Robotic storage and retrieval systems
A robot includes a body coupled to a wheel assembly and a container retrieval device. The wheel assembly has a plurality of wheels and a drive mechanism arranged to move the body along a first set of parallel rails and along a second set of parallel rails. The container retrieval device includes an extendable and retractable grapple arranged to selectively secure an engagement feature positioned between a rim and a bottom surface of a container. The grapple thus allows the robot to lift multiple containers in a single lift.
1 . A robot, comprising:
a body coupled to a wheel assembly, the wheel assembly including a plurality of wheels arranged to move the body along a first set of rails and a second set of rails extending perpendicular to the first set of rails to define a plurality of grid spaces; and
a container retrieval device including a grapple having at least three sides, the grapple being extendable and retractable in a vertical direction and arranged to selectively secure an engagement feature positioned between a rim and a bottom surface of a container.
2 . The robot of claim 1 , wherein the container retrieval device further comprises a pair of support arms having a winding mechanism, the grapple being coupled to the pair of support arms by a cable configured to be wound and unwound about the winding mechanism to extend or retract the grapple in the vertical direction.
3 . The robot of claim 2 , wherein the grapple comprises two grapple arms and a connecting bar defining a receiving space therebetween.
4 . The robot of claim 3 , wherein a flap is associated with each of the two grapple arms, each one of the flaps being pivotable between an undeployed condition in which the flap lies substantially flush against an interior surface of a respective grapple arm such that the receiving space is sized to receive a container therein and a deployed condition in which the flap extends away from the respective grapple arm and into the receiving space.
5 . The robot of claim 4 , wherein each one of the two grapple arms extend along an axis and the flap is pivotable about a pivot axis arranged parallel to the axis.
6 . The robot of claim 5 , wherein the grapple further comprises an actuator coupled to the flap to pivot the flap about the pivot axis.
7 . The robot of claim 6 , wherein the grapple further comprises a spring provided between a portion of the grapple arm and the actuator to bias the actuator to a natural position, and wherein when the actuator is in the natural position, the flap is in the undeployed condition.
8 . The robot of claim 7 , wherein actuation of the actuator compresses the spring and pivots the flap from the undeployed condition to the deployed condition.
9 . The robot of claim 2 , wherein the container retrieval device is supported by a leg coupled to each one of the support arms, and wherein each one of the legs comprises a spring-loaded bearing or rolling member configured to move along the first and second set of rails.
10 . The robot of claim 9 , wherein the support arms have a length of approximately one grid-space and each one of the legs is attached to a terminal end of a respective support arm opposite the body.
11 . The robot of claim 2 , wherein the support arms of the container retrieval device are supported at a first location by the body and at a second location spaced from the body by suspension wires, and wherein the suspension wires are tensioned between a tower extending from the body and an attachment provided at the second location.
12 . The robot of claim 1 , wherein the wheel assembly further comprises at least one drive mechanism associated with the plurality of wheels, the plurality of wheels being pivotable between a first orientation, in which each one of the plurality of wheels is arranged to move along the first set of rails, and a second orientation, in which each one of the plurality of wheels is arranged to move along the second set of rails.
13 . The robot of claim 1 , wherein the wheel assembly includes at least one first drive mechanism associated with a first set of wheels oriented and arranged to move along the first set of rails, and at least one second drive mechanism associated with a second set of wheels oriented and arranged to move along the second set of rails.
14 . A robot, comprising:
a body coupled to a wheel assembly, the wheel assembly including a plurality of wheels arranged to move the body along a first set of rails and a second set of rails extending perpendicular to the first set of rails to define a plurality of a grid spaces; and
a first container retrieval device including a first grapple that is extendable and retractable in a vertical direction, the first grapple comprising two grapple arms and a bar connecting the two grapple arms,
wherein the first grapple defines a first open lateral side and a first receiving space through lower and upper surfaces such that the first grapple is arranged to selectively secure an engagement feature positioned between a rim and a bottom surface of a container.
15 . The robot of claim 14 , further comprising a second container retrieval device including a second grapple that is extendable and retractable in the vertical direction, the second grapple having a second open lateral side and defining a second receiving space through lower and upper surfaces.
16 . The robot of claim 15 , wherein the first container retrieval device is arranged on a first side of the body and the second container retrieval device is arranged on a second side of the body opposite the first side of the body.
17 . A system, comprising:
a frame including vertical members supporting a first set of rails extending in a first direction and a second set of rails extending in a second direction perpendicular to the first direction, the first and second set of rails collectively defining a plurality of grid spaces;
containers arranged in stacks, each of the stacks being housed within a respective one of the grid spaces such that a gap exists around an entire perimeter of the containers in the stack and between the stack and the vertical members, each container including a bottom and sidewalls collectively defining an interior, the sidewalls having an upper surface forming a rim and an engagement feature positioned between the rim and the bottom; and
a robot, comprising:
a body coupled to a wheel assembly, the wheel assembly including a plurality of wheels arranged to move the body along the first set of rails and along the second set of rails; and
a container retrieval device including a grapple having at least three-sides, the grapple being extendable and retractable in a vertical direction, sized to be lowered into the gap and around the stacks, and arranged to selectively secure the engagement feature and lift the container.
18 . The system of claim 17 , wherein the bottom of the container includes a nesting feature designed to nest within another container.
19 . The system of claim 17 , wherein the engagement feature comprises horizontal ribs provided on opposite sidewalls of the container.
20 . The system of claim 19 , further comprising angled ribs, the angled ribs extending from the horizontal ribs toward the bottom at an oblique angle.