System and method for automated opening of trailer doors
This invention provides a station for opening trailer swing doors that uses a sled with a manipulator arm and associated end effector/tool to perform the unlocking of the trailer lock rod, swinging open of the door, holding the door in the opened position and applying an resilient/flexible/springy retention clip thereto. The sled moves into and out of a confronting position relative to the trailer rear/doors to allow that trailer to drive into or out of the station at the beginning or end of the task. Closing of doors can also be performed at the station in the reverse order of steps. The door retention clip can be adapted with features that allow it to perform the various opening and closing tasks herein. The station can include tracks for guiding the sled between a non-interfering and interfering position with respect to the path of travel of the truck/trailer.
1 . An apparatus for opening a swing door of a trailer comprising:
a station constructed and arranged to access and engage a rear of the trailer when the trailer is located with respect to the station;
a sled that moves transverse to a direction of trailer movement into and out of a position adjacent to the rear of the trailer so as to access and engage the rear of the trailer; and
at least one robotic manipulator, mounted on the sled, including an end effector having a tool that engages, lifts and rotates a trailer lock rod handle to unlock the trailer lock rod, and the end effector having a tool that engages and swings the trailer door to an opened position.
2 . The apparatus as set forth in claim 1 , wherein the sled includes a camera assembly to locate features on the trailer door.
3 . The apparatus as set forth in claim 2 , wherein a camera is interconnected with a machine vison system that scans an interior of the trailer for cargo integrity.
4 . The apparatus as set forth in claim 1 , wherein the robotic manipulator is adapted to receive a plurality of tools on the end effector from storage on the sled.
5 . The apparatus as set forth in claim 1 , wherein the robotic manipulator is adapted to apply to, and remove from, the hinge line of the door, a door retention clip.
6 . The apparatus as set forth in claim 5 , wherein the door retention clip includes two opposing legs and an inside leg is thinner than an outside leg so as to avoid interference with cargo operations when applied to the hinge line.
7 . The apparatus as set forth in claim 6 , wherein the door retention clip includes (a) an interface for selectively engaging the robot manipulator, and (b) fiducials, located on a base between the opposing legs adapted to assist in identification and orientation of the door retention clip relative to the hinge line.
8 . The apparatus as set forth in claim 7 , wherein the door retention clip includes a tool to assist in lifting and rotating the trailer lock rod handle.
9 . The apparatus as set forth in claim 8 , wherein the tools on the door retention clip are located on one or both of opposing legs and include a magnet for engaging a hasp, and a hook for engaging the trailer lock rod handle.
10 . The apparatus as set forth in claim 5 , wherein the door retention clip is located on a rack of door retention clips provided on the sled.
11 . The apparatus as set forth in claim 10 , wherein the door retention clip includes a visible fiducial that is recognized by a camera assembly on the robotic manipulator.
12 . The apparatus as set forth in claim 1 , wherein the station includes a track to guide motion of the sled, and the sled is powered to move along the track.
13 . The apparatus as set forth in claim 1 , further comprising a moving post located on each of opposing sides of the trailer, the posts being arranged to move into and out of engagement with the trailer door in the open position so as to attach a door retention clip thereto.
14 . The apparatus as set forth in claim 13 , wherein the robotic manipulator is constructed and arranged to move each of the posts.
15 . The apparatus as set forth in claim 1 , wherein the robotic manipulator is a multi-axis robotic arm.
16 . The apparatus as set forth in claim 1 , further comprising a sensor assembly that determines a location of the trailer with respect to the station and signals at least one of (a) a driver of a manual truck and (b) an AV truck to stop.
17 . The apparatus as set forth in claim 1 , wherein the sled includes a plurality of robotic manipulators each constructed and arranged to perform a same task or to perform discrete tasks.
18 . The apparatus as set forth in claim 14 , wherein the robotic manipulator is a multi-axis robotic arm.
19 . The apparatus as set forth in claim 18 , wherein the robotic manipulator is adapted to apply to, and remove from, the hinge line of the door, a door retention clip.
20 . The apparatus as set forth in claim 19 , wherein the door retention clip includes two opposing legs and an inside leg is thinner than an outside leg so as to avoid interference with cargo operations when applied to the hinge line.
21 . The apparatus as set forth in claim 20 , wherein the door retention clip includes (a) an interface for selectively engaging the robot manipulator, and (b) fiducials, located on a base between the opposing legs adapted to assist in identification and orientation of the door retention clip relative to the hinge line.
22 . A method for opening a trailer swing door comprising the steps of:
sensing, with a sensor, the trailer as it passes into a station;
moving a sled transverse to a direction of trailer movement into and out of a confronting position with the rear of the trailer; and
operating at least one robotic manipulator, mounted on the sled, to unlock the trailer lock rod, and swing the trailer door to an opened position.
23 . The method as set forth in claim 22 , further comprising, operating the at least one robotic manipulator, mounted on the sled, swing the trailer door to a closed position and lock the trailer lock rod.
24 . The method as set forth in claim 23 , wherein the robotic manipulator is adapted to apply to, and remove from, the hinge line of the door, a door retention clip.
25 . The method as set forth in claim 24 , wherein the door retention clip includes tools to assist in lifting and rotating the trailer lock rod.
26 . The method as set forth in claim 25 , wherein the door retention clip includes two opposing legs and an inside leg is thinner than an outside leg so as to avoid interference with cargo operations when applied to the hinge line.
27 . The method as set forth in claim 26 , wherein the door retention clip includes (a) an interface for selectively engaging the robot manipulator, and (b) fiducials, located on a base between the opposing legs adapted to assist in identification and orientation of the door retention clip relative to the hinge line.
28 . The method as set forth in claim 25 , wherein the tools on the door retention clip are located on one or both of opposing legs and include a magnet for engaging a hasp and a hook for engaging a lock rod handle.
29 . The method as set forth in claim 25 , further comprising, picking and placing the door retention clip relative to a rack of door retention clips provided on the sled.
30 . The method as set forth in claim 22 , further comprising, determining, with the sensor, a location of the trailer with respect to the station and signaling at least one of (a) a driver of a manual truck and (b) an AV truck to stop.