Systems and methods for efficiently exchanging end effector tools

US12138781B2 · kind B2 · utility

Assignee

• Berkshire Grey Operating Company, Inc. · US

Inventors

• Thomas Wagner · Concord, US
• John Richard Amend, Jr. · Belmont, US
• William Farmer · Bolton, US
• Andrew Gauthier · Somerville, US
• Victoria Hinchey · Winchester, US
• Kyle Maroney · Dodgeville, US
• Matthew T. Mason · Pittsburgh, US
• Richard Musgrave · Stoops Ferry, US
• Samuel Naseef · Medford, US
• Thomas Allen · Reading, US

Key dates

• Filing date: Oct 30, 2023
• Grant date: Nov 12, 2024
• Expiry date: Oct 30, 2043

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/39468
• WIPO field: Handling
• WIPO sector: Mechanical engineering

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.