releasably hold one of the components with the gripper head at the first location based on the generating step. The method further includes transporting the component from the first location to a second location.

公开(公告)号：US12064873B2

公开(公告)日：2024-08-20

申请号：US17882669

申请日：2022-08-08

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： 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

IPC: B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B65G1/04 ,  B65G1/137 ,  B65G47/91 ,  G06Q10/087

CPC classification number: B25J9/026 ,  B25J9/0093 ,  B25J9/1615 ,  B65G1/0464 ,  B65G1/1373 ,  B65G47/917 ,  G06Q10/087 ,  B65G1/0485 ,  B65G1/1378 ,  B65G2201/0258

Abstract: A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. The plurality of storage bins provides storage of a plurality of objects, where the plurality of storage bins are in communication with a gantry retrieval conveyance system for moving selected bins to a bin processing location. The plurality of destination bins are in communication with the gantry retrieval conveyance system for moving a selected destination bin to the processing location. The processing programmable motion device is at the processing location and is in communication with the gantry retrieval conveyance system. The processing programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin and depositing the selected object in the selected destination bin.

公开(公告)号：US11970344B2

公开(公告)日：2024-04-30

申请号：US17331005

申请日：2021-05-26

Applicant: DENSO WAVE INCORPORATED

Inventor： Hiroshi Tsuzuki

IPC: B25J9/16 ,  B65G47/91

CPC classification number: B65G47/917 ,  B25J9/1666 ,  B25J9/1676 ,  B25J9/1679 ,  B65G47/918 ,  B65G2203/0233

Abstract: In an apparatus for controlling a robot arm with an end effector for packing workpieces in a box-shaped open container with a bottom wall and at least one side wall, an inner surface of the at least one side wall being covered with a contact prevention sheet having an indefinite shape, a controller determines whether a packing position of a selected workpiece in the box-shaped open container is adjacent to the inner surface of the at least one side wall of the container. The controller instructs the robot arm to move the selected workpiece picked up by the end effector downward while preventing the picked-up workpiece from entering a predetermined safety zone in response to determination that the specified packing position in the box-shaped open container is adjacent to the inner surface of the at least one side wall of the container.

公开(公告)号：US11964830B2

公开(公告)日：2024-04-23

申请号：US17122929

申请日：2020-12-15

Applicant: AMP Robotics Corporation

Inventor： John C. McCoy, Jr. ,  James A. Bailey ,  Carter J. Schultz ,  Matanya B. Horowitz ,  Mark Baybutt ,  Cameron D. Douglas

IPC: B65G47/91 ,  B25J13/08 ,  B25J15/06 ,  B25J9/00 ,  B25J9/16

CPC classification number: B65G47/918 ,  B25J13/08 ,  B25J15/0666 ,  B65G47/917 ,  B25J9/003 ,  B25J9/1697

Abstract: Using a suction gripper cluster device is disclosed, including: causing airflows to be generated by a plurality of airflow generators of a respective plurality of suction gripper mechanisms included in a suction gripper cluster device comprising a plurality of suction gripper mechanisms, wherein the plurality of airflow generators is configured to cause the airflows to enter respective intake ports of the plurality of suction gripper mechanisms and exit respective outlet ports of the respective plurality of suction gripper mechanisms in response to receiving air at a respective air input port of the respective plurality of suction gripper mechanisms; causing a target object to be captured by the suction gripper cluster device using the airflows; activating a positioning actuator mechanism to position the suction gripper cluster device; and causing the target object to be ejected from the suction gripper cluster device.

公开(公告)号：US20240092591A1

公开(公告)日：2024-03-21

申请号：US18458252

申请日：2023-08-30

Applicant: SEMES CO., LTD.

Inventor： Ho Chul CHOI

IPC: B65G49/06 ,  B65G47/91

CPC classification number: B65G49/065 ,  B65G47/917 ,  H01L21/67784

Abstract: Provided is a substrate processing apparatus and method capable of controlling a gripper to stably suck a substrate even when the substrate is deformed, the substrate processing apparatus including a floating stage for floating a substrate, lift pins liftably mounted in the floating stage, a substrate aligner for aligning the substrate floated from the floating stage, a gripper for vacuum-sucking the aligned substrate, and a controller capable of controlling a floating height of the substrate, wherein the controller reduces the floating height of the substrate when the gripper fails to vacuum-suck the substrate.

公开(公告)号：US20240083696A1

公开(公告)日：2024-03-14

申请号：US18330389

申请日：2023-06-07

Applicant: HEFA Holding GmbH

Inventor： Gunnar HELD

IPC: B65G47/90 ,  B65G39/12 ,  B65G47/91

CPC classification number: B65G47/905 ,  B65G39/12 ,  B65G47/902 ,  B65G47/917 ,  B65G21/22

Abstract: The invention relates to a removal device for removing flexible material parts, to a method for removing flexible material parts, and to a production facility comprising a conveyor device and a removal device. In order to provide a removal device for removing and moving one or more flexible material parts, a method for removing material parts from a conveyor device, and a production facility comprising a conveyor device and a removal device, a removal device for removing at least one pliable material part from a conveyor device is proposed, comprising: at least one winding device including a receiver which is movable to a removal position via the conveyor device and is configured to contact a region of the flexible material part to be removed and receive the flexible material part to be removed from the conveyor device and wind up the same about the receiver, wherein, after winding up the material part to be removed, the orientation of the winding device or the receiver can be pivoted and the winding device can be moved to a depositing position, wherein the winding device is configured to convey the material part wound up about the receiver to a transport container at the depositing position and deposit the wound material part in the wound-up state.

公开(公告)号：US11865707B2

公开(公告)日：2024-01-09

申请号：US16940554

申请日：2020-07-28

Applicant: Nimble Robotics, Inc.

Inventor： Simon Kalouche

IPC: B65G1/137 ,  B65G1/04 ,  B65G1/06 ,  B25J5/02 ,  B25J15/06 ,  B25J19/00 ,  B25J9/04 ,  B25J17/02 ,  B25J13/08 ,  B25J9/16 ,  B60M1/30 ,  B25J5/00 ,  B25J9/14 ,  B25J19/04 ,  B25J15/04 ,  B25J15/02 ,  B65G47/91 ,  B25J13/00 ,  B25J15/00 ,  B25J19/02

CPC classification number: B25J5/007 ,  B25J5/02 ,  B25J9/042 ,  B25J9/14 ,  B25J9/161 ,  B25J9/162 ,  B25J9/163 ,  B25J9/1612 ,  B25J9/1689 ,  B25J9/1697 ,  B25J13/00 ,  B25J13/006 ,  B25J13/08 ,  B25J13/089 ,  B25J15/0061 ,  B25J15/02 ,  B25J15/0441 ,  B25J15/0616 ,  B25J15/0625 ,  B25J17/02 ,  B25J19/005 ,  B25J19/0025 ,  B25J19/02 ,  B25J19/021 ,  B25J19/04 ,  B60M1/30 ,  B65G1/0464 ,  B65G1/0478 ,  B65G1/065 ,  B65G1/1373 ,  B65G1/1375 ,  B65G47/917 ,  B65G47/918 ,  B65G2203/041 ,  B65G2203/042 ,  B65G2209/04

Abstract: A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.

公开(公告)号：US11833665B2

公开(公告)日：2023-12-05

申请号：US17293646

申请日：2019-11-12

Applicant: Daifuku Co., Ltd.

Inventor： Mitsuo Morikubo ,  Yoshikazu Tai ,  Takuya Gondoh ,  Masami Iwai ,  Atsushi Minoo ,  Shigeru Sugano

IPC: B25J13/08 ,  B65G47/90 ,  B65G47/91 ,  B65G57/04 ,  B65G61/00

CPC classification number: B25J13/08 ,  B65G47/905 ,  B65G47/917 ,  B65G57/04 ,  B65G61/00 ,  B65G2201/02 ,  B65G2203/041

Abstract: A control unit executes first loading control if it is determined that a loaded article is not present above a loading surface region based on captured image information, and second loading control if it is determined that it is uncertain whether the loaded article is not present above the loading surface region based on the captured image information. The first loading control causing a holding unit to release a target article when the target article is directly above the loading surface region and the lower surface of the target article is higher than the upper surface of the loading surface region by a first specified distance, and the second loading control causing the holding unit to release the target article when the target article is directly above the loading surface region and the lower surface of the target article is higher, by a second specified distance, than a specified height.

公开(公告)号：US20230365352A1

公开(公告)日：2023-11-16

申请号：US18355281

申请日：2023-07-19

Applicant: AMP Robotics Corporation

Inventor： Cameron D. Douglas ,  Mark Baybutt ,  Matanya B. Horowitz

IPC: B65G47/91 ,  B07C5/342 ,  B07C5/36

CPC classification number: B65G47/917 ,  B07C5/342 ,  B07C5/368 ,  B65G2203/0233 ,  B65G2203/041

Abstract: A bidirectional air conveyor device is disclosed, including: a housing that includes an intake port and an outlet port; a first air input port; a first airflow generator defined within the housing, wherein the first airflow generator is coupled to the first air input port; a second air input port; a second airflow generator defined within the housing, wherein the second airflow generator is coupled to the second air input port; wherein the first airflow generator is configured to cause a first airflow to enter the intake port and exit the outlet port in response to a first supply of air to the first air input port; and wherein the second airflow generator is configured to cause a second airflow to enter the outlet port and exit the intake port in response to a second supply of air to the second air input port.

公开(公告)号：US20230322500A1

公开(公告)日：2023-10-12

申请号：US18208515

申请日：2023-06-12

Applicant: Becton Dickinson Rowa Germany GmbH

Inventor： Andreas KLAPPERICH

IPC: B65G47/51 ,  B65G47/91

CPC classification number: B65G47/5104 ,  B65G47/917 ,  B65G47/912 ,  G06T7/70

Abstract: Devices for separating piece goods such as pharmaceutical product packages to be stored in a picking device are provided. The device includes a feed device for piece goods, a recording device for recording 3D images of piece goods, a control device for evaluating 3D images and for determining a piece good to be picked, a conveyor for picking a piece good, a deposit surface, and a lateral recording device. The control device is configured so that the orientation of the picked piece good is ascertained and the preferred storage surface is established and that the conveyor is activated in such a way that a picked piece good is situated on a preferred storage surface on the deposit surface. Methods of separating piece goods to be stored in a picking device are also provided.