A bin manipulator system and method of using bin manipulator system

Abstract

A bin manipulator system and a method of using the bin manipulator system are provided. A bin manipulator system for use in an automated storage and retrieval system, the bin manipulator system comprising: a first location for one or more bins; a second location, wherein the second location comprises guiding means for guiding the box into and / or out of the container; and a bin manipulator, the bin manipulator comprising: a movable support movable from a first position above a first location to a second position above a second location; and a paddle board assembly having at least a first pair of paddle boards and arranged to move the at least first pair of paddle boards relative to the movable support in a first horizontal (x) direction and in a vertical (z) direction, where the bin manipulator system is arranged such that the bin at the first location is accessible by the bin manipulator and the bin at the second location is accessible by the bin manipulator. And the bin manipulator system is controllable to engage with the bin, move the bin from the first location to a second location, and insert the bin at the second location into a container at the second location; and / or the box in the container at the second location is accessible by the box manipulator, and the box manipulator is controllable to move the box out of the container and place the box at the first location. The method is to move a bin from a first location and place the bin in a container at a second location, and / or to remove a bin from a container at a second location and place the bin in the first location.

Description

Technical Field

[0001] The present disclosure relates to a case handler system for placing cases into or removing cases from a container. The case handler system can be used in an automated storage and retrieval system (ASRS). More specifically, the case handler system can be used to automate inbound warehousing operations, to store and sort inventory cases, and for other warehouse operations. Background Art

[0002] EP 1 037 828 B1 (Autostore) describes a system in which stacks of containers are arranged in a frame structure. A robotic load handling device can be moved around the stack in a controlled manner on a rail system on the uppermost surface of the stack.

[0003] UK patent application number GB2520104A (Ocado Innovation Limited) describes a load handling apparatus in which each robotic load handler covers only one grid space, thereby enabling a high density of load handlers – and therefore a high throughput for a given system size.

[0004] In other arrangements, the robotic load handler may have a cantilever arrangement, with the weight of the robot's body balancing the weight of the container to be lifted.

[0005] In the known robotic picking systems described above, robotic load handling devices are controlled to move around on top of the stack on a track system forming a grid. A given load handling device lifts a storage bin (container) from the stack. The lifted (storage) container (ST) contains the stock items required to fulfill a customer order. The container (ST) is brought to a picking station, where the required stock items can be manually removed from the storage bin (ST) and placed in a delivery container (DT), which forms part of the customer order and is manually filled for dispatch at the appropriate time. At the picking station, items can also be picked by industrial robots suitable for this type of work, such as those described in UK patent application No. GB2524383B (Ocado Innovation Limited).

[0006] WO2014 / 203126 A1 (Ocado Innovation Limited) describes a system for order processing, and more specifically, a method for accessing storage containers and delivery containers within an order processing system. In this system, efficiency gains can be achieved by storing one or more delivery containers within a storage container, and storing this combined set of containers along with storage containers containing items used to fulfill customer orders within a storage and retrieval grid, rack, or other organized arrangement.

[0007] In the known robotic picking systems described above, various aspects of the storage and retrieval system have been automated. However, today, warehouses still utilize employees to perform certain tasks that are difficult to automate. Putaway operations are particularly challenging to automate due to the wide variety of products and the different types of packaging in which they arrive.

[0008] Reusable and / or foldable boxes or cartons are a particular challenge in automation, where the boxes or cartons are stored in containers. When entering storage, the boxes must be placed in containers in order to be imported into the ASRS. Typically, reusable and / or foldable cardboard boxes or cartons can be made from sheets of flat cardboard. The cardboard is folded into a rectangular tube and secured along the junction. Each end of the tube is distributed along the folded edges to form a flap on each side of the box. Subsequently, the flap is folded toward the center of the tube to form the top and bottom of the box. For the bottom of the box, the flap is usually arranged to intersect and can be temporarily fastened by fan-folding, or more permanently fastened by additional tape, glue, staples or any other tool. For the top of the box, the flap may or may not intersect, and the box may be closed or kept open by simple folding, fan-folding, or the top may be fastened more permanently similarly to the bottom. Alternatively, the box or cartons can be made of relatively thin, foldable plastic or other types of suitable materials. To reduce waste, it is desirable that a single box be reused 5 to 10 times, or even more.

[0009] There are several issues associated with handling this type of box or crate. Such crates are fragile and therefore easily damaged or deformed. First, the crate may be damaged before it arrives. Second, the crate may be damaged by the robotic manipulator. Third, the crate may lack structural integrity. Fourth, the crate may be presented open, closed, or partially open, resulting in inconsistencies. Fifth, the crate may be deformed before it arrives. Sixth, the crate may be deformed by the robotic manipulator. Additionally, it should be understood that a closed crate without additional fastening tools will be structurally less stable. Additionally, the crate may be full, partially full, or empty. A full crate may have different handling characteristics than a partially full or empty crate. It should be understood that a full crate may be completely full, with no additional items / SKUs that can be placed in the crate, whereas a crate may have a volumetric capacity that is not full.

[0010] The present invention is designed under such background.

[0011] It should be understood that while the devices, apparatuses, systems, and methods described herein are described in the context of examples using grocery systems as the background technology, automated storage and retrieval systems (ASRS) or semi-automated storage and retrieval systems are not limited to systems specifically for grocery. For example, the technology can be applied to transportation, baggage handling, vehicle parking, indoor or hydroponic greenhouses and farming, modular construction, self-storage facilities, freight handling, transportation dispatch yards, manufacturing facilities, pallet handling, package sorting, airport logistics (ULD), and integrated logistics, to name just a few possible applications. It should be understood that different types of storage and retrieval systems may have different technical requirements, but the principles are similar. Summary of the Invention

[0012] Aspects of the invention are set out in the accompanying claims.

[0013] In a first aspect, there is provided a case handler system for use in an automated storage and retrieval system, the case handler system comprising: a first location for one or more boxes; a second location, wherein the second location includes guiding means for guiding the bins into and / or out of the container; and A box controller, comprising: a movable support movable from a first position above the first location to a second position above the second location, and a paddle assembly having at least a first pair of paddles and configured to move at least the first pair of paddles relative to the movable support in a first horizontal (x) direction and in a vertical (z) direction, wherein the bin manipulator system is configured such that: The case at the first location is accessible by a case handler, and the case handler system can be controlled to engage the case, move the case from the first location to a second location, and insert the case into a receptacle at the second location at the second location; and / or The boxes in the container at the second location are accessible by the box handler, and the box handler can be controlled to move the boxes out of the container and place the boxes at the first location.

[0014] The case handling system is suitable for handling any type of folded boxes or cartons, and in particular, the case handling system is suitable for handling cardboard, plastic, and other types of materials. The case handling system can interact with other systems, such as an ASRS similar to the ASRS types described above, and in particular can be used as a "peripheral" or secondary subsystem for, but not limited to, putaway operations.

[0015] During inbound storage, a case handling system can be used to introduce or induct cases into the ASRS system for storage in containers or totes. The cases or boxes to be inducted are located near the manipulator system. The cases can be full, partially full, or open. As described above, the case can be fully open with the flap pointing generally outward or upward; the case can be partially open with the flap at least partially covering the top of the case; the case can be closed with the flap arranged in a fan-shaped fold, or with the flap secured with glue or tape.

[0016] The case handler system has an area below the case handler for receiving cases (first location) and a second area (second location) for placing cases into containers.

[0017] The bin manipulator has a movable support. The movable support may be an arm, a six-axis robot, a track, a rail, a gantry, a floor-mounted support, or any suitable means for linear movement between a first location and a position above a second location.

[0018] A paddle assembly is connected to a movable support. The paddle assembly is configured to engage a target box to move the box from a first location to a second location. Each paddle in the paddle assembly is configured to move in the x-direction and / or y-direction, as well as vertically in the z-direction. The box may be only slightly smaller than the container, making it difficult to insert into the container. In some instances, the box may be more compact in one dimension relative to the second dimension. Accurate and / or precise positioning of the container and / or box may be required to enable insertion or placement of the target box into the container. Therefore, a guide tool is provided at the second location.

[0019] The guide tool may be used to precisely position the container, and / or the guide tool may be used to direct the box as it moves toward the container.

[0020] It will be appreciated that where a case manipulator is used to remove the case from the container, different guiding means may be required.

[0021] The guidance means may be a mechanical guidance means and / or the guidance means may take the form of a control system having visual and / or sensor input and / or control feedback.

[0022] The chosen guidance tool can offer several advantages.

[0023] It will be appreciated that the case manipulator may be controlled to engage one or more flaps of the case to fold the one or more flaps, and / or wherein the case manipulator may be controlled to grip opposing sides of the case to lift the case.

[0024] The paddles are controlled to manipulate or engage the box's flap, and / or, when the box is closed, to grip the box to lift and reposition it. The paddles operate in pairs (one or more pairs) on opposite sides of the box. The movement of the pairs of paddles can be mirror-symmetrical or asymmetrical to accommodate the box's layout, specifically, the asymmetrical arrangement of the box's flap. The first pair of paddles can operate independently of the second pair, and the first and second pairs can operate in parallel (i.e., simultaneously) or sequentially.

[0025] When the case is in the first position, the distal end of the paddle (ie, distal from the support) is inserted substantially centrally between the flaps.

[0026] The first type of flap can then be controlled to move along a substantially inverted "?" question mark-shaped path. It will be appreciated that this movement can be fluid and / or continuous, or it can be a series of vertical, horizontal x-direction, or horizontal y-direction movements. In this manner, the paddle can be moved to fully open the flap and fold it outward and downward, such that the flap's final position is substantially parallel to the sides of the box, thereby opening the box and folding its upper edge.

[0027] The paddle is then moved to be located at the folded edge of the box, ie the now upper edge of the box.

[0028] Once the box is open and the upper edge is folded, with the paddles positioned at the upper edge, the paddles are moved inward toward the center of the box to slightly compress the box. This clamps or grips the box so that it can be lifted. The box can then be raised or lifted, and the movable support can move the paddle assembly—and therefore the box—from the first location to above the second location.

[0029] Finally, the box can be inserted into the container and the paddles released from the box. Alternatively, in the case of closed storage, the paddles can be moved to rest at the upper edge of the box and moved inward toward the center of the box to slightly compress the box and clamp or grip it so that it can be lifted (without opening and folding the flap). The box can then be raised or lifted, and the movable support can move the paddle assembly—and therefore the box—from the first location to above the second location.

[0030] The paddles are positioned to interact with the box substantially at the top of the box's body and substantially in the middle of the sides. It will be appreciated that the flap could become damaged during repeated use of the box. Furthermore, to maintain the box's structural integrity, it is preferable to avoid interacting with corners, where the box is more likely to be crushed and / or deformed when subjected to pressure. Therefore, the paddles are directed to areas of the box that are least likely to be damaged, and to areas (or areas) of the box that are least likely to be damaged by interaction with the box's manipulators, allowing the box to be reused. For other examples, it may be preferable to have the paddles interact with corners to prevent the sides of the box from bending during manipulation.

[0031] The first location may include a first conveyor, and the first conveyor may present the case to the case handler.

[0032] Cases can be presented to the pick-up location (first location) via a conveyor. This allows for a continuous flow of cases to be presented to the case manipulator system, ensuring the manipulator system operates efficiently.

[0033] The first conveyor may include an indexing tool. The indexing tool may be used on the first conveyor to ensure that the boxes are spaced sufficiently apart to provide time and space for the flap of each box to fully open and fold down parallel to the sides of the box.

[0034] Optionally, the vision and control system can be positioned to view the boxes upstream of the box handler so that the boxes can be inspected before being presented to the box handler. Boxes that fail inspection can be diverted. For example, a box can be diverted if it is too damaged to be successfully moved from a first location to a second location by the box handler.

[0035] Optionally, a case opening device can be positioned upstream of the case manipulator to manipulate the case, allowing the sealed case to be opened by the case manipulator. For example, if the case is sealed with tape, a knife or blade device can be used to cut the tape to ensure free movement of the case flap. Any other suitable tool can be used to open the case, depending on how the case is typically closed.

[0036] Optionally, a pushing tool may be provided at or before the first location to ensure that the target box reaches the desired position at the first location. For example, the pushing tool may include a guide rail along the conveyor, or the pushing tool may include a centralizing mechanism or tool and opposing fixed stop bars to push the box to a central position on the conveyor, such that the box is in the desired position within the first location. In some arrangements, the box may be clamped between the pushing tool and the stop bar while other operations are being performed. For example, the box may be clamped at the first location while the lid of the box is opened.

[0037] The second location may comprise a second conveyor, and the second conveyor may present the containers beneath the guiding means.Alternatively, the guiding means may be located within each container.

[0038] A second conveyor may be used at the second location to ensure a continuous flow of containers are available to the case handler system for receiving cases and to ensure the handler system operates efficiently.

[0039] The second conveyor may work in conjunction with the first conveyor to deliver containers at the same rate as the first conveyor delivers boxes.It will be appreciated that the second conveyor may not require an indexing device as there is no specific requirement to leave space between containers.

[0040] Alternatively, a second or third conveyor may be used to move the combined container and case from the case handler system and to move the combined container and case to a storage system or sorting system. Alternatively, the second or third conveyor may be used to deliver the combined container and case from the storage system or sorting system for the case handler system to remove the case from the container.

[0041] The paddle assembly may include a second pair of paddles and may be configured to move the second pair of paddles in a second horizontal (y) direction and in a (z) vertical direction. The first pair of paddles and the second pair of paddles may operate independently. Each paddle may operate independently.

[0042] Typically, since the box has a flap on each side, it may be necessary to ensure that the flap can be folded and retained on all sides of the box. Therefore, a first pair of paddles or paddles in a first horizontal (x) direction and a second pair of paddles or paddles in a second horizontal (y) direction may be provided. Alternatively, one of the first or second pairs of paddles may be replaced with a single paddle.

[0043] Because the x- and y-side requirements of a target box may differ, the paddles can be configured to operate in conjunction, but also in pairs or individually. For example, in a first orientation, given the relative sizes of the box and container, it may be possible to insert the box into the container while the paddles are still gripping it. In a second orientation, however, the box and container may be too close together, preventing insertion with the paddles. In some embodiments, the box may be slightly larger than the container, requiring compression or squeezing of the box in one direction to fit within the container.

[0044] It should be understood that the size of the paddle used to engage each side of the box can be designed to be proportional to the intended box. In some embodiments, the paddle can be relatively wide to engage a large portion of the box. In other embodiments, more than one paddle, working together or individually, can be provided to engage each side, or the paddle can be segmented.

[0045] In an alternative arrangement, the x-side operations and the y-side operations may be separated and performed at subsequent locations on the conveyor. Thus, the case handler system may include a first case handler and a second case handler. The second case handler may be arranged downstream of the first case handler and rotated approximately 90 degrees about the z-axis relative to the orientation of the first case handler. 0 In this way, the operation of each box can be simplified.

[0046] The second location may include one or more guides for guiding the container into position at the second location. It should be understood that different guides may be required when operating the device in reverse (i.e., when using the device to remove a box from a container). Guides may be required to remove the box from the container if the box is repositioned within the container. This may occur when the box is smaller than the container in which it is placed. Therefore, guides may be required to center the box before the manipulator can remove it.

[0047] As previously mentioned, the guiding means can be mechanical or electrical guiding means. In addition, the mechanical guiding means can be static or dynamic.

[0048] In some embodiments, the guide may include a frame above or around the second conveyor (through which the container must pass) to ensure correct alignment in the first direction. In the second direction, correct alignment may be ensured by a stop plate.

[0049] In addition, the guide means may include a funnel to guide the box into a container located below it. In this embodiment, the container is positioned below the funnel. The guide means can also be used to ensure that the flap remains parallel to the side when the box is placed in the container.

[0050] The guide tool may be a stationary funnel, or it may be a retractable positioner. The guide tool may include guides on two or more sides of the box. The guide tool may include guides on three sides of the box. The shape of the forward edge of the guide tool may be designed to assist in inserting the box into place.

[0051] The funnel can be used as a guide to guide the box into the container. The shape of the funnel can be appropriately designed to ensure that the flap remains precisely aligned with the sides of the box as the manipulator lowers the box into the container. While the flap is held by the funnel, the paired paddles on the corresponding sides can be released. If the outer dimensions of the box are very close to the inner dimensions of the container, the funnel can be used to squeeze one dimension of the box to aid insertion. Additionally, the funnel can help center the box relative to the container.

[0052] In an alternative arrangement, the bin may be held in place while the container is pushed upwardly onto the bin.

[0053] A dynamic locator can be used to verify the position of the container at the second location. For example, the retractable locator can be a torpedo locator, which is also a type of dynamic locator. The torpedo can be a guide member with an elongated shape. The container or suitcase can have features in the top edge that can mate or engage with the torpedo, or the torpedo can be positioned at the corner of the suitcase. The torpedo locator can have a torpedo located on a frame at each corner and can be positioned above the second location. The torpedo locator can be extended or lowered to accurately locate or confirm the position of the suitcase in the location. Subsequently, once it is confirmed that the suitcase is in the correct location, the torpedo locator can be retracted. Depending on the shape of the frame, the torpedo locator can have fewer than four guide members.

[0054] The paddles can be in an inverted L-shape. One or more of the paddles can include a hooked distal end. One or more of the paddles can include a gripping tool. The horizontal portion of the "L" can point toward the center of the paddle assembly. In this way, the horizontal portion of the paddle can be used to position the paddle against the upper edge of the box, while the vertical portion of the paddle can be used to apply pressure to the side of the box.

[0055] In cases where the flaps are tightly closed or fan-folded, it may be useful to provide a hook at the distal end of the vertical portion of the "L" to assist in creating an opening between the flaps for proper insertion of the paddle. This is particularly useful when the flaps are fan-folded. Additional tools may be required to open a closed, fan-folded flap, for example, to insert an expandable device, such as an inflatable object, that pushes the flaps open when expanded.

[0056] The paddle board can further include features that enhance the grip between the vertical portion of the paddle board and the side of the box. For example, applying rubber or a gecko-like material to the contact surface of the paddle board can increase friction. A suction device can provide suction between the paddle board and the box. Alternatively or additionally, groups of spaced-apart pins can protrude from the surface of the paddle board. These pins can penetrate the surface of the side of the box to enhance grip.

[0057] Gripping tools can include the use of force feedback or haptics to improve grip control of the paddle. This is particularly useful when lifting a box out of a container, for example.

[0058] Other tools for improving paddle operation will be readily apparent to those skilled in the art. For example, PCT / EP2023 / 0557839 (Ocado Innovation Limited) discloses a potentially suitable clamp-type end effector or paddle gripper for lifting open-top carriers (boxes or crates). In other arrangements, the paddle can be provided with a clamp that can be actuated to grip the sides of the open crate.

[0059] Alternatively, the shape of the second type of paddle can be designed to correspond to the shape of the corner of the box and thus support the corner of the box. With such a paddle, the box manipulator can be directed to interact with the corner rather than the side. In this case, for example, the manipulator can rotate about 45 degrees around the z-axis. 0 .

[0060] A third type of paddle or end effector can be configured to extend beyond the bottom of the box to support the box from below. The paddle support can include one or more rotating forks at the distal end of the paddle, wherein the rotating forks are movable between a first position substantially parallel to the side of the box and a second position substantially perpendicular to the side of the box and extending downward from the box. When the rotating forks are in the first position, the distal end of the paddle can be used to open the box's flap. When the rotating forks are in the second position and the paddles are moved to the bottom of the box, the paddles can be used to lift and move the box.

[0061] Optionally, to assist in removing a box from a container using a third type paddle, the distal end may be shaped like a wedge for insertion between the side of the box and the side of the container. The wedge may extend below the rotating fork(s).

[0062] The wedge can be movably mounted at the distal end of the paddle so that it can be pushed into the paddle arm. As a result, when the paddle is pushed to the bottom of the container, the wedge retracts into the arm, allowing the rotating fork(s) to substantially reach the bottom of the container. The rotating fork(s) can then be rotated perpendicular to the container to lift it. The wedge can be spring-biased to the extended position.

[0063] Optionally, the third type of paddle may include a top panel to be located at the top of the box.

[0064] Thus, the third type of paddle can be used to open the flap of the box, lift the box from a first location to a second location, push the box into the container, and remove the box from the container.

[0065] In some embodiments, a paddle, such as the third type of paddle, can be combined with other tools, such as a gripper wedge, to assist in inserting the box into the container and ensuring that the box is centered within the container. For example, the gripper wedge can include surface features to enhance its grip on the box.

[0066] A fourth type of paddle or end effector can be used to open the box and fold down the flaps. The fourth end effector can include an arm having a hooked end or claw. The box manipulator with the fourth type of end effector can be mounted next to the first location and can be moved in the y (or x) direction as well as the z direction. In the case where the box is closed by fan folding, the claw is inserted between the flaps, hooks the edges of the flaps and pulls the flaps open. It should be understood that due to the arrangement of the fan fold, the orthogonal flaps will open along with the hooked flaps. Pairs of arms with claw-type end effectors or fourth type paddles and operating on opposite sides of the box can work together to open all the flaps of the fan folded box.

[0067] The box manipulator may include two pairs of opposing paddles that are a combination of paddle types. For example, the first paddle type or the third paddle type may constitute a first pair of paddles, and a second pair of paddles arranged orthogonal to the first pair of paddles may include a fourth paddle type.

[0068] It should be understood that other types of paddles and end effectors may function similarly to the specific paddles and end effectors described herein.

[0069] The bin handler system may include control facilities to control operations.

[0070] In a second aspect, a method of using a case handler system according to any of the first aspects is provided to move a case from a first location and place it in a container at a second location, and / or to move a case from a container at a second location and place it at the first location, wherein the case is moved from the first location and placed in the container at the second location by: a. When the box manipulator is in a first position, controlling the paddle assembly to lower the first pair of paddles so that they are positioned between the flip covers of the pair of boxes; b. Move the first pair of paddles to: Engage with the flaps of the paired boxes (outward in the x-direction), Push or pull the box's flap outward (outward in the x-direction), Fold the flap of the box (downward in the z-direction) so that it folds down to the outside of the box, Positioning the first pair of paddles at opposite folded top edges of the box or at opposite sides of the box (downward in the z-direction and inward in the x-direction), and Clamp the box between the first or second pair of paddles (inward in the x-direction); c. While clamping the box with a pair of paddles, moving the movable support member from a first position to a second position; d. Positioning the box within the guide tool at a second location; e. Release box; and f. Inserting the box into the container at the second location; and / or Therein, by performing steps a to f in reverse, the box is removed from the container at the second location and placed at the first location.

[0071] The movement of the paddles may resemble an inverted question mark (?).At least one of steps a through f may be performed by a second pair of paddles in the y-direction and the z-direction to engage each side of the box.

[0072] As mentioned above, boxes typically have flaps on each side of the top opening. Therefore, a second pair of paddles can be used to operate each flap. The second pair of paddles may not necessarily perform all the steps. For example, in the case of a funnel guide—where the flaps are held in the folded position by a funnel—the second pair of paddles can be released before the first set of paddles.

[0073] After step d and before step e, at least one pair of paddles may be used to move the box vertically.

[0074] Where the guide means is mechanical, for example, a paddle may be used to push the box into position. In the embodiment of a funnel guide, where the funnel narrows to be slightly narrower than the box, additional force may be required to move the box through the guide and into the container.

[0075] Alternatively, it will be appreciated that the container may be pushed onto the box rather than the box being pushed into the container.

[0076] The first conveyor may be used to present cases to or receive cases from a case handler.

[0077] As mentioned above, it may be advantageous to continually deliver cases and / or containers to the case handler system.

[0078] A second conveyor may guide the container to be positioned below the hopper.

[0079] It will be appreciated that the system can be used in reverse to remove a bin from a container. The same or similar equipment can be used. It will be appreciated that the equipment may need to be modified to operate in reverse, in particular the guide means may need to be modified.

[0080] It should be understood that more than one case can be positioned in the container. For example, the container can accommodate two substantially half-sized cases arranged side by side. The case manipulator system can be adapted to handle the half-sized cases, operating in a manner similar to that used for handling full-sized cases, traversing the distance of the half-sized case and repeating the operation for the second half-sized case. Alternatively, the case manipulator system can include a first case manipulator and a second case manipulator arranged side by side. It should be understood that an additional pushing or propulsion tool may be required to manipulate the two cases before inserting them into the container.

[0081] In the above, a "container" is considered to be a carrier for boxes, wherein the boxes are nested within the container. It should be understood that a first box can also be nested within a second box, in which case the second box is considered a "container." For example, a box manipulator system can be used to position two substantially half-sized first boxes within a full-sized second box. Furthermore, the full-sized second boxes can then be positioned within a storage container suitable for introduction into an automated storage and retrieval system.

[0082] Other variations and advantages will become apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] These and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 showing a partially opened case and a case manipulator with a paddle of the case manipulator inserted between flaps of the case; Figure 2 showing a fully opened case and case handler, wherein the flap of the case has been folded down parallel to the sides of the case, and at each side, a paddle of the case handler engages the folded upper edge of the case; Figure 3 The paths of the pairs of paddles are shown, as well as the movement sequence of the paddles as they move during the operation of the box manipulator; Figures 4 to 6 A detailed view of a single paddle is shown, showing the movement mechanism in the x-direction or y-direction and the movement mechanism in the z-direction; Figures 7 and 8 A detailed view of a paddle assembly is shown having a first pair of paddles or an x-direction pair of paddles and a second pair of paddles or a y-direction pair of paddles; Figures 9 and 10 A view showing the paddle board assembly and the carrying case or container; Figure 11 A case manipulator is shown having a first conveyor presenting cases and including case guides, a second conveyor presenting totes or containers and including container guides, and a case manipulator; Figure 12 A box manipulator system is shown, wherein boxes are presented to a box manipulator; Figure 13 A case manipulator system is shown where a case is gripped by the case manipulator and the container is being moved to a location; Figure 14 A bin manipulator system is shown, where the bin is in a hopper above a container; Figure 15 A box manipulator system is shown, wherein the box is inserted into the container; Figure 16 A box manipulator system is shown, wherein the box is inserted into the container; Figure 17 A case handler system is shown with a case being inserted into a container and a case handler gripping the case; Figure 18 An alternative case handler system is presented having a first conveyor presenting cases and including case guides, a second conveyor presenting totes or containers and including container guides, and a case handler; Figure 19 A case manipulator gripping a case showing an alternative case manipulator system; Figure 20 shows the movement of a container toward a case manipulator of an alternative case manipulator system; Figure 21 The use of an alternative bin manipulator system to place bins in containers is demonstrated; Figure 22 A detailed view of an alternative paddle assembly is shown having a first pair of paddles or an x-direction pair of paddles and a second pair of paddles or a y-direction pair of paddles; Figure 23 and Figure 24 A detailed view of the paddle assembly with reinforced structure is shown; Figure 25 a shows a perspective view of a second paddle type, shaped to fit into the corner of the box, and Figure 25 b shows an alternative arrangement of the box manipulator, where the paddles are directed to the corners of the box; Figure 26 a and Figure 26 b shows a view of a third paddle type with a pair of rotating forks and flip-up spacers; Figure 27 a and Figure 27 b shows a schematic diagram of a paddle assembly having a variation of the third type of paddle, having a single rotating fork and a wedge-shaped clamp, wherein Figure 27 In a, the rotating fork is perpendicular to the wedge gripper. Figure 27 In b, the rotating fork is aligned with the wedge gripper; Figure 28 a shows a fourth type of paddle or end effector with a claw-like end, and Figure 28 b shows a pair of claw hooks for opening the flap of the box; Figure 29 A pushing tool used to push boxes to a centered position on a conveyor is shown; Figures 30 to 33 A system for executing a sequence of moves is presented; Figure 30 In the case, the box has been delivered to the box manipulator, Figure 31 In the middle, the flap is being opened by the paired claws. Figure 32 In the , different types of paddles have been positioned on the outside of the box to enable lifting and moving, as well as Figure 33 In the middle, the box has been placed in the container; Figure 34 The process of combining boxes and containers is schematically shown; Figure 35 Shown with Figures 30 to 33 A manipulator system similar to the system shown; Figure 36 A possible arrangement is shown of two substantially half-sized boxes nested within the container; and Figure 37 A possible arrangement is shown of two first substantially half-sized boxes nested within a second full-sized box, nested within a container.

[0084] In the drawings, like features are indicated by like reference numerals where appropriate. DETAILED DESCRIPTION

[0085] The following embodiments represent preferred embodiments of how the present invention may be implemented, but they are not necessarily the only embodiments for implementing the present invention. These embodiments are described in sufficient detail to enable those skilled in the art to implement the present invention. Other embodiments may be employed and structural changes may be made without departing from the scope of the present invention as defined by the appended claims.

[0086] The following description includes certain specific details to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will appreciate that the embodiments may be practiced without one or more of these specific details, or with other methods, arrangements, components, materials, etc. In some instances, well-known structures associated with end effectors and / or robotic manipulators (e.g., processors, sensors, storage devices, network interfaces, workpieces, tension members, fasteners, electrical connectors, mixers, etc.) are not shown or described in detail to avoid unnecessary obscurity in the description of the disclosed embodiments.

[0087] Unless the context requires otherwise, in this specification and the appended claims, the word "include" and its related words, such as "including" and "containing", are to be understood as open-ended and mean "including but not limited to".

[0088] Throughout this specification, the use of "one," "another," or "another" in connection with an "embodiment" or "example" means that the particular referenced feature, structure, or characteristic associated with the embodiment, embodiment, or example being described is included in at least one embodiment, embodiment, or example. Therefore, the appearance of "in one embodiment" or similar phrases in various places throughout this specification does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments, embodiments, or examples.

[0089] In addition, directional designations and any other terms implying orientation are provided by way of example to aid the reader's understanding of the specific embodiments described herein. Unless expressly provided in the appended claims, they should not be construed as requirements or limitations, particularly with respect to the position, orientation, or use of the present invention. Similarly, expressions such as "movement in the n-direction" (where n is one of x, y, or z), and any similar expressions, are intended to mean movement in any direction substantially along or parallel to the n-axis (i.e., toward the positive end of the n-axis or toward the negative end of the n-axis).

[0090] Similarly, connection terms (e.g., attached, coupled, connected, joined, fastened, etc.) should be interpreted broadly and may include intermediate members between connected elements and relative movement between elements. Thus, unless expressly provided in the appended claims, connection references do not necessarily infer that two elements are directly connected and fixed relative to each other.

[0091] Figure 1 and Figure 2 There is shown a bin 200 of the type described above in the background section and a bin manipulator 101 as disclosed herein.

[0092] exist Figure 1 In FIG, the box is partially opened, the flaps 201 are erected and partially folded, and the paddles 103, 104 of the box manipulator are inserted between the flaps of the box. Figure 2 In the case of a crash, the box has been fully opened by the paddles of the box operator. Figure 2 As can be seen in the figure, the flap has been pushed open and flipped over the top edge of the box, folding the top edge and aligning the flap with the side of the box. As shown, the paddles are positioned so that the horizontal legs of the inverted L-shape engage the folded edge, and the vertical portions of the paddles press the flap against the side of the box. The paddles are positioned substantially in the center of each side.

[0093] Figure 3 The paths of the paired paddles are shown, and the arrows illustrate the order in which each paddle moves during operation of the case manipulator. The shape of the paths is substantially similar to an inverted question mark "?". The motion can be performed smoothly as a single movement, or the motion can include a series of discrete steps. Regardless, it should be understood that the motion begins with a downward z-direction movement to position the paddles between the flaps, followed by an outward (x-direction or y-direction) movement, and then a downward (z-direction) movement to push the flaps toward the sides of the case. Finally, there is an inward movement to keep the flaps parallel to the sides of the case and bring the paddles into contact with the case.

[0094] Figures 4 to 6 A more detailed view of a single paddle 105 is shown. Specifically, each paddle comprises an inverted L-shaped structure 106 for interacting with the box. As can be seen, the structure has a substantially horizontal portion and a substantially vertical, elongated portion, with the horizontal portion being closest to the movement mechanism. As described elsewhere in this disclosure, the L-shaped structure may have additional features to facilitate the opening and closing of the control box and the overall control box.

[0095] The paddle further includes an x- or y-direction movement mechanism 107 and a z-direction movement mechanism 108. The movement mechanism can include any linear movement means. In the figure, the movement mechanism is shown as an assembly with an alignment rod and an actuating rod (e.g., a screw). The screw is driven by a motor. Other actuating means may include teeth, belts, racks and pinions, belts and pulleys, pneumatic actuators, etc. Those skilled in the art will be familiar with various suitable actuators.

[0096] Figures 7 and 8 A detailed view of a paddle assembly 102 is shown having a first pair of paddles or an x-direction pair of paddles 103 and a second pair of paddles or a y-direction pair of paddles 104. Each of the first pair of paddles and the second pair of paddles may include Figures 4 to 6 The paddle board 105 is shown. Figures 7 and 8 As can be seen in the figure, the paddle assembly includes a panel with a slot through which paddles 103 and 104 extend. The paddles in each pair are located on opposite sides, with the horizontal portion of the L-shaped structure pointing toward the center of the paddle assembly. The paddles can travel in either the x-direction or the y-direction within their respective slots. The paddles can extend through their respective slots in the z-direction.

[0097] It should be understood that the paddles and components of the paddle assembly can be made of plastic, metal, or any other suitable material. They can be manufactured using conventional methods, such as molding and machining, or 3D printing. Those skilled in the art will be able to select appropriate components and manufacturing methods based on the intended use of the bin manipulator system.

[0098] Figure 22An alternative paddle board assembly 102 is shown. Figures 7 and 8 The paddle assembly shown is similar, Figure 22 The assembly 102 in FIG. 1 has a first pair of paddles or x-direction pair of paddles 103 and a second pair of paddles or y-direction pair of paddles 104. In this arrangement, the elongated slots for the x-direction pair of paddles 103 extend continuously across the width of the paddle assembly 102. In contrast, the elongated slots for each of the y-direction pair of paddles 104 are not continuous and are interrupted by the x-direction slots. Each y-direction paddle comprises a plurality of paddles, each having a plurality of slots extending from the paddle assembly 102 to the paddle assembly 102. Figures 4 to 6 Paddles 105 are shown with their own movement mechanisms 107. The x-direction pair of paddles includes an alternative (single) movement mechanism 114. Mechanism 114 is shared by the x-direction pair of paddles 103 and has dual lead screws or twin screws that drive each paddle in the pair 103. The continuous length of the lead screws between the paddles enables a greater range of movement for the paddles 103, extending beyond the center of the paddle assembly 102.

[0099] Figure 23 and Figure 24 A further variation of the paddle assembly 102 is shown in which a reinforcement 115 is provided above the paddle 103 in the x-direction. The reinforcement 115 increases the rigidity of the paddle assembly 102 and the stability of the paddle 103 when used to lift or clamp a box.

[0100] Figure 25 Figure a shows a perspective view and arrangement of another type of paddle board 301, where the shape of the paddle board 301 is designed to fit the corner of the box. Figure 25 As shown in FIG. 1 a , the paddle 301 has a simple right-angle shape. Figure 25 FIG. 2B shows the paddle 301 being directed to each corner of the box 200. In this figure, the diagonally extending dashed lines represent the direction of travel of the paddle. Here, the direction of travel is rotated approximately 45 degrees relative to the z-axis. 0 , so that the paddles 301 are in pairs across diagonally opposite corners of the box 200, rather than opposite sides. Optionally, additional supports 302 can be seen along the long sides of the box 200. These additional supports 302 can be part of a manipulator assembly to help center the box 200.

[0101] Figure 26 a and Figure 26 Figure b shows a view of a third type of paddle 303. Paddle 303 is shown at the distal end of a z-direction movement mechanism 305 and is intended for use with the side of a box (not shown). At the distal end of the paddle itself are a pair of rotating forks 304, which are arranged so that they run parallel to the side of the box. It should be understood that in other embodiments, third type of paddle 303 may have only a single rotating fork, rather than a pair.

[0102] Additionally, at the distal end of the paddle, between the pair of rotating forks 304, is a wedge 306. Figure 31 As described and shown, the wedge portion can be used to open the flap of a fan-fold box. As shown, the wedge portion 306 extends beyond the level of the rotating fork 304 in a first position. The wedge portion 306 is typically spring-biased in this first position. The wedge portion 306 can be pushed to a second position in which the wedge portion 306 is retracted into the arm and the bottom edge 309 is substantially flush with the rotating fork 304.

[0103] The top plate 308 of the paddle may be used to position at the top edge of the box, as described in detail below.

[0104] Figure 27 a and Figure 27 b shows a schematic diagram of a paddle assembly having a variation of the third type of paddle 303. Figure 27 a and Figure 27 In b, the pairs of paddles 303 are connected together and each has a single rotating fork 304 and a wedge-shaped clamp 310. Figure 27 In a, the rotating fork 304 is perpendicular to the wedge-shaped clamp 310. Figure 27 In Figure b, the rotating fork 304 is aligned with the wedge-shaped gripper 310. The wedge-shaped gripper 310 includes a suction cup 311 to assist in retaining the crate. Alternatively, a high surface friction or other features may be employed on the interior surface of the wedge-shaped gripper 310. The use of the fork 304 ensures that the crate is supported from the bottom, while the wedge-shaped gripper ensures that the crate is also supported from the sides. Consequently, crate handling is improved.

[0105] The fourth type of paddle board 312 is shown in Figure 28 In. From Figure 28 As can be seen in b, the paddle 312 has a claw-like end 314 at the end of an arm 313. The arm 313 can extend in the x-direction or the y-direction and is mounted on a vertical movement mechanism 315. Figure 28 a shows the pair of paddles 312 and the box 200.

[0106] Figures 9 and 10 A view showing the paddle board assembly and the carrying case or container. Figure 9 and Figure 10 As shown, the paddles 103, 104 are aligned with the inside of the suitcase or container. This ensures that the box can be accurately placed within the suitcase or container.

[0107] Figure 11 shows an overview of the box manipulator system, and Figures 11 to 16 Basically, a sequence of actions for manipulating a box and moving the box from a first location to a container at a second location or removing the box from a container is shown.

[0108] like Figure 11 As shown, a first conveyor 109 for presenting boxes 200 is located above a second conveyor 110 for presenting containers or totes 250. The second conveyor extends beyond the confines of the first conveyor so that both the first and second conveyors can be accessed by a box manipulator located above the conveyors. The box manipulator is linearly movable between two positions: a first position above a first location at the end of the first conveyor that is sized for a box to occupy (e.g., a space between the first and second positions). Figure 11 The second conveyor is shown as being vacant, with the second position being above a second location on the second conveyor where a tote can be placed. The conveyor is used to present boxes and totes to the box handler as needed. Although the second conveyor is shown as being parallel to the first conveyor, it should be understood that the conveyors do not need to be parallel to each other.

[0109] Figure 29 Shown is a pushing tool 318 for pushing the box to a central position on the conveyor. When the box is positioned adjacent to the strip 319, the mechanism is activated to push the box toward the stop and hold the box in place.

[0110] Figure 12 This is an end view of the case manipulator system, with the case positioned at the end of the first conveyor directly below the case manipulator. As can be seen, the first and second pairs of paddles are positioned so that they can be lowered between the case's flaps. This allows the case manipulator to fold the flaps against the sides of the case, as described above.

[0111] Figure 13 It is also an end view of the box operator system. Figure 13 As can be seen in the figure, the box's flap has been folded down and the box is held by two pairs of paddles. The paddles have been raised, lifting the box from the first conveyor. Additionally, the box manipulator has begun moving the box so that it is positioned within the hopper 111. The hopper consists of a first half and a second half, positioned on each side of the second conveyor.

[0112] Figure 14 Details of the second conveyor, hopper and box manipulator are shown in use. Figure 13 As shown, the box manipulator is holding the box. Figure 14 In the example shown in FIG1 , the suitcase has been moved to a position below the funnel. Guide 112 ensures that the suitcase is correctly positioned in the y direction, and guide 113 ( Figure 12 and Figure 13 ) ensures the tote is correctly positioned in the z-direction. The box is positioned between the funnels, which help center the box and guide it into the tote.

[0113] Figure 15shows a broader view of the manipulator system, Figure 16 The second conveyor, hopper and box manipulator are shown in more detail. Figure 15 In this embodiment, the boxes are no longer held by the second pair of paddles, as they would not be able to pass through the funnel. Instead, the funnel continues to press against the flap, squeezing the long sides of the boxes together. Due to the relative size of the boxes and the funnel, the first pair of paddles is used to push the boxes through the funnel and into the suitcase below. The first pair of paddles continues to push the boxes until they are fully inserted into the suitcase. In this embodiment, the size of the suitcase and boxes allows the boxes to be positioned within the suitcase while the first pair of paddles remains engaged with the boxes. Finally, the paddles can be removed from the boxes and boxes, and the second conveyor can move the assembled tote and inserted boxes.

[0114] The case handler system can then prepare to combine the next case and tote.

[0115] Figure 17 The box manipulator is shown interacting with the combined suitcase and box in an alternative location without a funnel.

[0116] Figure 17 The arrangement shown can be in a position where the suitcase and box are separated. In such a position, a first pair of paddles is used to extend into the combined suitcase and box, between the outer edge of the suitcase and the inner edge of the suitcase. The paddles can then be controlled to grip the box and lift it from the box.

[0117] Alternatively, for example where the relative sizes of the box and suitcase allow sufficient space so that alignment of the box and suitcase is less critical, Figure 17 The arrangement shown can be an alternative arrangement for combining a case and a suitcase. In this alternative, the funnel can be optional for inserting the case into the suitcase.

[0118] Figures 18 to 21 A second arrangement of a bin manipulator system is shown having the same Figures 1 to 17 The disclosed arrangements have similar features. Figures 18 to 21 The sequence of movement of the case handler system 100 is shown in sequence. In this arrangement, when the case is positioned between the hoppers, a second conveyor or section of the lower conveyor at a second location is raised with the tote 250 in place, rather than the case 200 being pushed down between the hoppers 111. This action forces the case into the tote, with the case held by the paddles 103, 104. The combined tote and case can then continue to move at the level of the first conveyor or upper conveyor, or the movable section of the conveyor can be lowered, and the combined tote and case can continue to move at a lower level.

[0119] Figures 30 to 33shows the bin manipulator system 316 in use, Figure 35 A modified box manipulator system 316 is shown with a guide tool 317. The system 316 includes a pair of y-side (or x-side) paddles 303, a pair of x-side (or y-side) paddles 312.

[0120] exist Figure 30 In FIG. 3 , the box 200 has been delivered to the box manipulator 316 via the conveyor. It should be understood that the pushing device 318 ( Figure 35 ) can be used with the bin manipulator system to hold the bin in place. Figure 31 In the embodiment, the pair of x-side paddles 312 and the pair of y-side paddles 303 are inserted between the flaps of the box. While the claws of the x-side paddles 312 are used to open the flaps of the box, the pushing device 318 ( Figure 35 ) is used to hold the box 200 in place. First, the paddle 312 is used to pull open the x-side flap, then the y-side paddle 303 is used to open and fold the y-side flap, and the lip 309 at the distal end of the wedge 306 (as shown) Figure 32 shown) is used to assist in opening the flap on the y side.

[0121] Once the flap has been folded down and parallel to the sides of the box, the y-side paddles 303 are extended downwardly and the rotating forks 309 are rotated so that the box can be supported on the forks 304 and lifted, as shown. Figure 32 shown.

[0122] The box is then moved by the manipulator system 316 over the empty container 250 and pushed into the container through the guide tool 317, as shown. Figure 33 shown.

[0123] exist Figure 35 , the box 200 is shown with the flap folded down. The x-side paddle 312 is positioned above the box 200, and the y-side paddle 303 is positioned above the container 250. Figure 35 The view in FIG. 4 shows how the x-side paddle moves between a position above the box 200 as shown and a position above the container 250.

[0124] Figure 34The sequence of the process of combining a box and a container is schematically illustrated. The left-hand side of the figure shows a plan view of the box manipulator system 316, in which the box 200 (box) is moved in a 1-2-3 sequence. The right-hand side similarly shows the plan view (the yx plane is above the zx plane) and the sequence displayed from left to right along two rows. As can be seen, the box is moved to position 2, where it is between paddles 312 and centered by pushing tool 318. First, paddle 312 is used to open the box and fold the x-flap, followed by paddle 303 to fold the y-flap. Paddle 303 extends downward to the bottom of the box. The rotating fork 304 rotates to support the box. The box is then raised to position 3, where it is lowered into the container 250 via guide tool 317.

[0125] Figure 36 A possible arrangement is shown of two substantially half-sized boxes 200a nested within a container 250. As shown, the proportions of the half-sized boxes 200a are designed so that they can be arranged side by side within the container 250. In the illustrated embodiment, the boxes 200a are open and their flaps are folded down so that the contents of the boxes 200a are accessible from above the container 250. It should be understood that similar closed half-sized boxes arranged side by side can be nested within the container 250, for example, for storage or sorting purposes.

[0126] Figure 37 Another possible arrangement is shown in which two substantially half-sized first boxes 200a are nested within a full-sized second box 200, which is nested within a container 250. In the illustrated embodiment, each box 200a, 200 is open, and its flap is folded down so that the contents of the two half-sized boxes 200a are accessible from above the container 250. It should be understood that either box 200a, 200 may be closed if access to the contents is not required.

[0127] It should be understood that variations of the bin manipulator system as disclosed herein and other known optional features can also enable implementations such as Figure 36 and Figure 37 . Furthermore, other combinations and arrangements of boxes are contemplated, depending on the desired application. It will be understood that the foregoing description is merely illustrative and that various modifications may be made by those skilled in the art. Although various embodiments have been described above in a certain degree of detail, or have been described with reference to one or more individual embodiments, those skilled in the art may make numerous modifications to the disclosed embodiments without departing from the scope of the present invention.

[0128] While efforts have been made in the foregoing description to draw attention to features of the present invention regarded as particularly important, it is to be understood that the applicants claim protection for any patentable feature or combination of features mentioned in this application and / or illustrated in the drawings whether or not specifically emphasized.

Claims

1. A case handler system for use in a storage and retrieval system, the case handler system comprising: a first location for one or more boxes; a second location, wherein the second location includes guiding means for guiding the bins into and / or out of the container; and A box manipulator, comprising: a movable support movable from a first position above the first location to a second position above the second location, and a paddle assembly having at least a first pair of paddles, the paddle assembly being configured to move the at least first pair of paddles relative to the movable support in a first horizontal (x) direction and in a vertical (z) direction, wherein the bin manipulator system is configured such that: A case at the first location is accessible to the case handler, and the case handler system is controllable to engage the case, move the case from the first location to the second location, and insert the case into a container at the second location at the second location; and / or The boxes in the container at the second location are accessible by a box handler, and the box handler can be controlled to remove the boxes from the container and place the boxes at the first location.

2. A bin manipulator system according to any preceding claim, wherein: The case manipulator may be controlled to engage one or more flaps of the case to fold the one or more flaps, and / or The box manipulators may be controlled to clamp opposite sides of the box to lift the box.

3. A bin manipulator system according to any preceding claim, wherein: The first location includes a first conveyor, and the first conveyor presents the case to the case handler.

4. The box manipulator system according to claim 3, wherein: The first conveyor includes indexing means.

5. A bin manipulator system according to any preceding claim, wherein: The second location includes a second conveyor, and the second conveyor presents the container under the guiding tool.

6. A bin manipulator system according to any preceding claim, wherein: The paddle assembly includes a second pair of paddles and is configured to move the second pair of paddles in a second horizontal (y) direction and in a (z) vertical direction, Optionally, the first pair of paddle boards and the second pair of paddle boards can operate independently. Optionally, each paddle board can operate independently.

7. A bin manipulator system according to any preceding claim, wherein: The second location includes one or more guides for guiding the container into position at the second location.

8. A bin manipulator system according to any preceding claim, wherein: The guiding tool is a stationary funnel, or, wherein the guiding tool is a retractable positioner.

9. A bin manipulator system according to any preceding claim, wherein: The paddle is in an inverted L shape, and / or One or more of the paddles comprises a hooked distal end, and / or One or more of the paddles may comprise gripping means.

10. A bin manipulator system according to any preceding claim, further comprising a control facility.

11. A method of using a case handler system according to any one of claims 1 to 10 to move a case from a first location and place the case in a container at a second location, and / or to remove a case from a container at a second location and place the case at a first location, wherein: The box is moved from the first location and placed into the container at the second location by: a. When the box manipulator is in a first position, controlling the paddle assembly to lower the at least first pair of paddles so as to be positioned between the pair of box flaps; b. Move the first pair of paddles to: engage with the flaps of the paired boxes (outward in the x-direction), Push or pull the flap of the box outward (outward in the x direction), Folding the flap of the box (downward in the z-direction) so that it folds down outside the box so that the pair of paddles are located at opposite folded top edges of the box or at opposite sides of the box (downward in the z-direction and inward in the x-direction), and clamping the box between the first pair of paddles or the second pair of paddles (inwardly in the x-direction); c. while clamping the box with a pair of paddles, moving the movable support member from the first position to the second position; d. positioning the box within the guide tool at the second location; e. releasing the box; and f. inserting the box into the container at the second location; and / or The box is removed from the container at the second location and placed at the first location by performing steps a to f in reverse.

12. A method of using a bin manipulator system according to claim 11, when dependent on claim 4, wherein: At least one of steps a to f may be performed by the second pair of paddles in the y-direction and the z-direction to engage each side of the box.

13. A method of using a bin manipulator system according to any one of claims 11 to 12, wherein: After step d and before step e, the box is moved vertically using at least one pair of paddles.

14. A method of using a case handler system according to any one of claims 11 to 13, when dependent on claim 3, further comprising the preliminary step of using the first conveyor to present a case or receive a case from the case handler.

15. A method of using a case manipulator system according to any one of claims 11 to 14, when dependent on claim 5, further comprising the preliminary step of using the second conveyor to guide a container so as to position it below the hopper.

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