JP2018517646A5 - - Google Patents
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- JP2018517646A5 JP2018517646A5 JP2018515183A JP2018515183A JP2018517646A5 JP 2018517646 A5 JP2018517646 A5 JP 2018517646A5 JP 2018515183 A JP2018515183 A JP 2018515183A JP 2018515183 A JP2018515183 A JP 2018515183A JP 2018517646 A5 JP2018517646 A5 JP 2018517646A5
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- 移動ロボットであって、
前記移動ロボットを少なくとも2つの水平寸法方向に沿って少なくとも1つの方向に推進する1つ又は2つ以上の水平駆動装置と、
前記移動ロボットを少なくとも1つの垂直寸法方向に沿って少なくとも1つの方向に推進する1つ又は2つ以上の垂直駆動装置と、を有し、
前記1つ又は2つ以上の水平駆動装置は、マルチレベル保管構造体の水平軌道と係合するよう構成され、前記1つ又は2つ以上の垂直駆動装置は、前記マルチレベル保管構造体の傾斜又は垂直軌道と係合するよう構成され、
前記移動ロボットは、前記マルチレベル保管構造体のレベルに沿ってそれ自体水平に推進するとともに水平姿勢を維持しながら前記マルチレベル保管構造体の前記傾斜又は垂直軌道を用いて前記マルチレベル保管構造体のレベル相互間でそれ自体垂直に推進するよう構成されている、移動ロボット。 - 前記1つ又は2つ以上の水平駆動装置及び前記1つ又は2つ以上の垂直駆動装置が結合されている駆動アクスルを更に有し、前記駆動アクスルは、前記1つ又は2つ以上の水平駆動装置及び前記1つ又は2つ以上の垂直駆動装置を水平の向きの所望の軌道又は傾斜したもしくは垂直の向きの所望の軌道に選択的に係合させ又はこれから係合を離脱させるよう伸長したり引っ込んだりすることができるように構成されている、請求項1記載の移動ロボット。
- 前記駆動アクスルは、前記移動ロボットが能動型軌道スイッチを必要としないで、水平の向きの所望の軌道又は傾斜した又は垂直の向きの所望の軌道を選択することができるような仕方で、前記1つ又は2つ以上の水平駆動装置及び前記1つ又は2つ以上の垂直駆動装置を前記水平の向きの所望の軌道又は傾斜したもしくは垂直の向きの所望の軌道に選択的に係合させ又はこれから係合を離脱させるよう伸長したり引っ込んだりすることができる、請求項2記載の移動ロボット。
- 前記1つ又は2つ以上の水平駆動装置は、1つ又は2つ以上の車輪を有し、前記1つ又は2つ以上の垂直駆動装置は、1つ又は2つ以上の歯車を有する、請求項1記載の移動ロボット。
- 前記移動ロボットのシャーシに設けられた容器移送機構体を更に有する、請求項1記載の移動ロボット。
- 前記移動ロボットは、中央制御システムと連絡状態にあり、そして前記中央制御システムから制御指令を受け取るよう構成されており、前記移動ロボットは、ワイヤレス通信インターフェースを含む搭載型制御コンピュータシステムを有する、請求項1記載の移動ロボット。
- 前記移動ロボットは、ロケーション、ナビゲーション、又はペイロードトランスファを指示するよう構成された1つ又は2つ以上のセンサを有する、請求項1記載の移動ロボット。
- 自動保管・出庫システムであって、
アイルによって互いに隔てられた複数のラックモジュールを有するマルチレベル保管構造体を含み、各ラックモジュールは、物品を各アイル内の複数の保管レベルのところで保管するよう構成された1組の水平支持体と、前記保管レベルの各々と関連した1組の水平軌道と、前記マルチレベル保管構造体のレベル相互間に設けられるとともに該レベルを互いに連結する少なくとも1組の傾斜又は垂直軌道と、を有し、
少なくとも1つの移動ロボットを含み、前記少なくとも1つの移動ロボットは、
前記移動ロボットを少なくとも2つの水平寸法方向に沿って少なくとも1つの方向に推進する1つ又は2つ以上の水平駆動装置と、
前記移動ロボットを少なくとも1つの垂直寸法方向に沿って少なくとも1つの方向に推進する1つ又は2つ以上の垂直駆動装置と、を有し、
前記1つ又は2つ以上の水平駆動装置は、マルチレベル保管構造体の水平軌道と係合するよう構成され、前記1つ又は2つ以上の垂直駆動装置は、前記マルチレベル保管構造体の傾斜又は垂直軌道と係合するよう構成され、
前記少なくとも1つの移動ロボットは、前記マルチレベル保管構造体のレベルに沿ってそれ自体水平に推進するとともに前記マルチレベル保管構造体の前記傾斜又は垂直軌道を用いて前記マルチレベル保管構造体のレベル相互間でそれ自体垂直に推進するよう構成されている、自動保管・出庫システム。 - 前記少なくとも1つの組をなす傾斜又は垂直軌道は、受動型であり、前記少なくとも1つの移動ロボットは、前記1つ又は2つ以上の垂直駆動装置を非係合位置から係合位置に動かすことによって前記少なくとも1つの組をなす傾斜又は垂直軌道に選択的に係合する、請求項8記載の自動保管・出庫システム。
- 前記1つ又は2つ以上の水平駆動装置は、伸長可能な車輪を有し、前記1つ又は2つ以上の垂直駆動装置は、伸長可能な歯車を有し、
前記少なくとも1つの組をなす傾斜又は垂直軌道は、前記組をなす水平軌道に隣接して位置決めされ、
前記少なくとも1つの移動ロボットは、前記組をなす水平軌道上を走行しているとき、前記1つ又は2つ以上の水平駆動装置の前記車輪を伸長させるとともに前記1つ又は2つ以上の垂直駆動装置の前記歯車を引っ込めたりし、前記少なくとも1つの組をなす傾斜又は垂直軌道上を走行しているとき、前記1つ又は2つ以上の垂直駆動装置の前記歯車を伸長させるとともに前記1つ又は2つ以上の水平駆動装置の前記車輪を引っ込める、請求項9記載の自動保管・出庫システム。 - 少なくとも1つのアイルに連続して並んで位置する少なくとも1つのピッキングステーションを更に含み、前記少なくとも1つの移動ロボットのうちの少なくとも1つは、保管物品を前記少なくとも1つのピッキングステーションのところでピッカーに送り出すことができる、請求項8記載の自動保管・出庫システム。
- 少なくとも2つのアイルに連続して並んで位置する少なくとも1つの水平トランシットデッキを更に有し、前記少なくとも1つの水平トランシットデッキにより、前記少なくとも1つの移動ロボットは、前記少なくとも1つの水平トランシットデッキから前記少なくとも2つのアイルに入ったり前記少なくとも2つのアイルを出て前記少なくとも1つの水平トランシットデッキに移ることができ、そしてこれまた前記少なくとも1つのトランシットデッキに連続して並んで位置する任意他のロケーションまで水平に移動する、請求項8記載の自動保管・出庫システム。
- 前記少なくとも1つの組をなす傾斜又は垂直軌道は、非係合位置から係合位置に動かされることにより前記少なくとも1つの移動ロボットの前記1つ又は2つ以上の垂直駆動装置に選択的に係合する可動セグメントを更に有する、請求項12記載の自動保管・出庫システム。
- 前記1つ又は2つ以上の水平駆動装置は、伸長可能な車輪を有し、前記1つ又は2つ以上の垂直駆動装置は、伸長可能な歯車を有し、
前記少なくとも1つの組をなす傾斜又は垂直軌道は、前記組をなす水平軌道に隣接して位置決めされ、
前記少なくとも1つの移動ロボットは、前記組をなす水平軌道上を走行しているとき、前記1つ又は2つ以上の水平駆動装置の前記車輪を伸長させるとともに前記1つ又は2つ以上の垂直駆動装置の前記歯車を引っ込めたりし、前記少なくとも1つの組をなす傾斜又は垂直軌道上を走行しているとき、前記1つ又は2つ以上の垂直駆動装置の前記歯車を伸長させるとともに前記1つ又は2つ以上の水平駆動装置の前記車輪を引っ込める、請求項13記載の自動保管・出庫システム。 - 前記少なくとも1つの水平トランシットデッキに連続して並んで位置する少なくとも1つのワークステーションを更に含み、前記少なくとも1つの移動ロボットのうちの少なくとも1つは、少なくとも1つの保管物品を前記少なくとも1つのワークステーションのところでオペレータに送り出すことができる、請求項12記載の自動保管・出庫システム。
- 前記少なくとも1つの保管物品は、アイテムの容器を含み、前記少なくとも1つの移動ロボットは、前記オペレータがアイテムを前記容器相互間で移送することができるような仕方で複数の容器を前記少なくとも1つのワークステーションに送り出す、請求項15記載の自動保管・出庫システム。
- 注文履行システムであって、
在庫を有する容器を保管するように構成された複数の在庫保管場所と、
アクセスパネルを備えたポータルを含む在庫インターフェースであって、前記ポータルが前記注文履行システムからの取り除く在庫を提示するように構成された前記在庫インターフェースと、
使用者からの入力を受け取るためのヒューマン/マシン・インターフェースと、
前記注文履行システムの周囲に容器を移送するための1つ又は複数の移動ロボットであって、前記複数の在庫保管場所に及び前記在庫インターフェースに備えている前記移動ロボットと、
在庫インターフェース、前記ヒューマン/マシン・インターフェース、及び、1つ又は複数の移動ロボットに対して操作可能に結合される制御システムであって、選択されたコンテナについて前記複数の在庫保管場所のうちの1つの在庫保管場所から在庫インターフェースに前記ヒューマン/マシン・インターフェースで受け取られた入力に応じて移送させる前記制御システムと、
を有することを特徴とする注文履行システム。 - 前記制御システムは、前記ヒューマン/マシン・インターフェースで受け取られた入力から前記使用者を識別すると、使用者が注文した在庫を含む容器を、この使用者が注文した在庫の識別に応じて前記複数の在庫保管場所のうちの1つの在庫保管場所から前記在庫インターフェースに移送する請求項17記載の注文履行システム。
- 前記在庫インターフェースの前記アクセスパネルは、前記制御システムに操作可能に結合され、前記制御システムは、選択された容器が前記在庫インターフェースに位置決めされたことを確認すると、前記アクセスパネルを少なくとも部分的に開かせる請求項17記載の注文履行システム。
- 前記選択された容器が前記在庫インターフェースに位置決めされて前記選択された容器に完全にアクセスできることを前記制御システムが確認したときに、前記アクセスパネルは、全開となる請求項19記載の注文履行システム。
- 前記選択された容器は、複数の区画を備え、これらの複数の区画のうちの1つの区画は、前記在庫インターフェイスから取り除かれる在庫を含み、前記アクセスパネルは、前記選択された容器が前記在庫インターフェースに位置決めされて前記区画にアクセスすることができる一方、前記複数の区画の他方は覆われた状態が維持されていることを前記制御システムが確認したときに、前記アクセスパネルは、部分的に開かれる請求項19記載の注文履行システム。
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US201562169615P | 2015-06-02 | 2015-06-02 | |
US62/169,615 | 2015-06-02 | ||
PCT/US2016/035547 WO2016196815A1 (en) | 2015-06-02 | 2016-06-02 | Storage and retrieval system |
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JP2020038556A Division JP7077349B2 (ja) | 2015-06-02 | 2020-03-06 | 保管・出庫システム |
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JP2018517646A JP2018517646A (ja) | 2018-07-05 |
JP2018517646A5 true JP2018517646A5 (ja) | 2019-07-04 |
JP7143212B2 JP7143212B2 (ja) | 2022-09-28 |
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JP2018515183A Active JP7143212B2 (ja) | 2015-06-02 | 2016-06-02 | 保管・出庫システム |
JP2020038556A Active JP7077349B2 (ja) | 2015-06-02 | 2020-03-06 | 保管・出庫システム |
JP2022054036A Pending JP2022089860A (ja) | 2015-06-02 | 2022-03-29 | 保管・出庫システム |
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JP2020038556A Active JP7077349B2 (ja) | 2015-06-02 | 2020-03-06 | 保管・出庫システム |
JP2022054036A Pending JP2022089860A (ja) | 2015-06-02 | 2022-03-29 | 保管・出庫システム |
Country Status (8)
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US (4) | US10435241B2 (ja) |
EP (2) | EP3303188B1 (ja) |
JP (3) | JP7143212B2 (ja) |
CN (2) | CN113148506B (ja) |
AU (3) | AU2016270946B2 (ja) |
CA (1) | CA2988122A1 (ja) |
MX (2) | MX2017015460A (ja) |
WO (1) | WO2016196815A1 (ja) |
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