Autonomous guided vehicles

Abstract

The autonomous transport vehicle includes a frame forming a transport payload area of ​​the vehicle. The transport payload area includes a payload contact support surface defining a payload support surface that supports a payload. The transport payload area further includes an articulating underpick end effector that engages and underpick a payload relative to the payload support surface and extends and retracts relative to the transport payload area to effect movement of the payload. A payload alignment surface is mounted to the frame for engagement with the payload. The payload alignment surface is arranged to provide at least two degrees of alignment upon engagement with the payload to capture and secure the payload at a predetermined position within the transport payload area and is configured to effect payload engagement with at least two degrees of alignment that aligns the payload in general coincidence with seating of the payload on the payload support surface of the transport payload area.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application is a non - provisional application of U.S. Provisional Patent Application No. 63 / 236,591, filed on August 24, 2021, the entire disclosure of which is incorporated herein by reference and for which priority is claimed.

[0002] The disclosed embodiments generally relate to material handling systems, and more specifically, to transport devices for automated storage and retrieval systems.

Background Art

[0003] Brief Description of Related Developments Generally, autonomous transport vehicles in logistics / warehouse facilities are manufactured to have a given form factor for tasks assigned in a particular environment. These autonomous transport vehicles are composed of custom - cast or machined chassis / frames. Other components (e.g., wheels, transfer arms, etc.) may be partially custom - assembled / components, but are attached to the frame and carried along with the frame as the autonomous transport vehicle travels along the traffic surface. The transfer arms and payload bays of these autonomous transport vehicles can include a number of components and motor assemblies for adjusting the position of the payload within the payload bay in addition to transferring the payload to and from the autonomous transport vehicle. The components and numerous motors of the transfer arms and payload bays can be complex and costly to manufacture, increasing the cost and maintenance requirements of the autonomous transport vehicle.

Summary of the Invention

[0004] The foregoing aspects and other features of the disclosed embodiments are described in the following description taken in conjunction with the accompanying drawings.

Brief Description of the Drawings

[0005]

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[0006] FIG. 1 illustrates an exemplary automated storage and retrieval system 100 according to an aspect of the disclosed embodiments. Aspects of the disclosed embodiments are described with reference to the drawings, it should be understood that aspects of the disclosed embodiments may be embodied in many forms. Further, any suitable size, shape, or type of element or material may be used.

[0007] As described in more detail herein, aspects of the disclosed embodiments provide an autonomous transport vehicle 110 of an automated storage and retrieval system 100 with a multi-degree-of-freedom payload / case handling assembly. The payload handling assembly secures the payload with six degrees of freedom while being held by the autonomous transport vehicle 110, and provides a simplified case handling structure as compared to conventional warehouse autonomous transport vehicles. The payload handling assembly reduces the number of parts and cost of the autonomous transport vehicle 110 by utilizing a general-purpose / common interchangeable structure (see, for example, the lift towers 211, 122 described herein) that can be utilized at one or more positions of the autonomous transport vehicle 110. The payload handling assembly reduces the number of parts and cost of the autonomous transport vehicle 110 by minimizing the number of actuators / motors that enable gripping and manipulation of the payload. Also as described herein, the payload handling assembly is configured to adapt to and stably hold payloads of various sizes by changing the distance between at least two adjacent payload support portions of the underpick end effector or arm 210A of the payload handling assembly, reducing the number of parts and cost of the autonomous transport vehicle 110.

[0008] Aspects of the disclosed embodiments also provide for alignment of the payload within the payload area or bay of the autonomous transport vehicle 110 with at least two alignments that capture and secure the payload at a predetermined location within the payload area when engaging the payload. As described herein, the alignment surfaces of the autonomous transport vehicle 110 are substantially the same as the seating of the payload on the payload support surface of the payload area so as to pick (and place) the payload and reliably align the payload within the payload area within about 10 seconds. At the same time At least two alignments for aligning the payload Together with configured to effect engagement of the payload.

[0009] The automated storage and retrieval system 100 of FIG. 1 can be deployed in a retail distribution center or warehouse, for example, to fulfill orders received from a retail store for replenishment items shipped in cases, packages, and / or parcels. The terms case, package, and parcel are used interchangeably herein and can be any container, as described above, that can be used for shipping and can be filled by a manufacturer with cases or multiple product units. As used herein, a (one or more) case means a unit of cases, packages, or parcels that are not (e.g., not included) stored in a tray, on a tote, etc. A case unit CU (also referred to herein as a mixed case, case, and shipping unit) is noted to be able to include a case of articles / units (e.g., a case of soup cans, a box of cereal, etc.) or individual articles / units adapted to be removed from or placed on a pallet. According to an exemplary embodiment, a shipping case or case unit (e.g., a carton, barrel, box, wooden frame, jug, shrink-wrapped tray or group, or any other suitable device for holding a case unit) can have a variable size, can be used to hold a case unit during shipping, and can be configured to be palletized for shipping. A case unit can also include totes, boxes, and / or containers of one or more individual products (generally referred to as break pack products) unpacked / liberated from their original packaging and can be placed in totes, boxes, and / or containers (collectively referred to as totes) with one or more other individual products of the same or common type mixed at an order filling station. It is noted that when an incoming bundle or pallet (e.g., from a case unit manufacturer or supplier) arrives at the automated storage and retrieval system for replenishment of the automated storage and retrieval system 100, the contents of each pallet can be uniform (e.g., each pallet holds a predetermined number of the same articles, i.e., one pallet holds soup and another holds cereal).As can be understood, such cases of pallet loads can be approximately similar, or in other words, homogeneous cases (e.g., similar dimensions), and can have the same SKU (otherwise, as previously described, the pallet can be a "rainbow" pallet with layers formed of homogeneous cases). When the pallet exits the automated storage and retrieval system, with the case or tote filled with replenishment orders, the pallet can contain any suitable number and combination of various case units (e.g., each pallet can hold different types of case units, i.e., the pallet can hold a combination of canned soups, cereals, beverage packs, cosmetics, and household detergents). The cases combined on a single pallet can have different dimensions and / or different SKUs.

[0010] An automated storage and retrieval system can generally be described as a storage and retrieval engine 190 coupled to a palletizer 162. Here, in more detail and still referring to FIG. 1, the automated storage and retrieval system 100 can be configured, for example, to be installed in an existing warehouse structure or adapted to a new warehouse structure. As previously described, the system 100 shown in FIG. 1 is representative and can include, for example, infeed and outfeed conveyors terminating at respective transfer stations 170, 160, one or more lift modules 150A, 150B, a storage structure 130, and a number of autonomous transport vehicles 110 (also referred to herein as "bots"). It is noted that the storage and retrieval engine 190 is formed at least by the storage structure 130 and the bots 110 (and in some embodiments also by the lift modules 150A, 150B, although in other embodiments, the lift modules 150A, 150B can form a vertical sequencer in addition to the storage and retrieval engine 190 as described in U.S. Patent Application No. 17 / 091,265, filed November 6, 2020, entitled "Pallet Building System with Flexible Sequencing", the entire disclosure of which is incorporated herein by reference). In an alternative embodiment, the automated storage and retrieval system may include a robot or bot transfer station (not shown) that can provide a connection between the bots 110 and the one or more lift modules 150A, 150B. The storage structure 130 can include a plurality of (stacked) levels 130L1-Ln of storage rack modules (generally referred to as storage level 130 or storage level 130, see FIGS. 1 and 16, where n is an integer indicating the upper digit of the storage levels present in the automated storage and retrieval system 100), where each level 130L includes a respective picking aisle 130A and a transfer deck 130B for transferring case units between any of the storage areas of the storage structure 130 and the shelves of the one or more lift modules 150A, 150B.The picking passage 130A is configured in one aspect to effect an induced movement of the bot 110 (such as along the rail 1600 (see FIG. 16)), while in other aspects the picking passage is configured to effect an unrestricted movement of the bot 110 (e.g., the picking passage is open and non-deterministic with respect to the guidance / movement of the bot 110). The transfer deck 130B has an open and non-deterministic bot support moving surface along which the bot 110 moves under the guidance and control provided by bot steering (as described herein). In one or more aspects, the transfer deck has a plurality of lanes between which the bot 110 freely shuttles to access the picking passage 130A and / or the lift modules 150A, 150B. The picking passage 130A and the transfer deck 130B also enable the bot 110 to pick case units CU into the picking stock and retrieve the ordered case units CU. In an alternative aspect, each level 130L may include respective bot transfer stations 140. The bot 110 is configured to place case units, such as the retail merchandise described above, into the picking stock at one or more levels 130L of the storage structure 130 and then selectively retrieve the ordered case units and ship the ordered case units to, for example, a store or other suitable location. The infeed transfer station 170 and the outfeed transfer station 160 can operate with respective lift modules 150A, 150B (one or more) to transfer case units CU bidirectionally between one or more levels 130L of the storage structure 130. The lift modules 150A, 150B may be described as dedicated inbound lift module 150A and outbound lift module 150B, but it is noted that in alternative aspects, each of the lift modules 150A, 150B may be used for both inbound and outbound transfer of case units from the automated storage and retrieval system 100.Aspects of the disclosed embodiments have been described with respect to a multi-level storage array, but it is noted that aspects of the disclosed embodiments may equally apply to a single-level storage array that is located on the facility floor or at a location higher than the facility floor.

[0011] As can be understood, the automated storage and retrieval system 100 includes a plurality of infeed and outfeed lift modules 150A, 150B that are accessible, for example, by the bot 110 of the automated storage and retrieval system 100, such that one or more case units that are not housed (e.g., one or more case units are not held in a tray) or one or more housed case units (in a tray or tote) can be transferred from the lift modules 150A, 150B to each storage space 130S on respective levels 130L (see FIG. 16) and from each storage space to any one of the lift modules 150A, 150B on respective levels 130L. The bot 110 can be configured to transfer case units between a storage space 130S (e.g., located in a picking aisle 130A or other suitable storage space / case unit buffer arranged along a transfer deck 130B) and the lift modules 150A, 150B. Generally, the lift modules 150A, 150B include at least one movable payload support for moving one or more case units between infeed and outfeed transfer stations 160, 170 and respective levels 130L of the storage space 130S where one or more case units CU are stored and retrieved. The one or more lift modules can have any suitable configuration, such as a reciprocating lift, or any other suitable configuration. The one or more lift modules 150A, 150B include any suitable controller (controller 120, or other suitable controller connected to controller 120, a warehouse management system 2500, and / or palletizer controllers 164, 164', etc.) and can form a sequencer or sorter in a manner similar to the method described in U.S. Patent Application No. 16 / 444,592, filed on June 18, 2019, titled "Vertical Sequencer for Product Order Fulfillment", the entire disclosure of which is incorporated herein by reference.

[0012] An automated storage and retrieval system may include a control system communicatively coupled to one or more control servers 120 that are communicatively connected to, for example, infeed and outfeed conveyors and transfer stations 170, 160, lift modules 150A, 150B, and bots 110 via a suitable communication and control network 180. The communication and control network 180 may have any suitable architecture that may incorporate various programmable logic controllers (PLCs) for, for example, instructing the automated operation of infeed and outfeed conveyors and transfer stations 170, 160, lift modules 150A, 150B, and other suitable systems. The control server 120 may include high-level programming enabling a case management system (CMS) 120 to manage the case flow system. The network 180 may further include suitable communication for enabling a bidirectional interface with the bot 110. For example, the bot 110 may include an on-board processor / controller 1220. The network 180 may include a suitable bidirectional communication suite that enables the bot controller 1220 to request or receive commands from the control server 120 for enabling the desired conveyance of case units (e.g., placement into or removal from storage locations) and to transmit to the control server 120 the desired bot 110 information and data including the ephemeris, status, and other desired data of the bot 110. As seen in FIG. 1, the control server 120 may further be connected to a warehouse management system 2500 for providing, for example, inventory management and customer order fulfillment information to the CMS 120 level program. A suitable example of an automated storage and retrieval system arranged to hold and store case units is described in U.S. Patent No. 9,096,375, issued August 4, 2015, the entire disclosure of which is incorporated herein by reference.

[0013] Referring now to FIGS. 2A, 2B, 2C, and 2D, an autonomous transport vehicle or bot 110 (also referred to herein as an autonomous guided vehicle) includes a frame 200F having a front end 200E1 and a rear end 200E2 that define a longitudinal axis LAX of the autonomous transport vehicle 110. The frame 200 can be constructed of any suitable material (e.g., steel, aluminum, composite materials, etc.) and includes a case handling assembly 210 configured to handle cases / payloads transported by the autonomous transport vehicle 110. The frame 200F of the case handling assembly 210 forms a transport payload area (also referred to as a payload deck or payload area) 210B. As described herein, the payload deck 210B defines a payload support surface 610P (FIG. 14E) of the vehicle 110 that supports a payload (e.g., a case unit CU) held within the payload bay 210B as the vehicle travels, and includes a payload contact support surface 610 (formed, for example, by a protrusion 620 of a positioning tray 600).

[0014] The self - regulating transport vehicle also includes an optional suitable transfer arm 210A (also called an articulated under - pick end effector). The transfer arm 210A engages the payload, under - picks the payload with respect to the payload support surface 610P (FIG. 14E), extends and retracts with respect to the payload bay 210B, enables the transfer of the payload between the payload bay 210B, and is configured to unload and load the payload from the payload bay 210B. Here, "under - pick" is the picking of the payload by the end effector or transfer arm 210A, where the transfer arm 210A engages the lower side of the payload CU, picks up the payload CU therefrom (i.e., lifts it from the lower side) (for example, formed by the vertical array of the storage shelf VAS (see FIG. 16)) and is arranged / configured to enable the transfer of the payload CU from at least one of each transfer shelf (such as the lift 150) of the storage rack's respective predetermined storage areas 130S and input / output stations 160, 170 to the vehicle 110. Similarly but in the opposite way, the under - pick end effector or transfer arm 210A transports the payload CU on the payload table 210B, transports it therefrom, and deterministically under - picks the payload / case unit CU (through bottom engagement) so as to place it in the storage space 130S of the storage rack / transfer shelf (such as the vertical array of the storage shelf VAS or other suitable payload holding areas of the automated storage and retrieval system). According to the exchange during under - pick between the transfer arm 210A and the storage rack support 900S of the storage space 130S (see, for example, FIG. 9) during the pick / placement position / operation, among a plurality of case units on the storage rack (substantially freely with an unencumberedso as to engage the underside / bottom of the payload / case unit CU, enabling the case units on the storage rack to have closely packed intervals therebetween (i.e., intervals along the length of the storage rack extending substantially parallel to the movement lanes of the picking aisle 130A or the transfer deck 130B), which closely packed intervals are independent of the distortion of the sides of the cases. The transfer arm 210A is configured to transfer the payload between the autonomous transport vehicle 110 and a payload holding position (any suitable payload storage position, the shelves of the lift modules 150A, 150B, and / or any other suitable payload holding position, etc.). The transfer arm 210A may be configured to extend in the lateral direction LAT and / or the vertical direction VER to transport the payload between it and the case handling assembly 210. In the embodiments illustrated in FIGS. 2A and 2B, the case handling assembly 210 includes at least one lift tower 211, 212 configured to move the transfer arm 210A and / or the payload platform 210B in the vertical direction VER, as will be described in more detail herein, but in other embodiments, the case handling assembly 210 may not have at least one lift tower 211, 212. Examples of suitable payload platforms 210B, transfer arms 210A, and / or autonomous transport vehicles to which the aspects of the disclosed embodiments may be applied are described in U.S. Patent Application Publication No. 2012 / 0189416, published on July 26, 2012, titled "Automated Bot with Transfer Arm" (U.S. Patent Application No. 13 / 326,952, filed on December 15, 2011), the entire disclosure of which is incorporated herein by reference; U.S. Patent No. 7,591,630, issued on September 22, 2009, titled "Materials-Handling System Using Autonomous Transfer and Transport Vehicles"; "Materials-Handling System Using Autonomous Transfer and TransportU.S. Patent No. 7991505, issued on August 2, 2011, titled "Vehicles", U.S. Patent No. 9561905, issued on February 7, 2017, titled "Autonomous Transport Vehicle", U.S. Patent No. 9082112, issued on July 14, 2015, titled "Autonomous Transport Vehicle Charging System", U.S. Patent No. 9850079, issued on December 26, 2017, titled "Storage and Retrieval System Transport Vehicle", U.S. Patent No. 9187244, issued on November 17, 2015, titled "Bot Payload Alignment and Sensing", U.S. Patent No. 9499338, issued on November 22, 2016, titled "Automated Bot Transfer Arm Drive System", U.S. Patent No. 8965619, issued on February 24, 2015, titled "Bot Having High Speed Stability", U.S. Patent No. 9008884, issued on April 14, 2015, titled "Bot Position Sensing", U.S. Patent No. 8425173, issued on April 23, 2013, titled "Autonomous Transports for Storage and Retrieval Systems", and U.S. Patent No. 8696010, issued on April 15, 2014, titled "Suspension System for Autonomous Transports".

[0015] Frame 200 includes one or more suitable idler wheels 250 disposed adjacent to the front end portion 200E1. The idler wheels 250 may be substantially similar to those described in U.S. Provisional Patent Application No. 63 / 213,589, filed Jun. 22, 2021, Attorney Docket No. 1127P015753-US(-#2), and U.S. Provisional Patent Application No. 63 / 193,188, filed May 26, 2021, Attorney Docket No. 1127P015753-US(-#5), both of which are entitled “Autonomous Transport Vehicle with Suspension” and the entire disclosures of which are incorporated herein by reference. The frame also includes one or more drive wheels 260 disposed adjacent to the rear end portion 200E2. The drive wheels 260 may be substantially similar to those described in U.S. Provisional Patent Application No. 63 / 213,589, filed Jun. 22, 2021, the entire disclosure of which was previously incorporated herein by reference. In other embodiments, the positions of the idler wheels 250 and the drive wheels 260 may be reversed (e.g., the drive wheels 260 are disposed at the front end portion 200E1 and the idler wheels 250 are disposed at the rear end portion 200E2).

[0016] In some aspects, it is noted that the autonomous transport vehicle 110 is configured to move with the front end portion 200E1 leading the direction of movement or with the rear end portion 200E2 leading the direction of movement. For illustrative purposes only, idler wheels 250A, 250B (which are somewhat similar to the idler wheels 250 described herein) are disposed at respective front corners at the front end portion 200E1 of the frame 200, and drive wheels 260A, 260B (which are somewhat similar to the drive wheels 260 described herein) are disposed at respective back corners at the rear end portion 200E2 of the frame 200 (e.g., support wheels are disposed at each of the four corners of the frame 200), whereby the autonomous transport vehicle 110 stably traverses the transfer deck 130B and the picking passage 130A of the storage structure 130. In other examples, the idler wheels 250A, 250B are disposed at respective back corners at the rear end portion 200E2 of the frame 200, and drive wheels 260A, 260B (which are somewhat similar to the drive wheels 260 described herein) are disposed at respective front corners of the frame 200 at the front end portion 200E1.

[0017] Each drive wheel 260 includes a drive unit 261 that is independently connected to the frame 200 in any suitable manner, such as by a suspension system 280, whereby each drive wheel 260 is movable independently of the frame, and any other drive wheel(s) 260 is also connected to the frame in a manner substantially similar to the method described in U.S. Provisional Patent Application No. 63 / 213,589, filed on June 22, 2021, Attorney Docket No. 1127P015753-US(-#2), entitled "Autonomous Transport Vehicle with Suspension", the entire disclosure of which is hereby incorporated by reference herein. It is noted that each drive unit 261 includes any suitable drive motor 261M and wheel 261W. The drive motor 261M is connected to the wheel 261W to rotationally drive it so as to propel the autonomous transport vehicle 110 in the direction of movement. Here, the motors 261M of the two drive wheels 260A, 260B can be operated at substantially the same rotational speed simultaneously to propel the autonomous transport vehicle 110 along a substantially straight path of movement. In other embodiments, the motors 261M of the two drive wheels 260A, 260B can be operated at different rotational speeds simultaneously (or at different times) to propel the autonomous transport vehicle 110 along an arcuate path of movement or to pivot the autonomous transport vehicle in the direction 294 about the vehicle pivot axis 293. The vehicle pivot axis 293 can be disposed approximately midway between the two drive wheels 260A, 260B. The differential operation of the motors 261M of the respective drive wheels 260A, 260B that enables the direction change and / or pivoting of the autonomous transport vehicle 110 as described above is referred to herein as differential drive wheel steering.

[0018] Still referring to FIGS. 3A-5C in addition to FIGS. 2A and 2B, a case handling assembly 210 is described. As described above, the case handling assembly 210 includes a transfer arm 210A and / or a payload table (or bay) 210B. In this embodiment, the payload table 210B is movably coupled to at least one lift tower 211, 212 for movement in the vertical direction VER, and the transfer arm 210A is movably coupled to the payload table 210B for movement in the lateral direction LAT. The payload table 210B includes a payload table frame 210BF that forms a payload area arranged for conveyance of a case unit carried by the bot 110 across the entire automated storage and retrieval system 100. The payload table frame 210BF includes longitudinal ends 210BE1, 210BE2 each coupled to one of the at least one lift tower 211, 212 respectively. Here, the at least one lift tower includes a lift tower 211 arranged at or adjacent to the front end 200E1 of the frame 200 and a lift tower 212 arranged at or adjacent to the rear end 200E2 of the frame 200. Here, each lift tower 211, 212 includes a movable carriage or carrier 290 to which one of the longitudinal ends 210BE1, 210BE2 is fixedly coupled by any suitable means such as mechanical or chemical fasteners (i.e., such that when the movable carrier 290 moves, the payload table frame 210BF moves with the movable carrier 290).

[0019] Referring to FIGS. 3A and 3B, in one or more aspects, as described above, vehicle 110 includes at least one lift tower 211, 212. Each of the at least one lift tower 211, 212 is substantially similar to each of the at least one lift tower 211, 212 such that only lift tower 211 and its carrier 290 are described (i.e., lift towers 211, 212 are interchangeable / common and can be disposed adjacent to either the front end portion 200E1 or the rear end portion 200E2 of frame 200). Lift tower 211 includes tower frame 300F. Tower frame 300F includes base 305, vertical guides 306, 307, and cross braces or braces 308. Carrier or movable payload carriage 290 extends laterally between vertical guides 306, 307 and is guided in vertical movement by vertical guides 306, 307 (e.g., carrier 290 is configured to raise and lower payload CU within payload area 210B). For example, lift tower 211 includes vertical guides 306, 307, each of which forms guide rails 306R, 307R that guide the movement of carrier 290. The junction between guide rails 306R, 307R and carrier 290 is indeterminate with respect to the torsional position of carrier 290 relative to guide rails 306R, 307R. For example, vertical guides 306, 307 may comprise "C"-shaped channels that form guide rails 306R, 307R. Here, vertical guides 306, 307 are an easy and inexpensive extruded (or punched or near-net shape cast) structure that reduces cost and facilitates easy assembly / disassembly of lift towers 211, 212 to frame 200F. Carrier 290 includes end portions 290E1, 290E2 that are received within respective guide rails 306R, 307R.The end portions 290E1, 290E2 may include any suitable low-cost lubricating bushings 290B that engage the respective guide rails 306R, 307R and can be easily inserted into (and removed from) the respective guide rails 306R, 307R to facilitate easy assembly and disassembly of the carrier 290 with respect to the guide rails 306R, 307R. The end portions 290E1, 290E2 engaged with the guide rails 306R, 307R and the respective lubricating bushings 290B are configured to limit the movement of the carrier 290 in the longitudinal direction LON while allowing unrestricted movement of the carrier 290 in the direction VER within the guide rails 306R, 307R (i.e., the lubricating bushings 290B have a running fit clearance with the guide rails 306R, 307R such that the guide rails need not be manufactured with tight / small tolerances). The lubricating bushings 290B provide a sacrificial material that can be easily replaced, where the lubricating bushings 290B are connected to the respective end portions 290E1, 290E2 by removable fasteners, snaps, clips, or any other suitable removable connections. The guide rails 306R, 307R provide smooth / quick movement of the carrier 290 in the direction VER when the carrier 290 is raised / lowered with respect to the frame 200F, where torsional rigidity of the carrier 290 is provided by a flexible transmission 330 that facilitates an indeterminate joint connection between the end portions 290E1, 290E2 and the guide rails 306R, 307R as described herein.

[0020] The drive section 390S having at least one degree of freedom of movement is connected to the carrier 290 by a flexible transmission section 330. Here, the flexible transmission section movably connects the carrier 290 to at least one lift tower 211, 212, and the drive section 290S is configured to move the carrier 290 relative to at least one lift tower 211, 212. For example, the carrier 290 moves in the vertical direction VER between the base 305 and the brace 308 under the driving force of any suitable drive motor 390 of the drive section 390S. Here, for example, the drive motor 390 is connected to the carrier 290 by a flexible transmission section 330 (such as those described herein). In one aspect, the drive motor 390 is a rotary motor connected to the carrier 290 via a flexible transmission section 330 (such as a belt, chain, and / or cable), but in other aspects, the drive motor 390 may be a linear motor (such as any suitable electric, hydraulic, and / or pneumatic linear actuator) connected to the carrier 290 to move the carrier 290 in the direction VER. In the aspect illustrated in FIG. 3A, the frame includes pulleys 320-325 (or sprockets in the aspect where a chain is used) rotatably connected thereto. While pulleys 320, 321 are connected to the base 305, pulleys 322-325 are connected to the brace 308. A serpentine flexible transmission section member 330 extends around the pulleys 320-325 and is connected to the carrier 290. In the illustrated aspect, the serpentine flexible transmission section member 330 is a toothed belt and the pulleys are toothed pulleys, but as described above, in other aspects, the serpentine flexible transmission section member 330 may be any suitable cable, chain, or other transmission member capable of serpentine cabling.

[0021] The flexible transmission part 330 is configured to enable the torsional stability of the carrier 290 and the payload CU held thereon (note that the carrier 290 carries the payload platform 210B and the transfer arm 210A as described herein), independent of the frame 200F and each other joint between the carrier 290 and at least one lift tower 211, 212, compared to the flexible transmission part 330 that connects the carrier 290 to at least one lift tower 211, 212. For example, as described above, the joints between the ends 290E1, 290E2 and the guide rails 306R, 307R are non-deterministic such that a running clearance is provided therebetween to allow the ends 290E1, 290E2 to move freely in the direction VER. The configuration of the flexible transmission part 330 described herein restricts the ends 290E1, 290E2 at least in the direction VER so as to provide torsional stability to the carrier 290. As can be understood, the flexible transmission part 330 is configured to drive the carrier 290 in the direction VER along the vertical guides 306, 307 and provide torsional stability to the carrier 290 over the entire operating range of the carrier 290 with respect to at least one lift tower 211, 212. The flexible transmission part 330 is also configured to provide torsional stability to the carrier 290 over the entire operating range of the carrier 290 with respect to at least one lift tower 211, 212, which results in payload transfer from the carrier 290 (e.g., the payload platform 210B and the transfer arm 210A carried thereby) to a payload support shelf (such as in the vertical array of storage shelves VAS or any other payload holding area of an automated storage and retrieval system), etc.Similarly, the flexible transmission section 330 is configured to provide torsional stability of the carrier 290 over the entire operating range of the carrier 290 with respect to at least one lift tower 211, 212 that effects payload transfer from a payload support shelf (such as a vertical array of storage shelves VAS or any other payload holding area of an automated storage and retrieval system) to the carrier 290 (e.g., the payload platform 210B and the transfer arm 210A carried thereby).

[0022] As an example, the flexible transmission section member 330 forms an endless or otherwise closed-loop transmission where the ends of the flexible transmission member 330 are fixed to each other or adjacent to each other. The closed-loop transmission is configured to provide torsional stability of the carrier 290 such that the carrier 290, the payload platform 210B, and the transfer arm 210A coupled to and carried by the payload platform 210B remain in a predetermined spatial orientation with respect to one or more of the frame 200F, the moving surface on which the autonomous guided vehicle 110 moves, and the case seating surface on which cases are transferred to and from the case unit (e.g., such that the transfer arm 210A and the payload platform 210B are substantially parallel to the case unit CU holding position to effect picking and placement of the case unit CU by the transfer arm 210A). For example, extension of the transfer arm 210A for picking or placing a case unit moves the center of mass of the transfer arm 210A (and any case unit or object carried on the transfer arm 210A) laterally LAT with respect to the frame 200F (and the carrier 290 of at least one lift tower 211, 212). This lateral movement of the center of mass of the transfer arm 210A (and any object carried thereon) induces at least a torsional moment on the carrier 290, which torsional moment is resisted / countered by the closed-loop transmission formed by the flexible transmission member (belt, chain, cable, etc.) 330.

[0023] An exemplary serpentine (closed-loop) transmission path of the flexible transmission member 330 is illustrated in FIG. 3B, where the flexible transmission member 330 is fixed and connected to the carrier 290 at the connecting portions 340, 341 adjacent to the side ends of the carrier 290 (so that the carrier moves with the flexible transmission member 330 as the flexible transmission member 330 moves). As can be understood, the farther apart the connecting portions 340, 341 are, the higher the resistance of the carrier 290 to the torsional load created, for example, by the extension of the transfer arm 210A. As described above, the drive motor 390 drives the movement of the flexible transmission member 330 (and the carrier 290 connected thereto).

[0024] In the embodiment illustrated in FIG. 3A, the drive motor 390 is attached to the tower frame 300F in any suitable manner using mechanical or chemical fasteners or the like. Pulleys 320, 321 connected to the base 305 are connected to the base 305 such that the axles PXL of the respective pulleys 320, 321 are accessible through the side of the base 305 for connection using a drive connection DC or a driven pulley 350. Here, the driven pulley 350 (or sprocket) is connected to the axle PCL of the pulley 320 (or pulley 321), where the driven pulley 350 is connected to the drive pulley 351 (or sprocket) of the motor 390 by a drive belt 352 or a chain or a cable). In other embodiments, the drive shaft of the motor 390 may be connected to the axle PXL of the pulley 320 (or pulley 321) substantially directly. The axle PXL of the pulley 320 is also connected to the drive shaft 355 by a drive connection DC, where one end of the drive shaft 355 is connected to the axle PXL of the pulley 320 of the lift tower by a drive connection DC and the other end of the drive shaft 355 is connected to the axle PXL of the pulley 321 of the lift tower by another drive connection DC such that each flexible transmission member 330 of the lift towers 211, 212 is driven by a common motor (i.e., the motor 390 drives the flexible transmission members 330 of both lift towers 211, 212) and the carriers 290 (of the lift towers 211, 212) connected to the respective flexible transmission members 330 are moved synchronously in the direction VER. Here, the axles PXL of the pulleys 320, 321 are configured to mate with the corresponding recesses of the driven pulley 350 and the drive connection DC in any suitable manner, such as by forming a spline connection, a hex drive connection, or any other suitable drive connection so that the driving force is transmitted to the axles PXL of the respective pulleys 320, 321. In other embodiments, each lift tower 211, 212 has a respective motor for driving the movement of the respective belt (and the carrier connected thereto), where the motors are synchronized in their movement in any suitable manner using a suitable encoder or the like.

[0025] Referring to FIGS. 4A, 4B, and 4C, in one or more aspects, the lift towers 211, 212 are substantially similar to those described above with respect to FIGS. 3A and 3B, but the carriers 290 of each lift tower 211, 212 are driven by a flexible transmission member 430 (substantially similar to the flexible transmission member 330 described above), and are stabilized against torsional forces by flexible stabilizing members 435, 436 (such as belts, chains, cables, etc.) separate and different from the flexible transmission member 430. In this aspect, the pulley 421 is connected to the base 305 in a manner substantially similar to the pulleys 320, 321 described above, and the pulley 422 is connected to the brace 308 in a manner substantially similar to the pulleys 322 - 325 described above. The flexible transmission member 430 forms a continuous / endless loop around the pulleys 421, 422. In one or more aspects, the flexible transmission member 430 is a toothed belt and the pulleys 421, 422 are toothed pulleys, but in other aspects, any suitable belt, chain, cable, etc., as well as pulleys, may be utilized. The carrier 290 is connected to one side of the continuous loop by a connecting portion 340 as illustrated in FIG. 4C so as to drive the carrier 290 in the direction VER when the flexible transmission member 430 is driven around the pulley by the motor 390 in a manner substantially similar to the method described above with respect to the flexible transmission member 330 (in this aspect, the motor 390 is illustrated as being connected to the axle PXL of the pulley 421 by any suitable drive connection similar to those described above, where the pulleys 421 of the lift towers 211, 212 are connected by a drive shaft 355 in a manner substantially similar to the method described above such that the flexible transmission member 430 and the carrier 290 of the lift towers 211, 212 are moved synchronously in the direction VER). In other aspects, each lift tower 211, 212 may have its own drive motor 390 for driving its respective flexible transmission member 430, where the rotation of the drive motors is synchronized in any suitable manner (such as the methods described herein).

[0026] As described above, the carriers 290 of each of the lift towers 211, 212 illustrated in FIGS. 4A - 4C are stabilized against torsion by a pair of flexible stabilizing members 435, 436 adjacent to or disposed at the side ends of the respective carriers 290 (e.g., against torsional forces induced by the extension of the transfer arm 210A). Each flexible stabilizing member 435, 436 has a terminal 435E1, 436E1 fixed and connected to the brace 308 (by any suitable method such as mechanical or chemical fasteners) and another terminal 435E2, 436E2 fixed and connected to the base 305 (by any suitable method such as mechanical or chemical fasteners). Each flexible stabilizing member 435, 436 follows a serpentine path between the brace 308 and the base 305 (shown in FIG. 4B), where the serpentine path is at least partially defined by a pair of offset pulleys 423A, 424A and 423B, 424B (or sprockets if a chain is utilized) that are rotatably connected adjacent to or at the side ends of the carrier 290 (as illustrated in FIG. 4A). Here, the pulleys 423A, 424A are offset in both the vertical direction VER and the longitudinal direction LON. The pulleys 423B, 424B are also offset in both the vertical direction VER and the longitudinal direction LON, such that, as illustrated in FIG. 4B, the pulleys 423A, 423B are substantially in line with each other in the lateral direction LAT (i.e., coaxial with each other), and the pulleys 424A, 424B are substantially in line with each other in the lateral direction LAT (i.e., coaxial with each other). As seen in FIGS. 4A and 4B, the flexible stabilizing member 435 forms a serpentine path around the pulleys 423A, 424A, and the flexible stabilizing member 436 forms a serpentine path around the pulleys 423B, 424B. The serpentine paths of each flexible stabilizing member 435, 436 form a substantial S - shape around their respective pulleys 423A, 424A, 423B, 424B.Pulley 424A is rotatably fixed to pulley 424B by a shaft 450 (or any other suitable mechanical coupling) so as to maintain at least the relative position of carrier 290 with respect to frame 300F to prevent tilting or inclination of carrier 290 under the torsional load induced on carrier 290 by the extension of transfer arm 210A as described herein, in conjunction with the serpentine paths of flexible stabilizing members 435, 436. That is, when pulley 424A rotates, pulley 424B also rotates with pulley 424A. In other aspects, pulleys 423A, 423B are also rotatably fixed to each other in a manner similar to that described above for pulleys 424A, 424B. In other aspects, instead of the rotatable fixing of pulleys 424A, 424B, pulleys 423A, 423B are rotatably fixed to each other.

[0027] Referring to FIGS. 5A, 5B, and 5C, in one or more aspects, lift towers 211, 212 are substantially similar to those described above with respect to FIGS. 4A, 4B, and 4C, but the carriers 290 of each lift tower 211, 212 are separate and different from flexible transmission member 430 and are stabilized against torsional forces by opposing flexible stabilizing members 535, 536 (illustrated as cables but in other aspects, chains, belts, etc.) that extend at least in direction LAT along carrier 290. For example, the carriers 290 of each lift tower 211, 212 include pulleys 590, 591 disposed on one side of carrier 290 and pulleys 592, 593 disposed on the other side of carrier 290 such that the rotational axes SPX1, SPX2 of each of the pulleys extend in direction LON and the pulleys are positioned substantially parallel to the plane of each respective lift tower 211, 212. In other aspects, pulleys 590 - 593 are disposed on the same / common side of carrier 290. Pulleys 591, 593 at or adjacent to one end of carrier 290 are coaxially disposed along axis SPX2, and the pulleys at or adjacent to the other end of carrier 290 are coaxially disposed along axis SPX1, but in other aspects, pulley 591 may not be coaxially disposed with pulley 593, and pulley 590 may not be coaxially disposed with pulley 592.

[0028] The flexible stabilizing member 535 is at or adjacent to the end 290E1 of the carrier 290 and extends from the pulley 591. One end 535E1 of the flexible stabilizing member 535 is fixedly connected to the brace 308. The other end 535E2 of the flexible stabilizing member 535, which is at or adjacent to the other end 290E2 of the carrier 290 and extends from the pulley 590, is fixedly connected to the base 305. It is wound around the pulleys 590, 591 along a serpentine path (a substantially "S" - shaped path as illustrated in FIG. 5B). The flexible stabilizing member 535 is wound around the pulleys 592, 593 in a manner opposite to that of the flexible stabilizing member 535. For example, the flexible stabilizing member 536 is at or adjacent to the end 290E1 of the carrier 290 and extends from the pulley 593. One end 536E1 of the flexible stabilizing member 536 is fixedly connected to the base 305 (for example, the end 536E1 of the flexible stabilizing member 536 faces the end 535E1 of the flexible stabilizing member 535). The other end 536E2 of the flexible stabilizing member 536, which is at or adjacent to the other end 290E2 of the carrier 290 and extends from the pulley 592, is fixedly connected to the brace 308 (for example, the end 536E2 of the flexible stabilizing member 536 faces the end 535E2 of the flexible stabilizing member 535). It is wound around the pulleys 590, 591 along a serpentine path (a substantially "S" - shaped path as illustrated in FIG. 5C). This opposing serpentine arrangement of the flexible stabilizing members illustrated in FIGS. 5A, 5B, and 5C maintains at least the relative position of the carrier 290 with respect to the frame 300F to prevent tilting or inclination of the carrier 290 under the torsional load induced on the carrier 290 by the extension of the transfer arm 210A as described herein.

[0029] In addition to FIGS. 2A and 2B again, referring to FIGS. 6A, 6B, 6C, 6D, 6E, 6F, and 6G, as described above, the payload deck frame 210BF is connected to the lift towers 211, 212 (e.g., via the carrier 290) and extends between the lift towers 211, 212. In other embodiments, the payload deck frame 210BF is cantilevered from one lift tower or is connected to more than two lift towers. A position adjustment tray 600 is attached on the payload deck frame 210BF. The position adjustment tray 600 includes a base 630 and at least one case unit support surface 610 connected to (or integrally formed with) the base 630 in any suitable manner. The at least one case unit support surface 610 forms a case unit support surface 610P along which the case unit CU carried by the bot 110 can be moved laterally and / or longitudinally to position adjust / relocate the case unit CU on the payload deck 210B as described herein. The at least one case unit support surface 610 is, in one or more embodiments, one or more protrusions 620 extending from the base 630, where each protrusion 620 has an arcuate surface 621 on which the case unit is supported. In other embodiments, the at least one case unit support surface 610 is one or more laterally extending rollers 620A extending in the LAT direction, while in still other embodiments, the at least one case unit support surface 610 is formed by a plurality of ball bearings 620B forming a ball transfer table, and on the other hand, in still other embodiments, the at least one case unit support surface 610 may be formed by a combination of protrusions, rollers, and ball bearings.

[0030] Referring to FIGS. 6A and 6E - 6G, the base 630 of the position adjustment tray 600 is coupled to the payload platform frame 210BF in any suitable manner such that when the payload platform frame 210BF moves in the VERT direction relative to the frame 200F of the bot 110, the position adjustment tray 600 moves with the payload platform frame 210BF. For example, the payload platform frame 210BF includes guide members 666P (e.g., posts, rods, etc.) that capture and hold the position adjustment tray to the payload platform frame 210BF and along which the position adjustment tray slides in the VERT direction. In one or more embodiments, one or more suitable biasing members 666 (e.g., springs, elastic / rubber bushings, etc.) are provided to bias the position adjustment tray 600 away from the payload platform frame 210BF (in the VERL direction), although in other embodiments, gravity and / or the biasing member 666 may bias the position adjustment tray 600 in the VERL direction. When the position adjustment tray 600 is biased away from the payload platform frame 210BF (see FIG. 6E), the case unit support surface 210AFS of the tine or finger 210AF of the transfer arm 210A (as described herein) is disposed on the payload support surface 610P of the position adjustment tray 600. In a state where the position adjustment tray 600 moves toward the payload platform frame 210BF (against the biasing force of one or more biasing members 666 and / or against gravity, e.g., due to contact between the position adjustment tray 600 and the frame 200F), the case unit support surface 210AFS of the tine or finger 210AF of the transfer arm 210A is disposed below the payload support surface 610P such that the case unit CU is transferred from the case unit support surface 210AFS of the finger 210AF to one or more support surfaces 610 of the position adjustment tray 600 (see FIGS. 6F and 6G).

[0031] As illustrated in FIGS. 6A and 6F, at least a portion of the payload stage frame 210BF and at least a portion of the base 630 of the position adjustment tray 600 are fitted within the frame 200F of the bot 110, shaped and sized to recess therein. The position adjustment tray 600 is configured such that when a portion of the payload stage frame 210BF is lowered / retracted (e.g., by the lift towers 211, 212) into the opening 670 of the frame 200F in the direction VERL, the protrusion 620 abuts against the frame 200F (or any other suitable rigid stop surface of the bot 110), seating the position adjustment tray 600 on the frame 200F (or any other suitable rigid stop surface of the bot 110) and causing the protrusion 620 (or any suitable tab or portion of the base 630 in the case of rollers 620A and ball bearings 620B) to extend onto the frame 200F for movement towards the payload stage frame 210BF (in the embodiment illustrated in FIG. 6A, the protrusion extends in the lateral direction LAT, although in other embodiments, any suitable tab may extend in the longitudinal direction LON and / or the lateral direction LAT). As the payload stage frame 210BF continues to move in the direction VERL (when the movement of the position adjustment tray 600 in the direction VERL is stopped by the frame 200F), the payload support surface 610P is positioned on the case unit support surface 210AFS of the tine or finger 210AF for transferring the case unit CU from the finger 210AF to the position adjustment tray 600 (e.g., the support of the case unit is transferred from the transfer arm 210A to the position adjustment tray 600 for position adjustment / repositioning in the directions LON, LAT). Any suitable elastic material (e.g., rubber (or other elastomer / elastic material) bushings, pads, etc.) may be disposed between the position adjustment tray 600 and the frame 200F to substantially damp vibrations from the frame 200F to the position adjustment tray 600 and vice versa.

[0032] When the case unit is position - adjusted / relocated, the lift towers 211, 212 move the payload platform 210B in the direction VERU so that the biasing member 666 and / or gravity biases the position - adjustment tray 600 away from the payload - platform frame 210BF (e.g., in the direction VERL). The continuous movement of the payload platform 210B in the direction VERU causes the case - unit support surface 210AFS of the fingers 210AF to move through (e.g., over) the payload - support surface 610P of the position - adjustment tray 600 to transfer the support of the case unit CU from the position - adjustment tray 600 to the fingers 210AF. As can be understood, the case unit CU can be transported by the bot 110 while being supported on the position - adjustment tray and / or on the fingers 210AF. The position - adjustment tray 600 is also configured to hold any debris (e.g., liquid and / or solid) from the case unit CU held / supported within the payload platform 210B by the transfer arm 210A or the position - adjustment tray 600, such as within the trough 665 (see FIGS. 6B and 7B) adjacent to / therebetween the case - unit support surfaces 610. Holding the debris of the case unit by the position - adjustment tray 600 can prevent the debris from falling, for example, onto the transfer deck 130B (FIG. 1) and the picking passage 130A (FIG. 1), where such fallen debris can reduce the wheel traction between the wheels of the bot 110 and the moving / support surfaces of the transfer deck 130B and the picking passage 130A.

[0033] Referring to FIGS. 6A and 6B - 6D, in one or more alternative embodiments, the base 630 of the position - adjustment tray 600 is coupled to the payload - stage frame 210BF in any suitable manner (such as using guide member 666P) such that the position - adjustment tray 600 moves with the payload - stage frame 210BF when the payload - stage frame 210BF moves in the VERT direction relative to the frame 200F of the bot 110. In one or more embodiments, the position - adjustment tray 600 is coupled to the payload - stage frame 210BF by a biased connection that provides relative movement of the position - adjustment tray 600 relative to the payload - stage frame 210BF in the VERT direction while biasing the position - adjustment tray 600 against the payload - stage frame 210BF in the VERT direction. For example, any suitable biasing member 666 (such as a spring, an elastic / rubber bushing, etc.) biases the position - adjustment tray 600 in the VERL direction towards the payload - stage frame 210BF (see FIG. 6A), resulting in relative movement in the VERT direction between the position - adjustment tray 600 and the payload - stage frame. When the position - adjustment tray 600 is biased against the payload - stage frame 210BF (see FIG. 6B), the case - unit support surface 210AFS of the tine or finger 210AF of the transfer arm 210A (as described herein) is disposed on the payload - support surface 610P of the position - adjustment tray 600. When the position - adjustment tray 600 moves away from the payload - stage frame 210BF (such as against the biasing force of the biasing member 666 (by contact, etc.)), the case - unit support surface 210AFS of the tine or finger 210AF of the transfer arm 210A is disposed below the payload - support surface 610P such that the case unit CU is transferred from the case - unit support surface 210AFS of the finger 210AF to one or more support surfaces 610 of the position - adjustment tray (see FIGS. 6C and 6D).

[0034] As illustrated in FIGS. 6A and 6D, at least a portion of the payload deck frame 210BF and at least a portion of the base 630 of the position adjustment tray 600 are fitted within the frame 200F of the bot 110, shaped and sized to recess therein. The position adjustment tray 600 is such that when a portion of the payload deck frame 210BF is lowered / retracted (e.g., by the lift towers 211, 212) into the opening 670 of the frame 200F in the direction VERL, the protrusion 620 abuts against the frame 200F (or any other suitable rigid stop surface of the bot 110) to seat the position adjustment tray 600 on the frame 200F (or any other suitable rigid stop surface of the bot 110) and be spaced from the payload deck frame 210BF (e.g., movement of the position adjustment tray 600 in the direction VERL is stopped by the frame 200F while the payload deck frame 210BF continues to move in the direction VERL), and the protrusion 620 (or in the case of the rollers 620A and ball bearings 620B, any suitable tab or portion of the base 630) extends onto the frame 200F such that the position adjustment tray 600 is seated on the frame 200F (in the embodiment illustrated in FIG. 6A, the protrusion extends in the lateral direction LAT, but in other embodiments, any suitable tab may extend in the longitudinal direction LON and / or the lateral direction LAT). As the payload deck frame 210BF continues to move in the direction VERL, the case unit support surface 210AFS of the finger 210AF moves past (beneath) the payload support surface 610P of the position adjustment tray 600 to transfer the case unit CU from the finger 210AF to the position adjustment tray 600 (e.g., the support of the case unit is transferred from the transfer arm 210A to the position adjustment tray 600 for position adjustment / repositioning in the directions LON, LAT).

[0035] When the case unit is position - adjusted / relocated, the lift towers 211, 212 move the payload platform 210B in the direction VERU such that the biasing member 666 biases the position - adjustment tray 600 against the payload - platform frame 210BF (e.g., in the direction VERL). The continuous movement of the payload platform 210B in the direction VERU causes the case - unit support surface 210AFS of the finger 210AF to move through (e.g., over) the payload support surface 610P of the position - adjustment tray 600 to transfer the support of the case unit CU from the position - adjustment tray 600 to the finger 210AF. As can be understood, the case unit CU can be conveyed by the bot 110 while being supported on the position - adjustment tray and / or on the finger 210AF. The position - adjustment tray 600 is also configured to hold any debris (e.g., liquid and / or solid) from the case unit CU held / supported within the payload platform 210B by the transfer arm 210A or the position - adjustment tray 600, such as within the trough 665 (see FIGS. 6B and 7B) adjacent to / therebetween the case - unit support surfaces 610. Holding the debris of the case unit by the position - adjustment tray 600 can prevent the debris from falling, for example, onto the transfer deck 130B (FIG. 1) and the picking passage 130A (FIG. 1), where such fallen debris can reduce the wheel traction between the wheels of the bot 110 and the moving / support surfaces of the transfer deck 130B and the picking passage 130A.

[0036] The position adjustment tray 600 is positioned relative to the fingers 210AF of the transfer arm 210A such that, with the payload table 210B raised relative to the frame 200F for picking and / or placing the case unit CU, the case unit support surface 210AFS of the fingers 210AF is disposed on the support surface 610 of the position adjustment tray 600 at a predetermined distance (e.g., gap) CAG. This gap CAG is sized (i.e., minimized) only to allow sufficient clearance between the case units CU supported on the fingers 210AF such that movement of the case unit CU on the support surface 610 (e.g., arcuate support surface 621) is non-contact between the case unit CU and the support surface 610. As described herein, the minimized gap CAG positions the case unit CU picked under in the payload bay 210B and effects seating of the case unit CU onto the position adjustment tray 600 in a position substantially very close to the end effector 210A that loads the payload bay 210B by relative vertical movement (e.g., relative movement of the position adjustment tray 600 is effected by the frame 200F or actuator 666A) between the fingers 210AF and the position adjustment tray 600. For example, when the retraction movement of the transfer arm 210A into the payload table 210B is complete, substantially At the same time and by relative movement between the transfer arm 210A and the position adjustment tray 600 substantially immediately after completion of the retraction movement, the case unit CU is transferred to the position adjustment tray 600. The support surface 610 has a coefficient of friction sufficient to stably hold the case unit CU thereon to align the case unit CU in two alignments (vertical in the direction VER and planar in the directions LON, LAT), with completion of the retraction movement (e.g., the case unit is retracted into the payload table 210B, securely aligned on the position adjustment tray 600, and vehicle 110 passage is initiated within about 10 seconds) and substantially At the same timeEnable the start of the passing operation of the autonomous transport vehicle 110 (where the case unit is not gripped by the position adjustment bars 222, 223, the pusher arm 1150, or the case pliers). As described herein, the position adjustment tray 600 extends over the fingers through contact with the frame 200F, while the payload bay 210B may include a linear actuator 666A (see FIGS. 6B and 6E) for raising or lowering the position adjustment tray 600 relative to the fingers 210A. By way of example, the linear actuator 666A may be utilized when the transfer arm 210A and the payload platform 210B are raised (e.g., via the lift towers 211, 212) to pick the case unit CU from the upper shelf 900U of the array of stacked shelves, as described herein (see FIG. 16).

[0037] Referring to FIGS. 2A, 2B, 7A, and 7B, as described above, the transfer arm 210A is movably coupled to the payload platform frame 210BF in any suitable manner such that the fingers 210AF of the transfer arm 210A are spaced from the payload platform frame 210BF by any suitable distance 667 in the direction VER (FIG. 2B). For example, the transfer arm 210A includes an extension shaft 270 that is coupled to the payload platform frame 210BF and configured to effect movement of the fingers 210AF relative to the payload platform frame 210BF in the direction LAT. Here, the extension shaft 270 includes a linear guide rail 271 coupled to or adjacent to an end 210BE1 of the payload platform frame 210BF and another linear guide rail 272 coupled to or adjacent to an end 210BE2 of the payload platform frame 210BF. The fingers 210AF are coupled to a finger support rail 273 of the transfer arm 210A, where the finger support rail 273 spans between the linear guide rails 271, 272 and is movably coupled to the linear guide rails 271, 272 for reciprocating movement (e.g., extension and retraction) along the linear guide rails 271, 272 in the direction LAT. The transfer arm 210A includes any suitable motor 275 (e.g., a rotary motor, a linear motor, etc.) and a transmission 276 (e.g., a belt, gears, etc.) for driving the finger support rail 273 along the linear guide rails 271, 272, enabling reciprocating movement of the fingers 210AF in the direction LAT. In the embodiment illustrated in the drawings, the transfer arm 210A extends from and retracts into one side of the frame 200F of the bot 110, but in other embodiments, the transfer arm 210A is configured for bi-directional extension (e.g., extends from and retracts into both sides of the frame 200F of the bot 110).

[0038] In the embodiments illustrated in FIGS. 2A, 2B, 7A, and 7B, there are three fingers 210AF1, 210AF2, 210AF3 (see FIGS. 7A and 7B) coupled to the finger support rail 273, although in other embodiments there are more or fewer fingers coupled to the finger support rail 273. Here, one or more of the fingers 210AF1, 210AF2, 210AF3 are movably coupled to the finger support rail 273 so as to be movable in the direction LON along the finger support rail 273 in order to at least change / vary the pitch or distance between the fingers 210AF1, 210AF2, 210AF3. In one or more embodiments, one or more of what are referred to as the outer fingers 210AF1, 210AF3 are movable relative to one or more of what are referred to as the inner fingers 210AF2. For example, the finger 210AF2 is stationary and fixed at a predetermined position on the finger support rail, such as at or along a centerline 777 extending laterally of the payload stage 210B (e.g., does not move relative to the finger support rail 273), or the finger 210AF2 may be driven in the direction LON independently of one or more of the outer fingers 210AF1, 210AF3.

[0039] At least fingers 210AF1, 210AF3 are coupled to finger support rail 273 to move relative to each other and relative to finger 210AF2 in direction LON. In other embodiments, each of fingers 210AF1, 210AF2, 210AF3 is coupled to finger support rail 273 to move relative to each other. Finger support rail 273 includes any suitable number of linear actuators 776 to effect movement of fingers 210AF1, 210AF3 or fingers 210AF1, 210AF2, 210AF3 in direction LON. Fingers 210AF1, 210AF2, 210AF3 may be movable relative to each other in direction LON in a fixed relationship with one or more other fingers or as a single unit. The (one or more) linear actuators are (one or more) any suitable actuator, examples of which include, but are not limited to, pneumatic cylinders, hydraulic cylinders, ball screw drives, lead screw drives, rack and pinion drives, rotary arm linkage drives, belt drives, chain drives, or any other suitable drive configured to effect linear movement of the fingers along the finger support rail in direction LON.

[0040] In one or more embodiments, each of the fingers 210AF1, 210AF3 has its own linear actuator 776 such that the fingers 210AF1, 210AF3 move independently of each other in the direction LON. However, in other embodiments, there is a single linear actuator 776 common to each of the fingers 210AF1, 210AF3 such that the single actuator 776 moves each of the fingers 210AF1, 210AF3 in the direction LON in a fixed relationship. By way of example, the linear actuator 776 is common to both fingers 210AF1, 210AF3 and includes a stepper motor 776M (or other suitable motor), a right-handed lead screw portion 776R, and a left-handed lead screw portion 776L of a lead screw 776S, where the lead screw 776S is coupled to the stepper motor. One of the fingers 210AF1, 210AF3 is coupled to the right-handed lead screw portion 776R and the other of the fingers 210AF1, AF3 is coupled to the left-handed lead screw portion 776L such that when the stepper motor rotates both the left-handed and right-handed lead screw portions 776L, 776R simultaneously in a first rotational direction, the fingers 210AF1, 210AF2 move away from each other and away from the finger 210AF2 to increase the distances 760A, 760B between the fingers to any suitable increased distances 760A’, 760B’, 760A”, 760B”. When the stepper motor 776M rotates both the left-handed and right-handed lead screw portions 776L, 776R simultaneously in a second rotational direction (opposite the first rotational direction), the fingers 210AF1, 210AF2 move towards each other and towards the finger 210AF2 to decrease the distances 760A’, 760B’ to the distances 760A, 760B or to decrease the distances 760A”, 760B” to the distances 760A’, 760B’ or 760A, 460B or to any other suitable distance.The distances 460A, 760B, 760A', 760B', 760A", 760B" correspond to the size of the case unit to be picked / transferred (case units having lengths / widths of 6 inches, 14 inches, and 24 inches are illustrated, but in other aspects, the case unit may have any suitable length / width (see FIGS. 8A - 8C)), the spacing between the protrusions 620 of the position adjustment tray 600 (FIGS. 7A and 7B), and / or the spacing between the slats 900S of the case unit support 900 at the case unit holding position (FIG. 9A). As described above, when a single actuator drives the movement of the fingers 210AF1, 210AF3, the distance 760A' is substantially the same as the distance 760B', and the distance 760A" is substantially the same as the distance 760B", but when each finger 210AF1, 210AF3 is driven by its own respective actuator, the distance 760A' may be different from the distance 760B', and the distance 760A" may be different from the distance 760B". In some aspects, the finger 210AF2 may also be driven along the finger support rail 273 in the direction LON.

[0041] As can be understood, any suitable guide rail / slide 850 (FIGS. 8A, 8B) is included with the linear actuator 776 along which the fingers 210AF1, 210AF3 move, using the finger 210AF2, to be maintained in a predetermined orientation relative to the payload platform 210B and the finger 210AF2 so as to define the case unit support surface CUSP. The case unit support surface CUSP is substantially parallel to / co-planar with the case unit support surface CUSPH defined by the case unit support 900 at the case unit holding position (FIG. 9A).

[0042] In one or more aspects, the actuator 776 and the fingers 210AF2 are coupled to the carriage 773 such that the actuator 776 (and the fingers 210AF1, 210AF3 coupled thereto) and the finger 210AF2 move in the direction LON along the (one or more) rails 774 under the driving force of the actuator 775 (e.g., the actuator moves the fingers 210AF1, 210AF2, 210AF3 and the actuator 776 in the direction LON). The actuator 775 may be substantially similar to the actuator 776 described herein. Here, the fingers 210AF1, 210AF2, 210AF3 are positioned under the payload CU (to pick it up) and (by means such as the positioning bars 222, 223 as described herein) move as a unit in the direction LON to transport the payload CU positioned in the payload stage 210B to somewhere therein. The carriage 773 is sized to effect the longitudinal movement of the fingers as described herein and such that the fingers are positioned somewhere in the payload stage 210B in the direction LON and can be arranged relative to each other to pick up a payload CU of any suitable size. In one or more aspects, the carriage 773 may be a telescoping carriage having a telescoping section 773TS that extends and retracts to provide the operating range of the outer fingers 210AF1, 210AF3 as described herein while allowing the fingers 210AF1, 210AF2, 210AF3 to move together in the direction LON as a single unit. In one aspect, the telescoping section 773TS of the carriage 773 may be extended and retracted in a manner substantially similar to the method of the fingers illustrated and described with respect to FIGS. 9A - 10D, but in other aspects, the telescoping section 773TS may be extended and retracted in any suitable manner to provide the (described herein) operating range of the outer fingers of the transfer arm 210A.By moving the fingers 210AF1, 210AF2, 210AF3 together as a unit (along with the carriage 773, etc.) in the direction LON, or by moving each of the fingers 210AF1, 210AF2, 210AF3 independently in the direction LON, a position - adjusted pick / placement (e.g., centered or off - centered) of the payload CU in the method described herein is achieved, where the payload CU is position - adjusted by the position - adjusting bars 222, 223.

[0043] In FIGS. 7A and 7B, each of the fingers 210AF1, 210AF2, 210AF3 includes a product support portion 710 and a connecting portion 711 that connects the product support portion to the finger support rail 273. In FIGS. 7A and 7B, the connecting portions 711 of the fingers 210AF1, 210AF2, 210AF3 are substantially parallel to each other. In other embodiments, however, the connecting portions 711 of one or more of the fingers 210AF1, 210AF2, 210AF3 are angled with respect to another connecting portion of the fingers 210AF1, 210AF2, 210AF3 as shown in FIGS. 8A - 8C. In the example shown in FIGS. 8A - 8C, the connecting portions 711G1, 711F3 of the fingers 210AF1, 201AF3 are angled towards each other and towards the connecting portion 711F2 of the finger 210AF2. This connecting portion configuration reduces the distance between the connecting portions in the connection between the fingers 210AF1, 210AF2, 210AF3 and the finger support rail 273, which in turn provides a more compact linear actuator 776 and reduces the weight / cost associated with such a linear actuator 776. By the movement of one or more of the fingers 210AF1, 210AF2, 210AF3 in the direction LON, interference between the fingers 210AF1, 210AF2, 210AF3 and a case unit CU held at an adjacent position (e.g., an adjacent case unit) at a predetermined case unit holding position where the case unit is placed / picked by the bot 110 is substantially prevented.

[0044] Referring to FIGS. 9A - 9C, in one or more embodiments, the transfer arm 210A includes reconfigurable finger segments 210S1 - 210S7 that are each substantially similar to the fingers 210AF described herein, unless otherwise noted. The finger segments 210S1 - 210S7 are reconfigurable via the operation of a linear actuator to change / reconfigure the number of fingers 210AF1 - 210AF7 that the transfer arm 210A has. For example, in the embodiments illustrated in FIGS. 9A - 9C, the finger segments 210S1 - 210S3 and 210S5 - 210S7 are movable in the direction LON in a manner similar to the method described above to increase or decrease the number of fingers. In FIG. 9A, the transfer arm 210A is illustrated as having three fingers 210AF1 - 210AF3. Here, the finger segments 210S1 - 210S7 are arranged in segment groups to form finger 210AF1 (formed by finger segments 210S1, 210S2), finger 210AF2 (formed by finger segments 210S3, 210S4, 210S5), and finger 210AF3 (formed by finger segments 210S6, 210S7). In FIG. 9B, the transfer arm 210A is illustrated as having five fingers 210AF1 - 210AF5, where the finger segments 210S1 - 210S7 are arranged in segment groups to form finger 210AF1 (formed by finger segment 210S1), finger 210AF2 (formed by finger segment 210S2), finger 210AF3 (formed by finger segments 210S3, 210S4, 210S5), finger 210AF4 (formed by finger segment 210S6), and finger 210AF5 (formed by finger segment 210S7).In FIG. 9C, the transfer arm 210A is shown as having seven fingers 210AF1 to 210AF7 (however, in other embodiments, more or fewer than seven fingers may be provided), where the finger segments 210S1 to 210S7 are arranged such that each finger segment 210S1 to 210S7 forms a respective finger 210AF1 to 210AF7.

[0045] In a manner similar to the method described above, the finger segment 210S4 is stationary and fixed at a predetermined position on the finger support rail 273, such as on or along the center line 777 extending laterally of the payload stage 210B (for example, not moving relative to the finger support rail 273). The other finger segments 210S1 to 210S3, 210S5 to 210S7 are movable along the finger support rail 273 in the direction LON so as to be disposed at respective distances 760A, 760B, 760A', 460B', 760A", 760B" from the stationary finger segment 210S4 to the fingers 210AF1 to 210AF3 of FIG. 9A, the fingers 210AF1 to 210AF5 of FIG. 9B, and the fingers 210AF1 to 210AF7 of FIG. 9C. However, in other embodiments, the distance between adjacent finger segments may be any suitable distance for disposing the finger segments in the space between the slats 900S of the case unit support 900 at the case unit holding position.

[0046] The movement of finger segments 210A1 to 210S7 is brought about in a manner similar to the method described above with respect to FIGS. 7A to 8C, where finger segments 210S1 and 210S7 are connected to, for example, one of the left and right parent screws 776L, 776R respectively. The movement of finger segments 210S2, 210S3 in the LON direction is made subordinate to the movement of finger segment 210S1, and the movement of finger segments 210S5, 210S6 in the LON direction is made subordinate to the movement of finger segment 210S7. For example, finger segments 210S2, 210S3 are connected to each other via a rigid link 920 such that the distance between finger segments 210S2, 210S3 in the LON direction is fixed (e.g., does not change). A slotted link 921 is connected to finger segment 210S2, where the slotted link 921 includes a slot 921S through which at least a part of finger segment 210S1 reciprocates in the LON direction. Finger segments 210S5, 210S6 are connected to each other via a rigid link 922 such that the distance between finger segments 210S2, 210S3 in the LON direction is fixed (e.g., does not change). A slotted link 923 is connected to finger segment 210S6, where the slotted link 923 includes a slot 923S through which at least a part of finger segment 210S7 reciprocates in the LON direction. Although links 920, 921 are described as separate links, in other embodiments, links 920, 921 may be formed as a single one-piece link that sets the distance between finger segments 210S2, 210S3, connects them, forms slot 921S, and along which finger segment 210S1 reciprocates. Similarly, although links 922, 923 are described as separate links, in other embodiments, links 922, 923 may be formed as a single one-piece link that sets the distance between finger segments 210S5, 210S6, connects them, forms slot 923S, and along which finger segment 210S7 reciprocates.As described above, any suitable number of dependent fingers can be included in the transfer arm 210A, and more than seven fingers can be provided so as to operate in a telescoping method substantially similar to the telescoping method described herein.

[0047] Referring to FIGS. 9A-9C in sequence, FIG. 9A illustrates the finger segments 210S1-210S7 in a contracted configuration, where finger segment 210S1 substantially abuts finger segment 210S2, and finger segments 210S3, 210S5 each substantially abut finger segment 210S4, and finger segment 210S7 substantially abuts finger segment 210S6. The linear actuator 776 is operative to move finger segment 210S7 in the direction LON toward the end 210BE2 (see FIG. 7A) of the payload platform 210B and to move finger segment 210S1 in the direction LON toward the end 210BE1 of the payload platform 210B. As seen in FIG. 9B, due to the movement of finger segment 210S1 toward end 210BE1, finger segments 210S1, 210S2 are separated and reconfigured as fingers 210AF1, 210AF2 such that finger segment 210S1 moves along slot 921S until it reaches distance 760A'. One or more of the rigid link 920, finger segment 210S2, and finger segment 210S3 are held in place by any suitable detent (such as a biased ball and recess) or any suitable biasing member (such as a spring) during the movement of finger 210S1 up to distance 760A'. Due to the movement of finger segment 210S7 toward end 210BE2, finger segments 210S6 and 210S7 are separated and reconfigured as fingers 210AF4, 210AF5 such that finger segment 21S7 moves along slot 923S until it reaches distance 760B'. One or more of the rigid link 922, finger segment 210S5, and finger segment 210S6 are held in place by any suitable detent (such as a biased ball and recess) or any suitable biasing member (such as a spring) during the movement of finger 210S7 up to distance 760B'. It is noted that finger segments 210S3-210S5 are reconfigured as finger 210AF3.

[0048] As can be seen in FIG. 9C, with further movement of finger 210S1 towards end 210BE1 in direction LON, finger 210S1 engages with end 921SE of slot 921S. As finger segment 210S1 continues to move towards end 210BE1 while engaging with end 921SE, finger segment 210S1 pulls finger segments 210S2, 210S3 towards end 210BE1 by links 921, 920 (e.g., the movement of finger segments 210S2, 210S3 is made to be dependent on the movement of finger segment 210S1). Here, finger segments 210S1 - 210S3 are each reconfigured as fingers 210AF1 - 210AF3 and are arranged at distances 760”, 760A’, 760A. Similarly, with further movement of finger segment 210S7 towards end 210BE2 in direction LON, finger 210S7 engages with end 923SE of slot 923S. As finger segment 210S7 continues to move towards end 210BE2 while engaging with end 923SE, finger segment 210S7 pulls finger segments 210S5, 210S6 towards end 210BE2 by links 922, 923 (e.g., the movement of finger segments 210S5, 210S6 is made to be dependent on the movement of finger segment 210S1). Here, finger segments 210S1 - 210S3 are each reconfigured as fingers 210AF5 - 210AF7 and are arranged at distances 760B, 760B”, 760B”. It is noted that finger segment 210S4 is reconfigured as finger 210AF4.As can be understood, the reconfiguration of the finger segments from fingers 210AF1 to 210AF7 to fingers 210AF1 to 210AF5 and from 210AF1 to 210AF5 to 210AF1 to 210AF3 is performed in a method substantially opposite to the method described above, where, by the retractable movement of finger segments 210S1, 210S7, finger segment 210S1 substantially abuts finger segment 210S2, pushes finger segments 210S2, 210S3 towards finger segment 210S4, finger segment 210S7 substantially abuts finger segment 210AS6, and pushes finger segments 210S5, 210S6 towards finger segment 210S4.

[0049] Referring to FIGS. 10A to 10D in sequence, FIG. 10A illustrates the contracted configuration of finger segments 210S1 to 210S7 that is substantially similar to the configuration of FIG. 9A. Here, finger segment 210S1 substantially abuts finger segment 210S2, finger segments 210S3 and 210S5 are each substantially abutted against finger segment 210S4, and finger segment 210S7 substantially abuts finger segment 210S6. However, in the embodiments illustrated in FIGS. 10A to 10C, each connection portion between finger segment 210S1 and finger segment 210S2 and between finger segment 210S6 and finger segment 210S7 is articulated link connection portions 1010A, 1010B. For example, finger segment 210S1 is connected to rail 273R of finger support rail 273 by slide 1021. Finger segments 210S2 and 210S3 are connected to rail 273R by slide 1020 so as to be separated from each other by a predetermined distance in a manner substantially similar to the method described with respect to FIGS. 9A to 9C. Finger segment 210S7 is connected to rail 273R of finger support rail 273 by slide 1023. Finger segments 210S5 and 210S6 are connected to rail 273R by slide 1022 so as to be separated from each other by a predetermined distance in a manner substantially similar to the method described with respect to FIGS. 9A to 9C. Articulated link connection portion 1010A includes a first link 1011 and a second link 1012. The proximal end of the first link 1011 is pivotally connected to slide 1020 about axis 1010X1 at the proximal end (see FIG. 10D for an articulated link connection portion 1010B that is substantially similar to articulated link connection portion 1010A). The proximal end of the second link 1012 is pivotally connected to the distal end of the first link 1011 about axis 1010X. The distal end of the second link 1012 is pivotally connected to slide 1021 about axis 1010X2 (see FIG. 10D for slide 1023). Axis 1010X is moved and guided by guide channel 1010C so as to be folded in a direction opposite to slides 1020 and 1021.For example, the shaft 1010X includes a post or pin 1099 (see FIG. 10D) that extends into the guide channel 1010C and follows the guide channel 1010C such that when folded, the guidance of the shaft 1010X along the guide channel 1010C substantially prevents the coupling / locking of the first link 1011 and the second link 1012, and positions the shaft 1010X such that the first link 1011 and the second link 1012 are in a spatial relationship facing the finger segments 210S1, 210S2.

[0050] Similarly, the articulated link connection 1010B includes a first link 1011 and a second link 1012. The first link 1011 is pivotally connected to the slide 1022 about the shaft 1010X1 at its proximal end. The proximal end of the second link 1012 is pivotally connected to the distal end of the first link 1011 about the shaft 1010X. The distal end of the second link 1012 is pivotally connected to the slide 1023 about the shaft 1010X2. The shaft 1010X is moved and guided so as to be folded in a direction opposite to the slides 1020, 1021 by the guide channel 1010C. For example, the shaft 1010X includes a post or pin 1099 (FIG. 10D) that extends into the guide channel 1010C and follows the guide channel 1010C such that when folded, the guidance of the shaft 1010X along the guide channel 1010C substantially prevents the coupling / locking of the first link 1011 and the second link 1012, and positions the shaft 1010X such that the first link 1011 and the second link 1012 are in a spatial relationship facing the finger segments 210S6, 210S7.

[0051] In a manner similar to the above, the finger segments 210A1, 210S7 are simultaneously driven in opposite directions along the finger support rail 273 in the direction LON so as to move towards and away from each other. For example, the linear actuator 776 is operated to move the finger segment 210S7 in the direction LON towards the end 210BE2 (see FIG. 7A) of the payload platform 210B and to move the finger segment 210S1 in the direction LON towards the end 210BE1 of the payload platform 210B. As seen in FIG. 10B, due to the movement of the finger segment 210S1 (and the slide 1021 to which the finger segment 210S1 is connected) towards the end 210BE1, the finger segment 210S1 moves along the rail 273 until the finger segment 210S1 reaches a distance 760A' such that the finger segments 210S1, 210S2 are separated and reconfigured as fingers 210AF1, 210AF2 (e.g., by deploying the first link 1011 and the second link 1012 of the articulated link connection 1010A with respect to each other). One or more of the slides 1020 to which the finger segments 210S2, 210S3 are connected, the finger segment 210S2, and the finger segment 210S3 are held in place by any suitable detent (e.g., a biased ball and recess, etc.) during the movement from the finger segment 210S1 to the distance 760A'. Due to the movement of the finger segment 210S7 (and the slide 1023 to which it is connected) towards the end 210BE2, the finger segment 210S7 moves along the rail 273 until the finger segment 210S7 reaches a distance 760B' such that the finger segments 210S6 and 210S7 are separated and reconfigured as fingers 210AF4, 210AF5 (e.g., by deploying the first link 1011 and the second link 1012 of the articulated link connection 1010A with respect to each other).One or more of the slide 1022 to which the finger segments 210S5, 210S6 are connected, the finger segment 210S5, and the finger segment 210S6 are held in place by any suitable detent (such as a biased ball and recess, etc.) during movement from the finger 210S7 to the distance 760B'. It is noted that the finger segments 210S3 to 210S5 are reconfigured as the finger 210AF3.

[0052] As can be seen in FIG. 10C, further movement of the finger 210S1 towards the end 210BE1 in the direction LON causes the finger 210S1 / slide 1021 to pull the slide 1020 (and the finger segments 210S2, 210S3 connected thereto) towards the end 210BE1 by means of the deployed articulated link connection 1010A (e.g., the movement of the finger segments 210S2, 210S3 is made dependent on the movement of the finger segment 210S1). Here, the finger segments 210S1 to 210S3 are each reconfigured as fingers 210AF1 to 210AF3 and are arranged at distances 760”, 760A’, 760A. Similarly, further movement of the finger 210S7 towards the end 210BE2 in the direction LON causes the finger 210S7 / slide 1023 to pull the slide 1022 (and the finger segments 210S5, 210S6 connected thereto) towards the end 210BE2 by means of the deployed articulated link connection 1010B (e.g., the movement of the finger segments 210S5, 210S6 is made dependent on the movement of the finger segment 210S1). Here, the finger segments 210S1 to 210S3 are each reconfigured as fingers 210AF5 to 210AF7 and are arranged at distances 760B, 760B”, 760B”. It is noted that the finger segment 210S4 is reconfigured as the finger 210AF4. As can be understood, the reconfiguration of the finger segments from the fingers 210AF1 to 210AF7 to the fingers 210AF1 to 210AF5 and from the fingers 210AF1 to 210AF5 to the fingers 210AF1 to 210AF3 is carried out in a manner substantially opposite to the method described above, where the retracting movement of the finger segments 210S1, 210S7 causes the finger segment 210S1 to substantially abut against the finger segment 210S2, push the finger segments 210S2, 210S3 towards the finger segment 210S4, the finger segment 210S7 to substantially abut against the finger segment 210AS6, and push the finger segments 210S5, 210S6 towards the finger segment 210S4.

[0053] Referring to FIGS. 2A, 2B, 2E, 2F, 7A, and 7B, in one or more aspects, the case handling assembly 210 includes case unit positioning. Here, at least one positioning bar 222, 223 is movably coupled to the payload platform frame 210B in any suitable manner to move in the direction LON to position the case unit CU at a predetermined position within the payload platform 210B relative to the longitudinal axis LAX of the bot 110. In the illustrated example, there are two positioning bars 222, 223, both of which move in the direction LON so as to move at least towards and away from each other, but in other aspects, one of the positioning bars 222, 223 is stationary and fixed in the direction LON while the other of the positioning bars 222, 223 moves in the direction LON towards and away from the positioning bars 222, 223. As described herein, the positioning bars 222, 223 can be driven independently. By driving each positioning bar 222, 223 independently, positioning of the case unit at any position within the payload bay 210B is achieved. The case unit CU can be positioned off-center (e.g., relative to the centerline of the payload platform 210B in the direction LAT). By positioning the case unit CU off-center within the payload bay 210B, a continuous equal gap is provided between the case units on the storage shelf, which improves storage density.

[0054] In one or more aspects, the position adjustment bars 222, 223 are coupled to one or more linear guide rails 225 of the payload platform frame 210BF. The position adjustment bars 222, 223 are, in one aspect, coupled to any suitable one or more drive motors 226 and one or more transmission parts 227 similar to the drive motor 275 and the transmission part 276 that drive the movable finger segments described herein. For example, in one or more aspects, a single drive motor 226 drives the movement of both position adjustment bars 222, 223, where the drive motor 226 is a stepper motor or any other suitable motor coupled to a lead screw in a manner similar to the method described above with respect to the finger segments. Here, one end of the lead screw (e.g., the transmission part 227) has a right-handed thread and the other end of the lead screw has a left-handed thread. Each position adjustment bar 222, 223 is configured such that when the drive motor 275 rotates the lead screw in a first rotational direction, the position adjustment bars 222, 223 move towards each other (and towards the longitudinal centerline CL of the payload platform 210B), and when the drive motor 275 rotates the lead screw in a second opposite rotational direction (i.e., opposite to the first rotational direction), the position adjustment bars 222, 223 move away from each other (e.g., the position adjustment bar 222 moves towards the end 200BE1 of the payload platform 210B and the position adjustment bar 223 moves towards the end 200BE2 of the payload platform 210B), and includes nuts that engage with one of each of the right-handed and left-handed threads of the lead screw.Here, both the position adjustment bars 222 and 223 are driven by a single (i.e., the same) drive motor 226 and transmission part 227 (the drive motor and transmission part are common to both position adjustment bars 222 and 223). However, in other embodiments, the bot 110 includes two drive motors 226 and at least one transmission part 227 (i.e., one transmission part for each position adjustment bar 222 and 223 or a common (i.e., one) transmission part for each position adjustment bar 222 and 223). Thus, each position adjustment bar 222 and 223 is driven to move in the direction LON independently of the movement of the other position adjustment bar 222 and 223 by its respective motor and transmission part (where the position adjustment of the case unit is not limited to "central position adjustment" relative to the center line CL of the payload table. Instead, the case unit can be position-adjusted to any position between the ends 210BE1 and 210BE2 of the payload table 210B).

[0055] Figures 2E and 2F illustrate an example of using two drive motors 226 to move each of the position adjustment bars 222, 223 independently in the direction LON to position the payload CU somewhere along the direction LON within the payload stage 210B. In this example, each of the position adjustment bars 222, 223 includes a respective motor 226 coupled to a common stationary transmission 227. Here, the transmission 227 is a flexible transmission similar to the flexible transmission 330 described herein. One end of the transmission 227 is fixedly coupled to the end 210BE1 of the frame 210BF of the payload stage 210B by any suitable means (e.g., clamp, removable fastener, clip, etc.). The opposite end of the transmission 227 is fixedly coupled to the opposite end 210BE2 of the frame 210BF of the payload stage 210B by any suitable means (e.g., clamp, removable fastener, clip, etc.). The position adjustment bar 222 includes a motor 226 attached to and carried thereby the position adjustment bar 222 in any suitable manner. The position adjustment bar 222 also includes a drive pulley 226P3 coupled to and driven thereby the motor 226. An idler pulley 226P4 is coupled to the position adjustment bar 222 under the drive pulley 226P3 and positioned relative to the position adjustment tray 600 so as to extend at least partially under the payload support surface 610P of the payload bay 210B. The position adjustment bar 223 is similarly configured such that the position adjustment bar 223 includes a motor 226 attached to and carried thereby the position adjustment bar 223 in any suitable manner, a drive pulley 226P1 is coupled to and driven thereby the motor 226, and an idler pulley 226P2 is coupled to the position adjustment bar 223 under the drive pulley 226P1 and positioned relative to the position adjustment tray 600 so as to extend at least partially under the payload support surface 610P of the payload bay 210B.

[0056] The flexible transmission part is wound in a meandering shape around pulleys 226P1, 226P2 and pulleys 226P3, 226P4 such that a part 227P of the transmission part 227 extends below the payload support surface 610P of the payload bay 210B. The meandering arrangement of the transmission part 227 around the pulleys 226P1, 226P2 also results in an engagement between the drive pulley 226P1 and the transmission part 227 such that when the motor 226 (of the position adjustment bar 223) rotates the drive pulley 226P1, the position adjustment bar 223 moves in the direction LON independently of the movement of the position adjustment bar 222. Similarly, the meandering arrangement of the transmission part 227 around the pulleys 226P3, 226P4 also results in an engagement between the drive pulley 226P3 and the transmission part 227 such that when the motor 226 (of the position adjustment bar 222) rotates the drive pulley 226P3, the position adjustment bar 222 moves in the direction LON independently of the movement of the position adjustment bar 223.

[0057] By adjusting the position of the case unit CU on the payload table 210B in the LON direction, a known position of the case unit CU at a predetermined position in the case unit holding position is provided on the bot 110. The adjustment of the position of one or more case units CU is performed by at least one position adjustment bar 222, 223 with one or more case units CU held (supported) on the fingers 210AF of the transfer arm 210A or with one or more case units CU held (supported) on the position adjustment tray 600. In one or more aspects, the position adjustment tray 600 includes channels 677, 678 that provide a running clearance in the LON direction for the connection between at least one position adjustment bar 222, 223 and the linear guide rail 225 (and the transmission part 276 connecting to at least one position adjustment bar 222, 223). At least one linear guide rail 225 is illustrated as being located at the approximate center of the payload table 210B and extending in the LON direction, but in other aspects, at least one linear guide rail 225 is positioned at any suitable position on the payload table 210B and / or on the transfer arm 210A to effect the movement of the position adjustment bars 222, 223 in the LON direction. In one or more aspects, at least a portion of the position adjustment bars 222, 223 is movable in the LAT direction so as to extend at least partially outside the region bounded by the payload table 210B.

[0058] Here, independent movement of the alignment bars 222, 223 provides alignment of the payload CU at any position along the direction LON within the payload platform, for example to provide continuous equal gaps between case units on a storage shelf, which improves storage density. As described above, the under-pick end effector or transfer arm 210A is utilized to transfer the payload CU to or from the payload platform 210B at an aligned (e.g., in the direction LON) position using the alignment bars 222, 223. In one aspect, the fingers 210AF of the transfer arm 210A are retracted with the payload CU thereon into the payload platform 210B to roughly position the payload CU at a predetermined aligned position in the direction LON. The retraction movement of the fingers 210AF and the payload CU thereon causes the payload CU to move substantially parallel to the seating of the payload CU in the payload platform 210B. At the same time , and substantially upon completion of the retraction movement of the transfer arm 210A (as described herein). At the same time , can be a compound motion in both directions LON and LAT such that the payload CU may be aligned with a two degree alignment. In one or more embodiments, the support surface 210AFS of the fingers 210AF forms a support surface against which the payload CU is aligned with a two degree alignment, where the alignment bars 222, 223, the pusher 1150, and / or the tabs 1250 with the fingers 210AF perform the alignment of the payload CU with the two degree alignment. When the payload CU is seated on the payload platform 210B (e.g., seated on the fingers 210AF or on the positioning tray 600), the positioning bars 222, 223 can be moved independently to fine-tune the payload's positioning relative to the fingers 210AF and the storage position 130S (or other holding position) so that placement of the payload CU in the storage space 130S (or other holding position) by the vehicle 110 maintains a minimum (equal) spacing between adjacent payloads in the storage space 130S, thereby improving storage density as described herein.

[0059] Referring to FIGS. 11A - 11C and FIGS. 12A - 12H, each of the position adjustment bars 222, 223 includes a case pressing assembly 1110 and a case retracting assembly 1120. The case pressing assembly 1110 and the case retracting assembly 1120 are described with respect to the position adjustment bar 222, and it should be noted that the case pressing assembly 1110 and the case retracting assembly 1120 of the position adjustment bar 223 are substantially similar. Here, the position adjustment bar 222 includes slots 1130, 1131 that are arranged vertically and extend in the direction LAT along the position adjustment bar 222. In FIG. 11A, the case pressing assembly 1110 is associated with the slot 1130 and the case retracting assembly 1120 is associated with the slot 1131, but in other aspects such as the aspect illustrated in FIG. 12A, the case pressing assembly 1110 is associated with the slot 1131 and the case retracting assembly 1120 is associated with the slot 1130. The case pressing assembly 1110 and the case retracting assembly 1120 are used in combination to grip the case unit conveyed by the bot 110 in one or more aspects. In one or more aspects, one or more of the case pressing assembly 1110 and the case retracting assembly 1120 are utilized for the position adjustment of the case unit CU in the direction LAT, where the case unit is supported by the fingers 210AF and / or the position adjustment tray 600. The case retracting assembly 1120 is utilized to draw the case unit CU into the payload platform 210B to substantially prevent the overhang of the case unit (for example, a part of the case unit extends outside the payload platform 210B through the transfer opening 1199 of the payload platform 210B).

[0060] The pressing assembly 1110 includes any suitable linear actuator 1210 (e.g., a lead screw drive, belt drive, piston, etc. driven by any suitable actuator such as a stepper motor, servo motor, pneumatic device, hydraulic device, etc.) (see FIGS. 12A, 12B), a slider 1211 connected to the linear actuator 1210 (see FIGS. 12A, 12B), and a pusher arm or tab 1150 connected to the slider 1211 via a slot 1131 (or 1130 depending on whether the pressing assembly is associated with slot 1131 or slot 1130). The linear actuator 1210 is configured to move the slider 1211 in the direction LAT along the channel or slot 1131 in any suitable manner. The pusher arm 1150 is connected to the slider 1211 (or integrally formed with the slider 1211) using any suitable mechanical or chemical fastener and is configured to have a case contact surface 1150S that contacts the side of the case unit CU to push the case unit toward the transfer opening 1199 of the payload platform 210B through which the case unit CU passes for transfer between the payload platform 210B and the like.

[0061] The retraction assembly 1120 includes any suitable linear actuator 1225 (e.g., a lead screw drive, belt drive, piston, etc. driven by any suitable actuator such as a stepper motor, servo motor, pneumatic device, hydraulic device, etc.), a rotary slider assembly 1230 coupled to the linear actuator 1225, and a pusher arm or tab 1250 coupled to the rotary slider assembly 1230. The linear actuator 1210 is configured to move the rotary slider assembly 1230 in the direction LAT along the slot 1131 in any suitable manner. The rotary slider assembly 1230 includes a non-rotating plug 1231 and a rotating carrier 1232. The retraction arm or tab 1250 is coupled to the rotating carrier 1232 as described herein. The non-rotating plug 1231 is configured to linearly slide in the direction LAT within the channel 1277 of the position adjustment bar 222 under the driving force of the linear actuator 1225. For example, the non-rotating plug 1231 includes a channel engagement portion 1233 including one or more load-bearing surfaces 1233S (four are shown for illustrative purposes, but in other embodiments there may be more or fewer load-bearing surfaces than four, such as the one surface illustrated in FIG. 12E), and an anti-rotation tab 1234 configured to extend at least partially through the slot 1130 (or slot 1131 depending on which slots 1130, 1131 the rotary slider assembly 1230 is associated with). The engagement between the slot 1130 and the anti-rotation tab 1234 prevents rotation of the non-rotating plug 1231 in the direction 1291 about the axis of rotation 1290 within the channel 1277. The non-rotating plug 1231 also includes a carrier engagement portion 1235 configured to join and connect to the rotating carrier 1232 so as to enable rotation of the rotating carrier 1232 in the direction 1291 within the channel 1277 and linear movement of the rotating carrier 1232 in the direction LAT, where the rotation and linear movement of the rotating carrier 1232 (and the tab 1250 coupled thereto) are driven by a single motor / linear actuator 1225.The non-rotating plug 1231 is connected (e.g., using mechanical and / or chemical fasteners) to the linear actuator 1225 in any suitable manner for reciprocating sliding movement in the direction LAT along the channel 1277 (e.g., connected to one side of the belt / chain loop of the linear actuator 1225, connected to the actuator rod / screw of the linear actuator, connected to the magnetic follower member of the linear actuator 1225, etc.).

[0062] The rotary carrier 1232 includes a tab attachment portion 1260 and a cam portion 1261 connected to (or integrally formed with) the tab attachment portion 1260. The tab attachment portion 1260 is shaped and sized to slide within or otherwise pass through the channel 1277. The tab 1250 extends away from the tab attachment portion 1260 and is connected to the tab attachment portion 1260 at a connection portion 1262 so as to be cantilevered from the tab attachment portion 1260. The cam portion 1261 is a cylindrical tube having an opening 1263, and the carrier engagement portion 1235 of the non-rotating plug 1231 is inserted into the opening 1263 for reciprocating movement within the opening 1263. The cam portion 1260 is illustrated as having an opening 1263 into which the carrier engagement portion 1235 of the non-rotating plug 1231 is inserted, but in other embodiments, the carrier engagement portion 1235 includes an opening and the cam portion 1261 is inserted into the carrier engagement portion 1235 of the non-rotating plug 1231.

[0063] In the aspect illustrated in FIG. 12D, the surface of the opening 1263 includes one or more protrusions 1263P that extend radially inward (e.g., toward the axis of rotation 1290). The protrusions 1263P form a cam surface that engages a corresponding recess 1235R of the carrier engagement portion 1235. Here, the protrusions extend helically about the axis of rotation 1290 along the length of the opening 1263. The mating recess 1235R extends helically around the carrier engagement portion 1235 and about the axis of rotation 1290 so as to engage or otherwise mate with the protrusions 1263P. The protrusions 1263P and the recesses 1235R are configured such that movement of the non-rotating plug 1231 in the direction LAT1 at a predetermined distance (e.g., with a portion of the carrier engagement portion 1235 outside the opening 1263 increasing while the non-rotating plug is held in the state of moving in the direction LAT1) causes rotation of the tab 1250 in the direction 1291 about the axis of rotation 1290 at an angle α as illustrated by comparison of FIGS. 12A and 12B through the cam action of the engaged protrusions 1263P and recesses 1235R. In one or more aspects, the angle α is about 90°, but in other aspects, the angle α is greater than or less than about 90°. As can be understood, the protrusions 1263P and the recesses 1235R are configured such that movement of the non-rotating plug 1231 in the opposite direction LAT2 at a predetermined distance (e.g., with a portion of the carrier engagement portion 1235 outside the opening 1263 decreasing while the non-rotating plug is held in the state of moving in the direction LAT2) causes reverse rotation of the tab 1250 in the direction 1291 about the axis of rotation 1290 at the angle α through the cam action of the engaged protrusions 1263P and recesses 1235R.

[0064] To enable rotation of the rotary carrier 1232 relative to the non-rotating plug 1231, which is held against rotation by the engagement of the anti-rotation tab 1234 with the slot 1130, the rotary carrier 1232 is held stationary in the direction LAT, at least in part, by the stop surfaces 1260S1, 1260S2 of the rotary carrier 1232. The stop surfaces 1260S1, 1260S2 extend from the rotary carrier 1232 so as to engage with respective ones of the stop surfaces 1268, 1269 of the channel 1277. For example, the channel 1277 includes a slot or opening 1270 disposed adjacent to the ends 222E, 223E of the position adjustment bars 222 (and 223) closest to the transfer opening 1199 of the payload stage 210B. The slot 1270 intersects the slot 1130. Here, the movement of the non-rotating plug 1231 in the direction LAT1 under the driving force of the linear actuator 1225 causes rotation of the stop surfaces 1260S1, 1260S2 (and the tab 1250 of the rotary carrier 1232) in the direction 1291A towards the slot 1130 (via the cam engagement of the one or more protrusions 1263P with the corresponding recesses 1235R), where the rotary carrier 1232 is held against movement in the direction LAT1 by the engagement of the stop surface 1260S1 of the rotary carrier 1232 with the stop surface 1269 of the channel 1277. The continued rotation of the rotary carrier 1232 enabled by the movement of the non-rotating plug 1231 in the direction LAT1 causes the disengagement of the stop surfaces 1260S1, 1269 and the alignment of the stop surfaces 1260S1, 1260S2 with the slot 1130. With the stop surfaces 1260S1, 1260S2 aligned with the slot 1130, rotation of the rotary carrier 1232 is prevented (via the abutting contact between the stop surfaces 1260S1, 1260S2 and the side surface 1130S1 of the slot 1130), and the rotary carrier 1232 moves in the direction LAT1 together with the non-rotating plug 1231. It is noted that with the rotation of the rotary carrier 1232 blocked by the slot 1130, the cammed engagement between the one or more protrusions 1263P and the corresponding recesses 1235R is locked, resulting in movement of the non-rotating plug 1231 and the rotary carrier 1232 as a unit in the direction LAT.

[0065] To effect rotation of the stop surfaces 1260S1, 1260S2 (and the tabs 1250 of the rotary carrier 1232) in direction 1291B, the linear actuator 1255 moves the non-rotary plug 1231 (and the rotary carrier 1232) in direction LAT2 such that the stop surfaces 1260S1, 1260S2 move into the slots 1270 (and are disengaged from the side surfaces 1130S1, 1130S2 of the slots 1130) and the stop surface 1260S2 engages the stop surface 1268 of the slot 1270. Engagement of the stop surfaces 1260S2, 1268 stops movement of the rotary carrier 1232 in direction LAT2, while disengagement of the stop surfaces 1260S1, 1260S2 from the side surface 1130S2 of the slot 1130 enables rotation of the rotary carrier 1232 in direction 1291B. In the state where the stop surfaces 1260S2, 1268 are engaged and the state where the stop surfaces 1260S1, 1260S2 are disengaged from the side surface 1130S2 of the slot 1130, further movement of the non-rotary plug 1231 in direction LAT2 under the propulsive force of the linear actuator 1225 causes rotation of the stop surfaces 1260S1, 1260S2 (and the tabs 1250 of the rotary carrier 1232) away from the slot 1130 in direction 1291B at an angle α (via cam engagement of the recesses 1235R corresponding to one or more protrusions 1263P). As described herein, rotation of the tab 1250 from a position that may be referred to as a retracted position (shown in FIGS. 2B, 11A, 12A, and 12E) to a position that may be referred to as an extended position (shown in FIGS. 2A, 11B, 12B, 12C, 12G, and 12H) pulls the case unit held by the payload platform 210B in direction LAT1 (FIGS. 2A and 11A), orienting the tabs 1250 of the position adjustment bars 222, 223 for case unit engagement.

[0066] Referring to FIGS. 12E-12H, a portion of the retraction assembly 1120 is illustrated in accordance with aspects of the disclosed embodiments. What is illustrated in FIGS. 12E-12H is substantially similar to what has been described above with respect to FIGS. 12A-12D, unless otherwise noted. In FIGS. 12A-12D, the rotary slider assembly 1230 is configured such that the retracted configuration of the tab 1250 is a configuration in which the tab 1250 extends toward (e.g., in the direction VERB) the vehicle loading surface VRS of the transfer deck 130B or the picking passage 130A, while the retracted configuration of the tab 1250 in FIGS. 12A-12D is a configuration in which the tab 1250 extends away from (e.g., in the direction VERA) the vehicle loading surface VRS of the transfer deck 130B or the picking passage 130A. However, in other aspects, the rotary slider assembly 1230 is configured at a retracted position of the tab 1250 at any suitable position that provides substantially unobstructed passage of the case unit through the transfer opening 1199 (see, e.g., FIG. 11A), and the tab 1250 is rotated by any suitable rotation angle α that orients the tab 1250 for engagement with the case unit CU as described herein.

[0067] In FIGS. 12E - 12H, at least one of the stop surfaces 1260S1, 1260S2 is integrated with the tab 1250. In addition to the stop surfaces 1260S1, 1260S2, the secondary surface of the tab 1250 engages the surfaces 1268, 1269 and the side surfaces 1130S1, 1130S2 of the slot 1130 in a manner similar to the method described above, but note that the stop surfaces 1260S1, 1260S2 include both the primary surface of the tab 1250 for engaging the surfaces 1268, 1269 of the slot 1270 and the secondary surface of the tab 1250 for engaging the side surfaces 1130S1, 1130S2 of the slot 1130. In the embodiment shown in FIGS. 12E - 12H, the configuration of the cammed engagement between the non - rotating plug 1231 and the rotating carrier 1232 is in the form of at least one slot 1286 and at least one pin or post 1287. Here, the cam portion 1261 includes at least one cammed slot 1286, and the carrier engagement portion 1235 includes at least one pin 1287 that engages at least one slot 1286. In the exemplary embodiment, there are two cammed slots 1286 and two respective pins 1287, but in other embodiments, there may be one or more sets of cammed slots 1286 and pins 1287 greater than two. When the non - rotating plug 1231 is moved in the direction LAT1, the rotating carrier 1232 is retained from moving in the direction LAT1 by the engagement of at least one of the stop surfaces 1260S1, 1269 in a manner similar to the method described above. The movement of the non - rotating plug 1231 in the direction LAT1 causes relative movement of at least one pin 1287 with respect to at least one slot 1286, enabling rotation of the tab 1250 and the rotating carrier 1232 in the direction 1291 until rotation of the tab 1250 is blocked through engagement of one or more of the stop surfaces 1260S1, 1260S2 and one or more of the side surfaces 1130S1, 1130S2 of the slot 1130 in a manner similar to the method described above.When the stop surfaces 1260S1, 1260S2 are aligned with the slots 1130 and the rotation of the rotary carrier 1232 is blocked, the cammed engagement of at least one pin 1287 and at least one slot 1286 is locked, and the rotary carrier 1232 and the non-rotary plug 1231 move as a unit in the direction LAT1 under the driving force of the linear actuator 1225.

[0068] In one or more aspects, at least one slot 1286 is configured such that the cammed engagement of at least one pin and the slot is locked by the engagement of at least one pin 1287 with the end 1286E of at least one slot 1286, preventing rotation of the tab 1250 and the rotary carrier 1232. In yet other aspects, at least one stop surface 1260S1’, 1260S2’ for retaining the movement of the rotary carrier 1232 in the direction LAT is integral with the cam portion 1261 and / or the tab mounting portion 1260. For example, the tab mounting portion 1260 includes a protrusion or stop surface 1260S1’ that extends beyond the perimeter of the channel 1277 and engages the outer surface 1293 of the positioning bar, such that when the non-rotary plug 1231 moves in the direction LAT1 and the tab 1250 rotates in the direction 1291B, the rotary carrier 1232 is retained from moving in the direction LAT1. Note that when the stop surface 1260S1 (and tab 1250) is aligned with the slot 1130, the rotary carrier 1232 moves in the direction LAT1 together with the non-rotary plug 1231 as described herein (note that the rotation between the rotary carrier 1232 and the non-rotary plug 1231 is locked by the engagement of the pin 1287 with the end 1286E of the cammed slot 1286). The stop surface 1260S2’ for retaining the movement of the rotary carrier 1232 in the direction LAT2 is integral with the cam portion 1261 and engages the inner surface of the channel 1277 (such as the end cap 1293C that forms the surface 1293 extending inwardly beyond the boundary of the channel 1277) (see FIG. 12H), such that (although the tab mounting portion 1260 extends from the channel 1277) the cam portion 1261 does not move out of the channel 1277 in the direction LAT2.

[0069] In one or more aspects, the rotary carrier 1232 is held from moving in the direction LAT1 by a detent mechanism 1222 (e.g., a biased ball or plate) that engages a portion of the rotary carrier 1232 (such as the shoulder 1223), where engagement of the detent mechanism with the rotary carrier 1232 results in rotation of the rotary carrier 1232 about the axis 1290 while substantially preventing linear movement of the rotary carrier 1232 with respect to the non-rotary plug 1231 in the direction LAT1. Locking of the cam engagement of at least one pin 1287 and at least one slot 1286 (or the cam engagement of at least one protrusion 1263P and at least one recess 1235R) causes the linear actuator 1225 to overcome the biasing force of the detent mechanism 1222 to move the rotary carrier 1232 in the direction LAT1.

[0070] Exemplary views of the rotation and linear movement of the tab 1250 described above are illustrated in FIGS. 11A - 11C. The position adjustment bars 222, 223 are moved toward each other in the direction LON so as to substantially contact the (one or more) case units CU held at least partially within the payload platform 210B. As seen in FIG. 11A, the tabs 1250 of each respective position adjustment bar 222, 223 are rotated about their respective axes of rotation 1290 (e.g., via relative movement between the non-rotary plug 1231 and the rotary carrier 1232 enabled by their respective linear actuators 1225) from a retracted position (FIG. 11A) to an extended position (FIG. 11B) in the direction 1291. The linear actuators 1225 of each respective position adjustment bar 222, 223 continue to operate such that the non-rotary plug 1231 and the rotary carrier 1232 (e.g., the rotary slider assembly 1230) are moved as a unit in the direction LAT1 to pull the case unit into the payload platform 210B. Movement of the rotary slider assembly in the direction LAT2 and rotation of the tab 1250 from the extended position to the retracted position are performed in a substantially opposite manner.

[0071] Referring to FIGS. 13A - 13F, in one or more aspects, the retraction assembly 1120 is substantially similar to that described above, but instead of the rotary slider assembly 1230, the retraction assembly includes a sliding rack assembly 1320. The sliding rack assembly 1320 is described with respect to the position adjustment bar 222, and it should be understood that the position adjustment bar 222 is similarly configured (however, in some aspects, the position adjustment bar 222 includes the sliding rack assembly 1320 and the position adjustment bar 223 includes the rotary slider assembly 1230, or vice versa).

[0072] The sliding rack assembly includes a sliding frame 1332 that is shaped and sized to reciprocate in the direction LAT within the slot 1130 (or slot 1131). In the illustrated aspect, the sliding frame 1332 has a rectangular cross - section (and the slot 1130 or 1131 has a mating cross - section), but in other aspects, the sliding frame 1332 and the slot 1130 (or slot 1131) have any suitable mating cross - section that provides for the reciprocation of the sliding frame 1332 in the direction LAT. The sliding frame 1332 includes a first end 1332E1 and a second end 1332E2. The sliding frame 1332 includes a channel 1332C (FIG. 13D) that extends through at least a portion of the sliding frame 1332 and opens at the first end 1332E1. A rack gear 1331 extends through the channel 1332C so as to reciprocate in the direction LAT within the channel, where the rack gear 1331 extends out of the channel 1332C at the first end 1332E1 for connection with the linear actuator 1225. As seen in FIG. 13E, the rack gear 1331 includes a frame 1331F, a gear portion 1331R connected to the frame 1331F, and a step portion 1331P.

[0073] The rotary gear set 1378 is connected to the sliding frame 1332 at or adjacent to the second end 1332E2 about the axis 1377. The rotary gear set 1378 includes at least one pinion gear 1351, 1352, 1353 (see FIG. 13D). In the illustrated example, the at least one pinion gear 1351, 1352, 1353 is three pinion gears stacked vertically (or integrally formed with each other). Here, the lower pinion gear 1351, the intermediate pinion gear 1353, and the upper pinion gear 1352 are connected about the axis 1377 between the tines TN1, TN2 (FIG. 13D) of the sliding frame 1332. It is noted that the terms upper, lower, and intermediate are used herein for convenience, and any other spatial identifiers may be used in their place. The rack gear 1331 is aligned with the intermediate pinion gear 1353 such that the gear portion 1331R meshes with the intermediate pinion 1353 to drive the upper pinion gear 1352 and the lower pinion gear 1351 to rotate. The upper pinion gear 1352 and the lower pinion gear 1351 are aligned with and mesh with their respective rack gears 1350R1, 1350R2 arranged (or integrated) on the tabs 1350 as described herein.

[0074] As best seen from FIGS. 13C and 13D, the tines TN1, TN2 of the slide frame and the rotary gear set 1378 form a channel in which the tab 1350 reciprocates in the direction LON. For example, the tab 1350 includes side surfaces LS1, LS2 and longitudinal ends LT1, LT2 (see FIG. 13C). The tab 1350 includes a protrusion 1350P that extends at least partially from the side surface LS1 into a slot TNS formed by the tines TN1, TN2 at the second end 1332E2 of the slide frame 1332. The slot TNS and the protrusion 1350P are sized relative to each other such that the slot TNS at least partially guides the reciprocating movement of the tab 1350 in the direction LON. The side surface LS2 includes at least one rack gear 1350R1, 1350R2 that meshes with at least one pinion gear 1351, 1352, 1353. In the example shown, the upper rack gear 1350R1 meshes with the upper pinion gear 1352 and the lower rack gear 1350R2 meshes with the lower pinion gear 1351 such that rotation of the upper pinion gear 1352 and the lower pinion gear 1351 causes movement of the tab 1350 in the direction LON. The double rack gears 1350R1, 1350R2 maintain alignment of the protrusion 1350P within the slot TNS.

[0075] In a manner similar to the method described above, the reciprocating movement of the tab 1350 in both directions LON and LAT is provided by a single linear actuator 1225. For example, FIG. 13A illustrates the tab 1350 in the retracted position, and FIG. 13B illustrates the tab 1350 in the extended position. FIG. 13C illustrates the movement of the extended tab 1350 in the direction LAT. Here, to extend the tab 1350, the linear actuator 1225 is operated to move the rack gear 1331 in the direction LAT1. The movement of the rack gear 1331 in the direction LAT1 causes the rotation of the rotary gear set in the first rotational direction 1377R1 about the axis 1377, where the rotation of the upper pinion gear 1352 and the lower pinion gear 1351 in the first rotational direction 1377R1 causes the movement of the rack gears 1350R1, 1350R2 (and the tab 1350) in the direction LON1 to extend the tab 1350. In a manner similar to the method described above, the sliding frame 1332 is retained from the movement in the direction LAT1 such that the rack gear 1331 moves relative to the sliding frame 1332 to effect the extension of the tab 1350.

[0076] The sliding frame 1332 is retained from movement such that movement of the rack gear 1331 in the direction LAT1 causes the tab 1350 to extend. As described herein, extension of the tab 1350 releases the sliding frame 1332 for movement in the direction LAT1, and further movement of the rack gear 1331 in the direction LAT1 moves the rack gear 1331 and the sliding frame 1332 (and tab 1350) as a single unit in the direction LAT1 (see FIG. 13C). Here, the sliding frame 1332 is retained from movement in any suitable manner, such as by one or more of a detent mechanism 1222 and engagement (e.g., abutment) of a hard stop between the tab 1350 and the position adjustment bar 222, which is substantially similar to that described above (note that the position adjustment bar 222 includes a shroud 222S that at least partially surrounds the sliding rack assembly 1320, where the shroud 222S forms part of the channel 1277). In the illustrated example, the shroud 222S includes a stop surface 1366 (FIGS. 13C and 13F) that substantially abuts the side surface LS of the tab 1350 with the tab 1350 at least in the retracted position. The stop surface 1366 includes a protrusion 1367 that extends within and along the length of the channel 1277. When the tab 1350 is extended, the side surface LS1 of the tab 1350 rides along the stop surface 1366 until the tab 1350 extends beyond the protrusion 1367 (such that the sliding frame 1322 is retained from movement in the direction LAT1). Extension of the tab 1350 beyond the protrusion 1367 of the stop surface 1366 releases the sliding frame 1322 (and tab 1350) for movement in the direction LAT1. As can be appreciated, the intermediate pinion gear 1353 has a diameter that prevents interference with a portion of the protrusion 1367 that extends along the channel 1277 (and the upper pinion gear 1351 and the lower pinion gear 1352 are disposed above and below the protrusion 1367, respectively).

[0077] In one or more aspects, the running clearance and / or lubricity between the sliding frame 1332 and the channel 1277 is such that any friction between the sliding frame 1332 and the channel 1277 is insufficient to cause relative movement between the rack gear 1331 and the sliding frame 1332 (e.g., such that further extension of the tab 1350 is prevented). In one or more aspects, a clutch is provided in the rotary gear set 1378 and / or a detent mechanism (substantially similar to the detent mechanism 1222) is provided between the sliding frame 1332 and the rack gear 1331 such that the force required to effect relative movement between the sliding frame 1332 and the rack gear 1331 is greater than the frictional force between the sliding frame 1332 and the channel 1277. In one or more aspects, relative movement between the rack gear 1331 and the sliding frame 1332 is blocked by a suitable hard (e.g., abutting) stop between a surface of the rack gear 1331 (such as the protruding surface or step portion 1331P) within the channel 1332C and a mating stop surface (such as the step surface 1332CS (FIG. 13D)). In yet other aspects, the above are combined in any suitable manner such that there is substantially no relative movement between the rack gear 1331 and the sliding frame 1332.

[0078] The movement of the tab 1350 from the extended position to the retracted position is performed in a manner substantially opposite to the method described above. For example, the linear actuator operates to move the rack gear 1331 in the direction LAT2. The sliding frame 1332, the rack gear 1331, the rotary gear set 1378, and the tab 1350 (e.g., the sliding rack assembly 1320) move as a unit in the direction LAT2. By the abutment of the tab 1350 against the protrusion 1367, the movement of the tab 1350 in the direction LON2 is prevented, and the relative movement between the rotary gear set 1378 and the rack gear 1331 is substantially locked (e.g., prevented). Here, the (one or more) rack gears 1350R1, 1350R2 of the tab 1350 that mesh with the pinion gears 1351, 1352 of the rotary gear set 1378 prevent the rotation of the rotary gear set 1378 and prevent the relative movement between the rack gear 1331 and the rotary gear set 1378 through the meshing of the rack gear 1331 and the pinion gear 1353. The sliding rack assembly 1320 continues to move in the direction LAT2 until the tab 1350 moves past the protrusion 1367 (and the stop surface 1366). At that point, the movement of the sliding frame 1332 in the direction LAT2 is blocked in any suitable manner, and the relative movement between the rack gears 1331, 1350R1, 1350R2 and the rotary gear set 1378 is released so that the rack gear 1331 continues to move in the direction LAT2 relative to the sliding frame 1332. The movement of the rack gear 1331 in the direction LAT2 relative to the sliding frame 1332 causes the rotary gear set 1378 to rotate in the direction 1377R2. The rotation of the rotary gear set 1378 in the direction 1377R2 causes the tab 1350 to move in the direction LON2 so that the tab 1350 is moved to the retracted position. The movement of the sliding frame 1332 in the direction LAT2 is blocked in one or more aspects by a suitable rigid (e.g., abutting) stop between the surface of the sliding frame 1332 and the channel 1277, by the return stop mechanism 1222 (FIG. 12H), or by any other suitable method.The retracted position of the tab 1350 is set, in one or more aspects, by the end of the stroke of the linear actuator 1225 in the direction LAT2, the end of the stroke being defined by one or more of a hard stop (the current sensor of the linear actuator detects when the hard stop is reached), an encoder position, a switch, etc., where the linear actuator 1225 is controlled by a bot controller 1220 (FIG. 1) etc. in response to a signal received from one or more sensors / switches indicating the end of the stroke.

[0079] Referring to FIGS. 2A - 2D, 9A, 14A - 14F, and 16, at least the case unit support surface 610, the pusher arms 1150, 1250, and the position adjustment bars 222, 223 form a plurality of payload registration facets attached to the frame 200F so as to engage a payload held in the payload bay 210B as described herein. The plurality of payload registration facets are arranged to provide at least two alignments that capture and fix the payload at a predetermined position in the payload bay 210B when engaging the payload, substantially At the same time At least two alignments for aligning the payload Together withconfigured to effect engagement of the payload. In one or more aspects, seating of the payload or case unit CU on the payload support surface 610P is effected by a common seating operation between the end effector or arm 210A and the payload support surface 610P for each pick of the arm 210A from each of the different support surface heights CUSH1, CUSH2 (see FIG. 16) of the storage space 130S. The common seating operation is effected by moving both the arm 210A and the payload support surface 610P in a common direction VER (e.g., VERU, VERB) using the lift towers 211, 212 as described herein (where, as described herein, the positioning tray is blocked by the frame 200F). The common seating operation closes the clearance gap CAG (a (common) clearance sized according to minimized movement (see FIGS. 6B and 6E)) between the payload support surface 610P and the underpick end effector 210A at the payload pick heights PCKH1, PCKH2 of the underpick end effector 210A for each of the different support surface heights CUSPH of the storage space 130S with a minimal or minimized movement (e.g., in a direction VER limited to enabling movement of the case unit CU on the arcuate support surface 621 of the non-contact positioning tray).

[0080] As described herein, loading the case unit CU into the payload bay 21B is substantially At the same time by effecting at least two alignments of the case unit CU, for each case unit CU loaded onto the vehicle 110, loading the case unit onto the vehicle 110 is substantially At the same timeThe movement of the vehicle 110 (transport of the loaded case unit CU) can be started. As an example, the picking operation of an exemplary case unit by the bot 110 within the picking passage 130A will be described according to the aspects described herein. It should be understood that the picking operation of the case unit by the bot 110 on the transfer deck is substantially similar. As described herein, the picking passage includes the rail 1600 (and / or solid deck) on which the bot 110 moves. Each level 130L of the storage structure includes a rail 1600 that provides access to the storage position 130S of the case unit support 900 within the picking passage 130A for the bot 110 on that level 130L. As seen in FIG. 16, each level 130L includes at least one level of the case unit support 900 accessible from the rail 1600 of that respective level. For example, level 130L1 includes a single level of the case unit support 900 accessible from rail 1600L1, while level 130L2 includes two levels of the case unit support 900 accessible from a common rail 1600L2 (i.e., the rail 1600L2 is common to both the upper and lower case unit supports 900U, 900L of level 130L2 such that the bot 110 on the common rail 1600L2 can access both the upper and lower case unit supports 900U, 900L).

[0081] The bot 110 on the predetermined level 130L is instructed by the control server 120 or the warehouse management system 2500, etc., to pick a predetermined case unit CU. The bot 110 moves to the picking passage 130A where the case unit CU is located along the transfer deck 130B on the predetermined level 130L. Here, the movement of the bot and the pick / placement operations of the bot are under the control of, for example, the bot controller 1220 or other suitable controllers communicating with the bot 110. The bot 110 is configured as described herein such that the articulated underpick end effector or arm 210A extends and retracts (e.g., in the direction LAT), and picks up the payload or case unit CU at each predetermined pick height PCKH1, PCKH2 (corresponding to, for example, the heights CUSH1, CUSH2 of the predetermined case unit supports 900, 900U, 900L). In one or more aspects, each pick height of the end effector 210A is selectable from a variety of predetermined pick heights, and the payload support surface 610P is arranged such that the seating of the payload CU is substantially constant and independent of the pick heights PCKH1, PCKH2 of the articulated underpick end effector 210A to load the payload CU. In one or more aspects, each pick height PCKH1, PCKH2 is selectable from different predetermined pick heights PCKH1, PCKH2, and the payload alignment surface aligns (and de-aligns the payload being unloaded) the loaded payload CU, independent of or regardless of the pick heights PCKH1, PCKH2 of the articulated underpick end effector 210A, to load (or unload) the payload CU.As shown in FIG. 16, the articulated underpick end effector 210A extends, retracts, and loads the payload CU at each payload storage shelf height CUSH1, CUSH2 in the vertical array of storage shelves VAS at different heights (from the base level BLA of the vertical array of storage shelves VAS), and the payload alignment surface aligns (and de-aligns the payload being unloaded) the loaded payload CU, independently of or regardless of the payload storage shelf heights CUSH1, CUSH2. Here, the payload support surface 610P is movable relative to the frame 200F with at least one degree of freedom (e.g., at least in the direction VER) in response to the operation of the articulated underpick end effector 210A relative to the frame 200F, and / or the payload support surface 610P is movable relative to the pick heights PCKH1, PCKH2 of the articulated underpick end effector 210A (see FIGS. 6A - 6F, such as when the movement of the positioning tray 600 is blocked by the frame 200F or moved in the VERT direction by the actuator 666A).

[0082] As an example of the above pick / placement operation, the bot 110 on level 130L1 enters the picking passage 130A and stops in the picking passage 130A at the position of the case unit CU by any suitable bot odometry and / or sensor guidance (FIG. 18, block 1800). The distance between the fingers 210AF (or finger segments 210S1 - 210S7) is adjusted according to the size of the case unit in the manner described herein. The distance between the fingers 210AF (or finger segments 210S1 - 210S7) is adjusted on-the-fly while the bot 110 is moving to the case unit CU storage position 130S and / or when the bot 110 is stopped adjacent to the storage position 130S of the case unit CU. As seen in FIGS. 9A and 14A, the finger 200AF is aligned with the slat 900S of the picking passage storage position 130S so that the finger 210AF can be moved / extended in the direction LAT2 to pick the case unit CU (FIG. 18, block 1810) and positioned under the case unit CU.

[0083] In the manner described above, the finger 210AF is moved in the direction VERU to a predetermined pick height PCKH1, PCKH2 to pick (or place) the case unit CU from (or to) the storage position 130S. Here, the finger 210AF is moved in the direction VERU by lifting the payload platform 210B (and its payload support surface 610P) by the lift towers 211, 212. With the case unit CU supported on the finger 210AF, the finger 210AF is moved / retracted in the direction LAT1 to transfer the case unit CU to the payload platform 210B (for example, moved / extended in the direction LAT2 to transfer the case unit CU from the payload platform 210B). Here, the payload alignment surface is substantially with the arm 210A that positions the case unit CU on the payload contact support surface 610 At the same timeEnable the engagement of the payload or the case unit CU by at least two alignments (as described herein) to align the payload, and is configured to load the payload bay 210B. For example, as described above, the distance or gap CAG between the case unit support surface 210AFS of the finger 210AF and the arcuate support surface 621 of the position adjustment tray 600 is limited (i.e., minimized) to allow the movement of the case unit CU on the non-contact arcuate support surface 621. Here, the seating of the case unit CU on the position adjustment tray 600 is substantially very close to the positioning of the case unit CU picked up under the payload bay 210B by the end effector 210A and the loading into the payload bay 210B. For example, the required movement of the payload platform 210B and the finger 210AF carried by the payload platform in the direction VERL is minimized such that the arcuate support surface 621 protrudes onto the case unit support surface 210AFS of the finger 210AF, and (such as when the movement of the position adjustment tray is blocked by the frame 200F) is performed (completed) substantially immediately after the movement of the payload platform 210B and the finger 210AF in the direction VERL. In other embodiments, the actuator 666A causes a movement that protrudes the arcuate support surface 621 onto the case unit support surface 210AFS of the finger 210AF. Here, by the seating of the case unit or payload CU on the arcuate support surface 621 of the support surface 610 (i.e., the position adjustment tray 600 support surface 610), the retraction of the finger 210AF into the payload bay 210B is completed and substantially At the same time The payload CU is aligned by two alignments (e.g., in the vertical direction VER and the planar directions LON / LAT). The arcuate support surface 621 stably holds the payload, and the vehicle 110 is substantially At the same time configured to enable the start of a traversing movement (e.g., along the picking passage 130A or the transfer deck 130B).

[0084] The case unit or payload CU is seated on the position adjustment tray 600, and substantially in the same arrangement as the case unit CU on the support surface 610 of the position adjustment tray 600 Simultaneous In the state (and in the state where the vehicle is already passing along the picking passage 130A or the transfer deck 130B), the position adjustment bars 222, 223 are moved in the direction LON so as to be arranged adjacent to each side of the case unit CU. The movement of the position adjustment bars 222, 223 can start in the direction LON before or after the case unit is transferred to the payload platform 210B. When the position adjustment bars 222, 223 are moved in the direction LON before the case unit CU is transferred to the payload platform 210B and are adjacent to each side of the case unit CU, the position adjustment bars 222, 223 are moved based on the expected size of the case unit to be picked.

[0085] The tab 1250 extends in, for example, FIG. 14A, but is in the retracted position (FIG. 18, block 1820), enabling substantially unobstructed transfer of the case unit CU into the payload platform 210B using the transfer arm 210A in a manner similar to the method described above (FIG. 18, block 1830). Referring also to FIGS. 17A and 17B, with the case unit CU within the payload platform 210B and substantially in the same arrangement as the case unit CU on the support surface 610 Simultaneous In the state, the tab 1250 is rotated in the direction 1291 about each rotation axis 1290 so as to extend the tab 1250 to the case unit engagement position as illustrated in FIG. 14B. The tab 1250 is moved in the direction LAT1 in the manner described above so that the case unit CU is retracted into the payload platform 210B as shown in FIG. 14C, to rectify any case overhang state (for example, the state where the case unit CU extends at least partially out of the payload platform 210B and beyond the cantilevered tips of the payload platform frame 210BF and / or the fingers 210AF) (see FIG. 17A).

[0086] When the vehicle 110 picks the case unit CU from a "deep" pick position, there may be an overhang position of the case (the deep pick position may be a position on the storage shelf where a predetermined storage position of the case unit extends partially beyond the physical reach of the transfer arm 210A, but the case unit CU at the "deep" pick position is limited to the extent that it can still be stably picked and placed by the transfer arm 210A). The overhang state of the case may be such that the case unit CU may contact the storage structure when the vehicle 110 travels along the picking passage 130A or the transfer deck 130B. Here, when the case unit CU is retracted into the payload platform 210B, the tab 1250, substantially simultaneously with the alignment of the case unit CU on the support surface 610 by two alignments, facilitates the passing movement of the vehicle 110 on the support surface 610 as described herein, substantially At the same time Engage the case unit CU to substantially eliminate the overhang position of the case (see FIG. 17B) and retract the case unit into the payload platform 210B (FIG. 18, block 1840). As can be understood, the tab 1250, with the case unit CU seated on the payload platform 210B in two alignments, substantially At the same time and immediately thereafter, retract the case unit (e.g., from the overhang state) into the payload platform 210B just enough to release the storage and retrieval structure so that the vehicle 110 can start a passing movement along the picking passage 130A or the transfer deck 130B (FIG. 18, block 1850).

[0087] In one or more aspects, substantially At the same time with the placement of the case unit CU on the support surface 610, the pusher arm 1150 is moved in the direction LAT2 to push the case unit against the tab 1250 to grip the case unit. Here, the case unit can be aligned in at least two alignments from the inclined position illustrated in FIG. 2D to the position illustrated in FIG. 14C.

[0088] As another example of the above pick / placement operation, the bot 110 on the level 130L2 enters the picking passage 130A and stops in the picking passage 130A at the position of the case unit CU in a manner similar to the method described above (FIG. 18, block 1800). The distance between the fingers 210AF (or finger segments 210S1 to 210S7) is adjusted according to the size of the case unit in the manner described above. Also, when the bot 110 is on the common rail 1600L2 in the manner described above, the fingers 210AF are moved in the direction VERU to pick the case unit CU from one or more storage positions 130S of the upper case unit support 900U and the lower case unit support 900L of the level 130L2 arranged at the heights CUSH2 and CUSH1 respectively (FIG. 18, block 1810). Here, the fingers 210AF are moved in the direction VERU to one or more of the predetermined pick heights PCKH1 and PCKH2 by lifting the payload platform 210B (and its case unit support surface 610P) by the lift towers 211 and 212. With the case unit CU supported on the fingers 210AF, the fingers 210AF are moved / retracted in the direction LAT1 to transfer the case unit to the payload platform 210B (moved / extended in the direction LAT2 to transfer the case unit from the payload platform 210B) as illustrated in FIGS. 14B and 16 (FIG. 18, block 1830). Here, the payload alignment surface is substantially the same as the arm 210A that positions the case unit CU on the payload contact support surface 610 for At the same time at least two alignments for payload alignment Together withIt is configured to enable the engagement of the payload or the case unit CU and load it onto the payload bay 210B. Again, the distance or gap CAG between the case unit support surface 210AFS of the finger 210AF and the arcuate support surface 621 of the position adjustment tray 600 is limited (i.e., minimized) to such an extent that it allows the movement of the case unit CU on the non-contact arcuate support surface 621. Here, the seating of the case unit CU on the position adjustment tray 600 is, as described above, substantially very close to the positioning of the case unit CU picked up under the payload bay 210B by the end effector 210A and the loading into the payload bay 210B. In this example, the actuator 666A is utilized to move the arcuate support surface 621 such that the arcuate support surface 621 protrudes above the case unit support surface 210AFS of the finger 210AF. Here, by the seating of the case unit or payload CU on the arcuate support surface 621 of the support surface 610 (i.e., the support surface 610 of the position adjustment tray 600), the retraction of the finger 210AF into the payload platform 210B is completed and substantially At the same time and then the payload CU is aligned in two alignments (for example, in the vertical direction VER and the planar directions LON / LAT) substantially immediately. As described above, the arcuate support surface 621 stably holds the payload, and the vehicle 110 is substantially At the same time configured to enable the start of a traversing movement (for example, along the picking path 130A or the transfer deck 130B).

[0089] In a manner similar to the method described above, substantially At the same time, the position adjustment bars 222, 223 are moved in the direction LON so as to be disposed adjacent to respective sides of the case unit CU. The position adjustment bars 222, 223 can be moved in the direction LON before or after the case unit is transferred to the payload platform 210B. If the position adjustment bars 222, 223 are moved in the direction LON before the case unit CU is transferred to the payload platform 210B and are adjacent to respective sides of the case unit CU, the position adjustment bars 222, 223 are moved based on the expected size of the case unit to be picked. As described above, the tab 1250 is extended in a state where the case unit CU is being transferred to the payload platform 210B by the transfer arm 210A in FIG. 14A etc., but is extended to the retracted position (FIG. 18, block 1820), enabling substantially unobstructed transfer of the case unit CU into the payload platform 210B (FIG. 18, block 1830). When the case unit is within the payload platform 210B and substantially in the same Simultaneous state as the arrangement of the case unit CU on the support surface 610, the tab 1250 is rotated in the direction 1291 about the respective rotation axis 1290 so as to extend the tab 1250 to the case unit engagement position as illustrated in FIG. 14B. The tab 1250 is moved in the direction LAT1 in the manner described above so that the case unit CU is retracted into the payload platform 210B as shown in FIG. 14C, substantially restoring / eliminating the overhanging state of any case (for example, the case unit CU extends out of and at least partially passes through the cantilevered tips of the payload platform frame 210BF and / or the fingers 210AF) (see FIGS. 17A and 17B) (FIG. 18, block 1840). In one or more aspects, substantially in the same At the same time as the arrangement of the case unit CU on the support surface 610, the pusher arm 1150 is moved in the direction LAT2 to push the case unit against the tab 1250 to grip the case unit. Here, the case unit can be aligned at least twice from the inclined position illustrated in FIG. 2D to the position illustrated in FIG. 14C.

[0090] In one or more embodiments, the positioning bars 222, 223 (e.g., of the bot 110 that is positioned at any of the level 130L illustrated in FIG. 16 and transports the case unit) are moved in the direction LON to grip the case unit CU and / or to position it within the payload platform 210B. FIGS. 14C, 14D, and 14E illustrate the centering of the case unit where the case unit is positioned by the positioning bars 222, 223 substantially on or along the centerline CL of the payload platform. However, in other embodiments, the case unit is positioned off-center with respect to the centerline CL. As described above, the case unit CU is moved in the direction LON while the case unit CU is held in the payload platform 210B, and the case unit CU is supported by the fingers 210AF and / or by the positioning tray 600. FIG. 14E illustrates the placement of the case unit CU onto the protrusion 620 of the positioning tray 600 for off-center positioning with respect to the centerline CL (see FIG. 14F), where the off-center position still allows the case unit CU to be lifted with all of the fingers 210AF substantially below the case unit CU. The placement of the case unit from the positioned position within the payload platform is performed in a substantially opposite manner to the method described above.

[0091] According to aspects of the disclosed embodiments, as described herein, at least two alignments include alignment on the support surface 610, alignment in the LON direction and alignment in the LAT direction. For example, seating the case unit CU on the payload support surface 610P (e.g., on the positioning tray 600) by the arm 210A results in alignment of the case unit CU with at least two alignments with respect to the bot frame 200F. As described above, seating the case unit CU on the payload support surface 610P by the arm 210A is substantially very close to the positioning of the under-picked case unit CU into the payload bay 210B by the end effector and the payload into the payload bay 210B. Substantially At the same time By effecting at least two alignments of the case unit CU, regardless of the heights CUSH1, CUSH2 of the case unit support surface CUSPH with respect to the bot frame 200F or the rail 1600 (i.e., regardless of whether the case unit CU is picked from the upper case unit support 900U or the lower case unit support 900L of level 130L), substantially At the same time It is noted that the start of movement of the vehicle 110 (transport of the loaded case unit CU along the picking passage 130A or the transfer deck 130B) is enabled (FIG. 18, block 1850).

[0092] The placement of the case unit CU from the autonomous transport vehicle 110 onto the support shelf (e.g., in the storage space 130S of the storage and retrieval system or at other suitable positions) can be performed in a substantially opposite manner to the method described above. For example, the autonomous transport vehicle 110 is positioned at a predetermined position adjacent to the storage space 130S (or other holding position) where the case unit CU is placed (FIG. 19, block 1900). For example, in the placement of the case unit CU into one or more storage positions 130S of the upper case unit support portion 900U at level 130L2 arranged at height CUSH2, the tab 1250 is used to maintain the case unit CU in a "pulled-back position" so that the case unit CU does not contact the structure (e.g., a shelf, etc.) of the storage and retrieval system 100 when the case unit CU is lifted (together with the payload platform 210B) to the predetermined pick / placement height PCKH2 (see FIG. 17C) (FIG. 19, block 1910). When the case unit CU is stored / arranged in a "deep" storage space 130S, the pusher arm 1150 moves in the direction LAT2 (FIG. 19, block 1920) so as to place the case unit in the extended position (see FIG. 17D) (e.g., with the payload platform 210B and the transfer arm 210A at the predetermined pick / placement height PCKH2), facilitating the placement of the case unit CU by the transfer arm 210A in the "deep" storage position 130S (FIG. 19, block 1930).

[0093] Also, when the bot 110 is on the common rail 1600L2 by the method described above, the fingers 210AF are moved in the direction VERU to pick up the case unit CU from one or more storage positions 130S of the upper case unit support 900U and the lower case unit support 900L at levels 130L2 arranged at heights CUSH2 and CUSH1, respectively. Here, the fingers 210AF are moved in the direction VERU to a predetermined one or more of the pick heights PCKH1 and PCKH2 by lifting the payload platform 210B (and its case unit support surface 610P) by the lift towers 211 and 212. When the case unit CU is supported on the fingers 210AF, the fingers 210AF are moved / retracted in the direction LAT1 to transfer the case unit to the payload platform 210B (moved / extended in the direction LAT2 to transfer the case unit from the payload platform 210B), as illustrated in FIGS. 14B and 16.

[0094] Still referring to FIG. 2C, the autonomous transport vehicle 110 includes a vision system configured to effect case handling by verifying that a case of the correct size is picked, verifying the dimensions of the case, and verifying the orientation and position of the case. The vision system substantially continuously monitors the position of the case unit CU within the payload bay 210B and provides position data of the case unit CU updated at any suitable time interval to the controller 1220. Here, the case handling assembly 210 includes one or more of a (one or more) case edge detection sensor CED, a (one or more) case yaw detection sensor CYD, a (one or more) case overhand sensor COH, a (one or more) shelf sensor SS, a (one or more) three-dimensional image sensor IMF, and an extended camera EXT, each of which is communicatively coupled to the controller 1220 to notify the controller of the case / shelf position to effect picking and placement of the case unit CU as described herein. It is noted that the term "camera" as described herein includes one or more of a still image device or a video image device including a two-dimensional camera, a two-dimensional camera having RGB (red, green, blue) pixels, a three-dimensional camera having an XYZ+A definition (where XYZ is the three-dimensional reference frame of the camera and A is one of a radar reflection intensity, a time-of-flight stamp, or other distance determination stamp / indicator), and an RGB / XYZ camera including both RGB and three-dimensional coordinate system information, non-limiting examples of which are provided herein.

[0095] (One or more) case edge detection sensors CED are any suitable sensors such as laser measurement sensors configured to scan the shelves of a storage and retrieval system to verify whether a shelf is clear for placing a case unit CU or to verify the size and position of the case unit before picking the case unit CU. One case edge detection sensor CED is illustrated on each side of the payload bay 210B, but more than two or fewer case edge detection sensors may be disposed at any suitable location on the vehicle 110 such that the front end 200E1 leads the direction of travel of the vehicle or the rear end / back end 200E2 leads the direction of travel of the vehicle and the vehicle 110 can scan as it passes over the case unit CU.

[0096] The case yaw detection sensor CYD is mounted, for example, inside the payload bay 210B. The case yaw detection sensor is a suitable sensor such as a laser measurement sensor. The case yaw detection sensor CYD is positioned to be directed or oriented towards the picked case unit CU to measure the yaw or skew of the case unit CU (see FIG. 2D) and notify the controller 1220 of the orientation of the case unit CU.

[0097] (One or more) case overhang sensors COH are, in one aspect, through-beam sensors having an emitter and a receiver disposed opposite each other on opposite sides of the payload bay 210B, but in other aspects, reflective sensors or other suitable detection / proximity sensors may be utilized. (One or more) case overhang sensors COH are positioned adjacent to the transfer opening 1199 such that, when the (one or more) case overhang sensors COH detect a case unit CU / obstacle, the controller 1120 is notified that the case unit extends out of the payload bay 210B and through the transfer opening 1199.

[0098] The shelf sensor SS is arranged at any suitable position of the case handling assembly (such as one sensor is arranged on each side of the payload bay 210B) to sense the shelf and verify the position of the shelf hat in order to pick up the case unit CU and place the fingers of the transfer arm 210A between the shelf hats (see FIG. 9A).

[0099] (One or more) three-dimensional image sensors IMF (such as time-of-flight cameras, image radar systems, optical detection and ranging (LIDAR), etc.) are properly positioned with respect to the payload bay 210B and are used to measure the position and orientation of the case unit CU within the payload bay 210B. Although one three-dimensional image sensor IMF is illustrated, more than one three-dimensional image sensor IMF may exist.

[0100] (One or more) extended cameras EXT are positioned at the rear of the payload bay 210B (opposite the transfer opening 1199), and the field of view of the (one or more) extended cameras EXT is positioned so as to fit within the payload bay 210B in order to record the pick-up and placement of the case unit. The (one or more) extended cameras EXT can be used by the controller 1220 or the operator of the storage and retrieval system to debug and / or teach the pick-and-place operation (such as for the automation of the storage and retrieval system).

[0101] Referring to FIGS. 2A - 2D, 9A, 14A - 14F, and 15, an exemplary method is described in accordance with aspects of the disclosed embodiments. As described herein, an autonomous transport vehicle 110 is provided (FIG. 15, block 1500). The autonomous transport vehicle has a frame 200F that forms a transport payload area or bay 210B of the vehicle 110, and the payload bay 210B includes a payload contact support surface 610 that defines a payload support surface 610P (FIG. 14E) for supporting a payload (e.g., a case unit CU) held within the payload bay 210B when the vehicle 110 is in transit. The payload bay 210B further includes an (articulated) underpick end effector or arm configured to engage the payload CU with respect to the payload support surface 610P (as described herein), underpick it, extend and retract with respect to the payload bay 210B, effecting transfer of the payload between the payload bay 210B, and discharging and loading the payload into the payload bay 210B. A payload alignment surface (as described herein) is also attached to the frame 200F. The payload CU held in the payload area is engaged with the payload alignment surface (FIG. 15, block 1510). The payload alignment surface is arranged to provide at least two alignments that capture and fix the payload CU in a predetermined position within the payload bay 210B upon engagement with the payload CU, and is substantially At the same time at least two alignments for aligning the payload Together with configured to effect payload engagement. In one or more aspects, as described herein, the seating of the payload or case unit CU on the payload support surface 610P is effected by a common seating operation between the end effector or arm 210A and the payload support surface 610P for each pick of the arm 210A from the respective different support surface heights CUSH1, CUSH2 (see FIG. 16) of the storage space 130S.

[0102] The method uses a payload alignment surface to position the payload CU on the payload contact support surface 610A with the end effector 210A substantially At the same time at least two alignments for aligning the payload CU Together with resulting in engagement of the payload CU and further including the step of loading the payload into the payload area 210B. The method may include the step of aligning the payload CU and the payload alignment surface by at least one of at least two alignments of the payload CU with respect to the frame 200F of the autonomous transport vehicle 110 while the end effector 210A seats the payload CU on the payload support surface 610P. The method may include the step of aligning the payload CU and the payload alignment surface by at least one of at least two alignments of the payload CU with respect to the frame 200F of the autonomous transport vehicle 110 while the end effector 210A seats the payload CU on the payload contact support surface 610. The seating of the payload CU on the payload support surface 610P by the end effector 210A is substantially very close to positioning the payload CU into the payload area 210B and loading the payload into the payload area 210B by the end effector 210A. Substantially loading the payload CU into the payload area 210B At the same time By substantially causing at least two alignments of the payload CU, substantially loading the payload CU onto the vehicle 110 for each payload CU loaded onto the vehicle 110 At the same time enables the start of movement of the vehicle 110.

[0103] According to one or more aspects of the disclosed embodiments, an autonomous transport vehicle for transporting a payload is a frame forming a transport payload area of the autonomous transport vehicle, the transport payload area including a payload contact support surface defining a payload support surface for supporting the payload held within the transport payload area when the autonomous transport vehicle is in transit The frame further includes an articulated underpick end effector configured such that the transport payload area engages the payload to underpick the payload relative to the support surface, extends and retracts relative to the transport payload area to effect transfer of the payload therebetween, and is configured to unload and load the payload to and from the transport payload area. a plurality of payload alignment surfaces attached to the frame so as to engage the payload held in the transport payload area. When the plurality of payload alignment surfaces engage the payload, they are arranged to provide at least two alignments that capture and fix the payload at a predetermined position of the transport payload area, substantially At the same time the at least two alignments for aligning the payload Together with are configured to effect engagement with the payload.

[0104] According to one or more aspects of the disclosed embodiments, the articulated underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the articulated underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload support surface is arranged such that the seating of the payload is substantially constant and independent of the pick height of the articulated underpick end effector for loading the payload.

[0105] According to one or more aspects of the disclosed embodiments, the articulated underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the articulated underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload alignment surface aligns (and de-aligns the loaded payload) the loaded payload independently of or unrelated to the pick height of the articulated underpick end effector that loads (or unloads) the payload.

[0106] According to one or more aspects of the disclosed embodiments, the articulated underpick end effector extends and retracts to load the payload at respective payload storage shelf heights within a vertical array of a plurality of storage shelves (from a base level of the vertical array of storage shelves), and the payload alignment surface aligns (and de-aligns the loaded payload) the loaded payload independently of or unrelated to the payload storage shelf height.

[0107] According to one or more aspects of the disclosed embodiments, the payload support surface is movable relative to the frame in at least one degree of freedom in response to the operation of the articulated underpick end effector relative to the frame.

[0108] According to one or more aspects of the disclosed embodiments, the payload support surface is movable relative to the frame in at least one degree of freedom and is movable relative to the pick height of the articulated underpick end effector.

[0109] According to one or more aspects of the disclosed embodiments, the payload alignment surface positions the payload on the payload contact support surface and substantially aligns the payload with the articulated underpick end effector that loads the payload into the transport payload area. At the same time at least two alignments that align the payloadTogether with configured to effect payload engagement.

[0110] According to one or more aspects of the disclosed embodiments, seating of the payload on the payload support surface by the articulated underpick end effector effects alignment of the payload and the payload alignment surface by at least one of the at least two alignments of the payload with respect to the frame.

[0111] According to one or more aspects of the disclosed embodiments, seating of the payload on the payload contact support surface by the articulated underpick end effector effects alignment of the payload and the payload alignment surface by at least one of the at least two alignments of the payload with respect to the frame.

[0112] According to one or more aspects of the disclosed embodiments, seating of the payload on the payload support surface by the articulated underpick end effector is made substantially very close to the loading of the payload into the transport payload area by the articulated underpick end effector.

[0113] According to one or more aspects of the disclosed embodiments, loading the payload into the transport payload area is substantially At the same time By effecting at least two alignments of the payload, for each payload loaded onto the vehicle, loading the payload onto the vehicle is substantially At the same time Enabling the start of vehicle movement.

[0114] According to one or more aspects of the disclosed embodiments, the articulated underpick end effector is configured to engage below the payload and pick up the payload from below, resulting in the transfer of the payload by the autonomous transport vehicle.

[0115] According to one or more aspects of the disclosed embodiments, an autonomous transport vehicle for transporting a payload is a frame forming a transport payload area of the autonomous transport vehicle, the transport payload area including a payload contact support surface defining a payload support surface of the autonomous transport vehicle that supports the payload held within the transport payload area when the autonomous transport vehicle passes, the transport payload area further including an underpick end effector configured to engage the payload, underpick the payload with respect to a support surface of a storage space, extend and retract with respect to the transport payload area, resulting in the transfer of the payload between the support surface of the storage space, and load and unload the transport payload area, a plurality of payload alignment surfaces attached to the frame so as to engage the payload held in the transport payload area. When the plurality of payload alignment surfaces engage the payload, they are arranged to provide at least two alignments that capture and fix the payload at a predetermined position in the transport payload area, and for each pick of the underpick end effector from each different support surface height of the storage space, substantially the same as the seating of the payload on the payload support surface of the transport payload area brought about by a common seating operation between the underpick end effector and the payload support surface At the same time the at least two alignments for aligning the payload Together with is configured to result in engagement with the payload.

[0116] According to one or more aspects of the disclosed embodiments, the common seating operation is the minimum operation that closes the clearance gap (common) between the underpick end effector and the payload support surface at the payload pick height of the underpick end effector for different support surface heights of each of the storage spaces.

[0117] According to one or more aspects of the disclosed embodiments, the underpick end effector extends and retracts to load the payload at each of a predetermined pick height of the underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload support surface is arranged such that the seating of the payload is substantially constant and independent of the pick height of the underpick end effector that loads the payload.

[0118] According to one or more aspects of the disclosed embodiments, the underpick end effector extends and retracts to load the payload at each of a predetermined pick height of the underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload alignment surface aligns (and de-aligns the payload being unloaded) the loaded payload independently or regardless of the pick height of the underpick end effector that loads (or unloads) the payload.

[0119] According to one or more aspects of the disclosed embodiments, the underpick end effector extends and retracts to load the payload at each of the payload storage shelf heights within a vertical array of a plurality of storage shelves at a plurality of heights (from the base level of the vertical array of storage shelves), and the payload alignment surface aligns (and de-aligns the payload being unloaded) the loaded payload independently or regardless of the payload storage shelf height.

[0120] According to one or more aspects of the disclosed embodiments, the payload support surface is movable relative to the frame in at least one degree of freedom in response to the operation of the underpick end effector relative to the frame.

[0121] According to one or more aspects of the disclosed embodiments, the payload support surface is movable relative to the frame in at least one degree of freedom and is movable relative to the pick height of the underpick end effector.

[0122] According to one or more aspects of the disclosed embodiments, the payload alignment surface positions the payload on the payload contact support surface and substantially aligns the articulated underpick end effector that loads the payload into the transport payload area. At the same time At least two alignments for aligning the payload Together with configured to effect payload engagement.

[0123] According to one or more aspects of the disclosed embodiments, the seating of the payload on the payload support surface by the underpick end effector effects alignment of the payload and the payload alignment surface by at least one alignment of the at least two alignments of the payload relative to the frame.

[0124] According to one or more aspects of the disclosed embodiments, the seating of the payload on the payload contact support surface by the underpick end effector effects alignment of the payload and the payload alignment surface by at least one alignment of the at least two alignments of the payload relative to the frame.

[0125] According to one or more aspects of the disclosed embodiments, the seating of the payload on the payload support surface by the underpick end effector is made by positioning the payload within the transport payload area by the underpick end effector, substantially very close to the loading on the transport payload area.

[0126] According to one or more aspects of the disclosed embodiments, loading the payload into the transport payload area is substantially At the same time By causing at least two alignments of the payload, for each payload loaded onto the vehicle, loading the payload onto the vehicle is substantially At the same time Enabling the start of vehicle movement.

[0127] According to one or more aspects of the disclosed embodiments, the underpick end effector is configured to engage the lower side of the payload and pick up the payload from the lower side to effect the transfer of the payload by the autonomous transport vehicle.

[0128] According to one or more aspects of the disclosed embodiments, the method comprises A frame forming a transport payload area of the autonomous transport vehicle, the transport payload area including a payload contact support surface defining a payload support surface for supporting the payload held within the transport payload area when the autonomous transport vehicle passes, The transport payload area further includes an articulated underpick end effector configured to engage the payload, underpick the payload with respect to the support surface, extend and retract with respect to the transport payload area to effect the transfer of the payload between the transport payload area, and load and unload the transport payload area, Providing a payload alignment surface attached to the frame, engaging the payload held in the transport payload area with the payload alignment surface; When a plurality of the payload alignment surfaces engage with the payload, they are arranged to provide at least two alignments that capture and fix the payload at a predetermined position in the transport payload area, substantially At the same time with the seating of the payload on the payload support surface of the transport payload area. The at least two alignments for aligning the payload Together with are configured to result in engagement with the payload.

[0129] According to one or more aspects of the disclosed embodiments, the articulated underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the articulated underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload support surface is arranged such that the seating of the payload is substantially constant and independent of the pick height of the articulated underpick end effector loading the payload.

[0130] According to one or more aspects of the disclosed embodiments, the articulated underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the articulated underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload alignment surface aligns (and de-aligns the unloaded payload) the loaded payload independently or regardless of the pick height of the articulated underpick end effector loading (or unloading) the payload.

[0131] According to one or more aspects of the disclosed embodiments, the articulated underpick end effector extends, retracts, and loads the payload at each of the payload storage shelf heights within a vertical array of multiple storage shelves (from the base level of the vertical array of storage shelves) at multiple heights, and the payload alignment surface aligns (and de-aligns the alignment of the payload being unloaded) the loaded payload independently of or unrelated to the payload storage shelf height.

[0132] According to one or more aspects of the disclosed embodiments, the payload support surface is movable relative to the frame with at least one degree of freedom in response to the operation of the articulated underpick end effector relative to the frame.

[0133] According to one or more aspects of the disclosed embodiments, the payload support surface is movable relative to the frame with at least one degree of freedom and is movable relative to the pick height of the articulated underpick end effector.

[0134] According to one or more aspects of the disclosed embodiments, the method is substantially the same as the articulated underpick end effector that positions the payload on the payload contact support surface and loads it into the transport payload area. At the same time At least two alignments for aligning the payload Together with Further comprising the step of effecting payload engagement.

[0135] According to one or more aspects of the disclosed embodiments, the method further comprises the step of effecting alignment of the payload and the payload alignment surface by at least one alignment of the at least two alignments of the payload relative to the frame by seating the payload on the payload support surface by the articulated underpick end effector.

[0136] According to one or more aspects of the disclosed embodiments, the method further includes aligning the payload and the payload alignment surface by at least one alignment of the at least two alignments of the payload with respect to the frame by seating the payload on the payload contact support surface by the articulated underpick end effector.

[0137] According to one or more aspects of the disclosed embodiments, seating the payload on the payload support surface by the articulated underpick end effector is performed by positioning the payload within the transport payload area by the articulated underpick end effector, substantially very close to the load to the transport payload area.

[0138] According to one or more aspects of the disclosed embodiments, loading the payload into the transport payload area is substantially At the same time By causing at least two alignments of the payload, for each payload loaded onto the vehicle, loading the payload onto the vehicle is substantially At the same time Enabling the start of vehicle movement.

[0139] According to one or more aspects of the disclosed embodiments, the articulated underpick end effector engages under the payload and picks up the payload from below, resulting in the transfer of the payload by the autonomous transport vehicle.

[0140] According to one or more aspects of the disclosed embodiments, the method includes To an autonomous transport vehicle, A frame forming a transport payload area of the autonomous transport vehicle, the transport payload area including a payload contact support surface defining a payload support surface of the autonomous transport vehicle that supports the payload held within the transport payload area when the autonomous transport vehicle passes. The frame further includes an underpick end effector configured such that the transport payload area engages the payload, underpicks the payload relative to the support surface of the storage space, extends and retracts relative to the transport payload area, effecting transfer of the payload between the support surface of the storage space, and is configured to unload and load the transport payload area. providing a payload alignment surface attached to the frame; engaging the payload held in the transport payload area with the payload alignment surface; When a plurality of the payload alignment surfaces engage the payload, they are arranged to provide at least two alignments that capture and fix the payload at a predetermined position in the transport payload area, and for each pick of the underpick end effector from each different support surface height of the storage space, the seating of the payload onto the payload support surface of the transport payload area is effected by a common seating operation between the underpick end effector and the payload support surface, substantially At the same time the at least two alignments for aligning the payload Together with is configured to effect engagement with the payload.

[0141] According to one or more aspects of the disclosed embodiments, the common seating operation is a minimum operation that closes the clearance gap (common) between the underpick end effector and the payload support surface at the payload pick height of the underpick end effector for each different support surface height of the storage space.

[0142] According to one or more aspects of the disclosed embodiments, the underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload support surface is arranged such that the seating of the payload is substantially constant and independent of the pick height of the underpick end effector that loads the payload.

[0143] According to one or more aspects of the disclosed embodiments, the underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload alignment surface aligns (and de-aligns the unloaded payload) the loaded payload independently or regardless of the pick height of the underpick end effector that loads (or unloads) the payload.

[0144] According to one or more aspects of the disclosed embodiments, the underpick end effector extends and retracts to load the payload at respective payload storage shelf heights within a vertical array of a plurality of storage shelves (from the base level of the vertical array of storage shelves), and the payload alignment surface aligns (and de-aligns the unloaded payload) the loaded payload independently or regardless of the payload storage shelf height.

[0145] According to one or more aspects of the disclosed embodiments, the payload support surface is movable relative to the frame in at least one degree of freedom in response to the operation of the underpick end effector relative to the frame.

[0146] According to one or more aspects of the disclosed embodiments, the payload support surface is movable relative to the frame in at least one degree of freedom and is movable relative to the pick height of the underpick end effector.

[0147] According to one or more aspects of the disclosed embodiments, the method is substantially the same as the articulated underpick end effector that positions the payload on the payload contact support surface and loads the payload into the transport payload area. At the same time At least two alignments for aligning the payload Together with The method further includes a step of bringing about payload engagement.

[0148] According to one or more aspects of the disclosed embodiments, the method further includes a step of aligning the payload and the payload alignment surface by at least one alignment of the at least two alignments of the payload relative to the frame by seating the payload on the payload support surface by the underpick end effector.

[0149] According to one or more aspects of the disclosed embodiments, the method further includes a step of aligning the payload and the payload alignment surface by at least one alignment of the at least two alignments of the payload relative to the frame by seating the payload on the payload contact support surface by the underpick end effector.

[0150] According to one or more aspects of the disclosed embodiments, the seating of the payload on the payload support surface by the underpick end effector is made substantially very close to the positioning of the payload within the transport payload area and the loading into the transport payload area by the underpick end effector.

[0151] According to one or more aspects of the disclosed embodiments, substantially loading the payload into the transport payload area At the same time For each payload loaded onto the vehicle, substantially loading the payload onto the vehicle by causing at least two alignments of the payload At the same time Enables the start of vehicle movement.

[0152] According to one or more aspects of the disclosed embodiments, the underpick end effector engages below the payload and picks up the payload from below, resulting in the transfer of the payload by the autonomous transport vehicle.

[0153] According to one or more aspects of the disclosed embodiments, an autonomous transport vehicle for transporting a payload is provided. The autonomous transport vehicle includes A frame forming a transport payload area of the autonomous transport vehicle, the transport payload area including a payload contact support surface defining a payload support surface for supporting a payload held within the transport payload area during passage of the autonomous transport vehicle; a frame, At least one lift tower connected to the frame; A movable payload carriage movably attached to the at least one lift tower and configured to raise and lower the payload within the transport payload area; A drive section having at least one degree of freedom of movement, connected to the movable payload carriage by a flexible transmission, the flexible transmission movably connecting the movable payload carriage to the at least one lift tower, the drive section being configured to raise and lower the movable payload carriage relative to the at least one lift tower; a drive section. The flexible transmission part is configured to effectively provide torsional stability for the movable payload carriage and the payload held on the movable payload carriage, independent of each of the other joints between the movable payload carriage and the at least one lift tower, other than the flexible transmission part that connects the movable payload carriage to the at least one lift tower with respect to the frame.

[0154] According to one or more aspects of the disclosed embodiments, the flexible transmission part is configured to provide torsional stability for the movable payload carriage over the entire operating range of the movable payload carriage with respect to the at least one lift tower.

[0155] According to one or more aspects of the disclosed embodiments, the flexible transmission part is configured to provide torsional stability for the movable payload carriage over the operating range of the movable payload carriage with respect to the at least one lift tower, which results in the transfer of the payload from the movable payload carriage to the payload support shelf.

[0156] According to one or more aspects of the disclosed embodiments, the flexible transmission part is configured to provide torsional stability for the movable payload carriage over the operating range of the movable payload carriage with respect to the at least one lift tower, which results in the transfer of the payload from the payload support shelf to the movable payload carriage.

[0157] According to one or more aspects of the disclosed embodiments, the at least one lift tower includes a guide rail for guiding the movement of the movable payload carriage, and the joint between the guide rail and the movable payload carriage is indeterminate with respect to the torsional position of the movable payload carriage with respect to the guide rail.

[0158] According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle further comprises an end effector movably coupled to the movable payload carriage and moved by the movable payload carriage, the end effector being configured to extend and retract relative to the torsionally stable movable payload carriage.

[0159] It should be understood that the foregoing description is merely illustrative of examples of aspects of the disclosed embodiments. Various alternatives and modifications may be contemplated by those skilled in the art without departing from the aspects of the disclosed embodiments. Accordingly, the aspects of the disclosed embodiments are intended to embrace all such alternatives, modifications, and variations that fall within the scope of any of the appended claims herein. Further, the mere fact that different features are described in different dependent or independent claims does not imply that these features cannot be advantageously used in combination, nor does it indicate that such a combination falls within the scope of the aspects of the disclosed embodiments.

Claims

1. An autonomous transport vehicle for transporting a payload, wherein the autonomous transport vehicle has: a frame forming a transport payload area of the autonomous transport vehicle, the transport payload area including a payload contact support surface defining a payload support surface for supporting the payload held within the transport payload area when the autonomous transport vehicle passes; the transport payload area further including an articulated underpick end effector configured to engage the payload, underpick the payload relative to the payload support surface, extend and retract relative to the transport payload area, effect transfer of the payload between the transport payload area, and load and unload the transport payload area; and a frame; a plurality of payload alignment surfaces attached to the frame so as to engage the payload held in the transport payload area; wherein the plurality of payload alignment surfaces are arranged to provide at least two alignments for capturing and fixing the payload at a predetermined position in the transport payload area when engaging the payload; wherein the alignments in each of the at least two alignments are provided substantially simultaneously such that the alignments in the at least two alignments are substantially simultaneous with the other alignment among the at least two alignments; an autonomous transport vehicle, wherein the plurality of payload alignment surfaces are configured to effect engagement with the payload along with the at least two alignments provided, the at least two alignments effecting alignment of the payload substantially simultaneously with seating of the payload on the payload support surface of the transport payload area.

2. The autonomous transport vehicle according to claim 1, wherein the articulated underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the articulated underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload support surface is arranged such that seating of the payload is substantially constant and independent of the pick height of the articulated underpick end effector for loading the payload.

3. The articulated underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the articulated underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload alignment surface aligns the loaded payload independently of or unrelated to the pick height of the articulated underpick end effector that loads the payload. The autonomous transport vehicle according to claim 1.

4. The articulated underpick end effector extends and retracts to load the payload at respective payload storage shelf heights within a vertical array of a plurality of storage shelves at a plurality of heights, and the payload alignment surface aligns the loaded payload independently of or unrelated to the payload storage shelf height. The autonomous transport vehicle according to claim 1.

5. The payload support surface is movable relative to the frame with at least one degree of freedom in response to the operation of the articulated underpick end effector relative to the frame. The autonomous transport vehicle according to claim 1.

6. The payload support surface is movable relative to the frame with at least one degree of freedom and is movable in the direction of the pick height relative to the pick height of the articulated underpick end effector. The autonomous transport vehicle according to claim 1.

7. The payload alignment surface positions the payload on the payload contact support surface and effects payload engagement with at least two alignments that align the payload substantially simultaneously with the articulated underpick end effector that loads the payload into the transport payload area. The autonomous transport vehicle according to claim 1.

8. Seating of the payload on the payload support surface by the articulated underpick end effector effects alignment of the payload and the payload alignment surface by at least one alignment of the at least two alignments of the payload relative to the frame. The autonomous transport vehicle according to claim 1.

9. The seating of the payload on the payload contact support surface by the articulated underpick end effector results in alignment of the payload and the payload alignment surface by at least one alignment of the at least two alignments of the payload with respect to the frame. The autonomous transport vehicle according to claim 1.

10. The seating of the payload on the payload support surface by the articulated underpick end effector is such that the seating operation of the articulated underpick end effector is minimized so that the seating operation is completed substantially immediately. The payload is positioned within the transport payload area by the articulated underpick end effector, and is done substantially very close to the load in the transport payload area. The autonomous transport vehicle according to claim 1.

11. By causing at least two alignments of the payload to occur substantially simultaneously with loading the payload into the transport payload area, for each payload loaded onto the vehicle, the vehicle can start moving substantially simultaneously with the seating of the payload on the payload support surface of the vehicle. The autonomous transport vehicle according to claim 1.

12. The articulated underpick end effector is configured to engage under the payload and pick up the payload from below, resulting in the transfer of the payload by the autonomous transport vehicle. The autonomous transport vehicle according to claim 1.

13. An autonomous transport vehicle for transporting a payload, wherein the autonomous transport vehicle is a frame forming a transport payload area of the autonomous transport vehicle, and the transport payload area includes a payload contact support surface defining a payload support surface of the autonomous transport vehicle that supports the payload held within the transport payload area when the autonomous transport vehicle passes. The transport payload area further includes an underpick end effector configured to engage the payload, underpick the payload with respect to the support surface of the storage space, extend and retract with respect to the transport payload area, resulting in the transfer of the payload between the payload support surface of the storage space, and to unload and load the transport payload area. A plurality of payload alignment surfaces attached to the frame so as to engage with the payload held in the transport payload area. When a plurality of the payload alignment surfaces engage with the payload, they are arranged to provide at least two alignments for capturing and fixing the payload at a predetermined position in the transport payload area. The alignments in each of the at least two alignments are brought about substantially simultaneously such that the alignment in each of the at least two alignments is substantially simultaneous with the other alignment of the at least two alignments. A plurality of the payload alignment surfaces are configured to effect engagement with the payload together with the at least two alignments brought about, for each pick of the underpick end effector from different support surface heights of each of the storage spaces, alignment of the payload substantially simultaneously with seating of the payload onto the payload support surface in the transport payload area, which is brought about by a common seating operation of the underpick end effector and the payload support surface between the underpick end effector and the payload support surface. An autonomous transport vehicle.

14. The autonomous transport vehicle according to claim 13, wherein the common seating operation is a minimum operation for closing a clearance gap between the underpick end effector and the payload support surface at the payload pick height of the underpick end effector for each different support surface height of each of the storage spaces.

15. The autonomous transport vehicle according to claim 13, wherein the underpick end effector extends and retracts to load the payload at each of a predetermined pick height of the underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload support surface is arranged such that seating of the payload is substantially constant and independent of the pick height of the underpick end effector for loading the payload.

16. The underpick end effector extends and retracts to load the payload at respective predetermined pick heights of the underpick end effector, each pick height being selectable from a plurality of predetermined pick heights, and the payload alignment surface aligns the loaded payload independently of or regardless of the pick height of the underpick end effector that loads the payload, the autonomous transport vehicle according to claim 13.

17. The underpick end effector extends and retracts to load the payload at respective payload storage shelf heights within a vertical array of a plurality of storage shelves at a plurality of heights, and the payload alignment surface aligns the loaded payload independently of or regardless of the payload storage shelf height, the autonomous transport vehicle according to claim 13.

18. The payload support surface is movable relative to the frame with at least one degree of freedom in response to the operation of the underpick end effector relative to the frame, the autonomous transport vehicle according to claim 13.

19. The payload support surface is movable relative to the frame with at least one degree of freedom and is movable in the direction of the pick height relative to the pick height of the underpick end effector, the autonomous transport vehicle according to claim 13.

20. The payload alignment surface is configured to effect payload engagement with at least two alignments that position the payload on the payload contact support surface and align the payload substantially simultaneously with the articulated underpick end effector that loads the payload into the transport payload area, the autonomous transport vehicle according to claim 13.

Images