US 12,122,611 B2
Pickface builder for storage and retrieval systems
Robert Sullivan, Wilmington, MA (US); and Stephen C Toebes, Chelmsford, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on Aug. 11, 2023, as Appl. No. 18/448,552.
Application 18/448,552 is a continuation of application No. 17/657,007, filed on Mar. 29, 2022, granted, now 11,724,890.
Application 17/657,007 is a continuation of application No. 17/136,475, filed on Dec. 29, 2020, granted, now 11,286,118, issued on Mar. 29, 2022.
Application 17/136,475 is a continuation of application No. 15/991,779, filed on May 29, 2018, granted, now 10,875,722, issued on Dec. 29, 2020.
Application 15/991,779 is a continuation of application No. 15/332,997, filed on Oct. 24, 2016, granted, now 9,981,808, issued on May 29, 2018.
Application 15/332,997 is a continuation of application No. 13/326,869, filed on Dec. 15, 2011, granted, now 9,475,649, issued on Oct. 25, 2016.
Claims priority of provisional application 61/423,242, filed on Dec. 15, 2010.
Prior Publication US 2023/0382655 A1, Nov. 30, 2023
Int. Cl. B65G 1/04 (2006.01); B65G 1/06 (2006.01); B65G 1/12 (2006.01); B65G 1/127 (2006.01); B65G 1/137 (2006.01); B65G 47/08 (2006.01)
CPC B65G 47/086 (2013.01) [B65G 1/0485 (2013.01); B65G 1/06 (2013.01); B65G 1/12 (2013.01); B65G 1/127 (2013.01); B65G 1/1371 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for orientating case pose in a storage and retrieval system with an array of storage shelves for storing cases and having an in-feed conveyor and a lift, each case holding at least one product package therein, the method comprising:
providing a frame of a case pose orientating apparatus;
providing a pusher member movably coupled to the frame;
providing a snugger member movably coupled to the frame, wherein the pusher member and snugger member are movable at least in a direction transverse to a direction of case travel on the in-feed conveyor;
receiving a case from the in-feed conveyor; and
orientating, with the pusher member and the snugger member the case from a first pose, which first pose is substantially undetermined with respect to the direction of travel, to a second pose that is selectably controlled by the pusher member and snugger member with respect to the direction of travel, and substantially coincident with orientating the case, snugging the case, forming the case from a substantially unconstrained case shape into a substantially controlled case shape form picked by the lift as a unit, where the substantially controlled case shape form is formed, by the pusher and snugger member, defining a structural positioning feature of the case.