公开(公告)号：US20220380126A1

公开(公告)日：2022-12-01

申请号：US17664838

申请日：2022-05-24

申请人： SYMBOTIC LLC

发明人： Akram ZAHDEH ,  Edward A. MACDONALD

IPC分类号： B65G1/04 ,  B60B33/00 ,  G05D1/00

摘要： An autonomous transport vehicle, for transporting items in a storage and retrieval system, includes a frame, a controller, at least two independently driven drive wheels mounted to the frame, and at least one caster wheel mounted to the frame and having a castering assistance motor that engages the at least one caster wheel so as to impart castering assistance torque to the at least one caster wheel assisting castering of the at least one caster wheel. The controller is communicably connected to the castering assistance motor and configured to effect via a combination of vehicle yaw, generated by differential torque from the at least two independently driven drive wheels, and castering assistance torque from the castering assistance motor, castering of the at least one caster wheel with the autonomous transport vehicle in motion with a predetermined kinematic state.

公开(公告)号：US20230069056A1

公开(公告)日：2023-03-02

申请号：US17664944

申请日：2022-05-25

申请人： Symbotic LLC

发明人： Akram ZAHDEH ,  Todd KEPPLE

IPC分类号： B66F9/06 ,  B66F9/18

摘要： An autonomous transport vehicle includes a frame forming a transport payload area of the vehicle. The payload area includes a payload contact support surface that defines a payload support plane that supports the payload. The payload area further includes an articulated underpick end effector that engages and underpicks the payload with respect to the support plane, and extends and retracts with respect to the payload area effecting payload transfer. Payload registration facets are mounted to the frame to engage the payload. The registration facets are disposed to provide, upon engagement with the payload, at least two degrees of registration capturing and securing the payload in a predetermined position in the payload area, and are configured to effect payload engagement with the at least two degrees of registration registering the payload substantially coincident with seating of the payload on the payload support plane of the payload area.

公开(公告)号：US20220402736A1

公开(公告)日：2022-12-22

申请号：US17664948

申请日：2022-05-25

申请人： Symbotic LLC

发明人： Akram ZAHDEH ,  Todd KEPPLE ,  Edward MACDONALD

IPC分类号： B66F9/075 ,  B66F9/06 ,  B25J19/00 ,  B25J5/00 ,  B62D21/11 ,  B62D21/18

摘要： An autonomous transport robot for transporting a payload is provided and includes a frame with an integral payload support, a transfer arm connected to the frame for autonomous transfer of payload to and from the frame, and a drive section with at least a pair of traction drive wheels astride the drive section, the drive section being connected to the frame. The at least the pair of traction drive wheels have a fully independent suspension coupling each traction drive wheel of the at least the pair of traction drive wheels to the frame, with at least one intervening pivot link between at least one traction drive wheel and the frame configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and a rolling surface over rolling surface transients throughout traverse of the at least one traction drive wheel over the rolling surface.

公开(公告)号：US20230075455A1

公开(公告)日：2023-03-09

申请号：US17664843

申请日：2022-05-24

申请人： Symbotic LLC

发明人： Akram ZAHDEH ,  Todd KEPPLE

IPC分类号： B65G1/04 ,  B65G1/137 ,  G05D1/00

摘要： An autonomous transport robot vehicle for transporting a payload, includes a chassis that is a space frame formed of longitudinal hollow section beams, arrayed to form longitudinally extended sides of the space frame, and respective front and rear lateral beams closing opposite ends of the space frame. A payload support is connected to the chassis. Ride wheels depend from the chassis. The ride wheels and chassis in combination form a low profile height from the traverse surface to atop the chassis, where chassis height and ride wheel height are overlapped at least in part and the payload support is nested within the ride wheels. The space frame has predetermined modular coupling interfaces, each disposed for removably coupling, as a module unit, a corresponding predetermined electronic or mechanical component module of the autonomous transport robot vehicle to the chassis.

公开(公告)号：US20230050980A1

公开(公告)日：2023-02-16

申请号：US17804026

申请日：2022-05-25

申请人： Symbotic LLC

发明人： Akram ZAHDEH ,  Paul BESL

IPC分类号： B65G1/04 ,  B66F9/06 ,  B66F9/075 ,  G05D1/00

摘要： An autonomous guided vehicle includes a frame, a drive section, a payload handler, a sensor system, and a supplemental sensor system. The sensor system has electro-magnetic sensors, each responsive to interaction or interface of a sensor emitted or generated electro-magnetic beam or field with a physical characteristic, the electro-magnetic beam or field being disturbed by interaction or interface with the physical characteristic, and which disturbance is detected by and effects sensing of the physical characteristic. The sensor system generates sensor data embodying at least one of a vehicle navigation pose or location information and payload pose or location information. The supplemental sensor system supplements the sensor system, and is, at least in part, a vision system with cameras disposed to capture image data informing the at least one of a vehicle navigation pose or location and payload pose or location supplement to the information of the sensor system.