Robotic put wall

Patent metadata

Field	Value
Publication number	US-10661992-B2
Application number	US-201916504771-A
Country	US
Kind code	B2
Filing date	Jul 8, 2019
Priority date	Aug 30, 2016
Publication date	May 26, 2020
Grant date	May 26, 2020

Abstract

A material handling system automatically each picking orders using a put wall. A controller determines whether any of more than one removable intermediate holders in a put wall that are within the reach of a first robotic arm contain one or more articles that are ready for transporting away from the put wall. The controller directs the first robotic arm to: (i) engage the selected removable intermediate holder, (ii) move the selected removable intermediate holder to an empty order container, and (iii) reorient the selected removable intermediate holder to transfer the one or more articles from the selected removable intermediate holder to the empty order container. In one or more embodiments, the articles can be placed in the put wall by conveying donor totes to an each picking robotic arm that places picked articles into an end effector of a second robotic arm.

First claim

What is claimed is:

1. A material handling system configured to automatically pick an order, the material handling system comprising:
a put wall having a storage location that is accessible from a front side and a back side;
a holder that is removably received in the storage location;
a first robotic arm positioned on the back side of the put wall, the first robotic arm comprising an end effector configured to engage the holder from the front side or the back side of the storage location;
a controller in communication with a source of inventory data of the put wall and in communication with the first robotic arm, wherein the controller is configured to:
determine whether the holder contains one or more articles that are ready for transporting away from the put wall; and
in response to determining that the holder is ready for transporting, direct the first robotic arm to: (i) engage the holder, (ii) move the holder to an empty order container, and (iii) transfer the one or more articles from the holder to the empty order container.

2. The material handling system of claim 1 , wherein the holder further comprises an engagement feature configured to engage the end effector of the first robotic arm.

3. The material handling system of claim 2 , wherein the engagement feature comprises a cylindrical, horizontal handle.

4. The material handling system of claim 2 , wherein the holder further comprises an open top and front with the engagement feature on the back.

5. The material handling system of claim 2 , wherein the first robotic arm is configured to reorient the holder to transfer the one or more articles from the holder to the empty order container.

6. The material handling system of claim 1 , further comprising a second robotic arm positioned on the front side of the put wall, the second robotic arm having a reach that services at least one area proximate to a donor tote received from a conveyor system, and comprising at least one end effector configured to pick one or more articles from the received donor tote, wherein the controller is configured to:
(i) receive an assignment of at least one article from the received donor tote for the holder, and (ii) direct the second robotic arm to pick and place the at least one article from the received donor tote in a location destined for the holder.

7. The material handling system of claim 6 , wherein:
the put wall is tipped toward the rear side; and
the holder further comprises a partially cutaway forward end configured to enable insertion of articles from the front side of the put wall and to enable emptying with a reduced degree of reorienting.

8. The material handling system of claim 6 , further comprising a transfer conveyor configured to move the donor tote from the conveyor system to the second robotic arm.

9. The material handling system of claim 6 , wherein the controller is configured to direct at least one of: (i) the first robotic arm to push an order tote, or (ii) the second robotic arm to push an emptied donor tote onto the conveyor system for transport away from the put wall.

10. The material handling system of claim 6 , further comprising a third robotic arm positioned on the front side of the put wall within reach of the at least one area serviced by the second robotic arm and within reach of at least a portion of the put wall, the third robotic arm comprising an end effector configured to receive and cradle the at least one article from the second robotic arm, wherein the controller, in response to receiving an indication that the at least one article is in the end effector of the third robotic arm, is configured to direct the third robotic arm to deposit the at least one article in the holder.

11. The material handling system of claim 10 , wherein at least one of the first or third robotic arms are attached to a vertical lift configured to service a full height of the put wall.

12. The material handling system of claim 10 , wherein at least one of the first or third robotic arms comprise a movable base configured to service a horizontal extent of the put wall that is greater than the reach of the at least one of the first or third robotic arms.

13. The material handling system of claim 1 , further comprising an empty container storage device, wherein the controller is configured to:
(i) direct a conveyor system to transfer a donor tote that is emptied of articles to the empty container storage device for storage as an order tote; and
(ii) direct the empty container storage device to dispense the order tote to the first robotic arm.

14. A method for automatically picking orders, the method comprising:
receiving an article by a first robotic arm positioned on a front side of a put wall having storage locations each accessible from a front side and a back side, the first robotic arm comprising an end effector shaped to receive and cradle articles;
determining, by a controller, whether a storage location contains articles ready for transporting away from the put wall; and
in response to determining that the storage location contains articles ready for transporting, directing, by the controller, the first robotic arm to: (i) position the end effector proximate and below the storage location to receive the articles from the storage location; (ii) move the end effector to an empty order container; and (iii) transfer the articles from the end effector to the empty order container.

15. The method of claim 14 , further comprising, conveying, on at least one conveyor system, the empty order container to each robotic arm that is proximate to the put wall.

16. The method of claim 14 , further comprising, reorienting the end effector, by the first robotic arm, to transfer the one or more articles from the end effector to the empty order container.

17. The method of claim 14 , further comprising dispensing the articles from the storage location of the put wall into the end effector.

18. The method of claim 17 , wherein dispensing the articles into the end effector comprises actuating an active dispensing mechanism at the storage location.

19. The method of claim 17 , wherein dispensing the articles into the end effector comprises pushing the end effector into a passive actuator that causes any articles in the storage location to be: (i) pushed out or (ii) slid out of the storage location.

Assignees

• Intelligrated Headquarters Llc

Inventors

• Wicks Matthew R
• Franklin David E
• Ferner Thomas Michael

Classifications

• B65G1/1376

  the orders being assembled on a commissioning conveyor · CPC title

• B65G1/1373 Primary

  for fulfilling orders in warehouses · CPC title

• G06Q10/087

  Inventory or stock management, e.g. order filling, procurement or balancing against orders · CPC title

• B65G1/137 Primary

  with arrangements or automatic control means for selecting which articles are to be removed · CPC title