The present disclosure relates generally to robotic storage and retrieval systems, and more particularly, to stabilization feet and floormats that assists in the assembly of a storage system, stackable containers for storing inventory items within the storage system, and a grapple for extracting the stackable containers from the storage system.
Warehouses, or distribution fulfillment centers, require systems that enable the efficient storage and retrieval of a large number of diverse products. Traditionally, inventory items are stored in containers and arranged on rows of shelving on either side of an aisle. Each container, or bin, holds a plurality of items of one or more product types. The aisles provide access between the shelving for an operator or robot to migrate the aisles and retrieve the items. It is well understood that the aisles reduce the storage density of the system. In other words, the amount of space actually used for the storage of products (e.g., the shelving) is relatively small compared to the amount of space required for the storage system as a whole. As warehouse space is often scarce and expensive, alternative storage systems that maximize storage space are desired.
In one alternative approach, which offers a significant improvement in storage density, containers are stacked on top of one another and arranged in adjacent rows. That is, no aisle is provided between the adjacent rows of stacked containers. Thus, more containers, and in turn inventory, can be stored in a given space.
Various methods for retrieving inventory from the stacked containers have been contemplated. U.S. Pat. No. 9,682,822, for example, discloses a system in which containers are stacked and arranged in a plurality of rows underneath a grid. Vehicles equipped with a lifting apparatus navigate the grid and lift a desired container. The container is then transported down a port to a picking/sorting zone, where an operator or robot picks individual products from the container and sorts the products into one or more order containers. To minimize unnecessary transportation of the containers, each container is typically transported to the picking/sorting zone only after multiple orders of a specific product have been received.
Despite the increased storage density provided by the known stacked storage system, various shortcoming remain. For example, constructing the frame of the storage structure is both labor intensive and tedious as care must be taken to align the components as the storage structure is erected. Furthermore, the containers do not include a structural feature that allows the vehicle to lift multiple containers in a single lift. As a result, the process of extracting a container that is buried within a stack of containers (e.g., underneath one or more other containers) can be a time-consuming process that results in decreased throughput of the system.
The foot and/floormat disclosed herein are designed to automatically position the vertical members of the frame and/or the stackable containers thereby allowing the frame to can be constructed more quickly and the storage and retrieval system to operate more efficiently. Furthermore, the grapple and containers disclosed herein allow a robot operating on the frame to extract multiple containers in a single lift thereby reducing the time it takes the robot to perform a “digging” operation.
In one aspect, a robot includes: a body coupled to a wheel assembly, the wheel assembly including a plurality of wheels and a drive mechanism arranged to move the body along a first set of parallel rails and along a second set of parallel rails; and a container retrieval device including a grapple extendable and retractable in a vertical direction and arranged to selectively secure an engagement feature positioned between a rim and a bottom surface of a container.
Container retrieval device may further include a pair of support arms having a winding mechanism, the grapple may be coupled to the pair of support arms by a cable configured to be wound and unwound about the winding mechanism to extend or retract the grapple in the vertical direction.
The grapple may include two grapple arms defining a receiving space therebetween.
A flap may be associate with each of the two grapple arms, each one of the flaps may be pivotable between an undeployed condition in which the flap lies substantially flush against an interior surface of a respective grapple arm such that the receiving space is sized to receive a container therein and a deployed condition in which the flap extends away from the grapple arm and into the receiving space.
Each one of the two grapple arms may extend along an axis and the flap may be pivotable about a pivot axis arranged parallel to the axis.
The grapple may further include an actuator coupled to the flap to pivot the flap about the pivot axis.
The grapple may further include a spring provided between a portion of the grapple arm and the actuator to bias the actuator to a natural position, and when the actuator is in the natural position, the flap may be in the undeployed condition.
Actuation of the actuator may compress the spring and pivot the flap from the undeployed condition to the deployed condition.
The container retrieval device may be supported by a leg coupled to each one of the support arms, and each one of the legs may be configured to contact the first and second sets of parallel rails.
Each one of the legs may include a spring-loaded bearing or rolling member configured to move along the first and second sets of parallel rails.
The support arms may have a length of approximately one grid-space and each one of the legs may be attached to a terminal end of the support arm opposite the body.
The support arms of the container retrieval device may be supported at a first location by the body and at a second location spaced from the body by suspension wires.
The suspension wires may be tensioned between a tower extending from the body and an attachment provided at the second location.
In another aspect, a stackable container for storing inventory items in a grid-based storage system, includes: a bottom having a nesting feature; sidewalls enclosing the bottom, the bottom and the sidewalls collectively defining an interior for housing the inventory items, the sidewalls including an upper surface forming a rim about the interior; and an engagement feature arranged to engage a container retrieval device, the engagement feature positioned between the rim and the bottom.
The engagement feature may include a first rib on a first one of the sidewalls and a second rib on a second one of the sidewalls opposite the first one of the sidewalls.
The engagement feature may include a horizontal rib.
The container may further include an angled rib extending from the horizontal rib toward the bottom at an oblique angle.
The upper surfaces of each one of the sidewalls may define a lead-in chamfer angled downwardly and inwardly toward the interior.
The nesting feature may include a ledge and a projection extending from the ledge toward the bottom of the container.
The sidewalls may be textured and have a non-reflective, matte finish.
The container may further include a first partition disposed within the interior space dividing the interior space into a first section defining a first volume and a second section defining a second volume, the first partition may be moveable relative to the bottom to increase the first volume of the first section and decrease the second volume of the second section.
The first partition may extend across the interior space on a partition plane such that the first section and second section are on opposite sides of the partition plane and the first partition may be movable to slide along an axis normal to the partition plane.
The first partition may include at least one tongue, and an interior surface of the container may define a groove extending in a direction parallel to the axis, the groove may be arranged to receive the at least one tongue.
The at least one tongue may include a plurality of tongues.
The interior surface of one of the sidewalls may define a vertical track configured to receive the first partition and to permit the first partition to be inserted into and removed from the interior of the container. The container may further include a first partition and a second partition moveable relative to one another.
The first partition may be movable relative to the bottom along a first axis, and the second partition may be movable relative to the bottom along a second axis perpendicular to the first axis.
The first and second partitions may be disposed within the interior space, each of the first and second partitions may have an attached end pivotably coupled to a respective one of the sidewalls about a vertical axis and a free end opposite the attached end such that the first and second partitions are pivotable between a dividing position in which the first and second partitions collectively divide the interior space into a first section defining a first volume and a second section defining a second volume and an un-divided position in which a surface of the first and second partitions lie generally flush against an interior surface of the one of the sidewalls.
The container may further include bomb bay doors movable between a closed condition and an open condition.
The bomb bay doors may be biased toward the closed condition.
The rim may extend outwardly from the sidewalls and may include a contact feature arranged to transition the bomb bay doors between the closed and open conditions.
In yet another aspect, a foot for a storage frame, includes: a base defining a recess; a column movably disposed within the recess of the base, the column defining a sidewall having a tapered lower guide wall and a receptacle configured to receive a pillar of the storage frame; and a wedge having a tapered upper surface arranged to engage the tapered lower guide wall of the column, whereby, when a backend of the wedge is moved toward the column, the column moves upward within the recess, and whereby the backend of the wedge is moved away from the column, the column moves downward within the recess.
The base may further define a sloped corner arranged to align and stabilize a container.
The base may define a first set of teeth and the wedge may define a second set of teeth arranged to engage the first set of teeth for selectively locking the wedge to the base.
The wedge may be generally U-shaped and include a pair of wings.
The foot may further include a spring disposed between the pair of wings.
The base may define an underpass configured to receive a track.
The base may further include a protrusion sized and configured to be disposed within an aperture of the track for securing the foot to the track.
In a further aspect, a floormat, includes: a base including a perimeter having four corners, the base defining an L-shaped notch at each of the four corners.
The floormat may further include a rectangular lip or cutout defining a pocket arranged to receive and secure a container.
The pocket may be centrally arranged within the perimeter of the base.
The floormat may further include interlocking fastening components provided at the perimeter of the base.
The interlocking fastening component may include dovetail teeth.
The base may define holes configured to receive a fastener for securing the floormat to a surface.
In still another aspect, a system includes: at least sixteen floormats, each floormat having a base defining a pocket and a perimeter with four corners, each of the four corners defining an L-shaped notch such that when the sixteen floormats are disposed in a side-by-side rectangular arrangement, the sixteen floormats form a grid of pocket, each pocket being located at the junction of four adjacent floormats; a plurality of containers for storing inventory items, the plurality of containers being arranged in vertical stacks secured within the pockets; and a frame, comprising: vertical support members disposed within each rectangular cutout; and a grid disposed above the containers, the grid including a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction substantially perpendicular to the first direction such that the first and second set of parallel rails collectively define grid spaces, each stack of containers being substantially centrally located within a respective grid space.
Each one of the containers may include: a bottom surface having a nesting feature; sidewalls enclosing the bottom surface, the bottom surface and the sidewalls collectively defining an interior for housing the inventory items, the sidewalls including an upper surface forming a rim; and an engagement feature arranged to engage a container retrieval device, the engagement feature positioned between the rim and the bottom surface.
As used herein, when terms of orientation, for example, “vertical” and “horizontal” or relative terms such as, “above,” “upwards,” “beneath,” “downwards” and the like are used to describe the orientation or relative position of specific features of the storage structure or mobile robot, the terms are in reference to the orientation or the relative position of the features in the normal gravitational frame of reference when the storage structure is positioned with a bottom of the storage structure resting on a surface. Also as used herein, the terms “substantially,” “generally,” and “about” are intended to mean that slight deviations from absolute are included within the scope of the term so modified.
Frame 14 includes a plurality of vertical members 16 that form a plurality of vertically extending shafts within which stacks 12 are housed. The cross-sectional area of each shaft is dimensioned to substantially correspond to the dimensions of containers 10. Put another way, when the stacks 12 of containers 10 are housed with the shafts of frame 14, little to no space exists between an outer surface of the containers and vertical members 16, as is shown in
Vertical members 16 support a series of rails 22 arranged in a grid pattern, at an uppermost level of frame 14, which form a plurality of “grid spaces.” With additional reference to
Each load handling device 30 includes a vehicle 32 with a first set of wheels 34, consisting of a pair of wheels on the front of the vehicle and a pair of wheels on the back of the vehicle, arranged to engage with two adjacent rails of the first set of rails 22a. Similarly, a second set of wheels 36, consisting of a pair of wheels on each lateral side of the vehicle, is arranged to engage with two adjacent rails of the second set of rails 22b. Each set of wheels 34, 36 can be lifted and lowered, so that either the first set of wheels 34 or the second set of wheels 36 is engaged with the respective set of rails 22a, 22b depending on the desired direction of movement of vehicle 32.
When the first set of wheels 34 is engaged with the first set of rails 22a and the second set of wheels 36 is lifted clear from the second set of rails 22b, the first set of wheels can be driven, by way of a drive mechanism (not shown) housed in vehicle 32, to move the load handling device 30 in the X-direction. To move the load handling device 30 in the Y-direction, the first set of wheels 34 is lifted clear of rails 22a, and the second set of wheels 36 is lowered into engagement with the second set of rails 22b. A drive mechanism (not shown) associated with the second set of wheels 36 can then be used to drive the second set of wheels in the Y-direction.
Load handling device 30 is also equipped with a crane device 40 having a cantilever arm 42 that extends laterally from the top of vehicle 32. A gripper plate 44 is suspended from cantilever arm 42 by cables 46 that are connected to a winding mechanism (not shown) housed within vehicle 32. Cables 46 thus can be spooled into or out from cantilever arm 42 to adjust gripper plate 44 with respect to the vehicle 32 in the Z-direction.
Gripper plate 44 is adapted to engage with the top of a bin 10. For example, gripper plate 44 may include pins (not shown) that floormate with corresponding holes (not shown) in the rim that forms the top surface of bin 10 and sliding clips (not shown) that are engageable with the rim to grip the bin. The clips are driven into engagement with bin 10 by a suitable drive mechanism housed within gripper plate 44, which may be powered and controlled by signals carried through cables 46, or through a separate control cable (not shown).
To remove a bin 10 from the top of a stack 12, the load handling device 30 is moved as necessary in the X and Y directions so that the gripper plate 44 is positioned above the stack in which the desired bin is located. Gripper plate 44 is then lowered and brought into engagement with the bin 10 on top of stack 12, as shown in
The known storage structure, as shown in
If it is necessary to retrieve a bin (“target bin”) that is not located on the top of stack 12, then the overlying bins 10a (“non-target bins”) (e.g., the bins located between the target bin 10b and rails 22) must first be moved to allow load handling device 30 to access the target bin. This operation is referred to as “digging”.
To assemble frame 14, a worker must first determine the location at which each vertical member 16 should be fixed. This determination is typically performed by conducting a series of measurements, marking a “grid” on the warehouse floor, securing a stabilization foot at each marked location and fastening a vertical member to each stabilization foot. The measuring and securing steps are labor intensive and costly processes that require great precision as even slight misalignments can negatively impact the alignment of frame 14.
Turning now to
Referring back to
Floormats 110 may be provided with either or both lip 114 (or a central cutout) and notches 130. That is, notches 130 and lip 114 (or a central cutout) are individually useful, and need not be implemented together as illustrated. However, when used collectively in connection with frame 14′, these features gain additional utility because the notches assist in quickly and accurately assembling the frame while the lip 114 (or central cutout) secures and aligns the stack 12′ of containers 310 relative to the shafts of the of frame. In this regard, floormats 110 may be placed edge-to-edge in in a side-by-side tiled patter upon the warehouse floor, as shown in
Mats 110 may optionally also include an underlying rigid plate 134. For example, if an overlying portion of floormat 110 is constructed of a relatively flexible material such as plastic, rubber, or any other polymer, plates 134 may be constructed of metal, such as titanium, aluminum, any variety of steel, another metal or any other relatively rigid material such as plastic. The rigidity of plates 134 may compensate for any irregularities or softness of a surface upon which floormats 110 may be distributed. For example, the floor of a warehouse, may have uneven or damaged flooring that could cause a flexible material to bend or otherwise alter in shape. Altering the shape of floormat 110 may, in turn, result in the alteration of the precise alignment of recesses 117 and/or the location of pockets 118. In examples where floormat 110 includes a rigid plate 134, the plate may extend beyond notches 130 as illustrated, such that the plates of adjoining floormats 110 adjoin one another to collectively define a flat and rigid lower surface of recesses 117. The flat and rigid lower surface of recess 117 ensures that the stabilization feet (not shown) and/or the lower ends of vertical members 16, or vertical members 16′, are supported in a coplanar manner that compensates for any irregularities or softness of the surface upon which floormats 110 are distributed. Shims, plastic flexures, or springs may be positioned underneath certain corners of plate 134 to level floormat 110 when the floormat is disposed on an uneven surface.
In one embodiment, as shown in
Unlike the gripper plate 44 of load handling device 30, the three-sided grapple 508 of robot 200 is arranged to engage an “engagement feature” provided between the rim of the container and the bottom of the container (e.g., on a lateral side of the container). In this regard, the grapple can be lowered into the gap and around a stack of containers before it is brought into engagement with the engagement feature on the container to allow the robot to lift a plurality of bins in a single lift (e.g., the bin the grapple is engaged with and all bins sitting on top of that bin). It will be appreciated that because gripper plate 44 of load handling device 30 is designed to engage an upper surface of container 10, the gripper plate is incapable of extracting more than one container at a time. Instead, the containers must be extracted consecutively (e.g., one after another).
The support arms 412 of container retrieval device 206 may be positioned at any height on vehicle body 202, but in the illustrated example, the support arms are positioned at least one bin-height above the lower end of wheel assembly 204. Put another way, when robot 200 is positioned on the grid, the support arms of container retrieval device 206 will be at least one bin-height above rails 22′. Thus, if a single container 10 protrudes above the rails 22′ (as may sometimes be the case, for example, when an order container is temporarily released on the top of a stack of containers and/or a storage container is temporarily stored during a digging operation), container retrieval device 206 will be able to pass over the protruding container in any direction so long as the container does not interfere with the body 202 of robot 200. Support arms 412 of container retrieval device 206 preferably extend from the body 202 of robot 200 a single grid-space so as to not interfere with a robot positioned two grid spaces away from the body of the robot.
In some embodiments, container retrieval device 206 includes stabilizing supports. For example, as shown in
It will be appreciated that support arms 412 are supported at two locations: (1) at a first end by body 202; and (2) at a second location by support legs 210. Stabilizing container retrieval device 206 at two locations prevents robot 200 from tipping, when the container retrieval device is carrying a heavy payload, for example, when lifting multiple containers. However, in other instances, support legs 210 may be configured to retract, pivot or otherwise move away from rails 22 or rails 22′, while robot 200 is traversing about the rails, and then configured to engage the rails when additional support is desired such as during a lifting operation and/or when container retrieval device 206 is carrying one or more containers. When support legs 210 are designed to engage and disengage rails 22, 22′, the support legs may be provided anywhere along the length of the support arms 412.
The container retrieval device 206 of robot 200 may be supported at more than one end by any other known mechanism. For example, as shown in
With reference to
Walls 314, 316 extend from a lower end 320 of bin 310, at which bottom surface 328 is located, to an upper end 318 at which an opening of interior space 312 is formed. Each wall 314, 316 includes a chamfer 322 at an upper and inner edge. Chamfers 322 are declined from the upper end 318 of container 310 toward an interior surface of the walls of the container such that the surface area of the opening of interior space 312 is largest at the upper end of the container and gradually decreases along the length of the taper.
The perimeter of the bottom 328 of container 310 is defined by a projection 324 that is shaped and sized to fit within the interior space 312 of another container when stacked on top of that other container. In some embodiments, the projection 324 of container 310 may also be shaped and sized so as to be closely received within pocket 118 defined by lip 114 of floormat 110.
Container 310 further defines a ledge 329 extending outwardly from the upper end of projection 324. Ledge 329 is sized to substantially correspond to the upper end 318 of container 310. In this regard, when one container (“upper container”) is stacked on top of another container (“lower container”), the ledge 329 of the upper container is arranged to rest flush against the upper end 318 of the lower container. The chamfer 322 and projection 324 act as alignment and nesting features that assist in the stacking of containers 310. As used herein, the term “nesting feature” encompasses a structure designed to sit inside (or receive) a corresponding structure of another container.
The manner in which chamfers 322 and projection 324 correct misalignment during stacking is explained hereinafter with additional reference to
With additional reference back to
Turning now to
While engagement feature 330 is illustrated in
In the illustrated example, an optional vertical rib 332 bisects horizontal rib 330. Vertical rib 332 further reinforces the structural integrity and adds rigidity to the walls of container 310. Container 310 may also optionally include angled ribs 334 at opposite ends of the horizontal rib 330. Each angled rib 334 extends from a lateral end of the horizontal rib, at an oblique angle, toward the bottom 328 of container 310. Angled ribs 334 may therefore act as an alignment feature designed to guide container retrieval device 206 into engagement with engagement feature 330.
Spools 416 may be synchronized with one another, for example, via a common drive shaft 418 extending between arms 412 as illustrated in
Referring to
Each grapple arm 512 is provided with a flap 520 extending at least partially along the length of the grapple arm. Flap 520 is pivotable relative to grapple arm 512 between a deployed condition in which the flap extends away from the grapple arm and into the receiving space 516 (e.g., a position where it can engage with a bin), and an undeployed or stowed condition in which the flap rest substantially flush against its respective grapple arm 512. When flaps 520 are in the undeployed condition, receiving space 516 is larger than the perimeter of container 310, thereby allowing the grapple 508 to be lowered into the gap (e.g., space between vertical members 16′ and the perimeter of the container) and around the stack of containers before the flaps are transitioned to the deployed condition and into engagement with the engagement feature 330 of a container 310 located underneath other containers. As a result, the grapple 508 is designed to extract the container 310 it is engaged with and each of the containers stacked on top of that container in a single lift.
In the illustrated example, movement of flaps 520 between the undeployed and deployed conditions is controlled by an actuator 522 disposed within grapple arms 512 and/or bar 518 configured to convert the electrical signal carried through cables 414 to rotational motion of flaps 520.
Referring generally to
It will be appreciated that because container retrieval device 206 does not have an upper surface, when grapple 508 engages a target container 310 positioned underneath one or more other containers (“non-target containers”) and spool 416 is wound to raise the target container to a location between arms 412, the non-target containers may be raised in a vertical direction through arms 412. As a result, the container retrieval device 206 of robot 200 is arranged to extract one or more containers from the frame in a single lift, thereby allowing robot 200 to dig in a much more efficient manner than its counterpart load handling device 30. Moreover, the fact that grapple 508 is three-sided (e.g., the grapple has an open lateral side) allows robot 200 to extract a stack of containers 310 and to drop the stack of containers on top of any other stack of containers (even if it one or more of the containers will project above rails 22a′ and rails 22b′) while allowing robot 200 to drive in an opposite direction of the open end of grapple 508 to disengage the grapple plate from the stack of containers. Put differently, if grapple 508 defined an enclosed aperture, it would not be possible to disengage from a container. In this regard, extracted containers would need to be redeposited entirely beneath 22a′ and rails 22b′. Additionally, the “open top” between support arms 412 allows goods to be picked from and/or packed into a container secured by the container retrieval device. It will be appreciated that inventory items cannot be placed into or removed from a container 10 secured underneath the cantilever arm 44 of load handling device 30.
Bin 620, shown in
The containers 610, 620 and their respective partitions 612, 622 may optionally be provided with optical differences to enable a robot or computer system to optically distinguish the bins from the partitions and, in turn, determine the state of the partitions. For example, bins 610, 620 may be different in color than partitions 612, 622, and the partitions may be different in color from one another. In one aspect, the bins 610, 620 and partitions 612, 622 may be provided with a matte finish or particular surface finish to reduce glare to improve such optical distinction, since glare interferes with color differentiation in some computer systems and optical devices.
The rim of container 710 protrudes laterally outwardly from an upper end of sidewall 738. A knob 740, or other protrusion, is provided on an underside of the rim and designed to engage with flap 520 to permit the flap to actuate and open the bomb bay doors, which will, in turn, dump inventory from the interior space 712 of container 710.
Use of container retrieval device 206 to actuate and dump inventory from variant container 710 will now be described. The grapple 508 of container retrieval device 206 may be lowered around container 710 before flap 520 is actuated to the deployed condition and guided toward a “contact feature” such as knob 740. With container 710 secured to grapple 508, the wheel assembly 204 may then guide robot 200 across the rails 22′ of frame 14′ to another location, for example, over another container. The flap 520 may then be actively actuated to the undeployed position, which will overcome the spring-loaded force holding bomb bay doors 736 in the closed position, which will cause the bomb bay doors to open and the inventory items to be dumped into the desired container. While variant container 710 is described herein as being actuated by flap 520, it will be appreciated that the bomb bay doors may be actuated by mechanisms other than the flap, for example, another actuator located on the container retrieval device, on the body of the robot or on the support arms of the robot.
With further reference to
Column 808 is movably disposed within the cross-shaped recess 822 of base 806. Sidewalls 828 of column 808 define a receptacle 830 sized and shaped to receive vertical member 16′. One of more of sidewalls 828 include a tapered lower guide wall 832 arranged to engage wedge 810. When wedge 810 is driven underneath column 808, the wedge engages tapered lower guide wall 832 and forces column 808 to move in the vertical direction away from base 802 which, in turn, lifts vertical member 16′ disposed within the receptable 830 of the column. On the other hand, when wedge 810 is moved away from column 808, the wedge slides out from underneath tapered lower guide wall 832 causing the column and vertical member 16′ to move downward toward base 806.
Wedge 810 is U-shaped and includes two wings 834. The height of wings 834 increases from a front of wedge 810 toward the rear of the wedge such that the wings have an upper surface that tapers at a corresponding angle to tapered lower guide wall 832, thereby allowing the wedge to be slid further underneath column 808, or out from underneath the column, to adjust the height of the column, which in turn, levels rails 22′. A surface of wings 834 include teeth 836 arranged to engage the teeth 826 of base 806 to selectively lock wedge 810 at a desired location with respect to the base underneath column 808. Wedge 810 is preferably formed from a resilient material such that the wings are compressible toward one another and then expandable away from one another when the force is released. In this manner, a user may compress wings 834 to disengage the teeth 836 of wedge 810 and the teeth 826 of base 806 and allow the wedge to be slide relative to the base. After the height of column 808 has been adjusted as desired, the compressive force may be released causing the teeth 836 of wedge 810 and the teeth 826 of base 806 to engage one another, thereby locking the wedge to the base. In some embodiments, a biasing member such as spring 812 may be disposed between wings 834 to bias the wings apart from one another and assist in locking wedge 810 to base 806. Consequently, frame 14′, or the frame of any other storage system, may be leveled by driving wedge 810 further underneath, or out from underneath, column 808.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims.
This application claims the benefit of the filing date of U.S. Provisional Patent Application No. 63/196,350, filed Jun. 3, 2021, and U.S. Provisional Patent Application No. 63/303,166, filed Jan. 26, 2022, and U.S. Provisional Patent Application No. 63/336,644, filed Apr. 29, 2022, the disclosures of which are incorporated herein by reference.
Number | Date | Country | |
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63336644 | Apr 2022 | US | |
63303166 | Jan 2022 | US | |
63196350 | Jun 2021 | US |