Systems and methods for connecting containers

Patent metadata

Field	Value
Publication number	US-11498759-B2
Application number	US-201916448655-A
Country	US
Kind code	B2
Filing date	Jun 21, 2019
Priority date	Jun 29, 2018
Publication date	Nov 15, 2022
Grant date	Nov 15, 2022

Abstract

A rail can include first and transverse channels defined therein. A container can include a rod, a spring, a first plate assembly, and a second plate assembly. The first plate assembly can include a first transverse bearing disposed in the first transverse channel. The second plate assembly can include a second transverse bearing disposed in the second transverse channel. A robotic assembly can include a robotic arm. The robotic arm can include opposing grips defining a grip space therebetween. A processing system including one or more processors can be configured to, via the robotic assembly: align the grip space with the container rod; drive the rod against the spring; allow the spring to relax and thereby separate the first plate assembly from the second plate assembly; position the rod such that the first transverse bearing and the second transverse bearing are simultaneously withdrawn from the first and second transverse channels.

First claim

We claim:

1. A system for decoupling a container from a rail comprising first and second transverse channels defined therein, the system comprising:
the container, which comprises: a rod, a spring, a first plate assembly comprising a first transverse bearing disposed in the first transverse rail channel, and a second plate assembly comprising a second transverse bearing disposed in the second transverse rail channel;
a robotic assembly comprising a robotic arm, the robotic arm comprising opposing grips defining a grip space therebetween;
a processing system comprising one or more processors configured to, via the robotic assembly:
align the grip space with the container rod;
drive the rod against the spring;
allow the spring to relax and thereby separate the first plate assembly of the container from the second plate assembly of the container;
position the rod such that the first transverse bearing of the container and the second transverse bearing of the container are withdrawn from the first and second transverse channels of the rail.

2. The system of claim 1 wherein said robotic arm further comprises one or more swivel assemblies.

3. The system of claim 2 wherein said robotic arm is coupled to a robotic beam adapted to change the vertical position of said robotic arm.

4. The system of claim 3 wherein said robotic arm is coupled to said robotic beam via a longitudinal runner assembly configured for longitudinal motion along the robotic beam.

5. The system of claim 4 wherein said robotic beam comprises one or more vertical runner assemblies.

6. The system of claim 2 wherein said robotic arm further comprises a first swivel assembly rotatable about a vertical axis and a second swivel assembly rotatable about a central axis defined by the robotic arm.

7. A system for decoupling a container from a rail comprising first and second transverse channels defined therein, the system comprising:
the container, which comprises:
a first plate assembly comprising a first transverse bearing disposed in the first transverse rail channel;
a second plate assembly disposed proximate said first plate assembly, said second plate assembly comprising a second transverse bearing disposed in the second transverse rail channel;
a release assembly comprising a rod and a spring; and
a vessel carried by one or both of said first plate assembly and said second plate assembly;

a robotic assembly comprising a robotic arm and one or more processors, the processors configured to operate the robotic assembly to:
manipulate the rod;
allow the spring to relax and thereby separate the first plate assembly of the container from the second plate assembly of the container;
position the rod such that the first transverse bearing of the container and the second transverse bearing of the container are withdrawn from the first and second transverse channels of the rail.

8. The system of claim 7 wherein the robotic arm comprises opposing grips defining a grip space therebetween.

9. The system of claim 8 wherein the processors are further configured to operate the robotic assembly to align the grip space with the container rod.

10. The system of claim 9 wherein the processors are further configured to operate the robotic assembly to rotate the rod.

11. The system of claim 9 wherein the processors are further configured to operate the robotic assembly to drive the rod against the spring.

12. The system of claim 7 wherein said first plate assembly comprises a first base and said second plate assembly comprises a second base, and wherein said first base comprises a first retainer and said second base comprises a second retainer, said first and second retainers cooperating to couple said first plate assembly and said second plate assembly.

13. The system of claim 12 wherein one of said first retainer and said second retainer comprises one or more fingers and the other of said first retainer and said second retainer comprises one or more blind holes for receiving corresponding ones of the one or more fingers.

14. The system of claim 7 wherein said rail defines a third transverse channel and wherein one of said first plate assembly and said second plate assembly comprise a vertical bearing disposed in said third transverse channel.

15. A method of decoupling a container from a rail comprising first and second transverse channels defined therein, the system comprising:
positioning a robotic assembly comprising a robotic arm proximate a container coupled to said rail, said container comprising a vessel carried by one or both of a first plate assembly and a second plate assembly, the first plate assembly comprising a first transverse bearing disposed in the first transverse rail channel, and the second plate assembly comprising a second transverse bearing disposed in the second transverse rail channel, and a release assembly comprising a rod and a spring;
manipulating said rod with said robotic arm to thereby separate the first plate assembly of the container from the second plate assembly of the container;
positioning the rod with said robotic arm such that the first transverse bearing of the container and the second transverse bearing of the container are withdrawn from the first and second transverse channels of the rail.

16. The method of claim 15 wherein said robotic arm comprising opposing grips defining a grip space therebetween and wherein said step of manipulating said rod comprises gripping the rod with said opposing grips.

17. The method of claim 15 wherein the step of manipulating said rod comprises driving said rod against said spring.

18. The method of claim 17 wherein the step of manipulating said rod further comprises allowing the spring to relax to thereby separate the first plate assembly of the container from the second plate assembly of the container.

19. The method of claim 15 wherein the step of manipulating said rod comprises rotating said rod.

20. The method of claim 15 wherein the robotic assembly further comprises a robotic beam, said robotic arm coupled to said robotic beam by a longitudinal runner assembly, said step of positioning the robotic assembly further comprising vertically positioning said robotic beam.

Assignees

• Walmart Apollo Llc

Inventors

• Aljallis Elias
• Gopalakrishnan Vikranth
• Kyslinger Ronald S

Classifications

• B65G1/0457

  with suspended load carriers · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title

• B65G47/90

  Devices for picking-up and depositing articles or materials · CPC title

• B25J5/04

  wherein the guideway is also moved, e.g. travelling crane bridge type · CPC title

• B61B10/02

  with suspended vehicles · CPC title