Granted Patent B2

US 12,319,502 · App. 17/499,009 · Granted Jun 3, 2025

Inventors: John G. Lert, Jr. (Wakefield, MA); William J. Fosnight (Windham, NH)

Assignee: Symbotic LLC

B65G1/0478B65G1/0492B65G1/065B65G1/1378

Abstract

Claims (58)

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 motor.

14. A mobile robot as recited in claim 13 , wherein the shaft is mounted to translate with respect to the common motor.

15. 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 pair of drive wheels comprising a first drive wheel, on a first side of the mobile robot, configured to engage a first rail of a pair of rails of the plurality of 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 rails, the pair of drive wheels having a common axis with each other; and

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 rails past the pair of tracks; and

wherein the pair of drive wheels are coaxial with the pair of drive gears.

16. A mobile robot as recited in claim 15 , wherein the pair of drive wheels are mounted on the common axis of the pair of drive gears.

17. A mobile robot as recited in claim 16 , wherein the pair of drive wheels are mounted on a common shaft with the pair of drive gears.

18. A mobile robot as recited in claim 17 , wherein the pair of drive wheels and the pair of drive gears are driven by a common motor.

19. A mobile robot as recited in claim 18 , wherein the shaft is mounted to translate with respect to the common motor.

20. A mobile robot as recited in claim 15 , wherein the pair of drive wheels are extendible and retractable independently of the pair of drive gears.

21. A mobile robot as recited in claim 15 , further comprising a 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 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.

22. 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 the pair 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

a first gear shaft;

wherein the pair of drive gears comprise a first drive gear mounted to the first gear shaft;

wherein the first shaft is configured to rotate the first drive wheel about a first rotational axis; and

wherein the first gear shaft is configured to rotate the first drive gear about a second rotational axis that is parallel to the first rotation axis.

23. The mobile robot of claim 22 , wherein the first rotational axis and the second rotational axis are coaxial.

24. The mobile robot of claim 22 , wherein the first rotational axis and the second rotational axis are parallel and offset with respect to each other.

Assignments (7)

Continuity (5)

References Cited (400)

Cited By (2)

US 12,497,239 US 12,583,678