US 11,865,722 B2
Systems and methods for efficiently moving a variety of objects
Joseph Romano, Arlington, MA (US); William Chu-Hyon McMahan, Cambridge, MA (US); Benjamin Cohen, Somerville, MA (US); Andrew Gauthier, Somerville, MA (US); Matthew T. Mason, Pittsburgh, PA (US); Thomas Wagner, Concord, MA (US); Prasanna Velagapudi, Pittsburgh, PA (US); and Michael Dawson-Haggerty, Pittsburgh, PA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Jan. 16, 2019, as Appl. No. 16/249,582.
Claims priority of provisional application 62/618,184, filed on Jan. 17, 2018.
Prior Publication US 2019/0217471 A1, Jul. 18, 2019
Int. Cl. B25J 9/16 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01); B25J 15/04 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1612 (2013.01); B25J 15/0019 (2013.01); B25J 15/0441 (2013.01); B25J 15/0491 (2013.01); B25J 15/0616 (2013.01); G05B 2219/39468 (2013.01)] 44 Claims
OG exemplary drawing
 
1. A programmable motion system comprising:
a programmable motion device that includes a robotic arm having an end effector;
an exchange station comprising a rack that provides access to a plurality of acquisition units within an area accessible by the programmable motion device and a frame to which the rack is mounted; and
coupling means for coupling any of the plurality of acquisition units to the end effector of the programmable motion device such that any of the acquisition units is capable of being automatically selected from the exchange station and used by the programmable motion device without requiring any activation or actuation by the exchange station and without requiring any intervention by a human,
wherein the rack of the exchange station comprises shaped portions for holding the plurality of acquisition units and a plurality of magnets positioned on the shaped portions of the rack for engaging a ferromagnetic portion of one or more of the plurality of acquisition units,
wherein the rack is mounted to the frame by a plurality of spring elements such that the rack is able to move in two mutually orthogonal directions, wherein the frame is movably coupled to a vertical member such that the rack is configured to move in a third direction that is mutually orthogonal to the two mutually orthogonal directions, and wherein the frame includes a position zeroing system comprising a plurality of electromagnets that are selectively activated to draw the rack towards a bias position in any of the three mutually orthogonal directions.