Automatic case loader and method for use of same

• US 7,967,543 B2
• Filed: 05/23/2008
• Issued: 06/28/2011
• Est. Priority Date: 05/23/2007
• Status: Active Grant

• Current Assignee: Daifuku Intralogistics America Corporation
• Original Assignee: Wynright Corporation (Daifuku Company Limited)
• Inventors: Fisher, Andrew, Criswell, Tim, Aurora, Deepak
• Primary Examiner(s): Rodríguez; Saúl J
• Assistant Examiner(s): BERRY JR, WILLIE WENDELL
• Application Number:
  US12/126,768
• Publication Number:
  US 20090110525A1
• Time in Patent Office: 1,131 Days
• Field of Search: 414/373, 414/390, 414/341, 414/344, 414/507, 414/532, 414/539, 414/24.5, 414/25, 414/789.9, 414/790.2
• US Class Current: 414/373
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B65G 47/902 provided with drive systems incorporating rotary and rectilinear movements
• CPC Class Codes: B65G 47/905 Control arrangements
• CPC Class Codes: B65G 67/08 using endless conveyors

Abstract

A system and method for automated trailer loading that utilizes an automatic case loader for loading product in a trailer is disclosed. A mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement sensor, and a control subassembly. Under the operation of the control subassembly, product advances through a powered transportation path and is stacked as product columns which are presented to an industrial robot which places the product columns within the trailer. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly, which provides for forward and reverse movement as well as traverse movement between so that product may be loaded within multiple trailers without interruption.

Claims

1. An automatic case loader for loading product in a trailer, the automatic case loader comprising:

a mobile base structure having first and second ends;

a drive subassembly coupled to the mobile base, the drive subassembly including a plurality of wheels for steering and driving the mobile base;

a conveyance subassembly disposed on the mobile base, the conveyance subassembly including a powered transportation path operable for transporting product from the first end to a stacking elevator located proximate to the second end, the stacking elevator stacking the product to create a product column;

an industrial robot disposed at the second end of the mobile base, the industrial robot providing selective articulated movement of an end effector between the stacking elevator and a reachable space such that the industrial robot is operable to place the product column in the reachable space, the end effector releasably engaging the stacking elevator to releasably manipulate the product column;

a distance measurement sensor disposed at the second end, the distance measurement sensor for determining presence of objects within a detection space, wherein the detection space and the reachable space at least partially overlap; and

a control subassembly mounted to the mobile base structure, the control subassembly being in communication with the drive subassembly, the industrial robot, and the distance measurement sensor, the control subassembly coordinating the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the distance measurement sensor detecting objects within the detection space, dimensions of the trailer provided to the control subassembly, and dimensions of the product provided to the control subassembly.

2. The automatic case loader as recited in claim 1, wherein the plurality of wheels further comprises a pair of front drive wheels disposed proximate to the second end, the pair of front drive wheels being powered by respective AC motors with double reduction gearboxes.

3. The automatic case loader as recited in claim 2, wherein the plurality of wheels further comprises side lift wheels adapted to provide transverse drive to the mobile base, the side lift wheels, responsive to hydraulic actuation, for deploying from a retractable position to an extended position which lifts the pair of front drive wheels.

4. The automatic case loader as recited in claim 1, wherein the plurality of wheels further comprises a rear drive wheel disposed proximate to the first end, the rear drive wheel being powered by an AC motor with a reduction gearbox and mounted to a vertical axis to provide steering capability.

5. The automatic case loader as recited in claim 1, wherein the plurality of wheels further comprises side lift wheels adapted to provide transverse drive to the mobile base, the side lift wheels, responsive to hydraulic actuation, for deploying from a retractable position to an extended position.

6. The automatic case loader as recited in claim 1, wherein the conveyance subassembly further comprises a conveyor having a telescoping conveyor interface for coupling the automatic case loader to a telescoping conveyor unit.

7. The automatic case loader as recited in claim 1, wherein the conveyance subassembly further comprises a powered roller conveyor disposed in conveying communication with a stacking elevator, the powered roller conveyor and the stacking elevator cooperating to receive product and create the product column.

8. The automatic case loader as recited in claim 1, wherein the conveyance subassembly includes a stacking elevator comprising:

a frame coupled to the mobile base;

an elevator conveyor coupled to the frame, the elevator conveyor including horizontal guide rails for transporting product to a launch point distal to the mobile base;

a floor located proximate to the mobile base, the floor adapted for receiving product;

a receiving tubular intersecting the launch point and the floor, the receiving tubular including vertical guide rails defining three sides, the vertical guide rails guiding product from the launch point to a resting location more proximate to the floor; and

a gate forming a fourth side of the receiving tubular, the gate being actuatable between a closed position for receiving product within the receiving tubular and an open position for receiving the end effector.

9. The automatic case loader as recited in claim 8, wherein the end effector includes a gripper comprising:

a frame secured to the industrial robot;

a column shelf located at a base of the frame; and

lateral opposing paddle assemblies respectively linked to sides of the frame, the lateral opposing paddle assemblies adapted to, in cooperation with the column shelf, releasably grip a product column.

10. The automatic case loader as recited in claim 1, wherein the end effector includes a gripper comprising:

a frame secured to the industrial robot;

a column shelf located at a base of the frame; and

lateral opposing paddle assemblies respectively linked to sides of the frame, the lateral opposing paddle assemblies adapted to, in cooperation with the column shelf, releasably grip a product column.

11. The automatic case loader as recited in claim 1, wherein the industrial robot comprises seven segments joined by six joints to furnish selective articulated movement having six degrees of freedom.

12. The automatic case loader as recited in claim 1, wherein the distance measurement sensor comprises a device selected from the group consisting of laser range finding apparatuses, ultrasonic measurement apparatuses, inclinometers, and combinations thereof.

13. An automatic case loader for loading product in a trailer, the automatic case loader comprising:

a mobile base structure having first and second ends;

a drive subassembly coupled to the mobile base, the drive subassembly including a plurality of wheels for steering and driving the mobile base;

a frame coupled to the mobile base;

an elevator conveyor coupled to the frame, the elevator conveyor including horizontal guide rails for transporting product to a launch point distal to the mobile base;

a floor located proximate to the mobile base, the floor adapted for receiving product;

a receiving tubular intersecting the launch point and the floor, the receiving tubular including vertical guide rails defining three sides, the vertical guide rails guiding product from the launch point to a resting location more proximate to the floor;

a gate forming a fourth side of the receiving tubular, the gate being actuatable between a closed position for receiving product within the receiving tubular and an open position for receiving the end effector;

means for conveying product from the first end to the launch point;

an industrial robot disposed at the second end of the mobile base, the industrial robot providing selective articulated movement of an end effector through a reachable space such that the industrial robot is operable manipulate a product column formed within the receiving tubular within the reachable space;

means for determining presence of objects within a detection space proximate to the second end of the mobile base, the detection space and the reachable space at least partially overlap; and

a control subassembly mounted to the mobile base structure, the control subassembly being in communication with the drive subassembly, the receiving tubular, the industrial robot, and the means for determining presence, the control subassembly coordinating the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the means for determining presence detecting objects within the detection space, dimensions of the trailer provided to the control subassembly, and dimensions of the product provided to the control subassembly.

14. The automatic case loader as recited in claim 13, wherein the plurality of wheels further comprises a pair of front drive wheels disposed proximate to the second end, the pair of front drive wheels being powered by respective AC motors with double reduction gearboxes.

15. The automatic case loader as recited in claim 14, wherein the plurality of wheels further comprises side lift wheels adapted to provide transverse drive to the mobile base, the side lift wheels, responsive to hydraulic actuation, for deploying from a retractable position to an extended position which lifts the pair of front drive wheels.

16. The automatic case loader as recited in claim 13, wherein the plurality of wheels further comprises a rear drive wheel disposed proximate to the first end, the rear drive wheel being powered by an AC motors with reduction gearbox and mounted to a vertical axis to provide steering capability.

17. A method for stacking product within a trailer parked at a loading bay, the method comprising:

positioning an automatic case loader including a mobile base structure having first and second ends under the power of a drive subassembly proximate to the loading bay;

connecting a conveyance subassembly disposed on the mobile base to a telescoping conveyor unit having a supply of product associated therewith;

driving the automatic case loader into the trailer;

detecting the location of the automatic case loader within the trailer with a distance measurement sensor disposed on the mobile base structure;

stopping, in response to distance measurement data from the distance measurement sensor, the automatic case loader proximate to the front wall of the trailer;

presenting a stream of product to the conveyance subassembly, the conveyance subassembly forming a stream of product columns therefrom;

presenting a stream of product columns to an industrial robot disposed on the mobile base structure, the industrial robot providing selective articulated movement through a reachable space such that the industrial robot is operable to place the product columns within the trailer;

sequentially loading the product within the trailer with the industrial robot according to a stacking routine designed to optimized the use of available space within the trailer;

interrupting the loading of product in response to detection by the distance measurement sensor presence of product within the reachable space;

reversing and repositioning the automatic case loader to refresh the reachable space; and

resuming the sequential loading of the product.

18. The method as recited in claim 17, wherein sequentially loading the product within the trailer further comprises utilizing a stacking routine which places the product columns in sequentially vertically stacked horizontal rows.

19. The method as recited in claim 17, wherein sequentially loading the product columns within the trailer further comprises utilizing a stacking routine optimized for size of an end effector of the industrial robot, dimensions of the trailer, and dimensions of the product.

20. A method for stacking product within first and second trailers parked at a respective first and second loading bays, the method comprising:

positioning an automatic case loader including a mobile base structure having first and second ends under the power of a drive subassembly proximate to the first loading bay;

connecting a conveyance subassembly disposed on the mobile base to a telescoping conveyor unit having a supply of product associated therewith;

driving the automatic case loader into the first trailer;

measuring position and angle of the automatic case loader with respect to sidewalls and interior width of the first trailer with a distance measurement sensor disposed on the mobile base structure;

measuring position of the automatic case loader with respect to a near wall within the first trailer with the distance measurement sensor, the near wall being the closer to the automatic case loader of the front wall of the first trailer and edge formed by product positioned within the first trailer;

measuring position of the automatic case loader with respect to a floor of the first trailer with the distance measurement sensor;

stopping, in response to distance measurement data from the distance measurement sensor, the automatic case loader proximate to the front wall of the first trailer;

presenting a stream of product to an industrial robot disposed on the mobile base structure, the industrial robot providing selective articulated movement through a reachable space such that the industrial robot is operable to place the product within the first trailer;

sequentially loading the product within the first trailer with the industrial robot according to a stacking routine designed to optimized the use of available space within the trailer;

interrupting the loading of product in response to detection by the distance measurement sensor presence of product within the reachable space;

reversing and repositioning the automatic case loader to refresh the reachable space;

resuming the sequential loading of the product until the first trailer is at least partially full of product;

interrupting the loading of product in response to detection by the distance measurement sensor presence of product within the reachable space;

reversing and repositioning the automatic case loader proximate to the first loading bay;

transversely repositioning the automatic case loader proximate to the second loading bay;

driving the automatic case loader into the second trailer; and

resuming the sequential loading of the product until the second trailer is at least partially full of product.

21. The method as recited in claim 20, wherein sequentially loading the product within the trailer further comprises utilizing, by the industrial robot, the measurements of the distance measurement sensor to place product.