Systems and methods for processing objects, including automated linear processing stations

Patent metadata

Field	Value
Publication number	US-12297046-B2
Application number	US-202318372239-A
Country	US
Kind code	B2
Filing date	Sep 25, 2023
Priority date	Mar 23, 2017
Publication date	May 13, 2025
Grant date	May 13, 2025

Abstract

A method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device. The identified processing location is associated with the identifying indicia and the identified processing location is provided as one of a plurality of processing locations along a first direction. The step of moving the acquired object includes moving the programmable motion device along a second direction that is substantially parallel with the first direction.

First claim

The invention claimed is:

1. A processing system for processing objects, said processing system comprising:
an in-feed conveyor for providing a plurality of objects to an input area along a first direction;
a processing station including a perception unit for perceiving identifying indicia representative of identities of each of the plurality of objects, the processing station further including an articulated arm that is movable along a processing location distance in a second direction that is generally parallel with the first direction, and the processing location distance being associated with the input area along the first direction on which the plurality of objects are provided;
a container processing area, the container processing area providing a plurality of containers for receiving any of the plurality of objects from the input area using the articulated arm, and the container processing area being provided along a third direction that is generally parallel with the first direction, the articulated arm being engageable for moving objects from the input area to any of the plurality of containers provided in the container processing area;
an output conveyor for receiving a plurality of completed containers from the container processing area at an output area along a fourth direction that is generally parallel with the first direction, the output area being associated with the processing location distance; and
a container kicker that is movable along a fifth direction that is generally parallel with the first direction and includes a contact portion for urging a completed container of the plurality of completed containers from the container processing area to the output area of the output conveyor.

2. The processing system of claim 1 , wherein the contact portion of the completed container contacts a tray in which the completed container is provided.

3. The processing system of claim 1 , wherein the perception unit perceives identifying indicia on each of the plurality of objects.

4. The processing system of claim 1 , wherein the perception unit perceives identifying indicia on a supply container that contains a subset of the plurality of objects, the subset being a homogenous set of objects.

5. The processing system of claim 1 , wherein the processing system includes a plurality of processing stations, each of the plurality of processing stations including a respective perception unit and a respective articulated arm, each of which is in communication with the output conveyor.

6. The processing system of claim 1 , wherein a base of the articulated arm is configured to move along the processing location distance on a track that is positioned on a floor below the input area.

7. The processing system of claim 1 , wherein a base of the articulated arm is configured to move along the processing location distance on a track that is suspended from above with respect to the input area.

8. The processing system of claim 1 , wherein the container kicker further includes a displacement arm for urging the completed container from the container processing area to the output area of the output conveyor.

9. The processing system of claim 8 , wherein the contact portion of the container kicker includes a roller on the displacement arm.

10. The processing system of claim 1 , wherein the processing system further includes an empty container supply conveyor that provides empty containers to an empty container area associated with the output area of the output conveyor.

11. The processing system of claim 10 , wherein the articulated arm is further engageable for moving an empty container of the plurality of empty containers at the empty container area to the container processing area.

12. A processing system for processing objects, said processing system comprising:
an in-feed conveyor for providing a plurality of objects to an input area along a first direction, said input area providing for a plurality of input containers to be presented therein;
a processing station proximate the input area, said processing station including a perception unit for perceiving identifying indicia representative of identities of each of the plurality of objects, the processing station further including an articulated arm that is movable along a processing location area that extends in a second direction that is generally parallel with the first direction;
a container processing area associated with the input area of the in-feed conveyor, the container processing area providing a plurality of containers for receiving any of the plurality of objects from the input area using the articulated arm, and the container processing area being provided along a third direction that is generally parallel with the first direction, wherein the articulated arm is engageable for moving objects from the input area to any of the plurality of containers provided in the container processing area, and wherein the articulated arm is engageable for moving an empty container from an empty container area to the container processing area; and
an output conveyor for receiving a plurality of completed containers from the container processing area at an output area along a fourth direction that is generally parallel with the first direction.

13. The processing system of claim 12 , wherein the processing containers are each provided in a container tray.

14. The processing system of claim 12 , wherein the articulated arm is used for moving any of the plurality of completed containers from the container processing area to the output area of the output conveyor.

15. The processing system of claim 12 , wherein a base of the articulated arm is configured to move along the processing location area on a track that is positioned on a floor below the input area.

16. The processing system of claim 12 , wherein a base of the articulated arm is configured to move along the processing location area on a track that is suspended from above with respect to the input area.

17. The processing system of claim 12 , wherein the processing system includes a container kicker for moving any of the plurality of completed containers from the container processing area to the output area of the output conveyor.

18. The processing system of claim 17 , wherein the container kicker includes a displacement arm and a roller on an end of the displacement arm for urging a completed container of the plurality of completed containers to the output area.

19. The processing system of claim 12 , wherein the processing system further includes an empty container supply conveyor that provides a plurality of empty containers to the empty container area.

20. The processing system of claim 19 , wherein the empty container area is above the output area of the output conveyor.

21. A method of processing objects comprising:
providing a plurality of objects by an in-feed conveyor to an input area along a first direction;
perceiving identifying indicia representative of identities of each of the plurality of objects by a perception unit;
providing a container processing area associated with the input area of the in-feed conveyor, the container processing area providing a plurality of containers for receiving any of the plurality of objects from the input area using an articulated arm that is movable along a processing location area extending in a second direction that is generally parallel with the first direction, wherein the processing location area is associated with the input area along the first direction

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
• Hinchey Victoria
• 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

• B65G1/1378 Primary

  the orders being assembled on fixed commissioning areas remote from the storage areas · CPC title

• B65G47/905

  Control arrangements · CPC title

• B65G2201/0258

  Trays, totes or bins · CPC title

• B25J9/026

  Gantry-type · CPC title

• B65G47/82

  Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels {(means for pushing glass articles onto a conveyor C03B9/453)} · CPC title