US 11,745,964 B2
Storage and retrieval system transport vehicle
Michael Cyrulik, Sudbury, MA (US); Todd E. Kepple, Litchfield, NH (US); Scott Collins, Westford, MA (US); and Jason S. Sirois, Atkinson, NH (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on Jan. 25, 2022, as Appl. No. 17/648,904.
Application 17/648,904 is a continuation of application No. 17/028,639, filed on Sep. 22, 2020, granted, now 11,230,447.
Application 17/028,639 is a continuation of application No. 16/538,665, filed on Aug. 12, 2019, granted, now 10,781,060, issued on Sep. 22, 2020.
Application 16/538,665 is a continuation of application No. 15/848,446, filed on Dec. 20, 2017, granted, now 10,377,585, issued on Aug. 13, 2019.
Application 15/848,446 is a continuation of application No. 15/003,983, filed on Jan. 22, 2016, granted, now 9,850,079, issued on Dec. 26, 2017.
Claims priority of provisional application 62/107,135, filed on Jan. 23, 2015.
Prior Publication US 2022/0144549 A1, May 12, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 67/02 (2006.01); B65G 1/04 (2006.01); B65G 1/137 (2006.01)
CPC B65G 67/02 (2013.01) [B65G 1/0492 (2013.01); B65G 1/1373 (2013.01)] 23 Claims
OG exemplary drawing
 
1. An autonomously guided autonomous transport vehicle comprising:
a frame forming a payload section configured to hold one or more pickfaces;
a lift movably mounted to the frame to move relative to the frame along a lift axis;
a transfer arm dependent from the lift and configured to support thereon the one or more pickfaces;
a payload justification member movably mounted to the frame to move relative to the frame along a justification axis;
a drive section connected to the frame having at least one drive axis operably coupled to, so as to actuate on the fly, at least one of the lift, along the lift axis, and the transfer arm, along a traverse axis to effect placing or picking the one or more pickfaces with the transfer arm relative to the frame, wherein the drive section has another drive axis, different than the at least one drive axis, so as to actuate and preposition the payload justification member to a payload justification position of the pickfaces on the frame substantially coincident, at least in part, with actuation of at least one of the lift and the transfer arm; and
a controller connected to the drive section, the controller being configured to effect preposition of the payload justification member relative to actuation of at least one of the lift, along the lift axis, and the transfer arm, along the traverse axis.