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1. 发明授权

US09008884B2 Bot position sensing 有权
标题翻译： Bot位置检测
公开(公告)号：US09008884B2
公开(公告)日：2015-04-14
申请号：US13327035
申请日：2011-12-15
申请人： Stephen C. Toebes , Robert Sullivan , Michael Cyrulik
发明人： Stephen C. Toebes , Robert Sullivan , Michael Cyrulik
IPC分类号： G01C22/00 , G05D1/02 , B65G1/04
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。

2. 发明授权

US09499338B2 Automated bot transfer arm drive system 有权
标题翻译：自动机器人传输臂驱动系统
公开(公告)号：US09499338B2
公开(公告)日：2016-11-22
申请号：US13326993
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： G06F7/00 , 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.
摘要翻译：一种自主运输车辆，包括包括至少一个手指和可移动手指支撑构件的转移臂，至少一个传感器，被配置为检测所述至少一个手指的运动，所述至少一个传感器具有配准构件和检测构件，其中一个所述对位构件和检测构件安装到所述至少一个手指中的每一个上，以便能够与所述至少一个手指中的相应一个手指相对移动，并且所述配准构件和所述检测构件中的另一个相对于所述至少一个手指静止一个手指和与至少一个传感器通信的控制器，所述控制器被配置为基于所述配准构件相对于所述检测构件的接近度来确定所述至少一个手指沿着所述第二方向的位置。

3. 发明申请

US20120197431A1 BOT PAYLOAD ALIGNMENT AND SENSING 有权
标题翻译： BOT PAYLOAD对准和感应
公开(公告)号：US20120197431A1
公开(公告)日：2012-08-02
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
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。

4. 发明申请

US20120186942A1 PICKFACE BUILDER FOR STORAGE AND RETRIEVAL SYSTEMS 有权
标题翻译：存储和检索系统的PICKFACE BUILDER
公开(公告)号：US20120186942A1
公开(公告)日：2012-07-26
申请号：US13326869
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： B65G47/34
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.
摘要翻译：一种用于存储货物单元并具有进料输送机和拾取装置的存储和检索系统的拾取构件，每个货物单元在其中容纳至少一个产品包装，所述拾取构件包括框架，可移动地联接到框架和可移动地联接到框架的紧身构件，其中拾取构件构造成从进给输送器接收货物单元，并且推动构件和紧固构件至少在横向于货物单元行进方向的方向上可移动在所述进给输送机上并且构造成将所述货物单元形成为由所述拾取装置拾取的拾取单元作为一个单元，并且具有预定的参考数据，所述参考数据将所述接收面与沿着所述存储器的存储表面形成所述接收面的货物单元的放置位置相关联和检索系统。

5. 发明申请

US20120186192A1 MULTILEVEL VERTICAL CONVEYOR PLATFORM GUIDES 有权
标题翻译：多平面垂直输送机平台指南
公开(公告)号：US20120186192A1
公开(公告)日：2012-07-26
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： B65B1/04 , B65G1/127
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。

6. 发明授权

US09694975B2 Lift interface for storage and retrieval systems 有权
公开(公告)号：US09694975B2
公开(公告)日：2017-07-04
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： B65G1/00 , B65G1/04 , B65G1/06 , B65G1/137 , B65G47/57 , B65G1/127 , B65G1/10
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.

7. 发明授权

US08965619B2 Bot having high speed stability 有权
标题翻译： Bot具有高速稳定性
公开(公告)号：US08965619B2
公开(公告)日：2015-02-24
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： G05D1/00 , G05D1/02
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。

8. 发明申请

US20120185082A1 AUTOMATED BOT TRANSFER ARM DRIVE SYSTEM 有权
标题翻译：自动转换ARM驱动系统
公开(公告)号：US20120185082A1
公开(公告)日：2012-07-19
申请号：US13326993
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： G06F7/00 , G05B15/00
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.
摘要翻译：一种自主运输车辆，包括包括至少一个手指和可移动手指支撑构件的转移臂，至少一个传感器，被配置为检测至少一个手指的运动，所述至少一个传感器具有配准构件和检测构件，其中一个所述对位构件和检测构件安装到所述至少一个手指中的每一个上，以便能够与所述至少一个手指中的相应一个手指相对移动，并且所述配准构件和所述检测构件中的另一个相对于所述至少一个手指静止一个手指和与至少一个传感器通信的控制器，所述控制器被配置为基于所述配准构件相对于所述检测构件的接近度来确定所述至少一个手指沿着所述第二方向的位置。

9. 发明授权

US09475649B2 Pickface builder for storage and retrieval systems 有权
标题翻译： Pickface构建器用于存储和检索系统
公开(公告)号：US09475649B2
公开(公告)日：2016-10-25
申请号：US13326869
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： B65G47/08 , B65G1/04 , B65G1/137 , B65G1/127
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.
摘要翻译：一种用于存储货物单元并具有进料输送机和拾取装置的存储和检索系统的拾取构件，每个货物单元在其中容纳至少一个产品包装，所述拾取构件包括框架，可移动地联接到框架和可移动地联接到框架的紧身构件，其中拾取构件构造成从进给输送器接收货物单元，并且推动构件和紧固构件至少在横向于货物单元行进方向的方向上可移动在所述进给输送机上并且构造成将所述货物单元形成为由所述拾取装置拾取的拾取单元作为一个单元，并且具有预定的参考数据，所述参考数据将所述接收面与沿着所述存储器的存储表面形成所述接收面的货物单元的放置位置相关联和检索系统。

10. 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。

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