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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
Applicant: Symbotic LLC
Inventor： Robert Sullivan , Stephen C. Toebes , Forrest Buzan , Andrew Eccles
CPC classification number: G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
Abstract: 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：US09242800B2
公开(公告)日：2016-01-26
申请号：US14618566
申请日：2015-02-10
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：US08919801B2
公开(公告)日：2014-12-30
申请号：US14245551
申请日：2014-04-04
Applicant: Symbotic, LLC.
Inventor： Stephen C. Toebes , Robert Sullivan
CPC classification number: 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
Abstract: 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：US20140271063A1
公开(公告)日：2014-09-18
申请号：US14293556
申请日：2014-06-02
Applicant: Symbotic, LLC
Inventor： John Lert , Stephen C. Toebes , Robert Sullivan
CPC classification number: B65G1/0492 , B65G1/045 , B65G1/065 , B65G1/10 , B65G1/127 , B65G1/137 , B65G1/1371 , B65G1/1373 , B65G1/1378 , B65G47/57 , Y10S901/01
Abstract: 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.
Abstract translation: 一种存储和检索系统，包括垂直阵列的存储级别，每个存储级别具有存储位置;多级垂直传送器系统，被配置为将未包含的病例单元传送到和垂直阵列的存储级别，每个存储级别被配置为接收未被容纳的 来自多层垂直输送机系统的壳体单元，至少一个限于每个储存水平的自动输送器，所述至少一个自主输送器被配置成在相应的存储位置和多层垂直输送机系统之间输送未承载的壳体单元，以及控制器， 多层垂直输送系统的效果操作和至少一种自动运输，用于组装不同类型的不包括的壳体单元的订单，而不需要在整个存储和检索系统中移动相同的未包含的箱单元类型的捆。
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公开(公告)号：US11884487B2
公开(公告)日：2024-01-30
申请号：US17655378
申请日：2022-03-18
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Michael Cyrulik , Stephen C. Toebes
CPC classification number: B65G1/0492 , G05D1/0272 , G05D2201/0216
Abstract: A storage and retrieval system including a storage structure having storage shelves, each storage shelf having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle including at least one sensor configured to sense each of the slats and output a signal indicating when a slat is sensed, and a controller for verifying a location of the autonomous transport vehicle within the storage structure based on at least the output signal.
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Patent Agency Ranking
公开(公告)号：US11767167B2
公开(公告)日：2023-09-26
申请号：US17655379
申请日：2022-03-18
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Stephen C. Toebes
IPC: B65G1/04 , G06Q10/08 , B65G1/137 , G05B15/02 , G06Q10/087
CPC classification number: B65G1/0492 , B65G1/1371 , B65G1/1373 , G05B15/02 , G06Q10/08 , G06Q10/087 , B65G2207/20
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 nondeterministic 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：US20220194703A1
公开(公告)日：2022-06-23
申请号：US17654752
申请日：2022-03-14
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：US11279558B2
公开(公告)日：2022-03-22
申请号：US16928847
申请日：2020-07-14
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 nondeterministic 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：US11124361B2
公开(公告)日：2021-09-21
申请号：US16364711
申请日：2019-03-26
Applicant: Symbotic, LLC
Inventor： John Lert , Stephen C. Toebes , Robert Sullivan , Foster Hinshaw , Nathan Ulrich
Abstract: A storage and retrieval system including a vertical array of storage levels, each storage level having, picking aisles, storage locations, disposed within the picking aisles, and at least one transfer deck providing access to the picking aisles, 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 located on each storage level for transporting the uncontained case units between respective storage locations and the multilevel vertical conveyor system, and a controller configured to create a primary access path through the transfer decks and picking aisles to a predetermined one of the storage locations and at least one secondary access path to the predetermined one of the storage locations when the primary path is impassable.
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公开(公告)号：US20210114816A1
公开(公告)日：2021-04-22
申请号：US17136475
申请日：2020-12-29
Applicant: Symbotic LLC
Inventor： Robert SULLIVAN , Stephen C. Toebes
Abstract: A pickface builder for a storage and retrieval system for storing goods units and having an in-feed conveyor and a picking device, each goods unit holding at least one product package therein, the pickface builder including a frame, a pusher member movably coupled to the frame, and a snugger member movably coupled to the frame, wherein the pickface builder is configured to receive goods units from the in-feed conveyor and the pusher member and snugger member are movable at least in a direction transverse to a direction of goods unit travel on the in-feed conveyor and configured to form the goods units into a pickface picked by the picking device as a unit and having a predetermined reference datum relating the pickface to a placement position of goods units forming the pickface along a storage surface of the storage and retrieval system.
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