Lift mechanism for robotic shuttle system
A robotic shuttle system includes a rack system and one or more shuttles. The rack system includes a rack and a shuttle frame. The rack has storage locations for containers containing items. The shuttle frame has rails disposed along the rack. The shuttle includes a powertrain, container transfer mechanism, and a robot arm. The power train is configured to move the shuttle along the rails of the rack and on a surface outside of the rack system. The container transfer mechanism is configured to transfer the containers between the rack and the shuttle. The robot arm extends from the shuttle to transfer the items between one of the containers on the shuttle and a container in a container holder of the shuttle.
1. A system, comprising:
a lift mechanism including
a base,
a platform, and
a scissor lift linkage assembly configured to move the platform above and below the base; and
a shuttle having lift mechanism.
2. The system of claim 1 , wherein the shuttle includes one or more steerable wheels that are powered by the shuttle.
3. The system of claim 1 , wherein the shuttle includes a robotic arm.
4. The system of claim 1 , wherein the shuttle includes an extendable belt conveyor configured to extend to an extended position.
5. The system of claim 4 , wherein the shuttle includes one or more steerable wheels that are powered by the shuttle.
6. The system of claim 5 , wherein the shuttle includes a robotic arm.
7. The system of claim 1 , wherein the scissor linkage assembly includes a guide link and a drive link pivotally coupled to the guide link.
8. The system of claim 7 , wherein the guide link includes a base arm coupled to the base and a platform arm coupled to the platform.
9. The system of claim 8 , wherein the drive link is sandwiched between the base arm and the platform arm.
10. The system of claim 8 , wherein the base arm and the platform arm are located on opposite sides of the drive link.
11. The system of claim 10 , wherein the base arm and the platform arm are connected together via a bushing.
12. The system of claim 11 , wherein the drive link is rotatably coupled to the guide link via the bushing.
13. The system of claim 10 , wherein the base arm is located between the base and the drive link.
14. The system of claim 13 , wherein the platform arm is located between the platform and the drive link.
15. The system of claim 7 , wherein the lift mechanism includes an actuator assembly coupled to the drive link to move the drive link.
16. The system of claim 15 , wherein the actuator assembly includes a motor and a gearbox operatively connected between the motor and the scissor lift linkage assembly.
17. The system of claim 16 , wherein the motor is aligned with the gearbox.
18. The system of claim 16 , wherein the motor is offset from the gearbox.
19. The system of claim 18 , wherein the actuator assembly includes a belt looped between the motor and the gearbox.
20. The system of claim 7 , wherein the guide link is pivotally coupled to the platform and slidably coupled to the base.
21. The system of claim 20 , wherein the base has a linear-motion bearing to which the guide link is coupled.
22. The system of claim 20 , wherein the drive link is slidably coupled to the platform.
23. The system of claim 22 , wherein the platform has a linear-motion bearing to which the drive link is coupled.
24. The system of claim 20 , wherein the lift mechanism includes a wire guide system configured to guide one or more wires between the base and the platform.
25. The system of claim 24 , wherein the wire guide system includes one or more channels defined in the guide link.
26. The system of claim 25 , wherein the guide link has a bushing with an opening configured to route the wires to opposite sides of the guide link.
27. A method, comprising:
raising a platform above a base of a lift mechanism with a scissor lift linkage, wherein the lift mechanism is incorporated in a shuttle, wherein the scissor lift linkage includes a guide link and a drive link pivotally coupled to the guide link; and
lowering the platform below the base with the lift mechanism by moving the drive link with an actuator assembly of the lift mechanism.
28. The method of claim 27 , further comprising:
extending an extendable belt conveyor on the platform to an extended position.
29. The method of claim 27 , further comprising:
powering one or more steerable wheels of the shuttle.
30. A system, comprising:
a lift mechanism including
a base,
a platform,
a scissor lift linkage assembly configured to move the platform above and below the base,
wherein the scissor linkage assembly includes a guide link and a drive link pivotally coupled to the guide link,
wherein the guide link is pivotally coupled to the platform and slidably coupled to the base, and
a wire guide system configured to guide one or more wires between the base and the platform.
31. The system of claim 30 , wherein the wire guide system includes one or more channels defined in the guide link.
32. The system of claim 31 , wherein the guide link has a bushing with an opening configured to route the wires to opposite sides of the guide link.
33. A system, comprising:
a lift mechanism including
a base,
a platform,
a scissor lift linkage assembly configured to move the platform above and below the base, wherein the scissor linkage assembly includes a guide link and a drive link pivotally coupled to the guide link,
an actuator assembly coupled to the drive link to move the drive link, wherein the actuator assembly includes a motor and a gearbox operatively connected between the motor and the scissor lift linkage assembly, and
wherein the motor is offset from the gearbox.
34. The system of claim 33 , wherein the actuator assembly includes a belt looped between the motor and the gearbox.