Robotic picking systems and devices

Patent metadata

Field	Value
Publication number	US-12103776-B2
Application number	US-202318327994-A
Country	US
Kind code	B2
Filing date	Jun 2, 2023
Priority date	Nov 11, 2015
Publication date	Oct 1, 2024
Grant date	Oct 1, 2024

Abstract

A robotic picking device for picking items from a containerised storage system wherein items are stored in storage bins in stacks within a framework having a grid system disposed above the stacks of bins. Robotic picking devices are disposed on the grid, the devices acting to pick containers from the stacks of bins. The storage system is provided with at least one picking device for picking items from bins and depositing them directly in delivery containers DT.

First claim

The invention claimed is:

1. A storage system comprising:
a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicularly to the first set of rails or tracks in a substantially horizontal plane to form a grid pattern having a plurality of grid spaces;
multiple bins arranged in stacks beneath the rails or tracks within a footprint of a single grid space; and
a picking device having means to move laterally on the rails or tracks above any one of the bins located below the picking device to be positioned above a predetermined bin of the multiple bins, a vehicle body having a cavity and a picker located therein, and a wheel assembly including a first set of wheels for engaging the first set of rails or tracks to guide movement of the picking device in a first direction, and a second set of wheels for engaging with the second set of rails or tracks to guide movement of the picking device in a second direction,
wherein the picker is configured to pick at least one inventory item and move the at least one inventory item from the predetermined bin to a second predetermined bin, and
wherein at least one grid space includes raising means occupying the grid space to push the predetermined bin resting thereon in to the cavity of the picking device located above the grid space.

2. The storage system according to claim 1 , wherein the raising means comprises a substantially flat plate having locating pins for cooperating with an underside of one of the multiple bins.

3. The storage system according to claim 1 , wherein the raising means is hydraulically activated pistons extending in a telescopic manner upwardly toward the grid.

4. The storage system according to claim 1 , wherein the picker comprises a remotely or autonomously manipulatable robotic arm.

5. The storage system according to claim 1 , wherein the picker is movable in at least x-y-z directions.

6. The storage system according to claim 1 , wherein the picking device further comprises a latching means to retain a bin within the cavity during the picking process.

7. The storage system according to claim 6 , wherein the latching means comprise movable arms that located beneath the bin or electromagnetic catches.

8. The storage system according to claim 1 , further comprising:
at least one load handling device, the at least one load handling device having a bin-receiving space located within a vehicle body, the at least one load handling device being arranged to lift a bin into the bin-receiving space.

9. The storage system according to claim 8 in which the picking device and the at least one load handling device are operable under the control of a centralized control facility.

10. A method of picking customer orders on a grid based storage system using a picking device, wherein the storage system comprises:
a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicularly to the first set of rails or tracks in a substantially horizontal plane to form a grid pattern having a plurality of grid spaces;
multiple bins arranged in stacks beneath the rails or tracks within a footprint of a single grid space; and
a picking device having means to move laterally on the rails or tracks above any one of the bins located below the picking device to be positioned above a predetermined bin of the multiple bins, a vehicle body having a cavity and picker located therein, and a wheel assembly including a first set of wheels for engaging the first set of rails or tracks to guide movement of the picking device in a first direction, and a second set of wheels for engaging with the second set of rails or tracks to guide movement of the picking device in a second direction,
wherein the picker is configured to pick at least one inventory item and move the at least one inventory item from the predetermined bin to a second predetermined bin, and
wherein at least one grid space includes a raising means occupying the grid space to push a bin resting thereon in to the cavity of the picking device located above the grid space; the method comprising:
positioning the picking device over a bin on the raising means and
activating the raising means to raise the bin in to the cavity of the picking device.

11. The method according to claim 10 , comprising:
manipulating the picker in to a position above an inventory item;
lowering the picker downwardly and engaging the inventory item; and
lifting the picker upwardly and moving in to position above a second bin located beneath the grid space adjacent the raised bin where the inventory item is released or placed in the second bin.

12. The method according to claim 10 , comprising:
raising a second bin in to the cavity within the picking device using the raising means; and
picking inventory items from a bin located underneath the grid and place the inventory items in the second bin using the picker.

13. The method according to claim 10 , wherein the latching means of the picker device, latches to the raised bin.

14. A method according to claim 13 , comprising:
returning the picking device to the grid square above the raising means;
raising the raising means; and
unlatching the bin from the picking device and lowering the bin beneath the grid place once the pickings steps are complete.

Assignees

• Ocado Innovation Ltd

Inventors

• Lindbo Lars Sverker Ture
• Ingram-Tedd Andrew John
• Harvey Alexander James Badenoch

Classifications

• B25J15/08

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B65G1/065

  with self propelled cars · CPC title

• B65G1/0478

  for matrix-arrangements · CPC title

• B65G2201/0235

  Containers · CPC title