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公开(公告)号：US20150104282A1
公开(公告)日：2015-04-16
申请号：US14576644
申请日：2014-12-19
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.
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马达的驱动部分组件和联接到所述马达的一对驱动轮，被配置为支撑有效载荷的框架，连接到所述框架的传送臂以及 被配置为用于从框架自由地传送有效载荷，以及悬架系统，其可移动地连接驱动部分组件和框架，允许框架和驱动部分组件之间的相对运动。
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公开(公告)号：US11939161B2
公开(公告)日：2024-03-26
申请号：US17820088
申请日：2022-08-16
Applicant: Symbotic, LLC
Inventor： Forrest Buzan , Michael Cyrulik , Aria Reynolds , Jason S. Sirois , Larry Sweet , Edward A. MacDonald , Taylor A. Apgar , Timothy Perrault , Stephen C. Toebes
CPC classification number: B65G1/1373 , B65G1/0492
Abstract: 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：US11724890B2
公开(公告)日：2023-08-15
申请号：US17657007
申请日：2022-03-29
Applicant: Symbotic LLC
Inventor： Robert Sullivan , Stephen C. Toebes
CPC classification number: B65G47/086 , B65G1/0485 , B65G1/06 , B65G1/12 , B65G1/127 , B65G1/1371
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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公开(公告)号：US11661279B2
公开(公告)日：2023-05-30
申请号：US17814937
申请日：2022-07-26
Applicant: SYMBOTIC LLC
Inventor： Robert Sullivan , John Lert , Stephen C. Toebes , Foster 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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公开(公告)号：US20220388776A1
公开(公告)日：2022-12-08
申请号：US17820088
申请日：2022-08-16
Applicant: Symbotic, LLC
Inventor： Forrest Buzan , Michael Cyrulik , Aria Reynolds , Jason S. Sirois , Larry Sweet , Edward A. MacDonald , Taylor A. Apgar , Timothy Perrault , Stephen C. Toebes
Abstract: 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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Patent Agency Ranking
公开(公告)号：US11286118B2
公开(公告)日：2022-03-29
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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公开(公告)号：US11279557B2
公开(公告)日：2022-03-22
申请号：US16917555
申请日：2020-06-30
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：US20200331699A1
公开(公告)日：2020-10-22
申请号：US16917555
申请日：2020-06-30
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：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：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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