An automated grasping apparatus for precise and clean assembly of a large-aperture optical element includes a reconfigurable end effector, a manipulating robot arm, a computer control unit, a task management software and process database system, a code scanning recognizer, and an electrical auxiliary support system. During an assembling operation, a code of the optical element is scanned by the code scanning recognizer, wherein a suitable process for the optical element is retrieved automatically. The configuration of the end effector is adjusted according to an instruction flow that precision grasping and stable suction of the optical element are achieved by manipulating the end effector. The robot arm is moved to place the optical element at a designated station, and the robot arm carries the end effector to return to an original position after the assembly operation is completed.

There is provided an automated bi-stable valve system. The system includes a bi-stable valve mechanism with bi-stable valves. Each of the bi-stable valves is configured to switch between a valve closed state and a valve open state. The system includes a control system coupled to the bi-stable valve mechanism and configured to operably control the bi-stable valve mechanism. The control system includes, (i) at least one traversable bridge apparatus, and (ii) a valve switch mechanism attached to the traversable bridge apparatus, and movable, via the traversable bridge apparatus, over the bi-stable valves. The valve switch mechanism is configured to switch the bi-stable valve(s) between the valve closed state and the valve open state, to allow for selective control of one or more adhesion zones on the bi-stable valve mechanism. The adhesion zone(s) correspond to adhesion area(s) on a surface of a material to be selectively picked up and placed.

The invention relates to a sorting system (100) for a machine tool for separating parts, in particular a laser cutting machine (200), having a gripper (110) that can be moved over a workpiece region (30) and is configured to receive cut parts (10) from the workpiece region (30), and an intermediate store (120) that can be moved over the workpiece region (30) and is configured to receive cut parts (10) from the gripper (110) and to unload the cut parts (10) into a store (40).

Packaging apparatus and methods include a plurality of article grippers driven by independently controlled motors in an end-of-arm tooling (EOAT), for picking articles, grouping articles, adjusting group pitch and placing article groups in packages where incoming articles and packages are continuously or intermittently moving and without motion of the entire EOAT in the direction in which articles and packages are picked and moved. Hole healing and incoming product registration apparatus and methods are disclosed.

A storage system configured to house a plurality of containers housing inventory items includes support members, a first set of parallel rails to support a mobile, manipulator robot, and a fluid supply line having a plurality of valves disposed within the fluid supply line. Each of the valves having a closed condition in which the supply line is in fluid isolation from an outside environment and an open condition in which the supply line is in fluid communication with the environment such that the supply line is configured to supply fluid to a mobile, manipulator robot. Mobile, manipulator robots for retrieving inventory items stored within the containers and retrieval methods are also disclosed herein.

A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.

The present disclosure relates to a material handling system for manipulating items. The material handling system includes a repositioning system comprising a robotic tool which includes a robotic arm portion and an end effector. The robotic tool is configured to manipulate an item in a first orientation and reorient the item to a second orientation. The material handling system further includes a vision system having one or more sensors positioned within the material handling system. The vision system is configured to generate inputs corresponding to the characteristics of the items. The material handling system may further include a controller executing instructions to cause the material handling system to identify the item in the first orientation, based on the one or more characteristics of the item, initiate, by the repositioning system, picking of the item in the first orientation, and re-orient the item in the second orientation.

A head for use in forming an article array in a container cavity (“cavity”) by sequential placement of adjacent article rows in the cavity, including a gripper having a frame having a longitudinal axis, the gripper adapted to selectively engage and disengage an article row for permitting placement thereof; and a flexible layer connected to the frame and extending parallel to the longitudinal axis and positioned to one side of the gripper. During formation of the article array in the cavity, the flexible layer preventing contact between a most recently positioned article row in the cavity and a corresponding article row being positioned in the cavity, including filling a remaining unfilled portion of the cavity between a penultimate article row and the container for receiving the final article row having a width approximately equal to or less than a width of the final article row.

A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

Methods, apparatuses, systems, and computer program products for an improved anti-sway control system and adjustable end effector for a robotic arm are provided. An example method includes determining at least one of a size, shape or orientation of a package to be picked up by an end effector of a robotic arm and facilitating adjusting a position of a suction cup on the end effector, wherein the position is determined based on the at least one determined size, shape, or orientation of the package. The method further includes facilitating grasping the package with the end effector and facilitating movement of the end effector via a robotic joint to reduce force on the suction cup by the package due to an acceleration of the package due to movement of the robotic arm.