Systems and methods for efficiently exchanging end effector tools

Patent metadata

Field	Value
Publication number	US-12138781-B2
Application number	US-202318384923-A
Country	US
Kind code	B2
Filing date	Oct 30, 2023
Priority date	Jul 27, 2018
Publication date	Nov 12, 2024
Grant date	Nov 12, 2024

Abstract

A method is disclosed of changing a tool on a programmable motion device. The method includes the steps of moving an attachment portion of an end effector of the programmable motion device in a continuous motion; while the attachment portion of the end effector moves in the continuous motion, engaging one of: the attachment portion of the end effector with the tool, or the tool attached to the attachment portion of the end effector with an exchange system, and continuing to move the attachment portion of the end effector in the continuous motion to change a connection status of the attachment portion of the end effector while the attachment portion of the end effector moves in the continuous motion.

First claim

What is claimed is:

1. A method of processing objects using a programmable motion device, said method comprising:
identifying a selected object of a plurality of objects at an input area to provide selected object identification information;
selecting, based on the selected object identification information, a change of a first vacuum cup at an attachment portion of an end effector of the programmable motion device from the first vacuum cup attached to the end effector to a second vacuum cup that is provided at an exchange station;
moving the end effector of the programmable motion device to exchange the first vacuum cup with the second vacuum cup while moving the end-effector of the programmable motion device in a continuous motion by moving the attachment portion of the end effector through a first control feature of the exchange system to remove the first vacuum cup from the attachment portion of the end effector, and by moving the attachment portion of the end effector through a second control feature of the exchange system to attach the second vacuum cup to the attachment portion of the end effector;
providing a vacuum pressure at an opening of the second vacuum cup attached to the end effector; and
grasping the selected object of the plurality of objects using the vacuum provided at the second vacuum cup attached to the attachment portion of the end effector of the programmable motion device.

2. The method of claim 1 , wherein a direction of the continuous motion of the attachment portion of the end effector is linear.

3. The method of claim 2 , wherein a direction of the continuous motion of the attachment portion of the end effector is arcuate.

4. The method of claim 1 , wherein each of the first vacuum cup and the second vacuum cup includes capture features that engage the first control feature and the second control feature of the exchange system.

5. The method of claim 4 , wherein the capture features of the first vacuum cup and the second vacuum cup include protrusions.

6. The method of claim 4 , wherein each of the first control feature and the second control feature of the exchange system includes a pair of slotted arms.

7. The method of claim 1 , wherein the first control feature of the exchange system separates the first vacuum cup from the attachment portion of the end effector by linear movement.

8. The method of claim 1 , wherein each of the first vacuum cup and the second vacuum cup is attachable to the attachment portion of the end effector by a magnetic coupling.

9. The method of claim 1 , wherein each of the first vacuum cup and the second vacuum cup is attachable to the attachment portion of the end effector by a mechanical coupling.

10. A method of processing objects using a programmable motion device, said method comprising:
identifying each of a plurality of objects at an input area to provide object identification information regarding each of the identified objects;
providing a first vacuum cup at an attachment portion of an end effector of a programmable motion device;
determining that at least one of the plurality of objects is associated with a second vacuum cup that is different than the first vacuum cup based on the object identification information;
using the programmable motion device with the first vacuum cup attached to the attachment portion of the end effector to grasp and move at least one object of the plurality of objects that is not associated with the second vacuum cup;
moving the end effector of the programmable motion device to exchange the first vacuum cup with the second vacuum cup while moving the end-effector of the programmable motion device in a continuous motion by moving the attachment portion of the end effector through a first control feature of the exchange system to remove the first vacuum cup from the attachment portion of the end effector, and by moving the attachment portion of the end effector through a second control feature of the exchange system to attach the second vacuum cup to the attachment portion of the end effector; and
grasping and moving the at least one object of the plurality of objects that is associated with the second vacuum cup using the second vacuum cup attached to the attachment portion of the end effector of the programmable motion device.

11. The method of claim 10 , wherein a direction of the continuous motion of the attachment portion of the end effector is linear.

12. The method of claim 11 , wherein a direction of the continuous motion of the attachment portion of the end effector is arcuate.

13. The method of claim 10 , wherein each of the first vacuum cup and the second vacuum cup includes capture features that engage the first control feature and the second control feature of the exchange system.

14. The method of claim 13 , wherein the capture features of the first vacuum cup and the second vacuum cup include protrusions.

15. The method of claim 13 , wherein each of the first control feature and the second control feature of the exchange system includes a pair of slotted arms.

16. The method of claim 10 , wherein the first control feature of the exchange system separates the first vacuum cup from the attachment portion of the end effector by linear movement.

17. The method of claim 10 , wherein each of the first vacuum cup and the second vacuum cup is attachable to the attachment portion of the end effector by a magnetic coupling.

18. The method of claim 10 , wherein each of the first vacuum cup and the second vacuum cup is attachable to the attachment portion of the end effector by a mechanical coupling.

19. An object processing system for processing objects, said object processing system comprising:
a perception system for identifying a selected object of a plurality of objects at an input area and for providing selected object identification information;
a processing system for selecting, based on the selected object identification information, a change of a first vacuum cup at an attachment portion of an end effector of a programmable motion device from the first vacuum cup attached to the end effector to a second vacuum cup that is provided at an exchange station, said exchange station including a first control feature of the exchange station that removes the first vacuum cup while the attachment portion is moving through the exchange station in a first continuous motion, and a second control feature of the exchange station that attaches the second vacuum cup to the attachment portion of the end effector while the attachment portion of the end effector continues to move in the first continuous motion through the exchange station; and
a vacuum source for providing a vacuum pressure at an opening of the second vacuum cup attached to the attachment portion of the end effector to grasp the selected object of the plurality of objects at the input area.

20. The object processing system of claim 19 , wherein the first continuous direction of the attachment portion is linear.

21. The object processing system of claim 19 , wherein the first continuous direction of the attachment portion is arcuate.

22. The object processing system of claim 19 , wherein the first vacuum cup and the second vacuum cup each include capture features that engage the first and second control features of the exchange station.

23. The object processing system of claim 22 , wherein the capture features of the first vacuum cup and the second vacuum cup include protrusions.

Assignees

• Berkshire Grey Operating Company Inc

Inventors

• Wagner Thomas
• Amend Jr John Richard
• Farmer William
• Gauthier Andrew
• Hinchey Victoria
• MARONEY Kyle
• Mason Matthew T
• Musgrave Richard
• Naseef Samuel
• Allen Thomas

Classifications

• G05B2219/39468

  Changeable hand, tool, code carrier, detector · CPC title

• B25J15/0491

  comprising end-effector racks · CPC title

• B25J15/0441

  having vacuum or magnetic means · CPC title

• B25J15/04

  with provision for the remote detachment or exchange of the head or parts thereof · CPC title

• G05B2219/39467

  Select hand as function of geometric form of hand · CPC title