Automatic loading / unloading and stacking robot system with telescopic mast and Z-axis control

Abstract

The system includes a robot configured to load and / or unload a location, such as a cargo carrier or a building. The robot includes a base unit having a transport system for moving the base unit. A mast extends from the base unit and has a mast conveyor. The mast is configured to extend and retract. An End of Arm Tool (EoAT) is rotatably coupled to the mast. The EoAT includes an EoAT conveyor configured to move a cargo item relative to the mast conveyor. A gripping mechanism is configured to move between a retracted position away from the cargo item on the EoAT conveyor and an extended position capable of gripping the cargo item.

Description

Technical Field

[0001] Relates to a telescopic mast and an automatic loading / unloading and stacking robot system with Z-axis control.

Background Art

[0002] The transfer of goods such as luggage, boxes, bags, cans, and / or other products to cargo containers such as trailers and freight carriers is very costly, labor-intensive, and sometimes even dangerous. Shipping and receiving operations at loading docks are often bottlenecks in the overall fulfillment process. Loading and unloading goods in warehouses and manufacturing plants can also be costly and dangerous. High-stacked goods can become unstable and easily fall on cargo handlers. Manual loading and unloading of trailers can be a difficult job due to the environmental conditions inside the trailer. Forklift trucks are often used for loading goods pallets onto cargo containers and warehouses, but their use has some limitations. Usually, only one forklift can fit inside a trailer at a time, so the loading or unloading process usually takes a significant amount of time. Also, forklift pallets usually waste available space inside the cargo container and add unnecessary weight. This waste of empty space and addition of weight are costly. When difficulties occur with forklifts, loading dock personnel manually unload and stack goods inside the cargo space, but such labor-intensive work is also very costly, takes a lot of time, and there is a possibility that personnel may be injured. Although automatic systems such as robots have been proposed for loading and unloading goods, these systems still have some significant drawbacks. The throughput provided by these systems is usually low, and these systems are prone to errors, so human intervention is still required in case of accidents.

[0003] Thus, improvements in this field are needed.

Summary of the Invention

Problems to be Solved by the Invention

[0004] An automatic loading and unloading robot system has been developed to quickly stack and / or unload goods at a goods transporter (or other location). The old robot system is described in US Patent Application Publication No. 2018 / 0118476A1 to Bastian II et al., published on May 3, 2018 (US Patent Application No. 15 / 795,947, filed on October 27, 2017), and all of its contents are incorporated herein by reference. To address some problems with the system, several unique improvements have been developed. This system includes a mobile robot with a unique end-of-arm tool (EoAT) attached to a movable mast. The EoAT incorporates a conveyor system that can rapidly transfer goods almost continuously. The EoAT has a telescoping and retractable gripping mechanism configured to grip goods. In one form, the gripping mechanism includes one or more vacuum cups for gripping goods. The gripping mechanism can extend the vacuum cups above the conveyor system on the EoAT and pull the goods down onto the conveyor system. When the goods are pulled down onto the conveyor system, the vacuum cups are retracted under the conveyor system so that the goods can move above the gripping mechanism. During unloading or stacking of goods, the gripping mechanism can accurately push the goods from the conveyor system onto a stack of goods by the reverse operation. The EoAT is movable in the yaw (lateral) and pitch (tilt) directions relative to the mast to lift or place goods in the proper position. Some goods, such as boxes, can be tilted so as not to be horizontal. The EoAT is further configured to twist or roll so as to handle and move any tilted goods. Additionally, the current EoAT includes a plurality of unique guide structures that enhance the ability of the EoAT to load and unload goods. The mast is attached to a mobile base unit. The mobile base unit can move the EoAT by moving the mast. Also, large-scale or major movement of the EoAT can be achieved by movement and / or steering of the mobile base unit.For example, the mobile base unit is configured to move not only in the direction of entering and exiting the trailer but also laterally. The movable mast minimizes the distance required for the movement of the base unit for loading or unloading goods onto the cargo container. The base unit can adjust the yaw and pitch of the mast. Also, the base unit can extend and retract the mast so that it does not need to move when the EoAT moves vertically and horizontally along the stack of goods. The mast and the base unit have a conveyor for transferring goods to the EoAT. In one form, an extendable conveyor is coupled to the base unit to form a link between the robot and the main conveyor system of the facility. Also, the mast can be extended or retracted internally while still being able to transfer goods while adjusting its length. With the ability to further retract this mast, the robot can move in narrow spaces such as between columns. This robotic system can quickly perform automatic loading and unloading of goods onto the cargo carrier with little or no human interaction. This system design eliminates the need for forklift operators, reducing the risk of operator-related injuries and costs, and shortening the loading and unloading time.

Means for Solving the Problem

[0005] Aspect 1 generally relates to a system comprising a robot having an end-of-arm tool (EoAT) attached to a mast with a continuous conveyor path. Aspect 2 generally relates to the system according to Aspect 1, wherein the mast is coupled to the base unit by one or more omnidirectional wheels.

[0006] Aspect 3 generally relates to the system according to Aspect 2, wherein the mast has an extendable and retractable bridge conveyor. Aspect 4 generally relates to the system according to Aspect 3, wherein the bridge conveyor extends across at least two telescoping mast sections.

[0007] Aspect 5 generally relates to the system according to Aspect 4, wherein the bridge conveyor includes a conveyor belt routed in an S-shaped pattern between mast sections. Aspect 6 generally relates to the system according to Aspect 4, wherein the mast has a drive system for moving the mast sections relative to each other.

[0008] Aspect 7 generally relates to the system according to Aspect 1, wherein the mast includes at least two conveyor sections for buffering the goods. Aspect 8 generally relates to the system according to Aspect 7, wherein the conveyor section includes a belt conveyor extending substantially across the entire width of the mast.

[0009] Aspect 9 generally relates to the system according to Aspect 1, wherein the mast includes one or more transition conveyors for transferring goods between the mast and the EoAT. Aspect 10 generally relates to the system according to Aspect 1, wherein the EoAT includes a rolling drive configured to rotate the EoAT relative to the mast.

[0010] Aspect 11 generally relates to the system according to Aspect 10, wherein the EoAT includes an actuator gearbox configured to move the EoAT in the yaw and pitch directions.

[0011] Aspect 12 generally relates to the system according to Aspect 1, wherein the EoAT includes at least one conveyor for transferring goods. Aspect 13 generally relates to the system according to Aspect 12, wherein the EoAT includes a gripping mechanism having a gripping member extending across the entire conveyor.

[0012] Aspect 14 generally relates to the system according to Aspect 13, wherein the gripping mechanism has one or more vacuum cups for gripping the goods. Aspect 15 generally relates to the system according to Aspect 13, wherein the gripping mechanism has a carriage with a link assembly positioned on both sides of the conveyor.

[0013] Aspect 16 generally relates to the system according to Aspect 15, wherein the link assembly includes cam followers that engage cam rails positioned on both sides of the conveyor. Aspect 17 generally relates to the system according to Aspect 16, wherein each cam follower includes at least a pair of cam rollers disposed on both sides of the cam rail.

[0014] Aspect 18 generally relates to the system according to Aspect 1, wherein the EoAT includes at least two conveyor sections for transporting goods. Aspect 19 generally relates to the system according to Aspect 18, wherein the EoAT includes a gripping mechanism configured to nest at a retracted position between the conveyor sections.

[0015] Aspect 20 generally relates to the system according to Aspect 1, wherein the EoAT includes a positioning member having a probe member extending from a distal end of the EoAT. Aspect 21 generally relates to the system according to Aspect 20, wherein the EoAT includes a shoe plate member configured to guide goods with respect to the positioning member.

[0016] Aspect 22 generally relates to the system according to Aspect 21, wherein the shoe plate member includes a fan portion angled toward the positioning member. Aspect 23 generally relates to the system according to Aspect 20, wherein the EoAT includes a rocker arm hanging below the probe member.

[0017] Aspect 24 generally relates to the system according to Aspect 23, wherein the rocker arm is angled at an acute angle with respect to the probe member. Aspect 25 generally relates to the system according to Aspect 24, wherein the rocker arm is pivotally connected to the EoAT via a pivot connector.

[0018] Aspect 26 generally relates to the system according to Aspect 25, wherein the EoAT has a stop member for holding the rocker arm in place. Aspect 27 generally relates to the system according to Aspect 23, wherein the rocker arm is flexible.

[0019] Aspect 28 generally relates to the system according to any one of Aspects 1 to 27, wherein the mast is coupled to the base unit by one or more omnidirectional wheels. Aspect 29 generally relates to the system according to any one of Aspects 1 to 28, wherein the mast has a bridge conveyor that can extend and retract.

[0020] Aspect 30 generally relates to the system according to any one of Aspects 1 to 29, wherein the bridge conveyor extends across at least two telescoping mast sections. Aspect 31 generally relates to the system according to any one of Aspects 1 to 30, wherein the bridge conveyor includes a conveyor belt routed in an S-shaped pattern between mast sections.

[0021] Aspect 32 generally relates to the system according to any one of Aspects 1 to 31, wherein the mast has a drive system for moving the mast sections relative to each other. Aspect 33 generally relates to the system according to any one of Aspects 1 to 32, wherein the mast includes at least two conveyor sections for buffering goods.

[0022] Aspect 34 generally relates to the system according to any one of Aspects 1 to 33, wherein the conveyor section includes a belt conveyor extending substantially across the full width of the mast. Aspect 35 generally relates to the system according to any one of Aspects 1 to 34, wherein the mast includes one or more transition conveyors for transferring goods between the mast and the EoAT.

[0023] Aspect 36 generally relates to the system according to any one of Aspects 1 to 35, wherein the EoAT includes a rolling drive configured to rotate the EoAT relative to the mast.

[0024] Aspect 37 generally relates to the system according to any one of Aspects 1 to 36, wherein the EoAT includes an actuator gearbox configured to move the EoAT in the yaw and pitch directions.

[0025] Aspect 38 generally relates to the system according to any one of Aspects 1 to 37, wherein the EoAT includes at least one conveyor for transferring goods. Aspect 39 generally relates to the system according to any one of Aspects 1 to 38, wherein the EoAT includes a gripping mechanism having a gripping member extending over the entire conveyor.

[0026] Aspect 40 generally relates to the system according to any one of Aspects 1 to 39, wherein the gripping mechanism has one or more vacuum cups for gripping the goods. Aspect 41 generally relates to the system according to any one of Aspects 1 to 40, wherein the gripping mechanism has a carriage provided with a link assembly positioned on both sides of the conveyor.

[0027] Aspect 42 generally relates to the system according to any one of Aspects 1 to 41, wherein the link assembly includes a cam follower engaging a cam rail positioned on both sides of the conveyor. Aspect 43 generally relates to the system according to any one of Aspects 1 to 42, wherein each cam follower includes at least a pair of cam rollers disposed on both sides of the cam rail.

[0028] Aspect 44 generally relates to the system according to any one of Aspects 1 to 43, wherein the EoAT includes at least two conveyor sections for transferring goods. Aspect 45 generally relates to the system according to any one of Aspects 1 to 44, wherein the EoAT includes a gripping mechanism configured to be nested in a retracted position between the conveyor sections.

[0029] Aspect 46 generally relates to the system according to any one of Aspects 1 to 45, wherein the EoAT includes a positioning member having a probe member extending from a distal end of the EoAT. Aspect 47 generally relates to the system according to any one of Aspects 1 to 46, wherein the EoAT includes a shoe plate member configured to guide the goods with respect to the positioning member.

[0030] Aspect 48 generally relates to the system according to any one of Aspects 1 to 47, wherein the wiper member includes a fan portion angled toward the positioning member. Aspect 49 generally relates to the system according to any one of Aspects 1 to 48, wherein the EoAT includes a rocker arm hanging below the probe member.

[0031] Aspect 50 generally relates to the system according to any one of Aspects 1 to 49, wherein the rocker arm is angled at an acute angle with respect to the probe member. Aspect 51 generally relates to the system according to any one of Aspects 1 to 50, wherein the rocker arm is pivotally connected to the EoAT via a pivot connector.

[0032] Aspect 52 generally relates to the system according to any one of Aspects 1 to 51, wherein the EoAT has a stop member for holding the rocker arm in place. Aspect 53 generally relates to the system according to any one of Aspects 1 to 52, wherein the rocker arm is flexible.

[0033] Aspect 54 generally relates to a method of operating the system according to any one of Aspects 1 to 53. Other forms, objects, features, aspects, benefits, advantages, and embodiments of the present invention will become apparent from the detailed description and the accompanying drawings.

Brief Description of the Drawings

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Embodiments for Carrying out the Invention

[0035] Hereinafter, for the purpose of facilitating the understanding of the principle of the present invention, reference is made to the embodiments shown in the drawings and specific expressions are used for the description thereof. Nevertheless, it is understood that this is not intended to limit the scope of the present invention. As would be normally conceivable by those skilled in the art related to the present invention, any modification and separate improvement of the embodiments described in this specification, as well as any separate application of the principle of the present invention as described in this specification, are conceivable. Although one embodiment of the present invention is shown in detail, it will be apparent to those skilled in the art that some features not related to the present invention may not be illustrated for clarity.

[0036] The reference numbers in the following description are systematized so that readers can quickly identify the drawings in which various components first appear. In particular, the drawing in which an element first appears is usually specified by the leftmost digit in the corresponding reference number. For example, an element specified by a reference number in the 100s is likely to first appear in FIG. 1, an element specified by a reference number in the 200s is likely to first appear in FIG. 2, and so on.

[0037] FIG. 1 is a perspective view of a robot system 100 according to an example. The robot system 100 includes a robot 105 and an extensible conveyor 110 operably positioned between the robot 105 and a main conveyor system 115 commonly found (but not necessarily) in warehouses and / or manufacturing plants. As shown, the robot 105 is configured to enter and exit a cargo carrier 120 such as a semi-trailer or flatbed trailer by moving forward and backward. As an alternative or addition to this, the robot 105 is movable between various dock doors and other cargo carriers 120. When the robot 105 enters and exits the cargo carrier 120 by moving forward and backward, the extensible conveyor 110 extends or retracts in response to the movement of the robot 105 at the cargo carrier 120 and other locations. The extensible conveyor 110 may include connectors, cables, and / or pipes for supplying, for example, power, air, and / or communication paths to the robot 105. The robot 105 is configured to load and / or unload cargo 125 onto and from the cargo carrier 120. In the illustrated example, the cargo 125 is in the form of a box, but in other examples, the robot 105 can load and / or unload other types of cargo 125, such as bags, drums, cases, etc., onto and from the cargo carrier 120. As will be described in more detail below, the robot 105 is configured to load and / or unload the cargo 125 continuously or substantially continuously within the cargo carrier 120. As a result, the robot 105 can quickly respond to the cargo carrier 120. The robot 105 is designed to quickly unload or unload the cargo 125 from the cargo carrier 120 with a minimum of movement, in addition to stacking and removing the cargo 125 within the cargo carrier 120. As a result, the loading and unloading of the cargo carrier 120 can be quickly performed automatically without any (or minimal) human interaction. Also as seen in FIG. 1, the robot 105 can efficiently fill substantially the entire space inside the cargo carrier 120 as needed by loading or unloading the cargo 125 from the bottom to the top or near the side of the cargo carrier 120.

[0038] To provide some context, the robot system 100 will be described with reference to a warehouse environment. However, it should be recognized that the robot system 100 can also be used in other types of environments, such as manufacturing plants, food processing plants, and / or agricultural environments, to name just a few examples. In addition to on or inside the cargo carrier 120, the robot 105 can also be used to stack or unload the cargo 125 at other locations, such as various storage or loading locations within the building 130. As shown in the figure, the extendable conveyor 110 and the main conveyor system 115 are typically located within a building 130, such as a warehouse. The extendable conveyor 110 transfers the cargo 125 bidirectionally between the robot 105 and the main conveyor system 115. The main conveyor system 115 can supply the cargo 125 to various processing equipment and / or storage locations within the building 130, for example. The robot 105 enables correspondence with the cargo carrier 120 through the loading dock 135 in the building 130, so that renovations to the loading dock 135 and / or the building 130 are normally unnecessary.

[0039] Figures 2 and 3 are a front perspective view and a rear perspective view of the robot 105, respectively. As shown, the robot 105 includes a base unit 205, a mast 210 extending from the base unit 205, and an end-of-arm tool (「EoAT」) 215 extending from the mast 210. For the movement and operation of the EoAT 215, the robot 105 has a series of joints (i.e., J1, J2, J3, J4, and J5) that provide several degrees of freedom of movement. The base unit 205 is generally configured to supply power to the robot 105, move the robot 105, and control the overall operation of the robot 105. The mast 210 is designed to position the EoAT 215 and provide a path for transporting the cargo 125 between the base unit 205 and the EoAT 215. The EoAT 215 is configured to quickly stack and unload the cargo 125 in the cargo transporter 120. The EoAT 215 is thin so as to facilitate the lifting or placement of the cargo 125 with respect to the floor of the cargo transporter 120 or the building 130 and the stacked cargo 125. The EoAT 215 is shaped such that it only needs to lift the cargo 125 placed thereon about 5 - 8 cm (2 - 3 inches) from the floor. In other examples, however, it is possible to lower or raise the height of the cargo 125 lifted from the floor. For example, in other examples, the EoAT 215 may include a larger heavy-duty type to lift a cargo 125 with a larger size and / or weight. This enables the cargo 125 to be unloaded near the top of the cargo transporter 120. In one example, at the top of the cargo transporter 120, the gap of the cargo 125 is only about 18 cm (7 inches). The robot 105 is configured to load and unload the cargo 125 using a serpentine pattern at high speed. In one form, the robot 105 can stack and unload the cargo 125 at an average speed of less than one item every 3 seconds.

[0040] As shown, base unit 205 comprises a transfer system 220 configured to move robot 105. In the example shown, transfer system 220 comprises one or more wheels 225 configured to move base unit 205. The cargo carrier 120 typically has limited space within which robot 105 can move. Transfer system 220 is configured to improve the mobility of base unit 205 such that robot 105 can move within the strict limitations of cargo carrier 120. In one form, wheels 225 include omnidirectional wheels configured to move base unit 205 not only in the longitudinal direction (i.e., front-to-back) but also in the lateral direction (i.e., side-to-side). As will be described in more detail below, mast 210 is retractable and extendable to facilitate lateral movement of robot 105 in building 130 and other locations. Base unit 205 can be powered in any number of ways, in combination with other parts of robot 105. In the example shown, robot 105 is powered by an external power source (e.g., a plugged-in power cable), but in other examples, other methods of power supply are possible, such as self-powered and / or battery, solar cell, pneumatic pressure from a pneumatic tank, hydraulic pressure through a hydraulic line, etc. Base unit 205 further includes at least one controller 230 configured to control the operation of robot 105 in conjunction with mast actuator 240 configured to move mast 210. In one form, controller 230 includes one or more programmable logic controllers (PLCs). Base unit 205 can include other components to improve safety, such as lighting devices, safety scanners, and safety electronics (E) to deactivate radio frequency (RF) receivers. Base unit 205 also functions as a weighted counterbalance to balance the weight of mast 210 and EoAT 215 and the cargo 125 thereon.

[0041] At least one base unit conveyor 235 positioned on the base unit 205 conveys the cargo 125 between the mast 210 and the extensible conveyor 110. The base unit conveyor 235 is extensible and retractable, similar to the mast 210. This configuration provides stable support when the cargo 125 transitions between the mast 210 and the extensible conveyor 110. The base unit 205 further includes a base unit housing 245 that covers and protects various components of the base unit 205. The base unit 205 further includes one or more safety sensors 250 that detect objects, humans, and / or structures positioned around the robot 105. In one example, the sensor 250 is in the form of a light curtain that detects the relative position of the robot 105. For example, the sensor 250 can detect the timing when a person gets too close to the robot 105 such that the operation of the robot 105 can be stopped or enter a safe operation mode. Also, the sensor 250 can detect the wall of the cargo carrier 120 so that the robot 105 is properly positioned within the cargo carrier 120.

[0042] FIG. 4 is a top view of the robot 105 positioned in the building 130. As shown, the building 130 in this example includes two or more loading docks 135. The robot 105 includes a longitudinal axis 405 extending from the base unit 205, the mast 210, and the EoAT 215 generally along the length of the robot 105. The robot 105 further includes a lateral axis 410 extending obliquely or perpendicular to the longitudinal axis 405. As described above, the wheels 225 of the transfer system 220 are configured to move the robot 105 in a first lateral direction 415 (e.g., left direction) and an opposite second lateral direction 420 (e.g., right direction). Since it is movable in the first lateral direction 415 or the second lateral direction 420 along the lateral axis 410, the robot 105 can move quickly between the loading docks 135. Usually, the building 130 includes one or more columns 425 that support the roof or other structures of the building 130. As shown, the columns 425 and other objects within the building 130 may interfere with the lateral movement of the robot 105. By the wheels 225, the entire robot 105 can move forward and backward along the longitudinal axis 405 within the building 130, so that it can move around or pass through the columns 425, the cargo 125, and / or other objects within the building 130, but this movement is difficult and may take a long time. To facilitate lateral movement, the mast 210 is contractible by retracting in the retraction direction 430 along the longitudinal axis 405. When the mast 210 retracts, the EoAT 215 approaches the base unit 205. When the EoAT 215 avoids obstacles such as the column 425 when the base unit 205 of the robot 105 moves laterally, the mast 210 can be redeployed by extending in the extension direction 435. Thereafter, the robot 105 can be corresponded to the cargo transporter 120 (i.e., loading or unloading) at the next loading dock 135.

[0043] Some cargo carriers 120 can have different lengths. Depending on the amount of cargo 125 occupying the cargo carrier 120 at a particular point during loading or unloading, the available usable space within the cargo carrier 120 can vary. The mast 210 can be partially extended or retracted and still be able to transfer the cargo 125 along the mast 210. Since the EoAT 215 can be extended and retracted via the mast 210 in this way, the robot 105 can more easily handle cargo carriers 120 with different lengths or available open spaces. In other words, the length of the mast 210 can be adapted to different situations. In some situations, the cargo carrier 120 may not be able to safely handle the full weight of the robot 105. Since the mast 210 can be extended in the extension direction 435, the base unit 205 can be maintained outside the cargo carrier 120 so that the robot 105 can load and unload the cargo 125 with the base unit 205 positioned inside the building 130. In other cases, the base unit 205 can spread across the entire loading dock 135 such that the weight of the base unit 205 is partially supported by both the cargo carrier 120 and the building 130. In other usage cases, the base unit 205 can move throughout the inside of the cargo carrier 120 such that the full weight of the robot 105 is supported by the cargo carrier 120. In such usage cases, the mast 210 can be retracted, i.e., moved back, depending on the available space inside the cargo carrier 120.

[0044] Referring to FIGS. 5 and 6, the mast 210 includes a base mast portion 505 coupled to the base unit 205 and an EoAT mast portion 510 configured to telescopically move in a retraction direction 430 and an extension direction 435 relative to the base mast portion 505. On the opposite side of the base mast portion 505, the EoAT mast portion 510 is coupled to the EoAT 215. In one form, the EoAT mast portion 510 is telescopically received inside the base mast portion 505 such that the EoAT mast portion 510 constitutes an inner mast portion and the base mast portion 505 constitutes an outer mast portion. In other forms, the base mast portion 505 may be received inside the EoAT mast portion 510 in a telescoping manner or other manner. At least one bridge conveyor 515 extends across the entire base mast portion 505 and the EoAT mast portion 510. The EoAT mast portion 510 has a buffering conveyor 520 configured to buffer the cargo 125 relative to the EoAT 215. In the illustrated example, both the bridge conveyor 515 and the buffering conveyor 520 are belt-type conveyors, but in other examples, different types and / or combinations of conveyors may be used. The bridge conveyor 515 includes a bridge conveyor belt 525, and the buffering conveyor 520 includes a buffering conveyor belt 530. The bridge conveyor belt 525 is routed to loop between the base mast portion 505 and the EoAT mast portion 510. The bridge conveyor 515 has a bridge conveyor bed 535 on which the cargo 125 is transported. The cargo 125 is stationary or slides relative to the bridge conveyor belt 525 while being transported on the bridge conveyor bed 535. The bridge conveyor 515 is configured such that the bridge conveyor bed 535 can be lengthened or shortened when the EoAT mast portion 510 moves in the retraction direction 430 or the extension direction 435. When the EoAT mast portion 510 extends or retracts, the bridge conveyor bed 535 of the bridge conveyor 515 can still move the cargo 125.

[0045] Referring to FIGS. 7, 8, and 9, the base mast portion 505 includes a frame 705 that defines a mast portion cavity 710 in which the EoAT mast portion 510 is slidably received. Proximal to the EoAT mast portion 510, the base mast portion 505 has one or more rail bearings 715 in which the rails of the EoAT mast portion 510 are slidably received. The rail bearings 715 support the EoAT mast portion 510 and allow the EoAT mast portion 510 to move relative to the base mast portion 505. In the illustrated embodiment, the rail bearings 715 are attached to the frame 705 at least on both sides of the mast portion cavity 710. In one variation, the rail bearings 715 may be linear bearings, but other types of mechanisms or structures that facilitate smooth relative movement may also be used. On both sides of the mast portion cavity 710, the frame 705 defines one or more EoAT drive motor slots 720 configured to receive a conveyor motor on the EoAT mast portion 510 that powers the bridge conveyor belt 525. The EoAT drive motor slots 720 relieve to allow the conveyor motor to slide directly under the bridge conveyor bed 535 as the EoAT mast portion 510 extends and retracts. As shown, the base mast portion 505 further includes a base slider bed 725 that extends across the mast portion cavity 710 and one or more base support rails 730 that extend into the mast portion cavity 710. The base slider bed 725 is attached to the frame 705, supports the bridge conveyor belt 525, and is configured to provide a sliding surface on which the bridge conveyor belt 525 slides. The base support rails 730 further support the bridge conveyor belt 525 at the edges of the bridge conveyor belt 525.

[0046] FIG. 8 is a perspective view of the base mast portion 505 with the base slider bed 725 and other components removed for clarity, and FIG. 9 is a cross-sectional view of the base mast portion 505. The base mast portion 505 includes a drive mechanism 805 configured to extend and retract the EoAT mast portion 510 relative to the base mast portion 505. In one form, the drive mechanism 805 includes a reversible electric motor, although other types of motors may also be used. As shown, the drive mechanism 805 includes a motor 810 and a gearbox 815 coupled to the motor 810. One or more drive belts 820 are driven by the motor 810 via the gearbox 815. In the example shown, the drive belts 820 are positioned along the frame 705 on both sides of the mast portion cavity 710. The drive belts 820 are looped between the gearbox 815 and one or more drive idler pulleys 825 positioned at the ends of the base mast portion 505 where the EoAT mast portion 510 is slidably received in the rail bearings 715. As will be described in more detail below, the EoAT mast portion 510 is fixed to the drive belts 820. The drive mechanism 805 extends or retracts the EoAT mast portion 510 relative to the base mast portion 505 by moving the drive belts 820 in a suitable direction via the gearbox 815.

[0047] Regarding the bridge conveyor 515, the base mast portion 505 has one or more bridge guide rollers 830 that guide the bridge conveyor belt 525 on the base mast portion 505. At the end where the base mast portion 505 is coupled to the base unit 205, the bridge guide roller 830 includes one or more bridge idler pulleys 835 around which the bridge conveyor belt 525 is looped. In the illustrated example, there are bridge idler pulleys 835, but in other examples, the bridge conveyor 515 can include more bridge idler pulleys 835 than shown, or fewer bridge idler pulleys 835 than shown. Proximal to the EoAT mast portion 510, the bridge guide roller 830 includes at least one bridge take-up pulley 840 around which the bridge conveyor belt 525 is looped. At the bridge take-up pulley 840, the bridge conveyor 515 of the base mast portion 505 includes a belt shield 845 that helps protect and guide the bridge conveyor belt 525. The bridge take-up pulley 840 guides the bridge conveyor belt 525 to compensate for changes in slack of the bridge conveyor belt 525 as the EoAT mast portion 510 extends and retracts.

[0048] Referring to FIGS. 10, 11, and 12, the EoAT mast portion 510 includes one or more bearing rails 1005 that slide in the rail bearings 715 of the base mast portion 505. The EoAT mast portion 510 further includes one or more drive belt clamps 1010 attached to the frame 1015 of the EoAT mast portion 510. The drive belt clamp 1010 locks onto the corresponding drive belt 820 of the drive mechanism 805 of the base mast portion 505. With the drive belt clamp 1010 locked onto the drive belt 820, the motor 810 of the drive mechanism 805 can extend and retract the EoAT mast portion 510. In the illustrated example, the EoAT mast portion 510 includes two bearing rails 1005 and drive belt clamps 1010 positioned on both sides of the frame 1015. In other examples, it is possible to have more or fewer bearing rails 1005 and drive belt clamps 1010 than shown, and the bearing rails 1005 and drive belt clamps 1010 can have a positioning and / or configuration different from that shown.

[0049] The EoAT mast section 510 further comprises an EoAT actuator drive 1020 attached along the frame 1015. The EoAT actuator drive 1020 is designed to control the pitch and / or tilt of the EoAT 215 relative to the mast 210. As shown, the EoAT actuator drive 1020 comprises one or more motors 1025 having one or more gearboxes 1030 that drive one or more EoAT drive belts 1035. The motors 1025 and gearboxes 1030 tend to be heavy, but in the example shown are positioned proximal to the base mast section 505 to reduce torque and conserve the energy required for movement of the mast 210. At the proximal end of the EoAT 215, the EoAT actuator drive 1020 has one or more EoAT drive pulleys 1040 around which the EoAT drive belts 1035 are looped. As shown, the EoAT drive belts 1035 extend generally over the entire length of the EoAT mast section 510 between the gearboxes 1030 of the EoAT actuator drive 1020 and the EoAT drive pulleys 1040. Returning to FIGS. 6 and 7, the motors 1025 and gearboxes 1030 are designed to extend through and move internally within the EoAT drive motor slots 720 in the frame 705 of the base mast section 505.

[0050] As shown in FIG. 10, the bridge conveyor 515 has a bridge slider belt 1045 on which the bridge conveyor belt 525 slides when moving. The buffering conveyor 520 has a buffering slider belt 1050 on which the buffering conveyor belt 530 slides when moving. FIG. 11 is a top view of the EoAT mast section 510 with the bridge slider bed 1045 and the buffering slider bed 1050 removed so that other components of the EoAT mast section 510 can be seen. FIG. 12 is a cross-sectional view of the EoAT mast section 510. As shown, the buffering conveyor 520 has one or more buffering idler pulleys 1105 on both sides of the buffering conveyor 520. The buffering conveyor belt 530 is looped around the buffering idler pulleys 1105. The buffering conveyor 520 further has one or more buffering guide pulleys 1110 that guide the buffering conveyor belt 530 around a buffering drive pulley 1115 that moves the buffering conveyor belt 530. At the proximal end of the EoAT 215, the EoAT mast section 510 has one or more transition conveyors 1120 with one or more transition conveyor belts 1125. The transition conveyor 1120 serves to move the cargo 125 moving between the mast 210 and the EoAT 215 onto the EoAT drive pulley 1040. As shown, the transition conveyor belt 1125 is powered by the buffering idler pulley 1105 closest to the EoAT 215.

[0051] Referring to FIGS. 11, 12, and 13, the bridge conveyor 515 of the EoAT mast section 510 includes a bridge idler pulley 1130 at a proximal end of the buffering conveyor 520 and a bridge drive mechanism 1135 at the other end. The bridge drive mechanism 1135 includes a motor 1140, a gearbox 1145 coupled to the motor 1140, a drive belt 1150, and a drive pulley 1155 that connects the gearbox 1145 to the drive belt 1150 to supply power from the motor 1140 to the drive belt 1150. In the bridge conveyor 515, at one end, the buffering conveyor belt 530 is looped around the bridge idler pulley 1130, and at the other end, the drive belt 1150 is wound. As shown in the figure, in order to minimize the weight of the end of the EoAT mast section 510 on the EoAT 215 side and save energy, the bridge drive mechanism 1135 is positioned at the same end as the transition conveyor belt 1125. In the illustrated embodiment, the drive pulley 1155 operably couples the drive belt 1150 to the motor 1140, but the drive belt 1150 can be driven by other methods such as a chain or a drive shaft. As shown in the figure, the EoAT mast section 510 further includes a vacuum manifold 1160 for controlling and supplying vacuum or suction to the vacuum or suction cups on the EoAT 215.

[0052] Hereinafter, with reference to FIGS. 14 and 15, a technique for extending and retracting the mast 210 will be described. FIG. 14 is a side view of the mast 210 with selected components removed for improved visibility. FIG. 15 is an enlarged perspective view of the bridge conveyor belt 525 at the interface between the base mast portion 505 and the EoAT mast portion 510. Repeatedly, the EoAT mast portion 510 is fixed to the drive belt 820 of the drive mechanism 805 via the drive belt clamp 1010. By receiving the bearing rail 1005 of the EoAT mast portion 510 in the rail bearing 715 of the base mast portion 505, the EoAT mast portion 510 becomes slidable or movable with respect to the base mast portion 505. To move the EoAT mast portion 510 in the retraction direction 430 or the extension direction 435, the motor 810 moves the drive belt 820 in an appropriate direction via the gearbox 815. By moving the drive belt 820 in this way, the EoAT mast portion 510 is moved via the drive belt clamp 1010. As described above, the base mast portion 505 has an EoAT drive motor slot 720 in which the gearbox 1030 of the motor 1025 of the EoAT actuator drive 1020 moves.

[0053] Referring to FIG. 15, the bridge conveyor belt 525 is routed in a serpentine or S - pattern between the drive belt 1150 of the bridge drive mechanism 1135 on the EoAT mast section 510 and the bridge take - up pulley 840 of the base mast section 505. With this configuration, the bridge conveyor 515 can operate with a variable length of the mast 210 as a result of the extension and retraction of the mast 210, and can transfer the cargo 120. When the EoAT mast section 510 moves in the retraction direction 430, the drive belt 1150 draws the bridge conveyor belt 525, sending the excessive slack of the bridge conveyor belt 525 under the bridge conveyor bed 535. During retraction, the bridge take - up pulley 840 remains stationary when the buffering idler pulley 1105 of the bridge drive mechanism 1135 moves in the retraction direction 430. This creates a longer U - shaped loop portion of the bridge conveyor belt 525 between the bridge take - up pulley 840 and the buffering idler pulley 1105, taking up the excessive slack of the bridge conveyor belt 525. The motor 1140 can still supply power to or drive the bridge conveyor belt 525 via the drive belt 1150 regardless of the length of the mast 210. By taking up this excessive slack, the bridge conveyor belt 525 of the bridge conveyor 515 can still operate in the retracted position. On the other hand, when the EoAT mast section 510 extends in the extension direction 435, the drive belt 1150 of the bridge drive mechanism 1135 moves toward the relatively fixed bridge take - up pulley 840 so that the slack of the bridge conveyor belt 525 under the bridge conveyor bed 535 is reduced. When the EoAT mast section 510 is in the fully extended position or the partially extended position, the bridge drive mechanism 1135 can still move the bridge conveyor belt 525 of the bridge conveyor 515.

[0054] Referring to FIGS. 16 and 17, the EoAT actuator joint 1605 connects the mast 210 to the EoAT 215. The EoAT actuator joint 1605 is configured to move the EoAT 215 in the pitch direction 1610 (e.g., the up and down direction) and the yaw direction 1615 (e.g., the left and right direction). In shipping and other situations, a part of the cargo 125 such as a box may shift, tilt, or bend. The EoAT 215 is further configured to rotate in the roll direction 1620 (e.g., the twisting direction) with respect to the mast 210. The EoAT actuator drive 1020 moves the EoAT 215 in the pitch direction 1610 and the yaw direction 1615 by the EoAT actuator joint 1605 via the EoAT drive belt 1035 and the EoAT drive pulley 1040.

[0055] Referring to FIG. 17, the EoAT actuator joint 1605 includes an EoAT bracket 1705 rotatably attached to the EoAT 215, and an actuator gearbox 1710 received in the EoAT bracket 1705. The EoAT actuator joint 1605 includes a rolling drive mechanism 1715 fixed to the frame 1720 of the EoAT 215. The rolling drive mechanism 1715 includes a motor 1725 having a gearbox 1730 coupled to the EoAT bracket 1705. As will be described in more detail below, the motor 1725 and the gearbox 1730 of the rolling drive mechanism 1715 are configured to rotate the EoAT bracket 1705 with respect to the EoAT 215 so that the EoAT 215 is movable in the roll direction 1620.

[0056] Referring to FIG. 19, the actuator gear box 1710 includes a housing 1805. On both sides of the housing 1805, the actuator gear box 1710 has one or more actuator drive bearings 1810 in which an actuator drive shaft 1815 is rotatably received. The end of the actuator drive shaft 1815 is fixed to an EoAT drive pulley 1040 such that an EoAT actuator drive 1020 can rotate the actuator drive shaft 1815 relative to the housing 1805. As shown in FIG. 19, the actuator gear box 1710 further comprises one or more pinion gears 1905 fixed to both ends of the actuator drive shaft 1815. The pinion gears 1905 engage one or more rack gears 1910 fixed to both sides of a yaw pivot shaft 1915. These gears each have gear teeth that mesh with each other. In the illustrated example, the gear teeth are helical gear teeth so as to obtain proper engagement especially when a particularly high torque is applied, but in other examples, other types of tooth configurations can also be used. One end of the yaw pivot shaft 1915 and the rack gear 1910 has a connector plate 1920 fixed to an EoAT bracket 1705. In the illustrated example, the connector plate 1920 has one or more fastening openings 1925. As shown in FIG. 20, the EoAT bracket 1705 has a fastening hole 2005 of a similar configuration that receives a fastener (e.g., a screw) fixed to the fastening opening 1925 of the actuator gear box 1710 to fix the connector plate 1920 to the EoAT bracket 1705. It is to be recognized that the EoAT bracket 1705 and the connector plate 1920 can also be fixed in other ways.

[0057] By rotating the pinion gear 1905 in the same direction (as viewed from one side of the actuator gear box 1710), the EoAT actuator drive 1020 can pitch or move the EoAT 215 in the pitch direction 1610 (FIG. 16), and the rack gear 1910 does not rotate. When the EoAT actuator drive 1020 rotates the pinion gear 1905 in the opposite direction by the actuator drive shaft 1815, the rack gear 1910 is rotatable relative to the housing 1805 so that the EoAT actuator drive 1020 can move the EoAT 215 in the yaw direction 1615. As shown in FIGS. 15, 16, and 20, the motor 1725 of the rolling drive mechanism 1715 can rotate the EoAT bracket 1705 in the roll direction 1620 via the actuator gear box 1710. By rotating the EoAT bracket 1705 in this way, the EoAT 215 rotates in the roll direction 1620. Again, by rotating the EoAT 215 in the roll direction 1620, the EoAT 215 can engage and move with respect to the cargo 125 such as a non-horizontal box or a box that has come off the stacked boxes or the like.

[0058] Figures 21 and 22 are a front perspective view and a rear perspective view of the EoAT 215, respectively, and FIG. 23 is a top view of the EoAT 215. As shown, the EoAT 215 includes several unique features that improve the handling of the goods 125. By improving the handling of the EoAT 215, the robot system 100 can operate for longer periods of time without human intervention, and the robot 105 can quickly recover from some problematic scenarios. The EoAT 215 includes a first proximal conveyor 2105 and a second distal conveyor 2110. In particular, the proximal conveyor 2105 and the distal conveyor 2110 can facilitate the queuing and buffering of the goods 125 by operating at different speeds. For example, the proximal conveyor 2105 can facilitate a smoother transition of the goods 125 between the mast 210 and the EoAT 215 by operating at an intermediate speed compared to the speeds of the distal conveyor 2110 and the buffering conveyor 520 (and the transition conveyor 1120) of the mast 210. Also, the proximal conveyor 2105 can buffer the goods 125 while the goods 125 are being loaded onto the distal conveyor 2110 or while the goods 125 are being unloaded from the distal conveyor 2110. In the illustrated example, both the proximal conveyor 2105 and the distal conveyor 2110 are powered belt-type conveyors, but other types of conveyors can also be used.

[0059] The proximal conveyor 2105 further includes a proximal conveyor belt 2115, and the distal conveyor 2110 includes a distal conveyor belt 2120. The EoAT 215 is configured to lift the cargo 125 onto the distal conveyor 2110 of the EoAT 215 and push the cargo 125 out of the distal conveyor 2110 by moving along the frame 1720, and includes a gripping mechanism 2125. The gripping mechanism 2125 includes one or more suction cups 2130 that fix the cargo 125 to the gripping mechanism 2125 by vacuum or suction. As an alternative or addition to this, for fixing or gripping the cargo 125 to the gripping mechanism 2125, other types of devices (such as magnets, clamps, hooks, etc.) on the gripping mechanism 2125 can also be used. The suction cups 2130 are fixed to the gripping member 2135 of the gripping mechanism 2125. As shown in the figure, both the proximal conveyor belt 2115 and the distal conveyor belt 2120 extend substantially across the entire width of the bed of the EoAT 215. For this reason, the proximal conveyor 2105 and the distal conveyor 2110 can provide a relatively large contact area with respect to the cargo 125. The larger contact area not only improves the frictional engagement but also enables the EoAT 215 to handle various sizes and shapes of the cargo 125. The gripping member 2135 of the gripping mechanism 2125 is designed to spread across the entire distal conveyor belt 2120 when the gripping member 2135 moves so that the EoAT 215 can have a wider distal conveyor 2110. Also, thereby, the gripping member 2135 can be made wider to incorporate more suction cups 2130 and / or larger suction cups 2130. The gripping mechanism 2125 is designed to move in the retracting direction 430 and the extending direction 435 along the distal conveyor 2110. As shown in the figure, the EoAT 215 has a carriage gap 2140 between the proximal conveyor 2105 and the distal conveyor 2110, and the gripping member 2135 is nested under the conveyor beds of the proximal conveyor 2105 and the distal conveyor 2110 so that the cargo 125 can move above the gripping member 2135 nested in the carriage gap 2140.

[0060] At the distal end, the EoAT 215 has one or more guide members 2145 for guiding, moving, fixing, and / or manipulating the load 125. The guide member 2145 includes a shoe member 2150 on one side of the EoAT 215 and a positioning member 2155 and a rocker arm 2160 on the opposite side. The rocker arm 2160 extends obliquely downward below the positioning member 2155. The rocker arm 2160 is pivotally connected to the frame 1720 of the EoAT 215 via a pivotal connector 2165 such as a pivot bolt. The rocker arm 1260 is held in place at an acute angle with respect to the positioning member 2155 by a stop member 2170. The guide member 2145 is made of a flexible material such as steel and / or plastic so as to bend when it contacts the load 125 or other objects such as the wall of the load carrier 120 and the building 130. The rocker arm 2160 is pivotally attached to the EoAT 215 so as to be pivotable upward when it contacts the floor of the load carrier 120 or the building 130.

[0061] Referring to FIGS. 23, 24, and 25, the distal end of the shoe member 2150 is bent inwardly so as to be pressed against the positioning member 2155 when the cargo 125 is unloaded from the EoAT 215. This helps to position the cargo 125 so that it is more accurately positioned and stacked. The positioning member 2155 essentially acts as a probe for positioning the cargo 125. As shown in FIGS. 24 and 25, the shoe member 2150 has a guide rail body 2405 that helps to hold the cargo 125 being transferred on the EoAT 215. Again, at the distal end, the shoe member 2150 has a fan portion 2410 that extends fan-shaped from the guide rail body 2405 and is wider than the guide rail body 2405. By having the wider fan portion 2410, the shoe member 2150 helps to properly center and hold the cargo 125. Also, the shoe member 2150 can act like a shoe for positioning the cargo 125 into a loading configuration in a narrow location such as against a wall. The fan portion 2410 further has an inclined edge portion 2415 that prevents jamming of the shoe member 2150 when the EoAT 215 is angled.

[0062] Referring to FIG. 26, the positioning member 2155 comprises a guide rail body 2605 that helps to hold the cargo 125 being transferred on the EoAT 215. The positioning member 2155 further has a probe member 2610 that extends linearly from the distal end of the guide rail body 2605. In some use cases, the probe member 2610 acts as a positioning probe for positioning the EoAT 215 relative to the cargo 125. The probe member 2610 creates a space during loading or unloading of the cargo 125.

[0063] Referring to FIGS. 27 and 28, the gripping mechanism 2125 further comprises a carriage 2702 having one or more carriage sliders 2705 slidably coupled to one or more bearing rails 2710. In the illustrated example, the carriage sliders 2705 are positioned on both sides of the EoAT 215 in conjunction with the bearing rails 2710. Each of the carriage sliders 2705 comprises one or more bearing rollers 2715 received in corresponding link assemblies 2720 of the bearing rails 2710. In the illustrated example, the bearing rails 2710 are substantially linear such that the carriage sliders 2705 move along a generally linear path.

[0064] The carriage 2702 is coupled to the gripping member 2135 via one or more link assemblies 2720. The link assemblies 2720 have cam followers 2725 that engage one or more corresponding cam rails 2730. The link assemblies 2720 are positioned on both sides of the distal conveyor 2110 to facilitate the spreading of the gripping member 2135 across the entire distal conveyor 2110. When the carriage 2702 of the gripping mechanism 2125 moves in the retraction direction 430 and the extension direction 435 (FIG. 23) along the bearing rails 2710, the cam rails 2730 move the gripping member 2135 up and down via the cam followers 2725. To move the gripping mechanism 2125 along the bearing rails 2710, the EoAT 215 has a carriage drive system 2735. In the illustrated example, the carriage drive system 2735 includes one or more drive belts 2740 looped between a corresponding drive motor 2745 and an idler pulley 2750. The carriage sliders 2705 are locked to the drive belts 2740 such that the gripping mechanism 2125 moves when the drive motor 2745 moves the drive belts 2740. In one form, the drive motor 2745 comprises a reversible electric motor, although in other examples, other types of motors may also be used.

[0065] Referring to FIG. 28, the cam rail 2730 is shaped to move the gripping member 2135 up and down as the gripping mechanism 2125 moves. As shown, the cam rail 2730 includes a recessed portion 2805 such that the gripping member 2135 is at or below the proximal conveyor 2105 and the distal conveyor 2110 so that the cargo 125 can move above the gripping member 2135 without being obstructed by the EoAT 215. As suggested above, when the cam follower 2725 is in the recessed portion 2805, the gripping member 2135 retracts into the carriage gap 2140 (FIG. 27) between the proximal conveyor 2105 and the distal conveyor 2110. The cam rail 2730 has an extension portion 2810 on the opposite side of the recessed portion 2805. In the extension portion 2810, the shape of the cam rail 2730 is lower. When the cam follower 2725 is in the extension portion 2810, the gripping mechanism 2125 is in an extended position where the cargo 125 is pushed out of the EoAT 215 by gripping with the suction cup 2130 or pulled up onto the EoAT 215. The extension portion 2810 lowers the gripping member 2135 so that the EoAT 215 can reach the cargo 125 such as a box at a lower location, and so that the cargo 125 such as boxes can be easily pulled out from the stacked boxes by gripping the lower part of the cargo. When the gripping member 2135 is in a lower state, since the gripping mechanism 2125 tends to grip the lower part of the cargo 125, the stability during the transition to the EoAT 215 is improved. Also, with such a shape, the gripping mechanism 2125 can move sufficiently in the vertical direction to lift the cargo 125 from the floor. The cam rail 2730 has a transition portion 2815 between the recessed portion 2805 and the extension portion 2810. When the cam follower 2725 moves along the transition portion 2815, the gripping member 2135 is lifted above the upper surface of the distal conveyor 2110 so that the gripping member 2135 is maintained above the distal conveyor 2110. The gripping member 2135 can lift the cargo 125 onto the distal conveyor 2110 by the suction cup 2130 while being lifted above the distal conveyor 2110 during unloading or loading of the cargo 125 from the cargo transporter 120. During loading or unloading of the cargo transporter 120, the gripping member 2135 of the gripping mechanism 2125 can push the cargo 125 out of the EoAT 215.

[0066] Referring to FIGS. 29, 30, and 31, each link assembly 2720 includes one or more link mechanisms 2905 that pivotally connect the carriage slider 2705 to the cam follower 2725. In the illustrated example, each link assembly 2720 has two link mechanisms 2905 that connect the carriage slider 2705 to the cam follower 2725 in a parallelogram arrangement. The gripping member 2135 has one or more vacuum ports 2910 that supply vacuum or suction to the suction cup 2130. In other words, the vacuum ports 2910 constitute a vacuum manifold between the suction cup 2130 such that the suction cup 2130 can draw a vacuum to grip the cargo 125. To prevent the cam follower 2725 from disengaging from the cam rail 2730, each cam follower 2725 has at least a pair of cam rollers 2915 positioned on both sides of each cam rail 2730, for example, as shown in FIG. 31.

[0067] Hereinafter, a technique for operating the robot system 100 will be described with reference to FIGS. 1, 2, 4, 5, 32, and 33. As described above, the robot 105 is designed to load and unload the cargo 125 onto and from the cargo transporter 120. Although this technique will be described and illustrated with respect to the loading and unloading of one or more boxes 3205 (FIG. 32), it should be recognized that the robot 105 can also load and unload other types of cargo 125. To load the box 3205 onto a specific cargo transporter 120, the wheels 225 of the robot 105 are positioned in front of the loading dock 135 including the corresponding cargo transporter 120. During the movement of the robot 105, the mast 210 can avoid obstacles as described above by retracting or extending. Once at the loading dock 135, the mast 210 extends and moves at least to the position within the cargo transporter 120 where the box 3205 is stacked. The box 3205 is loaded onto the base unit conveyor 235 of the robot 105 via the main conveyor system 115 and the extendable conveyor 110. The box 3205 moves from the base unit conveyor 235 along the bridge conveyor 515 and the buffering conveyor 520 on the mast 210. Again, the buffering conveyor 520 can be used to buffer the boxes 3205 supplied to the EoAT 215 to improve the loading and operation throughput. The box 3205 moves from the buffering conveyor 520 along the transition conveyor belt 1125 (FIG. 11) to the proximal conveyor 2105 of the EoAT 215.

[0068] Before the box 3205 is transferred onto the distal conveyor 2110, the gripping member 2135 of the gripping mechanism 2125 moves in the retraction direction 430 to a retracted position within the carriage gap 2140. When the gripping member 2135 is present within the carriage gap 2140, the gripping member 2135 is positioned on or below the upper surfaces of the proximal conveyor 2105 and the distal conveyor 2110 such that the box 3205 can move above the gripping member 2135 of the gripping mechanism 2125 to the distal conveyor 2110. The distal conveyor 2110 moves the box 3205 along the EoAT 215. Simultaneously or immediately thereafter, the gripping member 2135 moves in the extension direction 435 so as to be positioned above the upper surface of the distal conveyor 2110. Thus, the suction cup 2130 of the gripping mechanism 2125 can push the box 3205 in the extension direction 435.

[0069] As seen in FIGS. 32 and 33, the boxes 3205 are stacked in horizontal rows and vertical tiers inside the cargo carrier 120. Before loading on top of the stacked boxes 3205, the probe member 2610 of the positioning member 2155 is positioned by the boxes 3205 stacked in rows in the past or by the wall of the cargo carrier 120. The rocker arm 2160 helps to fix the lower box 3205 by contacting the box 3205 directly below the box 3205 to be discharged. When the gripping mechanism 2125 pushes the box 3205 in the extension direction 435, the angled fan portion 2410 of the EoAT 215 pushes the box 3205 against the positioning member 2155, which helps to orient and position the box 3205. Thereafter, the EoAT 215 ejects or discharges the box 3205 from the distal conveyor 2110 of the EoAT 215. Thereafter, the gripping mechanism 2125 can move the boxes 3205 stacked as described above to the final stacking rest position. The mast 210 moves the EoAT 215 to the next appropriate row or tier of boxes 3205, and this loading technique is similarly repeated until the loading onto the cargo carrier 120 is proper.

[0070] Referring to FIG. 34, the EoAT 215 is designed to load or unload the box 3205 even when it is close to the floor 3405 of the cargo transporter 120 or the building 130. As described above, the rocker arm 2160 hangs down at an acute angle from the end of the EoAT 215 via the pivot connector 2165 and the stop member 2170. Thereby, the rocker arm 2160 can pivot or move when it is close to the floor 3405. As shown in the figure, when the rocker arm 2160 contacts the floor 3405, it pivots around the pivot connector 2165 in the direction indicated by the arrow 3410. When the EoAT 215 is lifted from the floor 3405, the rocker arm 2160 pivots due to gravity and returns to its original orientation. The stop member 2170 helps to limit or position the rocker arm 2160 at an appropriate angle or location.

[0071] In the unloading process, roughly the opposite of the above is done, and the box 3205 is moved. The base unit 205 and / or the mast 210 position the EoAT 215 so as to face the box 3205 being unloaded from the cargo carrier 120. Referring again to FIGS. 32 and 33, the probe member 2610 of the positioning member 2155 is positioned to support the box 3205 being unloaded, and the rocker arm 2160 helps to stabilize the lower box 3205 and reduce the risk of tipping by contacting the lower box 3205. Referring to FIG. 35, the EoAT 215 can be rotated in the roll direction 1620 by the rolling drive mechanism 1715 (FIG. 17) to move or engage a tilted or misaligned box 3205. As shown in FIG. 32, the gripping member 2135 of the EoAT 215 moves to the extended position in the extension direction 435. Before or during the extension of the gripping member 2135, vacuum or suction is supplied to the suction cup 2130. By the suction of the suction cup 2130, the target box 3205 is drawn and fixed to the gripping mechanism 2125. Once fixed, the gripping member 2135 of the gripping mechanism 2125 moves in the retraction direction 430. Before or at the same time as this, power is supplied to the distal conveyor 2110 to also move the box 3205 in the retraction direction 430. When the gripping member 2135 reaches the carriage gap 2140 (or immediately before that), the suction supplied to the suction cup 2130 is stopped and the gripping mechanism 2125 is disengaged from the box 3205. In the carriage gap 2140, the gripping member 2135 of the gripping mechanism 2125 is below the bottom of the box 3205. The distal conveyor 2110 pushes the box 3205 above the gripping member 2135, and by supplying power (or maintaining power supply) to the proximal conveyor 2105, the box 3205 moves in the retraction direction 430.

[0072] The box 3205 moves from the EoAT 215 via the transfer conveyor belt 1125 (FIG. 11) onto the buffering conveyor 520 of the mast 210. Repeatedly, the buffering conveyor 520 can be used for buffering the box 3205 on the mast 210. Thereafter, the box 3205 moves to the bridge conveyor 515. It is to be recognized that a plurality of boxes 3205 can move simultaneously along the mast 210. Thereafter, the box 3205 on the mast 210 moves onto the base unit conveyor 235 and is transferred from the base unit conveyor 235 via the extensible conveyor 110 and the main conveyor system 115 into the building 130. This unloading technique is repeated until an appropriate number of boxes 3205 are unloaded from the freight elevator 120.

[0073] [Glossary] The terms used in the claims and in this specification shall have only their respective ordinary and normal meanings, except as otherwise expressly defined below. The words in these definitions shall have only their respective ordinary and normal meanings. Such ordinary and normal meanings shall include all dictionary definitions consistent from the most recently published Webster's dictionary and Random House dictionary. When used in this specification and in the claims, the following definitions shall apply to these terms and to each of the common variants specified below.

[0074] "Acute" or "Acute Angle" generally refers to an angle that is a right angle or less than 90°. "Axis" generally refers to a straight line around which a body, object, and / or geometric shape rotates or is considered to rotate.

[0075] "Bearing" generally refers to a mechanical element that restricts relative motion to only the desired motion such as rotational motion and suppresses friction between moving parts. As a bearing, for example, a form of a loose ball bearing found in a cup-cone type hub is possible. Also, as a bearing, a form of a cartridge bearing in which a ball bearing is included in a hollow cylindrical cartridge whose inner surface rotates with respect to the outer surface is possible by using a ball bearing or other types of bearings.

[0076] "Cargo" or "Cargo Item" generally refers to an article or other physical object that is usually transported or transferred on a vehicle such as a truck, ship, aircraft, spacecraft, and / or automobile. The cargo item can be unpacked or, to give just a few examples, can be packed in boxes, bags, bales, containers, barrels, and tanks, etc.

[0077] "Cargo Carrier" generally refers to any structure used for the transfer and / or storage of cargo items such as, to give just a few examples, a flatbed trailer, trailer, semi-trailer, truck, intermodal container, refrigerated trailer, and railroad vehicle. The cargo carrier can be transferred in any number of ways such as by land, sea, space, and / or air. Certain types of cargo carriers such as intermodal containers are designed to be transferred in several ways such as by truck, ship, and railroad. The cargo carrier can be completely enclosed if in the form of a semi-trailer or cargo container or can be open to the external environment if in the form of a flatbed trailer, etc.

[0078] "Controller" generally refers to a device using mechanical, hydraulic, pneumatic, and electronic technologies, and / or a microprocessor or computer that monitors and physically changes the operating state of a given dynamic system. In a non-limiting example, a controller may include a programmable logic controller (PLC) of Allen Bradley (trademark). A controller may include a processor that executes calculations for processing inputs or outputs. A controller may include a memory that stores values processed by the processor or the results of past processing. Also, the controller may be configured to receive inputs and outputs from a wide range of input / output devices that receive or transmit values. Such devices include other computers, keyboards, mice, visual displays, printers, industrial equipment, and systems or machines of any type and size. For example, the controller can control a network or network interface to execute various network communications in response to requests. The network interface may be part of the controller or may be characterized as separate and remote from the controller. The controller may be a single physical computer device such as a desktop computer or laptop computer, or may be composed of multiple devices of the same type, such as a group of servers operating as one device in a networked cluster, or may be a heterogeneous combination of different computer devices operating as one controller and integrally linked by a communication network. Also, the communication network connected to the controller may be connected to a wider network such as the Internet. Therefore, the controller may include one or more physical processors or other computer devices or circuits, and may also include any suitable type of memory. Also, the controller may be a virtual computer platform where the number of physical processors and memories or memory devices is unknown or variable.Therefore, the controller may be physically located at a single geographical location or may be physically distributed across multiple wide - ranging locations in a state where multiple processors are integrally linked by a communication network so as to operate as a single controller. Multiple controllers or computer devices may be configured to form a network by communicating with each other or with other devices via wired or wireless communication links. Network communication may pass through various controllers that operate as network electrical products such as switches, routers, firewalls, or other network devices or interfaces before passing through other larger computer networks such as the Internet. Also, the communication may pass through the network as wireless data transmission carried on electromagnetic waves passing through transmission lines or free space. Such communication includes transferring data using a wireless local area network (WLAN) such as Wi - Fi or a cellular transmitter / receiver.

[0079] "Conveyor" is used in a broad sense to generally represent a mechanism used for transporting items such as goods, boxes, containers, and / or SKUs. As a non - limiting example, conveyors may include, among other things, belt conveyors, wire mesh conveyors, chain conveyors, electric track conveyors, roller conveyors, cross - belt conveyors, vibratory conveyors, and skate wheel conveyors. It is possible to supply power to all or part of the conveyor, or not to supply power. For example, a part of the conveyor may include a gravity feed section.

[0080] "Conveyor Bed" generally refers to the part of the conveyor on which the load and / or cargo being transported is stationary or sliding. "Conveyor Belt" or "Belt" generally refers to a flexible material such as a flexible band arranged around two or more pulleys for the purpose of conveying motion, power, and / or materials from one point to another. As a non-limiting example, a conveyor belt can be composed of flexible materials such as rubber and / or polyvinyl chloride (PVC). A conveyor belt includes one or more material layers such as a carcass layer and a cover layer. The carcass layer is the underlying layer that imparts strength and shape to the belt, and the cover layer covers the carcass layer. Usually, the carcass layer is composed of polyester, nylon, and / or cotton, and the cover layer is composed of rubber and / or plastic compounds, but not necessarily so.

[0081] "Couple" or "Coupled" generally refers to an indirect and / or direct connection between specified elements, components, and / or objects. The manner of coupling is often specifically associated with the manner in which two coupled elements interact.

[0082] "Electric Motor" generally refers to an electromechanical device that converts electrical energy into mechanical energy. Usually, an electric motor operates by the interaction between one or more magnetic fields and winding currents in the motor to generate a force in the form of rotation, but not necessarily so. An electric motor can be powered by a direct current (DC) source such as a battery, an automobile, and / or a rectifier, or an alternating current (AC) source such as a power grid, an inverter, and / or a generator. A generator can be mechanically identical to an electric motor (but not necessarily so), but operates in the reverse direction to receive mechanical energy and convert that mechanical energy into electrical energy.

[0083] "End of Arm Tool (EoAT)" or "End Effector" generally refers to a device at the end of a robotic arm designed to interact with the environment. The nature of the interaction of this device with the environment is determined by the use of the robotic arm. For example, the EoAT can interact with environmental objects such as SKUs in several ways. For example, the EoAT can include one or more gripping parts, such as impact, entry, shrinkage, and / or contact type gripping parts. The gripping part usually grips an object using some mechanical force, but not necessarily. However, other types of interactions, such as interactions based on suction or magnetic force, can be used to fix an object to the EoAT. As a non-limiting example, the EoAT can include, as an alternative or addition, just a few examples, vacuum cups, electromagnets, Bernoulli grippers, electrostatic grippers, van der Waals grippers, capillary grippers, cryogenic grippers, ultrasonic grippers, and laser grippers.

[0084] "Extended Position" generally refers to the location or state of a mechanism when at least a part of it is extended and its length or size increases. For example, in the extended position, the mast and / or conveyor can have a partial increase in length or size (i.e., partial extension) if full extension to the maximum possible range is not required. Depending on the configuration of the cargo carrier, the mast and / or conveyor will extend inside the cargo carrier in the case of an enclosed semi-trailer, etc., or above the cargo carrier in the case of a flatbed trailer, etc.

[0085] "Fastener" generally refers to a hardware device that integrally and mechanically couples or fixes two or more objects. As a non-limiting example, fasteners can include, just a few examples, bolts, dowels, nails, nuts, pegs, pins, rivets, screws, and snap fasteners.

[0086] "Flat" generally refers to an object that has a wide horizontal surface and little height. "Frame" generally refers to a structure that supports the mechanical components of a conveyor and / or sorter configured to move articles.

[0087] "Gearbox" or "Transmission" generally refers to a power system that enables the controlled application of mechanical power. A gearbox provides the conversion of speed, direction, and / or torque from a rotational power source to another device by the use of gears and / or a gear train.

[0088] "Lateral" generally refers to a lateral arrangement, orientation, or approach. "Loading Dock" generally refers to an area of a structure, such as a building, where loading and unloading of goods are performed with respect to a goods carrier (usually by road, rail, or sea, but not necessarily so). Also, the goods can be staged at the loading dock. Loading docks are typically found in commercial and industrial buildings, especially warehouses. A loading dock may be external, flush with the outer face of the building, or fully enclosed. A loading dock is not limited to a fully enclosed building; instead, it can be positioned in a location that is partially or fully open to the external environment.

[0089] "Longitudinal" generally relates to the length or the lengthwise dimension of an object rather than the transverse direction. "Motor" generally refers to a machine that supplies motive power to a device with moving parts. Motors can include rotary motors and linear motors. A motor can be powered in any number of ways, such as by an electrical, internal combustion, pneumatic, and / or hydraulic power source. As a non-limiting example, motors can include servo motors, pneumatic motors, hydraulic motors, steam engines, pneumatic pistons, hydraulic pistons, and / or internal combustion engines.

[0090] "Retracted Position" generally refers to the location or state of a mechanism when at least a part of it is contracted and its length or size is reduced. For example, in the retracted position, the mast and / or conveyor are typically shorter than in the extended position. For example, in the retracted position, the mast and / or conveyor can be partially contracted in length or size (i.e., partially retracted) if there is no need to contract to the maximum possible extent (i.e., fully retracted).

[0091] "Sensor" generally refers to an object intended to provide a corresponding output after detecting an event and / or change in the sensor's environment. Sensors include transducers that provide various types of outputs such as electrical signals and / or optical signals. As a non-limiting example, sensors can include pressure sensors, ultrasonic sensors, humidity sensors, gas sensors, motion sensors, acceleration sensors, displacement sensors, force sensors, optical sensors, and / or electromagnetic sensors. In some examples, sensors can include barcode readers, RFID readers, and / or vision systems.

[0092] "Substantially" generally refers to the extent to which a quantitative expression can vary from the described standard without the basic function of the subject in question changing substantially. In this specification, the term "substantially" is used to represent the inherent degree of uncertainty that can arise from any quantitative comparison, value, measurement result, and / or other expression.

[0093] "Transverse" generally refers to an object, axis, line, plane, or geometric shape that extends non-parallel and / or intersects with each other. For example, in a transverse arrangement, lines can extend perpendicular to each other (i.e., at a right angle), but can also extend at other non-flat angles such as acute, obtuse, or reflex angles. For example, diagonal lines can form an angle greater than zero (0) degrees so that the two are not parallel. When a line or other object extends transversely, it does not necessarily intersect with each other, but it is possible to intersect.

[0094] "Vacuum" generally refers to a space or state where the pressure of a gas such as air is much lower than the ambient pressure or atmospheric pressure. Vacuum can include a perfect vacuum where nothing exists in the space or a partial vacuum where some gas (or other substance) still exists in the space.

[0095] "Vision System" generally refers to one or more devices that collect data by a computer and / or other electronic devices to form one or more images, and perform appropriate position determination and / or "visual recognition" of an object. A vision system usually includes an imaging system with hardware and software that roughly mimics the function of the eye for purposes such as automatic inspection and robot guidance, but not necessarily so. In some cases, a vision system can employ one or more video cameras, analog-to-digital conversion (ADC), and digital signal processing (DSP) systems. As a non-limiting example, a vision system can include a charge-coupled device that inputs one or more images to be passed to a processor for image processing. A vision system is generally not limited to the visible spectrum only. Some vision systems image the environment at infrared (IR), visible, ultraviolet (UV), and / or X-ray wavelengths. In some cases, a vision system can interpret a three-dimensional surface by means of a stereo camera or the like.

[0096] It should be noted that the singular forms "a", "an", "the", etc. used in this specification and / or the claims include the plural form unless otherwise clearly stated. For example, when referring to "a device" or "the device" in this specification and / or the claims, it includes one or more of such devices.

[0097] In this specification, terms indicating directions such as "up", "down", "top", "bottom", "side", "longitudinal direction", "radial direction", "circumferential direction", "horizontal", "vertical", etc. are used only for the convenience of the reader to assist in understanding the illustrated embodiments, and it should be noted that there is no intention to limit the description, illustration, and / or claimed features to a specific direction and / or orientation by the use of these terms indicating directions.

[0098] As described above, the present invention has been illustrated and described in detail in the drawings and the above description, but these are merely examples and should not be construed as limiting literally. It is understood that only preferred embodiments have been illustrated and described, and protection is desired for all modifications, equivalents, and improvements included in the idea of the present invention defined by the following claims. All publications, patents, and patent applications cited in this specification are incorporated herein by reference in their entirety to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated for incorporation.

Explanation of Reference Numerals

[0099] 100 Robot system 105 Robot 110 Extendable conveyor 115 Main conveyor system 120 Cargo transporter 125 Cargo 130 Building 135 Loading dock 205 Base unit 210 Mast 215 EoAT 220 Transfer system 225 Wheels 230 Controller 235 Base unit conveyor 240 Mast actuator 245 Base unit housing 250 Sensor 405 Longitudinal axis 410 Lateral axis 415 First horizontal direction 420 Second horizontal direction 425 Column 430 Retraction direction 435 Extension direction 505 Base mast part 510 EoAT mast part 515 Bridge conveyor 520 Buffering conveyor 525 Bridge conveyor belt 530 Buffering conveyor belt 535 Buffering conveyor bed 705 Frame 710 Mast part cavity 715 Rail bearing 720 EoAT drive motor slot 725 Base slider bed 730 Base support rail 805 Drive mechanism 810 Motor 815 Gearbox 820 Drive belt 825 Drive idler pulley 830 Bridge guide roller 835 Bridge idler pulley 840 Bridge take-up pulley 845 Belt shield 1005 Bearing rail 1010 Drive belt clamp 1015 Frame 1020 EoAT actuator drive 1025 Motor 1030 Gearbox 1035 EoAT drive belt 1040 EoAT drive pulley 1045 Bridge slider bed 1050 Buffering slider bed 1105 Buffering idler pulley 1110 Buffering guide pulley 1115 Buffering drive pulley 1120 Transition conveyor 1125 Transition conveyor belt 1130 Bridge idler pulley 1135 Bridge drive mechanism 1140 Motor 1145 Gearbox 1150 Drive belt 1155 Drive pulley 1160 Vacuum manifold 1605 EoAT actuator joint 1610 Pitch direction 1615 Yaw direction 1620 Roll direction 1705 EoAT bracket 1710 Actuator gearbox 1715 Rolling drive mechanism 1720 Frame 1725 Motor 1730 Gearbox 1805 Housing 1810 Actuator drive bearing 1815 Actuator drive shaft 1905 Pinion gear 1910 Rack gear 1915 Yaw pivot shaft 1920 Connector plate 1925 Fastening opening 2005 Fastening hole 2105 Proximal conveyor 2110 Distal conveyor 2115 Proximal conveyor belt 2120 Distal conveyor belt 2125 Gripping mechanism 2130 Suction cup 2135 Gripping member 2140 Carriage gap 2145 Guide member 2150 Shoe blade member 2155 Positioning member 2160 Rocker Arm 2165 Pivot Connector 2170 Stop Member 2405 Guide Rail Body 2410 Fan Section 2415 Tilted Edge 2605 Guide Rail Body 2610 Probe Member 2702 Carriage 2705 Carriage Slider 2710 Bearing Rail 2715 Bearing Roller 2720 Link Assembly 2725 Cam Follower 2730 Cam Rail 2735 Carriage Drive System 2740 Drive Belt 2745 Drive Motor 2750 Idler Pulley 2805 Retraction Section 2810 Extension Section 2815 Transition Section 2905 Link Mechanism 2910 Vacuum Port 2915 Cam Roller 3205 Box 3405 Floor 3410 Arrow

Claims

1. A robot having an end-of-arm tool (EoAT) attached to a mast with a continuous conveyor path, At least two bearing rails disposed on both sides of the EoAT, At least two carriage sliders slidably disposed along the bearing rails, At least two link assemblies disposed on both sides of the EoAT, At least two cam rails disposed on both sides of the EoAT, A gripping member for fixing the goods And comprising, The link assembly couples the gripping member to the carriage slider, The link assembly has a cam follower that engages the cam rail, The cam rail is formed to raise and lower the gripping member, A conveyor is disposed between the link assemblies, The gripping member extends over the conveyor, System.

2. The system according to claim 1, wherein the mast is coupled to a base unit having one or more omnidirectional wheels. The system according to claim 1.

3. The system according to claim 2, wherein the mast has a bridge conveyor that can extend and retract. The system according to claim 2.

4. The system according to claim 3, wherein the bridge conveyor extends across at least two mast sections that move telescopically. The system according to claim 3.

5. The system according to claim 4, wherein the bridge conveyor includes a conveyor belt routed in an S-shaped pattern between the mast sections. The system according to claim 4.

6. The system according to claim 4, wherein the mast has a drive system for moving the mast sections relative to each other. The system according to claim 4.

7. The system according to claim 1, wherein the mast includes at least two conveyor sections for buffering the goods. The system according to claim 1.

8. The system according to claim 7, wherein the conveyor section includes a belt conveyor extending substantially across the entire width of the mast. The system according to claim 7.

9. The system according to claim 1, wherein the mast includes one or more transition conveyors for transferring goods between the mast and the EoAT. The system according to claim 1.

10. The system according to claim 1, wherein the EoAT includes a rolling drive configured to rotate the EoAT relative to the mast. The system according to claim 1.

11. The system according to claim 10, wherein the EoAT includes an actuator gearbox configured to move the EoAT in the yaw and pitch directions. The system according to claim 10.

12. The gripping mechanism has one or more vacuum cups for gripping the goods. The system according to claim 1.

13. Each of the cam followers includes at least a pair of cam rollers disposed on both sides of the cam rail. The system according to claim 1.

14. The EoAT includes at least two conveyor sections for transporting the goods. The system according to claim 1.

15. The EoAT includes a gripping mechanism configured to be nested at a retracted position between the conveyor sections. The system according to claim 14.

16. The EoAT includes a positioning member having a probe member extending from a distal end of the EoAT. The system according to claim 1.

17. The EoAT includes a shoe lever member configured to guide the goods with respect to the positioning member. The system according to claim 16.

18. The shoe lever member includes a fan section angled toward the positioning member. The system according to claim 17.

19. The EoAT includes a rocker arm hanging below the probe member. The system according to claim 16.

20. The rocker arm is angled at an acute angle with respect to the probe member. The system according to claim 19.

21. The rocker arm is pivotally connected to the EoAT via a pivot connector. The system according to claim 20.

22. The EoAT has a stop member for holding the rocker arm in place. The system according to claim 21.

23. The rocker arm is flexible. The system according to claim 19.

24. The mast is coupled to a base unit having one or more omnidirectional wheels. The system according to any one of claims 1 to 23.

25. The mast has an extendable and retractable bridge conveyor. The system according to any one of claims 1 to 24.

26. The bridge conveyor extends across at least two mast sections that move telescopically. The system according to claim 25.

27. The bridge conveyor includes a conveyor belt routed in an S-shaped pattern between the mast sections. The system according to claim 26.

28. The mast has a drive system for moving the mast sections relative to each other. The system according to claim 26 or 27.

29. The mast includes at least two conveyor sections for buffering goods. The system according to any one of claims 1 to 28.

30. The conveyor section includes a belt conveyor extending substantially across the entire width of the mast. The system according to any one of claims 1 to 29.

31. The mast includes one or more transition conveyors for transferring goods between the mast and the EoAT. The system according to any one of claims 1 to 30.

32. The EoAT includes a rolling drive configured to rotate the EoAT relative to the mast. The system according to any one of claims 1 to 31.

33. The EoAT includes an actuator gearbox configured to move the EoAT in the yaw direction and the pitch direction. The system according to any one of claims 1 to 32.

34. The gripping mechanism has one or more vacuum cups for gripping goods. The system according to claim 33.

35. Each of the cam followers includes at least a pair of cam rollers disposed on both sides of the cam rail. The system according to claim 34.

36. The EoAT includes at least two conveyor sections for transferring goods. The system according to any one of claims 1 to 35.

37. The EoAT includes a gripping mechanism configured to be nested in a retracted position between the conveyor sections. The system according to any one of claims 1 to 36.

38. The EoAT includes a positioning member having a probe member extending from a distal end of the EoAT. The system according to any one of claims 1 to 37.

39. The EoAT includes a shoe bevel member configured to guide goods with respect to the positioning member. The system according to any one of claims 1 to 38.

40. The shoe bevel member includes a fan portion angled toward the positioning member. The system according to any one of claims 1 to 39.

41. The EoAT includes a rocker arm hanging below the probe member. The system according to any one of claims 1 to 40.

42. The rocker arm is angled at an acute angle with respect to the probe member. The system according to any one of claims 1 to 41.

43. The rocker arm is pivotally connected to the EoAT via a pivot connector, The system according to any one of claims 1 to 42. **Claim 44** The EoAT has a stop member that holds the rocker arm in place, The system according to any one of claims 1 to 43. **Claim 45** The rocker arm is flexible, The system according to any one of claims 1 to 44. **Claim 46** Operating the system according to any one of claims 1 to 45, Method.

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