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US 11,591,170 B2Granted
Robotic systems and methods for conveyance of items
AssigneeDexai Robotics, Inc.
InventorsDavid M. S. Johnson, Anthony Tayoun, Robert Katzschmann, Justin Rooney, Cody Chu, Luis Trueba, John Harrington, Jonah Palmer
Life of this patent
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Abstract
A robotic system includes a hub assembly rotatable about a vertical axis. A robotic arm has a first end connected to the hub assembly and an opposite second end connected to an end effector, which is configured for holding an item. The system is configured to support an agent on or above the hub assembly for working on the item held by the end effector. The operation of the robotic arm and end effector to move the item does not obstruct operation of the agent.
Claims24
A robotic system for conveyance of items, comprising:
- a hub assembly rotatable about a vertical axis;
- a robotic arm having a first end and an opposite second end, said first end being connected to the hub assembly such that the robotic arm is fully revolute about the vertical axis;
- an end effector connected to the second end of the robotic arm, said end effector configured for holding an item;
- and
- wherein the hub assembly and the robotic arm are configured to restrict travel and operation of the end effector to only a horizontal plane around the vertical axis in every mode of operation of the end effector,
- wherein the system is configured to support a robotic agent on or above the hub assembly for working on the item held by the robotic arm, said robotic agent having multiple degrees-of-freedom and configured to travel and operate in the entirety of a three-dimensional operating space extending around the robotic agent while the robotic agent is in place on or above the hub assembly
- wherein operation of the robotic arm to move the item does not obstruct operation of the robotic agent, and the operation of the robotic agent does not obstruct the operation of the robotic arm.
4 more elements
A system, comprising:
- a plurality of robotic systems, wherein each of said robotic systems comprises:
- (a) a hub assembly rotatable about a vertical axis;
- (b) a robotic arm having a first end and an opposite second end, said first end being connected to the hub assembly such that the robotic arm is fully revolute about the vertical axis;
- (c) an end effector connected to the second end of the robotic arm, said end effector configured for holding an item, wherein the hub assembly and the robotic arm are configured to restrict travel and operation of the end effector to only a horizontal plane around the vertical axis in every mode of operation of the end effector;
- and
- (d) a robotic agent on or above the hub assembly working on the item held by the robotic arm, said robotic agent having multiple degrees-of-freedom and configured to travel and operate in the entirety of a three-dimensional operating space extending around the robotic agent while the robotic agent is in place on or above the hub assembly, wherein operation of the robotic arm to move the item does not obstruct operation of the robotic agent, and the operation of the robotic agent does not obstruct the operation of the robotic arm;
- wherein the robotic systems are configured to convey the item from the end effector of one robotic system to the end effector of an adjacent robotic system to be worked on by the robotic agent of the adjacent robotic system.
4 more elements
A method of performing operations on an item using a plurality of robotic systems, wherein each of the robotic systems comprises:
- (i) a hub assembly rotatable about a vertical axis;
- (ii) a robotic arm having a first end and an opposite second end, the first end being connected to the hub assembly such that the robotic arm is fully revolute about the vertical axis;
- (iii) an end effector connected to the second end of the robotic arm, wherein the hub assembly and the robotic arm are configured to restrict travel and operation of the end effector to only a horizontal plane around the vertical axis in every mode of operation of the end effector;
- and (iv) a robotic agent on or above the hub assembly, said robotic agent having multiple degrees-of-freedom and configured to travel and operate in the entirety of a three-dimensional operating space extending around the robotic agent while the robotic agent is in place on or above the hub assembly, wherein operation of the robotic arm and end effector to move the item does not obstruct operation of the robotic agent, and the operation of the robotic agent does not obstruct the operation of the robotic arm, wherein the method comprises the steps of:
- (a) holding the item using the end effector of a first one of the robotic systems;
- (b) performing an operation on the item using the robotic agent of the first one of the robotic systems or the robotic agent of an adjacent second one of the robotic systems while the item is being held by the end effector of the first one of the robotic systems;
- (c) conveying the item using the robotic arm of the first one of the robotic systems to the end effector of the second one of the robotic systems;
- and
- (d) performing another operation on the item using the robotic agent of the second one of the robotic systems or the robotic agent of the first one of the robotic systems while the item is being held by the end effector of the second one of the robotic systems.
6 more elements
A method of performing operations on an item using a plurality of robotic systems, wherein each of the robotic systems comprises:
- (i) a hub assembly rotatable about a vertical axis;
- (ii) a robotic arm having a first end and an opposite second end, the first end being connected to the hub assembly;
- (iii) an end effector connected to the second end of the robotic arm;
- and (iv) a robotic agent on or above the hub assembly, wherein operation of the robotic arm and end effector to move the item does not obstruct operation of the robotic agent, wherein the method comprises the steps of:
- (a) holding the item using the end effector of a first one of the robotic systems;
- (b) performing an operation on the item using the robotic agent of the first one of the robotic systems or the robotic agent of an adjacent second one of the robotic systems while the item is being held by the end effector of the first one of the robotic systems;
- (c) conveying the item using the robotic arm of the first one of the robotic systems to the end effector of the second one of the robotic systems;
- (d) performing another operation on the item using the robotic agent of the second one of the robotic systems or the robotic agent of the first one of the robotic systems while the item is being held by the end effector of the second one of the robotic systems;
- and
- (e) automatically swapping the end effector of one of the robotic systems with another end effector suitable for performing a given operation on the item.
7 more elements
Dependencies are inferred from the claim text.