公开(公告)号：WO2017096021A1

公开(公告)日：2017-06-08

申请号：PCT/US2016/064389

申请日：2016-12-01

Applicant: BERKSHIRE GREY INC.

Inventor： WAGNER, Thomas ,  AHEARN, Kevin ,  COHEN, Benjamin ,  DAWSON-HAGGERTY, Michael ,  GEYER, Christopher ,  KOLETSCHKA, Thomas ,  MARONEY, Kyle ,  MASON, Matthew ,  PRICE, Gene, Temple ,  ROMANO, Joseph ,  SMITH, Daniel ,  SRINIVASA, Siddhartha ,  VELAGAPUDI, Prasanna ,  ALLEN, Thomas

IPC: B65G47/96 ,  B07C5/36

CPC classification number: B07C5/36 ,  B07C3/082 ,  B07C5/3412 ,  B07C2501/0063 ,  B65G47/962 ,  G05B19/4189 ,  G05B2219/32328 ,  G05B2219/40078 ,  G05B2219/45056 ,  Y02P90/20 ,  Y02P90/28

Abstract: An automated shuttle sorter is disclosed that includes a carriage that is movable from a load position at which the carriage may be loaded, and at least two destination locations into which any contents of the carriage may be provided from the carriage

Abstract translation: 公开了一种自动穿梭式分拣机，其包括可从装载车厢的装载位置移动的托架，以及至少两个目的地位置，可从其中提供托架的任何内容物的至少两个目的地位置 马车

公开(公告)号：WO2017083574A1

公开(公告)日：2017-05-18

申请号：PCT/US2016/061414

申请日：2016-11-10

Applicant: BERKSHIRE GREY INC.

Inventor： WAGNER, Thomas ,  AHEARN, Kevin ,  COHEN, Benjamin ,  DAWSON-HAGGERTY, Michael ,  GEYER, Christopher ,  KOLETSCHKA, Thomas ,  MARONEY, Kyle ,  MASON, Matthew ,  PRICE, Gene, Temple ,  ROMANO, Joseph ,  SMITH, Daniel ,  SRINIVASA, Siddhartha ,  VELAGAPUDI, Prasanna ,  ALLEN, Thomas

IPC: B25J9/16 ,  G05B19/418

CPC classification number: B25J19/04 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1687 ,  B25J9/1697 ,  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 ,  Y02P90/10 ,  Y02P90/20

Abstract: A sortation system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The sortation system 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.

Abstract translation: 公开了一种分拣系统，用于在结构化和杂乱的环境中提供对同质和非同质对象的处理。 该分类系统包括可编程运动装置，该可编程运动装置包括末端执行器，用于识别呈现在多个对象中的对象的身份，位置和取向中的任何一个的感知系统，用于选择对象上的抓握位置的抓取选择系统， 所述抓握位置被选择为通过所述端部执行器提供对所述物体的可靠抓握以允许所述物体从所述多个物体移动到多个目的地位置中的一个;以及运动计划系统，用于为所述物体提供运动路径 当由所述末端执行器将所述对象从所述多个对象抓握到所述多个目的地位置中的所述一个时，传送所述对象，其中，选择所述运动路径以提供从所述多个对象到所述多个目的地位置中的所述一个的路径。

公开(公告)号：WO2017040803A1

公开(公告)日：2017-03-09

申请号：PCT/US2016/049935

申请日：2016-09-01

Applicant: BERKSHIRE GREY INC.

Inventor： WAGNER, Thomas ,  AHEARN, Kevin ,  DAWSON-HAGGERTY, Michael ,  GEYER, Christopher ,  KOLETSCHKA, Thomas ,  MARONEY, Kyle ,  MASON, Matthew ,  PRICE, Gene, Temple ,  ROMANO, Joseph ,  SMITH, Daniel ,  SRINIVASA, Siddhartha ,  VELAGAPUDI, Prasanna ,  ALLEN, Thomas

IPC: B25J9/16

CPC classification number: B25J9/1694 ,  B25J9/1602 ,  B25J9/1612 ,  B25J13/081 ,  B25J13/085 ,  B25J13/086 ,  B25J15/0616 ,  G05B2219/37401 ,  G05B2219/39529 ,  G05B2219/39531 ,  G05B2219/39533 ,  G05B2219/39555 ,  G05B2219/39556 ,  G05B2219/39558

Abstract: An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.

Abstract translation: 公开了一种铰接臂系统，其包括包括末端执行器的铰接臂和包括用于感测铰接臂的位置，移动或加速度中的至少一个的至少一个传感器的机器人手臂控制系统，以及用于提供 铰接臂的计算控制和车载控制器，用于响应于至少一个传感器提供直接控制铰接臂的至少一部分的运动信号。

公开(公告)号：WO2017035466A1

公开(公告)日：2017-03-02

申请号：PCT/US2016/048968

申请日：2016-08-26

Applicant: BERKSHIRE GREY INC.

Inventor： WAGNER, Thomas ,  AHEARN, Kevin ,  DAWSON-HAGGERTY, Michael ,  GEYER, Christopher ,  KOLETSCHKA, Thomas ,  MARONEY, Kyle ,  MASON, Matthew ,  PRICE, Gene, Temple ,  ROMANO, Joseph ,  SMITH, Daniel ,  SRINIVASA, Siddhartha ,  VELAGAPUDI, Prasanna ,  ALLEN, Thomas

IPC: B25J15/06 ,  B65G47/91

CPC classification number: B25J15/0625 ,  B25J15/0633 ,  B25J15/0658 ,  B25J15/0691 ,  B65G47/91

Abstract: An end effector is disclosed for an articulated arm. The end effector includes a valve assembly including a plurality of supply channels, each supply channel including a supply conduit, a pressure sensor in fluid communication with the supply conduit, and a supply conduit plug. The supply conduit is in fluid communication with a vacuum source. During use, each supply conduit is either at vacuum such that the pressure within the supply conduit is substantially at a vacuum pressure, or is at a pressure that is substantially higher than vacuum pressure because the supply conduit plug has moved to block a portion of the supply conduit. The pressure sensor of each supply conduit provides a pressure sensor signal responsive to whether the pressure in the conduit is either substantially at vacuum or is at a pressure that is substantially higher than vacuum.

Abstract translation: 公开了一种用于铰接臂的端部执行器。 末端执行器包括包括多个供应通道的阀组件，每个供应通道包括供应导管，与供应导管流体连通的压力传感器和供应导管塞。 供应管道与真空源流体连通。 在使用期间，每个供应管道处于真空状态，使得供应管道内的压力基本上处于真空压力，或处于基本上高于真空压力的压力，因为供应管道塞已经移动以阻挡一部分 供应管道。 每个供应管道的压力传感器提供响应于管道中的压力是基本上处于真空还是处于基本上高于真空的压力的压力传感器信号。

公开(公告)号：WO2017035016A1

公开(公告)日：2017-03-02

申请号：PCT/US2016/047869

申请日：2016-08-19

Applicant: BERKSHIRE GREY INC.

Inventor： WAGNER, Thomas ,  AHEARN, Kevin ,  DAWSON-HAGGERTY, Michael ,  GEYER, Christopher ,  KOLETSCHKA, Thomas ,  MARONEY, Kyle ,  MASON, Matthew ,  PRICE, Gene, Temple ,  ROMANO, Joseph ,  SMITH, Daniel ,  SRINIVASA, Siddhartha ,  VELAGAPUDI, Prasanna ,  ALEN, Thomas

IPC: B25J13/08 ,  B25J17/02

CPC classification number: B25J9/1694 ,  B25J9/1638 ,  B25J13/088 ,  B25J15/0616 ,  B25J17/0208

Abstract: 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.

Abstract translation: 公开了一种关节臂的感测操纵器。 感测操纵器包括柔顺部分和沿顺应部分的第一方向设置的运动检测系统，使得顺应部分沿着第一方向和横向于所述第一方向的至少一个方向的运动可通过运动检测来检测 系统。