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公开(公告)号：US10683169B2
公开(公告)日：2020-06-16
申请号：US16351374
申请日：2019-03-12
Applicant: SYMBOTIC, LLC
Inventor： Robert Sullivan , Stephen C. Toebes
IPC: B65G1/04
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.
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公开(公告)号：US20200039744A1
公开(公告)日：2020-02-06
申请号：US16653409
申请日：2019-10-15
Applicant: Symbotic, LLC
Inventor： John Lert , Stephen Toebes , Robert Sullivan , Foster D. Hinshaw , Nathan Ulrich , Eric Peters
Abstract: A warehouse storage and retrieval system including an array of multilevel storage racks having at least one transfer deck, picking isles and storage areas disposed along picking isles, the storage areas being configured to hold differing loads, and a controller including a management module configured to variably size the storage areas of the array of multilevel storage rack modules and assign each of the variably sized storage areas to a corresponding one of the differing loads, wherein the storage and retrieval system is arranged to transport the differing loads for placement in the variably sized storage areas assigned by the controller.
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公开(公告)号：US10252859B2
公开(公告)日：2019-04-09
申请号：US16043512
申请日：2018-07-24
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Stephen C. Toebes
Abstract: An automated storage and retrieval system including a storage structure with storage racks having a seating surface configured to support case units where a position of each case unit is non-deterministic for each storage location on the storage racks, each case unit has a predetermined storage position and a controller is configured to determine the predetermined storage position, a picking aisle configured to provide access to the case units within the storage structure, and a seismic disturbance restorative system including seismic disturbance motions sensors disposed on the storage racks, a seismic disturbance control module in communication with the seismic disturbance sensors and configured to identify a seismic disturbance, and an automated case mapper configured to traverse the picking aisle, the automated case mapper being in communication with and initialized by the seismic disturbance control module to identify a seated position of at least one case unit within the storage structure.
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公开(公告)号：US09856083B2
公开(公告)日：2018-01-02
申请号：US14997920
申请日：2016-01-18
Applicant: Symbotic LLC
Inventor： Juergen D. Conrad , Robert Hsiung , Kirill K. Pankratov , Robert Sullivan , Larry M. Sweet
CPC classification number: B65G1/0492 , B65G1/0435 , B65G1/0485 , B65G1/1376
Abstract: An automated storage and retrieval system including at least one autonomous transport vehicle, a transfer deck that defines a transport surface for the vehicle, at least one reciprocating lift, a first and second pickface interface station connected to the deck and spaced apart from each other, each station forming a pickface transfer interfacing between the vehicle on the deck and the lift at each station so that a pickface is transferred between the lift and the vehicle at each station, wherein the vehicle is configured to pick a first pickface at the first station, traverse the deck and buffer the first pickface, or at least a portion thereof, at the second station so that the second station has multiple pickfaces buffered on a common support in an order sequence of pickfaces according to a predetermined case out order sequence of mixed case pickfaces.
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公开(公告)号：US09676551B2
公开(公告)日：2017-06-13
申请号：US14942717
申请日：2015-11-16
Applicant: Symbotic, LLC
Inventor： Stephen C. Toebes , Robert Sullivan , Forrest Buzan
CPC classification number: B65G1/0492 , B25J9/1674 , Y10S901/02 , Y10S901/09
Abstract: An autonomous transport robot for transporting a payload, the autonomous transport robot includes a payload bed having at least one reference datum surface and at least one payload justification device, the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface to place the payload in a predetermined position on the payload bed.
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Patent Agency Ranking
公开(公告)号：US20170072809A1
公开(公告)日：2017-03-16
申请号：US15359366
申请日：2016-11-22
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Dmitry Vasilyev
CPC classification number: B60L11/1838 , B60L11/1844 , B60S5/00 , B65G1/0492 , B65G1/1373 , B65G47/04 , B65G67/02 , G06Q10/087 , G06Q20/105 , G06Q30/0215 , G06Q40/00 , H02J7/0021 , H02J7/007
Abstract: A charging system for autonomous transport vehicles including at least one charging contact disposed on each pick floor level of a storage and retrieval system, each of the at least one charging contact being located at a transfer station, at least one power supply configured to supply power to the at least one charging contact, and a controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the controller is configured to supply power to the charging contacts simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.
Abstract translation: 一种用于自主运输车辆的充电系统，包括设置在存储和取回系统的每个拾取楼层上的至少一个充电接触件，所述至少一个充电接点中的每一个位于转移站处，至少一个电源被配置为提供电力 到所述至少一个充电接触器，以及与所述转移站通信的控制器，并且被配置为传送与所述转移站和所述自主运输车辆中的预定的一个之间的物品的转移有关的信息，并且从所述电源 到所述至少一个充电接触件，用于对应于所述转移并位于所述转移站处的所述预定的自动运输车辆进行充电，其中所述控制器被配置为与所述预定的自动运输车辆交换与所述转移相关的物品同时向所述充电接触器供电 在转运站。
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公开(公告)号：US09371183B2
公开(公告)日：2016-06-21
申请号：US14679535
申请日：2015-04-06
Applicant: Symbotic, LLC
Inventor： Stephen C. Toebes , Robert Sullivan
CPC classification number: B65G1/0435 , B65G1/04 , B65G17/123 , B65G17/18 , B65G47/56 , B65G65/08
Abstract: A multilevel vertical conveyor system for transporting uncontained case units to and from a multilevel storage structure having an array of vertically stacked storage levels is provided and includes a frame having platform guide members, a drive member connected to the frame, and support platforms coupled to the drive member. The drive member is configured to move the support platforms relative to the frame in a substantially continuous vertical loop, each of the support platforms being configured to support multiple uncontained case units where each of the multiple uncontained case units is disposed at a respective predetermined area of a respective support platform, the support platforms have support members that are guided by guide members substantially throughout a path of the substantially continuous vertical loop, where the support members are guided in three point contact by the guide members substantially throughout the path.
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公开(公告)号：US20160137419A1
公开(公告)日：2016-05-19
申请号：US15007070
申请日：2016-01-26
Applicant: Symbotic LLC
Inventor： Robert Sullivan , Stephen C. Toebes
CPC classification number: B65G1/0492 , B65G1/1371 , B65G1/1373 , B65G2207/20 , G05B15/02 , G06Q10/08 , G06Q10/087
Abstract: An automated storage and retrieval system including a storage structure with storage racks having a seating surface configured to support case units where a position of each case unit is non-deterministic for each storage location on the storage racks, each case unit has a predetermined storage position and a controller is configured to determine the predetermined storage position, a picking aisle configured to provide access to the case units within the storage structure, and a seismic disturbance restorative system including seismic disturbance motions sensors disposed on the storage racks, a seismic disturbance control module in communication with the seismic disturbance sensors and configured to identify a seismic disturbance, and an automated case mapper configured to traverse the picking aisle, the automated case mapper being in communication with and initialized by the seismic disturbance control module to identify a seated position of at least one case unit within the storage structure.
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公开(公告)号：US20160137416A1
公开(公告)日：2016-05-19
申请号：US14942717
申请日：2015-11-16
Applicant: Symbotic, LLC
Inventor： Stephen C. Toebes , Robert Sullivan , Forrest Buzan
CPC classification number: B65G1/0492 , B25J9/1674 , Y10S901/02 , Y10S901/09
Abstract: An autonomous transport robot for transporting a payload, the autonomous transport robot includes a payload bed having at least one reference datum surface and at least one payload justification device, the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface to place the payload in a predetermined position on the payload bed.
Abstract translation: 一种用于运输有效载荷的自主运输机器人，所述自主运输机器人包括具有至少一个参考基准表面和至少一个有效负载调整装置的有效载荷床，所述至少一个有效负载调整装置被配置为将有效载荷定位在有效载荷床上 与至少一个参考基准表面实质接触以将有效载荷置于有效载荷床上的预定位置。
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公开(公告)号：US09321591B2
公开(公告)日：2016-04-26
申请号：US13860802
申请日：2013-04-11
Applicant: Symbotic, LLC
Inventor： John Lert , Stephen Toebes , Robert Sullivan , Foster D. Hinshaw , Nathan Ulrich
CPC classification number: B65G1/1373 , B65G1/0492 , B65G1/065
Abstract: An autonomous transport vehicle for transferring case units to and from predefined storage areas in an automated case unit storage system, the automated case unit storage system including an array of multilevel storage racks with picking aisles passing therebetween and at least one multilevel vertical conveyor having movable shelves, the autonomous transport vehicle including a frame configured to traverse the picking aisles and a transfer deck connecting the picking aisles to the at least one multilevel vertical conveyor for transferring case units between the predefined storage areas and the at least one multilevel vertical conveyor, and a controller connected to the frame, the controller being configured to effect movement of the autonomous transport vehicle through the picking aisles for accessing each storage area within a respective level of the array of multilevel storage racks and each shelf of the at least one multilevel vertical conveyor.
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