ORDER FULFILLMENT SYSTEM
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 plurality of levels of the vertical storage rack, the mobile robot including a motor, a shaft configured to be driven by the motor, first and second pairs of wheels and a pair of drive gears.
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 plurality of levels of the vertical storage rack, the mobile robot comprising:
a motor;
a shaft configured to be driven by the motor;
first and second pairs of wheels, one pair on each of opposed sides of the mobile robot, the first and second pairs of wheels configured to advance the mobile robot along a pair of spaced apart horizontal rails on a level of the vertical storage rack, wherein the pair of horizontal rails each include a gap aligned with the pair of vertical tracks, a first wheel of each of the first and second pairs of wheels configured to remain on the pair of horizontal rails while a second wheel of each of the first and second pairs of wheels is configured to pass over the gap;
a pair of drive gears, one on each of opposed sides of the mobile robot, at least one drive gear configured to rotate with the shaft, 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.
2 . A mobile robot as recited in claim 1 , wherein the first and second pairs of wheels are configured to move between extended positions where the first and second pairs of wheels engage the pair of horizontal rails to enable horizontal movement of the mobile robot, and retracted positions where the first and second pairs of 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 , further comprising a pair of counter bearings, one on each of the opposed sides of the mobile robot, the pair of counter bearings each configured to engage a second surface on each of the pair of vertical tracks different than the first surface on each of the pair of vertical tracks, the pair of drive gears and the pair of counter bearings supporting the mobile robot for vertical transport on the pair of vertical tracks.
4 . A mobile robot as recited in claim 3 , wherein the pair of counter bearings are vertically spaced from the pair of drive gears to counteract a moment force at the pair of drive gears and maintain the mobile robot in a predefined orientation as it moves along the pair of vertical tracks.
5 . A mobile robot as recited in claim 4 , the pair of counter bearings further configured to move between extended positions where the pair of counter bearings engage within the pair of vertical tracks to enable vertical movement of the mobile robot, and retracted positions where the pair of counter bearings do not obstruct travel of the mobile robot along the pair of horizontal rails past the pair of vertical tracks.
6 . A mobile robot as recited in claim 1 , wherein the shaft is configured to axially translate with respect to the motor to move the at least one drive gear between an extended position where the at least one drive gear engages within at least one of the pair of vertical tracks to enable vertical movement of the mobile robot, and a retracted position where the at least one drive gear does not obstruct travel of the mobile robot along the pair of horizontal rails past 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 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 plurality of 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 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 rails, and a second drive wheel, on a second side of the mobile robot opposed to the first, configured to engage a second rail of the pair of spaced apart 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, 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 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 , wherein the pair of drive gears are configured to move between extended positions along the axis where the pair of vertical traction drives engage with the pair of tracks, and retracted positions where the pair of vertical traction drives do not obstruct travel of the mobile robot along the pair of horizontal rails past the pair of tracks.
9 . 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 of the pair of tracks, and a second counter bearing, on the second side of the mobile robot, configured to engage the second of the pair of tracks, the 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.
10 . A mobile robot as recited in claim 9 , wherein the single pair of counter bearings are vertically offset from the pair of drive gears.
11 . A mobile robot as recited in claim 9 , the single pair of counter bearings further configured to move between extended positions where the pair of counter bearings engage with the pair of tracks, and retracted positions where the pair of counter bearings do not obstruct travel of the mobile robot along the pair of horizontal rails past the pair of tracks.
12 . 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.
13 . A mobile robot as recited in claim 12 , wherein the plurality of horizontal traction drives are mounted on a common shaft with the pair of drive gears.
14 . A mobile robot as recited in claim 13 , wherein the plurality of horizontal traction drives and the pair of drive gears are driven by a common motor.
15 . A mobile robot as recited in claim 14 , wherein the shaft is mounted to translate with respect to the common motor.
16 . A mobile robot as recited in claim 7 , wherein the pair of drive wheels are extendible and retractable independently of the pair of drive gears.
17 . 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 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 plurality of 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 the pair of spaced apart rails, and a second drive wheel, on a second side of the mobile robot opposed to the first, configured to engage a second rail of the pair of spaced apart 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, 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 horizontal rails past the pair of tracks; and
wherein the pair of drive wheels are coaxial with the pair of drive gears.
18 . A mobile robot as recited in claim 17 , wherein the pair of drive gears are configured to move between extended positions along the axis where the drive gears engage with the pair of tracks, and retracted positions where the drive gears do not obstruct travel of the mobile robot along the pair of horizontal rails past the pair of tracks.
19 . A mobile robot as recited in claim 17 , wherein the plurality of horizontal traction drives are mounted on the axis of the pair of drive gears.
20 . A mobile robot as recited in claim 19 , wherein the plurality of horizontal traction drives are mounted on a common shaft with the pair of drive gears.
21 . A mobile robot as recited in claim 20 , wherein the plurality of horizontal traction drives and the pair of drive gears are driven by a common motor.
22 . A mobile robot as recited in claim 21 , wherein the shaft is mounted to translate with respect to the common motor.
23 . A mobile robot as recited in claim 17 , wherein the pair of drive wheels are extendible and retractable independently of the pair of drive gears.
24 . A mobile robot as recited in claim 17 , 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 of the pair of tracks, and a second counter bearing, on the second side of the mobile robot, configured to engage the second of the pair of tracks, the 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