Suspension system for autonomous transports

Patent metadata

Field	Value
Publication number	US-9327903-B2
Application number	US-201514882114-A
Country	US
Kind code	B2
Filing date	Oct 13, 2015
Priority date	Dec 15, 2010
Publication date	May 3, 2016
Grant date	May 3, 2016

Abstract

An autonomous transport robot for transporting a payload, the autonomous transport robot including a drive section assembly having at least one motor and a pair of drive wheels coupled to the motor, a frame configured to support a payload, a transfer arm connected to the frame and configured for the autonomous transfer of payload to and from the frame, and a suspension system movably connecting the drive section assembly and the frame allowing relative movement between the frame and the drive section assembly.

First claim

What is claimed is:

1. A method for transporting a payload within an automated storage and retrieval system with an autonomous transport vehicle, the method comprising:
providing the autonomous transport vehicle with a drive section assembly having at least one motor and a pair of drive wheels coupled to the at least one motor, and a frame configured with a payload support section to support the payload;
justifying, with respect to the frame, the payload with a payload justification system having at least one degree of freedom payload positioning; and
providing a suspension system movably connecting the drive section assembly to the frame allowing relative movement between the frame and the drive section assembly.

2. The method of claim 1 , further comprising maintaining, with the suspension system, substantial contact between the drive wheels and a travel surface on which the autonomous transport vehicle is traveling.

3. The method of claim 1 , further comprising:
providing a suspension lockout device connected to one or more of the frame and drive section assembly; and
passively locking the suspension system with the suspension lockout device as the payload justification system is extended from the frame, where locking of the suspension system substantially prevents relative pivoting movement between the drive section assembly and the frame.

4. The method of claim 3 , wherein the suspension lockout device allows the suspension system freedom of movement when the payload justification system is in a retracted position.

5. The method of claim 3 , further comprising:
providing the suspension lockout device with an engagement member mounted to one of the frame and drive section assembly;
providing a locking device mounted to the other one of the frame and the drive section assembly; and
actuating, with an actuation member, the locking device causing the locking device to engage the engagement member.

6. The method of claim 1 , where the suspension system is allowing rolling movement between the payload support section and the drive section assembly along a common longitudinal axis and is automatically substantially preventing the rolling movement when the payload justification system is moved from a retracted position, where the payload justification system is configured to move between the retracted position and an extended position relative to the payload support section.

7. A method for transporting a payload within an automated storage and retrieval system with an autonomous transport vehicle, the method comprising:
providing the autonomous vehicle with
a frame having at least four corners and at least four support wheels, the four support wheels being distributed at least proximate the at least four corners of the frame to support the frame on and contacting a travel surface on which the autonomous transport vehicle travels, where the frame defines a payload support section, and
a drive section coupled to the frame by a locking articulated coupling system having an articulated coupling lockout device; and
justifying a payload, within the payload support section of the frame, with a payload justification system having at least one degree of freedom payload positioning;

wherein the drive section has a motor and at least two support wheels of the at least four support wheels are disposed on opposite sides of the drive section, the at least two support wheels being drive wheels coupled to the motor.

8. The method of claim 7 , further comprising steering the autonomous transport vehicle with at least one of the four support wheels on the travel surface.

9. The method of claim 7 , further comprising:
allowing, with the locking articulated coupling system, rolling movement between the payload support section and the drive section along a common longitudinal axis; and
automatically substantially preventing the rolling movement, with the articulated coupling lockout device, when the payload justification system is moved from a retracted position, where the payload justification system is configured to move between the retracted position and an extended position relative to the payload support section.

10. The method of claim 9 , further comprising automatically releasing, with the articulated coupling lockout device, the locking articulated coupling system to allow the rolling movement when the payload justification system is moved to the retracted position.

11. The method of claim 7 ,
wherein the articulated coupling lockout device is connected to one or more of the payload support section and the drive section, the method further comprising
passively locking the locking articulated coupling system as the payload justification system is extended from the payload support section.

12. The method of claim 7 , further comprising:
providing the articulated coupling lockout device with an engagement member mounted to one of the payload support section and the drive section;
providing a locking device mounted to the other one of the payload support section and the drive section; and
actuating, with an actuation member, the locking device causing the locking device to engage the engagement member.

13. The method of claim 7 , wherein the locking articulated coupling system is allowing the drive wheels of the drive section to maintain substantial contact with the travel surface.

14. The method of claim 7 , further comprising:
providing the locking articulated coupling system with a pivot member mounted to one of the payload support section and the drive section; and
providing a pivot axle mounted to the other one of the payload support section and the drive section;
where the pivot axle and pivot member engage each other to form a pivot coupling between the payload support section and the drive section.

15. An automated storage and retrieval system comprising:
a storage array with storage locations arranged along a transport surface; and
an autonomous transport vehicle for transporting, on the transport surface, a payload between the storage locations of the storage array, the autonomous transport vehicle comprising
a frame having at least four corners and at least four support wheels, the four support wheels being distributed at least proximate the at least four corners of the frame, to support the frame on and to contact the transport surface on which the autonomous transport vehicle travels, where at least one of the four support wheels is a steerable wheel and the frame defines a payload support section;
a drive section;
a payload justification system configured for at least one degree of freedom payload positioning within the frame; and
a suspension system movably connecting the drive section and the frame allowing relative movement between the frame and the drive section.

16. The automated storage and retrieval system of claim 15 , wherein the suspension system of the autonomous transport vehicle includes a locking articulated coupling system having an articulated coupling lockout device.

17. The automated storage and retrieval system of claim 15 , wherein the drive section of the autonomous transport vehicle has a motor and at least two support wheels of the at least four support wheels are disposed on opposite sides of the drive section, the at least two support wheels being drive wheels coupled to the motor.

18. The automated storage and retrieval system of claim 17 , wherein the suspension system of the autonomous transport vehicle is configured to maintain the drive wheels of the drive section in substantial contact with t

Assignees

• Symbotic Llc

Inventors

• Toebes Stephen C
• Sullivan Robert

Classifications

• B65G1/065 Primary

  with self propelled cars · CPC title

• B62D53/021

  comprising a universal coupling joint · CPC title

• E02F9/0841

  Articulated frame, i.e. having at least one pivot point between two travelling gear units (tractor-trailer combinations B62D53/00) · CPC title

• B62D53/02

  comprising a uniaxle tractor unit and a uniaxle trailer unit {(see B60B11/00 - B60B11/08)} · CPC title

• B65G1/0492 Primary

  with cars adapted to travel in storage aisles · CPC title