Abb Schweiz Ag

Abb Flexible Automation, Inc.

Thomas Watson

Robert Scott Grams

Gilbert Dominguez

Steven Wertenberger

Patrick Resch

Jonathan D Ferrell

Matthew Sallee

A method for operating a robot includes providing target data for a target object; determining whether a pre-pick target for the target object is reachable by the robot; determining whether a pick target is reachable by the robot; and executing a pick routine directing the robot to pick up the target object and deposit the target object at a desired location responsive to a determination that the pre-pick target and the pick target are reachable by the robot.

Robotic systems and methods for operating a robot

A method is provided for grasping randomly sized and randomly located objects. The method may include assigning a score associated with the likelihood of successfully grasping an object. Other features of the method may include orientation of the end effector, a reachability check, and crash recovery.

Robotic system for grasping objects

A robotic containerization and palletizing system having a multiple-fingered end effector. In one embodiment, the system carries out a method of loading a tray in a container where the method includes creating a cell with a plurality of bays; assigning each bay a location; moving trays through the cell along a path; grasping a tray off the path with a robot positioned above the path; moving the robot, with the grasped tray, to the location of one bay; and instructing the robot to release the tray at the location of the one bay.

Method of using a robotic containerization and palletizing system

A robotic containerization and palletizing system having a multiple-fingered end effector. The system includes a frame that defines one or more cells. Each cell has one gantry-type robot, which is mounted in a set of tracks on top of the frame. The robot is movable along two axes and has an arm to which the end effector is mounted. The end effector is designed to grasp trays, tubs, and similar items from a conveyor system running through the cell and load them in a cart or on a pallet. The items are gripped by two sets of fingers. One set of fingers may be mounted to a first plate and another set of fingers may be mounted to a carriage that moves in a horizontal direction, either toward or away from the first set of fingers. Each finger has a main shaft and a bent tip. The shafts are rotatable such that the tips can be moved underneath or out from under a load, depending upon whether a pick-up or drop-off operation is being performed. The end effector is designed to carry out top loading of carts and pallets and includes a measurement and containment plate that is used to detect and measure the height of trays and tubs placed in carts and on pallets. The measurement and containment plate also helps prevent loose mail in unsleeved trays or tubs from falling out of the trays or tubs during robotic transportation. The downward force exerted on the top of the mail tray/tub also helps maintain the grip of the fingers. In order to load carts having shelves, the gripper may also include a shelf-lowering assembly.

Growing community of inventors

Novi, MI, United States of America

Thomas Watson