According to one embodiment, a transfer apparatus includes a suction hand, a moving device, a first detector, and a controller. The suction hand includes a first and second suction units. The first and second suction units are configured to contact with an article in a first direction and a second direction, respectively. the first suction unit and the second suction unit each are provided multiply in a third direction. The controller performs at least a first operation and a second operation. In the first operation, the first suction units respectively suction first surfaces of the articles, the second suction units respectively suction second surfaces of the articles, and the articles are moved. In the second operation, one of the first suction units suctions the first surface of one of the articles, the second suction units do not suction the articles, and the one of the articles is moved.

A vision system and control system for a robotic pack station is disclosed. Robotic pack stations typically include a work cell, which enables the transfer of items from a tote or a bin to a container. The work cell may include one or more of the following: a robotic arm, a vision system, a control system, a conveyor, and a pack platform. The vision system and control system of the present invention identify items and provide instructions to the robotic arm to pick and/or place items in a bin or a tote.

Methods and apparatus for an end-of-arm tool having multiple robotic grippers, such as two or more grippers, and coordination of motion of the multiple grippers, so as to allow for automated testing and packaging of sealable bags conveyed to an inspection station.

A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. The plurality of storage bins provides storage of a plurality of objects, where the plurality of storage bins are in communication with a gantry retrieval conveyance system for moving selected bins to a bin processing location. The plurality of destination bins are in communication with the gantry retrieval conveyance system for moving a selected destination bin to the processing location. The processing programmable motion device is at the processing location and is in communication with the gantry retrieval conveyance system. The processing programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin and depositing the selected object in the selected destination bin.

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 bidirectional air conveyor device is disclosed, including: a housing that includes an intake port and an outlet port; a first air input port; a first airflow generator defined within the housing, wherein the first airflow generator is coupled to the first air input port; a second air input port; a second airflow generator defined within the housing, wherein the second airflow generator is coupled to the second air input port; wherein the first airflow generator is configured to cause a first airflow to enter the intake port and exit the outlet port in response to a first supply of air to the first air input port; and wherein the second airflow generator is configured to cause a second airflow to enter the outlet port and exit the intake port in response to a second supply of air to the second air input port.

There is an abnormality detection method for a transfer device including an arm having a substrate holder to hold a substrate, an elevating mechanism to raise and lower the arm, a position detector to detect a position of the substrate holder, a suction hole formed at the substrate holder, and a pressure detector to detect a pressure of a suction passage communicating with the suction hole, the method comprising: controlling the arm to move the substrate holder to a position below the substrate; controlling the elevating mechanism to raise the arm and the substrate holder; detecting contact between the substrate and the substrate holder based on a pressure change detected by the pressure detector; detecting, by using the position detector, a position of the substrate holder at the time of detecting the contact; and detecting an abnormal state of the transfer device based on the detected position.

A robot for order fulfillment includes a mobility assembly, an arm, a pneumatically actuatable tool, and a coupler having a mating end in selective communication with the pneumatically actuatable tool. The mating end of the coupler being configured to access a pneumatic supply from an external pneumatic source such that the robot need not include a large compressor.

A system including a programmable motion device and an end effector for grasping objects to be moved by the programmable motion device is disclosed. The system includes a vacuum source that provides a high flow vacuum such that an object may be grasped at an end effector opening while permitting a substantial flow of air through the opening, and a dead-head limitation system for limiting any effects of dead-heading on the vacuum source in the event that a flow of air to the vacuum source is interrupted.

An end-of-arm tool and an associated robotic arm are configured to place items (e.g., soft-sided merchandise) into a case. In an example, an end-of-arm tool is configured to grasp a surface (e.g., the top surface) of an item of merchandise and deposit the item into the case. Accordingly, as an item is deposited, the tool uses contact with that item to move previously placed items back into their preferred locations. After the penultimate item in a row of items is put in place, it may move out of position. As a final item is added to a row, the tool pivots the final item so that a side surface of the final item pushes the penultimate item into its correct position. The tool then pivots the final item to orient the top surface of the item horizontally, and places it in a predetermined position.