Patent ID: 11865722
Assignee: BERKSHIRE GREY OPERATING COMPANY, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 11:
12. A programmable motion system comprising:
a robotic arm having an end effector;
an acquisition unit rack that provides access to a plurality of acquisition units within an area accessible by the robotic arm and a frame to which the rack is mounted;
a plurality of vacuum cups through which a vacuum is providable being held on the acquisition unit rack, each vacuum cup being capable of attaching to the end effector of the robotic arm, the end effector of the robotic arm being capable of accessing any of the plurality of vacuum cups; and
coupling means for coupling any of the plurality of vacuum cups to the end effector of the robotic arm,
wherein the end effector of the robotic arm comprises an identity detection unit positioned on a distal end thereof, the identity detection unit comprising at least one camera or scanner configured to detect identifying indicia provided on a top surface of an acquisition unit prior to coupling the acquisition unit to the end effector, and
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.