System and/or method for refilling assembly systems
The system can include: a base structure, a set of support elements, and/or any other suitable components. The system can optionally include a foodstuff bin and a force sensor. However, the system can additionally or alternatively include any other suitable set of components. The system functions to facilitate refilling of ingredients within foodstuff bins and/or replacement of foodstuff bins. Additionally or alternatively, the system can function to facilitate repeatable positioning of foodstuff bins within a workspace of the robotic arm and/or a robotic assembly module. Additionally or alternatively, the system can function to facilitate rapid calibration, servicing, and/or cleaning of foodstuff assembly modules.
1 . A foodstuff assembly robot comprising:
a frame;
a platform mounted to the frame and defining a set of support regions comprising:
a first and second refill region proximal a first longitudinal end of the frame; and
a first and second pick region distal to the first longitudinal end of the frame, and longitudinally aligned with the first and second refill regions, respectively;
a first foodstuff bin manually slidable between the first refill region and the first pick region along a first linear path;
a second foodstuff bin manually slidable between the second refill region and the second pick region along a second linear path;
a first set of retention structures connected to the platform, wherein the first set of retention structures define the first linear path, wherein the first linear path directly links the first refill region to the first pick region, wherein the first set of retention structures are configured to at least partially laterally constrain the first foodstuff bin in the first refill region, the first pick region, and all liminal positions along the first path;
a second set of retention structures connected to the platform, wherein the second set of retention structures define the second linear path, wherein the second linear path directly links the second refill region to the second pick region, wherein the second set of retention structures are configured to at least partially laterally constrain the second foodstuff bin in the second refill region, the second pick region, and all liminal positions along the second path; and
a robot arm mounted to the frame above the platform and defining a workspace reachable by the robot arm, a vertical projection of the workspace overlapping the first and second pick regions and nonoverlapping with the first and second refill regions.
2 . A system comprising:
a robotic foodstuff assembly module comprising: a structural frame and a collaborative robot arm mounted to the structural frame, the robotic foodstuff assembly module defining a workspace reachable by the collaborative robot arm having a longitudinal axis, a lateral axis, and a vertical axis;
a base structure mounted to the frame below the robot arm relative to the vertical axis and configured to support a plurality of foodstuff bins; and
a set of retention elements coupled relative to the base structure and defining a pick region of the base structure and a refill region of the base structure, the set of retention elements comprising:
a set of lateral support elements each having a long axis substantially parallel to the lateral axis, the set of lateral support elements comprising a first lateral support element which separates the pick region from the refill region across a thickness of the first lateral support element; and
a set of longitudinal elements each having a long axis substantially parallel to the longitudinal axis, the set of longitudinal elements comprising pairs of longitudinal elements offset by a foodstuff bin width;
wherein the pick region is directly below the workspace, is below a base of the collaborative robot arm, and is configured to support a foodstuff bin of the plurality of foodstuff bins with an interior volume of a foodstuff bin intersecting the workspace, wherein the refill region is configured to support a foodstuff bin outside the workspace, wherein the set of retention elements are configured to self-align the foodstuff bin within the pick region or the refill region.
3 . The system of claim 2 , wherein the base structure comprises an integrated force sensor configured to independently support a foodstuff bin at the pick region.
4 . The system of claim 3 , wherein a subset of the set of retention elements are integrated into a body of the base structure, wherein the integrated force sensor is configured to support a foodstuff bin with a plurality of pins extending through the body, wherein the body is manually removable and unconstrained in an upwards direction relative to the vertical axis.
5 . The system of claim 2 , wherein the first lateral support element is configured to enable single-handed, sliding transitions of a foodstuff bin between the pick region and the refill region.
6 . The system of claim 2 , wherein the refill region is inclined relative to the pick region.
7 . The system of claim 6 , wherein a surface normal vector of a superior surface of the refill region defines a zenith angle between 2 and 10 degrees relative to the vertical axis.
8 . The system of claim 2 , wherein a vertical projection of each refill region does not intersect the workspace.
9 . The system of claim 2 , wherein the set of retention elements are configured to at least partially self-align a foodstuff bin under influence of gravity within the pick region or the refill region.
10 . The system of claim 2 , wherein the set of retention elements at least partially circumscribe a base of each foodstuff bin at the pick region.
11 . The system of claim 2 , wherein the foodstuff assembly module is configured to pick, with the collaborative robot arm, foodstuff ingredients from a first foodstuff bin of the plurality of foodstuff bins contemporaneously with an operator manually transitioning a second foodstuff bin of the plurality of foodstuff bins between the pick region and the refill region.
12 . The system of claim 2 , further comprising a second set of retention elements which is substantially symmetric with the set of retention elements about a midsagittal plane of the robotic foodstuff assembly module.
13 . The system of claim 2 , wherein the lateral and longitudinal elements align and retain foodstuff bins.
14 . The system of claim 2 , wherein a geometry of the pick region is substantially similar to a base geometry of each foodstuff bin of the plurality of foodstuff bins.
15 . The system of claim 2 , wherein the pick region is directly below a base of the collaborative robot arm.
16 . The system of claim 2 , wherein the set of retention elements are rigidly mounted relative to the base structure.