Systems and methods for processing objects including a linear gantry system
A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins being in communication with a retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and is adapted for movement of the programmable motion device along a first direction, and a plurality of destination bins that are provided in at least one linear arrangement along the first direction of movement of the programmable motion device.
1. A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising:
a retrieval conveyance system that includes an input conveyance system and an output conveyance system;
a plurality of storage bins providing storage of a plurality of objects, said plurality of storage bins being in communication with the input conveyance system;
a programmable motion device in communication with the input conveyance system for receiving one or more selected storage bins from the plurality of storage bins, said programmable motion device including an end effector for grasping and moving a selected object out of each selected storage bin, and being adapted for movement of the programmable motion device along a first direction;
a plurality of destination bins being provided in at least one linear arrangement along the first direction of movement of the programmable motion device, wherein each destination bin is adjacent to the output conveyance system and wherein the programmable motion device is adapted to place the selected object from the selected storage bin into a selected destination bin among the plurality of destination bins; and
a destination bin removal system that travels along the at least one linear arrangement of destination bins to a completed destination bin and urges the completed destination bin onto the output conveyance system for conveying the completed destination bin to a further processing location.
2. The storage, retrieval and processing system as claimed in claim 1 , wherein the plurality of storage bins is provided in at least one linear arrangement adjacent the input conveyance system, and wherein the storage, retrieval and processing system further includes a storage bin displacement system that travels along the linear arrangement of the plurality of storage bins to a selected storage bin and urges the selected storage bin onto the input conveyance system.
3. The storage, retrieval and processing system as claimed in claim 1 , wherein the programmable motion device is suspended from a gantry, and is movable along the first direction while suspended from the gantry.
4. The storage, retrieval and processing system as claimed in claim 1 , wherein the programmable motion device includes an articulated arm.
5. The storage, retrieval and processing system as claimed in claim 1 , wherein the further processing location is a shipment transport location.
6. The storage, retrieval and processing system as claimed in claim 1 , wherein the destination bins are provided in at least two linear arrangements on either side of the direction of movement of the programmable motion device.
7. The storage, retrieval and processing system of claim 1 , wherein the destination bin removal system comprises a rotatable arm configured to travel along a track adjacent to the at least one linear arrangement of destination bins to the completed destination bin and rotate into contact with the completed destination bin to push the completed destination bin onto the output conveyance system.
8. The storage, retrieval and processing system of claim 1 , wherein the destination bin removal system comprises a urging member threadably coupled a support beam, the support beam being configured to travel along a path adjacent to the at least one linear arrangement of destination bins to the completed destination bin, the urging member being configured to move along the support beam to push the completed destination bin onto the output conveyance system in response to a rotation of the support beam.
9. The storage, retrieval and processing system as claimed in claim 1 , wherein the articulated arm is positioned above a portion of the retrieval conveyance system.
10. The storage, retrieval and processing system as claimed in claim 9 , wherein the programmable motion device reciprocally moves between two rows of the plurality of destination bins.
11. A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising:
a plurality of storage bins providing storage of a plurality of objects, said plurality of storage bins provided in at least one linear arrangement adjacent to an input conveyance system;
a storage bin removal system that travels along the at least one linear arrangement of storage bins to a selected storage bin and urges the selected storage bin onto the input conveyance system;
a programmable motion device in communication with the input conveyance system for receiving one or more selected storage bins from the plurality of storage bins, said programmable motion device including an end effector for grasping and moving a selected object out of each selected storage bin, and being adapted for movement of the programmable motion device along a first direction; and
a plurality of destination bins being provided in at least one linear arrangement along the first direction of movement of the programmable motion device, wherein the programmable motion device is adapted to place the selected object from the selected storage bin into a selected destination bin among the plurality of destination bins.
12. The storage, retrieval and processing system as claimed in claim 11 , wherein the programmable motion device is suspended from a gantry, and is movable along the first direction while suspended from the gantry.
13. The storage, retrieval and processing system as claimed in claim 11 , wherein the programmable motion device includes an articulated arm.
14. The storage, retrieval and processing system as claimed in claim 11 , wherein the destination bins are provided in at least two linear arrangements on either side of the direction of movement of the programmable motion device.
15. The storage, retrieval and processing system of claim 11 , wherein the storage bin removal system comprises a rotatable arm configured to travel along a track adjacent to the at least one linear arrangement of storage bins to the selected storage bin and rotate into contact with the selected storage bin to push the completed destination bin onto the input conveyance system.
16. The storage, retrieval and processing system of claim 11 , wherein the storage bin removal system comprises a urging member threadably coupled a support beam, the support beam being configured to travel along a path adjacent to the at least one linear arrangement of storage bins to the selected storage bin, the urging member being configured to move along the support beam to push the selected storage bin onto the input conveyance system in response to a rotation of the support beam.
17. The storage, retrieval and processing system as claimed in claim 11 , wherein the articulated arm is positioned above a portion of the input conveyance system.
18. The storage, retrieval and processing system as claimed in claim 17 , wherein the programmable motion device reciprocally moves between two rows of the destination bins.
19. The storage, retrieval and processing system as claimed in claim 18 , wherein the storage, retrieval and processing system further includes a destination bin removal system for urging a completed destination bin onto an output conveyance system.
20. The storage, retrieval and processing system as claimed in claim 18 , wherein each destination bin is provided adjacent to an output conveyance system for receiving completed destination containers and for providing the completed destination containers to a further processing location.
21. The storage, retrieval and processing system as claimed in claim 20 , wherein the further processing location is a shipment transport location.
22. A method of providing storage, retrieval and processing of objects, comprising:
providing a plurality of storage bins for storing a plurality of objects, said plurality of storage bins provided in at least one linear arrangement adjacent to an input conveyance system;
directing a storage bin removal system to travel along the linear arrangement of storage bins to a selected storage bin and urge the selected storage bin onto the input conveyance system;
moving the selected storage bin on the input conveyance system from the plurality of storage bins to a processing area in communication with a programmable motion device;
grasping and moving one or more selected objects out of the selected storage bin;
providing the selected objects to one or more destination bins among a plurality of destination bins that are provided in at least one linear arrangement adjacent to an output conveyance system; and
directing a destination bin removal system to travel along the linear arrangement of destination bins to a completed destination bin and urge the completed destination bin onto the output conveyance system.
23. The method as claimed in claim 22 , wherein the destination bins are provided in at least two linear arrangements on either side of a direction of movement of the programmable motion device.