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US 10,894,663 B2Granted
Automated storage and retrieval system
AssigneeSymbotic LLC
InventorsMichael J. Kapust, Gerald M. Friedman
Life of this patent
Estimating the term…
Abstract
An autonomous transport vehicle including a frame forming a payload area, telescoping arms movably mounted to the frame, each telescoping arm being configured for extension and retraction relative to the frame along an extension axis to effect transfer of at least one pickface to and from the payload area, and traversal, relative to the frame, in at least one direction that is angled to the extension axis, and at least one tab extending from each telescoping arm where the at least one tab extends in a direction transverse to the direction of extension and retraction, and the at least one tab on one of the telescoping arms opposes the at least one tab on another of the telescoping arms.
Claims17
An autonomous transport vehicle comprising:
- a frame forming a payload area, the payload area having a fixed pickface support plane with respect to the frame;
- telescoping arm assemblies, each movably mounted so as to depend as a telescoping arm assembly unit from the frame, each telescoping arm assembly unit being configured for
- extension and retraction relative to the frame along an extension axis to effect transfer of at least one pickface to and from the payload area wherein each telescoping arm assembly unit has at least one longitudinally elongated arm portion where each longitudinally elongated arm portion is oriented so as to be longitudinally elongated along the extension axis of the telescoping arm assembly unit, and
- traversal, relative to the fixed pickface support plane of the payload area of the frame, so that each telescoping arm assembly unit and each of the at least one longitudinally elongated arm portion thereof, linearly traverses independently, from each other telescoping arm assembly unit, as a single traversing unit relative to the frame and the fixed pickface support plane in at least one linear traverse direction that is angled to the extension axis so that the traversal in each of the at least one linear traverse direction displaces the telescoping arm assembly unit, and each of the at least one longitudinally elongated arm portion thereof, as the single traversing unit in unit traverse motion in the at least one linear traverse direction relative to the fixed pickface support plane of the payload area;
- and
- at least one tab distinct from and depending from each telescoping arm assembly unit where the at least one tab extends in a direction transverse to the direction of extension and retraction along the extension axis, and the at least one tab on one of the telescoping arm assemblies opposes the at least one tab on the other of the telescoping arm assemblies;
- wherein each telescoping arm assembly includes a movable pusher member to which a respective tab is mounted so that the respective tab opposes the finger, the pusher member being configured to linearly move the tab along the extension axis towards and away from the finger to change a distance between the tab and the finger, independent of movement of a respective telescoping arm assembly.
4 more elements
An autonomous transport vehicle comprising:
- a frame forming a payload area, the payload area having a fixed pickface support plane with respect to the frame;
- telescoping arm assemblies, each movably mounted so as to depend as a telescoping arm assembly unit from the frame, each telescoping arm assembly unit being configured for
- extension and retraction relative to the frame along an extension axis to effect transfer of at least one pickface to and from the payload area wherein each telescoping arm assembly unit has at least one longitudinally elongated arm portion where each longitudinally elongated arm portion is oriented so as to be longitudinally elongated along the extension axis of the telescoping arm assembly unit, and
- traversal, relative to the fixed pickface support plane of the payload area of the frame, so that each telescoping arm assembly unit and each of the at least one longitudinally elongated arm portion thereof, linearly traverses independently, from each other telescoping arm assembly unit, as a single traversing unit relative to the frame and the fixed pickface support plane in at least one linear traverse direction that is angled to the extension axis so that the traversal in each of the at least one linear traverse direction displaces the telescoping arm assembly unit, and each of the at least one longitudinally elongated arm portion thereof, as the single traversing unit in unit traverse motion in the at least one linear traverse direction relative to the fixed pickface support plane of the payload area;
- and
- at least one tab distinct from and depending from each telescoping arm assembly unit, the at least one tab being mounted to a respective telescoping arm assembly unit by a respective movable pusher member that is configured to move a respective tab along a direction of extension and retraction of the telescoping arm assemblies, independent of the extension and retraction of the telescoping arm assemblies, to change a location of the at least one tab, in the direction of extension and retraction, relative to the telescoping arm assembly unit to effect justification of the at least one pickface in the direction of extension and retraction independent of extension and retraction of the telescoping arm assemblies.
3 more elements
Dependencies are inferred from the claim text.