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

Claim 25:
26. A method of providing the processing of objects, said method comprising:
providing a plurality of vacuum cups on an acquisition unit rack, each vacuum cup capable of being attached to an end effector of a robotic arm;
identifying a vacuum cup among the plurality of vacuum cups provided on the acquisition unit rack using an identity detection unit positioned at a distal end of the end effector, the identity detection unit comprising at least one camera or scanner configured to detect identifying indicia provided on a top surface of the vacuum cup;
coupling the vacuum cup to the end effector of the robotic arm, wherein the vacuum cup is identified using the identity detection unit prior to coupling the vacuum cup to the end effector; and
applying a vacuum through the coupled vacuum cup to grasp and move an object by the robotic arm,
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.