Suspension system for autonomous transports

• US 9,156,394 B2
• Filed: 12/19/2014
• Issued: 10/13/2015
• 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:
  US14/576,644
• Publication Number:
  US 20150104282A1
• Time in Patent Office: 298 Days
• Field of Search: 280/400, 280/6.153
• US Class Current: 1/1
• 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 at least one motor;

a frame configured to support a payload;

a payload justification system configured for at least one degree of freedom payload positioning within 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 payload justification system 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 suspension lockout device is configured such that the suspension is free to move when the payload justification system is in a retracted position.

7. 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.

8. The autonomous transport robot of claim 7, 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.

9. The autonomous transport robot of claim 8, 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.

10. The autonomous transport robot of claim 7, 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.

11. The autonomous transport robot of claim 1, wherein the payload justification system is configured for two degree of freedom payload positioning within the frame.

12. An autonomous transport vehicle for transporting a payload, the autonomous transport vehicle comprising:

a frame having at least four corners and at least four support wheels, the four support wheels being distributed at least proximate the at least four corners of the frame to support the frame on and contact a travel surface on which the autonomous transport vehicle travels, where the frame defines a payload support section and a drive section coupled to each other by a locking articulated coupling system having an articulated coupling lockout device;

a payload justification system connected to the payload support section and configured for at least one degree of freedom payload positioning within the frame;

wherein the drive section has a motor and at least two support wheels of the at least four support wheels are disposed on opposite sides of the drive section, the at least two support wheels being drive wheels coupled to the motor.

13. The autonomous transport vehicle of claim 12, wherein the locking articulated coupling system comprises:

an articulated coupling configured to allow rolling movement between the payload support section and the drive section along a common longitudinal axis; and

the articulated coupling lockout device being configured to automatically substantially prevent the rolling movement when the payload justification system is moved from a retracted position, where the payload justification system is configured to move between the retracted position and an extended position relative to the payload support section.

14. The autonomous transport vehicle of claim 13, wherein the articulated coupling lockout device is configured to automatically release the articulated coupling to allow the rolling movement when the payload justification system is moved to the retracted position.

15. The autonomous transport vehicle of claim 13, wherein the articulated coupling lockout device is connected to one or more of the payload support section and the drive section, the articulated coupling lockout device being configured to passively lock the articulated coupling as the payload justification system is extended from the payload support section.

16. The autonomous transport vehicle of claim 12, wherein the articulated coupling lockout device includes an engagement member mounted to one of the payload support section and the drive section, a locking device mounted to the other one of the payload support section and the drive section and an actuation member configured to actuate the locking device causing the locking device to engage the engagement member.

17. The autonomous transport vehicle of claim 16, wherein the articulated coupling lockout device includes a body and a lever member pivotally mounted to the body, wherein the engagement member extends between the body and the lever member, the body and the lever member being configured such that actuation of the locking device causes the engagement member to be clamped between the lever member and the body.

18. The autonomous transport vehicle of claim 17, wherein the articulated coupling lockout device includes a resilient member configured to move the lever member away from the engagement member for at least in part unlocking the articulated coupling.

19. The autonomous transport vehicle of claim 16, wherein the actuation member comprises a cam connected to a drive system of the payload justification system, wherein the cam is configured to be passively rotated during extension of the payload justification system.

20. The autonomous transport vehicle of claim 12, wherein the locking articulated coupling system is configured to maintain the drive wheels of the drive section in substantial contact with the travel surface.

21. The autonomous transport vehicle of claim 12, wherein the locking articulated coupling system includes a pivot member mounted to one of the payload support section and the drive section and a pivot axle mounted to the other one of the payload support section and the drive section, where the pivot axle and pivot member are configured to engage each other to form a pivot coupling between the payload support section and the drive section.

22. The autonomous transport vehicle of claim 12, wherein the payload justification system is configured for two degree of freedom payload positioning within the frame.

23. A method comprising:

providing an autonomous transport robot that includes

a drive section assembly having at least one motor and a pair of drive wheels coupled to the at least one motor,

a frame for supporting a payload, and

a payload justification system configured for at least one degree of freedom payload positioning within the frame; and

movably connecting the drive section and frame with a suspension system for allowing relative movement between the frame and the drive section assembly where the relative movement is locked and unlocked with the payload justification system.

24. The method of claim 23, further comprising substantially preventing, at least in part, relative yaw and pitch between the frame and drive section with one or more guide members connected to one of the frame and drive section, where the guide members engage an interface surface of the other one of the frame and drive section.

25. The method of claim 23, wherein the relative movement is passively locked as the payload justification system is extended from the frame where locking of the relative movement substantially prevents relative pivoting movement between the drive section and the frame.

26. The method of claim 25, wherein the suspension is free to move when the payload justification system is in a retracted position.

27. The method of claim 23, wherein the payload justification system is configured for two degree of freedom payload positioning within the frame.