US 11,813,744 B2
Systems and methods for processing objects, including automated re-circulating processing stations
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Victoria Hinchey, Winchester, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (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 Oct. 7, 2020, as Appl. No. 17/065,042.
Application 17/065,042 is a continuation of application No. 16/001,630, filed on Jun. 6, 2018, granted, now 10,843,333.
Claims priority of provisional application 62/638,724, filed on Mar. 5, 2018.
Prior Publication US 2021/0023696 A1, Jan. 28, 2021
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); B65G 1/137 (2006.01); G06Q 10/08 (2023.01); G05B 19/418 (2006.01); B65D 5/42 (2006.01); G06Q 10/087 (2023.01); B65D 5/00 (2006.01)
CPC B25J 9/0093 (2013.01) [B25J 9/16 (2013.01); B25J 9/1669 (2013.01); B65D 5/4212 (2013.01); B65G 1/1376 (2013.01); B65G 1/1378 (2013.01); G05B 19/4182 (2013.01); G06Q 10/08 (2013.01); G06Q 10/087 (2013.01); B65D 5/001 (2013.01); B65G 2201/025 (2013.01); B65G 2201/0258 (2013.01); B65G 2203/0216 (2013.01); B65G 2203/041 (2013.01); B65G 2203/044 (2013.01); G05B 2219/31078 (2013.01); G05B 2219/39102 (2013.01); G05B 2219/39106 (2013.01); G05B 2219/40554 (2013.01)] 29 Claims
OG exemplary drawing
 
1. A processing system comprising:
a container input conveyor providing a plurality of source containers to a plurality of processing stations; and
an output conveyor providing a plurality of processing containers from the plurality of processing stations;
each of the plurality of processing stations being in communication with the container input conveyor and the output conveyor, and including:
a programmable motion device including an end effector for grasping an object from a source container provided by the container input conveyor;
two inner conveyors arranged in parallel on opposite sides of the programmable motion device, and two outer conveyors arranged in parallel outside of the two inner conveyors,
the two inner conveyors and the two outer conveyors each being adapted to provide one or more processing containers such that any of the one or more processing containers provided on either of the two inner conveyors are accessible to the programmable motion device for receiving the grasped object, and wherein any of the one or more processing containers provided on either of the two outer conveyors are not accessible to the programmable motion device for receiving the grasped object,
said processing station being adapted to move the processing containers between the two inner conveyors and the two outer conveyors, and being adapted to provide any of the one or more processing containers that have completed processing from either any of the two inner conveyors or any of the two outer conveyors to the output conveyor.
 
11. A processing system comprising:
a container input conveyor providing a plurality of source containers to a plurality of processing stations; and
an output conveyor providing a plurality of processing containers from the plurality of processing stations, said output conveyor being positioned substantially above the container input conveyor;
each of the plurality of processing stations being in communication with the container input conveyor and the output conveyor, and including:
a programmable motion device including an end effector for grasping an object from a source container provided by the container input conveyor;
at least one inner conveyor providing at least one processing container, the at least one inner conveyor being in communication with the programmable motion device; and
at least one outer conveyor providing at least one other processing container,
said processing station being adapted to move objects from the source container provided by the container input conveyor to the at least one processing container provided by the inner conveyor of the processing station using the end effector of the programmable motion device, and
wherein the output conveyor is adapted to provide a partially completed processing container to the outer conveyor of any of the plurality of processing stations, the outer conveyor of the processing station being adapted to move the partially completed processing container to the inner conveyor such that the partially completed processing container is accessible to the programmable motion device for receiving another object.
 
22. A processing system comprising:
a container input conveyor providing a plurality of source containers to a plurality of processing stations;
an empty container input conveyor providing empty containers to a plurality of processing stations; and
an output conveyor providing a plurality of processing containers from the plurality of processing stations; and
each of the plurality of processing stations being in communication with the container input conveyor, the empty container input conveyor, and the output conveyor, and each processing station including:
a programmable motion device including an end effector for grasping an object from a source container provided by the container input conveyor;
two inner conveyors being in communication with the programmable motion device; and
two outer conveyors not in communication with the programmable motion device and arranged outside the two inner conveyors,
said processing system being adapted to move empty processing containers from the empty container input conveyor to the two inner conveyors, wherein any of the empty processing containers provided on the two inner conveyors is accessible to the programmable motion device for receiving the object from the end effector of the programmable motion device, and wherein either any of the two inner conveyors or any of the two outer conveyors are adapted to provide completed processing containers to the output conveyor.