Robotic kitting machine

Patent metadata

Field	Value
Publication number	US-2021122043-A1
Application number	US-202017068572-A
Country	US
Kind code	A1
Filing date	Oct 12, 2020
Priority date	Oct 25, 2019
Publication date	Apr 29, 2021
Grant date	—

Abstract

A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.

First claim

What is claimed is:

1 . A robotic kitting system, comprising:
a communication interface; and a processor coupled to the communication interface and configured to:
move an item to a location associated with a slot into which the item is to be inserted;
receive via the communication interface a force information generated by a force sensor;
use the force sensor information to align a structure comprising the item with a corresponding cavity comprising the slot; and
insert the item into the slot.

2 . The system of claim 1 , wherein the processor is further configured to grasp the item from a source receptacle.

3 . The system of claim 1 , wherein the processor is further configured to receive a high-level is objective and generate and implement a plan to achieve the high-level objective, including by moving the item to the location.

4 . The system of claim 1 , wherein the processor is configured to move the item to the location using position control.

5 . The system of claim 1 , wherein the slot is included in a destination receptacle.

6 . The system of claim 5 , wherein the corresponding cavity comprises a cavity defined in a substrate.

7 . The system of claim 6 , wherein the substrate comprises a foam or other insert.

8 . The system of claim 1 , wherein the cavity comprises a first cavity and the slot includes one or more other cavities.

9 . The system of claim 8 , wherein one or more of the cavities has a shape or dimension that differs from one or more other of the cavities.

10 . The system of claim 1 , wherein the processor is configured to invoke a force control primitive to use the force sensor information to align the structure comprising the item with the corresponding cavity comprising the slot.

11 . The system of claim 1 , wherein the processor is configured to use the force sensor information to align the structure comprising the item with the corresponding cavity comprising the slot at least in part by repositioning the item to a location determined by a search algorithm and applying a downward vertical force.

12 . The system of claim 1 , wherein the processor is configured to detect based at least in part on the force sensor information that a destination receptacle with which the location and the slot are associated is at a detected orientation that is different than an expected orientation.

13 . The system of claim 12 , wherein the processor is further configured to remap position information for one or more slots comprising the destination receptacle based at least in part on detecting that the destination receptacle is at the detected orientation that is different than an expected orientation.

14 . The system of claim 12 , wherein the detected orientation is approximately 180 degrees different than the expected orientation, and the processor is configured to insert the item in the slot at least in part by withdrawing the item, rotating the item 180 degrees, and moving the item to a remapped location associated with the slot.

15 . A method, comprising:
controlling a robotic arm to move an item to a location in proximity to a slot into which the item is to be inserted; receiving via a communication interface a force information generated by a force sensor; using the force sensor information to align a structure comprising the item with a corresponding cavity comprising the slot; and inserting the item into the slot.

16 . The method of claim 15 , further comprising receiving a high-level objective and generating and implementing a plan to achieve the high-level objective, including by moving the item to the location.

17 . The method of claim 15 , wherein the item is moved to the location using position control.

18 . The method of claim 15 , wherein the slot is included in a destination receptacle and the corresponding cavity comprises a cavity defined in a substrate.

19 . The method of claim 15 , the force sensor information is used to align the structure comprising the item with the corresponding cavity comprising the slot at least in part by repositioning the item to a location determined by a search algorithm and applying a downward vertical force.

20 . A computer program product embodied in a non-transitory computer readable medium, comprising computer instructions for:
controlling a robotic arm to move an item to a location in proximity to a slot into which the item is to be inserted; receiving via a communication interface a force information generated by a force sensor; using the force sensor information to align a structure comprising the item with a corresponding cavity comprising the slot; and inserting the item into the slot.

Assignees

• Dexterity Inc

Inventors

• Menon Samir
• Priego Ivan Alberto Trujillo
• Morris-Downing Talbot
• Sun Zhouwen
• Chavez Kevin Jose
• Arvayo Alberto Leyva
• Nader Cyril
• Farhat Farshid

Classifications

• G05B2219/40032

  Peg and hole insertion, mating and joining, remote center compliance · CPC title

• G05B2219/39322

  Force and position control · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title

• B25J9/1633 Primary

  compliant, force, torque control, e.g. combined with position control · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title