US 11,865,700 B2
Systems and methods for efficiently exchanging end effector tools
Thomas Wagner, Concord, MA (US); John Richard Amend, Jr., Belmont, MA (US); William Farmer, Bolton, MA (US); Andrew Gauthier, Somerville, MA (US); Victoria Hinchey, Winchester, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); Richard Musgrave, Sewickley, PA (US); Samuel Naseef, Medford, MA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Jul. 26, 2019, as Appl. No. 16/523,245.
Claims priority of provisional application 62/739,562, filed on Oct. 1, 2018.
Claims priority of provisional application 62/711,087, filed on Jul. 27, 2018.
Prior Publication US 2020/0030994 A1, Jan. 30, 2020
Int. Cl. B25J 15/04 (2006.01)
CPC B25J 15/0408 (2013.01) [B25J 15/0441 (2013.01); B25J 15/0491 (2013.01); G05B 2219/39468 (2013.01)] 32 Claims
OG exemplary drawing
 
1. A method of changing a tool on an end effector of a programmable motion device, said method comprising:
moving an attachment portion of the end effector of the programmable motion device in a continuous motion;
moving the attachment portion of the end effector in a single direction of the continuous motion through a first control feature of an exchange system to remove a first tool from the attachment portion of the end effector with an exchange system; and
continuing to move the attachment portion of the end effector in the single direction of the continuous motion through a second control feature of the exchange system to attach a second tool to the attachment portion of the end effector.