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11. 发明授权

US09187244B2 BOT payload alignment and sensing 有权
标题翻译： BOT有效载荷对齐和感测
公开(公告)号：US09187244B2
公开(公告)日：2015-11-17
申请号：US13327040
申请日：2011-12-15
申请人： Stephen C. Toebes , Robert Sullivan , Forrest Buzan
发明人： Stephen C. Toebes , Robert Sullivan , Forrest Buzan
IPC分类号： G06F7/00 , B65G1/04
CPC分类号： B65G1/0492 , B25J9/1674 , Y10S901/02 , Y10S901/09
摘要： An autonomous transport robot for transporting a payload, the autonomous transport robot includes a payload bed having at least one reference datum surface and at least one payload justification device, the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface to place the payload in a predetermined position on the payload bed.
摘要翻译：一种用于运输有效载荷的自主运输机器人，所述自主运输机器人包括具有至少一个参考基准表面和至少一个有效负载调整装置的有效载荷床，所述至少一个有效负载调整装置被配置为将有效载荷定位在有效载荷床上与至少一个参考基准表面实质接触以将有效载荷置于有效载荷床上的预定位置。

12. 发明授权

US08954188B2 Storage and retrieval system case unit detection 有权
标题翻译：存储和检索系统案例单位检测
公开(公告)号：US08954188B2
公开(公告)日：2015-02-10
申请号：US13608877
申请日：2012-09-10
申请人： Robert Sullivan , Stephen C. Toebes
发明人： Robert Sullivan , Stephen C. Toebes
IPC分类号： G06F7/00 , B65G1/137 , G06Q10/08
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.
摘要翻译：一种自动化存储和检索系统，包括具有存储架的存储结构，存储架具有被配置为支持其中每个壳体单元的位置对于存储架上的每个存储位置不确定的壳单元的座单元，每个壳单元具有预定的存储位置并且控制器被配置为确定预定的存储位置，构造成提供对存储结构内的壳单元的访问的拾取通道，以及包括设置在存储架上的地震干扰运动传感器的地震干扰恢复系统，地震干扰控制模块与所述地震干扰传感器通信并且被配置为识别地震干扰;以及自动化案例映射器，被配置为遍历所述拾取通道，所述自动化案例映射器与所述地震干扰控制模块通信并由所述地震干扰控制模块初始化，以识别所述地震干扰传感器的就座位置存储区内至少有一个案例单元结构。

13. 发明申请

US20120195724A1 SUSPENSION SYSTEM FOR AUTONOMOUS TRANSPORTS 有权
标题翻译：自动运输悬挂系统
公开(公告)号：US20120195724A1
公开(公告)日：2012-08-02
申请号：US13326505
申请日：2011-12-15
申请人： Stephen C. Toebes , Robert Sullivan
发明人： Stephen C. Toebes , Robert Sullivan
IPC分类号： B65G1/06 , G05G5/06 , B60G17/00 , B60P1/00
CPC分类号： B65G1/065 , B60G17/005 , B60G2300/02 , B60P9/00 , B62D53/00 , B62D53/02 , B62D53/021 , B65G1/0492 , B65G1/1373 , B65G7/00 , B65G13/00 , E02F9/0841 , G05D2201/0216 , Y10S901/01 , Y10T74/20636
摘要： An autonomous transport robot for transporting a payload, the autonomous transport robot including a drive section assembly having at least one motor and a pair of drive wheels coupled to the motor, a frame configured to support a payload, a transfer arm connected to the frame and configured for the autonomous transfer of payload to and from the frame, and a suspension system movably connecting the drive section assembly and the frame allowing relative movement between the frame and the drive section assembly.
摘要翻译：一种用于运输有效载荷的自主运输机器人，所述自主运输机器人包括具有至少一个马达的驱动部分组件和联接到所述马达的一对驱动轮，被配置为支撑有效载荷的框架，连接到所述框架的传送臂以及被配置为用于从框架自由地传送有效载荷，以及悬架系统，其可移动地连接驱动部分组件和框架，允许框架和驱动部分组件之间的相对运动。

14. 发明申请

US20120185122A1 BOT HAVING HIGH SPEED STABILITY 有权
标题翻译：具有高速稳定性
公开(公告)号：US20120185122A1
公开(公告)日：2012-07-19
申请号：US13326447
申请日：2011-12-15
申请人： Robert Sullivan , Stephen C. Toebes , Forrest Buzan , Andrew Eccles
发明人： Robert Sullivan , Stephen C. Toebes , Forrest Buzan , Andrew Eccles
IPC分类号： G06F7/00
CPC分类号： G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
摘要： An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.
摘要翻译：提供了用于在存储和检索系统中运送物品的自主运输车辆。自主运输车辆包括至少两个驱动轮和控制器，其中每个驱动轮被独立地驱动，并且驱动轮编码器被布置在每个驱动轮附近。与驱动轮编码器通信的控制器被配置为仅基于来自驱动轮编码器的增量数据来确定存储和检索系统内的自主运输车辆的运动状态，并且独立于驱动轮打滑。

15. 发明申请

US20100322746A1 LIFT INTERFACE FOR STORAGE AND RETRIEVAL SYSTEMS 有权
标题翻译：存储和检索系统的提升界面
公开(公告)号：US20100322746A1
公开(公告)日：2010-12-23
申请号：US12757354
申请日：2010-04-09
申请人： John Lert , Stephen C. Toebes , Robert Sullivan , Nathan Ulrich
发明人： John Lert , Stephen C. Toebes , Robert Sullivan , Nathan Ulrich
IPC分类号： B65G1/04 , B65G1/02 , B65G1/127 , B65G1/137 , B65G1/06 , B65G17/16
CPC分类号： B65G1/0492 , B65G1/045 , B65G1/065 , B65G1/10 , B65G1/127 , B65G1/137 , B65G1/1371 , B65G1/1373 , B65G1/1378 , B65G47/57 , Y10S901/01
摘要： A transport system for a storage and retrieval system having an array of storage levels, each storage level having respective storage areas, the transport system including a vertical conveyor having a frame and support shelves movably coupled to the frame, each support shelf being configured to hold one or more uncontained case units in predetermined areas of the support shelf, and transfer vehicles disposed on respective ones of the storage levels, the vertical conveyor having a conveyor to transfer vehicle interface configured to transfer the uncontained case units substantially directly between the support shelves and the transfer vehicles for transport to the storage areas in substantially one transfer vehicle picking operation.
摘要翻译：一种用于具有存储级别阵列的存储和检索系统的传输系统，每个存储级别具有相应的存储区域，所述传输系统包括具有框架的垂直传送器和可移动地联接到所述框架的支撑架，每个支撑搁架被构造成保持在支撑架的预定区域中的一个或多个未包含的壳体单元，以及设置在相应的一个储存水平上的输送车辆，所述垂直输送机具有传送器，用于传送车辆接口，该车辆接口被配置为基本上直接地将支撑架单元用于在基本上一个转运车辆拾取操作中运输到存储区域的转移车辆。

16. 发明授权

US11078017B2 Automated bot with transfer arm 有权
公开(公告)号：US11078017B2
公开(公告)日：2021-08-03
申请号：US13326952
申请日：2011-12-15
申请人： Stephen C. Toebes , Robert Sullivan
发明人： Stephen C. Toebes , Robert Sullivan
IPC分类号： B65G1/04
摘要： An autonomous transport vehicle is provided. The autonomous transport vehicle includes a payload bed and a transfer arm configured to extend along a first axis to transfer a pickface to and from the payload bed, the transfer arm including fingers that are independently movable along a second axis, substantially perpendicular to the first axis for picking and placing the pickface.

17. 发明授权

US08998554B2 Multilevel vertical conveyor platform guides 有权
标题翻译：多层立式输送机平台导轨
公开(公告)号：US08998554B2
公开(公告)日：2015-04-07
申请号：US13327088
申请日：2011-12-15
申请人： Stephen C. Toebes , Robert Sullivan
发明人： Stephen C. Toebes , Robert Sullivan
IPC分类号： B65G1/04
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。

18. 发明授权

US08696010B2 Suspension system for autonomous transports 有权
标题翻译：自主运输悬挂系统
公开(公告)号：US08696010B2
公开(公告)日：2014-04-15
申请号：US13326505
申请日：2011-12-15
申请人： Stephen C. Toebes , Robert Sullivan
发明人： Stephen C. Toebes , Robert Sullivan
IPC分类号： B65G7/00 , B62D53/02 , E02F9/08
CPC分类号： B65G1/065 , B60G17/005 , B60G2300/02 , B60P9/00 , B62D53/00 , B62D53/02 , B62D53/021 , B65G1/0492 , B65G1/1373 , B65G7/00 , B65G13/00 , E02F9/0841 , G05D2201/0216 , Y10S901/01 , Y10T74/20636
摘要： An autonomous transport robot for transporting a payload, the autonomous transport robot including a drive section assembly having at least one motor and a pair of drive wheels coupled to the motor, a frame configured to support a payload, a transfer arm connected to the frame and configured for the autonomous transfer of payload to and from the frame, and a suspension system movably connecting the drive section assembly and the frame allowing relative movement between the frame and the drive section assembly.
摘要翻译：一种用于运输有效载荷的自主运输机器人，所述自主运输机器人包括具有至少一个马达的驱动部分组件和联接到所述马达的一对驱动轮，被配置为支撑有效载荷的框架，连接到所述框架的传送臂以及被配置为用于从框架自由地传送有效载荷，以及悬架系统，其可移动地连接驱动部分组件和框架，允许框架和驱动部分组件之间的相对运动。

19. 发明申请

US20130245810A1 STORAGE AND RETRIEVAL SYSTEM CASE UNIT DETECTION 有权
公开(公告)号：US20130245810A1
公开(公告)日：2013-09-19
申请号：US13608877
申请日：2012-09-10
申请人： Robert Sullivan , Stephen C. Toebes
发明人： Robert Sullivan , Stephen C. Toebes
IPC分类号： 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.

20. 发明申请

US20120189416A1 AUTOMATED BOT WITH TRANSFER ARM 审中-公开
标题翻译：自动装载转移ARM
公开(公告)号：US20120189416A1
公开(公告)日：2012-07-26
申请号：US13326952
申请日：2011-12-15
申请人： Stephen C. Toebes , Robert Sullivan
发明人： Stephen C. Toebes , Robert Sullivan
IPC分类号： B65G1/06 , B60P1/00
CPC分类号： B65G1/0492
摘要： An autonomous transport vehicle is provided. The autonomous transport vehicle includes a payload bed and a transfer arm configured to extend along a first axis to transfer a pickface to and from the payload bed, the transfer arm including fingers that are independently movable along a second axis, substantially perpendicular to the first axis for picking and placing the pickface.
摘要翻译：提供自主运输车辆。自主运输车辆包括有效载荷床和传送臂，所述传送臂被构造成沿着第一轴线延伸以将接头传送到有效载荷床和从有效载荷床传送接收器，传送臂包括可沿着第二轴独立地移动的手指，基本上垂直于第一轴线用于拾取和放置接头。

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