Automated handling and manipulation of packages and packages specially adapted therefor

Patent metadata

Field	Value
Publication number	US-11975878-B2
Application number	US-202117167680-A
Country	US
Kind code	B2
Filing date	Feb 4, 2021
Priority date	Feb 4, 2021
Publication date	May 7, 2024
Grant date	May 7, 2024

Abstract

Systems, methods, and apparatuses for handling and manipulating packages in automated or semi-automated fashion and packages adapted for the same. The systems may include package-holding devices, package-manipulating devices, and package-detection components for locating packages or portions thereof in a three-dimensional space. The packages may include features that enable automated or semi-automated handling and manipulation thereof, such as different types of opening/closing mechanisms with different geometric structures that allow for holding, shifting, and manipulating the packages and/or portions thereof with the package-manipulating devices. The packages additionally or alternatively may include mechanical fasteners, magnets, and/or spring-biased opening/closing mechanisms for keeping the packages closed prior to manipulation thereof. Such packages and systems may be used in a logistics network to the increase speed, accuracy, and efficiency of processing packages having, at least in part, a non-fixed geometry.

First claim

What is claimed is:

1. A system comprising:
a support frame;
a package-holder coupled to the support frame, the package-holder comprising:
a first package-engaging structure, and
a second package-engaging structure,
the package-holder configured to engage a first contact point on a package using the first package-engaging structure and to engage a second contact point on the package using the second package-engaging structure, the package having an opening/closing mechanism comprising:
a first side comprising a first securing element, and
a second side comprising a second securing element,
wherein the first securing element and the second securing element can be detachably coupled;

a package-manipulator coupled to the support frame and comprising a third package-engaging structure configured to:
engage the opening/closing mechanism, and subsequently,
decouple the first securing element and the second securing element to displace the first side and the second side to thereby open the package; and

a detection component configured to at least one of locate or identify the first contact point, the second contact point, and the opening/closing mechanism in a three-dimensional space in which the system operates, wherein the first package-engaging structure is configured to adaptively engage the first contact point based on a location of the first contact point in the three-dimensional space as at least one of located or identified by the detection component, the second package-engaging structure is configured to adaptively engage the second contact point based on a location of the second contact point in the three-dimensional space as at least one of located or identified by the detection component, and the third package-engaging structure is configured to adaptively engage the opening/closing mechanism based on a location of the opening/closing mechanism in the three-dimensional space as at least one of located or identified by the detection component.

2. The system of claim 1 , wherein the detection component is configured to at least one of identify or locate the first contact point, the second contact point, and the opening/closing mechanism using image analysis.

3. The system of claim 1 , further comprising a package-supply apparatus that is configured to advance a plurality of packages into the three-dimensional space in which the system operates, wherein the package-holder and the package-supply apparatus are configured to operate in coordination.

4. The system of claim 1 , wherein the opening/closing mechanism comprises a zipper mechanism, and the package comprises an enclosure formed at least partially of a pliable material.

5. The system of claim 4 , wherein the package comprises a bag, and the first contact point and the second contact point each comprise a geometric structure having a higher degree of rigidity than the pliable material.

6. The system of claim 1 , wherein the first package-engaging structure, when engaged with the first contact point, and the second package-engaging structure, when engaged with the second contact point, are configured to adjustably impart a tension to the package.

7. The system of claim 1 , wherein the first package-engaging structure, the second package-engaging structure, and the third package-engaging structure are each coupled to a separate multi-axis robot.

8. A system comprising:
a support frame;
a package-holder coupled to the support frame, the package-holder comprising:
a first package-engaging structure, and
a second package-engaging structure,
the package-holder configured to engage a first contact point on a package using the first package-engaging structure and to engage a second contact point on the package using the second package-engaging structure, the package having an opening/closing mechanism comprising:
a first side comprising a first securing element, and
a second side comprising a second securing element,
wherein the first securing element and the second securing element can be detachably coupled;

a package-manipulator coupled to the support frame and comprising a third package-engaging structure configured to:
engage the opening/closing mechanism, and subsequently,
decouple the first securing element and the second securing element to displace the first side and the second side to thereby open the package; and

a detection component configured to at least one of locate or identify the first contact point, the second contact point, and the opening/closing mechanism using image analysis in a three-dimensional space in which the system operates.

9. The system of claim 8 , wherein the detection component is configured to at least identify the opening/closing mechanism in the three-dimensional space.

10. The system of claim 8 , wherein the first package-engaging structure is configured to adaptively engage the first contact point based on a location of the first contact point in the three-dimensional space as at least one of located or identified by the detection component, the second package-engaging structure is configured to adaptively engage the second contact point based on a location of the second contact point in the three-dimensional space as at least one of located or identified by the detection component, and the third package-engaging structure is configured to adaptively engage the opening/closing mechanism based on a location of the opening/closing mechanism in the three-dimensional space as at least one of located or identified by the detection component.

11. The system of claim 8 , further comprising a package-supply apparatus that is configured to advance a plurality of packages into the three-dimensional space in which the system operates, wherein the package-holder and the package-supply apparatus are configured to operate in coordination.

12. The system of claim 8 , wherein the opening/closing mechanism comprises a zipper mechanism, and the package comprises an enclosure formed at least partially of a pliable material.

13. The system of claim 12 , wherein the package comprises a bag, and the first contact point and the second contact point each comprise a geometric structure having a higher degree of rigidity than the pliable material.

14. The system of claim 8 , wherein the first package-engaging structure, when engaged with the first contact point, and the second package-engaging structure, when engaged with the second contact point, are configured to adjustably impart a tension to the package.

15. The system of claim 8 , wherein the first package-engaging structure, the second package-engaging structure, and the third package-engaging structure are each coupled to a separate multi-axis robot.

Assignees

• United parcel service america inc

Inventors

• Bell Julian Leland
• Woodrough Jr Stephens B
• Ashtiani Justin

Classifications

• B65B7/02 Primary

  Closing containers or receptacles deformed by, or taking-up shape, of, contents, e.g. bags, sacks · CPC title

• B65B43/28 Primary

  by grippers co-operating with fixed supports · CPC title

• B65B57/00

  Automatic control, checking, warning, or safety devices (registering wrapping or container-forming material fed from rolls B65B41/18) · CPC title

• B65B69/00 Primary

  Unpacking of articles or materials, not otherwise provided for · CPC title

• B65B43/465

  for bags · CPC title