Stowage and retrieval system
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Abstract
A storage and retrieval system is provided that automates the process of handling a mixed inventory of palletized and containerized items. The invention is particularly useful in handling cargo and weapons within a ship'"'"'s hold or magazine. When used on a ship, the invention provides for the stowing and unstowing of loads quickly and efficiently, to automatically secure such payloads for sea and to achieve high stowage density, while retaining the capability to select and retrieve any ordered payload, move it to and load it on elevator trays under computer control.
67 Citations
21 Claims
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1. (canceled)
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2. An automated stowage and retrieval system for the selective loading and unloading of a payload comprising:
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at least one standard payload interface configured to provide access to a desired payload and to allow for transportation of the desired payload, the standard payload interface comprises a plurality of engageable portions;
a plurality of carriers configured in a slidable storage matrix each configured with corresponding engageable portions configured to interface with the engageable portions of the standard payload interface to generally maintain the standard payload interface in substantially fixed contact with the carriers;
a robotic manipulating unit operably configured to engage and disengage the standard payload interface to move the standard payload interface to and from the plurality of carriers;
a tray configured to receive and provide the standard payload interface from and to the robotic manipulating unit, wherein the tray is configured with corresponding engageable portions to interface with the engagable portions of the standard payload interface to generally maintain the standard payload interface in substantially fixed contact with the tray, and wherein the tray is operably configured for movement to and from the robotic manipulating unit; and
a controller configured to instruct the system for the selective loading and unloading of the standard payload interface relative to the slidable storage matrix. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An automated stowage and retrieval system for the selective loading and unloading of a payload comprising:
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a plurality of carriers configured in a slidable storage matrix each configured with corresponding engageable portions to interface with a desired payload to generally maintain the payload in substantially fixed contact with the carriers;
a robotic manipulating unit operably configured to engage and disengage the desired payload to move the desired payload to and from the plurality of carriers; and
a controller configured to instruct the system for the selective loading and unloading of the desired payload relative to the slidable storage matrix.
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13. A method for selectively stowing and retrieving a payload comprising:
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selectively moving a plurality of carriers configured in a slidable storage matrix each configured with engagable portions to interface with at least one standard payload interface having a desired payload to generally maintain the standard payload interface in substantially fixed contact with the carriers;
aligning a predetermined carrier from the plurality of carriers with a robotic manipulating unit, the robotic manipulating unit operably configured to engage the at least one standard payload interface on the predetermined carrier to move the at least one standard payload interface from the predetermined carrier;
unloading the at least one standard payload interface from the predetermined carrier with the robotic manipulating unit;
loading a tray with the at least one standard payload interface; and
transporting the tray from the slidable storage matrix to a predetermined location to provide the desired payload.
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14. An automated stowage and retrieval system that accommodates a combination of palletized and containerized payloads of widely varying sizes and shapes, achieves high three-dimensional storage density in any given storage space, and provides means to access and to load and unload any individual payload contained therein, comprising:
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a plurality of mobile carriers configured to support payloads, wherein the plurality of carriers are arranged in a horizontal orthogonal matrix of contiguous rows and columns within which the carriers may be moved independently or in combination along either axis, and wherein each carrier comprises mechanical features that are configured to allow at least one of a robotic manipulator, crane and forklift truck to fasten one or more payloads to the plurality of carriers for secure transit;
an elevator loading tray configured to be moved onto and off of an elevator, wherein one or more payloads are loaded and unloaded from the elevator, wherein the elevator loading tray comprises a removable elevator platform that can be moved onto and off of the elevator, and wherein the elevator loading tray comprises mechanical features that are configured to allow one or more of a robotic manipulator, crane and forklift truck to fasten one or more payloads to the plurality of carriers for secure transit;
a standard payload interface configured to be jointly connected to the payloads to provide a gripping portion for all payloads, wherein the standard payload interface comprises integral locking mechanisms that can be engaged and disengaged either manually or automatically by at least one of a robotic manipulator, crane, and forklift truck to secure individual payloads to the carriers, the elevator loading tray, and to other standard payload interface;
wherein the robotic manipulator is configured to acquire and unlock and to release and relock the standard payload interfaces attached to individual payloads and to convey the payloads to and from the carriers and elevator loading tray; and
a controller configured to coordinate the movement of the carriers, the elevator loading tray and robotic manipulator to provide the selective loading and unloading of individual payloads into and out of the storage and retrieval system, wherein the controller is configured to perform inventory management of all payloads contained in the storage and retrieval system. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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21. A method for selective stowage and retrieval of individual payloads, comprising:
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coordinating movement of individual carriers within an orthogonal matrix of contiguous rows and columns to convey one desired carrier to a designated station located on a periphery of the matrix for loading and unloading;
operating a robotic manipulator located at the designated station to unlock and move payloads between the desired carrier and at least one of an elevator loading tray and other transporters to relock the desired payload in place for secure transit; and
moving the elevator loading tray between the designated station located on the periphery of the matrix.
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Specification