Suspension system for autonomous transports

• US 8,696,010 B2
• Filed: 12/15/2011
• Issued: 04/15/2014
• Est. Priority Date: 12/15/2010
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic, Llc
• Inventors: Toebes, Stephen C., Sullivan, Robert
• Primary Examiner(s): VERLEY, NICOLE T
• Application Number:
  US13/326,505
• Publication Number:
  US 20120195724A1
• Time in Patent Office: 852 Days
• Field of Search: 280/400, 280/6.153
• US Class Current: 280/400
• CPC Class Codes: B60G 17/005 Suspension locking arrangements for retractable wheels B62D61/12
• CPC Class Codes: B60G 2300/02 Trucks; Load vehicles
• CPC Class Codes: B60P 9/00 Other vehicles predominantly for carrying loads , e.g. load carrying vehicles convertible for an intended purpose
• CPC Class Codes: B62D 53/00 Tractor-trailer combinations; Road trains traction couplings other than fifth wheel coupling B60D ; tracked vehicles comprising at least two articulated parts B62D55/0655
• CPC Class Codes: B62D 53/02 comprising a uniaxle tractor unit and a uniaxle trailer unit see B60B11/00 - B60B11/08
• CPC Class Codes: B62D 53/021 comprising a universal coupling joint
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/065 with self propelled cars
• CPC Class Codes: B65G 1/1373 for fulfilling orders in warehouses
• CPC Class Codes: B65G 13/00 Roller-ways storage devices comprising roller-ways B65G1/02; endless-chain conveyors comprising load-supporting rollers B65G17/00; rollers or arrangements thereof B65G39/00
• CPC Class Codes: B65G 17/005 comprising individual load carriers which are movably mounted B65G17/16 takes precedence
• CPC Class Codes: B65G 7/00 Devices for assisting manual moving or tilting heavy loads roller-ways B65G13/00; for tilting and emptying barrels or casks B65G65/24
• CPC Class Codes: E02F 9/0841 Articulated frame, i.e. having at least one pivot point between two travelling gear units tractor-trailer combinations B62D53/00
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10T 74/20636 Detents

Abstract

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.

Claims

1. An autonomous transport robot for transporting a payload, the autonomous transport robot comprising:

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.

2. The autonomous transport robot of claim 1, wherein the suspension is configured to maintain drive wheels of the drive section in substantial contact with a travel surface on which the autonomous transport vehicle is travelling.

3. The autonomous transport robot of claim 1, wherein the suspension system includes a pivot member mounted to one of the frame and drive section and a pivot axle mounted to the other one of the frame and drive section, where the pivot axle and pivot member are configured to engage each other to form a pivot coupling between the frame and drive section.

4. The autonomous transport robot of claim 3, wherein one or more guide members are connected to one of the frame and drive section, the guide members being configured to engage an interface surface of the other one of the frame and drive section and at least in part to substantially prevent relative yaw and pitch between the frame and drive section.

5. The autonomous transport robot of claim 1, further comprising a suspension lockout device connected to one or more of the frame and drive section, the suspension lockout device being configured to passively lock the suspension system as the transfer arm is extended from the frame where locking of the suspension system substantially prevents relative pivoting movement between the drive section and the frame.

6. The autonomous transport robot of claim 5, wherein the lockout device includes an engagement member mounted to one of the frame and drive section, a locking device mounted to the other one of the frame and drive section and an actuation member configured to actuate the locking device causing the locking device to engage the engagement member.

7. The autonomous transport robot of claim 6, wherein the lockout device includes a body and a lever member pivotally mounted to the body, wherein the engagement member extends between the body and lever member and the body and lever member are configured such that actuation of the locking device causes the engagement member to be clamped between the lever member and body.

8. The autonomous transport robot of claim 7, wherein the lockout device includes a resilient member configured to move the lever member away from the engagement member for at least in part unlocking the suspension.

9. The autonomous transport robot of claim 6, wherein the actuation member comprises a cam connected to a drive system of the transfer arm, wherein the cam is configured to be passively rotated during extension of the transfer arm.

10. The autonomous transport robot of claim 5, wherein the suspension lockout device is configured such that the suspension is free to move when the transfer arm is in a retracted position.

11. A suspension lockout system for an autonomous transport vehicle, the suspension lockout system comprising:

an engagement member mounted to one of a frame and drive section assembly of the autonomous transport vehicle, where the frame is configured to support a payload and the drive section assembly includes at least one motor and a pair of drive wheels coupled to the motor; and

a locking device mounted to another one of the frame and drive section assembly of the autonomous transport vehicle;

wherein a suspension system of the autonomous transport vehicle connecting the frame to the drive section assembly is configured to allow pivotal movement between the frame and drive section assembly and the suspension lockout system is configured to release the suspension system for unrestricted movement between the frame and drive section assembly when a transfer arm is in a retracted position and to be automatically locked when the transfer arm is extended from the retracted position, and wherein locking of the suspension lockout system substantially prevents pivotal movement between the frame and drive section.

12. The suspension lockout system of claim 11, wherein the suspension lockout system of the locking device includes a body and a lever member pivotally mounted to the body, wherein the engagement member extends between the body and lever member and the body and lever member are configured such that actuation of the locking device causes the engagement member to be clamped between the lever member and body.

13. The suspension lockout system of claim 12, wherein the suspension lockout system further includes a cam connected to a transport arm drive system, wherein the cam is configured to be passively rotated during extension of the transfer arm and to engage the lever member for causing clamping of the engagement member.

14. The suspension lockout system of claim 11, wherein the locking device includes a resilient member configured to move the lever member away from the engagement member for at least in part unlocking the suspension.

15. A suspension system for an autonomous transport vehicle, the suspension system comprising:

an articulated coupling configured to allow rolling movement between a frame of the autonomous transport vehicle and a drive section assembly of the autonomous transport vehicle along a common longitudinal axis where the frame is configured to support a payload and the drive section assembly includes at least one motor and a pair of drive wheels coupled to the motor; and

a suspension locking system configured to automatically substantially prevent the rolling movement when an extendable transfer arm is moved from a retracted position, where the extendable transfer arm is configured to move between the retracted position and an extended position relative to the frame.

16. The suspension system of claim 15, wherein the suspension locking system is configured to automatically release the articulated coupling to allow the rolling movement when the arm is moved to the retracted position.

17. The autonomous transport robot of claim 15, wherein the suspension system is configured to maintain drive wheels of the drive section in substantially continuous contact with a travel surface on which the autonomous transport vehicle is travelling.

18. The suspension system of claim 15, wherein the suspension system further includes one or more guide members mounted to one of the frame and drive section assembly at an interface between the frame and guide section, the one or more guide members being configured to substantially prevent yaw and pitch motion between the frame and drive section assembly.

19. The suspension system of claim 15, wherein the suspension locking system includes an engagement member mounted to one of the frame and drive section assembly, a body mounted to another one of the frame and drive section assembly and a lever member pivotally mounted to the body, wherein the engagement member extends between the body and lever member and the body and lever member are configured such that actuation of the suspension locking system causes the engagement member to be clamped between the lever member and body.

20. The suspension system of claim 19, wherein the suspension locking system includes a resilient member configured to move the lever member away from the engagement member for at least in part unlocking the articulated coupling.

21. The suspension system of claim 19, wherein the suspension locking system further includes a cam configured to engage the lever member for actuating the suspension locking system, wherein the cam is passively connected to a drive system of the extendable transfer arm.