Robotic systems for handling objects

• US 20050135912A1
• Filed: 10/06/2004
• Published: 06/23/2005
• Est. Priority Date: 07/23/1999
• Status: Abandoned Application

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Fuchs, Robert, Gasior, Christian Thomas, Graham, Todd, Schempf, Hagen
• Application Number:
  US10/959,852
• Publication Number:
  US 20050135912A1
• Time in Patent Office: Days
• US Class Current: 414/618
• CPC Class Codes: A01G 9/088 Handling or transferring pots

Abstract

An automated handling system for moving objects from one location to another location is provided with a self-mobile system having a grabber subsystem for grasping objects, including assemblies for movement in four directions, along X, Y and Z axes and through an angle θ. The system also has a translating carriage assembly for moving the grabber subsystem and power supply and drive systems. A sensing device, such as an imager, is provided to determine the geometric position of the objects and to move the grabber subsystem accordingly. Another embodiment of the system is provided as an accessory to a prime mover. It includes an alignment articulation system, a gross advance system, a tine storage system, a loading head system, and pot grabbers. This automated handling system can be used to move plant containers in nurseries from the ground to a trailer bed and/or from a trailer bed to the ground in a variety of container configurations.

Claims

1. An apparatus for transferring objects, the apparatus comprising:

a grabber assembly having at least one grabber for holding objects to be transferred;

a carriage defining a path along which the grabber assembly travels, the path having a first elevated surface, an inclined surface, and a second lower surface;

a sensing device for determining the relative geometric positions of the objects to be transferred relative to the grabber assembly;

a positioning unit for positioning the grabber in one or more of four degrees of motion in response to the determined geometric positions; and

,

at least one power source for driving the grabber assembly along the carriage and for powering the positioning of the grabber.

2. The apparatus of claim 1 wherein the positioning unit comprises:

an X-axis assembly for positioning the grabber along an X-axis;

a Y-axis assembly for positioning the grabber along a Y-axis;

a Z-axis assembly for positioning the grabber along a Z-axis; and

,

a pivotal assembly for positioning the grabber at an angle θ

relative to a selected frame of reference.

3. The apparatus of claim 2 wherein the X-axis assembly comprises:

a first frame;

a second frame;

one or more X-axis rails connected to the second frame and lying on or parallel to an X-axis;

said first frame being mounted for travel on the one or more X-axis rails and being operatively connected to the grabber.

4. The apparatus of claim 3 wherein the positioning unit comprises:

a third frame;

one or more Y-axis rails connected to the third frame and lying on or parallel to a Y-axis; and

,

said second frame mounted for travel on the one or more Y-axis rails.

5. The apparatus of claim 4 wherein the positioning unit further comprises a fourth frame and the Z-axis assembly comprises:

one or more Z-axis rails lying on or parallel to a Z-axis, the Z-axis rails being connected to the fourth frame;

one or more Z-axis adjusters mounted for travel on the one or more Z-axis rails.

6. The apparatus of claim 5 wherein the third frame has first and second ends and is mounted for pivotal motion about a pivotal axis, and wherein the pivotal assembly is comprised of:

two of said Z-axis rails;

two mounting members, one being pivotally connected to the first end of the third frame and the other being pivotally mounted to the second end of the third frame;

two of said Z-axis adjusters, each being connected to a different mounting member; and

,

two cylinders, each being linked to a different Z-axis adjuster and each being operable at different rates and in different directions for selective non-uniform movement of one or both of the Z-axis adjusters along the Z-axis rails.

7. The apparatus of claim 2 wherein the X-axis assembly comprises:

one or more X-axis rails lying on or parallel to a X-axis; and

,

one or more X-axis adjusters mounted for travel on the one or more X-axis rails;

said X-axis adjusters being operatively connected to the grabber.

8. The apparatus of claim 2 wherein the Y-axis assembly comprises:

one or more Y-axis rails lying on or parallel to a Y-axis; and

,

one or more Y-axis adjusters mounted for travel on the one or more Y-axis rails;

said Y-axis adjusters being operatively connected to the grabber.

9. The apparatus of claim 2 wherein the Z-axis assembly comprises:

one or more Z-axis rails lying on or parallel to a Z-axis; and

,

one or more Z-axis adjusters mounted for travel on the one or more Z-axis rails;

said Z-axis adjusters being operatively connected to the grabber.

10. The apparatus of claim 2 wherein the pivotal assembly comprises:

a frame having first and second ends and being mounted for pivotal motion about a pivotal axis, the frame being operatively connected to the grabber such that movement of the frame about the pivotal axis is translated to the grabber;

at least two extension members for moving the frame about the pivotal axis, one member being connected to the first end of the frame and the other extension member being connected to the second end of the frame;

means for moving one or both of the extension members at one or both of a rate and in a direction that differs from the other of the at least two members.

11. The apparatus of claim 1 wherein the apparatus is a self propelled vehicle further comprising at least one of each of a drive motor, a drive train, wheels and control components for steering the apparatus.

12. The apparatus of claim 1 wherein the apparatus is an accessory for releasable attachment to an independently powered vehicle.

13. The apparatus of claim 1 wherein the power source is a gas-powered motor and the apparatus further comprises power conversion components for converting gas power to one or both of electrical power and hydraulic power.

14. The apparatus of claim 13 further comprising a second source of power for powering the positioning unit.

15. The apparatus of claim 14 wherein the second source of power is hydraulic power.

16. The apparatus of claim 1 wherein the carriage comprises:

opposing frame sections spaced from each other, each frame section having a guide rail mounted thereon to define the path;

a drive motor; and

,

drive chains powered by the drive motor associated with each guide rail.

17. The apparatus of claim 16 wherein each frame section comprises an inner frame and an outer frame defining a space therebetween, and the carriage further comprises:

a drive rod spanning the space between opposing frame sections;

the drive motor operatively connected to the drive rod;

a plurality of chain sprockets mounted in the space between the inner and outer frame sections along the length of each path for engagement with the drive chains; and

,

a channel for housing connections to the power supply.

18. The apparatus of claim 16 wherein the grabber assembly comprises:

opposing travel arms, each having forward ends and rear ends;

roller members mounted on each travel arm and driven by the drive chain of the carrier for travel along the path thereof;

a grabber rail positioned proximate to the forward ends of the travel arms; and

,

a plurality of grabbers mounted on the grabber rail.

19. The apparatus of claim 18 wherein the grabbers have an open position and a closed position for grasping objects to be transferred, the grabbers being operatively connected to the power source for effecting the open or the closed positions.

20. The apparatus of claim 18 wherein the grabbers are arcuate in structure.

21. The apparatus of claim 18 wherein the grabbers are forked in configuration.

22. The apparatus of claim 18 wherein the grabbers are in the form of pincers.

23. The apparatus of claim 18 wherein the grabbers define opposing butterfly wings, each wing being movable into an open position and a closed position, each wing having an arcuate recess in facing relationship to the arcuate recess of the opposing wing to define therebetween a space for positioning the object to be transferred;

the grabbers being operatively connected to the power source for moving the wings into the open or the closed positions.

24. The apparatus of claim 18 wherein the grabbers are fixed tines configured for supporting tapered objects and rimmed objects.

25. The apparatus of claim 18 wherein the positioning unit is mounted on the forward ends of the travel arms and the grabber rail is mounted on the positioning unit and is structured for motion relative to the travel arms.

26. The apparatus of claim 1 wherein the sensing device is mounted on a forward end of the apparatus for capturing the orientation of objects to be transferred along X, Y and Z axes and at an angle θ

relative to a selected frame of reference.

27. The apparatus of claim 26 wherein the sensing device is a two-dimensional laser scanner.

28. The apparatus of claim 26 wherein the sensing device receives positional signals from the sensed objects and transfers such signals to a processing unit for determination of the geometric positions of the sensed objects and the movement of the positioning unit necessary for alignment of the at least one grabber with the objects.

29. The apparatus of claim 1 further comprising a conveyor system for receiving and transferring objects.

30. The apparatus of claim 29 wherein there are at least two conveyor portions, one forward conveyor portion positioned proximate the forward end of the apparatus and another side conveyor portion positioned on a side of the apparatus.

31. The apparatus of claim 30 wherein there is a rear conveyor positioned at the rear of the apparatus.

32. The apparatus of claim 30 wherein the conveyor system includes a spacer device mounted proximate the side conveyor portion for selective movement onto or away from the side conveyor, the spacer device having a plurality of spaced tabs extending outwardly therefrom such that, when moved onto the side conveyor, the tabs define spaces for receiving individual objects to be transferred.

33. The apparatus of claim 30 wherein the side conveyor is pivotally mounted at a junction between the forward and side conveyors to allow the side conveyor to be pivoted to a desired position relative to the forward conveyor.

34. The apparatus of claim 33 wherein there are a plurality of grabbers, the apparatus further comprising an indexer optionally mountable at the junction between the forward and side conveyors, the indexer configured for conveying objects around a corner when the side conveyor is in a non linear position relative to the forward conveyor.

35. The apparatus of claim 34 wherein the indexer is further configured for aligning the objects transferred from the side conveyor to the forward conveyor for engagement with the grabbers.

36. The apparatus of claim 34 wherein the indexer is comprised of:

a plate member defining a plurality of spaces configured for receiving objects to be transferred;

a gear assembly for advancing the receiving spaces;

means for driving the gear assembly.

37. The apparatus of claim 36 wherein the plate member includes upper and lower circular plates and the receiving spaces are radially spaced about the circumference of each plate.

38. The apparatus of claim 37 wherein the driving means is a motor operatively connected to the gear assembly for rotating the plates about a central axis.

39. The apparatus of claim 36 wherein the receiving spaces are concave in shape.

40. The apparatus of claim 1 wherein the sensing device is an imaging device.

41. The apparatus of claim 40 wherein the imaging device is a stereo camera.

42. The apparatus of claim 40 wherein the imaging device is a two-dimensional laser scanner.

43. An apparatus for transferring objects comprising:

a grabber assembly having at least one grabber for holding objects to be transferred;

a carriage along which the grabber assembly travels;

a sensing device for determining the geometric positions of the objects to be transferred relative to the grabber assembly;

a positioning unit for positioning the grabber in each of four degrees of motion in response to the determined geometric positions; and

at least one power source for driving the grabber assembly along the carriage and for powering the positioning of the grabber;

wherein the positioning unit comprises

a first frame operatively connected to the grabber;

a second frame having at least two X-axis rails connected thereto lying on or parallel to an X-axis, wherein said first frame is mounted for movement on the one or more X-axis rails for positioning the grabber along the X-axis;

a third frame having first and second ends and at least two Y-axis rails connected thereto lying on or parallel to a Y-axis, wherein said second frame is mounted for movement on the one or more Y-axis rails for positioning the grabber along the Y-axis and wherein the third frame is mounted for pivotal motion about a pivotal axis for positioning the grabber at an angle θ

;

a fourth frame having at least two Z-axis rails connected thereto and lying on or parallel to a Z-axis;

one or more Z-axis adjusters mounted for travel on the one or more Z-axis rails for positioning the grabber along the Z-axis; and

,

two mounting members, one being pivotally connected to the first end of the third frame and the other being pivotally mounted to the second end of the third frame;

each of said two Z-axis adjusters being connected to a different mounting member; and

,

two cylinders, each being linked to a different Z-axis adjuster and each being operable at different rates and in different directions for selective non-uniform movement of one or both of the Z-axis adjusters along the Z-axis rails;

44. An apparatus for transferring objects comprising:

a grabber assembly having at least one grabber for holding objects to be transferred;

a carriage along which the grabber assembly travels;

a sensing device for determining the relative geometric positions of the objects to be transferred relative to the grabber assembly;

a positioning unit for positioning the grabber in one or more of four degrees of motion in response to the determined geometric positions; and

,

at least one power source for driving the grabber assembly along the carriage and for powering the positioning of the grabber;

wherein the positioning unit comprises;

an X-axis assembly for positioning the grabber along an X-axis;

a Y-axis assembly for positioning the grabber along a Y-axis;

a Z-axis assembly for positioning the grabber along a Z-axis; and

,

a pivotal assembly for positioning the grabber at an angle θ

relative to a selected frame of reference, the pivotal assembly comprising

a frame having first and second ends and being mounted for pivotal motion about a pivotal axis, the frame being operatively connected to the grabber such that movement of the frame about the pivotal axis is translated to the grabber;

at least two extension members for moving the frame about the pivotal axis, one member being connected to the first end of the frame and the other extension member being connected to the second end of the frame;

means for moving one or both of the extension members at one or both of a rate and in a direction that differs from the other of the at least two members.

45. An apparatus for transferring objects comprising:

a grabber assembly having at least one grabber for holding objects to be transferred;

a carriage along which the grabber assembly travels;

a sensing device for determining the relative geometric positions of the objects to be transferred relative to the grabber assembly;

a positioning unit for positioning the grabber in one or more of four degrees of motion in response to the determined geometric positions; and

,

at least one power source for driving the grabber assembly along the carriage and for powering the positioning of the grabber;

wherein the carriage comprises;

opposing frame sections spaced from each other, each frame section having a guide rail mounted thereon to define a path, wherein the path includes a first elevated surface, an inclined surface, and a second lower surface;

a drive motor; and

,

drive chains powered by the drive motor associated with each guide rail.

46. The apparatus of claim 45 wherein each frame section comprises an inner frame and an outer frame defining a space therebetween, and the carriage further comprises:

a drive rod spanning the space between opposing frame sections;

the drive motor operatively connected to the drive rod;

a plurality of chain sprockets mounted in the space between the inner and outer frame sections along the length of each path for engagement with the drive chains; and

,

a channel for housing connections to the power supply.

47. The apparatus of claim 45 wherein the grabber assembly comprises:

opposing travel arms, each having forward ends and rear ends;

roller members mounted on each travel arm and driven by the drive chain of the carrier for travel along the path thereof;

a grabber rail positioned proximate to the forward ends of the travel arms; and

,

a plurality of grabbers mounted on the grabber rail.

48. The apparatus of claim 47 wherein the grabbers have an open position and a closed position for grasping objects to be transferred, the grabbers being operatively connected to the power source for effecting the open or the closed positions.

49. The apparatus of claim 47 wherein the grabbers are arcuate in structure.

50. The apparatus of claim 47 wherein the positioning unit is mounted on the forward ends of the travel arms and the grabber rail is mounted on the positioning unit and is structured for motion relative to the travel arms.

51. An apparatus for transferring objects comprising:

a grabber assembly having at least one grabber for holding objects to be transferred;

a carriage along which the grabber assembly travels;

a sensing device for determining the relative geometric positions of the objects to be transferred relative to the grabber assembly;

a positioning unit for positioning the grabber in one or more of four degrees of motion in response to the determined geometric positions;

at least one power source for driving the grabber assembly along the carriage and for powering the positioning of the grabber;

a conveyor system for receiving and transferring objects, the conveyor system having at least two conveyor portions comprised of a forward conveyor portion positioned proximate the forward end of the apparatus and a side conveyor portion positioned on a side of the apparatus and a spacer device mounted proximate the side conveyor portion for selective movement onto or away from the side conveyor, the spacer device having a plurality of spaced tabs extending outwardly therefrom such that, when moved onto the side conveyor, the tabs define spaces for receiving individual objects to be transferred.

52. An apparatus for transferring objects comprising:

a grabber assembly having a plurality of grabbers;

a carriage along which the grabber assembly travels;

a sensing device for determining the relative geometric positions of the objects to be transferred relative to the grabber assembly;

a positioning unit for positioning the grabbers in one or more of four degrees of motion in response to the determined geometric positions;

at least one power source for driving the grabber assembly along the carriage and for powering the positioning of the grabbers;

a conveyor system for receiving and transferring objects, the conveyor system having at least two conveyor portions comprised of a forward conveyor portion positioned proximate the forward end of the apparatus and a side conveyor portion, the side conveyor being pivotally mounted at a junction between the forward and side conveyors to allow the side conveyor to be pivoted to a desired position relative to the forward conveyor; and

an indexer optionally mountable at the junction between the forward and side conveyors, the indexer configured for conveying objects around a corner when the side conveyor is in a non linear position relative to the forward conveyor.

53. The apparatus of claim 52 wherein the indexer is further configured for aligning the objects transferred from the side conveyor to the forward conveyor for engagement with the grabbers.

54. The apparatus of claim 52 wherein the indexer is comprised of:

a plate member defining a plurality of spaces configured for receiving objects to be transferred;

a gear assembly for advancing the receiving spaces;

means for driving the gear assembly.

55. The apparatus of claim 54 wherein the plate member includes upper and lower circular plates and the receiving spaces are radially spaced about the circumference of each plate.

56. The apparatus of claim 55 wherein the driving means is a motor operatively connected to the gear assembly for rotating the plates about a central axis.

57. The apparatus of claim 54 wherein the receiving spaces are concave in shape.

58. A system for transferring objects from one location to another comprising:

a vehicle having a power source;

a drive subsystem;

a sensing subsystem for determining the geometric orientation of the objects;

a grabber subsystem for grasping the objects, including a positioning assembly for aligning the grabber subsystem with the objects in response to the determined geometric positions;

a carriage subsystem for moving the grabber subsystem; and

,

a conveyor subsystem for conveying the objects.

59. An apparatus for transferring a linear row of objects, the apparatus comprising:

a grabber assembly having a plurality of linearly arranged grabbers for holding the objects to be transferred;

a carriage defining a path along which the grabber assembly travels;

a sensing device for determining the relative geometric positions of the objects to be transferred relative to the grabber assembly;

a positioning unit for positioning the grabber assembly in each of four degrees of motion in response to the determined geometric positions; and

,

at least one power source for driving the grabber assembly along the carriage and for powering the positioning of the grabber assembly.