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公开(公告)号：US09802761B2
公开(公告)日：2017-10-31
申请号：US14215310
申请日：2014-03-17
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：US20170210563A1
公开(公告)日：2017-07-27
申请号：US15425864
申请日：2017-02-06
Applicant: Symbotic LLC
Inventor： Justin Holwell , Stephen C. Toebes
IPC: B65G1/04
CPC classification number: B65G1/0492
Abstract: 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：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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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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Patent Agency Ranking
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：US09309050B2
公开(公告)日：2016-04-12
申请号：US14684715
申请日：2015-04-13
Applicant: Symbotic, LLC
Inventor： Stephen C. Toebes , Robert Sullivan , Michael Cyrulik
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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公开(公告)号：US20150239668A1
公开(公告)日：2015-08-27
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.
Abstract translation: 一种自动化存储和检索系统，包括具有存储架的存储结构，存储架具有被配置为支持其中每个壳体单元的位置对于存储架上的每个存储位置不确定的壳单元的座单元，每个壳单元具有预定的存储位置 并且控制器被配置为确定预定的存储位置，构造成提供对存储结构内的壳单元的访问的拾取通道，以及包括设置在存储架上的地震干扰运动传感器的地震干扰恢复系统，地震干扰控制模块 与所述地震干扰传感器通信并且被配置为识别地震干扰;以及自动化案例映射器，被配置为遍历所述拾取通道，所述自动化案例映射器与所述地震干扰控制模块通信并由所述地震干扰控制模块初始化，以识别所述地震干扰传感器的就座位置 存储区内至少有一个案例单元 结构。
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公开(公告)号：US20140339788A1
公开(公告)日：2014-11-20
申请号：US14245551
申请日：2014-04-04
Applicant: SYMBOTIC, LLC.
Inventor： Stephen C. Toebes , Robert Sullivan
IPC: B62D53/02
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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