System having robotic workstation

Patent metadata

Field	Value
Publication number	US-12084281-B2
Application number	US-202318132080-A
Country	US
Kind code	B2
Filing date	Apr 7, 2023
Priority date	Nov 9, 2018
Publication date	Sep 10, 2024
Grant date	Sep 10, 2024

Abstract

An apparatus is disclosed including a robotic system having a robotic picking workstation, tote storage and retrieval and transit decks. The system has bots that autonomously transport totes from the storage and retrieval system to the robotic picking workstation via the transit decks. The robotic picking workstation may have a picking lane where a robotic handler transports eaches from totes on the bots to order totes in the workstation. The robotic picking workstation further has a queuing buffer where bots are cued for the picking lane.

First claim

We claim:

1. An automatic storage and retrieval system, comprising:
a first set of support shelves for storing a first set of containers;
mobile robots for transferring containers around within the automatic storage and retrieval system; and
a workstation comprising:
a second set of support shelves at a plurality of different positions, the second set of support shelves configured to support a second set of containers, and
an automated picker configured to transfer items to or from the second set of containers at each of the plurality of different positions within the workstation.

2. The automatic storage and retrieval system of claim 1 , wherein the second set of containers comprise order totes and wherein the items are items transferred into the order totes on the second set of support shelves to fulfill customer orders.

3. The automatic storage and retrieval system of claim 1 , wherein the second set of containers comprise product totes and wherein the items are items transferred to or from the product totes on the second set of support shelves to stock the product totes.

4. The automatic storage and retrieval system of claim 1 , wherein the second set of containers comprise totes and the items transferred to or from the totes are sub-totes configured to fit within the totes.

5. The automatic storage and retrieval system of claim 1 , wherein the automated picker is a cartesian robot configured to move to and between the plurality of different positions within the workstation.

6. The automatic storage and retrieval system of claim 5 , wherein the cartesian robot is mounted on rails to move the cartesian robot along a first axis through the workstation.

7. The automatic storage and retrieval system of claim 6 , wherein the cartesian robot comprises a gripper configured to move along a second axis orthogonal to the first axis.

8. The automatic storage and retrieval system of claim 7 , further comprising a control system, the control system configured to move the gripper along the first and second axes to a desired position of the plurality of different positions, and to control transfer of one or more items of the items to or from a container at the desired position.

9. The automatic storage and retrieval system of claim 1 , wherein the mobile robots are configured to transfer containers between the first set of containers on the first set of support shelves and the second set of containers on the second set of support shelves in the workstation.

10. An automatic storage and retrieval system, comprising:
a set of support shelves for storing containers;
mobile robots for transferring the containers around within the automatic storage and retrieval system;
a workstation comprising:
a picking lane, the mobile robots moving the containers to a plurality of different positions along the picking lane, and
an automated picker configured to transfer items to or from the containers at each of the plurality of different positions along the picking lane within the workstation; and

a controller for controlling movement of the mobile robots to each of the plurality of different positions and for controlling transfer of items to or from the containers at each of the plurality of different positions.

11. The automatic storage and retrieval system of claim 10 , wherein the set of support shelves comprises a first set of support shelves, and wherein the plurality of different positions along the picking lane comprise a first plurality of different positions, the workstation further comprising a second set of support shelves at a second plurality of different positions different than the first plurality of different positions, the second set of support shelves configured to support the containers, the automated picker configured to transfer items between the containers on the mobile robots at the first plurality of different positions and the containers on the second set of support shelves at the second plurality of different positions.

12. The automatic storage and retrieval system of claim 11 , wherein the containers on the second set of support shelves are order totes, and wherein the containers on the mobile robots moving through the workstation are product totes, the automated picker transferring items from the product totes to the order totes to fulfill customer orders.

13. The automatic storage and retrieval system of claim 11 , wherein the containers on the second set of support shelves are order totes, and wherein the containers on the mobile robots moving through the workstation are product totes, the automated picker transferring sub-totes from the product totes to the order totes to fulfill customer orders.

14. The automatic storage and retrieval system of claim 10 , wherein the automated picker is a cartesian robot configured to move to and between the plurality of different positions within the workstation under control of the controller.

15. An automatic storage and retrieval system, comprising:
a first set of support shelves for storing containers;
mobile robots for transferring the containers around within the automatic storage and retrieval system; and
a workstation comprising:
a first level comprising a queuing buffer where the mobile robots carrying a first set of containers are buffered;
a second level, different than the first level, comprising:
a picking lane where the mobile robots carrying the first set of containers move to a first plurality of different positions along the picking lane in the workstation, and
a second set of support shelves at a second plurality of different positions in the workstation, the second set of support shelves configured to store a second set of containers;
a level-changing tower configured to move the mobile robots carrying the first set of containers between the first and second levels; and
an automated picker mounted for movement at a third level, the automated picker configured to transfer items between the first set of containers at the first plurality of different positions and the second set of containers at the second plurality of different positions.

16. The automatic storage and retrieval system of claim 15 , further comprising a controller for controlling movement of the mobile robots on the first and second levels, and for controlling transfer of items from the first set of containers to the second set of containers.

17. The automatic storage and retrieval system of claim 15 , wherein the third level is between the first and second levels.

18. The automatic storage and retrieval system of claim 15 , further comprising a deck on the first level, the mobile robots configured to travel between the first set of support shelves and the workstation on the deck.

19. The automatic storage and retrieval system of claim 18 , wherein the deck comprises a first deck, the automatic storage and retrieval system further comprising a second deck on the second level, the mobile robots configured to travel between the first set of support shelves and the workstation on the second deck.

20. The automatic storage and retrieval system of claim 19 , wherein the mobile robots are configured to travel from the first set of support shelves to the workstation on the first deck, move from the first level to the second level on the level-changing tower, move through the workstation along the picking lane so that items may be removed from the first set of containers on the mobile robots, and return to the first set of support shelves on the second deck.

Assignees

• Walmart Apollo Llc

Inventors

• Fosnight William J
• Lert Jr John G

Classifications

• B65G47/905

  Control arrangements · CPC title

• B65G47/681

  from distinct, separate conveyor lanes · CPC title

• B65G1/065

  with self propelled cars · CPC title

• B65G1/0492 Primary

  with cars adapted to travel in storage aisles · CPC title

• B65G1/1378 Primary

  the orders being assembled on fixed commissioning areas remote from the storage areas · CPC title