Dynamic storage and transfer system integrated with autonomous guided/roving vehicle

• US 9,190,304 B2
• Filed: 05/18/2012
• Issued: 11/17/2015
• Est. Priority Date: 05/19/2011
• Status: Active Grant

• Current Assignee: Brooks Automation Ltd. (United Kingdom) (Azenta, Inc.)
• Original Assignee: Brooks Automation Incorporated (Azenta, Inc.)
• Inventors: MacKnight, Robert B., Bonora, Anthony C.
• Primary Examiner(s): Rodriguez, Saul
• Assistant Examiner(s): HASSAN, EMERY S
• Application Number:
  US13/475,723
• Publication Number:
  US 20120321423A1
• Time in Patent Office: 1,278 Days
• Field of Search: 414/279, 700/288
• US Class Current: 1/1
• CPC Class Codes: B65G 2201/0297 Wafer cassette
• CPC Class Codes: H01L 21/67276 Production flow monitoring, e.g. for increasing throughput program-control systems per se G05B19/00, e.g. total factory control G05B19/418
• CPC Class Codes: H01L 21/67724 by means of a cart or a vehicule
• CPC Class Codes: H01L 21/67736 Loading to or unloading from a conveyor

Abstract

A workpiece container storage and handling system includes a base, a number of wheels connected to the base, and a container handling system connected to the base. The wheels provide for movement of the base. The container handling system is defined to hold at least two containers in a vertically overlying orientation relative to each other. The container handling system is defined to provide for controlled vertical travel of the at least two containers in unison relative to the base. Also, the container handling system is defined to provide for controlled and independent horizontal travel of each of the at least two containers relative to the base.

Claims

1. A workpiece container storage and handling system, comprising:

a base;

a number of wheels connected to the base to provide for movement of the base; and

a container handling system connected to the base, the container handling system including at least two separate container transfer mechanisms collectively defined to hold at least two containers in a vertically overlying orientation relative to each other, vertically adjacent ones of the at least two separate container transfer mechanisms separated by a fixed distance measured in a vertical direction, the container handling system including a vertical travel mechanism, each of the at least two separate container transfer mechanisms connected to the vertical travel mechanism such that movement of the vertical travel mechanism in a vertical direction causes corresponding movement of the at least two separate container transfer mechanisms in unison in the vertical direction so as to maintain the fixed distance separation between the vertically adjacent ones of the at least two separate container transfer mechanisms, each of the at least two separate container transfer mechanisms including a horizontal travel mechanism configured to provide for controlled and independent horizontal travel of a corresponding one of the at least two containers relative to the base.

2. The workpiece container storage and handling system as recited in claim 1, wherein each of the at least two container transfer mechanisms includes support structures defined to support a single container.

3. The workpiece container storage and handling system as recited in claim 2, wherein the support structures are defined to engage a bottom surface of the single container.

4. The workpiece container storage and handling system as recited in claim 2, wherein the support structure are defined to engage opposing side surfaces of the single container.

5. The workpiece container storage and handling system as recited in claim 2, wherein the support structures are defined to engage a handle fixed to the single container.

6. The workpiece container storage and handling system as recited in claim 5, wherein the handle extends above the single container.

7. The workpiece container storage and handling system as recited in claim 1, further comprising:

a vertical drive motor having mechanical linkage engaged therewith and connected to the vertical travel mechanism, the vertical drive motor and its mechanical linkage defined to provide controlled movement of the vertical travel mechanism in the vertical direction in response to control signals.

8. The workpiece container storage and handling system as recited in claim 7, wherein the vertical drive motor and its mechanical linkage are positioned within the base.

9. The workpiece container storage and handling system as recited in claim 2, wherein the horizontal travel mechanism of each of the at least two separate container transfer mechanisms includes a linear slider defined to move the support structures in a horizontal direction perpendicular to the vertical direction and relative to the vertical travel mechanism.

10. The workpiece container storage and handling system as recited in claim 9, wherein the horizontal travel mechanism of each of the at least two separate container transfer mechanisms includes a horizontal drive motor having mechanical linkage engaged therewith and connected to the linear slider, the horizontal drive motor and its mechanical linkage defined to provide controlled movement of the linear slider to which it is connected so as to provide controlled movement of the support structures in the horizontal direction in response to control signals.

11. The workpiece container storage and handling system as recited in claim 10, wherein each horizontal drive motor and its mechanical linkage is positioned on its respective one of the at least two separate container transfer mechanisms.

12. The workpiece container storage and handling system as recited in claim 11, wherein the horizontal drive motor and its mechanical linkage and the linear slider to which it is connected are collectively defined to provide horizontal movement of the support structures over a distance sufficient to completely move a container to be supported on the support structures beyond of a vertical plane coincident with an outermost side surface of the base.

13. The workpiece container storage and handling system as recited in claim 1, further comprising:

a base drive motor having mechanical linkage engaged therewith and connected to at least one of the number of wheels connected to the base, the base drive motor and its mechanical linkage defined to provide controlled axial rotation of the at least one of the number of wheels to which it is connected in response to control signals.

14. The workpiece container storage and handling system as recited in claim 13, further comprising:

a base steering motor having mechanical linkage engaged therewith and connected to at least one of the number of wheels connected to the base, the base steering motor and its mechanical linkage defined to provide controlled azimuthal rotation of the at least one of the number of wheels to which it is connected in response to control signals.

15. The workpiece container storage and handling system as recited in claim 1, further comprising:

a drive and steering platform defined independent from the base and physically connected to the base, the drive and steering platform defined to provide controlled movement of the base through its physical connection to the base in response to control signals, the drive and steering platform connectable to the base and disconnectable from the base.

16. The workpiece container storage and handling system as recited in claim 15, wherein the number of wheels connected to the base are defined to freely rotate in response to controlled movement of the base provided by the drive and steering platform.