Mobile carriers for use in systems and methods for processing objects including mobile matrix carrier systems

Patent metadata

Field	Value
Publication number	US-12195274-B2
Application number	US-202117478402-A
Country	US
Kind code	B2
Filing date	Sep 17, 2021
Priority date	Oct 27, 2017
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a base structure of a carrier on which an object may be supported, and at least two wheels mounted to at least two motors to provide at least two wheel assemblies, the at least two wheel assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier.

First claim

What is claimed is:

1. An automated carrier system for moving objects to be processed, said automated carrier system comprising:
a carrier body with a carrier width along a carrier width direction and a carrier length along a carrier length direction, said carrier body being configured to support a load; and
a plurality of wheel assemblies, each wheel assembly including a wheel coupled to a pivot assembly, each pivot assembly providing pivoting of an associated wheel between the carrier width direction and the carrier length direction, wherein the associated wheel is pivoted away from a center of the carrier width and the carrier length,
wherein the automated carrier system further includes a plurality of discontinuous track elements, each track element having a track element width and a track element length,
wherein both the carrier width and the carrier length are larger than the track element width and the track element length, and
wherein the wheels of the plurality of wheel assemblies travel outside of each track element.

2. The automated carrier system as claimed in claim 1 , wherein each of the plurality of wheel assemblies further includes at least one guide roller.

3. The automated carrier system as claimed in claim 2 , wherein each of the plurality of wheel assemblies further includes a pair of guide rollers, one on either side of the wheel.

4. The automated carrier system as claimed in claim 1 , wherein each of the plurality of wheel assemblies further includes a motor for driving the wheel, wherein the motor pivots with the associated wheel assembly.

5. The automated carrier system as claimed in claim 1 , wherein at least a portion of each wheel of each of the wheel assemblies extends beyond both the carrier width and the carrier length when pivoted between the carrier width direction and the carrier length direction.

6. The automated carrier system as claimed in claim 1 , wherein each wheel of each wheel assembly remains outside of the track element width and the track element length when pivoted while the carrier body is positioned over an associated track element.

7. The automated carrier system as claimed in claim 1 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier width direction, a distance between the wheels is larger than the track element width.

8. The automated carrier system as claimed in claim 1 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier length direction, a distance between the wheels is larger than the track element length.

9. An automated carrier system for moving objects to be processed, said automated carrier system comprising:
a carrier body with a carrier width along a carrier width direction and a carrier length along a carrier length direction, said carrier body being configured to support a load; and
a plurality of wheel assemblies, each wheel assembly including a wheel coupled to a pivot assembly, each pivot assembly providing pivoting of an associated wheel between the carrier width direction and the carrier length direction,
wherein the automated carrier system further includes a plurality of discontinuous track elements, each track element having a track element width and a track element length,
wherein both the carrier width and the carrier length are larger than the track element width and the track element length, and
wherein each wheel of each wheel assembly remains outside of the track element width and the track element length when pivoted while the carrier body is positioned over an associated track element.

10. The automated carrier system as claimed in claim 9 , wherein each of the plurality of wheel assemblies further includes at least one guide roller.

11. The automated carrier system as claimed in claim 10 , wherein each of the plurality of wheel assemblies further includes a pair of guide rollers, one on either side of the wheel.

12. The automated carrier system as claimed in claim 9 , wherein each of the plurality of wheel assemblies further includes a motor for driving the wheel, wherein the motor pivots with the associated wheel assembly.

13. The automated carrier system as claimed in claim 9 , wherein the associated wheel of each wheel assembly is pivoted away from a center of the associated carrier width and the associated carrier length.

14. The automated carrier system as claimed in claim 9 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier width direction, a distance between the wheels is larger than the track element width.

15. The automated carrier system as claimed in claim 9 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier length direction, a distance between the wheels is larger than the track element length.

16. The automated carrier system as claimed in claim 9 , wherein the wheels of the plurality of wheel assemblies travel outside of each track element.

17. A method of processing objects, said method comprising:
providing a carrier body with a carrier width along a carrier width direction and a carrier length along a carrier length direction, said carrier body being configured to support a load;
providing a plurality of wheel assemblies mounted to the carrier body, each wheel assembly including a wheel coupled to a pivot assembly, wherein the plurality of wheel assemblies move the carrier body about a plurality of discontinuous track elements, each track element having a track element width and a track element length; and
pivoting the plurality of wheel assemblies between the carrier width direction and the carrier length direction,
wherein both the carrier width and the carrier length are larger than the track element width and the track element length, and
wherein each wheel of each wheel assembly remains outside of the track element width and the track element length when pivoted while the carrier body is positioned over an associated track element.

18. The method as claimed in claim 17 , wherein each of the plurality of wheel assemblies further includes at least one guide roller.

19. The method as claimed in claim 18 , wherein each of the plurality of wheel assemblies further includes a pair of guide rollers, one on either side of the wheel.

20. The method as claimed in claim 17 , wherein each of the plurality of wheel assemblies further includes a motor for driving the wheel, wherein the motor pivots with the associated wheel assembly.

21. The method as claimed in claim 17 , wherein at least a portion of each wheel of each of the wheel assemblies extends beyond both the carrier width and the carrier length when pivoted between the carrier width direction and the carrier length direction.

22. The method as claimed in claim 17 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier width direction, a distance between the wheels is larger than the track element width.

23. The method as claimed in claim 17 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier length direction, a distance between the wheels is larger than the track element length.

24. The method as claimed in claim 17 , wherein the wheels of the plurality of wheel assemblies travel outside of each track element.

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