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公开(公告)号：US10414586B2
公开(公告)日：2019-09-17
申请号：US15425864
申请日：2017-02-06
申请人： Symbotic LLC
发明人： Justin Holwell , Stephen C. Toebes
IPC分类号： B65G1/04
摘要： An autonomous transport vehicle including a frame having a longitudinal axis extending from a front of the frame to a back of the frame, at least one first guide member mounted on one side of the frame and having a first guide member frame of reference, and at least one second guide member mounted to an opposite side of the frame than the at least one first guide member and having a second guide member frame of reference, wherein the first and second guide members are asymmetrically compliant guide members so that a stiffness of the at least one first guide member in response to a force in a predetermined direction relative to the first guide member frame of reference is different than a stiffness of the at least second guide member in response to the force in the predetermined direction relative to the second guide member frame of reference.
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公开(公告)号：US10227177B2
公开(公告)日：2019-03-12
申请号：US15913719
申请日：2018-03-06
申请人： SYMBOTIC, LLC
发明人： Robert Sullivan , Stephen C. Toebes
IPC分类号： B65G1/04
摘要： 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：US10106322B2
公开(公告)日：2018-10-23
申请号：US15848153
申请日：2017-12-20
申请人： Symbotic, LLC
摘要： 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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公开(公告)号：US20180127210A1
公开(公告)日：2018-05-10
申请号：US15798216
申请日：2017-10-30
申请人： Symbotic, LLC
发明人： Forrest Buzan , Michael Cyrulik , Aria Reynolds , Jason S. Sirois , Larry Sweet , Edward A. MacDonald , Taylor A. Apgar , Timothy Perrault , Stephen C. Toebes
CPC分类号： B65G1/1373 , B65G1/0492
摘要： An autonomous rover including a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface, a common active registration surface configured to engage the pickface, and a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface relative to at least one storage shelf of an automated storage and retrieval system to effect placement of the pickface on the storage shelf so that pickfaces are substantially continuously arranged along the at least one storage shelf with a predetermined storage spacing between the pickfaces.
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公开(公告)号：US09776794B2
公开(公告)日：2017-10-03
申请号：US15376251
申请日：2016-12-12
申请人： Symbotic LLC
发明人： Robert Sullivan , Stephen C. Toebes
CPC分类号： B65G1/0492 , B65G1/1371 , B65G1/1373 , B65G2207/20 , G05B15/02 , G06Q10/08 , G06Q10/087
摘要： 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：US09725239B2
公开(公告)日：2017-08-08
申请号：US14293556
申请日：2014-06-02
申请人： Symbotic, LLC
发明人： John Lert , Stephen C. Toebes , Robert Sullivan
CPC分类号： B65G1/0492 , B65G1/045 , B65G1/065 , B65G1/10 , B65G1/127 , B65G1/137 , B65G1/1371 , B65G1/1373 , B65G1/1378 , B65G47/57 , Y10S901/01
摘要： A storage and retrieval system including a vertical array of storage levels, each storage level having storage locations, a multilevel vertical conveyor system configured to transport the uncontained case units to and from the vertical array of storage levels, each storage level being configured to receive uncontained case units from the multilevel vertical conveyor system, at least one autonomous transport confined to each storage level, the at least one autonomous transport being configured to transport the uncontained case units between respective storage locations and the multilevel vertical conveyor system, and a controller configured to effect operation of the multilevel vertical conveyor system and at least one autonomous transport for assembling orders of uncontained case units of different types without moving bundles of the same uncontained case unit type throughout the storage and retrieval system.
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公开(公告)号：US09550225B2
公开(公告)日：2017-01-24
申请号：US15243490
申请日：2016-08-22
申请人： Symbotic LLC
CPC分类号： G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
摘要： An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.
摘要翻译： 提供了用于在存储和检索系统中运送物品的自主运输车辆。 自主运输车辆包括至少两个驱动轮和控制器，其中每个驱动轮被独立地驱动，并且驱动轮编码器被布置在每个驱动轮附近。 与驱动轮编码器通信的控制器被配置为仅基于来自驱动轮编码器的增量数据来确定存储和检索系统内的自主运输车辆的运动状态，并且独立于驱动轮打滑。
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公开(公告)号：US20160357190A1
公开(公告)日：2016-12-08
申请号：US15243490
申请日：2016-08-22
申请人： Symbotic LLC
IPC分类号： G05D1/02
CPC分类号： G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
摘要： An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.
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公开(公告)号：US20160244261A1
公开(公告)日：2016-08-25
申请号：US15144516
申请日：2016-05-02
申请人： SYMBOTIC, LLC
发明人： Robert Sullivan , Stephen C. Toebes
IPC分类号： B65G1/06 , B60G17/005 , B65G1/04
CPC分类号： B65G1/065 , B60G17/005 , B60G2300/02 , B60P9/00 , B62D53/00 , B62D53/02 , B62D53/021 , B65G1/0492 , B65G1/1373 , B65G7/00 , B65G13/00 , E02F9/0841 , G05D2201/0216 , Y10S901/01 , Y10T74/20636 , B65G17/005
摘要： An autonomous transport robot for transporting a payload, the autonomous transport robot including a drive section assembly having at least one motor and a pair of drive wheels coupled to the motor, a frame configured to support a payload, a transfer arm connected to the frame and configured for the autonomous transfer of payload to and from the frame, and a suspension system movably connecting the drive section assembly and the frame allowing relative movement between the frame and the drive section assembly.
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公开(公告)号：US09423796B2
公开(公告)日：2016-08-23
申请号：US14629003
申请日：2015-02-23
申请人： Symbotic LLC
CPC分类号： G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
摘要： An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.
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