Systems and methods for processing objects including an auto-shuttle system

Patent metadata

Field	Value
Publication number	US-12410011-B2
Application number	US-202418427025-A
Country	US
Kind code	B2
Filing date	Jan 30, 2024
Priority date	Mar 20, 2017
Publication date	Sep 9, 2025
Grant date	Sep 9, 2025

Abstract

A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins is in communication with a retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and a movable carriage for receiving the selected object from the end effector of the programmable motion device, and for carrying the selected object to one of a plurality of destination bins.

First claim

What is claimed is:

1. An automated storage, retrieval and processing system comprising:
an input bin storage section that includes a plurality of input bins for access by a retrieval conveyance system that brings an input bin of the plurality of input bins to a processing station;
a receiving area at the processing station for receiving the input bin containing one or more objects, the processing station including a programmable motion device for grasping and removing a selected object of the one or more objects from the input bin and moving and dropping the selected object;
a carrier for receiving the dropped selected object from the programmable motion device, said carrier being adapted to move the selected object as well as being adapted to discharge the selected object from the carrier; and
an array of destination locations below the carrier such that the carrier is movable at an elevation above the array of destination locations, each destination location including an open top such that the carrier deposits the selected object into a selected destination location of the plurality of destination locations by discharging the selected object into the open top of the selected destination location.

2. The automated storage, retrieval and processing system as claimed in claim 1 , wherein the programmable motion device includes an articulated arm with a vacuum end-effector.

3. The automated storage, retrieval and processing as claimed in claim 1 , wherein the array of destination locations is provided as at least one pair of rows of destination locations.

4. The automated storage, retrieval and processing system as claimed in claim 1 , wherein each destination location is adapted for sealing and shipment for transport.

5. The automated storage, retrieval and processing system as claimed in claim 1 , wherein each destination location is provided adjacent an output conveyance system for receiving completed destination containers.

6. The automated storage, retrieval and processing system as claimed in claim 5 , further comprising an output bin displacement system for displacing the completed destination containers onto the output conveyance system.

7. The automated storage, retrieval and processing system as claimed in claim 1 , wherein the retrieval conveyance system includes an infeed conveyor section that brings any of the plurality of input bins to the processing station.

8. The automated storage, retrieval and processing system as claimed in claim 7 , wherein the infeed conveyor section is gravity biased toward the processing station.

9. The automated storage, retrieval and processing system as claimed in claim 8 , wherein the retrieval conveyance system includes a bin displacement system for displacing the input bin onto the infeed conveyor section.

10. The automated storage, retrieval and processing system as claimed in claim 9 , wherein the retrieval conveyance system includes a return conveyor section that returns any of the input bins to the input bin storage section.

11. An automated storage, retrieval and processing system for processing objects, the automated storage, retrieval and processing system comprising:
an input bin storage section that includes a plurality of input bins for access by a retrieval conveyance system that brings each input bin to the processing station;
a receiving area at the processing station for receiving an input bin containing one or more objects, the processing station including a programmable motion device for grasping and removing a selected object of the one or more objects from the input bin and moving the selected object;
a carrier for receiving the selected object from the programmable motion device, said carrier being adapted to move the selected object as well as being adapted to discharge the selected object from the carrier; and
an array of destination locations below the carrier such that the carrier is movable at an elevation above the array of destination locations, each destination location including an open top such that the carrier deposits the selected object into a selected destination location of the plurality of destination locations by tipping the carrier to discharge the selected object into the selected destination location.

12. The automated storage, retrieval and processing system as claimed in claim 11 , wherein the programmable motion device includes an articulated arm with a vacuum end-effector.

13. The automated storage, retrieval and processing system as claimed in claim 11 , wherein the array of destination locations is provided as at least one pair of rows of destination locations.

14. The automated storage, retrieval and processing system as claimed in claim 11 , wherein each destination location is adapted for sealing and shipment for transport.

15. The automated storage, retrieval and processing system as claimed in claim 11 , wherein each destination location is provided adjacent an output conveyance system for receiving completed destination containers.

16. The automated storage, retrieval and processing system as claimed in claim 15 , further comprising an output bin displacement system for displacing the completed destination containers onto the output conveyance system.

17. The automated storage, retrieval and processing system as claimed in claim 11 , wherein the retrieval conveyance system includes an infeed conveyor section that brings any of the plurality of input bins to the processing station.

18. The automated storage, retrieval and processing system as claimed in claim 17 , wherein the infeed conveyor section is gravity biased toward the processing station.

19. The automated storage, retrieval and processing system as claimed in claim 18 , wherein the retrieval conveyance system includes a bin displacement system for displacing an input bin onto the infeed conveyor section.

20. The automated storage, retrieval and processing system as claimed in claim 19 , wherein the retrieval conveyance system includes a return conveyor section that returns any of the input bins to the input bin storage section.

21. A method of storing, retrieving and processing objects, said method comprising:
storing a plurality of input bins at an input bin storage section;
moving a selected input bin of the plurality of input bins to a retrieval conveyance system;
receiving, at a processing station from the retrieval conveyance system, the selected input bin containing one or more objects;
using a programmable motion device, grasping and removing a selected object of the one or more objects from the selected input bin;
moving the selected object to a carrier using the programmable motion device;
moving the carrier;
providing an array of destination locations below the carrier such that the carrier is movable at an elevation above the array of destination locations; and
dropping the selected object into a selected destination location of the array of destination locations by tipping the carrier to discharge the selected object into the selected destination location.

22. The method as claimed in claim 21 , wherein the programmable motion device includes an articulated arm with a vacuum end-effector.

23. The method as claimed in claim 21 , wherein the array of destination locations is provided as at least one pair of rows of destination locations.

24. The method as claimed in claim 21 , wherein each destination location is provided adjacent an output conveyance system for re

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 Carlton
• SRINIVASA Siddhartha
• Velagapudi Prasanna
• Allen Thomas

Classifications

• B65G47/90

  Devices for picking-up and depositing articles or materials · CPC title

• B07C3/00

  Sorting according to destination {(collating the pages of a book B42C1/00)} · CPC title

• B07C3/008

  Means for collecting objects, e.g. containers for sorted mail items (pile receivers in general B65H31/00) · CPC title

• G06Q10/087

  Inventory or stock management, e.g. order filling, procurement or balancing against orders · CPC title

• B65G1/0485 Primary

  Check-in, check-out devices · CPC title