US 12,151,889 B2
Systems and methods for automated packaging and processing for shipping with container alignment
Benjamin Cohen, Somerville, MA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Jay Link, Westford, MA (US); Joshua Lurz, Pittsburgh, PA (US); Matthew T. Mason, Pittsburgh, PA (US); Richard Musgrave, Sewickley, PA (US); Ryan O'Hern, Reading, MA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Prasanna Velagapudi, Pittsburgh, PA (US); Thomas Wagner, Concord, MA (US); and Jeremy Saslaw, Cambridge, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Oct. 29, 2021, as Appl. No. 17/514,955.
Claims priority of provisional application 63/172,987, filed on Apr. 9, 2021.
Claims priority of provisional application 63/107,302, filed on Oct. 29, 2020.
Prior Publication US 2022/0135347 A1, May 5, 2022
Int. Cl. B65G 1/00 (2006.01); B65G 1/137 (2006.01); B65G 47/91 (2006.01)
CPC B65G 1/1373 (2013.01) [B65G 47/917 (2013.01); B65G 2203/0225 (2013.01); B65G 2203/0283 (2013.01); B65G 2203/041 (2013.01)] 28 Claims
OG exemplary drawing
 
1. An automated packing system for placing a plurality of objects into a shipping container, said automated packing system comprising:
a programmable motion device that includes an end effector coupled to an articulated arm;
a supply bin conveyor that delivers a supply bin to a first location proximate the articulated arm, the supply bin conveyor including sensing means for determining an extent of advancement of the supply bin in a conveyor direction along the supply bin conveyor;
a shipping container conveyor that delivers a shipping container to a second location proximate the articulated arm;
a container alignment system that includes a movable brace bar and a brace rail, wherein the movable brace bar urges the shipping container into a known position against the brace rail at the second location proximate the articulated arm;
a detection system for detecting a plurality of objects within the supply bin on the supply bin receiving conveyor at the first location proximate the articulated arm; and
an object selection system for selecting a selected object from the plurality of objects within the supply bin to be placed into the shipping container;
wherein the end effector of the articulated arm grasps and acquires the selected object from the plurality of objects within the supply bin at the first location, and wherein the end effector places the selected object into the shipping container in a selected orientation while the shipping container is maintained in the known position between the movable brace bar and the brace rail.