Granted Patent
B2
US 12,195,274 · App. 17/478,402 · Granted Jan 14, 2025
Mobile carriers for use in systems and methods for processing objects including mobile matrix carrier systems
Inventors:
Thomas Wagner (Concord, MA); Kevin Ahearn (Fort Mill, SC); John Richard Amend, Jr. (Belmont, MA); Benjamin Cohen (Somerville, MA); Michael Dawson-Haggerty (Pittsburgh, PA); William Hartman Fort (Stratham, NH); Christopher Geyer (Arlington, MA); Jennifer Eileen King (Oakmont, PA); Thomas Koletschka (Cambridge, MA); Michael Cap Koval (Mountain View, CA); Kyle Maroney (North Attleboro, MA); Matthew T Mason (Pittsburgh, PA); William Chu-Hyon McMahan (Cambridge, MA); Gene Temple Price (Cambridge, MA); Joseph Romano (Arlington, MA); Daniel Smith (Canonsburg, PA); Siddhartha Srinivasa (Seattle, WA); Prasanna Velagapudi (Pittsburgh, PA); Thomas Allen (Reading, MA)
Assignee:
Berkshire Grey Operating Company, Inc.
B65G1/0471B65G1/0492B65G1/065B65G1/1375B65G67/02B07C5/361B07C5/38B07C2301/0091B25J9/106B25J9/162B25J9/1687B61B13/00B61D3/00B61D9/00B65G1/00B65G1/026B65G1/04B65G1/0478B65G1/0485B65G1/08B65G1/1371B65G1/1373B65G1/1378B65G9/002B65G9/008B65G35/00B65G37/00B65G41/02B65G47/48B65G47/902B65G47/904B65G47/96B65G65/005B65G65/23B65G2201/0258B65G2203/0216B65G2203/044B65G2811/0678B65G2814/0346G05B19/0428G05B19/41815G05B19/41895G05B2219/24001G05B2219/40078G05B2219/40252
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Abstract
An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a base structure of a carrier on which an object may be supported, and at least two wheels mounted to at least two motors to provide at least two wheel assemblies, the at least two wheel assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier.
Claims (39)
1. An automated carrier system for moving objects to be processed, said automated carrier system comprising:
a carrier body with a carrier width along a carrier width direction and a carrier length along a carrier length direction, said carrier body being configured to support a load; and
a plurality of wheel assemblies, each wheel assembly including a wheel coupled to a pivot assembly, each pivot assembly providing pivoting of an associated wheel between the carrier width direction and the carrier length direction, wherein the associated wheel is pivoted away from a center of the carrier width and the carrier length,
wherein the automated carrier system further includes a plurality of discontinuous track elements, each track element having a track element width and a track element length,
wherein both the carrier width and the carrier length are larger than the track element width and the track element length, and
wherein the wheels of the plurality of wheel assemblies travel outside of each track element.
2. The automated carrier system as claimed in claim 1 , wherein each of the plurality of wheel assemblies further includes at least one guide roller.
3. The automated carrier system as claimed in claim 2 , wherein each of the plurality of wheel assemblies further includes a pair of guide rollers, one on either side of the wheel.
4. The automated carrier system as claimed in claim 1 , wherein each of the plurality of wheel assemblies further includes a motor for driving the wheel, wherein the motor pivots with the associated wheel assembly.
5. The automated carrier system as claimed in claim 1 , wherein at least a portion of each wheel of each of the wheel assemblies extends beyond both the carrier width and the carrier length when pivoted between the carrier width direction and the carrier length direction.
6. The automated carrier system as claimed in claim 1 , wherein each wheel of each wheel assembly remains outside of the track element width and the track element length when pivoted while the carrier body is positioned over an associated track element.
7. The automated carrier system as claimed in claim 1 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier width direction, a distance between the wheels is larger than the track element width.
8. The automated carrier system as claimed in claim 1 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier length direction, a distance between the wheels is larger than the track element length.
9. An automated carrier system for moving objects to be processed, said automated carrier system comprising:
a carrier body with a carrier width along a carrier width direction and a carrier length along a carrier length direction, said carrier body being configured to support a load; and
a plurality of wheel assemblies, each wheel assembly including a wheel coupled to a pivot assembly, each pivot assembly providing pivoting of an associated wheel between the carrier width direction and the carrier length direction,
wherein the automated carrier system further includes a plurality of discontinuous track elements, each track element having a track element width and a track element length,
wherein both the carrier width and the carrier length are larger than the track element width and the track element length, and
wherein each wheel of each wheel assembly remains outside of the track element width and the track element length when pivoted while the carrier body is positioned over an associated track element.
10. The automated carrier system as claimed in claim 9 , wherein each of the plurality of wheel assemblies further includes at least one guide roller.
11. The automated carrier system as claimed in claim 10 , wherein each of the plurality of wheel assemblies further includes a pair of guide rollers, one on either side of the wheel.
12. The automated carrier system as claimed in claim 9 , wherein each of the plurality of wheel assemblies further includes a motor for driving the wheel, wherein the motor pivots with the associated wheel assembly.
13. The automated carrier system as claimed in claim 9 , wherein the associated wheel of each wheel assembly is pivoted away from a center of the associated carrier width and the associated carrier length.
14. The automated carrier system as claimed in claim 9 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier width direction, a distance between the wheels is larger than the track element width.
15. The automated carrier system as claimed in claim 9 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier length direction, a distance between the wheels is larger than the track element length.
16. The automated carrier system as claimed in claim 9 , wherein the wheels of the plurality of wheel assemblies travel outside of each track element.
17. A method of processing objects, said method comprising:
providing a carrier body with a carrier width along a carrier width direction and a carrier length along a carrier length direction, said carrier body being configured to support a load;
providing a plurality of wheel assemblies mounted to the carrier body, each wheel assembly including a wheel coupled to a pivot assembly, wherein the plurality of wheel assemblies move the carrier body about a plurality of discontinuous track elements, each track element having a track element width and a track element length; and
pivoting the plurality of wheel assemblies between the carrier width direction and the carrier length direction,
wherein both the carrier width and the carrier length are larger than the track element width and the track element length, and
wherein each wheel of each wheel assembly remains outside of the track element width and the track element length when pivoted while the carrier body is positioned over an associated track element.
18. The method as claimed in claim 17 , wherein each of the plurality of wheel assemblies further includes at least one guide roller.
19. The method as claimed in claim 18 , wherein each of the plurality of wheel assemblies further includes a pair of guide rollers, one on either side of the wheel.
20. The method as claimed in claim 17 , wherein each of the plurality of wheel assemblies further includes a motor for driving the wheel, wherein the motor pivots with the associated wheel assembly.
21. The method as claimed in claim 17 , wherein at least a portion of each wheel of each of the wheel assemblies extends beyond both the carrier width and the carrier length when pivoted between the carrier width direction and the carrier length direction.
22. The method as claimed in claim 17 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier width direction, a distance between the wheels is larger than the track element width.
23. The method as claimed in claim 17 , wherein when the wheels of adjacent wheel assemblies are both aligned in the carrier length direction, a distance between the wheels is larger than the track element length.
24. The method as claimed in claim 17 , wherein the wheels of the plurality of wheel assemblies travel outside of each track element.
Assignments (2)
MERGER AND CHANGE OF NAME
Recorded Feb 1, 2022
From: BERKSHIRE GREY, INC.; BERKSHIRE GREY OPERATING COMPANY, INC.
To: BERKSHIRE GREY OPERATING COMPANY, INC.
Reel/Frame 058947/0548 →
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Nov 18, 2021
From: WAGNER, THOMAS; AHEARN, KEVIN; AMEND, JOHN RICHARD, JR.; COHEN, BENJAMIN; DAWSON-HAGGERTY, MICHAEL; FORT, WILLIAM HARTMAN; GEYER, CHRISTOPHER; KING, JENNIFER EILEEN; KOLETSCHKA, THOMAS; KOVAL, MICHAEL CAP; MARONEY, KYLE; MASON, MATTHEW T.; MCMAHAN, WILLIAM CHU-HYON; PRICE, GENE TEMPLE; ROMANO, JOSEPH; SMITH, DANIEL; SRINIVASA, SIDDHARTHA; VELAGAPUDI, PRASANNA; ALLEN, THOMAS
To: BERKSHIRE GREY, INC.
Reel/Frame 058150/0091 →
Continuity (5)
Provisional Application
62681409
· Jun 6, 2018
Provisional Application
62641640
· Mar 12, 2018
Provisional Application
62578030
· Oct 27, 2017
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