Note: Descriptions are shown in the official language in which they were submitted.
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AUTOMATED UNLOADING AND LOADING ROBOT SYSTEM WITH
TELESCOPING MAST AND Z-AXIS CONTROL
BACKGROUND
Transporting cargo, such as packages, boxes, bags, cans, and/or other
products, to and
from cargo containers, such as trailers, cargo carriers, and the like, can be
quite expensive,
labor-intensive, and even dangerous at times. Often the shipping and receiving
operations at
the loading docks are the bottlenecks for the entire fulfillment operation.
Stacking and
unstacking cargo items in warehouses and manufacturing plants can be likewise
expensive
and dangerous. High stacks of cargo items can become unstable so as to readily
fall on those
handling the cargo. Manually loading and unloading a trailer can be a tough
job because of
the environmental conditions inside the trailer. Often forklift trucks have
been used to load
pallets of items to and from cargo containers and warehouses, but there are a
number of
limitations on their use. The loading or unloading process typically takes a
considerable
amount of time because usually only one forklift can fit inside the trailer at
a time. In
addition, the pallets for the forklifts typically waste usable space within
the cargo container
and add unnecessary weight. This wasted empty space and added weight costs
money. When
difficulties arise with the forklifts, loading dock personnel have been used
to manually
unload and stack items within the cargo space, but again such labor intensive
activities can
still be quite expensive and time consuming as well as can result in injury to
the personnel.
Robotic and other automated systems have been proposed for loading and
unloading cargo,
but these systems still have a number of significant drawbacks. The throughput
provided by
these systems is typically low, and these systems are error prone, thereby
still requiring
human intervention when mishaps occur.
Thus, there is a need for improvement in this field.
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SUMMARY
An automated unloading and loading robot system has been developed to rapidly
stack and/or unstack cargo items in a cargo carrier (or other location). An
earlier version of
the robot system is described in US Publication No. 2018/0118476 Al to Bastian
II et al.,
published on May 3, 2018 (US Patent Application No. 15/795,947, filed October
27, 2017)
which is hereby incorporated by reference in its entirety. Several unique
improvements to
that system have been developed to address a number of issues. The system
includes a mobile
robot that has a unique End of Arm Tool (EoAT) attached to a moveable mast.
The EoAT
incorporates a conveyor system that is able to rapidly transport the cargo
items on a near
continuous basis. The EoAT includes an extendable-retractable gripper
mechanism that is
configured to grip the cargo items. In one form, the gripper mechanism
includes one or more
vacuum cups to grip the cargo items. The gripper mechanism is able to extend
the vacuum
cups above the conveyor system on the EoAT in order to pull cargo onto the
conveyor
system. Once the cargo item is pulled onto the conveyor system, the vacuum
cups are
retracted below the conveyor system so that the cargo item is able to travel
over the gripper
mechanism. When unloading or stacking the cargo items, the gripper mechanism
can operate
in a reverse fashion and accurately push the cargo items from the conveyor
system and onto
the cargo stack. The EoAT is able to move in yaw (side-to-side) and pitch
(tilt) directions
relative to the mast so that it is properly positioned to pick or place the
cargo items. Some
24) cargo items, such as boxes, can tip over so as to not be level. The
EoAT has been further
configured to twist or roll so that the EoAT is able to handle and move any
tilted cargo items.
Moreover, the EoAT now includes several unique guiding structures that enhance
the ability
of the EoAT to load and unload cargo items. The mast is attached to a mobile
base unit. The
mobile base unit is able to move the EoAT by moving the mast. In addition,
large or major
movements of the EoAT can be accomplished by moving and/or steering the mobile
base
unit For example, the mobile base unit is configured to move in and out of a
trailer as well as
in side-to-side directions. The moveable mast minimizes the distance the base
unit needs to
move in order to load or unload the cargo items from the cargo container. The
base unit is
able to adjust the yaw and pitch of the mast. The base unit is also able to
extend and retract
the mast so that the base unit does not need to move as the EoAT moves
vertically and
horizontally along a row of stacked cargo items. The mast and base unit have
conveyors for
transporting the cargo items to and from the EoAT. In one form, an extendable
conveyor is
coupled to the base unit so as to form a link between the robot and main
conveyor system in a
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facility. The mast is also internally extendable or retractable so that the
length of the mast is
able to be adjusted and still be able to transport cargo items. This ability
to further retract the
mast allows the robot to move in tight spaces such as in between support
columns. This robot
system can rapidly load and unload cargo carriers automatically with no or
little human
interaction. This system design eliminates the need for forklift operators
which in turn
reduces the risk of injury and expense associated with the operators as well
as reduces
loading and unloading times.
Aspect 1 generally concerns a system that includes a robot that has an End of
Arm
Tool (EoAT) mounted to a mast with a continuous conveyor path.
Aspect 2 generally concerns the system of aspect 1 in which the mast is
coupled to a
base unit with one or more omnidirectional wheels.
Aspect 3 generally concerns the system of aspect 2 in which the mast has a
bridge
conveyor that is extendable and retractable.
Aspect 4 generally concerns the system of aspect 3 in which the bridge
conveyor
extends across at least two mast sections that move in a telescoping manner.
Aspect 5 generally concerns the system of aspect 4 in which the bridge
conveyor
includes a conveyor belt that is routed in an S-shaped pattern between the
sections.
Aspect 6 generally concerns the system of aspect 4 in which the mast has a
drive
system to move the sections relative to one another.
Aspect 7 generally concerns the system of aspect 1 in which the mast includes
at least
two conveyor sections for buffering cargo.
Aspect 8 generally concerns the system of aspect 7 in which the conveyors
sections
include belt conveyors that extend substantially across the full width of the
mast.
Aspect 9 generally concerns the system of aspect 1 in which the mast includes
one or
more transition conveyors to transport cargo between the mast and EoAT.
Aspect 10 generally concerns the system of aspect 1 in which the EoAT includes
a
roll drive configured to rotate the EoAT relative to the mast.
Aspect 11 generally concerns the system of aspect 10 in which the EoAT
includes an
actuator gearbox configured to move the EoAT in yaw and pitch directions.
Aspect 12 generally concerns the system of aspect 1 in which the EoAT includes
at
least one conveyor to transport cargo.
Aspect 13 generally concerns the system of aspect 12 in which the EoAT
includes a
gripper mechanism with a gripper member that spans across the conveyor.
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Aspect 14 generally concerns the system of aspect 13 in which the gripper
mechanism
has one or more vacuum cups to grip cargo.
Aspect 15 generally concerns the system of aspect 13 in which the gripper
mechanism
has a carriage with linkage assemblies positioned on opposite sides of the
conveyor.
Aspect 16 generally concerns the system of aspect 15 in which the linkage
assemblies
include cam followers engaging cam rails located on the opposite sides of the
conveyor.
Aspect 17 generally concerns the system of aspect 16 in which the cam
followers
each include at least a pair of cam rollers disposed on opposite sides of the
cam rails.
Aspect 18 generally concerns the system of aspect 1 in which the EoAT includes
at
least two conveyor sections for transporting cargo.
Aspect 19 generally concerns the system of aspect 18 in which the EoAT
includes a
gripper mechanism configured to nest in a retracted position between the
conveyor sections.
Aspect 20 generally concerns the system of aspect 1 in which the EoAT includes
a
location member with a probe member extending from a distal end of the EoAT.
Aspect 21 generally concerns the system of aspect 20 in which the EoAT
includes a
shoehorn member configured to guide cargo against the location member.
Aspect 22 generally concerns the system of aspect 21 in which the shoehorn
member
includes a fan section that is angled towards the location member.
Aspect 23 generally concerns the system of aspect 20 in which the EoAT include
a
24) rocker arm dangling below the probe member.
Aspect 24 generally concerns the system of aspect 23 in which the rocker arm
is
angled at an acute angle relative to the probe member.
Aspect 25 generally concerns the system of aspect 24 in which the rocker arm
is
pivotally connected to the EoAT via a pivot connector.
Aspect 26 generally concerns the system of aspect 25 in which the EoAT has a
stop
member that holds the rocker arm in position.
Aspect 27 generally concerns the system of aspect 23 in which the rocker arm
is
flexible.
Aspect 28 generally concerns the system of any previous aspect in which the
mast is
34) coupled to a base unit with one or more omnidirectional wheels.
Aspect 29 generally concerns the system of any previous aspect in which the
mast has
a bridge conveyor that is extendable and retractable.
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Aspect 30 generally concerns the system of any previous aspect in which the
bridge
conveyor extends across at least two mast sections that move in a telescoping
manner.
Aspect 31 generally concerns the system of any previous aspect in which the
bridge
conveyor includes a conveyor belt that is routed in an S-shaped pattern
between the sections.
5 Aspect 32 generally concerns the system of any previous aspect in
which the mast has
a drive system to move the sections relative to one another.
Aspect 33 generally concerns the system of any previous aspect in which the
mast
includes at least two conveyor sections for buffering cargo.
Aspect 34 generally concerns the system of any previous aspect in which the
conveyors sections include belt conveyors that extend substantially across the
full width of
the mast.
Aspect 35 generally concerns the system of any previous aspect in which the
mast
includes one or more transition conveyors to transport cargo between the mast
and EoAT.
Aspect 36 generally concerns the system of any previous aspect in which the
EoAT
includes a roll drive configured to rotate the EoAT relative to the mast.
Aspect 37 generally concerns the system of any previous aspect in which the
EoAT
includes an actuator gearbox configured to move the EoAT in yaw and pitch
directions.
Aspect 38 generally concerns the system of any previous aspect in which the
EoAT
includes at least one conveyor to transport cargo.
Aspect 39 generally concerns the system of any previous aspect in which the
EoAT
includes a gripper mechanism with a gripper member that spans across the
conveyor.
Aspect 40 generally concerns the system of any previous aspect in which the
gripper
mechanism has one or more vacuum cups to grip cargo.
Aspect 41 generally concerns the system of any previous aspect in which the
gripper
mechanism has a carriage with linkage assemblies positioned on opposite sides
of the
conveyor.
Aspect 42 generally concerns the system of any previous aspect in which the
linkage
assemblies include cam followers engaging cam rails located on the opposite
sides of the
conveyor.
Aspect 43 generally concerns the system of any previous aspect in which the
cam
followers each include at least a pair of cam rollers disposed on opposite
sides of the cam
rails.
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Aspect 44 generally concerns the system of any previous aspect in which the
EoAT
includes at least two conveyor sections for transporting cargo.
Aspect 45 generally concerns the system of any previous aspect in which the
EoAT
includes a gripper mechanism configured to nest in a retracted position
between the conveyor
sections.
Aspect 46 generally concerns the system of any previous aspect in which the
EoAT
includes a location member with a probe member extending from a distal end of
the EoAT.
Aspect 47 generally concerns the system of any previous aspect in which the
EoAT
includes a shoehorn member configured to guide cargo against the location
member.
Aspect 48 generally concerns the system of any previous aspect in which the
shoehorn member includes a fan section that is angled towards the location
member.
Aspect 49 generally concerns the system of any previous aspect in which the
EoAT
include a rocker arm dangling below the probe member.
Aspect 50 generally concerns the system of any previous aspect in which the
rocker
arm is angled at an acute angle relative to the probe member.
Aspect 51 generally concerns the system of any previous aspect in which the
rocker
arm is pivotally connected to the EoAT via a pivot connector.
Aspect 52 generally concerns the system of any previous aspect in which the
EoAT
has a stop member that holds the rocker arm in position.
Aspect 53 generally concerns the system of any previous aspect in which the
rocker
arm is flexible.
Aspect 54 generally concerns a method of operating the system of any previous
aspect.
Further forms, objects, features, aspects, benefits, advantages, and
embodiments of
the present invention will become apparent from a detailed description and
drawings
provided herewith.
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BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of a robotic system according to one example.
FIG. 2 is a front perspective view of a robot used in the FIG. 1 robotic
system.
FIG. 3 is a side perspective view of the FIG. 2 robot
FIG. 4 is a top view of the FIG. 1 robotic system.
FIG. 5 is a perspective view of a mast used in the FIG. 2 robot.
FIG. 6 is a first side view of the FIG. 5 mast.
FIG. 7 is a perspective view of a base mast section used in the FIG. 5 mast.
FIG. 8 is an enlarged perspective view of the FIG. 7 base mast section with
selected
components removed.
FIG. 9 is a partial cross-sectional view of the FIG. 7 base mast section.
FIG. 10 is a perspective view of an EoAT mast section used in the FIG. 5 mast.
FIG. 11 is a top view of the FIG. 10 EoAT mast section.
FIG. 12 is a partial cross-sectional view of the FIG. 10 EoAT mast section.
FIG. 13 is an enlarged perspective view of the FIG. 10 EoAT mast section.
FIG. 14 is a second side view of the FIG. 5 mast.
FIG. 15 is an enlarged perspective view of the interface between the FIG. 7
base mast
section and the FIG. 10 EoAT mast section.
FIG. 16 is a top perspective view of an EoAT attached to the FIG. 5 mast.
24) FIG. 17 is a bottom perspective view of the FIG. 16 EoAT attached
to the FIG. 5
mast.
FIG. 18 is a top perspective view of an actuator gearbox used to move the FIG.
16
EoAT.
FIG. 19 is a bottom perspective view of the FIG. 18 actuator gearbox.
FIG. 20 is an enlarged perspective view of one end of the HG. 16 EoAT.
FIG. 21 is a front perspective view of the FIG. 16 EoAT.
FIG. 22 is a rear perspective view of the FIG. 16 EoAT.
FIG. 23 is a top perspective view of the FIG. 16 EoAT.
FIG. 24 is a side perspective view of a shoehorn member used in the FIG. 16
EoAT.
FIG. 25 is a front perspective view of the FIG. 24 shoehorn member.
FIG. 26 is a perspective view of a location member used in the FIG. 16 EoAT.
FIG. 27 is an enlarged perspective view of the FIG. 16 EoAT.
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FIG. 28 is a front perspective view of a gripper mechanism and cam rails used
in the
FIG. 16 EoAT.
FIG. 29 is a top perspective view of the FIG. 28 gripper mechanism.
FIG. 30 is a front perspective view of the FIG. 28 gripper mechanism.
FIG. 31 is a rear perspective view of the FIG. 28 gripper mechanism and cam
rails.
FIG. 32 is a top perspective view of the FIG. 16 EoAT servicing boxes.
FIG. 33 is a side view of the FIG. 16 EoAT servicing the boxes.
FIG. 34 is a side view of the FIG. 16 EoAT servicing a box on a floor.
FIG. 35 is a perspective view of the FIG. 16 EoAT moving a tilted box.
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DETAILED DESCRIPTION OF SELECTED EMBODIMENTS
For the purpose of promoting an understanding of the principles of the
invention,
reference will now be made to the embodiments illustrated in the drawings and
specific
language will be used to describe the same. It will nevertheless be understood
that no
limitation of the scope of the invention is thereby intended. Any alterations
and further
modifications in the described embodiments, and any further applications of
the principles of
the invention as described herein, are contemplated as would normally occur to
one skilled in
the art to which the invention relates. One embodiment of the invention is
shown in great
detail, although it will be apparent to those skilled in the relevant art that
some features that
are not relevant to the present invention may not be shown for the sake of
clarity.
The reference numerals in the following description have been organized to aid
the
reader in quickly identifying the drawings where various components are first
shown. In
particular, the drawing in which an element first appears is typically
indicated by the left-
most digit(s) in the corresponding reference number. For example, an element
identified by a
"100" series reference numeral will likely first appear in FIG. 1, an element
identified by a
200" series reference numeral will likely first appear in FIG. 2, and so on.
FIG. 1 shows a perspective view of a robotic system 100 according to one
example.
The robotic system 100 includes a robot 105 and an extendable conveyor 110
operatively
positioned between the robot 105 and a main conveyer system 115, which is
typically (but
not always) found in a warehouse and/or manufacturing plant. As shown, the
robot 105 is
configured to move in and out of a cargo carrier 120, such as a semi-trailer
or flatbed trailer,
in a progressive manner. Alternatively or additionally, the robot 105 is able
to move between
various dock doors as well as other cargo carriers 120. As the robot 105
progressively moves
in and out of the cargo carrier 120, the extendable conveyor 110 extends or
retracts,
depending on the movement of the robot 105 in the cargo carrier 120 as well as
elsewhere.
The extendable conveyor 110 can for example include connectors, cabling,
and/or tubing for
supplying electrical power, air, and/or communication pathways to the robot
105. The robot
105 is configured to load and/or unload cargo 125 from the cargo carrier 120.
In the
illustrated example, the cargo 125 is in the form of boxes, but in other
examples, other types
of cargo 125, such as bags, drums, cases, etc., can be loaded and/or unloaded
from the cargo
carrier 120 with the robot 105. As will be explained in greater detail below,
the robot 105 is
configured to load and/or unload the cargo 125 within the cargo carrier 120 in
a continuous
or near continuous fashion. As a result, the robot 105 is able to quickly
service the cargo
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carrier 120. The robot 105 is designed to rapidly stack and unstack the cargo
125 within the
cargo carrier 120 as well as unstack or unload the cargo 125 from the cargo
carrier 120 with
minimal movement. Consequently, the cargo carrier 120 can be rapidly loaded
and unloaded
automatically without any (or minimal) human interaction. As can be also seen
in FIG. 1, the
5 robot 105 is able to pack or unpack the cargo 125 from the bottom and
nearly to the top and
sides of the cargo carrier 120 so as to efficiently almost fill the entire
space inside the cargo
carrier 120, if needed.
To provide some context, the robotic system 100 will be described with
reference to a
warehousing environment, but it should be recognized that the robotic system
100 can be
to used in other types of environments, such as manufacturing plants, food
processing plants,
and/or agricultural environments, to name just a few examples. Besides on or
inside the cargo
carrier 120, the robot 105 can be used to stack or unstack cargo 125 at other
locations, such
as at various storage or staging locations within a building 130. As
illustrated, the extendable
conveyor 110 and the main conveyer system 115 are typically located within the
building
130, such as a warehouse. The extendable conveyor 110 transports the cargo 125
between the
robot 105 and the main conveyer system 115, and vice versa. The main conveyer
system 115
for instance can supply the cargo 125 to various processing equipment and/or
storage
locations within the building 130. The robot 105 is able to service the cargo
carrier 120
through a loading dock 135 in the building 130 such that no modifications to
the loading
2o dock 135 and/or building 130 are typically required.
FIGS. 2 and 3 respectively show front and rear perspective views of the robot
105. As
can be seen, the robot 105 includes a base unit 205, a mast 210 extending from
the base unit
205, and an End of Ann Tool ("EoAT") 215 extending from the mast 210. To move
and
manipulate the EoAT 215, the robot 105 has a series of joints (i.e., J1, J2,
J3, J4, and J5) that
provide a number of degrees of freedom of movement. The base unit 205 is
generally
configured to provide power, move, and control the general operation of the
robot 105. The
mast 210 is designed to position the EoAT 215 as well as provide a pathway for
conveying
the cargo 125 between the base unit 205 and the EoAT 215. The EoAT 215 is
configured to
rapidly stack and unstack the cargo 125 in the cargo carrier 120. The EoAT 215
has a low
profile to make picking or placing cargo 125 from the floor of the cargo
carrier 120 or
building 130 easier as well as in stacks of cargo 125. The EoAT 215 is shaped
so that the
cargo 125 only needs to be lifted 2 to 3 inches (about 5-8 cm) from the floor
to be placed on
the EoAT 215, but in other examples, the cargo 125 can be lifted to lower or
higher heights
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from the floor. For instance, the EoAT 215 in other examples can include a
heavy duty
version that is larger for lifting larger and/or heavier cargo 125. This also
allows cargo 125 to
be packed close to the top of the cargo carrier 120. In one example, the cargo
125 only leaves
a 7 inch (about 18 cm) empty gap at the top of the cargo carrier 120. The
robot 105 is
configured to load and unload the cargo 125 using a serpentine pattern at a
high rate. In one
form, the robot 105 is able to stack or unstack the cargo 125 at an average
rate of no more
than one (1) item per every three (3) seconds.
As shown, the base unit 205 includes a transport system 220 that is configured
to
move the robot 105. The transport system 220 in the depicted example includes
one or more
wheels 225 that move the base unit 205. The cargo carrier 120 typically
provides limited
space in which the robot 105 is able to maneuver. The transport system 220 is
configured to
enhance the mobility of the base unit 205 so that the robot 105 is able to
maneuver within the
tight confines of the cargo carrier 120. In one form, the wheels 225 include
omnidirectional
wheels that not only move the base unit 205 in a longitudinal direction (i.e.,
back and forth),
but also in a lateral direction (i.e., side to side). As will be explained in
greater detail below,
the mast 210 is retractable and extendable to facilitate ease of lateral
movement of the robot
105 within the building 130 as well as elsewhere. The base unit 205 along with
the rest of the
robot 105 can be powered in any number of manners. In the illustrated example,
the robot
105 is electrically powered by an external power source (e.g., power cable
with a plug), but
24) in other examples, the robot 105 can be self powered and/or powered in
other ways, such as
through batteries, solar cells, pneumatically through pneumatic tanks,
hydraulically through
hydraulic lines, and the like. The base unit 205 further has at least one
controller 230 for
controlling the operation of the robot 105 along with a mast actuator 240 that
is configured to
move the mast 210. In one form, the controller 230 includes one or more
Programmable
Logic Controllers (PLCs). The base unit 205 can include other components to
enhance safety,
such as lighting, safety scanners, as well as safety electronic (E) stop
radiofrequency (RF)
receivers. The base unit 205 also serves as a weighted counter balance to
counterbalance the
weight of the mast 210 and EoAT 215 as well any cargo 125 thereon.
At least one base unit conveyor 235, which is located on the top of the base
unit 205,
conveys the cargo 125 between the mast 210 and the extendable conveyor 110.
The base unit
conveyor 235 is able to extend and retract in a fashion similar to the mast
210. This
configuration provides stable support as the cargo 125 transitions between the
mast 210 and
the extendable conveyor 110. The base unit 205 further includes a base unit
housing 245 that
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covers and protects the various components of the base unit 205. The base unit
205 further
includes one or more safety sensors 250 that senses objects, individuals,
and/or structures
located around the robot 105. In one example, the sensors 250 are in the form
of light
curtains for sensing the relative location of the robot 105. For instance, the
sensors 250 can
sense when personnel get too close to the robot 105 such that operation of the
robot 105 can
cease or enter a safe operational mode. The sensors 250 can also sense the
walls of the cargo
carrier 120 so that the robot 105 is properly positioned within the cargo
carrier 120.
FIG. 4 shows a top view of the robot 105 positioned in the building 130. As
can be
seen, the building 130 in this example includes two or more loading docks 135.
The robot
105 includes a longitudinal axis 405 that extends generally along the length
of the robot 105
from the base unit 205, mast 210, and EoAT 215. The robot 105 further includes
a lateral axis
410 that extends transverse or perpendicular to the longitudinal axis 405. As
noted before, the
wheels 225 of the transport system 220 are configured to move the robot 105 in
a first lateral
direction 415 (e.g., left direction) and an opposite second lateral direction
420 (e.g., right
direction). By being able to move along the lateral axis 410 in the first
lateral direction 415 or
second lateral direction 420, the robot 105 is able to quickly move between
the loading docks
135. Typically, buildings 130 include one or more columns 425 for supporting
the roof of the
building 130 or other structures. As can be seen, the columns 425 as well as
other objects
within the building 130 can interfere with the lateral movement of the robot
105. While the
wheels 225 allow the entire robot 105 to move forwards and backwards along the
longitudinal axis 405 within the building 130 to move or weave around the
columns 425,
cargo 125, and/or other objects within the building 130, this movement can be
difficult and
time consuming. To facilitate lateral movement, the mast 210 is able to shrink
by retracting
in a retracted direction 430 along the longitudinal axis 405. During
retraction of the mast 210,
the EoAT 215 moves closer towards the base unit 205. Once the EoAT 215 clears
the
columns 425 or other obstruction when the base unit 205 of the robot 105 moves
laterally, the
mast 210 is able to once again expand by extending in an extended direction
435. The robot
105 is then able to service (i.e., load or unload) the cargo carrier 120 at
the next loading dock
135.
Some cargo carriers 120 can have different lengths. Depending on the amount of
cargo 125 occupying the cargo carrier 120 at a particular time during loading
or unloading,
the effective available space within the cargo carrier 120 can vary. The mast
210 is able to
partially extend or retract and still transport cargo 125 along the mast 210.
With this ability to
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extend and retract the EoAT 215 via the mast 210, the robot 105 is able to
more readily
handle the cargo carriers 120 with different lengths or effective open spaces.
In other words,
the length of the mast 210 can adapt to different situations. In some
situations, the cargo
carrier 120 may not be able to safely handle the full weight of the robot 105.
With the mast
210 being able to extend in the extended direction 435, the base unit 205 can
remain outside
the cargo carrier 120 such that the robot 105 is able to load and unload cargo
125 with the
base unit 205 located inside the building 130. In other cases, the base unit
205 can span
across the loading dock 135 so that the weight of the base unit 205 is
partially supported by
both the cargo carrier 120 and the building 130. In other use cases, the base
unit 205 can
travel fully inside the cargo carrier 120 such that the entire weight of the
robot 105 is
supported by the cargo carrier 120. In such use cases, the mast 210 can be
shrunk or retracted
depending on the available space inside the cargo carrier 120.
Turning to FIGS. 5 and 6, the mast 210 includes a base mast section 505 that
is
coupled to the base unit 205 and an EoAT mast section 510 that is configured
to move in a
telescoping manner relative to the base mast section 505 in the retracted
direction 430 and the
extended direction 435. Opposite the base mast section 505, the EoAT mast
section 510 is
coupled to the EoAT 215. In one form, the EoAT mast section 510 is received
inside the base
mast section 505 in a telescoping manner such that the EoAT mast section 510
forms an inner
mast section and the base mast section 505 forms an outer mast section. The
base mast
section 505 in other forms can be received inside the EoAT mast section 510 in
a telescoping
or other manner. At least one bridge conveyor 515 spans across the base mast
section 505
and the EoAT mast section 510. The EoAT mast section 510 has a buffer conveyor
520 that
is configured to buffer cargo 125 to or from the EoAT 215. In the illustrated
example, both
the bridge conveyor 515 and buffer conveyor 520 are belt type conveyors, but
different types
and/or combinations of conveyors can be used in other examples. The bridge
conveyor 515
includes a bridge conveyor belt 525, and the buffer conveyor 520 includes a
buffer conveyor
belt 530. The bridge conveyor belt 525 is routed to loop between the base mast
section 505
and the EoAT mast section 510. The bridge conveyor 515 has a bridge conveyor
bed 535
upon which the cargo 125 is transported. While being transported on the bridge
conveyor bed
535, the cargo 125 rests or slides relative to the bridge conveyor belt 525.
The bridge
conveyor 515 is configured so that the bridge conveyor bed 535 is able to
become shorter or
longer as the EoAT mast section 510 moves in the retracted direction 430 or
the extended
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direction 435. When the EoAT mast section 510 extends or retracts, the bridge
conveyor bed
535 of the bridge conveyor 515 is still able to move the cargo 125.
Referring to FIGS. 7, 8, and 9, the base mast section 505 includes a frame 705
that
defines a mast section cavity 710 in which the EoAT mast section 510 is
slidably received.
Proximal to the EoAT mast section 510, the base mast section 505 has one or
more rail
bearings 715 in which rails of the EoAT mast section 510 are slidably
received. The rail
bearings 715 support the EoAT mast section 510 and allow the EoAT mast section
510 to
move relative to the base mast section 505. In the depicted embodiment, the
rail bearings 715
are at least attached to the frame 705 on opposing sides of the mast section
cavity 710. The
rail bearings 715 in one variation include linear bearings, but other types of
mechanisms or
structures for facilitating smooth relative movement can be used. At opposing
sides of the
mast section cavity 710, the frame 705 defines one or more EoAT drive motor
slots 720 that
are configured to receive conveyor motors on the EoAT mast section 510 that
power the
bridge conveyor belt 525. The EoAT drive motor slots 720 provide relief so as
to allow the
conveyor motors to slide underneath the bridge conveyor bed 535 as the EoAT
mast section
510 extends and retracts. As can be seen, the base mast section 505 further
has a base slider
bed 725 that extends across the mast section cavity 710 and one or more base
support rails
730 that extend into the mast section cavity 710. The base slider bed 725 is
attached to the
frame 705 and is configured to support the bridge conveyor belt 525 and
provide a sliding
surface on which the bridge conveyor belt 525 slides. The base support rails
730 provide
further support for the bridge conveyor belt 525 at the edges of the bridge
conveyor belt 525.
FIG. 8 show a perspective view of the base mast section 505 with the base
slider bed
725 and other components removed for clarity, and FIG. 9 shows a cross-
sectional view of
the base mast section 505. The base mast section 505 includes a drive
mechanism 805
configured to extend and retract the EoAT mast section 510 relative to the
base mast section
505. The drive mechanism 805 in one form includes a reversible electric motor,
but other
types of motors can be used. As can be seen, the drive mechanism 805 includes
a motor 810
and a gearbox 815 coupled to the motor 810. One or more drive belts 820 are
driven by the
motor 810 via the gearbox 815. In the illustrated example, the drive belts 820
are positioned
along the frame 705 at opposing sides of the mast section cavity 710. The
drive belts 820 are
looped between the gearbox 815 and one or more driver idler pulleys 825
located at the end
of the base mast section 505 where the EoAT mast section 510 is slidingly
received in the rail
bearings 715. As will be explained in greater detail below, the EoAT mast
section 510 is
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secured to the drive belts 820. The drive mechanism 805 via the gearbox 815
moves the drive
belts 820 in the appropriate direction to extend or retract the EoAT mast
section 510 relative
to the base mast section 505.
For the bridge conveyor 515, the base mast section 505 has one or more bridge
guide
5 rollers 830 for guiding the bridge conveyor belt 525 on the base mast
section 505. At the end
where the base mast section 505 is coupled to the base unit 205, the bridge
guide rollers 830
include one or more bridge idler pulleys 835 around which the bridge conveyor
belt 525 is
looped. In the illustrated example, there are bridge idler pulleys 835, but in
other examples,
the bridge conveyor 515 can include more or less bridge idler pulleys 835 than
is shown.
10 Proximal to the EoAT mast section 510, the bridge guide rollers 830
include at least one
bridge take-up pulley 840 around which the bridge conveyor belt 525 is looped.
At the bridge
take-up pulley 840, the bridge conveyor 515 in the base mast section 505
includes a belt
shield 845 that helps to protect and guide the bridge conveyor belt 525. The
bridge take-up
pulley 840 guides the bridge conveyor belt 525 to compensate for changes in
slack of the
15 bridge conveyor belt 525 as the EoAT mast section 510 extends and
retracts.
Turning to FIGS. 10, 11, and 12, the EoAT mast section 510 includes one or
more
bearing rails 1005 that glide in the rail bearings 715 of the base mast
section 505. The EoAT
mast section 510 further includes one or more drive belt clamps 1010 attached
to a frame
1015 of the EoAT mast section 510. The drive belt clamps 1010 clamp to
corresponding
drive belts 820 of the drive mechanism 805 in the base mast section 505. With
the drive belt
clamps 1010 clamped to the drive belts 820, the motor 810 of the drive
mechanism 805 is
able to extend and retract the EoAT mast section 510. In the illustrated
example, the EoAT
mast section 510 includes two bearing rails 1005 and drive belt clamps 1010
located on
opposite sides of the frame 1015. Other examples can have more or less of the
bearing rails
1005 and drive belt clamps 1010 shown, and the bearing rails 1005 and drive
belt clamps
1010 can be positioned and/or configured differently than is illustrated.
The EoAT mast section 510 further includes an EoAT actuator drive 1020 mounted
along the frame 1015. The EoAT actuator drive 1020 is designed to control the
pitch and/or
tilt of the EoAT 215 relative to the mast 210. As shown, the EoAT actuator
drive 1020
includes one or more motors 1025 with one or more gearboxes 1030 that drive
one or more
EoAT drive belts 1035. The motors 1025 and gearboxes 1030, which tend to be
heavy, are
positioned proximal to the base mast section 505 in the illustrated example to
reduce torque
and conserve energy required to move the mast 210. At the end proximal to the
EoAT 215,
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the EoAT actuator drive 1020 has one or more EoAT drive pulleys 1040 around
which the
EoAT drive belts 1035 are looped. As can be seen, the EoAT drive belts 1035
generally
extend the full length of the EoAT mast section 510 between the gearboxes 1030
and the
EoAT drive pulleys 1040 of the EoAT actuator drive 1020. Looking back at FIGS.
6 and 7,
the motors 1025 and gearboxes 1030 are designed to extend through and move
within the
EoAT drive motor slots 720 in the frame 705 of the base mast section 505.
As shown in FIG. 10, the bridge conveyor 515 has a bridge slider bed 1045 upon
which the bridge conveyor belt 525 slides when moved. The buffer conveyor 520
has a buffer
slider bed 1050 upon which the buffer conveyor belt 530 slides when moved.
FIG. 11 shows
a top view of the EoAT mast section 510 with the bridge slider bed 1045 and
buffer slider
bed 1050 removed to see other components of the EoAT mast section 510. FIG. 12
shows a
cross-sectional view of the EoAT mast section 510. As can be seen, the buffer
conveyor 520
has one or more buffer idler pulleys 1105 at opposing ends of the buffer
conveyor 520. The
buffer conveyor belt 530 is looped around the buffer idler pulleys 1105. The
buffer conveyor
520 further has one or more buffer guide pulleys 1110 that direct the buffer
conveyor belt
530 around a buffer drive pulley 1115 that moves the buffer conveyor belt 530.
At the end
proximal the EoAT 215, the EoAT mast section 510 has one or more transition
conveyors
1120 with one or more transition conveyor belts 1125. The transition conveyors
1120 aid in
transferring the cargo 125 over the EoAT drive pulleys 1040 when moving
between the mast
210 and EoAT 215. As shown, the transition conveyor belts 1125 are powered by
the buffer
idler pulley 1105 closest to the EoAT 215.
Looking at FIGS. 11, 12, and 13, the bridge conveyor 515 on the EoAT mast
section
510 includes a bridge idler pulley 1130 at one end proximal to the buffer
conveyor 520 and a
bridge drive mechanism 1135 at the opposite end. The bridge drive mechanism
1135 includes
a motor 1140, a gearbox 1145 coupled to the motor 1140, a drive belt 1150, and
a drive
pulley 1155 connecting the gearbox 1145 to the drive belt 1150 to supply power
from the
motor 1140 to the drive belt 1150. In the bridge conveyor 515, the buffer
conveyor belt 530
is looped around the bridge idler pulley 1130 at one end and the drive belt
1150 at the other
end. As can be seen, the bridge drive mechanism 1135 is positioned at the same
end as the
transition conveyor belts 1125 so as to make the end of the EoAT mast section
510 with the
EoAT 215 as light as possible to conserve energy. In the illustrated
embodiment, the drive
pulley 1155 operatively couples the drive belt 1150 to the motor 1140, but the
drive belt 1150
can be driven in other ways, such as through a chain or driveshaft. As shown,
the EoAT mast
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section 510 further includes a vacuum manifold 1160 for controlling and
supplying a vacuum
or suction to vacuum or suction cups on the EoAT 215.
A technique for extending and retracting the mast 210 will now be described
with
reference to FIGS. 14 and 15. FIG. 14 shows a side view of the mast 210 with
selected
components removed to enhance visibility. FIG. 15 show an enlarged perspective
view of the
bridge conveyor belt 525 at the interface between the base mast section 505
and EoAT mast
section 510. Once more, the EoAT mast section 510 is secured to the drive
belts 820 of the
drive mechanism 805 via the drive belt clamps 1010. The bearing rails 1005 of
the EoAT
mast section 510 are received in the rail bearings 715 of the base mast
section 505 to allow
the EoAT mast section 510 slide or move relative to the base mast section 505.
To move the
EoAT mast section 510 in the retracted direction 430 or the extended direction
435, the motor
810 through the gearbox 815 moves the drive belts 820 in the appropriate
direction. Moving
the drive belts 820 in turn moves the EoAT mast section 510 via the drive belt
clamps 1010.
As noted before, the base mast section 505 has the EoAT drive motor slots 720
in which the
gearboxes 1030 of the motors 1025 for the EoAT actuator drive 1020 move.
Looking at FIG. 15, the bridge conveyor belt 525 is threaded in a serpentine
or S-
pattern between the drive belt 1150 of the bridge drive mechanism 1135 on the
EoAT mast
section 510 and the bridge take-up pulley 840 of the base mast section 505.
This arrangement
allows the bridge conveyor 515 to operate and transport cargo 125 with the
mast 210 at
variable lengths as a result of extension and retraction of the mast 210. As
the EoAT mast
section 510 moves in the retracted direction 430, the drive belt 1150 pulls on
the bridge
conveyor belt 525 to put the excess slack in the bridge conveyor belt 525
underneath the
bridge conveyor bed 535. During retraction, the bridge take-up pulley 840
remains stationary
as the buffer idler pulleys 1105 of the bridge drive mechanism 1135 move in
the retracted
direction 430. This creates a longer U-shaped loop segment of the bridge
conveyor belt 525
between the bridge take-up pulley 840 and buffer idler pulleys 1105 so as to
take up the
excess slack in the bridge conveyor belt 525. The motor 1140 through the drive
belt 1150 is
still able to power or drive the bridge conveyor belt 525 regardless of the
length of the mast
210. Taking up this excess slack allows the bridge conveyor belt 525 of the
bridge conveyor
515 to operate even when in a retracted position. Conversely, when the EoAT
mast section
510 is extended in the extended direction 435, the drive belt 1150 of the
bridge drive
mechanism 1135 move towards the relatively fixed bridge take-up pulley 840
such that there
is less slack in the bridge conveyor belt 525 underneath the bridge conveyor
bed 535. When
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the EoAT mast section 510 is at a full or partial extended position, the
bridge drive
mechanism 1135 is still able to move the bridge conveyor belt 525 of the
bridge conveyor
515.
Turning to FIGS. 16 and 17, an EoAT actuator joint 1605 connects the mast 210
to
the EoAT 215. The EoAT actuator joint 1605 is configured to move the EoAT 215
in pitch
directions 1610 (e.g., up and down) and yaw directions 1615 (e.g., side-to-
side). During
shipping and in other situations, some of the cargo 125, such as boxes, may
shift or tip over
to be crooked. The EoAT 215 is further configured to rotate in roll directions
1620 (e.g.,
twist) relative to the mast 210. The EoAT actuator drive 1020 via the EoAT
drive belts 1035
and EoAT drive pulleys 1040 moves the EoAT 215 in the pitch directions 1610
and yaw
directions 1615 via the EoAT actuator joint 1605.
Turning to FIG. 17, the EoAT actuator joint 1605 includes an EoAT bracket 1705
rotatably mounted to the EoAT 215 and an actuator gearbox 1710 received in the
EoAT
bracket 1705. The EoAT actuator joint 1605 includes a roll drive mechanism
1715 that is
secured in a fixed manner to a frame 1720 of the E,oAT 215. The roll drive
mechanism 1715
includes a motor 1725 with a gearbox 1730 that is coupled to the EoAT bracket
1705. As will
be explained in greater detail below, the motor 1725 and gearbox 1730 of the
roll drive
mechanism 1715 are configured to rotate the EoAT bracket 1705 relative to the
EoAT 215 so
that the EoAT 215 is able to move in the roll directions 1620.
Looking at FIG. 19, the actuator gearbox 1710 includes a housing 1805. On
opposing
sides of the housing 1805, the actuator gearbox 1710 has one or more actuator
drive bearings
1810 in which actuator drive shafts 1815 are rotatably received. The ends of
the actuator
drive shafts 1815 are secured to the EoAT drive pulleys 1040 so that the EoAT
actuator drive
1020 is able to rotate the actuator drive shafts 1815 relative to the housing
1805. As shown in
FIG. 19, the actuator gearbox 1710 further includes one or more pinion gears
1905 that are
secured to the opposite ends of the actuator drive shafts 1815. The pinion
gears 1905 engage
one or more rack gears 1910 that are secured at opposite ends of a yaw pivot
shaft 1915.
Each of the gears has gear teeth that intermesh with one another. In the
illustrated example,
the gear teeth are helical type gear teeth to ensure proper engagement,
especially when high
torques are applied, but other types of teeth arrangements can be used in
other examples. One
end of the yaw pivot shaft 1915 and the rack gears 1910 has a connector plate
1920 that is
secured to the EoAT bracket 1705. In the illustrated example, the connector
plate 1920 has
one or more fastener openings 1925. As illustrated in FIG. 20, the EoAT
bracket 1705 has
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similarly configured fastener holes 2005 for receiving fasteners (e.g.,
screws) that are secured
in the fastener openings 1925 of the actuator gearbox 1710 for securing the
connector plate
1920 to the EoAT bracket 1705. It should be recognized that the EoAT bracket
1705 and
connector plate 1920 can be secured in other ways.
By the EoAT actuator drive 1020 rotating the pinion gears 1905 in the same
direction
(as viewed from one side of the actuator gearbox 1710), the rack gears 1910 do
not rotate
such that the EoAT actuator drive 1020 is able to pitch or move the EoAT 215
in the pitch
directions 1610 (FIG. 16). When the EoAT actuator drive 1020 rotates the
pinion gears 1905
via the actuator drive shafts 1815 in opposite directions, the rack gears 1910
are able to rotate
relative to the housing 1805 such that the EoAT actuator drive 1020 is able to
move the
EoAT 215 in the yaw directions 1615. As depicted in FIGS. 15, 16, and 20, the
motor 1725
of the roll drive mechanism 1715 via the actuator gearbox 1710 is able to
rotate the EoAT
bracket 1705 in the roll directions 1620. Rotating the EoAT bracket 1705 in
such a manner
causes the EoAT 215 to rotate in the roll directions 1620. Once more, rotating
the EoAT 215
in the roll directions 1620 allows the EoAT 215 to engage and move cargo 125,
such as
boxes, that are not level or have been dislodged from a stack of boxes or
other cargo 125.
Font and rear perspective views of the EoAT 215 are shown in FIGS. 21 and 22,
respectively, and FIG. 23 shows a top view of the EoAT 215. As can be seen,
the EoAT 215
includes a number of unique features that enhance handling of the cargo 125.
With improved
handling of the EoAT 215, the robotic system 100 is able operate for longer
periods without
human intervention, and the robot 105 is able to recover quicker from a number
of
problematic scenarios. The EoAT 215 includes a first, proximal conveyor 2105
and a second,
distal conveyor 2110. Among other things, the proximal conveyor 2105 and
distal conveyor
2110 can operate at different speeds to facilitate queuing and buffering of
the cargo 125. For
example, the proximal conveyor 2105 can operate at an intermediate speed as
compared to
the speed of the distal conveyor 2110 and the buffer conveyor 520 (as well as
the transition
conveyors 1120) of the mast 210 to facilitate a smoother transition of the
cargo 125 between
the mast 210 and the EoAT 215. The proximal conveyor 2105 can also buffer the
cargo 125
while the cargo 125 on the distal conveyor 2110 is loaded on or unloaded from
the distal
conveyor 2110. Both the proximal conveyor 2105 and distal conveyor 2110 in the
illustrated
example are powered, belt type conveyors, but other types of conveyors can be
used.
The proximal conveyor 2105 further includes a proximal conveyor belt 2115, and
the
distal conveyor 2110 includes a distal conveyor belt 2120. The EoAT 215
includes a gripper
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mechanism 2125 configured to move along the frame 1720 to pull cargo 125 onto
the distal
conveyor 2110 of the EoAT 215 and to push the cargo 125 off the distal
conveyor 2110. The
gripper mechanism 2125 includes one or more suction cups 2130 for securing the
cargo 125
to the gripper mechanism 2125 via a vacuum or suction. Alternatively or
additionally, other
5 types of devices (e.g., magnets, clamps, hooks, etc.) on the gripper
mechanism 2125 can be
used to secure or grip the cargo 125 to the gripper mechanism 2125. The
suction cups 2130
are secured to a gripper member 2135 of the gripper mechanism 2125. As can be
seen, both
the proximal conveyor belt 2115 and distal conveyor belt 2120 extend
substantially across
the entire bed width of the EoAT 215. As such, the proximal conveyor 2105 and
distal
10 conveyor 2110 are able to provide a relatively large contact area for
the cargo 125. The larger
contact area not only improves frictional engagement but also allows the EoAT
215 to handle
a wide variety of sized and shaped cargo 125. The gripper member 2135 of the
gripper
mechanism 2125 is designed to span across the distal conveyor belt 2120 as the
gripper
member 2135 moves to allow the EoAT 215 to have the wider distal conveyor
2110. This
15 also allows the gripper member 2135 to be wider so as to incorporate
more and/or larger
suction cups 2130. The gripper mechanism 2125 is designed to move in the
refracted
direction 430 and extended direction 435 along the distal conveyor 2110. As
shown, the
EoAT 215 has a carriage gap 2140 between the proximal conveyor 2105 and distal
conveyor
2110 where the gripper member 2135 is able to nest below the level of the
conveyor beds of
20 the proximal conveyor 2105 and distal conveyor 2110 so that the cargo
125 can travel over
the gripper member 2135 nested in the carriage gap 2140.
At the distal end, the EoAT 215 has one or more guide members 2145 for
guiding,
moving, steadying, and/or manipulating the cargo 125. On one side of the EoAT
215, the
guide members 2145 include a shoehorn member 2150, and on the opposite side,
the guide
members 2145 include a location member 2155 and a rocker arm 2160. The rocker
arm 2160
dangles and extends below the location member 2155 at a transverse angle. The
rocker arm
2160 is pivotally connected to the frame 1720 of the EoAT 215 via a pivot
connector 2165,
such as a pivot bolt. The rocker arm 2160 is held in place at the acute
transverse angle
relative to the location member 2155 by a stop member 2170. The guide members
2145 are
made of flexible material such as steel and/or plastic so as to provide some
give when
contacting the cargo 125 or other objects such as the walls of the cargo
carrier 120 and
building 130. The rocker arm 2160 is pivotally mounted to the EoAT 215 so that
the rocker
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arm 2160 is able to pivot up when contacting the floor of the cargo carrier
120 or building
130.
Looking at FIGS. 23, 24, and 25, the distal end of the shoehorn member 2150 is
bent
in an inwards direction so that when the cargo 125 is unloaded from the EoAT
215, the cargo
125 is pressed against the location member 2155. This helps to locate the
cargo 125 so that
the cargo 125 can be more precisely located and stacked. The location member
2155 in
essence acts as a probe for locating the cargo 125. As shown in FIGS. 24 and
25, shoehorn
member 2150 has a guide rail body 2405 that helps to retain the cargo 125 when
transported
on the EoAT 215. Again, at the distal end, the shoehorn member 2150 has a fan
section 2410
that extends from the guide rail body 2405 in a fan like manner so as to be
wider than the
guide rail body 2405. Having the fan section 2410 being wider, the shoehorn
member 2150
helps to properly center and retain the cargo 125. The shoehorn member 2150
can also act
like a shoehorn for placing cargo 125 into tight packing arrangements such as
next to a wall.
The fan section 2410 further has a beveled edge 2415 to prevent the shoehorn
member 2150
from catching when the EoAT 215 is angled.
Referring to FIG. 26, the location member 2155 includes a guide rail body 2605
that
helps to retain the cargo 125 when transported on the EoAT 215. The location
member 2155
further has a probe member 2610 that extends in a straight manner from the
distal end of the
guide rail body 2605. In some use cases, the probe member 2610 acts as
location probe for
locating the EoAT 215 relative to the cargo 125. The probe member 2610 creates
some space
during packing or unpacking of the cargo 125.
Turning to FIGS. 27 and 28, the gripper mechanism 2125 further includes a
carriage
2702 with one or more carriage sliders 2705 that are slidably coupled to one
or more bearing
rails 2710. In the illustrated example, the carriage sliders 2705 along with
the bearing rails
2710 are positioned on opposite sides of the EoAT 215. Each of the carriage
sliders 2705
includes one or more bearing rollers 2715 received in corresponding linkage
assemblies 2720
in the bearing rails 2710. The bearing rails 2710 in the depicted example are
substantially
straight such that the carriage sliders 2705 generally travel along a linear
path.
The carriage 2702 is linked to the gripper member 2135 via one or more linkage
assemblies 2720. The linkage assemblies 2720 have cam followers 2725 that
engage with one
or more corresponding cam rails 2730. To facilitate spanning of the gripper
member 2135
across the distal conveyor 2110, the linkage assemblies 2720 are positioned on
opposite sides
of the distal conveyor 2110. As the carriage 2702 of the gripper mechanism
2125 travels in
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the retracted direction 430 and extended direction 435 (FIG. 23) along the
bearing rails 2710,
the cam rails 2730 via the cam followers 2725 raise and lower the gripper
member 2135. To
move the gripper mechanism 2125 along the bearing rails 2710, the EoAT 215 has
a carriage
drive system 2735. The carriage drive system 2735 in the depicted example
includes one or
more drive belts 2740 that are looped between corresponding drive motors 2745
and idler
pulleys 2750. The carriage sliders 2705 are clamped to the drive belts 2740
such that as the
drive motor 2745 moves the drive belts 2740, the gripper mechanism 2125 moves.
The drive
motor 2745 in one form includes a reversible electric motor, but other types
of motors can be
used in other examples.
Looking at FIG. 28, the cam rails 2730 are shaped to raise and lower the
gripper
member 2135 as the gripper mechanism 2125 moves. As illustrated, the cam rails
2730
include retracted sections 2805 where the gripper member 2135 is at or below
the proximal
conveyor 2105 and the distal conveyor 2110 so that cargo 125 is unobstructed
by the EoAT
215 and can travel over the gripper member 2135. As alluded to before, when
the cam
followers 2725 are at the retracted sections 2805, the gripper member 2135 is
retracted inside
the carriage gap 2140 (FIG. 27) between the proximal conveyor 2105 and the
distal conveyor
2110. Opposite the retracted sections 2805, the cam rails 2730 have extended
sections 2810.
At the extended sections 2810, the profile of the cam rails 2730 is lowered.
When the cam
followers 2725 are at the extended sections 2810, the gripper mechanism 2125
is at an
extended position where the cargo 125 is either being pushed off the EoAT 215
or being
pulled onto the EoAT 215 by being gripped with the suction cups 2130. The
extended
sections 2810 lower the gripper member 2135 so that the EoAT 215 is able to
reach the cargo
125 at lower locations as well as to grip a lower area of the cargo to
facilitate pulling of the
cargo 125, such as boxes, from stacks of boxes. With the gripper member 2135
lower, the
gripper mechanism 2125 tends to grip the lower section of the cargo 125 which
in turn
enhances stability when transitioning to and from the EoAT 215. This profile
also gives the
gripper mechanism 2125 enough vertical travel so as to pick the cargo 125 off
of the floor.
Between the retracted sections 2805 and the extended sections 2810, the cam
rails 2730 have
transition sections 2815. When the cam followers 2725 travel along the
transition sections
2815, the gripper member 2135 is raised above the top surface of the distal
conveyor 2110 so
that the gripper member 2135 remains above the distal conveyor 2110. With the
gripper
member 2135 raised above the distal conveyor 2110, the gripper member 2135 via
the
suction cups 2130 is able to pull the cargo 125 onto the distal conveyor 2110
during
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unpacking or unloading of cargo 125 from the cargo carrier 120. During packing
or loading
of the cargo carrier 120, the gripper member 2135 of the gripper mechanism
2125 is able to
push the cargo 125 from the EoAT 215.
Referring to FIGS. 29, 30, and 31, the linkage assemblies 2720 each include
one or
more linkages 2905 that pivotally connect the carriage sliders 2705 to the cam
followers
2725. In the depicted example, each of the linkage assemblies 2720 have two
(2) linkages
2905 that connect the carriage sliders 2705 to the cam followers 2725 in a
parallelogram
shaped arrangement. The gripper member 2135 has one or more vacuum ports 2910
for
supplying a vacuum or suction to the suction cups 2130. In other words, the
vacuum ports
2910 form a vacuum manifold between the suction cups 2130 and the vacuum ports
2910 so
that the suction cups 2130 are able to draw a vacuum in order to grip the
cargo 125. To
prevent disengagement of the cam followers 2725 from the cam rails 2730, each
of the cam
followers 2725 have at least a pair of cam rollers 2915 positioned on opposite
sides of each
of the cam rails 2730, as is for example depicted in FIG. 31.
A technique for operating the robotic system 100 will now be described with
reference to FIGS. 1, 2, 4, 5, 32, and 33. As noted before, the robot 105 is
designed to load
and unload the cargo 125 from the cargo carriers 120. The technique will be
described and
illustrated with respect to unloading and loading one or more boxes 3205 (FIG.
32), but it
should be recognized that other types of cargo 125 can be loaded and unloaded
with the robot
105. To load a particular cargo carrier 120 with the boxes 3205, the wheels
225 of the robot
105 are positioned in front of the loading dock 135 with the cargo carrier 120
to be serviced.
During movement of the robot 105, the mast 210 can be retracted or extended to
avoid
obstacles in the manner described before. Once at the loading dock 135, at
least the mast 210
is extended and moved to a position inside the cargo carrier 120 where the
boxes 3205 are to
be stacked. Via the main conveyer system 115 and extendable conveyor 110, the
boxes 3205
are loaded onto the base unit conveyor 235 of the robot 105. From the base
unit conveyor
235, the boxes 3205 travel along the bridge conveyor 515 and buffer conveyor
520 on the
mast 210. Once more, the buffer conveyor 520 can be used to buffer the boxes
3205 that are
supplied to the EoAT 215 to enhance loading and operational throughput. From
the buffer
conveyor 520, the boxes 3205 travel along the transition conveyor belts 1125
(FIG. 11) and
onto the proximal conveyor 2105 of the EoAT 215.
Before the boxes 3205 are transported onto the distal conveyor 2110, the
gripper
member 2135 of the gripper mechanism 2125 is moved in the retracted direction
430 to a
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retracted position inside the carriage gap 2140. When the gripper member 2135
is in the
carriage gap 2140, the gripper member 2135 is located at or below the top
surface of the
proximal conveyor 2105 and distal conveyor 2110 such that the boxes 3205 are
able to travel
over the gripper member 2135 of the gripper mechanism 2125 and onto the distal
conveyor
2110. The distal conveyor 2110 moves the boxes 3205 along the EoAT 215. At the
same time
or shortly thereafter, the gripper member 2135 is moved in the extended
direction 435 such
that the gripper member 2135 is located above the top surface of the distal
conveyor 2110.
The suction cups 2130 of the gripper mechanism 2125 are then able to push the
box 3205 in
the extended direction 435.
As can be seen in FIGS. 32 and 33, the boxes 3205 are stacked in horizontal
rows and
vertical columns inside the cargo carrier 120. Before loading the box 3205
onto the stack of
boxes 3205, the probe member 2610 of the location member 2155 is positioned by
the
previously stacked box 3205 in the row or by the wall of the cargo carrier
120. The rocker
arm 2160 contacts the box 3205 just below where the box 3205 to be discharged
is to be
stacked to help steady the lower box 3205. As the gripper mechanism 2125
pushes the box
3205 in the extended direction 435, the angled fan section 2410 of the EoAT
215 pushes the
box 3205 against the location member 2155 to help orient and position the box
3205. The
EoAT 215 then pushes or discharges the box 3205 from the distal conveyor 2110
of the
EoAT 215. The gripper mechanism 2125 then is able to nudge the now stacked box
3205 into
the final stacked resting place. The mast 210 moves the EoAT 215 to the next
appropriate
row or column of boxes 3205, and the loading technique is repeated in a
similar fashion until
the cargo carrier 120 is properly loaded.
Turning to FIG. 34, the EoAT 215 is designed to load or unload the boxes 3205
even
when close to a floor 3405 of the cargo carrier 120 or the building 130. As
noted before, the
rocker arm 2160 dangles from the end of the EoAT 215 at an acute angle via the
pivot
connector 2165 and stop member 2170. This allows the rocker arm 2160 to pivot
or
otherwise move when near the floor 3405. As shown, the rocker arm 2160 pivots
about the
pivot connector 2165 in a direction indicated by arrow 3410 when the rocker
arm 2160
contacts the floor 3405. Once the EoAT 215 is raised away from the floor 3405,
gravity
causes the rocker arm 2160 to pivot back to the original orientation. The stop
member 2170
helps to limit or locate the rocker arm 2160 at the proper angle or location.
The unloading process generally moves the boxes 3205 in the opposite manner as
described above. The base unit 205 and/or mast 210 positions the EoAT 215 to
face the
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boxes 3205 to be unloaded from the cargo carrier 120. Looking again at FIGS.
32 and 33, the
probe member 2610 of the location member 2155 is positioned to support the box
3205 to be
unloaded, and the rocker arm 2160 contacts the box 3205 below to help
stabilize the lower
box 3205 to reduce the risk of toppling. Looking at FIG. 35, the EoAT 215 is
able to rotate in
5 the roll directions 1620 via the roll drive mechanism 1715 (FIG. 17) to
move or engage a
tipped or dislodged box 3205. The gripper member 2135 of the EoAT 215 is moved
in the
extended direction 435 into an extended position, as is shown in FIG. 32.
Before or during
the extension of the gripper member 2135, a vacuum or suction is supplied to
the suction
cups 2130. The suction of the suction cups 2130 draws and secures the target
boxes 3205 to
10 the gripper mechanism 2125. Once secured, the gripper member 2135 of the
gripper
mechanism 2125 is moved in the retracted direction 430. Before or at the same
time, the
distal conveyor 2110 is powered to likewise move the box 3205 in the retracted
direction
430. Once the gripper member 2135 reaches the carriage gap 2140 (or shortly
before), the
suction supplied to the suction cups 2130 is stopped so as to disengage the
gripper
15 mechanism 2125 from the box 3205. At the carriage gap 2140 the gripper
member 2135 of
the gripper mechanism 2125 is lowered below the bottom of the box 3205. The
distal
conveyor 2110 pushes the box 3205 over the gripper member 2135 and the
proximal
conveyor 2105 is powered (or remains powered) to move the box 3205 in the
retracted
direction 430.
20 From the EoAT 215, the box 3205 is transferred onto the buffer
conveyor 520 of the
mast 210 via the transition conveyor belts 1125 (FIG. 11). Once more, the
buffer conveyor
520 can be used to buffer the boxes 3205 on the mast 210. The box 3205 is then
transferred
to the bridge conveyor 515. As should be recognized, multiple boxes 3205 can
be moved
along the mast 210 at the same time. The boxes 3205 on the mast 210 are then
transferred
25 onto the base unit conveyor 235, and from the base unit conveyor 235,
the boxes 3205 are
transported into the building 130 via the extendable conveyor 110 and main
conveyer system
115_ This unloading technique is repeated until the appropriate number of
boxes 3205 are
unloaded from the cargo carrier 120_
Glossary of Terms
The language used in the claims and specification is to only have its plain
and
ordinary meaning, except as explicitly defined below. The words in these
definitions are to
only have their plain and ordinary meaning. Such plain and ordinary meaning is
inclusive of
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all consistent dictionary definitions from the most recently published
Webster's dictionaries
and Random House dictionaries. As used in the specification and claims, the
following
definitions apply to these terms and common variations thereof identified
below.
"Acute" or "Acute Angle" generally refers to an angle smaller than a right
angle or
less than 90 degrees.
"Axis" generally refers to a straight line about which a body, object, and/or
a
geometric figure rotates or may be conceived to rotate.
"Bearing" generally refers to a machine element that constrains relative
motion and
reduces friction between moving parts to only the desired motion, such as a
rotational
movement. The bearing for example can be in the form of loose ball bearings
found in a cup
and cone style hub. The bearing can also be in the form of a cartridge bearing
where ball
bearings are contained in a cartridge that is shaped like a hollow cylinder
where the inner
surface rotates with respect to the outer surface by the use of ball or other
types of bearings.
"Cargo" or "Cargo Items" generally refer to goods or other physical objects
that are
typically carried or otherwise transported on vehicles, such as on trucks,
ships, aircraft,
spacecraft, and/or motor vehicles. The cargo items can be unpackaged or
packaged, such as
in boxes, bags, bales, containers, barrels, and tanks, to name just a few
examples.
"Cargo Carrier" generally refers to any structure used to transport and/or
store cargo
items, such as flatbed trailers, trailers, semitrailers, trucks, intermodal
containers, refrigerated
24) trailers, and railcars, to just name a few examples. The cargo carrier
can be transported in any
number of ways, such as over land, sea, space, and/or air. Certain type of
cargo carriers, like
intermodal containers, are designed to be transported in a number of manners,
such as via a
truck, in a ship, and via rail. The cargo carrier can be fully enclosed, such
as when in the
form of a semi-trailer or cargo container, or open to the outside environment,
such as with a
flatbed trailer.
"Controller" generally refers to a device, using mechanical, hydraulic,
pneumatic
electronic techniques, and/or a microprocessor or computer, which monitors and
physically
alters the operating conditions of a given dynamical system. In one
nonlimiting example, the
controller can include an Allen Bradley brand Programmable Logic Controller
(PLC). A
controller may include a processor for performing calculations to process
input or output. A
controller may include a memory for storing values to be processed by the
processor or for
storing the results of previous processing. A controller may also be
configured to accept input
and output from a wide array of input and output devices for receiving or
sending values.
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Such devices include other computers, keyboards, mice, visual displays,
printers, industrial
equipment, and systems or machinery of all types and sizes. For example, a
controller can
control a network or network interface to perform various network
communications upon
request The network interface may be part of the controller, or characterized
as separate and
remote from the controller. A controller may be a single, physical, computing
device such as
a desktop computer or a laptop computer, or may be composed of multiple
devices of the
same type such as a group of servers operating as one device in a networked
cluster, or a
heterogeneous combination of different computing devices operating as one
controller and
linked together by a communication network. The communication network
connected to the
controller may also be connected to a wider network such as the Internet. Thus
a controller
may include one or more physical processors or other computing devices or
circuitry and
may also include any suitable type of memory. A controller may also be a
virtual computing
platform having an unknown or fluctuating number of physical processors and
memories or
memory devices. A controller may thus be physically located in one
geographical location or
physically spread across several widely scattered locations with multiple
processors linked
together by a communication network to operate as a single controller.
Multiple controllers or
computing devices may be configured to communicate with one another or with
other
devices over wired or wireless communication links to form a network. Network
communications may pass through various controllers operating as network
appliances such
as switches, routers, firewalls or other network devices or interfaces before
passing over
other larger computer networks such as the Internet. Communications can also
be passed over
the network as wireless data transmissions carried over electromagnetic waves
through
transmission lines or free space. Such communications include using WiFi or
other Wireless
Local Area Network (WLAN) or a cellular transmitter/receiver to transfer data.
"Conveyor" is used in a broad sense to generally refer to a mechanism that is
used to
transport something, like an item, box, container, and/or SKU. By way of
nonlimiting
examples, the conveyor can include belt conveyors, wire mesh conveyors, chain
conveyors,
electric track conveyors, roller conveyors, cross-belt conveyors, vibrating
conveyors, and
skate wheel conveyors, to name just a few. The conveyor all or in part can be
powered or
unpowered. For instance, sections of the conveyors can include gravity feed
sections.
"Conveyor Bed" generally refers to a part of a conveyor upon which a load
and/or
cargo rests or slides while being conveyed.
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"Conveyor Belt" or "Belt" generally refers to a flexible band or other
flexible material
placed around two or more pulleys for the purpose of transmitting motion,
power, and/or
materials from one point to another. By way of nonlimiting examples, the
conveyor belt can
be made of a flexible material such as rubber and/or polyvinyl chloride (PVC).
The conveyor
belt includes one or more layers of material such as a carcass layer and an
over layer. The
carcass layer is an under layer that provides strength and shape to the belt,
and the over layer
covers the carcass layer. Typically, but not always, the carcass layer is made
of polyester,
nylon, and/or cotton, and the cover layer is made of rubber and/or plastic
compounds.
"Couple" or "Coupled" generally refers to an indirect and/or direct connection
between the identified elements, components, and/or objects. Often the manner
of the
coupling will be related specifically to the manner in which the two coupled
elements
interact.
"Electric Motor" generally refers to an electrical machine that converts
electrical
energy into mechanical energy. Normally, but not always, electric motors
operate through the
interaction between one or more magnetic fields in the motor and winding
currents to
generate force in the form of rotation. Electric motors can be powered by
direct current (DC)
sources, such as from batteries, motor vehicles, and/or rectifiers, or by
alternating current
(AC) sources, such as a power grid, inverters, and/or electrical generators.
An electric
generator can (but not always) be mechanically identical to an electric motor,
but operates in
24) the reverse direction, accepting mechanical energy and converting the
mechanical energy into
electrical energy.
"End of Ann Tool" (EoAT) or "End Effector" generally refers to a device at the
end
of the robotic arm that is designed to interact with the environment. The
nature of this
interaction of the device with the environment depends on the application of
the robotic arm.
The EoAT can for instance interact with an SKU or other environmental objects
in a number
of ways. For example, the EoAT can include one or more grippers, such as
impactive,
ingressive, astrictive, and/or contiguitive type grippers. Grippers typically,
but not always,
use some type of mechanical force to grip objects. However, other types of
interactions, such
as those based on suction or magnetic force, can be used to secure the object
to the EoAT. By
way of non-limiting examples, the EoAT can alternatively or additionally
include vacuum
cups, electromagnets, Bernoulli grippers, electrostatic grippers, van der
Waals grippers,
capillary grippers, cryogenic grippers, ultrasonic grippers, and laser
grippers, to name just a
few.
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"Extended Position" generally refers to a location or state of a mechanism
whew at
least a portion is stretched out to be longer or bigger. For example, when in
the extended
position, the mast and/or conveyor does not need to be stretched to the
fullest extent possible
(Le., fully extended), but instead, it can be partly lengthened or enlarged
(i.e., partially
extended). Depending on the configuration of the cargo carrier, the mast
and/or conveyor will
extend inside the cargo carrier, such as with an enclosed semi-trailer, or
over the cargo
carrier, such as with a flatbed trailer.
"Fastener" generally refers to a hardware device that mechanically joins or
otherwise
affixes two or more objects together. By way of nonlimiting examples, the
fastener can
include bolts, dowels, nails, nuts, pegs, pins, rivets, screws, and snap
fasteners, to just name a
few.
"Flat" generally refers to an object having a broad level surface but with
little height.
"Frame" generally refers to the structure which supports the mechanical
components
of a conveyor and/or sorter that are configured to move items.
"Gearbox" or "Transmission" generally refers to a power system that provides
controlled application of mechanical power. The gearbox uses gears and/or gear
trains to
provide speed, direction, and/or torque conversions from a rotating power
source to another
device.
"Lateral" generally refers to being situated on, directed toward, or coming
from the
side.
"Loading Dock" generally refers to an area of a building or other structure
where
cargo items for cargo carriers (usually, but not always, road, rail, or sea)
are loaded and
unloaded. Cargo items can be also staged at the loading dock. Loading docks
are commonly
found on commercial and industrial buildings, and warehouses in particular.
Loading docks
may be exterior, flush with the building envelope, or fully enclosed. Loading
docks are not
just limited to fully enclosed buildings but instead can be located at
locations that are
partially or fully open to the outside environment.
"Longitudinal" generally relates to length or lengthwise dimension of an
object, rather
than across.
"Motor" generally refers to a machine that supplies motive power for a device
with
moving parts. The motor can include rotor and linear type motors. The motor
can be powered
in any number of ways, such as via electricity, internal combustion,
pneumatics, and/or
hydraulic power sources. By way of non-limiting examples, the motor can
include a
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servomotor, a pneumatic motor, a hydraulic motor, a steam engine, pneumatic
piston,
hydraulic piston, and/or an internal combustion engine.
"Retracted Position" generally refers to a location or state of a mechanism
where at
least a portion is shrunk to be shorter or smaller. For example, when in the
retracted position,
5 a mast and/or conveyer is typically shorter than when in an extended
position.. When in the
retracted position, the mast and/or conveyor does not need to be shrunk to the
fullest extent
possible (i.e., fully retracted), but instead, it can be partly shortened or
shrunk (i.e., partially
retracted).
"Sensor" generally refers to an object whose purpose is to detect events
and/or
10 changes in the environment of the sensor, and then provide a
corresponding output. Sensors
include transducers that provide various types of output, such as electrical
and/or optical
signals. By way of nonlimiting examples, the sensors can include pressure
sensors, ultrasonic
sensors, humidity sensors, gas sensors, motion sensors, acceleration sensors,
displacement
sensors, force sensors, optical sensors, and/or electromagnetic sensors. In
some examples, the
15 sensors include barcode readers, REID readers, and/or vision systems.
"Substantially" generally refers to the degree by which a quantitative
representation
may vary from a stated reference without resulting in an essential change of
the basic
function of the subject matter at issue. The term "substantially" is utilized
herein to represent
the inherent degree of uncertainty that may be attributed to any quantitative
comparison,
24) value, measurement, and/or other representation.
"Transverse" generally refers to things, axes, straight lines, planes, or
geometric
shapes extending in a non-parallel and/or crosswise manner relative to one
another. For
example, when in a transverse arrangement, lines can extend at right angles or
perpendicular
relative to one another, but the lines can extend at other non-straight angles
as well such as at
25 acute, obtuse, or reflex angles. For instance, transverse lines can also
form angles greater than
zero (0) degrees such that the lines are not parallel. When extending in a
transverse manner,
the lines or other things do not necessarily have to intersect one another,
but they can.
"Vacuum" generally refers to a space or state in which air or other gas
pressure is
significantly lower than ambient or atmospheric pressure. A vacuum can include
a full
30 vacuum in which the space is devoid of all matter or a partial vacuum in
which some gas (or
other matter) is still present in the space.
"Vision System" generally refers to one or more devices that collect data and
form
one or more images by a computer and/or other electronics to determine an
appropriate
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position and/or to "see" an object. The vision system typically, but not
always, includes an
imaging-system that incorporates hardware and software to generally emulate
functions of an
eye, such as for automatic inspection and robotic guidance. In some cases, the
vision system
can employ one or more video cameras, Analog-to-Digital Conversion (ADC), and
Digital
Signal Processing (DSP) systems. By way of a non-limiting example, the vision
system can
include a charge-coupled device for inputting one or more images that are
passed onto a
processor for image processing. A vision system is generally not limited to
just the visible
spectrum. Some vision systems image the environment at infrared (IR), visible,
ultraviolet
(UV), and/or X-ray wavelengths. In some cases, vision systems can interpret
three-
dimensional surfaces, such as through binocular cameras.
It should be noted that the singular forms "a," "an," "the," and the like as
used in the
description and/or the claims include the plural forms unless expressly
discussed otherwise.
For example, if the specification and/or claims refer to "a device" or "the
device", it includes
one or more of such devices.
It should be noted that directional terms, such as "up," "down," "top,"
"bottom,"
"lateral," "longitudinal," "radial," "circumferential," "horizontal,"
"vertical," etc., are used
herein solely for the convenience of the reader in order to aid in the
reader's understanding of
the illustrated embodiments, and it is not the intent that the use of these
directional terms in
any manner limit the described, illustrated, and/or claimed features to a
specific direction
2o and/or orientation.
While the invention has been illustrated and described in detail in the
drawings and
foregoing description, the same is to be considered as illustrative and not
restrictive in
character, it being understood that only the preferred embodiment has been
shown and
described and that all changes, equivalents, and modifications that come
within the spirit of
the inventions defined by the following claims are desired to be protected.
All publications,
patents, and patent applications cited in this specification are herein
incorporated by
reference as if each individual publication, patent, or patent application
were specifically and
individually indicated to be incorporated by reference and set forth in its
entirety herein.
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Reference Numbers
100 robotic system 530
buffer conveyor belt
105 robot 535
bridge conveyor bed
110 extendable conveyor 705
frame
115 main conveyer system 710
mast section cavity
120 cargo carrier 715
rail bearings
125 cargo 720
EoAT drive motor slots
130 building 725
base slider bed
135 loading dock 730
base support rails
205 base unit 805
drive mechanism
210 mast 810
motor
215 EoAT 815
gearbox
220 transport system 820
drive belts
225 wheels 825
driver idler pulleys
230 controller 830
bridge guide rollers
235 base unit conveyor 835
bridge idler pulleys
240 mast actuator 840
bridge take-up pulley
245 base unit housing 845
belt shield
250 sensors 1005
bearing rails
405 longitudinal axis 1010
drive belt clamps
410 lateral axis 1015
frame
415 first lateral direction 1020
EoAT actuator drive
420 second lateral direction 1025
motors
425 columns 1030
gearboxes
430 retracted direction 1035
EoAT drive belts
435 extended direction 1040
EoAT drive pulleys
505 base mast section 1045
bridge slider bed
510 EoAT mast section 1050
buffer slider bed
515 bridge conveyor 1105
buffer idler pulleys
520 buffer conveyor 1110
buffer guide pulleys
525 bridge conveyor belt 1115
buffer drive pulley
1120 transition conveyors 2120
distal conveyor belt
1125 transition conveyor belts 2125
gripper mechanism
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1130 bridge idler pulleys 2130
suction cups
1135 bridge drive mechanism 2135
gripper member
1140 motor 2140
carriage gap
1145 gearbox 2145
guide members
1150 drive belt 2150
shoehorn member
1155 drive pulley 2155
location member
1160 vacuum manifold 2160
rocker arm
1605 EoAT actuator joint 2165
pivot connector
1610 pitch directions 2170
stop member
1615 yaw directions 2405
guide rail body
1620 roll directions 2410
fan section
1705 EoAT bracket 2415
beveled edges
1710 actuator gearbox 2605
guide rail body
1715 roll drive mechanism 2610
probe member
1720 frame 2702
carriage
1725 motor 2705
carriage sliders
1730 gearbox 2710
bearing rails
1805 housing 2715
bearing rollers
1810 actuator drive bearings 2720
linkage assemblies
1815 actuator drive shafts 2725
cam followers
1905 pinion gears 2730
cam rails
1910 rack gears 2735
carriage drive system
1915 yaw pivot shaft 2740
drive belt
1920 connector plate 2745
drive motor
1925 fastener openings 2750
idler pulleys
2005 fastener holes 2805
retracted sections
2105 proximal conveyor 2810
extended sections
2110 distal conveyor 2815
transition sections
2115 proximal conveyor belt 2905
linkages
2910 vacuum ports
2915 cam rollers
3205 boxes
3405 floor
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3410 arrow
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