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公开(公告)号：US11629015B2
公开(公告)日：2023-04-18
申请号：US17229596
申请日：2021-04-13
Applicant: SYMBOTIC LLC
Inventor： Michael Cyrulik , Robert Sullivan
Abstract: A maintenance access system for a storage and retrieval system having a storage and retrieval space and automated transport vehicles disposed in the space. The system includes at least one maintenance access control unit associated with a portion of the space, at least one barrier in the space and defining a boundary of the portion of the space and configured to substantially prevent the passage of the vehicles past the at least one barrier, and a controller connected to the control unit, the controller being configured to receive a signal from the at least one control unit for isolating the portion of the space associated with the at least one control unit, where the controller in response to the signal closes the at least one barrier isolating the portion of the space and effects the removal from or shutting down of vehicles within the portion of the space.
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公开(公告)号：US11608228B2
公开(公告)日：2023-03-21
申请号：US16934657
申请日：2020-07-21
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：US11565602B2
公开(公告)日：2023-01-31
申请号：US17235623
申请日：2021-04-20
Applicant: SYMBOTIC LLC
Inventor： Robert Sullivan , Dmitry Vasilyev
IPC: H02J7/00 , B60L53/63 , G06Q30/02 , G06Q40/00 , B60L53/66 , G06Q20/10 , B65G47/04 , B65G67/02 , B60S5/00 , B65G1/04 , B65G1/137 , B60G5/00 , G06Q10/08
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.
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公开(公告)号：US11008184B2
公开(公告)日：2021-05-18
申请号：US16844227
申请日：2020-04-09
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Gregory Thronson , Christopher Kiley , Todd E. Kepple , Jared Ploss
Abstract: An automated storage and retrieval system includes a storage array of storage locations for case units. An in-out case conveyor is capable of bi-directionally transporting case units to and from the storage array, and an in-out loaded pallet conveyor is capable of bi-directionally transporting loaded pallets towards and away from the storage array. A palletizer-depalletizer cell includes a bi-directional pallet transport system with more than one independently driven pallet transports, each with a different pallet holder independently movable relative to a cell frame. Placement of case units commissioning a pallet layer loading a pallet, and removal of case units decommissioning a pallet layer unloading another pallet are both effected at the common pallet layer interface at a predetermined level of the cell frame. The pallet transports independently index a first and a second of the different pallet holders, each independently holding the pallet loading at the common pallet layer interface.
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公开(公告)号：US10981463B2
公开(公告)日：2021-04-20
申请号：US16660076
申请日：2019-10-22
Applicant: SYMBOTIC, LLC
Inventor： Robert Sullivan , Dmitry Vasilyev
IPC: H02J7/00 , B60L53/63 , G06Q30/02 , G06Q40/00 , B60L53/66 , G06Q20/10 , B65G47/04 , B65G67/02 , B60S5/00 , B65G1/04 , B65G1/137 , B60G5/00 , G06Q10/08
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.
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Patent Agency Ranking
公开(公告)号：US10710804B2
公开(公告)日：2020-07-14
申请号：US16378333
申请日：2019-04-08
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：US10696479B2
公开(公告)日：2020-06-30
申请号：US16292611
申请日：2019-03-05
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Michael Cyrulik , Stephen C. Toebes
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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公开(公告)号：US10233037B2
公开(公告)日：2019-03-19
申请号：US16018313
申请日：2018-06-26
Applicant: SYMBOTIC, LLC
Inventor： Michael Cyrulik , Robert Sullivan
Abstract: A maintenance access system for a storage and retrieval system having a storage and retrieval space and automated transport vehicles disposed in the space. The system includes at least one maintenance access control unit associated with a portion of the space, at least one barrier in the space and defining a boundary of the portion of the space and configured to substantially prevent the passage of the vehicles past the at least one barrier, and a controller connected to the control unit, the controller being configured to receive a signal from the at least one control unit for isolating the portion of the space associated with the at least one control unit, where the controller in response to the signal closes the at least one barrier isolating the portion of the space and effects the removal from or shutting down of vehicles within the portion of the space.
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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
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：US10155623B2
公开(公告)日：2018-12-18
申请号：US15848809
申请日：2017-12-20
Applicant: Symbotic, LLC
Inventor： Juergen D. Conrad , Robert Hsiung , Kirill K. Pankratov , Robert Sullivan , Larry M. Sweet
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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