Robotic stack mover

Patent metadata

Field	Value
Publication number	US-12448233-B2
Application number	US-202217713077-A
Country	US
Kind code	B2
Filing date	Apr 4, 2022
Priority date	Apr 16, 2021
Publication date	Oct 21, 2025
Grant date	Oct 21, 2025

Abstract

The present application discloses a robotic stack mover system, and a method and a computer system for controlling the robotic stack mover system. The robotic stack mover system includes a driving unit comprising a motor, a drive chain, a tensioning unit that enforces tension of the drive chain, and a guide rail traversing a distance between the driving unit and the tensioning unit. The motor is operatively coupled to the drive chain, and the motor is configured to drive the drive chain when the motor is driven. The guide rail comprises or supports the drive chain. The driving chain comprises a set of pusher units. The pusher units are respectively configured to engage one or more vehicles inserted to the system, and to cause one or more vehicles to traverse a path having a same direction as a longitudinal direction of the guide rail when the driving chain is driven.

First claim

What is claimed is:

1. A robotic stack mover system, comprising:
a driving unit comprising a motor;
a drive chain;
a tensioning unit that enforces tension of the drive chain; and
a guide rail traversing a distance between the driving unit and the tensioning unit; wherein:
the motor is operatively coupled to the drive chain, and the motor is configured to drive the drive chain when the motor is driven;
the guide rail comprises a channel configured to guide and support the drive chain;
the driving chain comprises a set of pusher units; and
the pusher units are respectively configured to engage one or more vehicles inserted to the system, and to cause one or more vehicles to traverse a path having a same direction as a longitudinal direction of the guide rail when the driving chain is driven in response to a control signal from a robotic control system configured to operate the robotic stack mover system under robotic control to position said one or more vehicles within reach of a robotic instrumentality to enable the robotic instrumentality to perform a task with respect to the one or more vehicles.

2. The robotic stack mover system of claim 1 , wherein:
the driving unit comprises one or more driving sprockets; and
the motor is connected to at least one of the one or more driving sprockets, and the motor causes the one or more driving sprockets to rotate and drive the drive chain when the motor is driven.

3. The robotic stack mover system of claim 1 , wherein:
the drive chain is a double-pitched chain comprising a set of brackets; and
a set of pusher units are mounted to at least a subset of the set of brackets.

4. The robotic stack mover system of claim 1 , wherein the drive chain is a belt.

5. The robotic stack mover system of claim 1 , wherein:
the set of pusher units mounted to a side of the drive chain at a proximal end of the corresponding pusher units, and
at least one pusher unit comprises at least one proximal chamfer at a proximal end of the at least one pusher unit.

6. The robotic stack mover system of claim 5 , wherein the at least one proximal chamfer is configured to provide clearance for the at least one pusher unit as the at least one pusher unit recirculates between (i) a driving end comprising the driving unit and (ii) a tensioning end comprising the tensioning unit.

7. The robotic stack mover system of claim 5 , wherein:
the at least one pusher unit comprises at least one distal chamfer at a distal end of the at least one pusher unit; and
the at least one distal chamfer is configured to guide at least one vehicle of the one or more vehicles to a location at which the at least one pusher unit is to engage the at least one vehicle when the motor is driven.

8. The robotic stack mover system of claim 1 , wherein the tensioning unit comprises one or more tensioning sprockets.

9. The robotic stack mover system of claim 8 , wherein at least one tensioning sprocket of the one or more tensioning sprockets is movably mounted in a manner that the at least one tension sprocket changes a tension of the drive chain when the at least one tensioning sprocket is moved.

10. The robotic stack mover system of claim 1 , wherein the driving unit comprises at least one sensor that obtains information pertaining to an alignment of the drive chain.

11. The robotic stack mover system of claim 10 , wherein:
the at least one sensor detects a location or presence of at least one of the set of pusher units.

12. The robotic stack mover system of claim 1 , further comprising:
a control computer configured to drive the motor to cause the one or more vehicles to traverse the longitudinal direction of the guide rail.

13. The robotic stack mover system of claim 12 , wherein the control computer is configured to drive the motor in connection with a plan to assemble/disassemble a stack of items to/from at least one vehicle of the one or more vehicles.

14. The robotic stack mover system of claim 1 , wherein:
the driving unit and the tensioning unit respectively comprise a top plate, a bottom plate, and at least two side plates;
the top plate of the tensioning unit has the same dimensions as the top plate of the driving unit; and
the bottom plate of the tensioning unit has the same dimensions as the bottom plate of the driving unit.

15. The robotic stack mover system of claim 14 , wherein the at least two side plates of the tensioning unit has the same dimensions as the at least two side plates of the driving unit.

16. The robotic stack mover system of claim 1 , wherein the pusher units are spaced along the driving chain based at least in part on a longitudinal dimension of the vehicle.

17. The robotic stack mover system of claim 1 , wherein the vehicle is a dolly configured to have trays of items stacked thereon, and the dolly comprises wheels on which the dolly traverses the path.

18. The robotic stack mover system of claim 17 , wherein that the robotic instrumentality is to perform with respect to the one or more vehicles comprises: picking items from the trays.

19. A method, comprising:
determining to move one or more vehicles inserted into a robotic stack mover system, including determining to move the one or more vehicles to along a path having a same direction as a longitudinal direction of a guide rail of the robotic mover system; and
controlling to drive a motor of the robotic stack mover system in connection with driving a drive chain of the robotic stack mover system to engage the one or more vehicles with at least one pusher unit of a plurality of pusher units,
wherein:
the robotic stack mover system comprises:
a driving unit comprising a motor;
a drive chain;
a tensioning unit that enforces tension of the drive chain; and
a guide rail traversing a distance between the driving unit and the tensioning unit; and

the motor is operatively coupled to the drive chain, and the motor is configured to drive the drive chain when the motor is driven;
the guide rail comprises a channel configured to guide and support the drive chain;
the driving chain comprises a set of pusher units; and

the pusher units are respectively configured to engage one or more vehicles inserted to the system, and to cause one or more vehicles to traverse a path having a same direction as a longitudinal direction of the guide rail when the driving chain is driven in response to a control signal from a robotic control system configured to operate the robotic stack mover system under robotic control to position said one or more vehicles within reach of a robotic instrumentality to enable the robotic instrumentality to perform a task with respect to the one or more vehicles.

20. A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:
determining to move one or more vehicles inserted into a robotic stack mover system, including determining to move the one or more vehicles to along a path having a same direction as a longitudinal direction of a guide rail of the robotic mover system; and
controlling to drive a motor of the robotic stack mover system in connection with driving a drive chain of the robotic stack mover system to engage the one or more vehicles with at least one pusher unit of a plurality of pusher units;
wherein:
the robotic stack mover system comprises:
a driving unit comprising a motor;
a drive chain;
a tensioning unit that enforces tension of the drive chain; and
a guide rail traversing a distance between the driving unit and

Assignees

• Dexterity Inc

Inventors

• Arvayo Alberto Leyva
• Bieler Charles Richard
• Molina Matthew Rodolfo
• Lovett Andrew
• Holmberg Robert
• Sun Cuthbert

Classifications

• B65G2201/0258

  Trays, totes or bins · CPC title

• B65G17/34

  having flat surfaces, e.g. platforms, grids, forks · CPC title

• B65G17/005

  comprising individual load carriers which are movably mounted (B65G17/16 takes precedence) · CPC title

• B65G19/02

  for articles, e.g. for containers · CPC title

• B65G61/00 Primary

  Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for · CPC title