A self-cleaning apparatus for sorting a mixture of materials is disclosed that comprises a material sorter and a gantry positioning system elevated above the material sorter. The gantry positioning system includes a longitudinal travel rail with a longitudinal travel rail carriage, a traverse travel rail with a transverse travel rail carriage connected to the longitudinal travel rail carriage running perpendicular to the longitudinal travel rail, and a vertical travel rail connected to the vertical travel rail carriage running perpendicular to the traverse travel rail. A cutter and, optionally, a picker, are connected to the vertical travel rail. The gantry positioning system can move the cutter and picker various directions to dislodge and remove material that may have accumulated on the sorter. Instead of a gantry positioning system, the apparatus may have a multi-axis arm.

A self-cleaning apparatus for sorting a mixture of materials is disclosed that comprises a material sorter and a gantry positioning system elevated above the material sorter. The gantry positioning system includes a longitudinal travel rail with a longitudinal travel rail carriage, a traverse travel rail with a transverse travel rail carriage connected to the longitudinal travel rail carriage running perpendicular to the longitudinal travel rail, and a vertical travel rail connected to the vertical travel rail carriage running perpendicular to the traverse travel rail. A cutter and, optionally, a picker, are connected to the vertical travel rail. The gantry positioning system can move the cutter and picker various directions to dislodge and remove material that may have accumulated on the sorter. Instead of a gantry positioning system, the apparatus may have a multi-axis arm.

A rail can include an entry portion, an exit portion, and a middle portion disposed between the entry and exit portions. The middle portion can be lower than the entry and exit portions. The rail can be configured to couple with a container such that the container is movable, along the rail, from the entry portion to the exit portion. A first storage rack can be disposed on a first side of the rail middle portion and a second storage rack can be disposed on an opposing side of the rail middle portion. A processing system can be configured to: receive an order; analyze the order based on an inventory of the first storage rack and the second storage rack; and cause the container to move from the rail entry portion to the rail middle portion based on the analysis.

Among other things, a connection assembly for motion along a rail is disclosed. The connection assembly can include a first plate assembly, a second plate assembly, and a release assembly. The first plate assembly can include a first stop mounted to a first base. The second plate assembly can include a second stop mounted to a second base and a post mounted to the second base. The release assembly can include a rod and a spring. The rod can include an outward extension. The spring can be disposed between the extension and the second stop. The release assembly can be configured to occupy: a first state such that the spring pushes the extension against the first stop and thereby biases the first base away from the second base; and a second state such that the spring pushes the extension against the post.

A rail can include first and transverse channels defined therein. A container can include a rod, a spring, a first plate assembly, and a second plate assembly. The first plate assembly can include a first transverse bearing disposed in the first transverse channel. The second plate assembly can include a second transverse bearing disposed in the second transverse channel. A robotic assembly can include a robotic arm. The robotic arm can include opposing grips defining a grip space therebetween. A processing system including one or more processors can be configured to, via the robotic assembly: align the grip space with the container rod; drive the rod against the spring; allow the spring to relax and thereby separate the first plate assembly from the second plate assembly; position the rod such that the first transverse bearing and the second transverse bearing are simultaneously withdrawn from the first and second transverse channels.

Among other things, a vehicle for transporting containers is disclosed. The vehicle can include a base, a rack, and at least one container. The base can include a platform, wheels, and a motor for driving one or more of the wheels. The rack can be mounted to the platform. The rack can include at least one rail. The at least one rail can include a channel defined therein and an end coupling for linking the at least one rail with an external rail. The at least one container can be configured to connect with the at least one rail and include a connection assembly. At least a portion of the connection assembly can be moveably disposed in the channel.

The specification discloses robotic apparatus for extraction of a worn treatment panel module from a treatment deck of ore material treatment apparatus without the need for work personnel entering the treatment apparatus, the robotic apparatus including a robotic support structure carried on transport means whereby the robotic support structure follows a course on the treatment deck, the robotic apparatus further including a treatment panel module handling mechanism connected to the robotic support structure for movement along a defined path of movement and first drive means for selectably moving the treatment panel module handling mechanism along the defined path of movement, the treatment panel module handling mechanism still further including tool means adapted to mount tool means cooperable at least with a treatment panel module intended to be removed from a selected treatment deck, the tool means being able to engage a panel module to lift it out of the treatment deck.

The specification discloses robotic apparatus for extraction of a worn treatment panel module from a treatment deck of ore material treatment apparatus without the need for work personnel entering the treatment apparatus, the robotic apparatus including a robotic support structure carried on transport means whereby the robotic support structure follows a course on the treatment deck, the robotic apparatus further including a treatment panel module handling mechanism connected to the robotic support structure for movement along a defined path of movement and first drive means for selectably moving the treatment panel module handling mechanism along the defined path of movement, the treatment panel module handling mechanism still further including tool means adapted to mount tool means cooperable at least with a treatment panel module intended to be removed from a selected treatment deck, the tool means being able to engage a panel module to lift it out of the treatment deck.

Systems, devices, and methods are directed to automated preparation of food or consumable items, such as for preparation of fried foods. An example cooking apparatus may include processing devices for the consumable items. In some examples, a robot arm is provided that extends from a moveable base. Locators may define a relative position of the moveable base relative to processing device(s) of the cooking apparatus, such that the robot arm is configured to determine robot arm movements to move the consumable items to and from the processing device(s). In some examples, one or more zones may be used to detect movement near a robot arm, with one or more restrictions being placed upon robot arm and/or base movement in response. In some examples, a cooking apparatus provides automated transport of food ingredients for preparation of food or other consumable items.

Systems, devices, and methods are directed to automated preparation of food or consumable items, such as for preparation of fried foods. An example cooking apparatus may include processing devices for the consumable items. In some examples, a robot arm is provided that extends from a moveable base. Locators may define a relative position of the moveable base relative to processing device(s) of the cooking apparatus, such that the robot arm is configured to determine robot arm movements to move the consumable items to and from the processing device(s). In some examples, one or more zones may be used to detect movement near a robot arm, with one or more restrictions being placed upon robot arm and/or base movement in response. In some examples, a cooking apparatus provides automated transport of food ingredients for preparation of food or other consumable items.