Patent ID: 11865700
Assignee: BERKSHIRE GREY OPERATING COMPANY, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 9:
10. A method of exchanging a tool on an end effector of a programmable motion device, said method comprising:
moving an attachment portion of the end effector in a continuous motion;
moving the attachment portion of the end effector in a single direction of the continuous motion between a first pair of slotted arms provided at an exchange system to remove a first tool from the attachment portion of the end effector; and
continuing to move the attachment portion of the end effector in the single direction of the continuous motion between a second pair of slotted arms provided at the exchange system to attach a second tool held by the second pair of slotted arms onto the attachment portion of the end effector.