Automated shuttle vehicle apparatus and methods of use thereof

Abstract

Various embodiments relate to a shuttle configured for use in an AS / RS. In various embodiments, the shuttle includes: first and second load arms configured to extend away from a shuttle body in a retracted manner in parallel directions, each of the first and second load arms being extendable between a retracted configuration and an extended configuration; a load bed including a load area configured to receive an object; and a retractable mechanical finger disposed at a distal portion of the first load arm and configured to facilitate manipulation of the object, the mechanical finger being hingedly connected to the first load arm using a one-way hinge component that defines a portion of a range of rotational motion of the mechanical finger relative to the first load arm, and including a spring element that facilitates rotational motion of the finger between an extended finger position and a retracted finger position.

Description

TECHNICAL FIELD

[0001] Exemplary embodiments of the present invention relate generally to material handling of containers, packages, discrete articles, and / or other objects, and more particularly to techniques for moving objects stored at storage racks via shuttles. BACKGROUND

[0002] Automated storage and retrieval systems (AS / RS) are a key component in material handling environments that utilize automation, software, and human labor to optimize production capacity and throughput in various operations. Further, AS / RS provide flexibility and speed, enabling use in applications from e-commerce and multi-channel fulfillment to article distribution. AS / RS utilize automated shuttles that move along integrated tracks within storage racks to retrieve stored objects from discrete storage locations within those storage racks. Automated shuttles used in AS / RS can encounter challenges in efficiently retrieving, manipulating, and / or otherwise transporting objects having unique and / or irregular characteristics (e.g., size, shape, storage location, etc.). Applicants have identified several technical challenges associated with utilizing automated shuttles in AS / RS to retrieve objects stored at discrete storage locations within storage rack arrangements. Through effort, ingenuity, and innovation, including development of solutions in embodiments of the present invention, many of these identified challenges have been overcome, many examples of which are described in detail herein. SUMMARY

[0003] Various embodiments relate to a shuttle configured for use in an automated storage and retrieval system and methods of operating the same. Various embodiments relate to a shuttle configured for use in an automated storage and retrieval system, the shuttle comprising: a plurality of retractable load arms at least partially fixed relative to a shuttle body and configured to extend between a retracted configuration and an extended configuration, the plurality of retractable load arms comprising: a first load arm configured to extend at least substantially away from the shuttle body in a first lateral direction; and a second load arm configured to extend at least substantially away from the shuttle body in a second lateral direction at least substantially parallel to the first lateral direction; a load bed configured to support at least one object and comprising a width extending between the first load arm and the second load arm, wherein at least a portion of the load bed defines a load area configured to receive the at least one object therein; a retractable mechanical finger disposed at a distal portion of the first load arm and configured to facilitate manipulation of the at least one object, the mechanical finger being hingedly connected to the first load arm and comprising at least one spring element that facilitates rotational movement of the mechanical finger relative to the first load arm between an extended finger position and a retracted finger position; wherein the mechanical finger is hingedly connected to the first load arm using a one-way hinge component configured to at least partially define a range of rotational movement of the mechanical finger relative to the first load arm.

[0004] In various embodiments, the mechanical finger can be configured to rotate in the retraction rotational direction from the extended finger position at least partially toward the retracted finger position in response to application of a first retraction torque to the mechanical finger in the retraction rotational direction. In various embodiments, the extended finger position can be defined by a finger length that the mechanical finger extends from the first load arm in a direction at least substantially perpendicular to an arm length of the first load arm and into the load area; and wherein the retracted finger position is defined by the mechanical finger being retracted into the first load arm such that the finger length of the mechanical finger extends at least substantially parallel to the arm length of the first load arm. In various embodiments, the at least one spring element of the mechanical finger can be configured to bias the mechanical finger toward the extended finger position by applying a spring force to the mechanical finger that applies a first extension torque to the mechanical finger in the extension rotational direction.

[0005] In various embodiments, the shuttle vehicle can further include a second retractable mechanical finger disposed at a second distal portion of the second load arm and configured to facilitate manipulation of the at least one object, the second mechanical finger being hingedly connected to the second load arm and including at least one second spring element that facilitates rotational movement of the second mechanical finger relative to the second load arm between a second extended finger position and a second retracted finger position; wherein the second mechanical finger is hingedly connected to the second load arm using a second one-way hinge component configured to at least partially define a second range of rotational movement of the second mechanical finger relative to the second load arm. In certain embodiments, the at least one second spring element of the second mechanical finger can be configured to bias the second mechanical finger toward the second extended finger position by applying a spring force to the second mechanical finger that exerts a second extension moment on the second mechanical finger in a second extension rotational direction; wherein the extension rotational direction defined by the mechanical finger and the second extension rotational direction defined by the second mechanical finger comprise at least substantially opposite rotational directions. In various embodiments, the one-way hinge component can be at least partially defined by a vertical hinge axis such that the range of rotational movement of the mechanical finger relative to the first load arm is defined in an at least substantially horizontal plane. In certain embodiments, the at least substantially horizontal plane is at least substantially parallel to the load bed. In various embodiments, the one-way hinge component can be configured to prevent the mechanical finger from rotating in the extension rotational direction away from the retracted finger position when the mechanical finger is in the extended finger position such that the one-way hinge component defines the range of rotational movement of the mechanical finger relative to the first load arm by at least partially limiting the range of rotational movement in the extension rotational direction.

[0006] In various embodiments, at least a portion of the first load arm can be configured to selectively translate in a first longitudinal direction relative to the load area in order to dynamically adjust a load width of the load area in order to facilitate manipulation of the at least one object disposed on the load bed. In certain embodiments, the first load arm can extend in a first transverse direction along a first guide rail configured to define a first load arm travel path of the first load arm between a retracted configuration and an extended configuration, wherein at least a portion of the first guide rail is defined by a non-linear feature configured to cause at least a portion of the first load arm to exhibit a longitudinal shift in the first longitudinal direction from a first longitudinal position to a second longitudinal longitudinal position as the first load arm travels in one of the extension direction and the retraction direction along the first guide rail.

[0007] In various embodiments, the first load arm can include an arm interface portion defined by a surface of the first load arm, the arm interface portion positioned at least substantially adjacent to the load area and facing the second load arm so as to be configured for physical engagement of the at least one object disposed within the load area to at least partially secure the at least one object within the load area; wherein the arm interface portion is made of a high traction material. In various embodiments, the shuttle can further include a second mechanical finger extending from the first load arm into the load area in a second longitudinal direction that is at least substantially parallel to the at least substantially vertical direction with respect to the first load arm; wherein the mechanical finger is positioned at least substantially adjacent to the first lateral side of the load bed, and wherein the second mechanical finger is positioned at least substantially adjacent to the second lateral side of the load bed. In various embodiments, the shuttle can further include a second mechanical finger configured to facilitate manipulation of the at least one object, the second mechanical finger extending from the second load arm into the load area in the at least substantially vertical direction with respect to the second load arm; wherein the mechanical finger is positioned at least substantially adjacent to the first lateral side of the load bed, and wherein the second mechanical finger is positioned at least substantially adjacent to the second lateral side of the load bed.

[0008] Various embodiments are directed to a shuttle configured for use in an automated storage and retrieval system, the shuttle comprising: a plurality of retractable load arms at least partially secured with respect to a shuttle body and configured to extend between a retracted configuration and an extended configuration, the plurality of retractable load arms including: a first load arm configured to extend at least substantially away from the shuttle body in a first lateral direction; and a second load arm configured to extend at least substantially away from the shuttle body in a second lateral direction that is at least substantially parallel to the first lateral direction; a load bed configured to support at least one object and including a width that extends between the first load arm and the second load arm, wherein at least a portion of the load bed defines a load area configured to receive the at least one object therein; a mechanical finger disposed at a distal portion of the first load arm and configured to facilitate manipulation of the at least one object, the mechanical finger extending from the first load arm into the load area in a direction that is at least substantially perpendicular with respect to the first load arm; wherein at least a portion of one or more of the first load arm and the second load arm are configured to selectively translate in a first longitudinal direction with respect to the load area so as to dynamically adjust a load width of the load area to facilitate manipulation of the at least one object disposed on the load bed.

[0009] In various embodiments, the mechanical finger can comprise an at least substantially rigid configuration. In various embodiments, the shuttle vehicle can further comprise a second mechanical finger disposed at a second distal portion of a second load arm and configured to facilitate manipulation of the at least one object, the second mechanical finger extending from the second load arm into the load area in a direction that is at least substantially perpendicular relative to the second load arm and comprising an at least substantially rigid configuration; wherein at least a portion of the first load arm and at least a portion of the second load are configured to selectively translate in a first longitudinal direction and a second longitudinal direction, respectively, relative to the load area, so as to dynamically adjust a load width of the load area, so as to facilitate manipulation of the at least one object disposed on the load bed.

[0010] In various embodiments, the mechanical finger can comprise an at least partially retractable configuration defined by a range of relative linear motion between the mechanical finger and the first load arm, wherein the mechanical finger is configured to at least partially retract in a longitudinal retraction direction from an extended finger position toward a retracted finger position based at least in part on a pushing force exerted on the mechanical finger from the at least one object disposed within the load area. In certain embodiments, the mechanical element can further comprise at least one spring element that facilitates linear motion of the mechanical finger relative to the first load arm between the extended finger position and the retracted finger position, the spring element configured to bias the mechanical finger toward the extended finger position by exerting a spring force on the mechanical finger in a direction that is at least substantially parallel relative to the first load arm. In various embodiments, the shuttle vehicle can further comprise a second mechanical finger configured to facilitate manipulation of the at least one object, the second mechanical finger extending from a second load arm into the load area in a direction that is at least substantially perpendicular relative to the second load arm; wherein the mechanical finger is positioned at least substantially adjacent to a first lateral side of the load bed, and wherein the second mechanical finger is positioned at least substantially adjacent to a second lateral side of the load bed. BRIEF DESCRIPTION OF DRAWINGS

[0011] Reference will now be made to the drawings, which are not necessarily drawn to scale, and wherein:

[0012] Figure 1 A schematic view of an exemplary automated storage and retrieval system is shown in accordance with various embodiments described herein;

[0013] Figure 2 A perspective view of an exemplary shuttle vehicle apparatus is shown in accordance with various embodiments described herein;

[0014] Figures 3A-3C Various top views of an exemplary shuttle vehicle apparatus are shown in accordance with various embodiments described herein;

[0015] Figures 4A-4B various top views of example shuttle vehicle apparatuses according to various embodiments described herein are shown;

[0016] Figures 5A-5B various top views of example shuttle vehicle apparatuses according to various embodiments described herein are shown; and

[0017] Figure 6 various top views of example shuttle vehicle apparatuses according to various embodiments described herein are shown. DETAILED DESCRIPTION

[0018] The various embodiments are more fully described with reference to the accompanying drawings. It is to be understood that not necessarily all of the embodiments shown and described herein are to be constructed as claimed. Indeed, embodiments can take many different forms without departing from the scope of the present disclosure. Rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Like reference numerals refer to like elements throughout.

[0019] It should be understood that, although the following illustrates exemplary implementations of one or more aspects, any number of techniques of the technology described herein can be used according to the disclosure. The disclosure should not be limited, without any intention to do so, to the examples or implementations shown, either photographically or in text. Although dimensional values of various elements are disclosed, the drawings can not be to scale.

[0020] The words “example” or “exemplary” are used herein to mean “serving as an example, instance, or illustration.” Any implementation described herein as “example” or “exemplary” is not necessarily to be construed as preferred or advantageous over other implementations.

[0021] The words “lateral,” “longitudinal,” and “vertical” are used herein for reference and / or illustrative purposes, in order to provide context for one or more aspects of the present disclosure, and should not be strictly construed as limiting particular universal directions. As non-limiting examples, a “lateral” direction can extend along an x-axis, a “longitudinal” direction can extend perpendicularly within at least substantially the same plane as the lateral direction, e.g., along a y-axis, and a “vertical” direction can extend perpendicularly within a plane that is at least substantially perpendicular to the lateral and longitudinal directions, e.g., along a z-axis, as described herein with reference to the directional references provided in the drawings.

[0022] The components shown in the drawings represent components that can or can not be present in the various embodiments of the present disclosure described herein, such that embodiments can include fewer or more components than shown in the drawings, without departing from the scope of the present disclosure.

[0023] Automated storage and retrieval systems can utilize various material handling products, such as various carriages, carts, lifts, conveyors, etc., to facilitate the transport of objects to desired delivery locations within a factory or warehouse. For example, automated shuttles can be used to transport objects to and / or from various storage locations arranged along storage aisles disposed within a storage environment. To retrieve a stored object from a storage location within an AS / RS, an automated shuttle can be transported to the storage location, where the automated shuttle is typically configured to physically retrieve the stored object from the storage location using various electronically driven components disposed on the shuttle. For example, to retrieve an object from a storage location, a shuttle within an AS / RS can use electronically driven motors to deploy various electronically actuated retention elements (e.g., hooks, fingers, etc.) connected to an extendable load arm that extends from the shuttle into the storage location such that the electronically retention elements disposed about the distal end of the load arm can interface with the stored object. Various shuttles utilize actuatable fingers disposed on the distal end of the extendable load arm that are driven by electronic motors such that they can be selectively controlled (e.g., extended and retracted, etc.) to avoid unwanted physical interference with objects stored in the storage location, which can cause the objects to misalign (which results in reduced operational efficiency and even system failure). Automated shuttles that operate using such motor-driven control systems or electronically retrieval components exhibit extremely high manufacturing costs and are typically plagued by increased part and / or system failure rates due to the configuration of such electronically driven and / or motor-driven mechanisms on the inherently dynamic parts of the automated shuttle (e.g., along the load arm configuration, etc.). The use of electronically controlled retrieval components in automated shuttles requires the use of a large amount of wiring, cabling, sensors, motors, etc., each of which needs to be connected back to the shuttle. This configuration not only introduces a massive amount of complexity into the design of the shuttle, but it also greatly increases the part cost and maintenance cost required to maintain the operation of the shuttle over the life of the product.

[0024] The present invention relates to a shuttle configured for use in an AS / RS, the shuttle including a material handling assembly including a retractable mechanical finger disposed at a distal portion of a load arm and configured to facilitate the handling of objects stored within the AS / RS. In various embodiments, the present invention includes a shuttle including at least one retractable load arm configured to extend to a storage location to facilitate the retrieval of an object stored therein. In various embodiments, an exemplary shuttle includes at least one mechanical finger hingedly connected to a distal end of a load arm using a one-way hinge component configured to at least partially define a range of rotational motion of the mechanical finger relative to the load arm. The hinged configuration of the exemplary mechanical finger enables the mechanical finger to rotate about a hinge axis toward a retracted position upon physically engaging an object within a storage location to at least substantially reduce the amount of unwanted physical interference between the mechanical finger and the stored object as the load arm extends to the storage location. Moreover, the exemplary shuttles described herein include a mechanical finger including a one-way hinge component enabling the aforementioned configuration wherein the mechanical finger is able to avoid problematic premature engagement with a stored object while maintaining the functionality of the mechanical finger relative to handling a stored object and / or securing a grasped object within a load area during a retrieval operation. Furthermore, the exemplary shuttles described herein include a mechanical finger including a spring-loaded configuration enabled by at least one spring element configured to facilitate the deployment of the exemplary mechanical finger in a repeatable, reliable arrangement for series operations in an AS / RS.

[0025] As described herein, the present invention includes a shuttle apparatus configured for use in an AS / RS including a material handling assembly at least substantially minimizing reliance on electronic retrieval elements and motor driven components disposed along a load arm for use in retrieval operations. The present invention utilizes, for example, a mechanical finger designed to maintain functionality provided with an electronic control system while at least substantially minimizing maintenance costs, production costs, low operational efficiency, and unnecessary design complexity associated within such systems. In particular, the present invention minimizes costs associated with the operation of a shuttle and embodies a robust design carefully structured to avoid low physical and operational efficiency associated with various shuttles relying on complex, highly sensitive electronic control elements disposed within inherently dynamic shuttle components continuously reconfigured throughout the service life of the shuttle.

[0026] Figure 1A material handling system including an automated storage and retrieval system (AS / RS) 1 is shown. The storage racks 13 of the AS / RS 1 can be defined as a series of vertically arranged shelves, each shelf supported by a support frame. The support frame can include vertical support members that separate the various levels within the storage rack 13 and horizontal support members that support the individual shelves. Each shelf can define and / or include one or more compartments, each compartment can encompass a plurality of storage locations configured for storing at least one object (e.g., storage containers, products, reels, and / or other object configurations) therein. In various embodiments, the AS / RS 1 can define one or more aisles 17 defined between two adjacent storage racks 13, with one or more shuttles 10 defined in the aisles to remove objects and / or place objects in storage locations within the storage racks. As shown, objects can be moved between different levels via lift devices 11 and / or to and from pick and drop-off stations 14. In one example embodiment, objects can be received by the system at the pick and drop-off stations 14 from an infeed conveyor 16 via a product delivery system 12 and corresponding lift interface. In various embodiments, objects can be removed from the AS / RS via the pick and drop-off stations 14, transferred to the product delivery system 12, then to the lift interface, and finally to an outbound conveyor 18.

[0027] In various embodiments, objects can be provided to the storage racks 13 for storage via the infeed conveyor 16. In various embodiments, the storage racks 13 can define a plurality of levels connected via vertical lift devices 11 configured to move objects between the infeed conveyor 16 and the outfeed conveyor 18 to the appropriate level of the storage rack 13. The vertical lift devices 11 have a vertical support structure positioned adjacent to the storage racks 13 to pick up objects at a selected level within the storage racks 13 and place them at a selected level within the storage racks. The vertical lift devices 11 can be fixed to the storage racks and transport objects between conveyors defined on different levels.

[0028] As described herein, in various embodiments, each shelf within the storage racks 13 of the AS / RS 1 can include storage locations. For example, each level of the storage racks 13 can be divided into storage locations, which can be defined as the physical space on a shelf on which an object can be stored. For example, in various embodiments, the objects can be any type of container used in the AS / RS, such as cartons, boxes, totes, layered totes, pallets, skids, etc. In various embodiments, as discussed herein, the storage locations can be defined by a storage depth and a storage width configured to enable the storage locations to hold one or more objects. Various shelves can have various configurations, with the storage locations having different sizes and / or depths based on the given configuration (e.g., the size and shape of the given object).

[0029] In various embodiments, the AS / RS 1 can include at least one automated shuttle 10 configured to travel along shuttle rails provided within one or more aisles 17, racks 13, etc. of the AS / RS 1 to facilitate the retrieval, deposit, and / or transport of various objects throughout the AS / RS 1. For example, to remove and / or place objects into various deposit locations of a rack 13, the AS / RS 1 can use a shuttle 10 configured to retrieve objects from a rack 13 (e.g., deposit location) as described herein. In some embodiments, a shuttle 10 can be disposed between two racks 13 such that the shuttle can retrieve one or more objects in any deposit location of both racks 13 along a given level (e.g., a load arm of the shuttle can extend toward either of the two racks 13). For example, two adjacent racks can be sufficiently separated to allow a shuttle to move therebetween. Further, exemplary deposit locations defined within a rack 13 can be configured such that objects deposited therein can be retrieved, disposed, and / or otherwise engaged by an exemplary shuttle 10.

[0030] As a non-limiting example, Figure 2 An exemplary shuttle according to various embodiments described herein is shown. In particular, Figure 2 An exemplary shuttle 10 is shown configured to facilitate the deposit and / or retrieval of objects within an AS / RS 1 by manipulating objects and transporting the objects to and / or from a deposit location within the AS / RS 1. For example, as described herein, an exemplary shuttle 10 can be configured to retrieve an object from a deposit location within an exemplary AS / RS 1, transport the retrieved object to a second deposit location within the AS / RS 1, and provide (e.g., dispense) the object at the second deposit location. For example, in various embodiments, an exemplary shuttle can include a base assembly 100 including a shuttle body 101, one or more transport components (e.g., drive motors and one or more wheels 170, etc. to enable the shuttle body 10 to move along shuttle rails within the AS / RS 1 via the drive motors), and / or one or more electronic components configured to facilitate electronic communication of one or more power signals, instruction signals, information signals, etc. between various electronic components of the shuttle 10 and / or other computing devices associated with the AS / RS 1, and a material handling assembly 200 configured to facilitate the manipulation (e.g., retrieval and / or disposal) of objects by the shuttle 10.

[0031] In various embodiments, the shuttle 10 can be any type of one level shuttle (OLS) vehicle commonly used in AS / RSs, such as a shuttle, trolley, robot, etc. In various embodiments, the shuttle 10 can be a self-contained unit that receives power (e.g., 48 VDC) from a bus bar located within a shuttle rail that can be mounted to the storage rack. In various embodiments, a power rail (e.g., providing 48 VDC power to the track) can be powered by a DC power panel. In various embodiments, a single DC power panel can power multiple shuttles (e.g., up to six shuttles). In various embodiments, the shuttle 10 can receive control system commands via a wireless local area network (WLAN). In various embodiments, at least one shuttle 10 can be disposed along each level of the storage rack 13. Thus, the shuttle 10 can be configured to move along the aisle of the storage rack 13 via a shuttle rail extending along its length (e.g., via one or more wheels 170 of the base assembly 100, etc.). In various embodiments, the shuttle rail can be attached to at least a portion of the storage rack 13. Alternatively or additionally, it should be appreciated that any of a variety of movement mechanisms can be utilized to move the shuttle 10 (e.g., a belt drive system, a magnetic movement mechanism, a chain drive system, etc.). Further, it should be appreciated that the movement mechanism can be defined within the shuttle 10 (e.g., a motor positioned on the shuttle) or within the storage rack 13 (e.g., a motor within the storage rack). In various embodiments, the shuttle 10 can be configured to have sensors configured to move to an intended storage location and / or to engage an object in a given storage location. For example, the shuttle 10 can be equipped with a proximity sensor to determine the shuttle 10 position along the aisle of the storage rack 13 or to determine the depth of a given object within a storage location. In various embodiments, the shuttle 10 can also be equipped with sensors and onboard equipment such as a Wi-Fi antenna for communication with a warehouse control system (WCS), overload protection, one or more power sources (e.g., 24 volt power and / or 48 volt power), digital input and output modules, etc.

[0032] In various embodiments, the material handling assembly can include an object load bed and one or more retractable load arms configured to extend into a storage location and defined at least in part by an arm interface portion configured to engage an object. Further, in various embodiments, the one or more load arms can include at least one mechanical finger disposed at a distal end of the load arm (e.g., at a distal end of an outer arm element thereof) and configured to at least partially protrude from an inwardly facing surface of the load arm so as to act as a physical barrier that at least partially restricts movement of an object disposed on the load bed of the shuttle.

[0033] As Figure 2In the illustrated non-limiting example, the material handling assembly 200 of the example shuttle 10 can include an object load bed 201, a plurality of load arms including a first load arm 210 and a second load arm 220. As shown, the example shuttle 10 also includes a plurality of mechanical fingers 230 including a first mechanical finger 231 disposed at a distal end of the first load arm 210 and a second mechanical finger 232 disposed at a distal end of the second load arm 220, each defined by a respective length that extends at least partially toward the opposing load arm in an inward longitudinal direction (e.g., toward a central width axis of the load bed 201) from an inward facing surface of the respective load arm (e.g., an arm interface portion of an outer arm element as described herein).

[0034] In various embodiments, the shuttle 10 discussed herein can define an object load bed 201 defined by a surface (e.g., an at least substantially horizontal surface upon which an object can be held by the shuttle 10 during a retrieval operation and / or a deposit operation). As described herein, the shuttle can define an object load bed 201 (e.g., in at least Figure 2 embodiments), defined between at least a portion of the two opposing load arms (e.g., the two opposing arm interface portions). The object load bed defines a floor configured to support an object during movement. The load bed 201 of the example shuttle 10 can be defined at least in part by a width that extends in a longitudinal direction (e.g., in the y-direction as shown) between the opposing load arms and a depth that extends in a lateral direction (e.g., in the x-direction as shown). In various embodiments, the load bed 201 can define a load area defined as a portion of the load bed upon which an object can be disposed. For example, as described in further detail herein, the load area can be selectively increased and / or decreased by translating one or more of the retractable load arms in the longitudinal direction.

[0035] Further, in various embodiments, the material handling assembly 200 of the example shuttle 10 can include a first load arm 210 and a second load arm 220 each having a retractable configuration (e.g., a telescoping configuration, a sequential sliding configuration, etc.) so as to be in a retracted configuration (as shown) and an extended configuration (not shown) in which the respective load arms extend in the longitudinal direction (e.g., in the y-direction as shown) from the load bed 201. Figure 2The exemplary embodiment shown can extend between a retractable configuration and an extended configuration (where the load arm extends in an outward direction away from the shuttle body 101 to allow the load arm to enter a given storage location (e.g., for retrieving and / or storing an object)). In various embodiments, the load arm may include a plurality of interconnected arm elements fixed relative to one or more other arm elements such that relative movement therebetween defines the extension and / or retraction of the load arm between the retractable and extended configurations. In various embodiments, the configuration (e.g., size) of the plurality of arm elements may be at least partially based on the configuration of the AS / RS (e.g., the shuttle frame 13 and / or one or more storage locations defined therein) to ensure that the shuttle 10 can operatively access an object disposed within the storage location. For example, the plurality of arm elements of an exemplary load arm may include an outer arm element that, when the load arm is configured in an extended configuration, is defined by one of the plurality of arm elements that defines the distal end of the load arm (e.g., an arm element positioned further away from the shuttle body 101 when the load arm is in an extended configuration). As described herein, the outer arm element is at least partially defined by an arm element length that runs laterally along one side of the load bed 201 (e.g., in a...). Figure 2 (Extended in the x-direction shown). For example, in various embodiments, the material handling assembly 200 may be configured such that the outer arm element of the load arm can be fixed in a position adjacent to one side of the load bed 201, extending along the width of the load bed 201. Figure 2 As shown, the first load arm 210 of the exemplary shuttle 10 is partially defined by a first outer arm element 210a, and the second load arm 220 is partially defined by a second outer arm element 220a. As shown, the first outer arm element 210a and the second outer arm element 220a are disposed on opposite sides of the object load bed 201, and these outer arm elements each extend along the width of the object load bed.

[0036] Further, in various embodiments, the outer arm elements of the retractable load arms (e.g., first outer arm element 210a, second outer arm element 220a) can include an arm interface portion configured to physically engage an object so as to at least partially constrain movement of the object relative to the shuttle 10 in one or more directions so as to facilitate manipulation and / or transport of the object. As described herein, in various embodiments, the arm interface portion can include a surface configured to interact with the object during a retrieval operation and / or a dispensing operation so as to at least partially maintain a position of the object on the load bed as the one or more load arms move between the retracted configuration and the extended configuration. As described in further detail herein, in various embodiments, the arm interface portion of an exemplary load arm can include an at least substantially rigid surface at least partially defined by a substantially rigid material (e.g., one or more ferrous metals, one or more non-ferrous metals, a high density plastic (e.g., UHMW, Delrin, Nylon), etc.). Additionally or alternatively, in various embodiments, the arm interface portion of an exemplary load arm can include an at least substantially compliant surface at least partially defined by a substantially flexible material (e.g., rubber, open cell foam, closed cell foam, etc.). Further, in various embodiments, as described herein, at least a portion of the arm interface portion of a load arm can include a high traction surface defined by a slip resistant, tacky, and / or friction inducing material configured to resist movement of an object abutting thereto relative to the load bed 201, such as rubber, friction tape, and / or any other suitable material having a substantially high coefficient of friction. In various embodiments, such an exemplary high traction surface can be defined by a surface including one or more geometric features (e.g., ribs, grooves, etc.) disposed thereon configured to increase resistance achieved by an object engaged with the high traction surface.

[0037] For example, Figure 3A-3CThe example first outer arm element 210a of the example first load arm 210 of the illustrated example shuttle includes a first arm interface portion 211 defined by an inward-facing surface disposed along a length of the first outer arm element 210a (e.g., facing toward a load area defined by the load bed 201). As illustrated, the first outer arm element 210a and the second outer arm element 220a of the first load arm 210 and the second load arm 220 can extend in at least substantially parallel configuration (e.g., in a transverse direction along a width of the load bed 201) along opposite ends of the load bed 201 such that the first arm interface portion 211 and the second arm interface portion 212 are configured to face one another. As described herein, a load width of the example shuttle 10 can be defined by an operable width of the load bed (within which objects can be received) between the first load arm 210 and the second load arm 220. In such example cases, for example, the load width of the example shuttle 10 at a particular instance can be defined by a vertical distance (e.g., as measured in a longitudinal direction) between the first arm interface portion 211 and the second arm interface portion 212.

[0038] In various embodiments, in which the example load arm includes a plurality of interconnected arm elements arranged in a retracted configuration as described herein, the retracted configuration can embody an arrangement in which each of the plurality of arm elements is disposed in a fully retracted position relative to an adjacent arm element secured thereto such that each of the plurality of arm elements is at least substantially positioned within the shuttle body 101. Further, in various embodiments, an extended load arm configuration can be defined by each of the plurality of arm elements being in a fully extended position (e.g., defined by minimal overlap along respective lengths of the elements) relative to an adjacent arm element secured thereto such that at least a portion of the plurality of arm elements of the load arm is at least substantially extended beyond the shuttle body 101 of the shuttle 10. As an illustrative example, the example shuttle 10 can perform a retrieval operation with respect to an object at a storage location by being transported through the AS / RS to a position at least substantially aligned with the storage location to: extend the first load arm 210 and the second load arm 220 from the retracted configuration to the extended configuration in at least substantially simultaneous fashion so as to cause interaction between the object and the load bed 201 (e.g., such that the object is disposed on the load bed 201); and retract the first load arm and the second load arm from the extended configuration to the retracted configuration such that the object on the load bed 201 is arranged on top of the shuttle body 101 for transport (e.g., to a destination location) throughout the AS / RS.

[0039] In various embodiments, the material handling assembly 200 of the example shuttle 10 can include retractable load arms that include mechanical fingers disposed at distal ends thereof (e.g., at distal ends of outer arm elements) and having lengths that extend from the corresponding outer arm elements in an inward longitudinal direction (e.g., into a load region). As an illustrative example, the example shuttle 10 includes a plurality of mechanical fingers 230, including a first mechanical finger 231 disposed at a distal end of the first load arm 210 and a second mechanical finger 232 disposed at a distal end of the second load arm 220. For example, in various embodiments, the first mechanical finger 231 and the second mechanical finger 232 can each be configured to physically engage at least a portion of an object disposed on the load bed 201 as the respective load arm to which it is attached is retracted from an extended configuration toward a retracted configuration as part of a retrieval operation, so as to move the object with the load arm 210, 220 toward the shuttle body 101. As shown, the first mechanical finger 231 and the second mechanical finger 232 each protrude (e.g., into the load region) from the first interface portion 211 and the second arm interface portion 221, respectively, in opposite inward directions can facilitate retrieval operations of the shuttle 10 by acting as a dynamic physical barrier that moves with the respective load arm 210, 220 so as to keep an object being retrieved within the load region on the load bed 201 throughout movement of the load arm 210, 220 from the extended configuration to the retracted configuration.

[0040] As described in further detail herein, the mechanical finger disposed at the end of the example load arm can include at least a substantially rigid protrusion configured to be held in a fixed position relative to the load arm from which the protrusion extends. Additionally or alternatively, in various embodiments, the example mechanical finger can have an at least partially retractable configuration such that, based at least in part on the mechanical finger physically engaging at least a portion of an object disposed in a load region on the load bed 201, the finger can be at least partially retracted into the load arm (e.g., outer arm element) to which the finger is fixed. For example, in various embodiments, the example retractable mechanical finger can be hingedly connected to the retractable load arm using a one-way hinge component configured to at least partially define a range of rotational motion of the mechanical finger relative to the load arm. Further, in various embodiments, the example retractable mechanical finger can be connected to the retractable load arm and configured to linearly retract into and / or linearly extend out of the load arm along a range of linear motion defined in a direction perpendicular relative to the arm interface portion of the load arm. As described in further detail herein, various mechanical fingers including at least partially retractable configurations to facilitate efficient performance of pick and / or put operations within an AS / RS can include a spring-loaded configuration in which at least one spring element of the mechanical finger is configured to facilitate the placement of the example mechanical finger in a repeatable, reliable manner for operation in an automated put and pick system.

[0041] Figure 3A Various top views of example shuttles configured for use in an AS / RS according to various embodiments described herein are shown. In particular, Figure 3A An example shuttle 10 is shown including a first load arm 210 and a second load arm 220, each configured to be movable in a longitudinal direction (e.g., y-direction as shown) so as to selectively increase and / or decrease a load width of the material handling assembly 200 during pick and / or put operations. The material handling assembly 200 of the example shuttle 10 includes a plurality of mechanical fingers including a first mechanical finger 231 positioned at a distal end of the first load arm 210 and a second mechanical finger 232 positioned at a distal end of the second load arm 220. As described herein, both the first mechanical finger 231 and the second mechanical finger 232 include rigid elements that extend into a load region from respective arm interface portions 211, 221 of the load arms 210, 220 in an inward direction.

[0042] In various embodiments, the shuttle 10 can be configured to perform a put operation by extending the first and second load arms 210, 220 of the shuttle 10 in an outward lateral direction away from the shuttle body 101 (e.g., in the negative x-direction as shown) from a retracted configuration toward a storage location containing a stored object. As shown, in various embodiments, each load arm 210, 220 can be extended toward an extended configuration by moving its interconnected arm elements relative to one another along at least substantially linear rails configured to cause the load arm to extend in an at least substantially linear (e.g., lateral) direction. For example, in the example shuttle 10 shown, etc., where the material handling assembly 200 of the shuttle 10 includes rigid mechanical fingers 231, 232 protruding from the respective load arms 210, 220 into the load area, the first and second load arms 210, 220 are extended in parallel linear directions such that the respective arm interface portions 211, 221 are spaced apart by a longitudinal distance that is at least substantially greater than the width of the stored object in the storage location. That is, when the first and second load arms 210, 220 are extended into the storage location and the first and second mechanical fingers 231, 232 transfer the object stored therein, the load width defined by the separation distance between the first and second arm interface portions 211, 221 is sufficiently large such that neither the first nor second mechanical fingers 231, 232 physically engage the stored object. Figure 3A In various embodiments, the shuttle 10 can be configured to perform a put operation by extending the first and second load arms 210, 220 of the shuttle 10 in an outward lateral direction away from the shuttle body 101 (e.g., in the negative x-direction as shown) from a retracted configuration toward a storage location containing a stored object. As shown, in various embodiments, each load arm 210, 220 can be extended toward an extended configuration by moving its interconnected arm elements relative to one another along at least substantially linear rails configured to cause the load arm to extend in an at least substantially linear (e.g., lateral) direction. For example, in the example shuttle 10 shown, etc., where the material handling assembly 200 of the shuttle 10 includes rigid mechanical fingers 231, 232 protruding from the respective load arms 210, 220 into the load area, the first and second load arms 210, 220 are extended in parallel linear directions such that the respective arm interface portions 211, 221 are spaced apart by a longitudinal distance that is at least substantially greater than the width of the stored object in the storage location. That is, when the first and second load arms 210, 220 are extended into the storage location and the first and second mechanical fingers 231, 232 transfer the object stored therein, the load width defined by the separation distance between the first and second arm interface portions 211, 221 is sufficiently large such that neither the first nor second mechanical fingers 231, 232 physically engage the stored object.

[0043] In various embodiments, the shuttle 10 can be configured to perform a put operation by extending the first and second load arms 210, 220 of the shuttle 10 in an outward lateral direction away from the shuttle body 101 (e.g., in the negative x-direction as shown) from a retracted configuration toward a storage location containing a stored object. As shown, in various embodiments, each load arm 210, 220 can be extended toward an extended configuration by moving its interconnected arm elements relative to one another along at least substantially linear rails configured to cause the load arm to extend in an at least substantially linear (e.g., lateral) direction. For example, in the example shuttle 10 shown, etc., where the material handling assembly 200 of the shuttle 10 includes rigid mechanical fingers 231, 232 protruding from the respective load arms 210, 220 into the load area, the first and second load arms 210, 220 are extended in parallel linear directions such that the respective arm interface portions 211, 221 are spaced apart by a longitudinal distance that is at least substantially greater than the width of the stored object in the storage location. That is, when the first and second load arms 210, 220 are extended into the storage location and the first and second mechanical fingers 231, 232 transfer the object stored therein, the load width defined by the separation distance between the first and second arm interface portions 211, 221 is sufficiently large such that neither the first nor second mechanical fingers 231, 232 physically engage the stored object.

[0044] Additionally or alternatively, as Figure 3BAs shown, the first load arm 210 and the second load arm 220 can be configured to cause the first outer arm element 210a and the second outer arm element 220a to longitudinally translate in opposite directions into the load area such that a deposited object disposed on the load bed 201 is physically engaged on opposite sides of the outer arm elements by the first arm interface portion 211 and the second arm interface portion 221. For example, as shown, when the first load arm 210 and the second load arm 220 are extended into a deposit position such that a deposited object is positioned within the load area, the first outer arm element 210a of the first load arm 210 can be configured to selectively move in a first longitudinal direction 301 (e.g., corresponding to a positive y-direction, as shown) so that the first arm interface portion 211 abuts at least a portion of the object, and the second outer arm element 220a of the second load arm 210 can be configured to selectively move in a second longitudinal direction 302 (e.g., corresponding to a negative y-direction, as shown) opposite the first longitudinal direction 301 so that the second arm interface portion 221 abuts a portion of the object on an opposite side thereof. For example, when the first load arm 210 and the second load arm 220 are extended away from the shuttle cart body 101 (e.g., in a negative x-direction, as shown), the first arm interface portion 211 and the second arm interface portion 221 are spaced apart by a first separation distance configured such that a distance between the first mechanical finger 231 and the second mechanical finger 232 is at least substantially greater than a width of the deposited object. When the first arm interface portion 211 and the second arm interface portion 221 are laterally translated in the first longitudinal direction 301 and the second longitudinal direction 302, respectively, the first arm interface portion 211 and the second arm interface portion 221 can be spaced apart by a second separation distance that is at least substantially less than the first separation distance and configured to be at least substantially equal to the width of the object, such that the distance between the first mechanical finger 231 and the second mechanical finger 232 is at least substantially less than the width of the object. In this example case, when the load arms 210, 220 are laterally extended in an extension direction (e.g., in a negative x-direction, as shown) into a deposit position, the longitudinal dynamic configuration of the first load arm 210 and the second load arm 220 can allow the shuttle cart 10 to avoid unwanted physical interference between the rigid mechanical fingers 231, 232 and a deposited object while effectively utilizing both the first mechanical finger 231 and the second mechanical finger 232 to engage a grasped object during retraction of the load arms 210, 220, and at least partially stabilize the object on the load bed 201 when the first load arm 210 and the second load arm 220 are retracted in a retraction direction (e.g., in a positive x-direction, as shown) toward the shuttle cart body 101.The rigid configuration of the mechanical fingers 231, 232 at least partially restricts the relative movement between the grasped object and the load bed 201 in such a way that when the load arms 210, 220 are retracted from the storage position toward the shuttle body 101 in the retraction direction, the grasped object is prevented from moving relative to the load bed 201 in the opposite lateral direction (e.g., in the negative x direction as shown in the figure).

[0045] In various embodiments (where at least a portion of each of the first load arm 210 and the second load arm 220 is laterally translated into the load region, and the load arms 210, 220 are in an extended configuration to engage the grasped object disposed therein), the first load arm 210 and the second load arm 220 may each be further configured such that their outer arm elements are laterally translated in a direction opposite to the longitudinal direction of the opposing load arms, so as to selectively disengage the grasped object disposed on the load bed 201. For example, as Figure 3A As shown, when the first load arm 210 and the second load arm 220 are fully retracted back to their retracted configuration such that the object has been removed from the storage position to the shuttle body 101 of the shuttle 10, at least the first outer arm element 210a of the first load arm 210 can be configured to move in a third longitudinal direction 303 (e.g., corresponding to the negative y direction, as shown) so that the first arm junction portion 211 disengages from at least a portion of the object, and the second outer arm element 220a of the second load arm 210 can be configured to selectively move in a fourth longitudinal direction 304 (e.g., corresponding to the positive y direction, as shown) opposite to the third longitudinal direction 303 so that the second arm junction portion 221 disengages from the opposite side of the object. In various embodiments, when the first load arm 210 and the second load arm 220 undergo such lateral translation in a retracted configuration, the separation distance between the first arm junction 211 and the second arm junction 221 can be returned to at least substantially equal to the first separation distance exhibited by the load arms 210, 220 as described above during the extension of the load arms 210, 220 to the storage position (e.g., toward the extended configuration).

[0046] As described herein, in various embodiments, the exemplary load arms of the material operating system 200 can be extended and retracted (e.g., between extended and retracted configurations) by moving their interconnecting arm elements relative to each other along at least substantially linear guides, such that their outer arm elements are moved in at least substantially lateral direction along a linear travel path. For example, Figure 3B and Figure 3CThe illustrated example shuttle cart can include first and second load arms 210, 220 that are extended and retracted by being moved along respective linear travel paths that define linear motion of the respective load arms 210, 220 between retracted and extended configurations. For example, in various embodiments in which a load arm (e.g., first load arm 210, etc.) includes a rigidly configured mechanical finger 231 positioned at a distal end thereof, the first load arm 210 can be configured to move along a linear track between a retracted configuration and an extended configuration, and to accommodate changes in load width by selectively performing longitudinal translation (e.g., in either of the first longitudinal direction 101 or the third longitudinal direction 303) of at least a first outer arm element 210a thereof into or away from the load area as needed. Additionally or alternatively, in various embodiments, the material handling assembly 200 can be configured such that the example load arms can be extended and retracted (e.g., between an extended configuration and a retracted configuration) by moving their interconnected arm elements relative to one another along a guide rail that includes at least one non-linear track portion that is configured to dynamically adjust the load width of the load area as the outer arm elements of the load arms travel (e.g., extend and / or retract) through the non-linear portion of the guide rail. The material handling assembly 200 extends the load width in at least a substantially linear (e.g., lateral) direction. For example, the example load arms can travel along a guide rail that includes one or more curved features (e.g., at least partially s-shaped curved portions) that connect a first lateral track portion to a second lateral track portion that extends in the same lateral direction as the first lateral track portion, but is longitudinally offset from the first lateral track portion in a position that is at least substantially closer to the opposing load arm.

[0047] As a non-limiting example, Figure 3CAn example material handling assembly 200 is shown in which both the first load arm 210 and the second load arm 220 are moved along a guide between their respective retracted and extended configurations, the guide being defined at least in part by a non-linear rail portion. For example, as shown, the first load arm 210 can travel along an at least partially non-linear guide that is configured so that it exhibits a corresponding first non-linear travel path 305 as the first load arm 210 is moved between the retracted and extended configurations. The at least partially non-linear guide can include a curved portion that is configured so that as the first load arm 210 is extended and the first outer arm element 210a travels through the curved portion 305a of the first non-linear travel path 305 and away from the shuttle vehicle body 101 toward the extended configuration, the first outer arm element 210a is longitudinally offset (into) toward the load area (e.g., toward the opposing second load arm 220). In various embodiments, for example, such a non-linear guide can be configured to longitudinally offset the first outer arm element 210a (e.g., the first arm interface portion 211) along its travel toward the load area so as to reduce the load width of the load area to a width that is at least substantially equal to the width of the stored object being retrieved from the storage location. In various embodiments, such an example configuration facilitates engagement of the first mechanical finger 231 with the stored object for performing the retrieval operation. Conversely, as the first load arm 210 is retracted and the first outer arm element 210a moves along the first non-linear travel path 305 in the opposite direction (e.g., toward the retracted configuration), the first outer arm element 210a is offset in the opposite longitudinal direction (e.g., in the negative y-direction as shown) away from the load area as it travels through the curved portion 305a of the first non-linear travel path 305. The first non-linear travel path 305 is configured so that as the first load arm 210 approaches the fully retracted configuration (in which the grasped object disposed on the load bed 201 is positioned within the shuttle vehicle body 101), the first outer arm element 210a is longitudinally offset away from the load area, thereby disengaging the first arm interface portion 211 of the first load arm 210 from the grasped object.

[0048] As described herein, in such example cases (in which the non-linear guide causes the first outer arm element 210a to travel along the first non-linear travel path 305 so that the load width of the load area is reduced to at least substantially similar to the width of the stored object as the first load arm 210 is extended), the first mechanical finger 231 can include a one-way hinged configuration so as to allow the first mechanical finger 231 to rotate toward the retracted position and avoid unwanted physical interference (e.g., as the first load arm 210 is still being extended) of the first mechanical finger 231 into the stored object.

[0049] In various embodiments, as Figure 4AAs shown, both the first load arm 210 and the second load arm 220 can be configured to move along at least partially nonlinear guideways, such that their respective outer arm elements 210a and 220a exhibit an exemplified first nonlinear travel path 305 and a second nonlinear travel path 306, respectively. As described above, the first nonlinear travel path 305 and the second nonlinear travel path 306 may each include a first bending feature 305a and a second bending feature 306a, each corresponding to a longitudinal offset of the respective outer arm element 210a and 220a traveling thereal. In various embodiments, the respective bending features 305a and 306a defined along the first nonlinear travel path 305 and the second nonlinear travel path 306 may be at least substantially symmetrical to each other on an axis of symmetry provided therebetween. The material handling assembly 200 can be configured such that when the first load arm 210 and the second load arm 220 are extended and the first outer arm element 210a and the second outer arm element 220a move along the first nonlinear travel path 305 and the second nonlinear travel path 306, the first arm junction 211 and the second arm junction 221 are each longitudinally offset toward the load area (e.g., toward each other) so as to reduce the separation distance between them to at least substantially similar to the width of the stored object. Conversely, when the first load arm 210 and the second load arm 220 are retracted and the first outer arm element 210a and the second outer arm element 220a move in opposite directions (e.g., toward the retracted configuration) along the respective first nonlinear travel paths 305 and the second nonlinear travel path 306, the first outer arm element 210a and the second outer arm element 220a each exhibit a longitudinal offset away from the load area as they travel through the first bending feature 305a and the second bending feature 306a of the respective nonlinear travel paths 305, 306. In summary, the first nonlinear travel path 305 and the second nonlinear travel path 306 can be configured such that when the first load arm 210 and the second load arm 220 approach their fully retracted configuration (where the grasped object disposed on the load bed 201 is positioned within the shuttle body 101), the first load arm 210 and the second load arm 220 are each longitudinally offset away from the load area, thereby disengaging the first arm junction 211 of the first load arm 210 and the second arm junction 221 of the second load arm 220 from the grasped object. As described herein, in this exemplary configuration, the nonlinear (e.g., bending) characteristics of the guide rails corresponding to the first nonlinear travel path 305 and the second nonlinear travel path 306 along which the first load arm 210 and the second load arm 220 extend and retract embody a mechanical device that facilitates selective engagement of a stored object by one or more load arms (e.g., their arm junctions) for performing a retrieval operation, and also facilitates selective disengagement of a grasped object by one or more load arms for releasing the object at the shuttle body of the shuttle.

[0050] In various embodiments, as described herein, exemplary retrieval operations for retrieving stored objects from storage locations within an AS / RS using exemplary shuttles can be performed using a material handling assembly having at least one retractable load arm including a mechanical finger disposed at a distal end of the load arm (e.g., at a distal end of an outer arm element) to facilitate careful physical engagement with an object provided in a load zone as the load arm is retracted from the storage location to the shuttle body (e.g., to a retracted configuration). In various embodiments, the mechanical finger of an exemplary shuttle can include an at least partially retractable mechanical finger including a spring component and a one-way hinge element that enables the mechanical finger to rotationally retract into an adjacent portion of the load arm (e.g., an outer arm element) as the load arm is extended to a storage location when it is physically engaged by a stored object. In various embodiments, as shown in Figure 4B and Figure 4A Exemplary shuttles can include a material handling assembly 200 including a first load arm 210 including a first mechanical finger 231 disposed at a distal end thereof and projecting into a load zone away from a first arm interface portion 211 (e.g., in a positive y-direction as shown). Further, the material handling assembly 200 can include a second load arm 220 including a second mechanical finger 232 disposed at a distal end thereof and projecting into a load zone away from a second arm interface portion 221 (e.g., in a negative y-direction as shown). As shown in Figures 4A-4B The first and second mechanical fingers 231, 232 include retractable mechanical fingers that are respectively hingedly connected to the first and second load arms 210, 220 such that the first and second mechanical fingers 231, 232 are each configured to move between a nominal extended finger position and a retracted finger position described herein by rotating about a respective vertical hinge axis through a horizontal rotation plane (e.g., at least substantially parallel to a rotation plane of the load bed 201). For example, as shown, based at least in part on a configuration of a one-way hinge component of the first mechanical finger 231, the first mechanical finger 231 can be arranged in an extended finger position defined by the first mechanical finger 231 extending from the first arm interface portion 211 into the load zone in a longitudinal direction at least substantially perpendicular to a length of the first load arm 210. Further, the first mechanical finger 231 can be arranged in a retracted finger position defined by the first mechanical finger 231 being at least partially positioned within the first load arm 210 (e.g., within a first outer arm element 210a) by extending in a transverse direction at least substantially parallel to the length of the first load arm 210 such that the first mechanical finger 231 is retracted from the load zone and disposed within the first load arm 210.

[0051] In various embodiments, a retractable mechanical finger including a one-way hinge component, such as the first mechanical finger 231 and / or the second mechanical finger 232, can include at least one spring element configured to facilitate rotational movement of the mechanical finger relative to the load arm to which the mechanical finger is secured between a deployed finger position and a retracted finger position. For example, in various embodiments, at least one spring element of the first mechanical finger 231 can be configured to generate a spring force acting on the first mechanical finger 231 so as to apply a first deployment moment corresponding to a deployment rotational direction (e.g., a rotational direction about the vertical articulation axis extending from the retracted finger position toward the deployed finger position) to the first mechanical finger 231, e.g., in an anti-clockwise direction (according to the top perspective view shown) relative to the first mechanical finger 231. Figures 4A-4B For example, in various embodiments, at least one spring element of an exemplary mechanical finger can be configured to bias the mechanical finger toward the deployed finger position by applying an at least substantially constant spring force to the mechanical finger. Moreover, as described herein, when at least one spring element of the first mechanical finger 231 is used to bias the first mechanical finger 231 toward the deployment rotational direction, the at least one spring element can be configured to apply a spring force to the first mechanical finger 231 that is at least substantially constant over a range of rotational positions of the first mechanical finger 231 about the vertical articulation axis. Figure 4B The one-way hinge component of the first mechanical finger 231 shown can be configured to prevent the first mechanical finger 231 from rotating beyond the deployed finger position in the deployment rotational direction. Thus, the one-way hinge component and the at least one spring element of the first mechanical finger 231 collectively function to define the deployed finger position as a nominal configuration of the first mechanical finger 231. As described herein, such exemplary mechanical fingers 231, 232 can be configured such that, in order to pivot the mechanical finger about the vertical articulation axis from the deployed finger position toward the retracted finger position, a secondary force (e.g., moment) at least substantially greater than the spring force from the at least one spring element and acting on the finger 231, 232 in the retraction rotational direction can be required.

[0052] Figure 4A It is shown Figures 4A-4BA first mechanical finger 231 of the exemplary material handling assembly 200 in an extended finger position, wherein the first mechanical finger 231 includes a hinged mechanical finger that includes a one-way hinge component and at least one spring element. In various embodiments, the first mechanical finger 231 can include at least a substantially linear component defined by a finger length that extends between a first finger end 231a and a second finger end 231b. As shown, the first mechanical finger 231 can be hingedly connected at its first finger end 231a to an outer arm element 210a of the first load arm 210. In various embodiments in which the first mechanical finger 231 is configured in an at least partially extended configuration (e.g., a fully extended configuration), its second finger end 231b is disposed within the load zone. As described herein, based at least in part on various forces acting thereon (e.g., spring forces (which are exerted from the spring element of the first mechanical finger 231 to position the finger 231 in a nominal extended finger position) and / or push forces (which act on the first mechanical finger 231 such that a moment is exerted on the finger 231 in a retraction rotational direction (e.g., a clockwise rotational direction, as seen from the illustrated top perspective view of the shuttle car)), etc.), the first mechanical finger 231 can rotate through a first rotational motion range 307 defined between an illustrated fully extended finger position (in which the finger length of the first mechanical finger 231 extends at least substantially perpendicular to the arm intersection portion 211 of the first load arm 210) and a fully retracted finger position (in which the second finger end 231b is positioned at least substantially adjacent to the first arm intersection portion 211 such that the first mechanical finger is retracted from the load zone into the first load arm 210, and the finger length of the first mechanical finger 231 extends at least substantially parallel to the length of the outer arm element 210a of the first load arm 210).

[0053] As an illustrative example, the first mechanical finger 231 can include a one-way hinge component that is configured to allow the first mechanical finger 231 to rotate through the first rotational motion range 307 in a first rotational direction (e.g., a clockwise rotational direction, as seen from the illustrated top perspective view of the shuttle car) but not in a second rotational direction (e.g., a counterclockwise rotational direction, as seen from the illustrated top perspective view of the shuttle car). In various embodiments, the one-way hinge component of the first mechanical finger 231 can include a hinge component that is configured to allow the first mechanical finger 231 to rotate through the first rotational motion range 307 in the first rotational direction (e.g., a clockwise rotational direction, as seen from the illustrated top perspective view of the shuttle car) but not in the second rotational direction (e.g., a counterclockwise rotational direction, as seen from the illustrated top perspective view of the shuttle car) when the first mechanical finger 231 is in the fully extended finger position. In various embodiments, the one-way hinge component of the first mechanical finger 231 can include a hinge component that is configured to allow the first mechanical finger 231 to rotate through the first rotational motion range 307 in the first rotational direction (e.g., a clockwise rotational direction, as seen from the illustrated top perspective view of the shuttle car) but not in the second rotational direction (e.g., a counterclockwise rotational direction, as seen from the illustrated top perspective view of the shuttle car) when the first mechanical finger 231 is in the fully retracted finger position. Figures 4A-4BThe example shuttle vehicle of the example material handling assembly 200 shown can be configured to perform a pick operation as described herein. Upon alignment of the shuttle vehicle with a storage location containing a stored object, the first load arm 210 and the second load arm 220 can each extend from a retracted configuration toward the storage location in an outward transverse direction away from the shuttle vehicle body (e.g., in a negative x-direction as shown). For example, in the example case in which the material handling assembly 200 includes at least partially retractable mechanical fingers (e.g., first mechanical finger 231 and second mechanical finger 232, etc.) disposed at distal ends of one or more of the load arms 210, 220, the first load arm 210 and the second load arm 220 can be configured to extend in a parallel linear direction such that their respective arm interface portions 211, 221 are spaced apart by a longitudinal distance that is at least substantially similar to a width of the stored object in the storage location. That is, the longitudinal distance between the first mechanical finger 231 and the second mechanical finger 232 is at least substantially less than the width of the object. As such, when the first load arm 210 and the second load arm 220 extend into the storage location and the first mechanical finger 231 and the second mechanical finger 232 continue to travel in the outward transverse direction into the storage location, the outermost portions of both the first mechanical finger 231 and the second mechanical finger 232 can physically engage the stored object. In this example case, as the first mechanical finger 231 and the second mechanical finger 232 continue to move in the outward transverse direction relative to the stored object, the stationary object can exert a pushing force on each of the first mechanical finger 231 and the second mechanical finger 232 that is opposite the transverse movement of the mechanical fingers 231, 232 caused by the extension of the first load arm 210 and the second load arm 220 into the storage location. For example, the force can act in a positive x-direction as shown on each of the first mechanical finger 231 and the second mechanical finger 232, which can exert a first retraction torque and a second retraction torque, respectively, on the first mechanical finger 231 and the second mechanical finger 232. In various embodiments, the hinged connection of the first mechanical finger 231 and the second mechanical finger 232 to the first load arm 210 and the second load arm 220, respectively, enables each of the mechanical fingers 231, 232 to rotate in a retraction rotational direction toward an adjacent portion of the arm interface portion 211, 212 along a respective rotational range of motion 307, 308. As the first load arm 210 and the second load arm continue to extend toward the extended configuration into the storage location, the stored object continues to move relative to the first mechanical finger 231 and the second mechanical finger 232 and can continue to remain engaged with the mechanical fingers 231, 232 until the load arms 210, 220 extend into the storage location such that the mechanical fingers 231, 232 move beyond the stored object.In various embodiments, as the mechanical fingers 231, 232 continue to move relative to the object and while the object remains engaged with the mechanical fingers 231, 232, the object can continue to rotate each of the mechanical fingers 231, 232 further toward its respective retracted finger position. In various embodiments, based at least in part on the configuration of the stowed object, one or more of the mechanical fingers 231, 232 can be pushed by the stowed object into a fully retracted finger position in which at least substantially all of the mechanical finger is retracted within the load arm connected thereto.

[0054] In various embodiments, as described herein, the first and second mechanical fingers can include at least one spring element configured to apply a spring force to the respective mechanical finger 231, 232 so as to bias the finger 231, 232 in an extended rotational direction (e.g., toward an extended finger position). Upon extension of the first and second load arms 210, 220 into a stowed position such that the first and second mechanical fingers 231, 232 move past (e.g., beyond the depth of) the stowed object, the object can disengage the first and second mechanical fingers 231, 232, and based at least in part on its spring-loaded configuration, the first and second mechanical fingers 231, 232 can each move in the extended rotational direction along their respective rotational range of motion 307, 308 until the fingers 231, 232 reach the extended finger position as shown.

[0055] When the first and second load arms 210, 220 are arranged in a fully extended configuration such that a deposited object is disposed within the load area (e.g., on the load bed 201) between the first and second outer arm elements 210a, 220a (e.g., the first and second arm interface portions 211, 221), the material handling assembly 200 can be configured to retract the first and second load arms 210, 220 in an opposite lateral direction (e.g., in the positive x-direction as shown) in order to return the grasped object to the shuttle vehicle body. The first and second load arms 210, 220 can be retracted such that the first and second mechanical fingers 231, 232 fixed thereto are similarly moved in the opposite lateral direction. In various embodiments, as the first and second mechanical fingers 231, 232 continue to travel in the inward lateral direction toward the shuttle vehicle body, the innermost portions of both the first and second mechanical fingers 231, 232 can physically engage the grasped object disposed within the load area. In various embodiments, based at least in part on the one-way hinge component of each mechanical finger 231, 232, the first and second mechanical fingers 231, 232 do not rotate in their respective extended rotational directions when physically engaging the grasped object, rather the mechanical fingers 231, 232 remain fixed in their respective extended finger positions and thus remain engaged with the grasped object such that the fingers 231, 232 can return the object with the load arms 210, 220 toward the shuttle vehicle body. In various embodiments, the exemplary retractable mechanical fingers (e.g., the exemplary first mechanical finger 231 shown) can be configured to at least substantially minimize the amount of load arm longitudinal movement required in order for the material handling assembly to perform a retrieval operation by enabling a deposited object to pass through the hinged mechanical fingers with minimal physical interference when the load arms are extended into a deposit position, rather than having to longitudinally move one or more of the support arms to accommodate the object width or with selectively extended electronic, motor-driven fingers when the load arms are fully extended into a deposit position. Figures 5A-5B The exemplary first mechanical finger 231 shown can be configured to at least substantially minimize the amount of load arm longitudinal movement required in order for the material handling assembly to perform a retrieval operation by enabling a deposited object to pass through the hinged mechanical fingers with minimal physical interference when the load arms are extended into a deposit position, rather than having to longitudinally move one or more of the support arms to accommodate the object width or with selectively extended electronic, motor-driven fingers when the load arms are fully extended into a deposit position.

[0056] As described herein, in various embodiments, the exemplary mechanical fingers can have an at least partially retractable configuration such that, based at least in part on the mechanical finger physically engaging at least a portion of an object disposed within the load area on the load bed 201, the finger can be at least partially retracted toward the load arm (e.g., outer arm element) to which it is fixed. For example, as Figure 5AAs shown, in various embodiments, the shuttle vehicle can include a material handling assembly 200 that includes one or more (e.g., a plurality of) mechanical fingers (e.g., a first mechanical finger 231, a second mechanical finger 232, a third mechanical finger 233, and a fourth mechanical finger 234) disposed along the arm interface portion of the load arm and including an at least partially retractable configuration defined by a range of relative linear motion between the mechanical finger and the load arm to which it is connected. As Figure 5A As shown, the first mechanical finger 231 and the third mechanical finger 233 include retractable mechanical fingers disposed along the arm length of the first load arm 210 (e.g., disposed proximate opposite sides of the load bed), and the second mechanical finger 232 and the fourth mechanical finger 234 include retractable mechanical fingers disposed along the arm length of the second load arm 220. As shown, each of the plurality of mechanical fingers 231, 232, 233, 234 is configured to move between a nominal, extended finger position and a retracted finger position as described herein by moving vertically into and / or out of the respective load arm to which the finger is connected in a respective longitudinal direction. For example, as shown, the first mechanical finger 231 can be arranged in an extended finger position defined by the first mechanical finger 231 extending from the first arm interface portion 211 into the load region in a longitudinal extension direction (e.g., a positive y-direction as shown) that is at least substantially perpendicular to the arm length of the first load arm 210. Further, the first mechanical finger 231 can be arranged in a retracted finger position defined by the first mechanical finger 231 being at least partially positioned within the first load arm 210 (e.g., within the first outer arm element 210a) by moving in a longitudinal retraction direction opposite the longitudinal extension direction such that the finger length of the first mechanical finger 231 retracts from the load region and is disposed within the first load arm 210. As Figure 5A As shown, each of the plurality of mechanical fingers 231, 232, 233, 234 is configured to move between a respective extended finger position and a retracted finger position such that each of the retractable fingers defines a respective range of relative linear motion that extends linearly in the longitudinal direction between the extended finger position and the retracted finger position described above. For example, as shown, the first mechanical finger 231 can be configured to move along a first range of linear motion 309a, the second mechanical finger 232 can be configured to move along a second range of linear motion 309b, the third mechanical finger 233 can be configured to move along a third range of linear motion 310a, and the fourth mechanical finger 234 can be configured to move along a fourth range of linear motion 310b.

[0057] In various embodiments, the exemplary shuttle 10 includes a first load arm 210 and a second load arm 220. A plurality of mechanical fingers 230 may include a first set of mechanical fingers, including a first mechanical finger 231 and a second mechanical finger 232 respectively disposed at the distal ends of the first load arm 210 and the second load arm 220. These first and second mechanical fingers are configured to facilitate the removal of an object disposed in the load area by pulling it toward the shuttle body 101 when the load arms 210, 220 retract. Furthermore, the plurality of mechanical fingers 230 may include a second set of mechanical fingers, including a third mechanical finger 233 and a fourth mechanical finger 234, respectively disposed at the opposing lateral ends of corresponding first outer arm elements 210a and 220a relative to the respective distal portions of the first load arm 210 and the second load arm 220 (e.g., at least substantially adjacent to the second lateral side of the load bed 201). In various embodiments, such third mechanical fingers 233 and additional mechanical fingers 234 may be configured to facilitate the dispensing and / or storage of objects held on the shuttle body in an outward lateral direction (e.g., toward the storage position) away from the shuttle body 101 when the load arms 210, 220 are extended. In this exemplary case, the exemplary shuttle embodiments and configurations described herein with respect to retrieving stored objects from the storage position can be applied relative to such exemplary third mechanical fingers 233 and fourth mechanical fingers 234 to facilitate the performance of exemplary storage operations.

[0058] As described herein with respect to an exemplary retractable mechanical finger including a unidirectional hinge configuration, Figure 5B and Figure 5B The exemplary retractable mechanical finger shown, including a linear retraction configuration, may include at least one spring element configured to facilitate linear movement of the mechanical finger between an extended finger position and a retracted finger position. For example, in various embodiments, at least one spring element of the first mechanical finger 231 may be configured to generate a spring force acting on the first mechanical finger 231 in the extension direction. For example, in various embodiments, at least one spring element of the exemplary mechanical finger may be configured to bias the mechanical finger toward the extended finger position by applying at least a substantially constant spring force to the mechanical finger. Furthermore, as described herein, when at least one spring element of the first mechanical finger 231 is used to bias the first mechanical finger 231 toward the extension direction...

[0059] Figure 5A It shows Figure 6The exemplary material handling assembly 200 shown has a first mechanical finger 231 in an extended finger position, wherein the first mechanical finger 231 includes a retractable mechanical finger configured for linear retraction movement along a first linear range of motion 309a. In various embodiments, the first mechanical finger 231 may include a component that is at least substantially linear, defined by a finger length extending between a first finger tip 231a and a second finger tip 231b. As shown, the first mechanical finger 231 may be connected to an outer arm element 210a of a first load arm 210 such that the mechanical finger 231 can be longitudinally translated into and out of the first load arm 210 in response to one or more forces acting thereon (e.g., from a stored object within the storage location). In various embodiments in which the first mechanical finger 231 is configured in at least a partially extended configuration (e.g., a fully extended configuration), its second finger tip 231b is disposed within the load region. As described herein, based at least in part on various forces acting thereon (e.g., spring force (applied from a spring element of the first mechanical finger 231 to position the finger 231 in a nominal extended finger position) and / or pushing force (acting on the first mechanical finger 231 to push the finger 231 in a retraction direction (e.g., in the negative y direction as shown)), the first mechanical finger 231 can move along a first linear range of motion in the retraction direction, such that the second finger tip 231b moves toward the surface of the arm junction portion 211. In various embodiments, such an exemplary mechanical finger 231 can be engaged by an object to move it to a retracted finger position, wherein the second finger tip 231b is positioned at least substantially adjacent to the first arm junction portion 211, such that the first mechanical finger 231 retracts from the load region into the first load arm 210.

[0060] In various embodiments, an exemplary shuttle may include a material handling assembly 200 that does not include any mechanical fingers configured to facilitate operation of objects positioned within a load area as described herein. For example, as ​As shown, the example material handling assembly 200 includes a first load arm 210 that includes an outer arm element 210a that includes a first arm interface portion 211 made of at least substantially compliant material that is configured to facilitate stabilizing an object engaged therewith in one or more directions. For example, in various embodiments, the first arm interface portion 211 can include at least one or more longitudinal protruding portions that extend in a direction that is at least partially perpendicular to a length of the arm of the first load arm 210 and that are configured to facilitate constraining an object engaged therewith in one or more lateral directions. For example, in various embodiments, the soft, malleable, moldable, steerable, and / or compliant materials described herein can be used to at least substantially maximize an amount of surface area of the first arm interface portion 211 that is engaged with an object disposed within a load area. In particular, such example arm interface portions 211 can be used to effectively accommodate the retrieval, handling, and / or transport of objects having particular and / or unique sizes, shapes, or other characteristics. Moreover, as shown, in various embodiments, the material handling assembly 200 can include a first load arm 210 and a second load arm 220 that each include an example arm interface portion (e.g., first arm interface portion 211, second arm interface portion 221) that does not include any mechanical fingers protruding therefrom, but rather can include at least partially compliant material that is configured to facilitate effectively manipulating a grasped object disposed on the load bed 201. Moreover, in various embodiments, one or more of the first load arm 210 and the second load arm 220 of the material handling assembly 200 that include first arm interface portions 211 and second arm interface portions 221 made of at least substantially compliant material without any mechanical fingers can be configured to selectively move in a respective longitudinal direction toward the load area so that the corresponding arm interface portions 211, 221 of the one or more load arms 210, 220 abut at least a portion of an object disposed within the load area.

[0061] Many modifications and other embodiments will be apparent to those skilled in the art having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the disclosure is not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A shuttle configured for use in an automated storage and retrieval system, the shuttle comprising: a plurality of retractable load arms at least partially fixed relative to a shuttle body and configured to extend between a retracted configuration and an extended configuration, the plurality of retractable load arms comprising: a first load arm configured to extend at least substantially away from the shuttle body in a first lateral direction; and a second load arm configured to extend at least substantially away from the shuttle body in a second lateral direction at least substantially parallel to the first lateral direction; a load bed configured to support at least one object and comprising a width that extends between the first load arm and the second load arm, wherein at least a portion of the load bed defines a load area configured to receive the at least one object therein; and a retractable mechanical finger disposed at a distal portion of the first load arm and configured to facilitate manipulation of the at least one object, the retractable mechanical finger being hingedly connected to the first load arm and comprising at least one spring element that facilitates rotational movement of the retractable mechanical finger relative to the first load arm between an extended finger position and a retracted finger position; wherein the retractable mechanical finger is hingedly connected to the first load arm using a one-way hinge component configured to at least partially define a range of rotational movement of the retractable mechanical finger relative to the first load arm, wherein the first load arm extends along a first guide rail in the first lateral direction, the first guide rail being configured to define a first load arm travel path of the first load arm between the retracted configuration and the extended configuration, wherein at least a portion of the first guide rail is defined by a non-linear feature configured to cause at least a portion of the first load arm to exhibit a longitudinal shift in a first longitudinal direction from a first longitudinal position to a second longitudinal position as the first load arm travels along the first guide rail in one of an extended direction and a retracted direction.

2. The shuttle of claim 1, wherein the retractable mechanical finger is configured to rotate in a retracted rotational direction at least partially from the extended finger position toward the retracted finger position in response to application of a first retraction torque to the retractable mechanical finger in the retracted rotational direction.

3. The shuttle of claim 1, wherein the extended finger position is defined by a finger length that the retractable mechanical finger extends from the first load arm and into the load area in a direction that is at least substantially perpendicular relative to an arm length of the first load arm, and wherein the retracted finger position is defined by the retractable mechanical finger being retracted into the first load arm such that the finger length of the retractable mechanical finger extends at least substantially parallel to the arm length of the first load arm.

4. The shuttle vehicle of claim 1, wherein the at least one spring element of the retractable mechanical finger is configured to bias the retractable mechanical finger toward the extended finger position by applying a spring force to the retractable mechanical finger, the spring force applying a first extension moment to the retractable mechanical finger in an extension rotational direction.

5. The shuttle vehicle of claim 1, further comprising a second retractable mechanical finger disposed at a second distal portion of the second load arm and configured to facilitate manipulation of the at least one object, the second retractable mechanical finger being hingedly connected to the second load arm and including at least one second spring element that facilitates rotational movement of the second retractable mechanical finger relative to the second load arm between a second extended finger position and a second retracted finger position; wherein the second retractable mechanical finger is hingedly connected to the second load arm using a second one-way hinge component configured to at least partially define a second range of rotational movement of the second retractable mechanical finger relative to the second load arm.

6. The shuttle of claim 5, wherein, the at least one second spring element of the second retractable mechanical finger is configured to bias the second retractable mechanical finger toward the second extended finger position by applying a second spring force to the second retractable mechanical finger, the second spring force applying a second extension moment to the second retractable mechanical finger in a second extension rotational direction; wherein the extension rotational direction defined by the retractable mechanical finger and the second extension rotational direction defined by the second retractable mechanical finger comprise at least substantially opposite rotational directions.

7. The shuttle vehicle of claim 1, wherein the one-way hinge component is at least partially defined by a vertical hinge axis such that the range of rotational movement of the retractable mechanical finger relative to the first load arm is defined in an at least substantially horizontal plane.

8. The shuttle of claim 7, wherein, the at least substantially horizontal plane is at least substantially parallel to the load bed.

9. The shuttle vehicle of claim 1, wherein the one-way hinge component is configured to prevent the retractable mechanical finger from rotating in an extension rotational direction away from the retracted finger position when the retractable mechanical finger is in the extended finger position, such that the one-way hinge component defines the range of rotational movement of the retractable mechanical finger relative to the first load arm by at least partially limiting the range of rotational movement in the extension rotational direction.

10. The shuttle vehicle of claim 1, wherein at least a portion of the first load arm is configured to selectively translate in a first longitudinal direction relative to the load area to dynamically adjust a load width of the load area to facilitate manipulation of the at least one object disposed on the load bed.

11. The shuttle of claim 1, wherein, The first load arm includes an arm interface portion defined by a surface of the first load arm, the arm interface portion positioned at least substantially adjacent to the load area and facing the second load arm so as to be configured for physically engaging at least one object disposed within the load area to at least partially secure the at least one object within the load area; wherein the arm interface portion is made of a high traction material.

12. The shuttle of claim 1, further comprising a second retractable mechanical finger extending from the first load arm into the load area in a second longitudinal direction that is at least substantially parallel to the at least substantially vertical direction with respect to the first load arm; wherein the retractable mechanical finger is positioned at least substantially adjacent to a first lateral side of the load bed, and wherein the second retractable mechanical finger is positioned at least substantially adjacent to a second lateral side of the load bed.

13. The shuttle of claim 1, further comprising a second retractable mechanical finger configured to facilitate manipulation of the at least one object, the second retractable mechanical finger extending from the second load arm into the load area in an at least substantially vertical direction with respect to the second load arm; wherein the retractable mechanical finger is positioned at least substantially adjacent to a first lateral side of the load bed, and wherein the second retractable mechanical finger is positioned at least substantially adjacent to a second lateral side of the load bed.

14. A shuttle configured for use in an automated storage and retrieval system, the shuttle comprising: a plurality of retractable load arms at least partially secured with respect to a shuttle body and configured to be extendable between a retracted configuration and an extended configuration, the plurality of retractable load arms including: a first load arm configured to extend at least substantially away from the shuttle body in a first lateral direction; and a second load arm configured to extend at least substantially away from the shuttle body in a second lateral direction that is at least substantially parallel to the first lateral direction; a load bed configured to support at least one object and including a width that extends between the first load arm and the second load arm, wherein at least a portion of the load bed defines a load area configured to receive the at least one object therein; a mechanical finger disposed at a distal portion of the first load arm and configured to facilitate manipulation of the at least one object, the mechanical finger extending from the first load arm into the load area in an at least substantially vertical direction with respect to the first load arm; and a second mechanical finger disposed at a distal portion of the second load arm and configured to facilitate manipulation of the at least one object, the second mechanical finger extending from the second load arm into the load area in an at least substantially vertical direction with respect to the second load arm. wherein at least a portion of one or more of the first load arm and the second load arm is configured to selectively translate in a first longitudinal direction relative to the load area so as to dynamically adjust a load width of the load area so as to facilitate manipulation of the at least one object disposed on the load bed, wherein the first load arm extends in a first lateral direction along a first guide rail configured to define a first load arm travel path of the first load arm between a retracted configuration and an extended configuration, wherein at least a portion of the first guide rail is defined by a non-linear feature configured to cause at least a portion of the first load arm to exhibit a longitudinal shift in the first longitudinal direction from a first longitudinal position to a second longitudinal position as the first load arm travels in one of an extended direction and a retracted direction along the first guide rail.

15. The shuttle of claim 14, wherein, The mechanical finger comprises an at least substantially rigid configuration.

16. The shuttle of claim 15, further comprising: a second mechanical finger disposed at a second distal portion of the second load arm and configured to facilitate manipulation of the at least one object, the second mechanical finger extending from the second load arm into the load area in an at least substantially perpendicular direction relative to the second load arm and comprising an at least substantially rigid configuration; wherein at least a portion of the first load arm and at least a portion of the second load arm are configured to selectively translate in a first longitudinal direction and a second longitudinal direction, respectively, relative to the load area so as to dynamically adjust a load width of the load area so as to facilitate manipulation of the at least one object disposed on the load bed.

17. The shuttle of claim 14, wherein, The mechanical finger comprises an at least partially retractable configuration defined by a range of relative linear motion between the mechanical finger and the first load arm, wherein the mechanical finger is configured to at least partially retract in a longitudinal retraction direction from a deployed finger position toward a retracted finger position based at least in part on a pushing force exerted on the mechanical finger from the at least one object disposed within the load area.

18. The shuttle of claim 17, wherein, The mechanical element further comprises at least one spring element that facilitates linear motion of the mechanical finger relative to the first load arm between the deployed finger position and the retracted finger position, the spring element configured to bias the mechanical finger toward the deployed finger position by exerting a spring force on the mechanical finger in an at least substantially parallel direction relative to the first load arm.

19. The shuttle of claim 14, further comprising: a second mechanical finger configured to facilitate manipulation of the at least one object, the second mechanical finger extending from the second load arm into the load area in an at least substantially perpendicular direction relative to the second load arm; wherein the mechanical finger is positioned at least substantially adjacent to a first lateral side of the load bed, and wherein the second mechanical finger is positioned at least substantially adjacent to a second lateral side of the load bed.

Images