U.S. patent application number 13/675433 was filed with the patent office on 2014-05-15 for self-lifting robotic device with load handling mechanism.
The applicant listed for this patent is Sergey N. RAZUMOV. Invention is credited to Sergey N. RAZUMOV.
Application Number | 20140133943 13/675433 |
Document ID | / |
Family ID | 49759453 |
Filed Date | 2014-05-15 |
United States Patent
Application |
20140133943 |
Kind Code |
A1 |
RAZUMOV; Sergey N. |
May 15, 2014 |
SELF-LIFTING ROBOTIC DEVICE WITH LOAD HANDLING MECHANISM
Abstract
A robotic device movable in a vertical direction between rails
arranged in multiple rows at various levels with respect to ground.
The robotic device has a frame, wheels coupled to the frame for
moving the frame along the rails, and a movable platform provided
on the frame. The platform is configured for moving the frame in a
vertical direction between first rails and second rails arranged
above the first rails, and for placing onto the robotic device
first and second loads arranged at different levels with respect to
the ground.
Inventors: |
RAZUMOV; Sergey N.; (Moscow,
RU) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
RAZUMOV; Sergey N. |
Moscow |
|
RU |
|
|
Family ID: |
49759453 |
Appl. No.: |
13/675433 |
Filed: |
November 13, 2012 |
Current U.S.
Class: |
414/281 ;
414/807 |
Current CPC
Class: |
B65G 1/0492 20130101;
B66F 9/07 20130101 |
Class at
Publication: |
414/281 ;
414/807 |
International
Class: |
B65G 1/04 20060101
B65G001/04 |
Claims
1. (canceled)
2. A robotic device for carrying loads and movable in a vertical
direction between rails arranged in multiple rows at various levels
with respect to ground, the robotic device comprising: a frame,
wheels coupled to the frame for moving the frame along the rails,
and a movable platform provided on the frame, the platform being
configured for moving with respect to the frame to move the frame
in a vertical direction between first rails and second rails
arranged above the first rails, and for placing onto the robotic
device a first load arranged at a first level with respect to the
ground, and a second load arranged at a second level with respect
to the ground, wherein the platform is configured for carrying
support handles movable by the platform in a vertical direction
with respect to the frame and configured for raising the frame with
respect to the second rails when the support handles push against
the second rails.
3. The device of claim 2, further comprising a wheels turning
mechanism for turning the wheels with respect to a direction of the
second rails when the frame is raised with respect to the second
rails.
4. The device of claim 3, wherein the platform is further
configured for carrying a grasping element movable by the platform
in a horizontal direction with respect to the frame to take a load
and place the load onto the platform.
5. The device of claim 4, wherein the platform is configured for
enabling the grasping element to take the first load when the
wheels are placed on the first rails, and for enabling the grasping
element to take the second load when the wheels are placed on the
second rails.
6. The device of claim 5, wherein the platform is configured to
carry the first load while the platform is raised with respect to
the frame to place the wheels on the second rails.
7. The device of claim 6, further comprising a holding element for
holding the first load when the grasping element takes the second
load and place the second load onto the platform.
8. The device of claim 7, further comprising a side wall, wherein
the holding element is configured to extend from the sidewall.
9. The device of claim 8, wherein the first load is arranged at a
first side from the first rail, and the platform is configured for
enabling the grasping element to take a third load arranged at a
second side from the first rail when the wheels are placed on the
first rails.
10. The device of claim 9, wherein the platform is configured to
enable the grasping element to take the first load when the
platform is raised at a first vertical level with respect to the
frame, and to enable the gripping element to take the third load
when the platform is raised at a second vertical level with respect
to the frame.
11. The device of claim 10, wherein the platform is configured to
carry the first load when the platform is raised to take the third
load.
12. A method of operating a robotic device movable in a vertical
direction from first rails to second rails arranged at a different
vertical level than the first rails, and having a frame, wheels
coupled to the frame for moving the frame along the first and
second rails, and a movable platform provided on the frame, the
method comprising the steps of: placing a first load onto the
platform, moving the platform with the first load in a vertical
direction with respect to the frame so as to provide engagement
between the platform and the second rails, moving the frame in the
vertical direction by the platform, and placing a second load onto
the platform, wherein the first and second loads are arranged at
different levels with respect to the ground before being placed
onto the platform.
13. The method of claim 12, further comprising the step of turning
the wheels with respect to the direction of the second rails when
the frame is moved in the vertical direction with respect to the
second rails.
14. The method of claim 13, further comprising the step of
operating a grasping element arranged on the platform to take the
first load and place the first load onto the platform.
15. The method of claim 14, further comprising the step of
operating a holding element to keep the first load by the holding
element when the platform moves in the vertical direction with
respect to the holding element, before the second load is placed
onto the platform.
16. The method of claim 12, wherein the platform is moved in the
vertical direction at a distance greater than a distance between
the first rails and the second rails.
Description
TECHNICAL FIELD
[0001] This disclosure relates to robotics, and more particularly,
to a self-lifting robotic device capable of handling loads while
moving in a vertical direction without assistance of external
lifts.
BACKGROUND ART
[0002] Storage or warehouse systems may include multi-level storage
racks for storing loads, such as boxes, containers or pallets, at
each of the multiple levels. Access to the stored loads may be
provided by a shuttle system including multiple remotely controlled
robotic devices or shuttles arranged on each level. The shuttles
move back and forth in a single horizontal direction within one
storage level to access stored goods arranged on the corresponding
level and carry them.
[0003] A lifting mechanism, such as a forklift, is provided to move
loads in a vertical direction from the ground to the respective
level of the storage rack or from the respective level to the
ground. The forklift lifts newly arriving goods to the respective
level and loads them to the shuttles that deliver the goods to
required storage cells at that level. Similarly, shuttles retrieve
goods from the storage cells and deliver them to the forklift
raised to the respective level. The forklift unloads the goods from
the shuttles and moves them in a vertical direction down to the
ground.
[0004] However, the number of lifts in any efficient storage system
employing multiple shuttles is substantially less than the number
of shuttles. Therefore, "bottlenecks" are created near the lifts,
reducing the throughput of the storage system.
[0005] Therefore, there is a need for a new "self-lifting"
technique that would enable a robotic device, such as a shuttle, to
move in a vertical direction without assistance of an external
lift.
[0006] Moreover, it would be desirable to provide a self-lifting
robotic device capable of carrying loads, while it moves in a
vertical direction. Such self-lifting devices would substantially
increase the throughput of the storage system because the loads can
be carried from one end point of the storage system to another,
without intermediate points where robotic devices are loaded and
unloaded.
[0007] Also, to increase the throughput of the storage system, it
would be desirable to provide a self-lifting robotic device with a
single structural element allowing the robotic device to perform
vertical movement and loading at the same time, so as to place
loads onto the robotic device and carry them while the robotic
device moves in a vertical direction.
SUMMARY OF THE DISCLOSURE
[0008] In accordance with one aspect, the present disclosure offers
a robotic device movable in a vertical direction between rails
arranged in multiple rows at various levels with respect to ground.
The robotic device has a frame, wheels coupled to the frame for
moving the frame along the rails, and a movable platform provided
on the frame. The platform is configured for moving the frame in a
vertical direction between first rails and second rails arranged
above the first rails, and for placing onto the robotic device a
first load arranged at a first level with respect to the ground,
and a second load arranged at a second level with respect to the
ground. The first level differs from the second level.
[0009] For example, the platform may carry support handles movable
by the platform in a vertical direction with respect to the frame
and configured for raising the frame with respect to the second
rails when the support handles pushes against the second rails.
[0010] The robotic device may have a wheels turning mechanism for
turning the wheels with respect to a direction of the second rails
when the frame is raised with respect to the second rails.
[0011] The platform may also carry a grasping element movable by
the platform in a horizontal direction with respect to the frame to
take a load and place the load onto the platform.
[0012] The platform may enable the grasping element to take the
first load when the wheels are placed on the first rails, and to
take the second load when the wheels are placed on the second
rails.
[0013] The platform may carry the first load while the platform is
raised with respect to the frame to place the wheels on the second
rails.
[0014] A holding element may be provided for holding the first load
when the grasping element takes the second load and place the
second load onto the platform.
[0015] The holding element may be extend from a sidewall of the
robotic device.
[0016] For example, the first load may be arranged at a first side
from the first rail, and the platform may enable enabling the
grasping element to take a third load arranged at a second side
from the first rail when the wheels are placed on the first
rails.
[0017] The platform may enable the grasping element to take the
first load when the platform is raised at a first vertical level
with respect to the frame, and to enable the gripping element to
take the third load when the platform is raised at a second
vertical level with respect to the frame.
[0018] The platform may carry the first load when the platform is
raised to take the third load.
[0019] In accordance with another aspect of the disclosure, a
method is proposed for operating a robotic device movable in a
vertical direction from first rails to second rails arranged at a
different vertical level than the first rails, and having a frame,
wheels coupled to the frame for moving the frame along the first
and second rails, and a movable platform provided on the frame. The
method involves placing a first load onto the platform. The
platform with the first load is moved in a vertical direction with
respect to the frame so as to provide engagement between the
platform and the second rails. The platform may be moved at a
distance greater than a distance between the first rails and the
second rails. The frame is moved in the vertical direction by the
platform. Thereafter, a second load is placed onto the platform,
wherein the first and second loads are stored at different levels
with respect to the ground before being placed onto the
platform.
[0020] The wheels may be turned with respect to the direction of
the second rails when the frame is moved in the vertical direction
with respect to the second rails.
[0021] A grasping element arranged on the platform may be operated
to take the first load and place the first load onto the
platform.
[0022] A holding element attached on a sidewall of the robotic
device may be operated to keep the first load by the holding
element when the platform moves in the vertical direction with
respect to the holding element, before the second load is placed
onto the platform.
[0023] Additional advantages and aspects of the disclosure will
become readily apparent to those skilled in the art from the
following detailed description, wherein embodiments of the present
disclosure are shown and described, simply by way of illustration
of the best mode contemplated for practicing the present
disclosure. As will be described, the disclosure is capable of
other and different embodiments, and its several details are
susceptible of modification in various obvious respects, all
without departing from the spirit of the disclosure. Accordingly,
the drawings and description are to be regarded as illustrative in
nature, and not as limitative.
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The following detailed description of the embodiments of the
present disclosure can best be understood when read in conjunction
with the following drawings, in which the features are not
necessarily drawn to scale but rather are drawn as to best
illustrate the pertinent features, wherein:
[0025] FIG. 1 shows an exemplary embodiment of a robotic device of
the present disclosure.
[0026] FIG. 2 is a simplified exemplary diagram showing elements
for providing operation of the robotic device in FIG. 1.
[0027] FIGS. 3-6 illustrate exemplary loading operations performed
by the robotic device in a storage facility.
[0028] FIGS. 7-10 illustrate exemplary operations performed by the
robotic device when it carries loads and moves in a vertical
direction.
[0029] FIGS. 11-13 illustrate exemplary operations performed by the
robotic device to place the loads onto holding elements.
[0030] FIGS. 14 and 15 illustrate exemplary operations performed by
the robotic device to load additional boxes while other boxes are
held by the holding elements.
[0031] FIG. 16 illustrates the robotic device carrying loads
arranged in multiple rows.
DETAILED DISCLOSURE OF THE EMBODIMENTS
[0032] The present disclosure will be made using exemplary
embodiments described in the present disclosure. It will become
apparent, however, that the concept of the disclosure is applicable
to any robotic device movable in a vertical direction without an
external lifting device.
[0033] FIG. 1 shows an exemplary embodiment of a robotic device 10
of the present disclosure. The robotic device 10 may operate in a
storage system arranged in a warehouse or retail facility. The
storage system may have rails arranged in multiple rows
corresponding to multiple levels of the storage system. Each row
may include horizontal rails enabling the robotic device to move in
horizontal directions. For example, the robotic device 10 may be
configured for moving along a pair of horizontal rails. Also, as
discussed below, the robotic device 10 has a self-lifting mechanism
enabling the robotic device 10 to move between rails in a vertical
direction.
[0034] In accordance with an exemplary embodiment, the robotic
device 10 have a frame 12 with four wheels 14 attached to the frame
12. The frame 12 may be formed as a braced structure for supporting
elements required to operate the robotic device 10. Each wheel 14
may be attached to the frame 12 so as to rotate in a vertical plane
about an axis extending from the center of the wheel 18 in order to
move the robotic device 10 along the rails.
[0035] Four turning elements 16, such as vertical pivots, may be
used for attaching the respective wheels 14 to the frame so as to
turn each wheel 16 at a required angle. In particular, the wheel 14
may be turned in a horizontal plane about the vertical axis of the
respective turning element 16. For example, each wheel 14 may be
turned in a horizontal plane about 90 degrees with respect to the
direction of a rail. Also, the turning elements 16 may be
configured for turning the wheels 14 in a plane different from the
horizontal plane. Each turning element 16 is arranged with respect
to the frame 12 so as to make the width of the robotic device 10
with the wheels 14, smaller than a distance between adjacent rails
in a direction perpendicular to the direction of the rails, when
the wheels 14 are turned into the direction perpendicular to the
direction of the rails.
[0036] As discussed below, the wheels 14 may be turned in a
horizontal plane to support moving the robotic device 10 in the
vertical direction, and to support turning the robotic device 10 to
a horizontal direction perpendicular to a current horizontal
direction of the robotic device 10. Although in an exemplary
embodiment, the robotic device 10 has four wheels 14, one skilled
in the art would realize that the present concept is applicable to
any number of wheels that can be provided to support movement of
the robotic device 10.
[0037] The frame 12 may hold a movable platform 18 that can be used
for carrying loads, such as boxes, pallets and containers,
delivered by the robotic device 10 in a storage system in a
warehouse or retail environment. For example, the platform 18 may
be a rectangular metal plate configured to accommodate boxes,
pallets and containers with goods. Side walls 20 may be provided on
the frame 16 to support loading and carrying goods.
[0038] As discussed below, the platform 18 may be moved in a
vertical direction to support vertical movements of the robotic
device 10. Platform lifting mechanisms 22 may be arranged on the
respective side walls 20 for moving the platform 18 up or down in a
vertical direction. For example, each platform lifting mechanism 22
may be implemented using a belt drive.
[0039] Deployable support handles 24 may be attached to the
platform 18. FIG. 1 shows the support handles 24 held in an
undeployed state in slots formed on the platform 18. The support
handles 24 may be L-shaped pins extended from the platform 18 to
support moving the robotic device 10 in a vertical direction.
[0040] Each side wall 20 may support a pair of holding elements 26
deployable for holding additional loads when the robotic device 10
moves. Ability of the robotic device to carry additional loads
substantially increases the throughput and efficiency of the
storage system. The holding elements 26 may be flat shelves or pins
extendable in a horizontal direction from the side wall 20. FIG. 1
shows flat shelves 26 arranged in a non-deployed state in slots
formed in the side wall 20. As shown below, the flat shelves 26 are
extended from the side walls 20 during loading operations.
[0041] The platform 18 supports a grasping element 28 configured
for handling loads, for example, for taking loads from a storage
rack and placing them onto the robotic device 10. The grasping
element 28 may be extended in a horizontal direction from any side
of the robotic device 10 so as to take a load arranged at the
respective side and place it onto the robotic device 10, or to
unload goods from the robotic device 10 to a storage rack arranged
at the respective side. For example, the grasping element 28 may be
implemented as a metal plate, spade or fork.
[0042] FIG. 2 is a simplified diagram that illustrates elements for
supporting various operations performed by the robotic device 10.
The operations of the robotic device 10 are controlled by a
controller 102 that may include a data processor responsive to
external commands for processing the commands and producing various
control signals. The controller may have a radio transceiver for
providing bidirectional data communications with external objects
via a radio network, such as a WiFi network. A controller area
network (CAN) bus may connect the controller 102 with various
elements of the robotic device 10 to supply control signals to the
elements of the robotic device 10 and receive responses.
[0043] In particular, the controller 102 may control a wheels
rotation drive 104, a wheels turning drive 106, a platform lifting
mechanisms drive 108, a support handles drive 110, holding elements
drives 112, and a grasping element drive 114. The wheels rotation
drive 104, wheels turning drive 106 and platform lifting mechanisms
drive 108 may be arranged on the frame 12, whereas the support
handles drive 110 and the grasping element drive 114 may be
arranged on the movable platform 18. The holding elements drives
112 may be provided on the side walls 20.
[0044] The wheels rotation drive 104 is provided for driving the
wheels 14 so as to rotate them in a vertical plane in order to move
the robotic device 10 along the rails in a horizontal direction.
The wheels turning drive 106 drives the turning elements 16, such
as pivots, so as to turn the respective wheels 14 in a horizontal
plane. The wheels 14 may be turned 90 degrees about the vertical
axes of the pivots 16. As one skilled in the art would realize, the
wheels drives 104 and 106 may be implemented using any of well
known mechanisms for rotating and turning wheels.
[0045] The platform lifting mechanisms drive 108 is provided for
driving the platform lifting mechanisms 22 that move the platform
18 up and down in a vertical direction. As one skilled in the art
would realize, the platform lifting mechanisms 22 and drive 108 may
be implemented using any well known mechanisms for moving a plate
up and down. For example, telescopic mechanisms can be
utilized.
[0046] The support handles drive 110 is used for extending the
support handles 24 from the slots on the platform 18 when the
support handles 28 are required for supporting movements of the
robotic device 10, and for hiding the support handles 24 back into
the slots on the platform 22 when the support handles 24 are no
longer required. The drive 110 may be implemented using any well
known mechanism for extending a pin.
[0047] The holding elements drive 112 is provided for extending the
holding elements 26, such as shelves, from the respective side wall
20 when the holding elements are required for holding loads. The
holding elements drive 112 hides the holding elements 26 into the
side wall 20 when they are not required. The holding elements drive
112 that causes the holding elements 26 to perform a linear motion
while extending from the sidewall 20, may be implemented using well
known linear motion mechanisms such as a ball screw transmission
mechanism, belt or chain drives. Alternatively, the holding
elements 26 may be turned with respect to the sidewall 20. In this
case, turning mechanisms, such as reduction gear or link mechanism,
may be used as the holding elements drive 112.
[0048] The grasping element drive 114 is provided for extending the
grasping element 28 from a desired side of the robotic device 10 so
as to enable the grasping element 28 to operate with a load. For
example, the grasping element drive 114 may be implemented using a
telescopic linear actuator.
[0049] FIGS. 3-6 illustrate exemplary loading operations performed
by the robotic device 10 in a storage facility. In particular, FIG.
3 shows the robotic device 10 standing on a pair of rails 200
extending in a horizontal direction. Also, FIG. 3 shows a pair of
horizontal rails 202 arranged in a storage facility above the rails
200.
[0050] In an exemplary embodiment of the present disclosure, the
storage facility may have multiple storage racks 204 for storing
boxes 206 arranged in multiple horizontal rows and multiple
vertical columns. Pairs of horizontal rails 200 and 202 may be
provided at different vertical levels of the storage facility so as
to provide the robotic device 10 with access to boxes 206 arranged
at the corresponding levels of the storage facility from both sides
of the pairs of rails 200 and 202. For example, FIG. 3 shows two
boxes 206 arranged in each vertical column between the rails 200
and 202.
[0051] Also, FIG. 3 shows a box 208 representing one of the boxes
206 being loaded by the robotic device 10. In particular, in order
to load the box 208, the controller 102 controls the wheels
rotation drive 104 to rotate the wheels 14 along the rails 200 so
as to position the robotic device 10 with respect to the box
208.
[0052] Then, as shown in FIG. 4, the controller 102 controls the
platform lifting mechanism drive 108 to cause the platform lifting
mechanism 22 to move the platform 18 in a vertical direction so as
to lift the platform 18 with respect to the frame 12 at a level
required to grasp the box 208. Thereafter, the controller 102
controls the grasping element drive 114 to extend the grasping
element 28 from the platform 18 in a horizontal direction so as to
position the grasping element 28 under the box 208. For example, as
shown in FIG. 4, the box 208 may have a recess at the bottom
provided to enable the grasping element 28 to penetrate under the
box 208.
[0053] The platform 18 is lifted again to allow the grasping
element 28 to take the box 208. Thereafter, the grasping element 28
is controlled to return into its original non-extended position. As
a result, the grasping element 28 move the box 208 and place it on
the platform 18.
[0054] FIG. 5 illustrates that the robotic device 10 can hold the
box 208 and load another box 210, for example, stored on the
storage rack 204 arranged from opposite side of the pair of rails
200 with respect to the storage position of the box 208. The boxes
208 and 210 may be arranged at different levels with respect to the
ground. For example, the storage position of the box 210 may be
above the storage position of the box 208. To load the box 210, the
controller 102 controls the controls the wheels rotation drive 104
to rotate the wheels 14 along the rails 200 so as to position the
robotic device 10 with respect to the box 210. Then, the platform
28 is lifted to position it at a vertical level corresponding to
the storage position of the box 210. Thereafter, the grasping
element 28 is extended in a horizontal direction so as to position
the grasping element 28 under the box 210.
[0055] As shown in FIG. 6, the platform 18 is lifted to enable the
grasping element 28 to take the box 210. Then, the grasping element
28 is controlled to move the box 210 and place it on the platform
28 near the box 208. As discussed below, the robotic device 10 is
able to hold both boxes 208 and 210, and move in vertical and
horizontal directions.
[0056] FIGS. 7-10 illustrate exemplary operations performed by the
robotic device 10 when it carries the boxes 208 and 210 and moves
in a vertical direction from the rails 200 to the rails 202. In
particular, as shown in FIG. 7, to enable the robotic device 10 to
move in a vertical direction, the controller 102 controls the
platform lifting mechanisms drive 108 to cause the platform lifting
mechanisms 22 on both side walls 20 to raise the platform 18 with
respect to the frame 12 in a vertical direction above the level of
the rails 202. The platform 18 is raised together with the boxes
208 and 210 held on the platform 18.
[0057] After the platform 18 is raised above the level of the rails
202, or simultaneously with raising the platform 18, the support
handles drive 110 is controlled to deploy the support handles 24.
The deployment of the support handles 24 may be provided by
extending each of them from the respective slot on the platform 18
to a position directly above the respective rail 202.
[0058] For example, each support handle 24 may be implemented as an
L-shaped support pin 24 shown in FIGS. 7-10. During the deployment,
the support pin 24 may be extended and placed directly above the
respective rail 202. Thereafter, the platform 18 is lowered to a
lower position so as to engage each support pin 24 with the
respective rail 202 and raise the frame 12 with respect to the
rails 200 by pushing the support pins 24 against the rails 202. The
frame 12 is raised to a level sufficient to disengage the wheels 14
from the rails 200.
[0059] As shown in FIG. 8, when the wheels 14 become disengaged
from the rails 200, the wheels turning drive 106 is controlled so
as to turn each of the wheels 14 in a horizontal plane using the
respective turning elements 16. For example, each wheel 14 may be
turned about the vertical axis of the turning element 16 by an
angle equal to approximately 90 degrees. The position of the
turning element 16 with respect to the frame 12 is selected so as
to provide the maximum distance between the edges of the turned
wheels 14 in a direction perpendicular to the direction of the
rails 200, smaller than the distance between the rails in the
horizontal direction.
[0060] As shown in FIG. 9, the support handles 24 fix the platform
18 on the rail 202 so as to enable the platform lifting mechanisms
22 to lift the frame 12 so as to reduce the distance between the
platform 18 and the frame 12 in a vertical direction. The frame 12
may be lifted to a level above the rails 202 so as to place the
platform 18 carrying the boxes on the frame 12. As the distance
between the edges of the turned wheels 14 is less than the distance
between the rails 202 in a direction perpendicular to the direction
of the rails 202, the frame 12 with the wheels 14 can be
transferred in the space between a pair of the horizontal rails
202.
[0061] As shown in FIG. 10, when the frame 12 is raised to a
desired position above the rails 202, the wheel turning drive 106
is controlled to turn the wheels 14 using the respective turning
elements 16 so as to return each wheel 14 to an initial position
along the rails. Thereafter, the frame 12 is lowered so as to place
the wheels 14 on the rails 202, and the support handles 24 may be
removed from the rails 202 and placed into the respective slots on
the platform 18.
[0062] Hence, the robotic device 10 standing on lower rails 200 and
holding the loads can lift itself in a vertical direction to a
level of higher rails 202 in the next row of rails so as to
continue movement along the rails 202. As one skilled in the art
would realize, a similar technique can be used to move the robotic
device 10 with the load down in a vertical direction from higher
rails 202 to lower rails 200 in the next row of the rails. No
external lifting device is required for moving the robotic device
up or down in a vertical direction.
[0063] FIGS. 11-13 illustrate exemplary operations performed by the
robotic device 10 to place the loads onto the holding elements 26.
In particular, as shown in FIG. 11, the platform 18 with the boxes
208 and 210 may be lifted by the platform lifting mechanism 22 to a
level above the level at which the holding elements 26 are
positioned in the side walls 20. Thereafter, as shown in FIG. 12,
the holding elements 26 are extended from the side walls 20 by the
holding element drive 112. The size of the holding elements 26 is
selected so as to keep the boxes 208 and 210 positioned on the
platform 18 when the platform 18 moves down.
[0064] As shown in FIG. 13, the platform 18 may be moved down to
the level of the frame 12. When the platform 18 moves below the
holding elements 26, the boxes 208 and 210 are kept by the holding
elements 26. When the boxes 208 and 210 are removed from the
platform 18, the grasping element 28 is released and can be used
for loading additional boxes.
[0065] FIGS. 14 and 15 illustrate exemplary operations performed by
the robotic device 10 to load additional boxes while the boxes 208
and 210 are held by the holding elements 26. For example, as shown
in FIG. 14, to load an additional box 212, the platform 18 may be
raised to a level selected so as to enable the grasping element 28
to take the box 212. Thereafter, the grasping element drive 114
extends the grasping element 28 in the direction of the box 212 to
place the grasping element 28 under the box 212. The platform 18 is
raised to allow the grasping element 28 to take the box 212 from
the rack 204. As shown in FIG. 15, the grasping element 28 is moved
back to the platform 18 so as to place the box 212 onto the
platform 18.
[0066] As a result, the robotic device 10 is able to move in
horizontal and vertical directions with boxes 208 and 210 held by
the holding elements 26, and additional boxes carried by the
platform 18. Although FIGS. 14 and 15 illustrate loading only one
additional box 212 onto the platform, one skilled in the art would
realize that any number of boxes can be placed onto the platform
while other boxes are held by the holding elements 26.
[0067] Moreover, as illustrated in FIG. 16, the side walls 20 may
contain multiple rows of holding elements 26 at various horizontal
levels. The robotic device 10 in FIG. 16 is capable of carrying
multiple rows of boxes held by the multiple rows of the holding
elements and by the platform 18. Although FIG. 16 shows two boxes
in each of three rows of boxes, one skilled in the art would
realize that the robotic device 10 of the present disclosure is
able to move in horizontal and vertical directions while carrying
any desired number of boxes in any desired number of rows.
[0068] The foregoing description illustrates and describes aspects
of the present invention. Additionally, the disclosure shows and
describes only preferred embodiments, but as aforementioned, it is
to be understood that the invention is capable of use in various
other combinations, modifications, and environments and is capable
of changes or modifications within the scope of the inventive
concept as expressed herein, commensurate with the above teachings,
and/or the skill or knowledge of the relevant art.
[0069] The embodiments described hereinabove are further intended
to explain best modes known of practicing the invention and to
enable others skilled in the art to utilize the invention in such,
or other, embodiments and with the various modifications required
by the particular applications or uses of the invention.
Accordingly, the description is not intended to limit the invention
to the form disclosed herein.
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