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公开(公告)号：US20220002082A1
公开(公告)日：2022-01-06
申请号：US17475096
申请日：2021-09-14
申请人： SYMBOTIC LLC
发明人： Edward A. MACDONALD , Forrest BUZAN , John F. KEATING , Juergen D. CONRAD , Armin ATAEI-ESFAHANI
摘要： A storage array system including an open undeterministic transport surface, a navigation array disposed in connection with the transport surface, the navigation array includes a distributed feature, a first waypoint at a first position of the distributed feature, a second waypoint displaced from the first waypoint along the distributed feature and offset with respect to the first waypoint in a direction angled to the distributed feature, and a guided bot, arranged to traverse the transport surface, with a non-holonomic steering system, the guided bot having a bot pose determination system employing sensor data detecting the distributed feature, wherein the guided bot includes a controller configured to generate a substantially smooth curved bot traverse path on the transport surface connecting the first and second waypoints with a predetermined optimal trajectory of the guided bot along the traverse path determined based on a bot dynamic model.
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公开(公告)号：US20210292092A1
公开(公告)日：2021-09-23
申请号：US17204107
申请日：2021-03-17
申请人： Symbotic LLC
发明人： Kirill K. PANKRATOV , Juergen D. CONRAD , Robert HSIUNG , William JOHNSON, JR. , Edward A. MACDONALD , Larry M. SWEET
摘要： In accordance with one or more aspects of the disclosed embodiment, a lift includes at least one load handling device configured so as to reciprocate along a lift axis, the load handling device including a frame forming a payload section with a payload support surface having a common elevation configured to hold one or more pickfaces at the common elevation of the payload support surface, at least one transfer arm movably mounted to the frame, and a drive section connected to the load handling device and being configured to move the load handling device along the lift axis, wherein the one or more pickfaces carried in unison by the payload support surface of the at least one load handling device, define an order sequence of pickfaces on the at least one load handling device according to a predetermined case out order sequence of mixed cases.
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公开(公告)号：US20230391551A1
公开(公告)日：2023-12-07
申请号：US18446173
申请日：2023-08-08
申请人： Symbotic LLC
发明人： Forrest BUZAN , Edward A. MACDONALD , Taylor A. APGAR , Thomas A. SCHAEFER , Melanie ZIEGLER , Russell G. BARBOUR
IPC分类号： B65G1/04
CPC分类号： B65G1/0492
摘要： An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.
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公开(公告)号：US20210229914A1
公开(公告)日：2021-07-29
申请号：US17229424
申请日：2021-04-13
申请人： Symbotic LLC
摘要： An automated storage and retrieval system including at least one autonomous transport vehicle, a transfer deck that defines an undeterministic transport surface for the at least one autonomous transport vehicle, the transfer deck having multiple travel lanes, at least one vertically reciprocating lift, and at least one pickface handoff station connected to the transfer deck and interfacing between the at least one autonomous transport vehicle on the transfer deck and the at least one vertically reciprocating lift so that a pickface is transferred between the at least one vertically reciprocating and the at least one autonomous transport vehicle.
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公开(公告)号：US20240051754A1
公开(公告)日：2024-02-15
申请号：US18488606
申请日：2023-10-17
申请人： Symbotic LLC
发明人： Kirill K. PANKRATOV , Juergen D. CONRAD , Robert HSIUNG , William JOHNSON, JR. , Edward A. MACDONALD , Larry M. SWEET
CPC分类号： B65G1/1373 , B65G1/04
摘要： In accordance with one or more aspects of the disclosed embodiment, a lift includes at least one load handling device configured so as to reciprocate along a lift axis, the load handling device including a frame forming a payload section with a payload support surface having a common elevation configured to hold one or more pickfaces at the common elevation of the payload support surface, at least one transfer arm movably mounted to the frame, and a drive section connected to the load handling device and being configured to move the load handling device along the lift axis, wherein the one or more pickfaces carried in unison by the payload support surface of the at least one load handling device, define an order sequence of pickfaces on the at least one load handling device according to a predetermined case out order sequence of mixed cases.
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公开(公告)号：US20180282064A1
公开(公告)日：2018-10-04
申请号：US16000749
申请日：2018-06-05
申请人： Symbotic, LLC
发明人： Forrest BUZAN , Michael CYRULIK , Aria REYNOLDS , Jason S. SIROIS , Larry SWEET , Edward A. MACDONALD , Taylor A. APGAR , Timothy PERRAULT , Stephen C. TOEBES
CPC分类号： B65G1/1373 , B65G1/0492
摘要： 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：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
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.
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公开(公告)号：US20190256289A1
公开(公告)日：2019-08-22
申请号：US16284930
申请日：2019-02-25
申请人： Symbotic LLC
发明人： Kirill K. PANKRATOV , Juergen D. CONRAD , Robert HSIUNG , William JOHNSON, Jr. , Edward A. MACDONALD , Larry M. SWEET
摘要： In accordance with one or more aspects of the disclosed embodiment, a lift includes at least one load handling device configured so as to reciprocate along a lift axis, the load handling device including a frame forming a payload section with a payload support surface having a common elevation configured to hold one or more pickfaces at the common elevation of the payload support surface, at least one transfer arm movably mounted to the frame, and a drive section connected to the load handling device and being configured to move the load handling device along the lift axis, wherein the one or more pickfaces carried in unison by the payload support surface of the at least one load handling device, define an order sequence of pickfaces on the at least one load handling device according to a predetermined case out order sequence of mixed cases.
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公开(公告)号：US20210284445A1
公开(公告)日：2021-09-16
申请号：US17317659
申请日：2021-05-11
申请人： Symbotic LLC
发明人： Forrest BUZAN , Edward A. MACDONALD , Taylor A. APGAR , Thomas A. SCHAEFER , Melanie ZIEGLER , Russell G. BARBOUR
IPC分类号： B65G1/04
摘要： An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.
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公开(公告)号：US20160207711A1
公开(公告)日：2016-07-21
申请号：US14997902
申请日：2016-01-18
申请人： Symbotic LLC
发明人： Kirill K. PANKRATOV , Juergen D. CONRAD , Robert HSIUNG , William JOHNSON, JR. , Edward A. MACDONALD , Larry M. SWEET
CPC分类号： B65G1/1373 , B65G1/04
摘要： In accordance with one or more aspects of the disclosed embodiment, a lift includes at least one load handling device configured so as to reciprocate along a lift axis, the load handling device including a frame forming a payload section with a payload support surface having a common elevation configured to hold one or more pickfaces at the common elevation of the payload support surface, at least one transfer arm movably mounted to the frame, and a drive section connected to the load handling device and being configured to move the load handling device along the lift axis, wherein the one or more pickfaces carried in unison by the payload support surface of the at least one load handling device, define an order sequence of pickfaces on the at least one load handling device according to a predetermined case out order sequence of mixed cases.
摘要翻译： 根据所公开的实施例的一个或多个方面，升降机包括至少一个装载处理装置，其构造成沿着提升轴线往复运动，所述载荷处理装置包括形成有效载荷部分的框架，所述载荷部分具有具有共同的有效载荷支撑表面 高度构造成将一个或多个接头保持在有效负载支撑表面的共同高度处，至少一个可移动地安装到框架的传送臂，以及连接到负载处理装置的驱动部分，并被配置成沿着 提升轴，其中由所述至少一个负载处理装置的有效载荷支撑表面一致承载的所述一个或多个拾取器根据预定的外部输出顺序顺序在所述至少一个负载处理装置上定义接收点的顺序序列 案件
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