Granted Patent B2

US 12,421,037 · App. 17/689,690 · Granted Sep 23, 2025

Inventors: William J. Fosnight (Windham, NH); Devin Lert (Wakefield, MA); John G. Lert, Jr. (Wakefield, MA); Stephanie Waite (Burlington, MA); Julian Warhurst (Portsmouth, RI); David Hartnett (Tewksbury, MA)

Assignee: Symbotic LLC

B65G1/065B65G1/0464B65G1/12

Abstract

Claims (44)

1. An automatic storage and retrieval system, comprising:

a vehicle interface defining a first bot access side and a second bot access side opposing the first bot access side;

storage positions on the first bot access side for storing containers;

a first group of mobile robots configured to travel on the first bot access side to transfer containers to and from the storage positions;

a second group of mobile robots configured to transport containers to and from the second bot access side;

a tote support supported on one of the second group of mobile robots, or one or more of the second group of mobile robots and a tote support positioned at the vehicle inerface;

wherein one or more of the first group of mobile robots and the tote support comprise tote transfer mechanisms configured to transfer the containers to and from the first group of mobile robots and a stationary surface at the vehicle interface;

wherein the first group of mobile robots is positioned directly adjacent the first bot access side, the first and second groups of mobile robots being synchronously coordinated together to transfer containers directly between the first group of mobile robots and the tote support.

2. The automatic storage and retrieval system of claim 1 , wherein the tote transfer mechanisms are mounted on the first group of mobile robots.

3. The automatic storage and retrieval system of claim 1 , wherein the tote transfer mechanisms are mounted on the tote support.

4. The automatic storage and retrieval system of claim 1 , wherein the storage positions on the first bot access side comprise:

first and second arrays of storage positions; and

an aisle between the first and second arrays of storage positions;

wherein the first group of mobile robots is configured to travel within the aisle.

5. The automatic storage and retrieval system of claim 1 , wherein the tote transfer mechanisms are mounted on both of the first group of mobile robots and the tote support.

6. The automatic storage and retrieval system of claim 1 , wherein the tote support comprises multiple horizontal levels of tote supports, and wherein each horizontal level of the tote support includes a tote transfer mechanism.

7. An automatic storage and retrieval system, comprising:

a vehicle interface defining a first bot access side and a second bot access side opposing the first bot access side;

storage positions on the first bot access side for storing containers;

a first group of mobile robots configured to travel on the first bot access side to transfer containers to and from the storage positions;

a second group of mobile robots configured to transport containers to and from the second bot access side;

a tote support surface positioned at the vehicle interface between the first bot access side and the second bot access side;

wherein the first group of mobile robots or the tote support surface comprises a first tote transfer mechanism configured to selectively transfer the containers from the first group of mobile robots to the tote support surface at the vehicle interface;

wherein the second group of mobile robots or the tote support surface comprises a second tote transfer mechanism configured to selectively transfer the containers from the tote support surface to the second group of mobile robots at the vehicle interface

wherein the tote support surface is a shelf that is separate and distinct from t first and second tote transfer mechanism and is configured to buffer a tote for asynchronous tote transfer between one of the first group of mobile robots and one of the second group of mobile robots, where the tote is placed on the shelf with a static pose by the first tote transfer mechanism and is displaced from the static pose by the second tote transfer mechanism.

8. The automatic storage and retrieval system of claim 7 , wherein the second group of mobile robots positions containers directly adjacent the second bot access side.

9. The automatic storage and retrieval system of claim 7 , wherein the storage positions on the first bot access side comprise:

first and second arrays of storage positions, the tote support surface being disposed at the first array of storage positions; and

an aisle between the first and second arrays of storage positions;

wherein the first group of mobile robots is configured to travel within the aisle.

10. The automatic storage and retrieval system of claim 9 ,

wherein the first array of storage positions is positioned directly adjacent the first bot access side, the first and second groups of mobile robots being asynchronously coordinated together so that containers are transferred between the first group of mobile robots and the first array of storage positions, and containers are transferred between the second group of mobile robots and the first array of storage positions.

11. The automatic storage and retrieval system of claim 9 , further comprising a first group of tote transfer mechanisms on the first group of mobile robots, the automatic storage and retrieval system further comprising a second group of second tote transfer mechanisms on the first array of storage positions.

12. The automatic storage and retrieval system of claim 11 , further comprising a third group of third tote transfer mechanisms on the second group of mobile robots, the third group of third tote transfer mechanisms being different than the second group of second tote transfer mechanisms.

13. An automatic storage and retrieval system, comprising:

a vehicle interface defining a first bot access side and a second bot access side opposing the first bot access side;

storage positions on the first bot access side for storing containers;

a first group of mobile robots configured to travel on the first bot access side to transfer containers to and from the storage positions;

a second group of mobile robots configured to transport containers to and from the second bot access side;

a tote support surface positioned directly adjacent the second bot access side;

wherein the first group of mobile robots or the tote support surface comprises a first tote transfer mechanism configured to selectively transfer the containers from the first group of mobile robots to the tote support surface at the vehicle interface;

wherein the second group of mobile robots or the tote support surface comprises a second tote transfer mechanism configured to selectively transfer the containers from the tote support surface to the second group of mobile robots at the vehicle interface wherein the tote support surface is a shelf that is separate and distinct from the first and second tote transfer mechanism and is configured to buffer a tote for asynchronous tote transfer between one of the first group of mobile robots and one of the second group of mobile robots, where the tote is placed on the shelf with a static pose by the first tote transfer mechanism and is displaced from the static pose by the second tote transfer mechanism.

14. The automatic storage and retrieval system of claim 13 , further comprising a first group of tote transfer mechanisms on the first group of mobile robots, the automatic storage and retrieval system further comprising a second group of second tote transfer mechanisms at the storage positions.

15. The automatic storage and retrieval system of claim 14 , wherein the second group of mobile robots positions containers directly adjacent the tote support surface, the second group of second tote transfer mechanisms configured to transfer containers between the tote support surface and the second group of mobile robots.

Assignments (7)

Continuity (3)

References Cited (39)