Bin infeed and removal systems and methods for processing objects including mobile matrix carrier systems

Patent metadata

Field	Value
Publication number	US-11814246-B2
Application number	US-202117313549-A
Country	US
Kind code	B2
Filing date	May 6, 2021
Priority date	Oct 27, 2017
Publication date	Nov 14, 2023
Grant date	Nov 14, 2023

Abstract

A bin exchange system is disclosed that includes a plurality of automated carriers, each of which is adapted to be remotely movable on an array of track sections, at least one input station by which bins may be introduced to the array of track sections, at least one processing station in communication with the array of track sections wherein objects may be moved between bins, and at least one output station by which bins may be removed from the array of track sections.

First claim

What is claimed is:

1. An object processing system comprising:
a plurality of automated carriers providing movement about a planar work surface of a plurality of containers on container support portions of the plurality of automated carriers;
at least one conveyance system positioned above the planar work surface; and
an exchange system for moving containers between an automated carrier of the plurality of automated carriers and the at least one conveyance system, said exchange system including at least one belted conveyor extending between the work surface and the at least one conveyance system and control means for controlling a speed of at least one of the belted conveyor and the automated carrier to cause the speed of the belted conveyor to be similar to that of the automated carrier.

2. The object processing system as claimed in claim 1 , wherein each of said automated carriers includes at least one actuatable paddle.

3. The object processing system as claimed in claim 2 , wherein the control means further actuates the at least one actuatable paddle to urge a container from a container support portion of an engaged automated carrier to the at least one belted conveyor.

4. The object processing system as claimed in claim 2 , wherein the control means further actuates the at least one actuatable paddle to urge a container from the at least one belted conveyor to a container support portion of an engaged automated carrier.

5. The object processing system as claimed in claim 1 , wherein each automated carrier includes a pair of mutually opposing actuatable paddles.

6. The object processing system as claimed in claim 5 , wherein each of the pair of mutually opposing actuatable paddles moves rotationally.

7. The object processing system as claimed in claim 5 , wherein each of the pair of mutually opposing actuatable paddles moves both vertically and horizontally.

8. The object processing system as claimed in claim 5 , wherein each of said automated carriers includes at least one centering plate for further containing a container of the plurality of containers on each automated carrier.

9. The object processing system as claimed in claim 5 , wherein each of said automated carriers includes a pair of mutually opposing centering plates.

10. The object processing system as claimed in claim 1 , wherein each automated carrier includes a pair of mutually opposing actuatable wheels.

11. An object processing system comprising:
a plurality of automated carriers providing movement about a planar work surface of a plurality of containers on container support portions of the plurality of automated carriers, each of said plurality of automated carriers including at least one actuatable paddle;
at least one conveyance system positioned above the planar work surface; and
an exchange system for moving containers between an automated carrier of the plurality of automated carriers and the at least one conveyance system, said exchange system including at least one belted conveyor extending between the work surface and the at least one conveyance system and control means for actuating the at least one actuatable paddle to urge a container from a container support portion of an engaged automated carrier to the at least one belted conveyor.

12. The object processing system as claimed in claim 11 , wherein a speed of the at least one belted conveyor is controlled to be similar to a speed of the engaged automated carrier.

13. The object processing system as claimed in claim 11 , wherein a speed of the engaged automated carrier is controlled to be similar to a speed of the at least one belted conveyor.

14. The object processing system as claimed in claim 11 , wherein the control means further actuates the at least one actuatable paddle to urge a container from the at least one belted conveyor to a container support portion of an engaged automated carrier.

15. The object processing system as claimed in claim 11 , wherein each automated carrier includes a pair of mutually opposing actuatable paddles.

16. The object processing system as claimed in claim 15 , wherein each of the pair of mutually opposing actuatable paddles moves rotationally.

17. The object processing system as claimed in claim 15 , wherein each of the pair of mutually opposing actuatable paddles moves both vertically and horizontally.

18. The object processing system as claimed in claim 15 , wherein each of said automated carriers includes at least one centering plate for further containing a container of the plurality of containers on each automated carrier.

19. The object processing system as claimed in claim 15 , wherein each of said automated carriers includes a pair of mutually opposing centering plates.

20. The object processing system as claimed in claim 11 , wherein each automated carrier includes a pair of mutually opposing actuatable wheels.

21. An object processing system comprising:
a plurality of automated carriers providing movement about a planar work surface of a plurality of containers on container support portions of the plurality of automated carriers, each of said plurality of automated carriers including at least one actuatable paddle;
at least one conveyance system positioned above the planar work surface; and
an exchange system for moving containers between an automated carrier of the plurality of automated carriers and the at least one conveyance system, said exchange system including at least one belted conveyor extending between the work surface and the at least one conveyance system and control means for actuating the at least one actuatable paddle to urge a container from at least one belted conveyor to a container support portion of an engaged automated carrier.

22. The object processing system as claimed in claim 21 , wherein a speed of the at least one belted conveyor is controlled to be similar to a speed of the engaged automated carrier.

23. The object processing system as claimed in claim 21 , wherein a speed of the engaged automated carrier is controlled to be similar to a speed of the at least one belted conveyor.

24. The object processing system as claimed in claim 21 , wherein the control means further actuates the at least one actuatable paddle to urge a container from a container support portion of an engaged automated carrier to the at least one belted conveyor.

25. The object processing system as claimed in claim 21 , wherein each automated carrier includes a pair of mutually opposing actuatable paddles.

26. The object processing system as claimed in claim 25 , wherein each of the pair of mutually opposing actuatable paddles moves rotationally.

27. The object processing system as claimed in claim 25 , wherein each of the pair of mutually opposing actuatable paddles moves both vertically and horizontally.

28. The object processing system as claimed in claim 25 , wherein each of said automated carriers includes at least one centering plate for further containing a container of the plurality of containers on each automated carrier.

29. The object processing system as claimed in claim 25 , wherein each of said automated carriers includes a pair of mutually opposing centering plates.

30. The object processing system as claimed in claim 21 , wherein each automated carrier includes a pair of mutually opposing actuatable wheels.

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