Abstract: An automated container management system including at least one robotic device, a container inverting apparatus, a conveyor system, a container stack, and a storage and retrieval system transfer vehicle. The first and second robotic devices each having a container cooperation head. The container cooperation head has pneumatically driven magnetic lift assemblies for stacking and unstacking multiple containers as a single unit between the conveyor system and the container stack. The container storage and retrieval system transfer vehicle services the container stack. An inverting apparatus inverts the multiple containers before stacking and after unstacking to facilitate storage of the multiple containers in an inverted position.

Abstract: The invention is directed to a conveyor assembly for use in conveying a load from a first device or member to a second device or member. The conveyor assembly has a frame with a pair of frame support members spaced from each other in an essentially parallel manner. A pair of belts are provided proximate the frame support members, with each belt having a wide portion and a narrow portion. The wide portions of the belts cooperate with surfaces of the frame support members when the belts are in a first position. The wide portions of the belt cooperate with a container such that as the belt is moved from the first position to the second position, the container is moved accordingly. The narrow portion allows a transport assembly to be moved into and out of the conveyor assembly, whereby the configuration of the belt allows the conveyor assembly to be used for containers which are more narrow than the transport assembly, thereby effectively providing the transport assembly with an effectively smaller width.

Abstract: A rail system and transfer vehicle for a storage retrieval system. The rails are fabricated to include a vehicle support surface that supports a transfer vehicle, a load support surface that supports the skid, tote, vessel, or pallet to be stored, a spacing surface that defines the distance between the load support surface and the vehicle support surface. Attached to the load support surface is an alignment surface that extends upwardly at an angle between 40 and 80 from the horizontal. When a misaligned pallet is lowered, it first contacts the alignment surface and as it continues to be lowered, interaction between the alignment surface and the misaligned pallet causes the pallet to move into alignment with the rail system before coming to rest on the load support surface. The rail system can be used in conjunction with a high weight capacity transfer vehicle. Load lift is provided by a plurality of interconnected screw jacks.

Abstract: An end effector deploying and inverting linkage. The linkage comprises an air cylinder mounted in a frame or tube, a sliding bracket next to the air cylinder, a stopping bracket depending from the frame and three, pivotally-attached links that are attached to the end effector and to each other in such a way as to be capable of inverting the end effector and translating it laterally. The first of the three links is a straight element that is moved up and down by the shaft of the air cylinder. The second link is attached at one end to the stopping bracket and to the side of the end effector at the other end. The first link is attached near the middle of the second, sharply angled link so that, as the shaft of the air cylinder moves up and down, the second link rotates about an axis perpendicular to the frame and inverts and translates the end effector. The rotation of the second link is stopped at both ends when the link engages stops on the stopping bracket.

Abstract: An apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.