公开(公告)号：US20220219909A1

公开(公告)日：2022-07-14

申请号：US17657007

申请日：2022-03-29

Applicant: Symbotic LLC

Inventor： Robert SULLIVAN ,  Stephen C. TOEBES

IPC: B65G47/08 ,  B65G1/04 ,  B65G1/127 ,  B65G1/137 ,  B65G1/06 ,  B65G1/12

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.

公开(公告)号：US20180022549A1

公开(公告)日：2018-01-25

申请号：US15722936

申请日：2017-10-02

Applicant: Symbotic, LLC

Inventor： Robert SULLIVAN ,  Stephen C. TOEBES

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

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 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.

公开(公告)号：US20230382655A1

公开(公告)日：2023-11-30

申请号：US18448552

申请日：2023-08-11

Applicant: Symbotic LLC

Inventor： Robert SULLIVAN ,  Stephen C. TOEBES

IPC: B65G47/08 ,  B65G1/04 ,  B65G1/127 ,  B65G1/137 ,  B65G1/06 ,  B65G1/12

CPC classification number: B65G47/086 ,  B65G1/0485 ,  B65G1/127 ,  B65G1/1371 ,  B65G1/06 ,  B65G1/12

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.

公开(公告)号：US20220204264A1

公开(公告)日：2022-06-30

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

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：US20170362032A1

公开(公告)日：2017-12-21

申请号：US15671591

申请日：2017-08-08

Applicant: SYMBOTIC, LLC

Inventor： Robert SULLIVAN ,  John LERT ,  Stephen C. TOEBES

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

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.

公开(公告)号：US20220002083A1

公开(公告)日：2022-01-06

申请号：US17476232

申请日：2021-09-15

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：US20200172336A1

公开(公告)日：2020-06-04

申请号：US16783483

申请日：2020-02-06

Applicant: SYMBOTIC, LLC

Inventor： Robert SULLIVAN ,  John LERT ,  Stephen C. TOEBES

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 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.

公开(公告)号：US20190193937A1

公开(公告)日：2019-06-27

申请号：US16292611

申请日：2019-03-05

Applicant: Symbotic, LLC

Inventor： Robert SULLIVAN ,  Michael CYRULIK ,  Stephen C. TOEBES

IPC: 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.

公开(公告)号：US20180273306A1

公开(公告)日：2018-09-27

申请号：US15991779

申请日：2018-05-29

Applicant: Symbotic, LLC

Inventor： Robert SULLIVAN ,  Stephen C. TOEBES

IPC: B65G47/08 ,  B65G1/137 ,  B65G1/127 ,  B65G1/04

CPC classification number: B65G47/086 ,  B65G1/0485 ,  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.

公开(公告)号：US20180194555A1

公开(公告)日：2018-07-12

申请号：US15913719

申请日：2018-03-06

Applicant: SYMBOTIC, LLC

Inventor： Robert SULLIVAN ,  Stephen C. TOEBES

IPC: B65G1/04

CPC classification number: B65G1/0492

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.