Multi-modal package handling tool and system

Abstract

The present invention is directed towards a multi-modal package handling tool. In accordance with one exemplary embodiment of the invention, the inventive tool includes a tool platform mounted to the end of a robotic arm. The tool further includes a plurality of package attachment systems mounted to the tool platform wherein each of the plurality of package attachment systems is configured to attach a package to the end of the robotic arm. The inventive tool is responsive to a controller that is operative to select at least one of the package attachment systems to be presented to the package for attaching the package to the end of the robotic arm.

1 . A multi-modal package handling tool comprising: 
 a tool mounted to the end of a robotic arm, wherein said tool includes a tool platform;    a plurality of package attachment systems mounted to said tool platform wherein each of said plurality of package attachment systems is configured to attach a package to said end of said robotic arm;    wherein said tool is responsive to a controller that is operative to select at least one of said package attachment systems to be presented to said package for attaching said package to said end of said robotic arm.    
   
   
       2 . A tool in accordance with  claim 1  wherein said plurality of package attachment systems includes a plurality of package carrying vacuum units.  
   
   
       3 . A tool in accordance with  claim 2  wherein each of said vacuum units comprises a vacuum head powered by a dedicated vacuum generator.  
   
   
       4 . A tool in accordance with  claim 2  wherein said tool platform comprises a surface plate configured such that said package is drawn against and in contact with said surface plate when said package is engaged with one or more of said vacuum units.  
   
   
       5 . A tool in accordance with  claim 4  wherein each of said vacuum units comprises a vacuum head and said surface plate includes a plurality of ports therein configured such that each of said vacuum heads extends through a corresponding port.  
   
   
       6 . A tool in accordance with  claim 1  wherein said plurality of package attachment systems includes a plurality of extensible package grippers, said grippers having at least a retracted position and an extended position.  
   
   
       7 . A tool in accordance with  claim 6  wherein at least one of said grippers comprises a hook-like member for engaging a tray of goods.  
   
   
       8 . A tool in accordance with  claim 6  wherein at least one of said grippers comprises a pincer member for engaging a tray of goods.  
   
   
       9 . A tool in accordance with  claim 1  further comprising at least one sensor configured to sense the type and location of said package, said controller operative to select at least one of said package attachment systems to be presented to said package for attaching said package to said end of said robotic arm in response to said type and location of said package.  
   
   
       10 . A tool in accordance with  claim 9  wherein said at least one sensor comprises a machine vision system.  
   
   
       11 . A tool in accordance with  claim 1  wherein said plurality of package attachment systems includes a slidingly deployable package platform, said platform having at least a retracted and an extended position.  
   
   
       12 . A tool in accordance with  claim 1  wherein said robotic arm and said tool platform are operable along a plurality of axes.  
   
   
       13 . A tool in accordance with  claim 1  wherein said robotic arm is part of a gantry robot.  
   
   
       14 . A multi-modal package handling system, comprising: 
 a robot having a moveable arm and configured for reciprocating movement in at least a first and second direction;    a tool attached to the end of said arm having a plurality of package attachment systems mounted thereon;    a controller configured to select at least one of said plurality of package attachment systems to be presented to a package to be picked up, and to control said movement of said robot, the operation of said arm, and the operation of said at least one selected package attachment system.    
   
   
       15 . A system in accordance with  claim 14  wherein said movable arm is operable along a plurality of axes, said system further comprising a guideway upon which said robot is mounted to allow for said reciprocating movement in at least said first and second directions.  
   
   
       16 . A system in accordance with  claim 15  wherein said robot further includes a carriage upon which said robot is mounted, said carriage being mounted to said guideway.  
   
   
       17 . A system in accordance with  claim 16  wherein said carriage includes a platform upon which a shipping pallet can be placed, said shipping pallet configured to receive said package attached to said at least one package attachment system.  
   
   
       18 . A system in accordance with  claim 14  wherein said robot further includes a platform upon which a shipping pallet can be placed, said shipping pallet configured to receive said package attached to said at least one attachment system.  
   
   
       19 . A system in accordance with  claim 14  wherein said robot is configured to assemble a shipping pallet comprising at least one package picked up by said at least one of said plurality of package attachment systems from a supply pallet disposed proximate said robot.  
   
   
       20 . A system in accordance with  claim 14  further comprising at least one sensor configured to sense the type and location of said package, said controller operative to select at least one of said package attachment systems to be presented to said package for attaching said package to said end of said robotic arm in response to said type and location of said package.  
   
   
       21 . A tool in accordance with  claim 20  wherein said at least one sensor comprises a machine vision system.  
   
   
       22 . A tool in accordance with  claim 13  wherein said robot is a gantry robot and said arm is a telescoping arm to which said tool is attached.  
   
   
       23 . A multi-modal package handling system comprising: 
 a warehouse management system operative to receive an order comprising at least one package;    a coordinator system configured to receive information from said warehouse management system relating to said order, wherein said coordinator system is programmed with the coordinates of the location of said at least one package;    a robot having a moveable arm, said robot configured for reciprocating movement in at least a first and second direction;    a tool attached to the end of said arm having a plurality of package attachment systems mounted thereon; and    a controller configured to receive information from said coordinator system about said order and the location of said at least one package, and to control the movement of said robot, the operation of said robotic arm and the operation of said tool in response to said order information, and further wherein said controller is configured to select at least one of said plurality of package attachment systems to be presented to said package to be picked up.