公开(公告)号：US11952214B2

公开(公告)日：2024-04-09

申请号：US17654752

申请日：2022-03-14

申请人： Symbotic, LLC

发明人： Robert Sullivan ,  Stephen C. Toebes

IPC分类号： B65G1/04

CPC分类号： B65G1/0492

摘要： 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：US20220212869A1

公开(公告)日：2022-07-07

申请号：US17655378

申请日：2022-03-18

申请人： Symbotic, LLC

发明人： Robert Sullivan ,  Michael Cyrulik ,  Stephen C. Toebes

IPC分类号： B65G1/04 ,  G05D1/02

摘要： 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：US11273981B2

公开(公告)日：2022-03-15

申请号：US16903165

申请日：2020-06-16

申请人： Symbotic, LLC

发明人： Robert Sullivan ,  Stephen C. Toebes

IPC分类号： B65G1/04

摘要： 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：US20190233210A1

公开(公告)日：2019-08-01

申请号：US16378333

申请日：2019-04-08

申请人： Symbotic, LLC

发明人： Robert SULLIVAN ,  Stephen C. Toebes

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

摘要： 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 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：US09988213B2

公开(公告)日：2018-06-05

申请号：US15798216

申请日：2017-10-30

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

IPC分类号： G06F7/00 ,  B65G1/137 ,  B65G1/04

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.

公开(公告)号：US09981808B2

公开(公告)日：2018-05-29

申请号：US15332997

申请日：2016-10-24

申请人： Symbotic, LLC

发明人： Robert Sullivan ,  Stephen C. Toebes

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

CPC分类号： B65G47/086 ,  B65G1/0485 ,  B65G1/127 ,  B65G1/1371

摘要： 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：US20170088354A1

公开(公告)日：2017-03-30

申请号：US15376251

申请日：2016-12-12

申请人： Symbotic LLC

发明人： Robert Sullivan ,  Stephen C. Toebes

IPC分类号： B65G1/04 ,  G06Q10/08 ,  B65G1/137

CPC分类号： B65G1/0492 ,  B65G1/1371 ,  B65G1/1373 ,  B65G2207/20 ,  G05B15/02 ,  G06Q10/08 ,  G06Q10/087

摘要： 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 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：US09517885B2

公开(公告)日：2016-12-13

申请号：US15007070

申请日：2016-01-26

申请人： Symbotic LLC

发明人： Robert Sullivan ,  Stephen C. Toebes

IPC分类号： G06F7/00 ,  B65G1/137 ,  G06Q10/08 ,  B65G1/04 ,  G05B15/02

CPC分类号： B65G1/0492 ,  B65G1/1371 ,  B65G1/1373 ,  B65G2207/20 ,  G05B15/02 ,  G06Q10/08 ,  G06Q10/087

摘要： 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 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：US20150239666A1

公开(公告)日：2015-08-27

申请号：US14684715

申请日：2015-04-13

申请人： Symbotic, LLC

发明人： Stephen C. Toebes ,  Robert Sullivan ,  Michael Cyrulik

IPC分类号： B65G1/04 ,  G05D1/02

CPC分类号： B65G1/0492 ,  G05D1/0272 ,  G05D2201/0216

摘要： 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.

摘要翻译： 一种存储和检索系统，包括具有存储架的存储结构，每个存储架具有用于支撑所述板条彼此间隔开预定距离的存储物品的板条;自动运输车辆，包括至少一个传感器， 板条并输出指示何时感测到板条的信号，以及用于至少基于输出信号来验证存储结构内的自主运输车辆的位置的控制器。

公开(公告)号：US20150239665A1

公开(公告)日：2015-08-27

申请号：US14679535

申请日：2015-04-06

申请人： Symbotic, LLC

发明人： Stephen C. Toebes ,  Robert Sullivan

IPC分类号： B65G1/04 ,  B65G65/08

CPC分类号： B65G1/0435 ,  B65G1/04 ,  B65G17/123 ,  B65G17/18 ,  B65G47/56 ,  B65G65/08

摘要： A multilevel vertical conveyor system for transporting uncontained case units to and from a multilevel storage structure having an array of vertically stacked storage levels is provided and includes a frame having platform guide members, a drive member connected to the frame, and support platforms coupled to the drive member. The drive member is configured to move the support platforms relative to the frame in a substantially continuous vertical loop, each of the support platforms being configured to support multiple uncontained case units where each of the multiple uncontained case units is disposed at a respective predetermined area of a respective support platform, the support platforms have support members that are guided by guide members substantially throughout a path of the substantially continuous vertical loop, where the support members are guided in three point contact by the guide members substantially throughout the path.

摘要翻译： 提供了一种用于将未附着的壳体单元输送到具有垂直堆叠存储水平的阵列的多层存储结构的多层垂直输送系统，并且包括具有平台引导构件的框架，连接到框架的驱动构件以及连接到框架的支撑平台 驱动器 所述驱动构件被构造成使所述支撑平台相对于所述框架以基本上连续的垂直环路移动，每个所述支撑平台被配置为支撑多个未被容纳的壳体单元，其中所述多个未包含壳体单元中的每一个设置在相应的预定区域 相应的支撑平台，支撑平台具有基本上在基本上连续的垂直回路的路径上由引导构件引导的支撑构件，其中支撑构件基本上贯穿整个路径被引导构件以三点接触的方式被引导。