US 10,138,060 B1Granted

Modular, multi-function robotic positioning system

AssigneeAmazon Technologies, Inc.

InventorsSrikanth Mantha, John Elias Darrow, Darren Ernest Canavor

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Abstract

A system to select and reposition inventory items on one or more shelving units is disclosed. The system can include a robotic positioning system (RPS) to move inventory items on a shelf to the front of the shelf, or off the shelf, to facilitate selection, delivery, and restocking of the inventory item. The RPS can include a movement system to enable it to position itself behind a particular inventory item on a shelf. The RPS can also include a positioner to enable the RPS to move the inventory item backward and forward on the shelf. The RPS can be mounted on a free-standing frame to enable movement in two axes and repositioning of inventory items in a third axis. The RPS can also be centrally mounted in a shelving unit and can move vertically and rotate about a single axis to reposition inventory items radially.

Claims21

Dependent claims

A system comprising:

a management module to receive orders for a plurality of inventory items stored in the system and to direct one or more components of the system to reposition and retrieve the plurality of inventory items;
one or more shelving units, a shelving unit of the one or more shelving units comprising a proximity sensor and a plurality of shelves for storing the plurality of inventory items;
a robotic positioning system (RPS), disposed proximate to the one or more shelving units, the RPS comprising:
a locating system to move the RPS in at least one direction relative to a shelving unit;
an end effector adjustable in both width and height, the end effector comprising horizontally extendible bars to adjust the width and vertically extendible bars to adjust the height, and
an extender to move the end effector between a retracted position and an extended position to move an inventory item on a shelf of the shelving unit from a rearward position on the shelf to a forward position on the shelf,
wherein the RPS is responsive to the proximity sensor to determine that the inventory item is proximate to a front edge of the shelf;
and
a robot unit to move at least one of the inventory item, the shelving unit, or the RPS.

6 more elements

A robotic positioning system (RPS) comprising:

a vertical track disposed vertically with respect to a shelving unit;
and
a control head including at least a vertical actuator to cause the RPS to traverse along the vertical track to position the RPS proximate to each of a plurality of shelves of the shelving unit;
an extender, coupled to the control head, to move between a retracted position and an extended position;
and
an end effector, coupled to the extender, adjustable in at least one of width or height to interface with an inventory item;
a vertical divider to divide a shelf of the shelving unit into two or more bays;
a truck, the truck being either (1) a vertical truck comprising two or more alignment wheels to maintain an alignment of the vertical divider, wherein the two or more alignment wheels are sized and shaped to fit over an edge of the shelf, or (2) a horizontal truck comprising two or more alignment wheels to maintain an alignment of the vertical divider, wherein the two or more alignment wheels are sized and shaped to fit into a channel, the channel being disposed proximate to an edge of the shelf;
wherein the control head is configured to position the RPS behind the inventory item on the shelving unit;
wherein the extender is configured to move the inventory item from a first position to a second position;
and
wherein the first position is closer to a rear portion of the shelving unit than the second position.

9 more elements

Dependencies are inferred from the claim text.