US 12,391,475 B2
Autonomous transport vehicle
Akram Zahdeh, Wilmington, MA (US); and Todd Kepple, Wilmington, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on May 24, 2022, as Appl. No. 17/664,843.
Claims priority of provisional application 63/241,893, filed on Sep. 8, 2021.
Prior Publication US 2023/0075455 A1, Mar. 9, 2023
Int. Cl. B65G 1/04 (2006.01); B65G 1/137 (2006.01); G05D 1/00 (2006.01)
CPC B65G 1/0492 (2013.01) [B65G 1/1373 (2013.01); G05D 1/0088 (2013.01)] 22 Claims
OG exemplary drawing
 
1. An autonomous transport robot vehicle for transporting a payload, the autonomous transport robot vehicle comprising:
a chassis that is a space frame formed of:
longitudinal hollow section beams, arrayed to form longitudinally extended sides of the space frame, and
respective front and rear lateral beams closing opposite ends of the space frame;
a payload support connected to the chassis and dependent therefrom; and
ride wheels dependent from the chassis, proximate opposite end corners of the chassis, on which the autonomous transport robot vehicle rides so as to traverse a traverse surface, the ride wheels include at least one caster wheel and a pair of drive wheels supporting the chassis from the traverse surface, and
wherein the ride wheels and chassis in combination form a low profile height from the traverse surface to atop the chassis, where a chassis height and a ride wheel height are overlapped at least in part so that a payload support contact surface of the payload support is nested between and within the ride wheel height of the ride wheels; and
wherein the space frame has predetermined modular coupling interfaces, each disposed for removably coupling, as a module unit, a corresponding predetermined electronic or mechanical component module of the autonomous transport robot vehicle to the chassis.