Robotic foam dispenser

Patent metadata

Field	Value
Publication number	US-12390940-B2
Application number	US-202217716382-A
Country	US
Kind code	B2
Filing date	Apr 8, 2022
Priority date	Apr 16, 2021
Publication date	Aug 19, 2025
Grant date	Aug 19, 2025

Abstract

A device that dispenses spacer material is disclosed. The device may be implemented in connection with a robotic palletization/depalletization system. The device may include a mounting hardware configured to mount the device on or adjacent to an end effector of a robotic arm, a communication interface configured to receive a control signal, and an actuator configured to dispense a quantity of spacer material from a supply of spacer material in response to the control signal.

First claim

What is claimed is:

1. A device, comprising:
a mounting hardware configured to mount the device on or adjacent to an end effector of a robotic arm;
a communication interface configured to receive a control signal; and
an actuator configured to dispense a quantity of spacer material from a supply of spacer material in response to the control signal.

2. The device of claim 1 , wherein the mounting hardware is at least one of a bracket, a strap, and one or more fasteners.

3. The device of claim 1 , wherein the end effector is a gripper.

4. The device of claim 3 , wherein the gripper is a suction-based gripper.

5. The device of claim 1 , wherein the robotic arm is comprised in a robotic palletization system.

6. The device of claim 5 , further comprising:
one or more processors to configured to provide to the communication interface the control signal,
wherein:
the robotic palletization system comprises one or more processors; and
the one or more processors are configured to:
determine that a spacer is to be placed in connection with palletization of one or more items; and
generate the control signal to cause the actuator to dispense the quantity of spacer material.

7. The device of claim 6 , wherein the quantity of spacer material is a predefined quantity.

8. The device of claim 6 , wherein the control signal comprises an indication of the quantity of spacer material to be used as the spacer.

9. The device of claim 6 , wherein the one or more processors are further configured to send the control signal to the actuator.

10. The device of claim 6 , wherein:
the one or more processors are further configured to generate a model of a pallet or a stack of one or more items on the pallet; and
the spacer is determined to be placed in connection with palletization of one or more items based at least in part on the model of the pallet or the stack of one or more items on the pallet.

11. The device of claim 5 , wherein:
the robotic palletization system comprises one or more processors; and
the one or more processors are configured to:
generate a model of at least a top surface of a pallet or a stack of one or more items on the pallet;
determine a set of N items to be placed next on the pallet;
determine that placing one or more spacers in connection with placing the set of N items on the pallet will result in an improved stack of items on the pallet compared to a resulting stack of placing the set of N items without spacers;
generate one or more control signals to cause the actuator to dispense the quantity of spacer material corresponding to the one or more spacers; and
provide the one or more control signals to the actuator in connection with placing the set of N items on the pallet.

12. The device of claim 11 , wherein Nis a positive integer.

13. The device of claim 11 , wherein a determination that the placing one or more spacers in connection with placing the set of N items on the pallet is expected to result in an improved stack of items on the pallet is based at least in part on one or more of a packing density, a level top surface, and a stability.

14. The device of claim 11 , wherein a determination that the placing one or more spacers in connection with placing the set of N items on the pallet is expected to result in an improved stack of items on the pallet is based at least in part on a determination that a packing density of the stack of items with the set of N items is higher than a packing density if the set of N items are placed on the pallet without the one or more spacers.

15. The device of claim 11 , wherein a determination that the placing one or more spacers in connection with placing the set of N items on the pallet is expected to result in an improved stack of items on the pallet is based at least in part on a determination that a top surface is more level than a top surface if the set of N items are placed on the pallet without the one or more spacers.

16. The device of claim 11 , wherein a determination that the placing one or more spacers in connection with placing the set of N items on the pallet is expected to result in an improved stack of items on the pallet is based at least in part on a determination that a stability of the stack of items with the set of N items is higher than a stability if the set of N items are placed on the pallet without the one or more spacers.

17. The device of claim 11 , wherein to determine that placing one or more spacers in connection with placing the set of N items on the pallet is expected to result in an improved stack of items on the pallet compared to a resulting stack of placing the set of N items without spacers comprises:
performing a simulation placing the set of N items without using any spacers;
determining a first model based at least in part on the simulation of placing the set of N items without using any spacers;
performing a simulation placing the set of N items using one or more spacers;
determining a second model based at least in part on the simulation of placing the set of N items using the one or more spacers; and
comparing the first model and the second model, the second model being determined to bet better than the second model.

18. The device of claim 17 , wherein the comparing the first model and the second model comprises:
determining a characteristic value pertaining to the first model;
determining a characteristic value pertaining to the second model; and
determining, based on a comparison of the characteristic values of the first model and the second model, that the second model is indicative of an improved stack of items compared to the first model.

19. The device of claim 1 , wherein the spacer material a rigid block.

20. The device of claim 1 , wherein the spacer material a rigid block of foam.

21. The device of claim 1 , wherein the spacer material comprises polyurethane.

22. The device of claim 1 , wherein the supply of spacer material comprises one or more precut blocks.

23. The device of claim 1 , wherein:
the supply of spacer material comprises a plurality of precut blocks;
the plurality of precut blocks is preloaded into a spring-loaded cartridge that biases the plurality of precut blocks to a dispensing end; and
in response to a precut block being dispensed from the cartridge, another of the plurality of precut blocks is pushed to a next-in-line position to be dispensed from the cartridge.

24. The device of claim 23 , wherein in response to the actuator receiving a control signal, the actuator causes at least one of the plurality of precut blocks to be dispensed from the cartridge.

25. The device of claim 1 , wherein the supply of spacer material comprises one or more of a larger block of spacer material, a strip of spacer material, and a roll of spacer material.

26. The device of claim 25 , wherein:
the device further comprises a cutter that is configured to cut the quantity of spacer material from the supply of spacer material.

27. The device of claim 26 , wherein in response to the control signal being provided to the actuator, the actuator causes the cutter to cut the quantity of spacer material from the supply of spacer material.

28. The device of claim 1 , wherein:
the supply of spacer material comprises a liquid precursor;
in response to the control signal being provided to the actuator, the actuator causes the quant

Assignees

• Dexterity Inc

Inventors

• Moreno Robert
• Dupree Andrew
• Perez Salvador

Classifications

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title

• B25J19/0025

  Means for supplying energy to the end effector · CPC title

• B25J9/1671

  characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems · CPC title

• B05B7/0018

  with devices for making foam · CPC title

• B25J15/0616

  with vacuum · CPC title