Movement systems and method for processing objects including mobile matrix carrier systems

Patent metadata

Field	Value
Publication number	US-12252340-B2
Application number	US-202117478149-A
Country	US
Kind code	B2
Filing date	Sep 17, 2021
Priority date	Oct 27, 2017
Publication date	Mar 18, 2025
Grant date	Mar 18, 2025

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, each of the actuatable carriers being instructed at any time to move a limited number of track section only.

First claim

What is claimed is:

1. A method of processing objects on a plurality of remotely controllable carriers, said method comprising:
providing the plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;
instructing each of the plurality of remotely controllable carriers to move over a limited number of track elements, the limited number of track elements being the same of each of the plurality of remotely controllable carriers and being less than a total number of track elements in any direction;
moving each of the plurality of remotely controllable carriers over the limited number of track elements; and
actuating a plurality of wheel assemblies on the each of the remotely controlled carriers to pivot to change to a direction of movement of each remotely controlled carrier when instructed to move over the limited number of track elements, wherein each of the plurality of wheel assemblies includes at least one associated guide wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

2. The method as claimed in claim 1 , wherein the track element width and the track element length are substantially the same.

3. The method as claimed in claim 1 , wherein each of the plurality of wheel assemblies includes a powered wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

4. The method as claimed in claim 1 , wherein each remotely controllable carrier includes four wheel assemblies.

5. The method as claimed in claim 4 , wherein actuating the plurality of wheel assemblies on the each of the remotely controlled carriers to pivot to change to a direction of movement of each remotely controlled carrier includes rotating a wheel along an outer edge of a track element.

6. The method as claimed in claim 1 , wherein each remotely controllable carrier includes eight guide wheels that contact an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

7. The method as claimed in claim 1 , wherein the limited number of track elements is three.

8. The method as claimed in claim 1 , wherein the limited number of track elements is two.

9. The method as claimed in claim 1 , wherein the limited number of track elements is one.

10. A method of processing objects on a plurality of remotely controllable carriers, said method comprising:
providing the plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;
instructing a first of the plurality of remotely controllable carriers to move over a first limited number of track elements in a first direction;
instructing a second of the plurality of remotely controllable carriers to move over a second limited number of track elements in a second direction;
actuating a first plurality of wheel assemblies on the first remotely controlled carrier to pivot the first remotely controller carrier to change to a third direction;
actuating a second plurality of wheel assemblies on the second remotely controlled carrier to pivot the second remotely controller carrier to change to a fourth direction;
instructing the first of the plurality of remotely controllable carriers to move over a third limited number of track elements in the third direction; and
instructing the second of the plurality of remotely controllable carriers to move over a fourth limited number of track elements in the fourth direction,
wherein each of the first plurality of wheel assemblies and the second plurality of wheel assemblies includes at least one associated guide wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over at least one of the first limited number of track elements, the second limited number of track elements, the third limited number of track elements and the fourth limited number of track elements.

11. The method as claimed in claim 10 , wherein the track element width and the track element length are substantially the same.

12. The method as claimed in claim 10 , wherein each of the plurality of wheel assemblies includes a powered wheel that contacts an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

13. The method as claimed in claim 10 , wherein each remotely controllable carrier includes four wheel assemblies.

14. The method as claimed in claim 13 , wherein actuating the plurality of wheel assemblies on the each of the remotely controlled carriers to pivot to change to a direction of movement of each remotely controlled carrier includes rotating a wheel along an outer edge of a track element.

15. The method as claimed in claim 10 , wherein each remotely controllable carrier includes eight guide wheels that contact an outside surface of an associated track element under the respective remotely controllable carrier when moving each of the plurality of remotely controllable carriers over the limited number of track elements.

16. The method as claimed in claim 10 , wherein the first, second, third and fourth limited numbers of track elements are all three track elements.

17. The method as claimed in claim 10 , wherein the first, second, third and fourth limited numbers of track elements are all two track elements.

18. The method as claimed in claim 10 , wherein the first, second, third and fourth limited numbers of track elements are all one track element.

19. A system for processing objects comprising:
a plurality of remotely controllable carriers on a floor structure having a plurality of mutually non-connected track elements, each track element having a track element width and a track element length, and each of the remotely controllable carriers including a carrier width and a carrier length, wherein both the carrier width and the carrier length are larger than both the track element width and the track element length;
a processor for instructing each of the plurality of remotely controllable carriers to move over a limited number of track elements, the limited number of track elements being the same of each of the plurality of remotely controllable carriers and being less than a total number of track elements in any direction; and
a plurality of wheel assemblies on the each of the remotely controlled carriers that are adapted to

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