公开(公告)号：WO2022212015A1

公开(公告)日：2022-10-06

申请号：PCT/US2022/020161

申请日：2022-03-14

Applicant: DEXTERITY, INC.

Inventor： SUN, Zhouwen ,  NADER, Cyril ,  NAYAK, Varun Uday ,  ARVAYO, Alberto Leyva ,  ROOT, Michael ,  LOVETT, Andrew ,  CHAVEZ, Kevin Jose

IPC: B25J15/00

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.