Systems and methods for controlling the disgorging of objects in containers by vibratory motion

Patent metadata

Field	Value
Publication number	US-11267662-B2
Application number	US-202016802817-A
Country	US
Kind code	B2
Filing date	Feb 27, 2020
Priority date	Feb 27, 2019
Publication date	Mar 8, 2022
Grant date	Mar 8, 2022

Abstract

A system is disclosed for controlling the disgorging of objects. The system includes a container system including a container for containing objects, rotation means for rotating the container to a disgorgement angle, and movement means for moving at least a portion of the container system in a repetitious manner with a net zero distance of travel of the at least the portion of the container system such that the objects are disgorged from the container at a controlled rate of disgorgement.

First claim

What is claimed is:

1. A system for controlling disgorgement of objects, said system comprising:
a container system including a container for containing objects;
rotation means for rotating the container to a disgorgement angle; and
movement means for moving at least a portion of the container system in a repetitious manner with a net zero distance of travel of the at least the portion of the container system such that said objects are disgorged from the container at a controlled rate of disgorgement, wherein the movement means includes a linear actuator and a spring that move the at least the portion of the container system in the repetitious manner.

2. The system as claimed in claim 1 , wherein the container of the container system is moved in the repetitious manner by the movement means.

3. The system as claimed in claim 1 , wherein the container system includes a chute that is moved in the repetitious manner by the movement means.

4. The system as claimed in claim 1 , wherein the container system includes a flap that extends down from an upper portion of the container when the container is at the disgorgement angle.

5. The system as claimed in claim 4 , wherein the flap is spring biased to be in a closed position, acting to restrain some objects within the container until the objects are closer to a floor of the container.

6. The system as claimed in claim 4 , wherein the flap is a multi-part flap such that a lower portion of the flap is less restricting of objects pushing through the flap than is an upper portion of the flap.

7. The system as claimed in claim 1 , wherein the objects are non-homogeneous.

8. The system as claimed in claim 7 , wherein the objects vary in size by at least 1000%.

9. The system as claimed in claim 7 , wherein the objects vary in volume from about 9 cubic inches to about 9 cubic feet.

10. The system as claimed in claim 1 , wherein the objects vary in weight by at least 500%.

11. The system as claimed in claim 1 , wherein the objects vary in weight from about 5 ounces to about 20 lbs.

12. The system as claimed in claim 1 , wherein the disgorgement angle is no greater than an incipient angle at which at least one object in the container overcomes a force of friction between the object and the container and begins to move.

13. The system as claimed in claim 12 , wherein the disgorgement angle is equal to the incipient angle.

14. The system as claimed in claim 12 , wherein the disgorgement angle is within 20 degrees of the incipient angle.

15. The system as claimed in claim 14 , wherein the disgorgement angle is within 10 degrees of the incipient angle.

16. The system as claimed in claim 15 , wherein the disgorgement angle is within 5 degrees of the incipient angle.

17. The system as claimed in claim 1 , wherein the system further includes determination means for determining the disgorgement angle.

18. The system as claimed in claim 17 , wherein the determination means includes a processing system in combination with sensors that determine when at least one object in the container begins to slide due to gravity.

19. The system as claimed in claim 17 , wherein the determination means includes a processing system that stores information regarding different disgorgement angles and different characteristics of containers of objects.

20. The system as claimed in claim 19 , wherein the different characteristics include any of weight of the plurality of objects in the container, and estimated sizes, volumes, and shapes of objects within the plurality of objects in the container.

21. The system as claimed in claim 1 , wherein the spring is tunable to provide variable stiffness.

22. The system as claimed in claim 1 , wherein the movement means includes a mechanical system wherein the movement in the repetitious manner is at or near a resonant frequency of the mechanical system.

23. The system as claimed in claim 1 , wherein the movement means causes the at least the portion of the container system to move in the repetitious manner with a cyclical motion having a non-balanced duty cycle.

24. A system for controlling disgorgement of objects from a container, said system comprising:
a rotatable lift arm having a plurality of tongs mounted to a movable portion of the rotatable lift arm, wherein the movable portion of the lift arm controls the plurality of tongs to lift a container and the lift arm rotates to tip the container to a disgorgement angle while engaged by the plurality of tongs,
the rotatable lift arm further comprising a vibration actuator, a first end of the vibration actuator being coupled to the lift arm and a second end of the vibration actuator being coupled to the movable portion of the lift arm, wherein the vibration actuator selectively causes the movable portion of the lift arm to vibrate the container by moving the second end relative to the first end of the vibration actuator such that objects are disgorged from the container at a controlled rate of disgorgement.

25. The system as claimed in claim 24 , wherein the system further includes determination means for determining the disgorgement angle.

26. The system as claimed in claim 25 , wherein the disgorgement angle is no greater than an incipient angle at which at least one object in the container overcomes a force of friction between the object and the container and begins to move.

27. The system as claimed in claim 25 , wherein the determination means includes a processing system in combination with sensors that determine when at least one object in the container begins to slide due to gravity.

28. The system as claimed in claim 25 , wherein the determination means includes a processing system that stores information regarding different disgorgement angles and different characteristics of containers of objects.

29. The system as claimed in claim 28 , wherein the different characteristics include any of weight of the plurality of objects in the container, and estimated sizes, volumes, and shapes of objects within the plurality of objects in the container.

30. The system as claimed in claim 24 , wherein the vibration actuator includes a rotary motor, a bracket coupled to the movable portion of the lift arm, and linkage bars that couple the rotary motor to the bracket, wherein the rotary motor drives the linkage bars to cause the bracket and the movable portion of the lift arm to vibrate.

31. The system as claimed in claim 24 , wherein the vibration actuator includes a piston, a return spring, and a bracket coupled to the movable portion of the lift arm, wherein the piston and the return spring act on the bracket in opposite directions to cause the bracket and the movable portion of the lift arm to vibrate.

32. The system as claimed in claim 31 , wherein the spring is tunable to provide variable stiffness.

33. The system as claimed in claim 24 , wherein the vibration actuator causes the movable portion of the lift arm to vibrate, such that the container vibrates at or near a resonant frequency.

34. The system as claimed in claim 24 , wherein the movable portion of the lift arm vibrates with a non-balanced duty cycle.

35. A method for controlling disgorgement of objects, said method comprising:
providing a container system including a co

Assignees

• Berkshire Grey Inc

Inventors

• GEYER Christopher
• Romano Joseph
• Mason Matthew T
• Paxson Alexander
• Amend John Richard
• Wagner Thomas

Classifications

• B65G2203/041

  Camera · CPC title

• B65G2203/0225

  Orientation of the article · CPC title

• B65G47/42

  operated by article or material being conveyed and discharged {(B65G47/46 takes precedence)} · CPC title

• B65G47/1421

  Vibratory movement · CPC title

• B65G65/23 Primary

  Devices for tilting and emptying of containers · CPC title