Robotic carton unloader

• US 10,336,562 B2
• Filed: 09/14/2017
• Issued: 07/02/2019
• Est. Priority Date: 05/17/2013
• Status: Active Grant

• Current Assignee: Intelligrated Incorporated (Honeywell International Inc.)
• Original Assignee: Intelligrated Incorporated (Honeywell International Inc.)
• Inventors: Girtman, Michael L., Ytterberg, Brent S., Williams, Christopher J., Jeremiah, Grant R.
• Primary Examiner(s): Schwenning, Lynn E
• Application Number:
  US15/704,976
• Publication Number:
  US 20180072517A1
• Time in Patent Office: 656 Days
• Field of Search: 4147969, 198312, 198333, 1984731
• CPC Class Codes: B65G 21/10 movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
• CPC Class Codes: B65G 59/04 by suction or magnetic devices
• CPC Class Codes: B65G 61/00 Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
• CPC Class Codes: B65G 67/24 Unloading land vehicles
• CPC Class Codes: B65G 67/26 using rakes or scrapers

Abstract

A robotic carton unloader for unloading cartons in a carton pile has a mobile body and a movable robotic arm attached to the mobile body that has an end effector at a movable end thereof to unload cartons from the carton pile. A conveyor system is attached to the mobile body and extends from front to rear of the carton unloader to convey cartons received thereon by the moveable robotic arm. The conveyor system comprises a central portion carried on the mobile body and a front portion extending therefrom towards the carton pile. The front portion is configured to change width from narrow to wider to act as a shield to catch and then move falling cartons received thereon.

Claims

1. A robotic carton unloader for unloading cartons in a carton pile within a semi-trailer having side walls, the robotic carton unloader comprising:

a mobile body;

a movable robotic arm attached to the mobile body and comprising an end effector at an end thereof, the end effector configured to unload cartons from the carton pile; and

a conveyor system attached to the mobile body and extending from front to rear of the carton unloader to convey cartons received thereon by the movable robotic arm, the conveyor system comprising a central conveyor carried on the mobile body and a front conveyor movably attached to the mobile body and extending therefrom towards the carton pile,

wherein the front conveyor comprises movable side portions configured to change width from narrow to wider to act as a shield that catches and then moves falling cartons received thereon, wherein the movable side portions of the front conveyor comprises a lateral movement mechanism located within the front conveyor to laterally move the movable side portions, and wherein a conveying surface of the movable side portions of the front conveyor comprises a laterally widenable belt that is generally a flat belt and can widen when the movable side portions laterally extend and narrow when the movable side portions laterally retract.

2. The robotic carton unloader of claim 1, wherein the movable side portions laterally extend to widen the front conveyor and laterally retract to narrow the front conveyor.

3. The robotic carton unloader of claim 1 wherein the lateral movement mechanism can comprise a scissors type mechanism.

4. The robotic carton unloader of claim 3 wherein the scissors type mechanism can be operatively engaged with a motor to widen and narrow the movable side portions.

5. The robotic carton unloader of claim 4 wherein the motor operatively engages with the scissors type mechanism with a leadscrew.

6. The robotic carton unloader of claim 1, wherein the laterally widenable belt comprises three flat belts having an underlying belt nested within an inside surface belt and an wider outer surface belt, when the inside surface belt and the wider outer surface belt are laterally separated by movement of the movable side portions, the underlying belt is exposed to form a portion of the conveying surface, and when the inside surface belt and the wider outer surface belt are laterally brought together, the underlying belt lies covered beneath.

7. The robotic carton unloader of claim 6, wherein the underlying belt and the surface belts include teeth to reduce surface contact areas between the belts and to reduce drag therebetween.

8. The robotic carton unloader of claim 6, wherein the teeth are used to synchronize movements of the three flat belts together.

9. The robotic carton unloader of claim 6, wherein the laterally widenable belt, underlying belt, and the surface belts further comprise at least one slick or lubricious surface to provide low resistance to lateral movement of the movable side portions.

10. The robotic carton unloader of claim 1, wherein when the front conveyor of the conveyor system is configured to form a seal with side walls of the semi-trailer to prevent cartons from falling between sides of the front conveyor and the side walls of the semi-trailer and onto a floor of the semi-trailer.

11. The robotic carton unloader of claim 10, wherein the seal is a rubbing contact.

12. The robotic carton unloader of claim 10, wherein the seal is a narrow gap that prevents cartons from falling through.

13. The robotic carton unloader of claim 10, wherein the seal includes slick or lubricious materials to ensure smooth moving contact of the front conveyor with the side walls of the semi-trailer during the unloading process.

14. The robotic carton unloader of claim 1, wherein the front conveyor further comprises wings configured to rotate outwards to widen the front conveyor and inwards to narrow the front conveyor.

15. The robotic carton unloader of claim 14, wherein the wings of the front conveyor further comprise movable side portions extendable and retractable from the rotatable wings.

16. The robotic carton unloader of claim 14, wherein the wings are pivotally mounted to the front conveyor.

17. The robotic carton unloader of claim 1, wherein the movable side portions of the front conveyors further comprises a plurality of widenable kick rollers at a front thereof to lift cartons off of a floor of the semi-trailer and onto the laterally widenable front conveyor, wherein when the movable side portions change width, the spacing between adjacent widenable kick rollers changes accordingly.

18. The robotic carton unloader of claim 17, wherein the plurality of widenable kick rollers of the movable side portions are simultaneously rotatably driven by a drive shaft with each of the plurality of widenable kick rollers laterally movable thereon.

19. The robotic carton unloader of claim 18, wherein the plurality of widenable kick rollers of the movable side portions are spaced apart by a spring between adjacent kick rollers to uniformly space the plurality of widenable kick rollers uniformly apart as the movable side portions widen and narrow.

20. The robotic carton unloader of claim 18, wherein the drive shaft passes through the plurality of widenable kick rollers and springs to ensure equidistant spacing between adjacent kick rollers.