US 12,138,781 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 Oct. 30, 2023, as Appl. No. 18/384,923.
Application 18/384,923 is a continuation of application No. 16/523,245, filed on Jul. 26, 2019, granted, now 11,865,700, issued on Jan. 9, 2024.
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 2024/0173872 A1, May 30, 2024
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)] 28 Claims
OG exemplary drawing
 
1. A method of processing objects using a programmable motion device, said method comprising:
identifying a selected object of a plurality of objects at an input area to provide selected object identification information;
selecting, based on the selected object identification information, a change of a first vacuum cup at an attachment portion of an end effector of the programmable motion device from the first vacuum cup attached to the end effector to a second vacuum cup that is provided at an exchange station;
moving the end effector of the programmable motion device to exchange the first vacuum cup with the second vacuum cup while moving the end-effector of the programmable motion device in a continuous motion by moving the attachment portion of the end effector through a first control feature of the exchange system to remove the first vacuum cup from the attachment portion of the end effector, and by moving the attachment portion of the end effector through a second control feature of the exchange system to attach the second vacuum cup to the attachment portion of the end effector;
providing a vacuum pressure at an opening of the second vacuum cup attached to the end effector; and
grasping the selected object of the plurality of objects using the vacuum provided at the second vacuum cup attached to the attachment portion of the end effector of the programmable motion device.