Systems and methods for processing objects including mobile matrix carrier systems

Patent metadata

Field	Value
Publication number	US-11577920-B2
Application number	US-202117387762-A
Country	US
Kind code	B2
Filing date	Jul 28, 2021
Priority date	Oct 27, 2017
Publication date	Feb 14, 2023
Grant date	Feb 14, 2023

Abstract

An object processing system is disclosed that includes a plurality of track sections, and a plurality of remotely actuatable carriers for controlled movement along at least portions of the plurality of track sections, wherein each of the remotely controllable carriers is adapted to support and transport an object processing bin.

First claim

What is claimed is:

1. A method of processing objects, said method comprising:
moving a remotely controllable carrier on a plurality of mutually non-connected track sections in a first direction, said carrier being adapted for receiving a bin;
changing a direction of movement of the carrier to a second direction that is generally orthogonal to the first direction without turning the carrier; and
loading a bin on the carrier onto a fixed rack unit, including actuating a loading paddle in an upward direction and driving the carrier under the fixed rack unit such that the bin is pushed by the loading paddle onto a plurality of forks of the fixed rack unit as the carrier moves under the fixed rack unit.

2. The method as claimed in claim 1 , wherein the method further includes bringing a plurality of storage bins and a plurality of destination bins to at least one processing station.

3. The method as claimed in claim 2 , wherein the at least one processing station is an automated processing station.

4. The method as claimed in claim 3 , wherein the automated processing station includes at least one programmable motion device with an articulated arm.

5. The method as claimed in claim 1 , wherein changing the direction of movement of the carrier involves pivoting a plurality of wheel assemblies on the carrier.

6. The method as claimed in claim 1 , wherein the plurality of mutually non-connected track sections are provided in an array.

7. The method as claimed in claim 6 , wherein each of the track sections is generally in the shape of a rectangle.

8. The method as claimed in claim 1 , wherein the method further includes unloading the bin onto a second carrier from the fixed rack unit, including actuating an unloading paddle in an upward direction and driving the second carrier under the fixed rack unit such that the bin is pushed by the unloading paddle from the plurality of forks of the fixed rack unit onto the second carrier as the second carrier moves under the fixed rack unit.

9. A method of processing objects, said method comprising:
moving a remotely controllable carrier on a plurality of mutually non-connected track sections in a first direction, said carrier being adapted for receiving a bin;
changing a direction of movement of the carrier to a second direction that is generally orthogonal to the first direction without turning the carrier; and
unloading a bin onto the carrier from a fixed rack unit, including actuating an uloading paddle in an upward direction and driving the carrier under the fixed rack unit such that the bin is pushed by the unloading paddle from a plurality of forks of the fixed rack unit onto the carrier as the carrier moves under the fixed rack unit.

10. The method as claimed in claim 9 , wherein the method further includes bringing a plurality of storage bins and a plurality of destination bins to at least one processing station.

11. The method as claimed in claim 10 , wherein the at least one processing station is an automated processing station.

12. The method as claimed in claim 11 , wherein the automated processing station includes at least one programmable motion device with an articulated arm.

13. The method as claimed in claim 9 , wherein changing the direction of movement of the carrier involves pivoting a plurality of wheel assemblies on the carrier.

14. The method as claimed in claim 9 , wherein the plurality of mutually non-connected track sections are provided in an array.

15. The method as claimed in claim 14 , wherein each of the track sections is generally in the shape of a rectangle.

16. The method as claimed in claim 9 , wherein the method further includes loading the bin onto a second carrier from the fixed rack unit, including actuating a loading paddle in an upward direction and driving the second carrier under the fixed rack unit such that the bin is pushed by the loading paddle onto the plurality of forks of the fixed rack unit from the second carrier as the second carrier moves under the fixed rack unit.

17. A method of processing objects, said method comprising:
moving a remotely controllable first carrier on a plurality of mutually non-connected track sections in a first direction, the first carrier being adapted for receiving a bin;
loading a bin on the first carrier onto a fixed rack unit, including actuating a loading paddle in an upward direction and driving the carrier under the fixed rack unit such that the bin is pushed by the loading paddle onto a plurality of forks of the fixed rack unit as the carrier moves under the fixed rack unit; and
unloading the bin onto a remotely controllable second carrier from the fixed rack unit, including actuating an unloading paddle in an upward direction and driving the second carrier under the fixed rack unit such that the bin is pushed by the unloading paddle from the plurality of forks of the fixed rack unit onto the second carrier as the second carrier moves under the fixed rack unit.

18. The method as claimed in claim 17 , wherein the method further includes bringing a plurality of storage bins and a plurality of destination bins to at least one processing station.

19. The method as claimed in claim 17 , wherein the method further includes changing a direction of movement of the first carrier involving pivoting a plurality of wheel assemblies on the carrier.

20. The method as claimed in claim 17 , wherein the plurality of mutually non-connected track sections are provided in an array.

21. The method as claimed in claim 17 , wherein each of the track sections is generally in the shape of a rectangle.

Assignees

• Berkshire Grey Operating Company Inc

Inventors

• Wagner Thomas
• Ahearn Kevin
• Amend Jr John Richard
• Cohen Benjamin
• DAWSON-HAGGERTY Michael
• Fort William Hartman
• GEYER Christopher
• King Jennifer Eileen
• Koletschka Thomas
• Koval Michael Cap
• MARONEY Kyle
• Mason Matthew T
• McMahan William Chu-Hyon
• Price Gene Temple
• Romano Joseph
• Smith Daniel
• SRINIVASA Siddhartha
• Velagapudi Prasanna
• Allen Thomas

Classifications

• G05B2219/40252

  Robot on track, rail moves only back and forth · CPC title

• G05B2219/40078

  Sort objects, workpieces · CPC title

• G05B2219/24001

  Maintenance, repair · CPC title

• G05B19/41815

  characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell · CPC title

• G05B19/0428

  Safety, monitoring (G05B19/0423 takes precedence) · CPC title