US 12,064,873 B2
Systems and methods for processing objects including a zone gantry system
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); John Richard Amend, Jr., Belmont, MA (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); William Hartman Fort, Stratham, NH (US); Christopher Geyer, Arlington, MA (US); Jennifer Eileen King, Oakmont, PA (US); Thomas Koletschka, Cambridge, MA (US); Michael Cap Koval, Mountain View, CA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); William Chu-Hyon McMahan, Cambridge, MA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Prasanna Velagapudi, Pittsburgh, PA (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 Aug. 8, 2022, as Appl. No. 17/882,669.
Application 17/882,669 is a continuation of application No. 16/808,600, filed on Mar. 4, 2020, granted, now 11,478,923.
Application 16/808,600 is a continuation of application No. 15/925,409, filed on Mar. 19, 2018, granted, now 10,632,610, issued on Apr. 28, 2020.
Claims priority of provisional application 62/473,857, filed on Mar. 20, 2017.
Prior Publication US 2022/0410372 A1, Dec. 29, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/02 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B65G 1/04 (2006.01); B65G 1/137 (2006.01); B65G 47/91 (2006.01); G06Q 10/087 (2023.01)
CPC B25J 9/026 (2013.01) [B25J 9/0093 (2013.01); B25J 9/1615 (2013.01); B65G 1/0464 (2013.01); B65G 1/1373 (2013.01); B65G 47/917 (2013.01); G06Q 10/087 (2013.01); B65G 1/0485 (2013.01); B65G 1/1378 (2013.01); B65G 2201/0258 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An object processing system comprising:
a plurality of storage bins providing storage of a plurality of objects;
a plurality of destination bins being comingled with the plurality of storage bins;
a gantry retrieval conveyance system comprising a grasping device movably coupled to a gantry, wherein the grasping device grasps and moves at least one selected storage bin to and from a processing station and wherein the grasping device further grasps and moves at least one selected destination bin to and from the processing station; and
a programmable motion device at the processing station for moving a selected object from the at least one selected storage bin at the processing station to the at least one selected destination bin at the processing station, said programmable motion device including an end-effector for grasping and moving the selected object from the at least one selected storage bin to the at least one selected destination bin.
 
8. An object processing system comprising:
a plurality of storage bins providing storage of a plurality of objects;
a plurality of destination bins;
a plurality of gantry retrieval conveyance systems, each gantry retrieval conveyance system comprising a grasping device movably coupled to a gantry, wherein the grasping device of each gantry retrieval conveyance system grasps and moves selected storage bins or selected destination bins to and from a processing station; and
a programmable motion device at the processing station for moving selected objects from the selected storage bins at the processing station to the selected destination bins, said programmable motion device including an end-effector for grasping and moving the selected objects.
 
15. An object processing system comprising:
a plurality of bins provided in an array, said plurality of bins including bins designated as storage bins and bins designated as destination bins;
a gantry retrieval conveyance system comprising a grasping device movably coupled to a gantry, wherein the grasping device grasps and moves selected storage bins and selected destination bins to and from a processing station; and
a programmable motion device at the processing station for moving a selected object from one of the selected storage bins at the processing station to one of the selected destination bins at the processing stations, said programmable motion device including an end-effector for grasping and moving the selected object from the selected storage bin to the selected destination bin.