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公开(公告)号：US09409709B2
公开(公告)日：2016-08-09
申请号：US14209209
申请日：2014-03-13
Applicant: Symbotic, LLC
Inventor： John F. Keating , Lawrence A. Margagliano , Thomas G. Perry , William Johnson, Jr. , Todd E. Kepple
CPC classification number: B65G1/02 , B65G1/0492 , B65G2207/20
Abstract: An automated storage and retrieval system includes an autonomous rover and a multilevel rack structure. The multilevel rack structure includes columns connected by rail beams transversely spanning between the columns. The rail beams define storage and transport levels and provide riding surfaces for the autonomous rover. The rail beams include integral fatigue resistant rover location apertures.
Abstract translation: 自动存储和检索系统包括自主流动站和多层架构结构。 多层架构结构包括通过横向横跨柱之间的横梁连接的柱。 轨道梁定义了储存和运输水平，并为自动流动站提供了骑马面。 轨道梁包括一体的抗疲劳的车辆定位孔。
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公开(公告)号：US11731832B2
公开(公告)日：2023-08-22
申请号：US17487245
申请日：2021-09-28
Applicant: Symbotic LLC
Inventor： Kirill K. Pankratov , Larry M. Sweet , Juergen D. Conrad , John F. Keating , Matt Gates
CPC classification number: B65G1/0492 , B65G1/1378
Abstract: A storage array in an automated storage and retrieval system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one deck communicates with each aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical pitch between rack levels varies for a portion of a respective aisle, the vertical pitch between at least two rack levels of the portion of the respective aisle is related to another vertical pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.
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公开(公告)号：US10196207B2
公开(公告)日：2019-02-05
申请号：US15231340
申请日：2016-08-08
Applicant: Symbotic, LLC
Inventor： John F. Keating , Thomas G. Perry , William Johnson, Jr. , Todd E. Kepple , Lawrence A. Margagliano
Abstract: An automated storage and retrieval system includes an autonomous rover and a multilevel rack structure. The multilevel rack structure includes columns connected by rail beams transversely spanning between the columns. The rail beams define storage and transport levels and provide riding surfaces for the autonomous rover. The rail beams include integral fatigue resistant rover location apertures.
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公开(公告)号：US20160167880A1
公开(公告)日：2016-06-16
申请号：US14966978
申请日：2015-12-11
Applicant: Symbotic, LLC
Inventor： Kirill K. Pankratov , Larry M. Sweet , Juergen D. Conrad , John F. Keating , Matt Gates
CPC classification number: B65G1/0492 , B65G1/1378
Abstract: A storage array in an automated storage and retrieval system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one deck communicates with each aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical pitch between rack levels varies for a portion of a respective aisle, the vertical pitch between at least two rack levels of the portion of the respective aisle is related to another vertical pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.
Abstract translation: 自动存储和检索系统中的存储阵列包括沿着选取通道的多个级别的甲板上排列在机架上的存储空间，其中至少一个甲板与每个通道连通，其中甲板和通道被配置为限定用于自主运输的滚动面 在每个级别的车辆上，沿着每个级别的至少一个通道的机架处于从多个机架电平共同的相应滚动表面访问的多个机架水平面上，并且机架水平面之间的垂直间距对于部分 相应通道的相应通道的部分的至少两个机架级之间的垂直间距与相应通道的另一通道部分的至少两个其他齿条水平面之间的另一个垂直间距相关，因此车辆执行有序的多个挑选 序列在通用通道中。
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Patent Agency Ranking
公开(公告)号：US20140311858A1
公开(公告)日：2014-10-23
申请号：US14209209
申请日：2014-03-13
Applicant: Symbotic, LLC
Inventor： John F. Keating , Lawrence A. Margagliano , Thomas G. Perry , William Johnson, JR. , Todd E. Kepple
IPC: B65G1/04
CPC classification number: B65G1/02 , B65G1/0492 , B65G2207/20
Abstract: An automated storage and retrieval system includes an autonomous rover and a multilevel rack structure. The multilevel rack structure includes columns connected by rail beams transversely spanning between the columns. The rail beams define storage and transport levels and provide riding surfaces for the autonomous rover. The rail beams include integral fatigue resistant rover location apertures.
Abstract translation: 自动存储和检索系统包括自主流动站和多层架构结构。 多层架构结构包括通过横向横跨柱之间的横梁连接的柱。 轨道梁定义了储存和运输水平，并为自动流动站提供了骑马面。 轨道梁包括一体的抗疲劳的车辆定位孔。
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公开(公告)号：US11130631B2
公开(公告)日：2021-09-28
申请号：US16788735
申请日：2020-02-12
Applicant: Symbotic, LLC
Inventor： Kirill K. Pankratov , Larry M. Sweet , Juergen D. Conrad , John F. Keating , Matt Gates
Abstract: A storage array in an automated storage and retrieval system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one deck communicates with each aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical pitch between rack levels varies for a portion of a respective aisle, the vertical pitch between at least two rack levels of the portion of the respective aisle is related to another vertical pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.
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公开(公告)号：US11117743B2
公开(公告)日：2021-09-14
申请号：US16144668
申请日：2018-09-27
Applicant: Symbotic, LLC
Inventor： Edward A MacDonald , Forrest Buzan , John F. Keating , Juergen D. Conrad , Armin Ataei-Esfahani
Abstract: 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：US10562705B2
公开(公告)日：2020-02-18
申请号：US15890088
申请日：2018-02-06
Applicant: Symbotic, LLC
Inventor： Kirill K. Pankratov , Larry M. Sweet , Juergen D. Conrad , John F. Keating , Matt Gates
Abstract: A storage array in an automated storage and retrieval system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one deck communicates with each aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical pitch between rack levels varies for a portion of a respective aisle, the vertical pitch between at least two rack levels of the portion of the respective aisle is related to another vertical pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.
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公开(公告)号：US09884719B2
公开(公告)日：2018-02-06
申请号：US14966978
申请日：2015-12-11
Applicant: Symbotic, LLC
Inventor： Kirill K. Pankratov , Larry M. Sweet , Juergen D. Conrad , John F. Keating , Matt Gates
CPC classification number: B65G1/0492 , B65G1/1378
Abstract: A storage array in an automated storage and retrieval system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one deck communicates with each aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical pitch between rack levels varies for a portion of a respective aisle, the vertical pitch between at least two rack levels of the portion of the respective aisle is related to another vertical pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.
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