公开(公告)号：US12103784B2

公开(公告)日：2024-10-01

申请号：US17619684

申请日：2020-07-22

申请人： Laitram, L.L.C.

发明人： Bryant G. Ragan

IPC分类号： B65G47/04 ,  B65G13/02 ,  B65G23/23 ,  B65G47/61 ,  B65G54/02 ,  B65G47/53

CPC分类号： B65G47/04 ,  B65G13/02 ,  B65G23/23 ,  B65G47/61 ,  B65G54/02 ,  B65G47/53 ,  B65G2201/0258 ,  B65G2207/14 ,  B65G2207/46 ,  B65G2812/01

摘要： An overhead tray conveyor system conveying tray movers holding trays carrying products to a workstation area for processing. Soiled trays are transferred from the tray movers to a wash system. Once sanitized, the trays are returned from the wash system to the tray movers advancing around a track circuit.

公开(公告)号：US20240286836A1

公开(公告)日：2024-08-29

申请号：US18656681

申请日：2024-05-07

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas WAGNER ,  Kevin AHEARN ,  John Richard AMEND, JR. ,  Benjamin COHEN ,  Michael DAWSON-HAGGERTY ,  William Hartman FORT ,  Christopher GEYER ,  Victoria HINCHEY ,  Jennifer Eileen KING ,  Thomas KOLETSCHKA ,  Michael Cap KOVAL ,  Kyle MARONEY ,  Matthew T. MASON ,  William Chu-Hyon MCMAHAN ,  Gene Temple PRICE ,  Joseph ROMANO ,  Daniel Carlton SMITH ,  Siddhartha SRINIVASA ,  Prasanna VELAGAPUDI ,  Thomas ALLEN

IPC分类号： B65G1/137 ,  B25J9/00 ,  B25J9/02 ,  B25J9/16 ,  B65G47/82 ,  B65G47/90

CPC分类号： B65G1/137 ,  B25J9/0093 ,  B25J9/026 ,  B25J9/1612 ,  B25J9/1615 ,  B65G1/1376 ,  B65G1/1378 ,  B65G47/82 ,  B65G47/905 ,  B65G2201/0258

摘要： A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins being in communication with a retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and is adapted for movement of the programmable motion device along a first direction, and a plurality of destination bins that are provided in at least one linear arrangement along the first direction of movement of the programmable motion device.

公开(公告)号：US20240217741A1

公开(公告)日：2024-07-04

申请号：US18557473

申请日：2022-05-12

申请人： Autostore Technology AS

发明人： Jørgen Djuve Heggebø ,  Øystein Gjerdevik

IPC分类号： B65G1/04 ,  B65G1/10

CPC分类号： B65G1/0464 ,  B65G1/10 ,  B65G1/0414 ,  B65G2201/0258

摘要： An automated storage and retrieval system includes a framework structure that includes a plurality of storage columns for accommodating goods holders. A rail system is arranged across the top of the framework structure. The automated storage and retrieval system further includes a detachable storage column module for coupling to the framework structure of the system. The module includes at least one storage column for accommodating goods holders inserted by means of a remotely operated vehicle operating on the rail system. The at least one storage column includes a plurality of storage cells each comprising a goods holder support movable between a first position in which the support can obstruct passage of the goods holder moving vertically through the storage cell and a second position in which the vertically moving goods holder can pass through the storage cell.

公开(公告)号：US20240092572A1

公开(公告)日：2024-03-21

申请号：US18480848

申请日：2023-10-04

申请人： Autostore Technology AS

发明人： Trond Austrheim

IPC分类号： B65G1/04 ,  B65G1/137

CPC分类号： B65G1/0464 ,  B65G1/1378 ,  B65G1/0492 ,  B65G2201/0258

摘要： A container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system, includes: a vehicle body having a first section and a second section arranged side-by-side; a first set of wheels for moving the container handling vehicle along a first direction on a rail system of the grid; and a second set of wheels for moving the container handling vehicle along the second direction on the rail system of the grid. The first section is configured to accommodate a storage container and has a footprint that is substantially equal to a cross-sectional area of one grid cell of the grid. The second section comprises an assembly of motors for driving at least one wheel of each of the sets of wheels and has a second footprint that is equal to or smaller than half of the first footprint.

公开(公告)号：US11878864B2

公开(公告)日：2024-01-23

申请号：US17277053

申请日：2019-09-30

申请人： Pickr AS

发明人： Torfi Thorhallsson ,  Hafrun Hauksdottir ,  Kjetil Gjerde ,  Simon Marnburg Eriksen ,  Mikal Jansen Berge

IPC分类号： B65G1/137 ,  B25J9/02 ,  B25J19/02

CPC分类号： B65G1/137 ,  B25J9/023 ,  B25J19/023 ,  B65G2201/0258

摘要： A system is for automatic storage, picking, and packing of items. The system has: an arrangement of shelves for supporting storage boxes; a movable robotic arm, the robotic arm being configured for reaching into and picking an item from a storage box, and for grabbing and moving a storage box; and a camera and control unit, the arrangement of shelves comprises a first sub arrangement of shelves with a first vertical distance between the shelves, and a second sub arrangement of shelves with a second vertical distance between the shelves. The first vertical distance is chosen to allow the robotic arm to reach into and pick an item from said storage boxes. The second vertical distance is chosen so that each storage box must be moved out before the robotic arm can pick an item from the storage box.

公开(公告)号：US20240010433A1

公开(公告)日：2024-01-11

申请号：US18372239

申请日：2023-09-25

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas WAGNER ,  Kevin Ahearn ,  John Richard Amend ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  William Hartman Fort ,  Christopher Geyer ,  Victoria Hinchey ,  Jennifer Eileen King ,  Thomas Koletschka ,  Michael Cap Koval ,  Kyle Maroney ,  Matthew T. Mason ,  William Chu-Hyon Mcmahan ,  Gene Temple Price ,  Joseph Romano ,  Daniel Smith ,  Siddhartha Srinivasa ,  Prasanna Velagapudi ,  Thomas Allen

IPC分类号： B65G1/137 ,  G06Q10/087 ,  B25J9/00 ,  B25J9/16 ,  B65G47/82 ,  B25J9/02 ,  B65G47/90

CPC分类号： B65G1/1376 ,  G06Q10/087 ,  B65G1/1371 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/1615 ,  B65G47/82 ,  B25J9/026 ,  B65G47/905 ,  B65G1/1378 ,  B65G2201/0258

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

公开(公告)号：US20230415995A1

公开(公告)日：2023-12-28

申请号：US18041239

申请日：2021-07-28

申请人： Ocado Innovation Limited

发明人： Robert STADIE

IPC分类号： B65G1/06 ,  B65G1/04 ,  B65G61/00 ,  G06K19/07

CPC分类号： B65G1/065 ,  B65G1/0478 ,  B65G61/00 ,  B65G2203/046 ,  B65G2201/0258 ,  B65G2203/0208 ,  G06K19/0723

摘要： A storage system is disclosed which includes: at least one storage floor having a track network, based on a grid system, the track network including a first set of track members extending in a first direction, and a second set of track members extending in a second direction, the second set of track 5 members running transversely to the first set of track members in a substantially horizontal plane. Storage aisles of the track network include storage locations for receiving storage containers. A load handling device operates on the track network for lifting and transporting storage containers. A storage location includes a support for supporting a storage container. A control facility controls and operates the storage system.

公开(公告)号：US11813744B2

公开(公告)日：2023-11-14

申请号：US17065042

申请日：2020-10-07

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas Wagner ,  Kevin Ahearn ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  Christopher Geyer ,  Victoria Hinchey ,  Thomas Koletschka ,  Kyle Maroney ,  Matthew T. Mason ,  Gene Temple Price ,  Joseph Romano ,  Daniel Smith ,  Siddhartha Srinivasa ,  Prasanna Velagapudi ,  Thomas Allen

IPC分类号： B25J9/00 ,  B25J9/16 ,  B65G1/137 ,  G06Q10/08 ,  G05B19/418 ,  B65D5/42 ,  G06Q10/087 ,  B65D5/00

CPC分类号： B25J9/0093 ,  B25J9/16 ,  B25J9/1669 ,  B65D5/4212 ,  B65G1/1376 ,  B65G1/1378 ,  G05B19/4182 ,  G06Q10/08 ,  G06Q10/087 ,  B65D5/001 ,  B65G2201/025 ,  B65G2201/0258 ,  B65G2203/0216 ,  B65G2203/041 ,  B65G2203/044 ,  G05B2219/31078 ,  G05B2219/39102 ,  G05B2219/39106 ,  G05B2219/40554

摘要： A method of processing objects using a programmable motion device is disclosed. The method includes the steps of providing an input conveyance system by which input bins of objects may be provided to a processing station that includes the programmable motion device that includes an end effector, perceiving at the processing station identifying indicia representative of an identity of a plurality of objects at an input area of the input conveyance system, grasping the an acquired object using the end effector, moving the acquired object toward an identified processing container using the programmable motion device, the identified processing container being associated with the identifying indicia and said identified processing container being provided as one of a plurality of processing containers at the processing station, and providing an output conveyance system in communication with the processing station, by which processing containers that contain processed objects may be provided.

公开(公告)号：US20230348205A1

公开(公告)日：2023-11-02

申请号：US17998649

申请日：2021-07-26

申请人： G.D S.P.A.

发明人： Andrea BIONDI ,  Luca CAVAZZA ,  Umberto ZANETTI ,  Enrico CAMPAGNOLI ,  Antonio GIGANTE ,  Giacomo NOFERINI ,  Cristian DAKESSIAN

IPC分类号： B65G47/86

CPC分类号： B65G47/847 ,  B65G2201/0258 ,  B65G2201/0261 ,  B65G2201/027

摘要： An apparatus and a transfer process for articles are presented. The articles are transferred without risk of damage when gripped by pincer grip devices, regardless of article shape and gripping manner. The apparatus includes a first transport device, having pincer grip devices, moving along a first closed path, each having pincer claws projecting outward from the first closed path. The pincer claws are movable from a gripping position to a release position. The apparatus also includes a second transport device, having tray-like elements moving along a respective second closed path and configured to receive respective articles resting thereon. The first and second transport devices cooperate with each other at one or two exchange segments where the first closed path is superimposed on said second closed path and where the articles transported in the pincer grip devices are laid on tray-like elements and/or removed therefrom.

公开(公告)号：US11702289B2

公开(公告)日：2023-07-18

申请号：US17110804

申请日：2020-12-03

申请人： SSI Schäfer Automation GmbH (DE)

发明人： Elmar Issing ,  Christian Herzmaier

IPC分类号： B65G1/137 ,  B07C3/08 ,  B65G17/12 ,  B65G47/38 ,  B65G47/64 ,  B65G47/90 ,  B65G37/02 ,  B65G11/02 ,  B65G17/20

CPC分类号： B65G1/1378 ,  B07C3/08 ,  B65G17/12 ,  B65G37/02 ,  B65G47/38 ,  B65G47/642 ,  B65G47/643 ,  B65G47/90 ,  B65G11/023 ,  B65G17/20 ,  B65G2201/0258

摘要： A storage and order-picking system including a warehouse, wherein the warehouse includes a storage module formed by two racks including one rack aisle therebetween; separation stations associated with the storage module, each separation station having associated therewith a respective pick up location;



separate conveying systems for feeding storage containers from the warehouse to the pick up locations of the separation stations, respectively; and a robot arranged between the separate conveyors such that the robot can pick up during one movement cycle from each of the separate conveying systems respectively one article and can deliver between the corresponding article pick up locations one article which has already been picked up to a deposition location.