Order fulfillment system

Patent metadata

Field	Value
Publication number	US-12319502-B2
Application number	US-202117499009-A
Country	US
Kind code	B2
Filing date	Oct 12, 2021
Priority date	Jun 2, 2015
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

An order fulfillment system is disclosed including a multi-level tote storage structure, one or more autonomous mobile robots configured to pick, transport and place one or more tote; one or more workstations configured to accommodate a picker that transports one or more eaches from a tote on one of the autonomous mobile robots to a “put” location, wherein the autonomous mobile robots are configured to move from level to level in the order fulfillment apparatus.

First claim

What is claimed is:

1. A mobile robot for travelling within an order fulfillment center including a deck and one or more vertical storage racks, a vertical storage rack of the one or more storage racks including a plurality of horizontal rails, spaced apart from each other on respective levels of the vertical storage rack, and a pair of vertical tracks, spaced apart from each other and extending between the levels of the vertical storage rack, the mobile robot comprising:
at least one motor;
first and second shafts each configured to be driven by one of the at least one motor;
first and second drive wheels mounted to the first and second shafts respectively, one each on opposed sides of the mobile robot;
first and second idler wheels, one each on the opposed sides of the mobile robot;
a caster mounted in between the opposed sides of the mobile robot;
a pair of drive gears, one on each of the opposed sides of the mobile robot, the pair of drive gears each configured to engage a first surface on each of the pair of vertical tracks to advance the mobile robot along the pair of vertical tracks;
wherein the first and second drive wheels and the caster engage the deck to drive and maneuver the mobile robot around the deck;
wherein the first and second drive wheels and the first and second idler wheels engage a pair of horizontal rails, of the plurality of horizontal rails, when the mobile robot is supported on the pair of horizontal rails to drive the mobile robot along the pair of horizontal rails; and
wherein the at least one motor comprises:
a first traction drive comprising a first motor and a second traction drive comprising a second motor;
wherein the first shaft cooperates with and is configured to be driven by the first motor, and the second shaft cooperates with and is configured to be independently driven by the second motor independent of the first motor and first shaft;
wherein the first and second drive wheels and the caster are configured to each contact the deck, comprising a common horizontal surface supporting the mobile robot, wherein the first traction drive and the second traction drive are controlled to implement steering, in cooperation with the caster, while operating on the horizontal surface to drive and maneuver the mobile robot around the horizontal surface.

2. A mobile robot as recited in claim 1 , wherein the first and second drive wheels are configured to move between extended positions where the first and second drive wheels engage the pair of horizontal rails to enable horizontal movement of the mobile robot, and retracted positions where the first and second drive wheels do not obstruct travel of the mobile robot along the pair of vertical tracks past the pair of horizontal rails.

3. A mobile robot as recited in claim 1 , wherein the first and second idler wheels have an axis of rotation parallel to an axis of rotation of the first and second drive wheels.

4. A mobile robot as recited in claim 1 , wherein the first and second idler wheels have an axis of rotation orthogonal to an axis of the first and second drive wheels.

5. A mobile robot as recited in claim 4 , further comprising third and fourth idler wheels, one each on the opposed sides of the mobile robot, the third and fourth idler wheels having an axis of rotation parallel to the axis of rotation of the first and second idler wheels.

6. A mobile robot as recited in claim 1 , wherein each of the first and second shafts is configured to axially translate to move the first and second drive wheels respectively between an extended position where the first and second drive wheels engage within the pair of horizontal rails to enable horizontal movement of the mobile robot along the pair of horizontal rails, and a retracted position where the first and second drive wheels do not obstruct travel of the mobile robot along the pair of vertical tracks.

7. A mobile robot for travelling within an order fulfillment center including one or more vertical storage racks, a vertical storage rack of the one or more vertical storage racks including a plurality of horizontal rails, spaced apart from each other on respective levels of the vertical storage rack, and a pair of tracks, spaced apart from each other and extending between the levels of the vertical storage rack, the mobile robot comprising:
a plurality of horizontal traction drives configured to be driven to rotate to advance the mobile robot along a pair of spaced apart horizontal rails, of the plurality of horizontal rails, on a level of the vertical storage rack, the plurality of horizontal traction drives comprising:
a pair of drive wheels comprising a first drive wheel, on a first side of the mobile robot, configured to engage a first rail of the pair of spaced apart horizontal rails, and a second drive wheel, on a second side of the mobile robot opposed to the first side of the mobile robot, configured to engage a second rail of the pair of spaced apart horizontal rails, the pair of drive wheels having a common axis with each other; and

a pair of vertical traction drives configured to be driven to rotate to advance the mobile robot along the pair of tracks, the pair of vertical traction drives comprising:
a pair of drive gears comprising a first drive gear, on the first side of the mobile robot, configured to engage a first track of the pair of tracks, and a second drive gear, on the second side of the mobile robot opposed to the first side of the mobile robot, configured to engage a second track of the pair of tracks, the pair of drive gears having a common axis with each other;

wherein the pair of drive gears are further configured to move between extended positions where the pair of drive gears engage with the pair of tracks to enable vertical movement of the mobile robot while the mobile robot is cantilevered off the pair of tracks, and retracted positions where the pair of drive gears do not obstruct travel of the mobile robot along the pair of spaced apart horizontal rails past the pair of tracks; and
wherein the pair of drive wheels are coaxial with the pair of drive gears.

8. A mobile robot as recited in claim 7 , further comprising a single pair of counter bearings comprising a first counter bearing, on the first side of the mobile robot, configured to engage the first track of the pair of tracks, and a second counter bearing, on the second side of the mobile robot, configured to engage the second track of the pair of tracks, the single pair of counter bearings configured to oppose a moment force generated between the pair of drive gears and the pair of tracks to enable the mobile robot to travel vertically on the pair of tracks.

9. A mobile robot as recited in claim 8 , wherein the single pair of counter bearings are vertically offset from the pair of drive gears.

10. A mobile robot as recited in claim 8 , the single pair of counter bearings further configured to move between extended positions where the single pair of counter bearings engage with the pair of tracks, and retracted positions where the single pair of counter bearings do not obstruct travel of the mobile robot along the pair of horizontal rails past the pair of tracks.

11. A mobile robot as recited in claim 7 , wherein the plurality of horizontal traction drives are mounted on the axis of the pair of drive gears.

12. A mobile robot as recited in claim 11 , wherein each of the plurality of horizontal traction drives are mounted on a respective common shaft with a respective one of the pair of drive gears.

13. A mobile robot as recited in claim 12 , wherein the plurality of horizontal traction drives and the pair of drive gears are driven by a common

Assignees

• Symbotic Llc

Inventors

• Lert Jr John G
• Fosnight William J

Classifications

• B65G1/065

  with self propelled cars · CPC title

• B65G1/1378

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

• B65G1/0492 Primary

  with cars adapted to travel in storage aisles · CPC title

• B65G1/0478 Primary

  for matrix-arrangements · CPC title