公开(公告)号：WO2018152268A1

公开(公告)日：2018-08-23

申请号：PCT/US2018/018266

申请日：2018-02-15

申请人： PERSIMMON TECHNOLOGIES, CORP.

发明人： HOSEK, Martin ,  WILKAS, Scott ,  LIPCON, Jacob

IPC分类号： B25J9/04 ,  B25J9/06 ,  B25J9/16 ,  B25J15/00 ,  B25J17/02 ,  B25J18/02

摘要： An apparatus including a robot drive having motors and coaxial drive shafts connected to the motors; and a robot arm connected to the robot drive. The robot arm includes two upper arms, a first set of forearms connected to a first one of the upper arms, a second set of forearms connected to a second one of the upper arms and end effectors connected to respective ones of the forearms. The first and second upper arms are connected to respective first and second ones of the coaxial drive shafts. The first set of the forearms is mounted on the first upper arm and connected to a third one of the coaxial drive shafts by respective first and second drive belt assemblies. The second set of the forearms is mounted to the second upper arm and connected to a fourth one of the coaxial drive shafts by respective third and fourth drive belt assemblies.

公开(公告)号：WO2020009919A1

公开(公告)日：2020-01-09

申请号：PCT/US2019/039723

申请日：2019-06-28

申请人： PERSIMMON TECHNOLOGIES, CORP.

发明人： HOSEK, Martin ,  WILKAS, Scott ,  SAH, Sripati ,  YAMAYOSHI, Itsui

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  G01B11/02 ,  G01B11/03 ,  G01B11/04

摘要： Disclosed herein is a method. The method includes moving a payload through a motion path proximate at least one sensor. Detecting edges of the payload such that at least three points on at least two edges are detected. Capturing a position when the at least one sensor detects at least one edge of the payload.