Compact payload stopper for mobile robot comprising conveyor

A compact payload stopper configured to stop a payload from moving from a position on a conveyor on a mobile robot, comprising:

• an interface assembly that serves as a main structural member of the payload stopper, the interface assembly attaching the payload stopper to the mobile robot, the payload stopper configured to stop the payload from moving off the mobile robot;
• a stopper blade assembly connected to the interface assembly so as to allow the stopper blade assembly to pivot about an axis of the interface assembly, the stopper blade assembly configured to have a disengaged position that allows for one or more of moving a payload onto the robot and moving a payload off the robot, the stopper blade assembly further configured to have an engaged position that stops the payload from moving off the robot, the stopper blade assembly further comprising a plurality of stopper shoulder screws configured to fasten the stopper blade assembly through a plurality of slots in the interface assembly, the stopper shoulder screws configured to resist rotation of the stopper blade assembly when the payload impacts the stopper blade;
• a linkage configured to actuate the stopper blade assembly between the engaged position and the disengaged position by converting rotational output of the motor into rotation of the stopper blade assembly;
• and
• a motor assembly comprising a motor, the motor assembly connected to the interface assembly, the motor assembly configured to apply a force through the linkage to the stopper blade assembly, causing the stopper blade assembly to rotate into a desired position of the engaged position and the disengaged position.

A compact payload stopper configured to stop a payload from moving from a position on a conveyor on a mobile robot, comprising:

• an interface assembly that serves as a main structural member of the payload stopper, the interface assembly attaching the payload stopper to the mobile robot, the payload stopper configured to stop the payload from moving off the mobile robot;
• a stopper blade assembly connected to the interface assembly so as to allow the stopper blade assembly to pivot about an axis of the interface assembly, the stopper blade assembly configured to have a disengaged position that allows for one or more of moving a payload onto the robot and moving a payload off the robot;
• wherein the disengaged position folds the stopper blade assembly down beneath the height of the conveyor, the stopper blade assembly further configured to have an engaged position that stops the payload from moving off the robot, wherein the payload stopper is configured to provide feedback when the payload stopper is in the engaged position that it is safe for the robot to move, wherein the payload stopper is further configured to provide feedback when it is in the disengaged position that it is not safe to move;
• a linkage configured to actuate the stopper blade assembly between the engaged position and the disengaged position by converting rotational output of the motor into rotation of the stopper blade assembly;
• and
• a motor assembly comprising a motor, the motor assembly connected to the interface assembly, the motor assembly configured to apply a force through the linkage to the stopper blade assembly, causing the stopper blade assembly to rotate into a desired position of the engaged position and the disengaged position, wherein the payload stopper is installed on one or more of a front side and a back side of the robot.