Suspension system for autonomous transports
First Claim
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1. A method for transporting a payload within an automated storage and retrieval system with an autonomous transport vehicle, the method comprising:
- providing the autonomous transport vehicle with a drive section assembly having at least one motor and a pair of drive wheels coupled to the at least one motor, and a frame configured with a payload support section to support the payload;
justifying, with respect to the frame, the payload with a payload justification system having at least one degree of freedom payload positioning; and
providing a suspension system movably connecting the drive section assembly to the frame allowing relative movement between the frame and the drive section assembly.
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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.
320 Citations
20 Claims
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1. A method for transporting a payload within an automated storage and retrieval system with an autonomous transport vehicle, the method comprising:
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providing the autonomous transport vehicle with a drive section assembly having at least one motor and a pair of drive wheels coupled to the at least one motor, and a frame configured with a payload support section to support the payload; justifying, with respect to the frame, the payload with a payload justification system having at least one degree of freedom payload positioning; and providing a suspension system movably connecting the drive section assembly to the frame allowing relative movement between the frame and the drive section assembly. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for transporting a payload within an automated storage and retrieval system with an autonomous transport vehicle, the method comprising:
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providing the autonomous vehicle with 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 contacting a travel surface on which the autonomous transport vehicle travels, where the frame defines a payload support section, and a drive section coupled to the frame by a locking articulated coupling system having an articulated coupling lockout device; and justifying a payload, within the payload support section of the frame, with a payload justification system having at least one degree of freedom payload positioning; 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. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. An automated storage and retrieval system comprising:
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a storage array with storage locations arranged along a transport surface; and an autonomous transport vehicle for transporting, on the transport surface, a payload between the storage locations of the storage array, 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 to contact the transport surface on which the autonomous transport vehicle travels, where at least one of the four support wheels is a steerable wheel and the frame defines a payload support section; a drive section; 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 and the frame allowing relative movement between the frame and the drive section. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification