Suspension system for autonomous transports

• US 10,280,000 B2
• Filed: 05/02/2016
• Issued: 05/07/2019
• Est. Priority Date: 12/15/2010
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic, Llc
• Inventors: Sullivan, Robert, Toebes, Stephen C.
• Primary Examiner(s): Beck, Karen
• Application Number:
  US15/144,516
• Publication Number:
  US 20160244261A1
• Time in Patent Office: 1,100 Days
• Field of Search: 280400, 280 6153
• 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 automated storage and retrieval system comprising:

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 the frame defines a payload support section;

at least one steerable wheel mounted to the frame and configured to contact the transport surface and steer the frame along the transport surface;

a drive section having at least one motor and at least two support wheels of the at least four support wheels, the at least two support wheels being coupled to the at least one motor;

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

a suspension system pivotally coupling the drive section and the frame allowing relative rotation between the frame and the drive section, wherein the drive section and each of the at least two support wheels of the at least four support wheels are coupled to the frame at one end of the frame, and the at least one steerable wheel is mounted on an opposite end of the frame from the coupling between the drive section and the frame.

2. The automated storage and retrieval system of claim 1, wherein the suspension system of the autonomous transport vehicle includes a locking articulated coupling system having an articulated coupling lockout device.

3. The automated storage and retrieval system of claim 1, wherein the 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.

4. The automated storage and retrieval system of claim 3, wherein the suspension system of the autonomous transport vehicle is configured to maintain the drive wheels of the drive section in substantial contact with the transport surface.

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

6. The automated storage and retrieval system of claim 1, wherein the payload justification system of the autonomous transport vehicle is configured for two degree of freedom payload positioning within the frame.

7. 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, a frame having at least four corners, and at least four support wheels, the at least 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 the frame defines a payload support section and the drive section includes at least one motor and at least two support wheels of the at least four support wheels being coupled to the at least one motor;

providing at least one steerable wheel on the frame where the at least one steerable wheel contacts the transport surface and steers the frame along the transport surface;

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 pivotally coupling the drive section and the frame allowing relative rotation between the frame and the drive section, wherein the drive section and each of the at least two support wheels of the at least four support wheels are coupled to the frame at one end of the frame, and the at least one steerable wheel is mounted on an opposite end of the frame from the coupling between the drive section and the frame.

8. The method of claim 7, where at least two support wheels of the at least four support wheels are drive wheels, the method further comprising maintaining, with the suspension system, substantial contact between the drive wheels and the transport surface on which the autonomous transport vehicle is traveling.

9. The method of claim 7, further comprising:

providing a suspension lockout device connected to one or more of the frame and drive section; and

passively locking the suspension system with the suspension lockout device 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.

10. The method of claim 9, wherein the suspension lockout device allows the suspension system freedom of movement when the payload justification system is in a retracted position.

11. The method of claim 9, further comprising:

providing the suspension lockout device with an engagement member mounted to one of the frame and drive section;

providing a locking device mounted to the other one of the frame and the drive section; and

actuating, with an actuation member, the locking device causing the locking device to engage the engagement member.

12. The method of claim 7, where the suspension system is allowing rolling movement between the payload support section and the drive section along a common longitudinal axis and is automatically substantially preventing 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.