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.

公开(公告)号：US20220177225A1

公开(公告)日：2022-06-09

申请号：US17652012

申请日：2022-02-22

Applicant: Symbotic LLC

Inventor： Juergen D. CONRAD ,  Robert HSIUNG ,  Kirill K. PANKRATOV ,  Robert Sullivan ,  Larry M. Sweet

IPC: B65G1/04

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.

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

IPC: B65G1/04 ,  G06Q10/08 ,  B65G1/137 ,  G05B15/02

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.

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

IPC: B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B65G1/10 ,  B65G1/127 ,  B65G47/57

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.

公开(公告)号：US20210147146A1

公开(公告)日：2021-05-20

申请号：US17108265

申请日：2020-12-01

Applicant: Symbotic LLC

Inventor： Juergen D. Conrad ,  Robert Hsiung ,  Kirill K. Pankratov ,  Robert Sullivan ,  Larry M. Sweet

IPC: B65G1/04

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.

公开(公告)号：US10974910B2

公开(公告)日：2021-04-13

申请号：US16716130

申请日：2019-12-16

Applicant: SYMBOTIC, LLC

Inventor： Michael Cyrulik ,  Robert Sullivan

IPC: G06F7/00 ,  B65G1/00 ,  B65G47/88 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137

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.

公开(公告)号：US20210047113A1

公开(公告)日：2021-02-18

申请号：US17087835

申请日：2020-11-03

Applicant: Symbotic LLC

Inventor： Robert Sullivan ,  John Lert

IPC: B65G1/04

Abstract: A storage and retrieval system is provided and includes a transfer deck having a longitudinal axis, a first storage section and a second storage section. The first storage section and second storage section are located on opposite sides of the transfer deck and are substantially symmetrically opposed to one another about the longitudinal axis, where each of the first and second storage sections includes storage aisles that are in communication with the transfer deck.

公开(公告)号：US10442622B2

公开(公告)日：2019-10-15

申请号：US16051212

申请日：2018-07-31

Applicant: Symbotic, LLC

Inventor： John Lert ,  Stephen Toebes ,  Robert Sullivan ,  Foster D. Hinshaw ,  Nathan Ulrich ,  Eric Peters

IPC: G06F7/00 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B65G47/57 ,  B65G1/127 ,  B65G1/10

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.

公开(公告)号：US10280000B2

公开(公告)日：2019-05-07

申请号：US15144516

申请日：2016-05-02

Applicant: SYMBOTIC, LLC

Inventor： Robert Sullivan ,  Stephen C. Toebes

IPC: B65G1/06 ,  B65G13/00 ,  B62D53/02 ,  B65G7/00 ,  B60P9/00 ,  B62D53/00 ,  B60G17/005 ,  B65G1/04 ,  B65G1/137 ,  E02F9/08

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.

公开(公告)号：US10221014B2

公开(公告)日：2019-03-05

申请号：US16107068

申请日：2018-08-21

Applicant: Symbotic, LLC

Inventor： Robert Sullivan ,  Michael Cyrulik ,  Stephen C. Toebes

IPC: G01C22/00 ,  B65G1/04 ,  G05D1/02

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.