Storage and retrieval system transport vehicle

Patent metadata

Field	Value
Publication number	US-10377585-B2
Application number	US-201715848446-A
Country	US
Kind code	B2
Filing date	Dec 20, 2017
Priority date	Jan 23, 2015
Publication date	Aug 13, 2019
Grant date	Aug 13, 2019

Abstract

An autonomous transport vehicle includes a frame forming a payload section configured to hold one or more pickfaces, a transfer arm movably mounted to the frame, a drive section connected to the frame, and a controller connected to the drive section, the controller being configured to effect an on-the-fly sortation of pickfaces carried by the autonomous transport vehicle according to a predetermined case out order sequence where the controller commands the drive section so that two or more pickfaces are picked from one or more first case unit holding locations and placed at one or more different second case unit holding locations according to the predetermined case out order sequence.

First claim

What is claimed is:

1. A method for effecting on-the-fly sortation of pickfaces comprising:
providing an autonomous transport vehicle having a payload section formed by a frame of the autonomous transport vehicle, and holding one or more pickfaces with the payload section;
providing a transfer arm movably mounted to the frame;
providing a drive section connected to the frame; and
effecting, with a controller connected to the drive section, an on-the-fly sortation of pickfaces carried by the autonomous transport vehicle so as to, on the fly, reorder the pickfaces carried by the autonomous transport vehicle with respect to each other according to a predetermined case out order sequence where the controller commands the drive section so that two or more pickfaces are picked up from one or more first case unit holding locations and placed at one or more different second case unit holding locations according to the predetermined case out order sequence.

2. The method of claim 1 , further comprising effecting, with the controller, picking up the two or more pickfaces in an order that is opposite an order in which the two or more pickfaces are placed.

3. The method of claim 1 , wherein the transfer arm is common to the two or more pickfaces, the method further comprising holding, with the transfer arm, the two or more pickfaces adjacent one another.

4. The method of claim 1 , further comprising providing a justification member disposed within the payload section so as to move transverse to a longitudinal axis of the frame and controlling, with the controller, a combined movement of the justification member and the transfer arm to effect the sorting of the two or more pickfaces carried in the payload section.

5. The method of claim 1 , further comprising providing a justification member connected to the drive section and the controller, the justification member being movably mounted to the frame where the transfer arm and the justification member are each independently movable relative to each other.

6. The method of claim 5 , further comprising, with the controller, controlling the drive section and effecting movement of the justification member and the transfer arm so that the on-the-fly sortation is effected by retention of at least one of the two or more pickfaces within the payload section while at least another of the two or more pickfaces is transferred to or from the payload section.

7. The method of claim 5 , further comprising:
moving the transfer arm between a raised and lowered position, where the transfer arm includes a plurality of payload support tines, wherein
the justification member extends between the payload support tines when the transfer arm is in the lowered position.

8. The method of claim 1 , further comprising providing a payload bed and a justification member within the payload section, the payload bed including laterally arranged payload supports that extend through apertures in the justification member.

9. The method of claim 8 , further comprising providing the transfer arm with payload support tines that are spaced so as to be interdigitated with the laterally arranged payload supports and transferring the one or more pickfaces to the laterally arranged payload supports by lowering the payload support tines to a lowered position.

10. A method for effecting on-the-fly sortation of payload items comprising:
providing an autonomous transport vehicle having a payload section formed by a frame of the autonomous transport vehicle, the frame having a longitudinal axis, and holding one or more payload items with the payload section;
providing a justification member disposed within the payload section to move transverse to the longitudinal axis;
providing a transfer arm disposed at least partly within the payload section; and
controlling, with a controller connected to the justification member and the transfer arm, a combined movement of the justification member and the transfer arm to effect an on-the-fly sorting of the one or more payload items carried in the payload section with respect to each other.

11. The method of claim 10 , wherein the justification member and the transfer arm are each independently movable relative to each other.

12. The method of claim 10 , further comprising effecting, with the controller, movement of the justification member and the transfer arm so that the justification member is inserted between two of the one or more payload items to cause a physical separation of the two of the one or more payload items.

13. The method of claim 10 , further comprising bi-directionally moving, with the justification member, the one or more payload items transversely within the payload section.

14. The method of claim 10 , further comprising controlling, with the controller, movement of the justification member and the transfer arm so that sorting is effected by retention of at least one of the one or more payload items within the payload section while at least another of the one or more payload items is transferred to or from the payload section.

15. The method of claim 10 , further comprising:
moving the transfer arm between a raised and lowered position, where the transfer arm includes a plurality of payload support tines, wherein
the justification member is configured to extend between the payload support tines when the transfer arm is in the lowered position.

16. The method of claim 10 , further comprising providing a payload bed within the payload section, the payload bed including laterally arranged payload supports that extend through apertures in the justification member.

17. The method of claim 16 , further comprising providing the transfer arm with payload support tines that are spaced so as to be interdigitated with the laterally arranged payload supports and transferring the one or more payload items to the laterally arranged payload supports by lowering the payload support tines to a lowered position.

18. A method for effecting on-the-fly sortation of payload items comprising:
providing an autonomous transport vehicle having a payload section formed by a frame of the autonomous transport vehicle, the frame having a longitudinal axis, and holding one or more payload items with the payload section;
providing a transfer arm that is common to the one or more payload items, the transfer arm being disposed at least partly within the payload section and extending transverse to the longitudinal axis along an extension path;
holding with the transfer arm, the one or more payload items, and transferring, with the transfer arm, the one or more payload items to and from the payload section; and
engaging, with a payload item justification member, at least one of the one or more payload items, and moving the payload item justification member transverse to the longitudinal axis, where movement of the payload item justification member is independent of movement of the transfer arm and where the payload item justification member is disposed within the payload section so as to cross the extension path of the transfer arm, the payload item justification member being independent of the transfer arm.

19. The method of claim 18 , further comprising effecting, with the independent movement of the payload item justification member, separation of at least one of the one or more payload items from another of the one or more payload items carried in the payload section.

20. The method of claim 18 , further comprising providing the payload item justification member with a payload item justifica

Assignees

• Symbotic Llc

Inventors

• Cyrulik Michael
• Kepple Todd E
• Collins Scott
• Sirois Jason S

Classifications

• B65G1/0492 Primary

  with cars adapted to travel in storage aisles · CPC title

• B65G67/02 Primary

  Loading or unloading land vehicles · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title

• B65G2209/06

  Use of order trucks · CPC title

• B65G1/1375

  the orders being assembled on a commissioning stacker-crane or truck · CPC title