Abstract: A hybrid modular storage fetching system is described. In an example implementation, the system may include a warehouse execution system adapted to generate a picking schedule for picking pick-to-cart and high-density storage items, and an AGV dispatching system adapted to dispatch a cart automated guided vehicle and a modular storage fetching automated guided vehicle based on the picking schedule. The cart automated guided vehicle may be adapted autonomously transport a carton through a pick-to-cart area and to a pick-cell station. The modular storage fetching automated guided vehicle may be adapted to synchronously autonomously transport a modular storage unit containing items to be placed in the cartons from a high-density storage area to the pick-cell station.

Abstract: A machine vision-based method and system for measuring 3D pose of a part or subassembly of parts having an unknown pose are disclosed. A number of different applications of the method and system are disclosed including applications which utilize a reprogrammable industrial automation machine such as a robot. The method includes providing a reference cloud of 3D voxels which represent a reference surface of a reference part or subassembly having a known reference pose. Using at least one 2D/3D hybrid sensor, a sample cloud of 3D voxels which represent a corresponding surface of a sample part or subassembly of the same type as the reference part or subassembly is acquired. The sample part or subassembly has an actual pose different from the reference pose. The voxels of the sample and reference clouds are processed utilizing a matching algorithm to determine the pose of the sample part or subassembly.

Abstract: An order picking system includes an automated guided trolley with at least two rolling wheels for taking objects of an order from at least one rack and two posts. The automated guided trolley includes climbing elements, which are adapted to cooperate with the posts so as to enable the trolley to rise along the post and prevent the tilting of the trolley, and which includes at least one counter-wheel intended to roll on one of the posts, mounted on a movable bracket.

Abstract: A system using one or more robots to assist a human in order fulfillment includes: a server configured to receive an order comprising an order item; inventory storage operationally connected to the server, the inventory storage comprising inventory items; an order robot operationally connected to the server, the order robot configured to assist a human to pick an order item from the inventory items; and a human-operated device operably connected to one or more of the server, the inventory storage, and the order robot, the human-operated device configured to assist the human to pick the order item.

Abstract: The present application relates to a storage device operation control method, a storage device, and a management node. The method includes: receiving at least one request sent by at least one management node; and when one of the at least one request is a permission application request, determining, according to a current permission status, whether to assign operation permission to a management node that sends the permission application request; or when one of the at least one request is an operation request, determining, according to a current permission status, whether a management node that sends the operation request has operation permission, and performing an operation according to the operation request when the management node that sends the operation request has the operation permission. This avoids a conflict caused by simultaneously performing an operation on a storage device by multiple management nodes, and prevents successive serial operations from being interrupted.

Abstract: According to one embodiment, a paper sheet processing system includes a paper sheet processing apparatus which includes an inspection device, a reject device, and a first communication module, and a robot device which includes a robot arm and a second communication module. The reject device rejects a rejected paper sheet and a batch card to a rejecting port. When the batch card is detected, the first communication module transmits a predetermined signal to the robot device. Upon receiving the predetermined signal, the robot device takes the rejected paper sheet and the batch card out of the rejecting port by the robot arm, moves them to another storage section, and transmits a move completion signal to the paper sheet processing apparatus.

Abstract: A sheet processing system A includes a sheet processing apparatus 1 that transports and stores a sheet in one of short-edge leading orientation and long-edge leading orientation; a sheet housing section 3 that stores the sheet in the other of the short-edge leading orientation and the long-edge leading orientation; and an orientation changing section 4 that transports the sheet between the sheet processing apparatus 1 and the sheet housing section 3, changes transport orientation of the sheets which is being transported between the short-edge leading orientation and the long-edge leading orientation.

Abstract: An information reproduction apparatus includes plural magazines in which optical discs are set, plural drives for performing recording and reproduction on an optical disc set therein, a changer mechanism that transports a magazine between its setting position and one or more drives and mounts and remove a prescribed optical disc or discs in and from the one or more drives by performing either one of a single move process and a multi-move process, and a controller. The controller judges whether to conduct the single move process or the multi-move process based on a reading data list and use statuses of the respective drives.

Abstract: An electronic component transport apparatus includes: an openable and closable first opening and closing portion; a first rotation support portion which supports the first opening and closing portion to be rotatable; a second opening and closing portion provided to be openable and closable in the first opening and closing portion; and a second rotation support portion which supports the second opening and closing portion to be rotatable. An area of the first opening and closing portion is greater than an area of the second opening and closing portion.

Abstract: A single-level rack serving apparatus for transporting load units, which comprises two chassis halves each having a pair of rollers and each having an extendible arm, a storage region between the chassis halves and a connection structure, wherein the chassis halves are connected to one another by the connection structure and travel on running rails by the rollers. The arms serve to pull up or push down load units onto or from the storage region which comprises at least two first and second lateral supporting plates for supportingly carrying the load units. The size of the storage region can be varied by varying the spacing between the arms together with the lateral supporting plates. A further third supporting plate is arranged between the first and second lateral supporting plates such that it supports a load unit centrally from below in the storage region irrespective of the size of the storage region.

Abstract: Generally speaking, pursuant to various embodiments, systems, apparatuses, and methods are provided herein useful for autonomously delivering lockers. In some embodiments, a system comprises a carrier vehicle, the carrier vehicle comprising a storage area, a docking station including a plurality of storage docks, each of the plurality of storage docks configured to secure at least one locker, wherein the docking station is located within the storage area, and a retrieval point, a plurality of lockers each configured to house at least one product, a delivery vehicle, the delivery vehicle comprising a delivery dock, wherein the delivery dock is configured to receive, at the retrieval point, at least one locker, and a propulsion mechanism, wherein the propulsion mechanism propels the delivery vehicle, and a control circuit, the control circuit configured to identify, from the plurality of lockers, a selected locker, and cause the selected locker to move to the retrieval point.

Abstract: Some embodiments include apparatuses to fulfill customer orders comprising a motorized transport unit; a product pick unit (PPU) that cooperate with the motorized transport unit; a wireless communication network; and a central computer system configured to communicate with the multiple motorized transport units and the plurality of product pick units, and comprises a control circuit and memory storing instructions executed to cause the control circuit to: communicate an instruction to the motorized transport unit and direct the motorized transport unit to transport the product pick unit to a determined first location within the shopping facility proximate to where a first product having been ordered is located; and communicate an instruction to the product pick unit cooperated with the motorized transport unit and direct the product pick unit to retrieve the first product.

Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.

Abstract: Apparatus and methods of measuring and controlling the gap between a susceptor assembly and a gas distribution assembly are described. Apparatus and methods for positional control and temperature control for wafer transfer purposes are also described.

Abstract: A computing device can determine a roadmap having a path for a robotic device in an environment associated with starting and ending poses. The computing device can generate a plurality of trajectories from the starting pose, where each trajectory can include a steering position and a traction velocity directing the robotic device during a planning time interval. For each trajectory of the plurality of trajectories, the computing device can determine a score for the trajectory indicative of advancement from the starting pose toward the ending pose after simulating the steering position and the traction velocity for the planning time interval. The computing device can select, and then store, a nominal trajectory from among the scored plurality of trajectories. The computing device can receive a first request to provide a route though the environment and can send a first response that includes the stored nominal trajectory.

Abstract: An example method is carried out in a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier. The method involves determining a target inventory item having a target on-item identifier. The method also involves determining that a first inventory item having a first on-item identifier is loaded onto a first robotic device. The method further involves transmitting a request to verify the first on-item identifier. The method still further involves receiving data captured by a sensor of the second robotic device. The method yet further involves (i) analyzing the received data to determine the first on-item identifier, (ii) comparing the first on-item identifier and the target on-item identifier, and (iii) responsive to comparing the first on-item identifier and the target on-item identifier, performing an action.

Abstract: Various systems, apparatuses, and methods are provided herein that are useful for autonomously delivering lockers. In some embodiments, a system comprises a carrier vehicle, the carrier vehicle comprising a storage area, a docking station including a plurality of storage docks, each of the plurality of storage docks configured to secure at least one locker, wherein the docking station is located within the storage area, and a retrieval point, a plurality of lockers each configured to house at least one product, a delivery vehicle, the delivery vehicle comprising a delivery dock, wherein the delivery dock is configured to receive, at the retrieval point, at least one locker, and a propulsion mechanism, wherein the propulsion mechanism propels the delivery vehicle, and a control circuit, the control circuit configured to identify, from the plurality of lockers, a selected locker, and cause the selected locker to move to the retrieval point.

Abstract: An autonomous transport vehicle including a transfer arm including at least one finger and a movable finger support member, at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, and a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.

Abstract: A robotic retail wall is presented allowing for the dispensing of merchandise within a retail location. The robotic wall includes commodity products and robotics that pick and deliver products to consumers in response to input at a kiosk. The robotics and products are separated from a retail space by a transparent barrier, allowing consumers in the retail space to view the actions of the robotics in retrieving a product. Behind the robotic wall is a product stocking area, where commodity products can be added to the robotic wall with assistance from the robotics.

Abstract: A core module for an Automated Transaction Machine (ATM) includes a housing including a plurality of cassette bays, a first document delivery system, and a second document delivery system. The first document delivery system is capable of transporting a document between the cassette and the second document delivery system via a first transport path. The second document delivery system is capable of transporting a document between the first document delivery system and an other ATM location via a second transport path.

Abstract: A tape appliance with selectably always-leading head assemblies. The tape appliance includes a first tape head module, a second tape head module, and a tape guide assembly for guiding a tape past the first and second tape head modules such that the first tape head module is the leading module for both first and the reverse directions of longitudinal tape travel.

Abstract: A system to provide additional functionality to robots in automated warehouse systems is disclosed. The system can include a number of additional components that can be attached to existing components of the warehouse system to improve safety, functionality, and decrease costs. The system can provide modular tools to enable robots to perform additional tasks without having equipment permanently installed on the robots. The bases or shelves for the automated warehouse system can be equipped with robotic arms, lights, cameras, sensors, actuators and other components to enable a robot to utilize a particular tool for a particular job. The robot and the bases or shelving units can also comprise complementary electronic connections to provide power and/or data communications between the robot, the bases or shelving units, and/or a management module.

Abstract: Inventory management systems and related methods employ a catching member to selectively catch items dropped by a robotic manipulator. A related method includes controlling a robotic manipulator to move an inventory item from a first location to a second location. A catching member is selectively positioned to catch the inventory item if dropped by the robotic manipulator prior to the item reaching the second location. The catching member is moved to a suitable location for subsequent processing of one or more items dropped by the first robotic manipulator into the catching member.

Abstract: A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.

Abstract: A substrate transfer apparatus to transfer a circular substrate provided with a cutout at an edge portion thereof, includes: a sensor part including three light source parts applying light to positions different from one another at the edge portion, and three light receiving parts paired with the light source parts; and a drive part for moving the substrate holding part, wherein the three light source parts apply light to the light receiving parts so that whether or not a detection range of the sensor part overlaps with the cutout of the substrate is determined on the basis of an amount of received light by each light receiving part, and when it is determined that there is an overlap at any position, positions of the edge portion of the substrate are further detected with the position of the substrate displaced with respect to the sensor part.

Abstract: Systems, methods and apparatus for archive verification including the verification of media in a library, are disclosed. More specifically, a method of archive verification may include performing an initial verification on a first media in a first drive and performing a subsequent verification on the first media in a second drive not used for the initial verification, and comparing the results of the initial verification and the subsequent verification. Embodiments may further perform an initial verification of the readability of a second tape media and subsequent verification of the readability for the second tape media, and compare the results of the initial verification to the results of the subsequent verification to determine the tape drive health, the efficacy of the first tape media or the second tape media, the efficacy of the first tape drive or the second tape drive, or whether to replace a tape media.

Abstract: A method of manufacturing an aggregation of semiconductor devices comprising the steps of providing a first layer; sequentially addressing and adhering a plurality of semiconductor devices to the first layer to form a shape having a curve; providing a second layer; and adhering the second layer to the first layer.

Abstract: This description relates to a wafer debonding and cleaning apparatus including an automatic wafer handling module. The automatic wafer handling module loads a semiconductor wafer into a wafer debonding module for a debonding process. The automatic wafer handling module removes the semiconductor wafer from the debonding module and loads the semiconductor wafer into a wafer cleaning module for a cleaning process.

Abstract: A support structure for positioning an exchangeable object in a lithographic apparatus. The support structure has a chuck to support and clamp the object and an actuating structure. The actuating structure may have a first actuating structure (e.g., spring) and a second actuating structure (e.g., linear actuator). The first actuating structure is moveable relative to the chuck and is configured to move the second actuating structure between a first position in contact with a side of the object and a second position out of contact with the side of the object. The second actuating structure is configured to move at least a portion thereof relative to the first actuating structure between a first position in contact with the side of the object and a second position out of contact with the side of the object and to apply a pushing force to the side of the object.

Abstract: A system includes a linear storage media tier; a second storage tier having higher performance than the linear storage media tier; a data controller for moving data between the tiers; and a host interface responsive to disk and/or network storage commands. The linear storage media tier includes: a rest area for storing reels having linear media thereon, at least one linear media drive configured for reading and/or writing the linear media, and at least one robot for transporting the linear storage media between the rest area and the at least one linear media drive. The robot moves along a first surface via contact with the surface. A system according to another embodiment includes a linear storage media tier characterized by having a read access time to any block of data stored on any reel in the rest area in less than 10 seconds.

Abstract: A workpiece is unloaded from a wafer-receiving container. A first discriminating sensor detects a front surface of the workpiece, and determines either a semiconductor wafer or a spacer is the workpiece. Where the workpiece is a wafer, the first discriminating sensor also determines whether or not a protective tape is on the front surface of the workpiece. Where it is determined that a protective tape is not on the front surface, a second discriminating sensor detects a back surface of the wafer for discriminating the presence or absence of the protective tape.

Abstract: A semiconductor processing system that includes a controller is disclosed. The controller may be configured to schedule the operation of the system. The controller may be programmed to determine a current state of the system. The current state may be defined at least by a location of one or more substrates and a processing status of the one or more substrates. The controller may be further programmed to generate a search tree having one or more branches. Each branch may identify one or more subsequent actions or branch pathways capable of being performed by the system in the current state. Further, the controller may be programmed to score each branch pathway of the generated search tree. The controller may be programmed to select a branch pathway and provide instructions to perform the actions in that branch pathway based at least in part on the score of the branch pathway.

Abstract: A transport apparatus that supports and moves a substrate by using a robot hand between a plurality of chambers includes a first detection unit that detects the substrate, in a first stop position of the robot hand, using a first detection position set on one surface of the substrate supported by the robot hand, and a second detection unit that detects the substrate, in a second stop position of the robot hand, using a second detection position set on the one surface of the substrate supported by the robot hand.

Abstract: A substrate processing system 10 includes a multiple number of substrate processing units 40A and 40B having substrate processing modules 40a and 40b, respectively; substrate buffers 30a and 30b which respectively correspond to the substrate processing units 40A and 40B; and a first substrate transfer device 50 configured to take out substrates W from substrate receptacles 20 on substrate mounting tables 25 into substrate buffers 30a and 30b. When a second substrate transfer device 60b of the substrate processing unit 40B is broken down, a substrate W remaining in the substrate buffer 30b corresponding to the substrate processing unit 40B is delivered into the substrate buffer 30a corresponding to the substrate processing unit 40A by a substrate delivery device 35.

Abstract: System and methods of treating or handling cardboard sheets.

Abstract: A sorting machine at least for flat postal items comprises a stacking module having a plurality of stacking stations, which define respective channels along which the postal products are carried and a first plurality of rollers for handling the postal products along the stacking stations, a first carrying assembly defining a second channel configured for carrying the postal products towards the stacking module and comprising a second plurality of rollers for carrying the postal products, a plurality of deviating assemblies, each of which comprises a first device selectively mobile for deviating a flat into the channel of the desired stacking station, and a second carrying assembly delimiting an outlet channel communicating with the plurality of stacking stations, wherein at least one of the first and second rollers is mobile transversely with respect to the direction of conveyance of the postal products on the machine.

Abstract: A control system for and methods of controlling a product delivery system are provided.

Abstract: A rack robot lifts and transfers sample tube storage racks or plates with a refrigerated enclosure maintained, e.g., at ?20° C. The samples are normally held in ultra-low temperature, e.g., ?80° C., or cryogenic freezers. From time to time, the racks or plates need to be roved from the ultra-low temperature or cryogenic freezers for processing and the rack robot transfers the racks or plates to the various processing stations within the refrigerated enclosure, such as tube picking, barcode reading, or frost removal stations.

Abstract: A system and method suitable for storing multiple product lines in an automated warehouse environment are disclosed. The storage system includes a frame containing a plurality of stacks of containers, a first handling device capable of lifting a plurality of containers from a stack in a single operation, and a second independently moveable handling device capable of lifting a single container and moving the container laterally. The first and second handling devices can work together to remove a target container quickly and with minimum use of resources.

Abstract: The invention relates to an order picking station (48) and a method of picking articles from loading aids (2) by an order picker, adjoined by automated conveyor systems (20, 41) disposed on different height levels, loading aids (2) being conveyed to the order picking station (48) on a first conveyor system (20) and loading aids (2) being conveyed away from the order picking station (48) by a second conveyor system (41), and comprising a loading aid supply apparatus (61), an automated first loading aid transport apparatus for transporting loading aids (2) to the loading aid supply apparatus (61) and an automated second loading aid transport apparatus for transporting loading aids (2) away from the loading aid supply apparatus (61), and the first loading aid transport apparatus has a first carrying unit (62) for a loading aid (2) and the second loading aid transport apparatus has a second carrying unit (63) for a loading aid (2).

Abstract: A material handling systems provides efficient storage, retrieval and sortation of articles, utilizing a plurality of carts capable of traveling under storage areas with a three dimensional warehouse system and on multiple levels. The carts may convey items from storage to a goods to operator user interface. The carts may function as decoupled sortation units capable of providing sortation at multiple mobile sortation locations, providing vertical sortation. Carts may include conveying surfaces, and sort articles from between carts. Carts may transport more than one article and a plurality of carts may transport a single article.

Abstract: In some embodiments, an automated storage and retrieval system (ASRS) for storing workpieces includes a main body, a robotic arm mechanism and at least one first station. The workpiece comprises a first container configured to hold at least one article. The main body includes at least one side wall configured to confine a storage space for the workpieces in at least one first direction parallel to a floor. The robotic arm mechanism is configured to reach the storage space, the storage space being further confined by the robotic arm mechanism in at least one second direction opposite to the at least one first direction. The at least one first station is configured with at least one first accessing port located within the storage space, and configured for the ASRS to perform a routine for a process flow.

Abstract: A device for removing tested semiconductor components from a clamping carrier having fixed stop elements and movable clamping elements, pre-tensioned by spring elements includes an actuation device arranged above the clamping carrier, which moves the clamping elements into an opening position enabling the clamping carrier to be discharged, and then moves the clamping elements into a rest position after discharge, an intermediate carrier, positioned under the clamping carrier during discharge, onto which the clamping carrier is emptied, a data memory in which data about each semiconductor component are stored, and a removal device, which removes the semiconductor components from the intermediate carrier and sorts them into at least two different categories in accordance with the data stored in the data memory.

Abstract: A diamond sorting system comprising a diamond source for supplying one or more diamonds to be graded by a vision system having one or more cameras arranged to take one or more images of the diamond, and a processor arranged to receive the image data and execute an algorithm on the data to grade the diamond. The sorting system further comprising a diamond collection unit arranged to receive a graded diamond from the vision system and an electromechanical diamond transporter arranged to transport a diamond to be graded from the diamond source to the vision system, and further arranged to transport a graded diamond from the vision system to the diamond collection unit.

Abstract: A container unloading system that is adapted to automatically unload containers from carts while the containers and carts reside in an unloading station. The containers may be off-loaded onto a conveyor. The system includes a frame that is movable along the path of ingress/egress of the carts, and a vertically and horizontally movable lifting device that is supported on the frame and adapted to engage and lift the containers. A number of sensors may be present to gather information about the carts and/or containers and to send corresponding signals to a controller that is programmed to automatically operate the system.

Abstract: A packaging system and method for receiving articles from a first location, such as a product delivery system, transporting the articles to a second location for unloading the articles such that they are placed in a desired orientation and number of columns, rows, and stacks.

Abstract: A system includes a first mobile drive unit and a second mobile drive unit. The first mobile drive unit is operable to dock with a first item holder at a first end of a column of connected item holders. The second mobile drive unit is operable to dock with a second item holder at a second end of the column of connected item holders. The system also includes a management module that is operable to instruct the first mobile drive unit and the second mobile drive units to transport the column of connected item holders from a first location to a second location.

Abstract: Disclosed are various embodiments that may facilitate items being retrieved from a storage location. A robotic drive unit transports a carrier storage unit to be proximate to a target storage unit that comprises a container in which an item is located. The robotic drive unit aligns a receptacle in the carrier storage unit with the container in the target storage unit. The container is transferred from the target storage unit to the carrier storage unit. The robotic drive unit transports the carrier storage unit with the container to a destination.

Abstract: There is proposed a unit including a station for preparing orders, controlled by a control system. The station has a first circuit that includes a first outward conveyor, which receives containers for storing products, and an accumulator for accumulating a predetermined quantity of storage containers received on the first outward conveyor. The accumulator includes: at least one first shaft comprising superposed mobile positions that can each receive and downwardly move at least one storage container, the at least one first shaft vertically accumulating and sequentially dispensing storage containers previously placed in the positions; and at least one first elevator moving vertically along the at least one first chute up to each of the locations of the at least one first chute.

Abstract: Apparatus and method for the defined intermediate storage of produced articles of the same type but different size and for the simultaneous composition of consignments of said articles, having the following features: a) a delivery path (3) for the continuous conveying of the produced products into the region of stacking robots (7), b) a multiplicity of transport vehicles (9) for transporting stacking pallets and order-picking pallets (6), c) a multiplicity of storing positions (10) for stacking pallets, d) one or more stacking robots (5) for filling order-picking pallets (6), e) a plurality of induction lines (8) for power supply and control of the transport vehicles (9).