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EP-4261157-B1 - AUTOMATED SHUTTLE

EP4261157B1EP 4261157 B1EP4261157 B1EP 4261157B1EP-4261157-B1

Inventors

  • SEBASTIAN, JARL NICHOLAS
  • HATHAWAY, CHRISTOPHER J.
  • TURCO, Anthony James

Dates

Publication Date
20260506
Application Date
20221107

Claims (12)

  1. A shuttle (10) configured for use in an automated storage and retrieval system, the shuttle comprising: a plurality of retractable load arms (210, 220) at least partially secured relative to a shuttle body (101) and configured to be extendable between a retracted configuration and an extended configuration, the plurality of retractable load arms comprising: a first load arm (210) configured to extend at least substantially away from the shuttle body (101) in a first lateral direction; and a second load arm (220) configured to extend at least substantially away from the shuttle body (101) in a second lateral direction that is at least substantially parallel to the first lateral direction; a load bed (201) configured to support at least one object and comprising a width that extends between the first load arm (210) and the second load arm (220), wherein at least a portion of the load bed defines a load area configured to receive the at least one object therein; a retractable mechanical finger (231) provided at a distal portion of the first load arm and configured to facilitate handling of the at least one object, the mechanical finger (231) being hingedly connected to the first load arm (210) and comprising at least one spring element that facilitates rotational movement of the mechanical finger (231) relative to the first load arm (210) between an expanded finger position and a retracted finger position; wherein the mechanical finger (231) is hingedly connected to the first load arm (210) using a one-way hinge component configured to at least partially define a range of rotational movement of the mechanical finger relative to the first load arm; and wherein the one-way hinge component is defined at least in part by a vertical hinge axis such that the range of rotational movement of the mechanical finger (231) relative to the first load arm (210) is defined in an at least substantially horizontal plane, characterized in that the at least one spring element of the mechanical finger (231) is configured to bias the mechanical finger (231) towards the expanded finger position by applying a spring force to the mechanical finger (231) that imparts a first expansion moment on the mechanical finger (231) in an expansion rotational direction.
  2. The shuttle (10) of claim 1, wherein the mechanical finger (231) is configured to rotate from the expanded finger position in a retraction rotational direction at least partially towards the retracted finger position in response to a first retraction moment being imparted on the mechanical finger (231) in the retraction rotational direction.
  3. The shuttle (10) of claim 1, wherein the expanded finger position is defined by a finger length of the mechanical finger (231) extending from the first load arm (210) and into the load area in an at least substantially perpendicular direction relative to an arm length of the first load arm (210); and wherein the retracted finger position is defined by the mechanical finger (231) being retracted into the first load arm (210) such that the finger length of the mechanical finger (231) extends at least substantially parallel to the arm length of the first load arm (210).
  4. The shuttle (10) of claim 1, further comprising a second retractable mechanical finger (232) provided at a second distal portion of the second load arm (220) and configured to facilitate handling of the at least one object, the second mechanical finger (232) being hingedly connected to the second load arm (220) and comprising at least one second spring element that facilitates rotational movement of the second mechanical finger (232) relative to the second load arm (220) between a second expanded finger position and a second retracted finger position; wherein the second mechanical finger (232) is hingedly connected to the second load arm (220) using a second one-way hinge component configured to at least partially define a second range of rotational movement of the second mechanical finger (232) relative to the second load arm (220).
  5. The shuttle (10) of claim 4, wherein the at least one second spring element of the second mechanical finger (232) is configured to bias the second mechanical finger towards the second expanded finger position by applying a second spring force to the second mechanical finger (232) that imparts a second expansion moment on the second mechanical finger (232) in a second expansion rotational direction; wherein the expansion rotational direction defined by the mechanical finger (231) and the second expansion rotational direction defined by the second mechanical finger (232) comprise at least substantially opposite rotational directions.
  6. The shuttle (10) of claim 1, wherein the at least substantially horizontal plane is at least substantially parallel the load bed (201).
  7. The shuttle (10) of claim 1, wherein the one-way hinge component is configured to, when the mechanical finger (231) is in the expanded finger position, prevent the mechanical finger (231) from being rotated in an expansion rotational direction away from the retracted finger position, such that the one-way hinge component defines the rotational range of movement of the mechanical finger (231) relative to the first load arm (210) by at least partially restricting the range of rotational movement in the expansion rotational direction.
  8. The shuttle (10) of claim 1, wherein at least a portion of the first load arm (210) is configured to be selectively translated in a first longitudinal direction relative to the load area so as to dynamically adjust a load width of the load area in order to facilitate handling of the at least one object disposed on the load bed (201).
  9. The shuttle (10) of claim 8, wherein the first load arm (210) extends in the first lateral direction along a first guide track configured to define a first load arm travel path (305) of the first load arm (210) between a retracted configuration and an extended configuration, wherein at least a portion of the first guide track is defined by a non-linear feature configured to cause the at least a portion of the first load arm (210) to exhibit a longitudinal shift in the first longitudinal direction from a first longitudinal position to a second longitudinal position as the first load arm (210) travels along the first guide track in one of an extension direction and a retraction direction.
  10. The shuttle (10) of claim 1, wherein the first load arm (210) comprises an arm interface portion (211) defined by a surface of the first load arm (210) that is positioned at least substantially adjacent the load area and faces the second load arm (220) so as to be configured for physical engagement of the at least one object disposed within the load area to at least partially secure the at least one object within the load area; wherein the arm interface portion is made of a high-traction material.
  11. The shuttle (10) of claim 1, further comprising a second mechanical finger (232) extending from the first load arm (210) into the load area in a second longitudinal direction at least substantially parallel to the at least substantially perpendicular direction relative to the first load arm (210); wherein the mechanical finger (231) is positioned at least substantially adjacent a first lateral side of the load bed (201) and wherein the second mechanical finger (232) is positioned at least substantially adjacent a second lateral side of the load bed (201).
  12. The shuttle (10) of claim 1, further comprising a second mechanical finger (232) configured to facilitate handling of the at least one object, the second mechanical finger (232) extending from the second load arm (220) into the load area in an at least substantially perpendicular direction relative to the second load arm (220); wherein the mechanical finger (231) is positioned at least substantially adjacent a first lateral side of the load bed (201) and wherein the second mechanical finger (232) is positioned at least substantially adjacent a second lateral side of the load bed (201).

Description

FIELD OF THE INVENTION Example embodiments of the present invention relate generally to material handling of containers, packages, discrete articles and/or other objects, and more specifically to techniques for moving objects stored at a storage rack via a shuttle. BACKGROUND Automated storage and retrieval systems (AS/RSs) are key components in material handling environments that utilize automation, software, and labor to optimize the productivity and throughput in a variety of operations. Furthermore, AS/RSs provide flexibility and speed allowing use in applications ranging from e-commerce and omnichannel fulfillment to article distribution. AS/RSs utilize automated shuttles moving along integrated tracks within storage racks to retrieve stored objects from discrete storage locations within those storage racks. Automated shuttles used in AS/RSs may experience challenges in effectively retrieving, handling, and/or otherwise transporting objects having a unique and/or unconventional characteristic such as, for example, size, shape, storage position, and the like. Applicant has identified several technical challenges associated with utilizing automated shuttles in an AS/RS to retrieve objects stored at discrete storage locations within a storage rack arrangement. Through applied effort, ingenuity, and innovation, many of these identified challenges have been overcome by developing solutions that are included in embodiments of the present invention, many examples of which are described in detail herein. US 5 927 926 discloses a shuttle according to the preamble of claim 1. Said document discloses a carriage for a storageretrieval system including a shelf assembly. The carriage includes a base member, at least one carrier region above the base member for supporting an object to be transferred, at least one pair of shifting units flanking the carrier region. The shifting units are reciprocally moveable into and away from the shelf assembly. Engaging members are mounted on the shifting units. BRIEF SUMMARY The invention provides a shuttle according to claim 1. Embodiments of the invention become apparent from the dependent claims. In various embodiments, the mechanical finger may be configured to rotate from the expanded finger position in a retraction rotational direction at least partially towards the retracted finger position in response to a first retraction moment being imparted on the mechanical finger in the retraction rotational direction. In various embodiments, the expanded finger position may be defined by a finger length of the mechanical finger extending from the first load arm and into the load area in an at least substantially perpendicular direction relative to an arm length of the first load arm; and wherein the retracted finger position is defined by the mechanical finger being retracted into the first load arm such that the finger length of the mechanical finger extends at least substantially parallel to the arm length of the first load arm. At least one spring element of the mechanical finger is configured to bias the mechanical finger towards the expanded finger position by applying a spring force to the mechanical finger that imparts a first expansion moment on the mechanical finger in an expansion rotational direction. In various embodiments, the shuttle may further comprise a second retractable mechanical finger provided at a second distal portion of the second load arm and configured to facilitate handling of the at least one object, the second mechanical finger being hingedly connected to the second load arm and comprising at least one second spring element that facilitates rotational movement of the second mechanical finger relative to the second load arm between a second expanded finger position and a second retracted finger position; wherein the second mechanical finger is hingedly connected to the second load arm using a second one-way hinge component configured to at least partially define a second range of rotational movement of the second mechanical finger relative to the second load arm. In certain embodiments, the at least one second spring element of the second mechanical finger may be configured to bias the second mechanical finger towards the second expanded finger position by applying a second spring force to the second mechanical finger that imparts a second expansion moment on the second mechanical finger in a second expansion rotational direction; wherein the expansion rotational direction defined by the mechanical finger and the second expansion rotational direction defined by the second mechanical finger comprise at least substantially opposite rotational directions. In various embodiments, the one-way hinge component is defined at least in part by a vertical hinge axis such that the range of rotational movement of the mechanical finger relative to the first load arm is defined in an at least substantially horizontal plane. In certain embodiments, the at least substant