Systems and methods for efficiently exchanging end effector tools

Patent metadata

Field	Value
Publication number	US-2025083334-A1
Application number	US-202418904020-A
Country	US
Kind code	A1
Filing date	Oct 1, 2024
Priority date	Jul 27, 2018
Publication date	Mar 13, 2025
Grant date	—

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 .- 58 . (canceled)

59 . An object processing system comprising:
a programmable motion device that includes an end-effector attachment portion for attaching to one of a first end-effector and a second end-effector, the first end-effector including first guide features that extend radially outwardly of the first end-effector and the second end-effector including second guide features that extend radially outwardly of the second end-effector; and an end-effector exchange station for facilitating an exchange of the first end-effector as attached to the end-effector attachment portion with the second end-effector, the end-effector exchange station including a first pair of slots in a first set of wall portions separated from each other by a first opening and a second pair of slots in a second set of wall portions separated from each other by a second opening, each of the first pair of slots and the second pair of slots including a slot opening and sloping downward away from each slot opening such that as the end-effector attachment portion passes through the first opening, the guide features of the first end-effector engage the first pair of slots pulling the first end-effector away from the end-effector attachment portion, and as the end-effector attachment portion passes through the second opening, the guide features of the first end-effector engage the second pair of slots with the second end-effector becoming attached to the end-effector attachment portion.

60 . The object processing system of claim 59 , wherein the first end-effector and the second end-effector are both vacuum cups with open interiors to permit vacuum to flow therethrough when coupled to the end-effector attachment portion of the programmable motion device.

61 . The object processing system of claim 59 , wherein each of the first end-effector and the second end-effector attached to the end-effector attachment portion by a magnetic coupling.

62 . The object processing system of claim 61 , wherein the end-effector attachment portion includes a plurality of magnets to facilitate attachment to any of the first end-effector and the second end-effector.

63 . The object processing system of claim 59 , wherein the first guide features and the second guide features each include a set of four guide features on each of the first end-effector and the second end-effector.

64 . The object processing system of claim 63 , wherein the first guide features each include a rotatable wheel that engages the first pair of slots in the first set of wall portions, and the second guide features each include a rotatable wheel that engages the second pair of slots in the second set of wall portions.

65 . The object processing system of claim 59 , wherein the first set of wall portions are each respectfully coupled to one of the second set of wall portions, forming two mutually opposing end-effector exchange station walls.

66 . The object processing system of claim 65 , wherein the end-effector attachment portion passed between the end-effector exchange station walls, moving from a first end of the end-effector exchange station walls to an opposite second end of the end-effector exchange station walls.

67 . The object processing system of claim 59 , wherein the end-effector exchange station is formed of a first unit and a second unit, the first unit including the first pair of slots in the first wall portion separated from each other by the first opening, and the second unit including the second pair of slots in the second wall portion separated from each other by the second opening.

68 . The object processing system of claim 67 , wherein the first unit and the second unit are separated from one another.

69 . An object processing system comprising:
a programmable motion device that includes an end-effector attachment portion for attaching to one of a first end-effector and a second end-effector, the first end-effector including first guide features that extend radially outwardly of the first end-effector and the second end-effector including second guide features that extend radially outwardly of the second end-effector; and an end-effector exchange station for facilitating an exchange of the first end-effector as attached to the end-effector attachment portion with the second end-effector, the end-effector exchange station including a first pair of slots in a first set of wall portions separated from each other by a first opening and a second pair of slots in a second set of wall portions separated from each other by a second opening, the first pair of slots each including a slot opening and a slope in first direction away from end-effector attachment portion such that as the end-effector attachment portion passes through the first opening, the guide features of the first end-effector engage the first pair of slots pulling the first end-effector away from the end-effector attachment portion, and as the end-effector attachment portion passes through the second opening, the guide features of the first end-effector engage the second pair of slots with the second end-effector becoming attached to the end-effector attachment portion, the second pair of slots each including a slot opening and a slope in second direction toward the end-effector attachment portion.

70 . The object processing system of claim 69 , wherein the first end-effector and the second end-effector are both vacuum cups with open interiors to permit vacuum to flow therethrough when coupled to the end-effector attachment portion of the programmable motion device.

71 . The object processing system of claim 69 , wherein each of the first end-effector and the second end-effector attached to the end-effector attachment portion by a magnetic coupling.

72 . The object processing system of claim 71 , wherein the end-effector attachment portion includes a plurality of magnets to facilitate attachment to any of the first end-effector and the second end-effector.

73 . The object processing system of claim 69 , wherein the first guide features and the second guide features each include a set of four guide features on each of the first end-effector and the second end-effector.

74 . The object processing system of claim 73 , wherein the first guide features each include a rotatable wheel that engages the first pair of slots in the first set of wall portions, and the second guide features each include a rotatable wheel that engages the second pair of slots in the second set of wall portions.

75 . The object processing system of claim 69 , wherein the first set of wall portions are each respectfully coupled to one of the second set of wall portions, forming two mutually opposing end-effector exchange station walls.

76 . The object processing system of claim 75 , wherein the end-effector attachment portion passed between the end-effector exchange station walls, moving from a first end of the end-effector exchange station walls to an opposite second end of the end-effector exchange station walls.

77 . The object processing system of claim 69 , wherein the end-effector exchange station is formed of a first unit and a second unit, the first unit including the first pair of slots in the first wall portion separated from each other by the first opening, and the second unit including the second pair of slots in the second wall portion separated from each other by the second opening.

78 . The object processing system of claim 77 , wherein the first unit and the second unit

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