Mobile work station for transporting a plurality of articles

• US 10,611,036 B2
• Filed: 04/24/2019
• Issued: 04/07/2020
• Est. Priority Date: 09/06/2016
• Status: Active Grant

• Current Assignee: Advanced Intelligent Systems Inc.
• Original Assignee: Advanced Intelligent Systems Inc.
• Inventors: Bidram, Farhang
• Primary Examiner(s): Cumbess, Yolanda R
• Application Number:
  US16/393,676
• Publication Number:
  US 20190248024A1
• Time in Patent Office: 349 Days
• Field of Search: None
• CPC Class Codes: B25J 15/0206 comprising articulated grippers
• CPC Class Codes: B25J 19/02 Sensing devices
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B60P 1/48 using pivoted arms raisable above load-transporting element for refuse collecting vehicles B65F3/041; load engaging elements B66C1/00 - B66C3/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

An apparatus and method for transporting a plurality of articles is disclosed. The apparatus includes a wheeled chassis, and a platform disposed on the wheeled chassis. The apparatus also includes a manipulator coupled to the wheeled chassis and operably configured to load a first article of the plurality of articles at a first position on the platform, or unload the first article of the plurality of articles from the first position on the platform. The apparatus further includes at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles.

Claims

1. An apparatus for transporting a plurality of articles, the apparatus comprising:

a wheeled chassis;

a platform disposed on the wheeled chassis;

a manipulator coupled to the wheeled chassis and operably configured to;

load a first article of the plurality of articles at a first position on the platform;

or

unload the first article of the plurality of articles from the first position on the platform;

at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles; and

wherein the manipulator includes;

a pair of outwardly directed spaced apart arms, each arm having a respective end effector distally disposed on the arm, the arms being operably configured to move to cause the respective end effectors to grasp the article; and

an arm actuator, operably configured to vertically rotate the arms toward the platform while the article is grasped by the end effectors and suspended between the arms.

2. The apparatus of claim 1 wherein the at least one actuator is operably configured to cause one of a rotary movement of the platform about the wheeled chassis and a rotary movement of the manipulator about the wheeled chassis.

3. The apparatus of claim 1 wherein the manipulator is coupled to base rotatable with respect to the wheeled chassis and wherein the at least one actuator comprises:

a base actuator operably configured to cause rotary movement of the base and the manipulator about the wheeled chassis;

a platform actuator operably configured to cause rotary movement of the platform about the wheeled chassis; and

wherein the base actuator and the platform actuator are operable to cause successive relative rotational movements of both the manipulator and the platform about the wheeled chassis for providing access for loading or unloading each subsequent article in the plurality of articles.

4. The apparatus of claim 3 wherein the manipulator is coupled to the wheeled chassis via a support and wherein the base actuator is operably configured to cause rotary movement of the support about the wheeled chassis.

5. The apparatus of claim 3 wherein the wheeled chassis comprises at least one drive for driving wheels of the wheeled chassis and further comprising a controller operably configured to:

cause the at least one drive to orient the wheeled chassis for movement in a direction aligned to pick up or place the plurality of articles in a line;

cause the base actuator to cause rotary movement of the manipulator about the wheeled chassis to orient the manipulator for loading or unloading the plurality of articles; and

cause the platform actuator to cause rotary movement of the platform to;

after loading each article, dispose an empty location on the platform in reach of the manipulator for loading a subsequent article;

or

dispose a subsequent article on the platform in reach of the manipulator for unloading.

6. The apparatus of claim 1 wherein the wheeled chassis comprises a drive for driving at least one wheel of the wheeled chassis and further comprising a controller operably configured to control the drive to orient the wheeled chassis to align the manipulator for loading or unloading each of the first article and the subsequent articles.

7. The apparatus of claim 1 wherein the arms are mounted for vertical rotation on a driven shaft and wherein the end effectors are coupled to the shaft via a belt such that rotation of the arms causes a respective rotation of the end effectors for maintaining an orientation of the end effectors while grasping the article.

8. The apparatus of claim 1 wherein the arms are mounted for one of lateral movement and rotational movement about a pivot to cause the pair of end effectors to move to grasp or release the article.

9. The apparatus of claim 1 further comprising at least one tool operably configured to perform an operation on the articles while transporting the plurality of articles on the wheeled chassis.

10. The apparatus of claim 9 wherein the at least one tool is coupled to the wheeled chassis such that causing rotary movement between the wheeled chassis and the platform provides access to each article for performing the operation.

11. The apparatus of claim 9 wherein the at least one tool is coupled to the manipulator such that causing rotary movement between the manipulator and the platform provides access to each article for performing the operation.

12. The apparatus of claim 11 wherein the manipulator and the at least one tool are respectively coupled to a common base mounted for rotation on the wheeled chassis such that rotary movement of the common base causes rotary movement of each of the manipulator and the at least one tool.

13. The apparatus of claim 1 wherein the platform comprises a plurality of article supports for receiving and supporting the article.

14. A method of transporting a plurality of articles on a wheeled chassis, the method comprising:

causing a manipulator coupled to the wheeled chassis to;

move a pair of outwardly directed spaced apart arms to cause a respective end effector distally disposed on each of the arms to grasp an article;

vertically rotate the arms toward or away from the platform while the article is grasped by the end effectors and suspended between the arms to;

load a first article of the plurality of articles at a first position on a platform disposed on the wheeled chassis;

or

unload the first article of the plurality of articles from the first position on the platform;

causing successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform; and

causing the manipulator to load or unload each subsequent article of the plurality of articles to or from the successive rotationally spaced apart positions on the platform.

15. The method of claim 14 wherein causing successive relative rotational movements comprises one of causing rotary movement of the platform about the wheeled chassis and causing rotary movement of the manipulator about the wheeled chassis.

16. The method of claim 15 wherein causing successive relative rotational movements comprises causing rotary movement of both the manipulator and the platform about the wheeled chassis.

17. The method of claim 16 wherein causing rotary movement of both the manipulator and the platform about the wheeled chassis comprises:

causing the wheeled chassis to be aligned for movement in a direction aligned to pick up or place the plurality of articles along a line;

causing rotary movement of the manipulator to orient the manipulator for loading or unloading the plurality of articles; and

causing rotary movement of the platform to;

after loading each article, dispose an empty location on the platform in reach of the dispose a subsequent article on the platform in reach of the manipulator for unloading.

18. The method of claim 14 further comprising controlling a drive associated with at least one wheel of the wheeled chassis to orient the wheeled chassis to align the manipulator for loading each of the first article and the subsequent articles.

19. The method of claim 16 further comprising operating at least one tool to perform an operation on the articles while transporting the plurality of articles on the wheeled chassis.

20. The method of claim 19 wherein operating the at least one tool comprises causing rotational movement between the at least one tool and the platform to provide access to each article for performing the operation.

21. The method of claim 20 wherein causing rotational movement between the at least one tool and the platform comprises causing rotational movement of the manipulator, the at least one tool being coupled to the manipulator.

22. The method of claim 14 wherein the platform comprises a plurality of article supports for receiving and supporting the article and wherein causing a manipulator to load or unload the first article comprises causing the manipulator to load or unload the first article from a first article support.

23. An apparatus for transporting a plurality of articles, the apparatus comprising:

a wheeled chassis;

a platform disposed on the wheeled chassis;

a manipulator coupled to the wheeled chassis and operably configured to;

load a first article of the plurality of articles at a first position on the platform;

or

unload the first article of the plurality of articles from the first position on the platform;

wherein the manipulator includes;

a pair of outwardly directed spaced apart arms, each arm having a respective end effector distally disposed on the arm, the arms being mounted for one of rotational movement about a pivot or lateral movement to cause the pair of end effectors to grasp or release the article;

an arm actuator, operably configured to vertically rotate the arms toward the platform while the article is suspended between the arms;

at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles.