A method for turning a pinion-driven lift-robot in an intersection of rails. Moving the pinion-driven lift-robot in a first motion mode to position the pinion-driven lift-robot in a first position at the intersection. The pinion-driven lift-robot is turned over a corner of the intersection that is accessible from the first position and that includes continuous rails connecting a vertical track and a horizontal track, whereby positioning the pinion-driven lift-robot in a second position at the intersection. The pinion-driven lift-robot is moved in a second motion mode towards a designated direction.
B61F 99/00 - Matière non prévue dans les autres groupes de la présente sous-classe
B65G 1/06 - Dispositifs d'emmagasinage mécaniques avec des moyens pour que les objets se présentent à l'enlèvement dans des positions ou à des niveaux prédéterminés
B66F 9/06 - Dispositifs pour lever ou descendre des marchandises volumineuses ou lourdes aux fins de chargement ou de déchargement se déplaçant, avec leurs charges, sur des roues ou sur un dispositif analogue, p. ex. chariots élévateurs à fourche
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
G05B 19/418 - Commande totale d'usine, c.-à-d. commande centralisée de plusieurs machines, p. ex. commande numérique directe ou distribuée [DNC], systèmes d'ateliers flexibles [FMS], systèmes de fabrication intégrés [IMS], productique [CIM]
B61C 13/00 - Locomotives ou automotrices caractérisées par leur utilisation dans des systèmes ou pour des buts particuliers
2.
ROBOTIC DELIVERY AND RETRIEVAL OF CRATES TO AND FROM NON-UNIFORMLY SIZED STORAGE SPACES IN A VERSATILE SHELVING ARRAY
A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non- uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift- robots through a network of tracks comprising intersecting vertically and horizontally oriented tracks. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.
B65G 1/00 - Emmagasinage d'objets, individuellement ou avec une certaine ordonnance, dans des entrepôts ou des magasins
B65G 1/06 - Dispositifs d'emmagasinage mécaniques avec des moyens pour que les objets se présentent à l'enlèvement dans des positions ou à des niveaux prédéterminés
B65G 1/16 - Disposition particulière des objets dans les aires de stockage
B65G 1/20 - Objets disposés en couches avec des espaces entre les objets
B65G 1/137 - Dispositifs d'emmagasinage mécaniques avec des aménagements ou des moyens de commande automatique pour choisir les objets qui doivent être enlevés
A direction switching module for lift robots using a pair of pinions coupled to a rack for propelling vertically and horizontally according to the track's orientation, is disclosed. In a linear motion mode both pinions rotate in the same velocity. In a direction switching mode, when changing from vertical to horizontal motion mode and vise versa, the module is capable of propelling one pinion on a vertical track and its counterpart on a horizontal track, simultaneously, each pinion in a different velocity. A bogie propelled by two pairs of said module is also disclosed, and a controller configured to drive both pinions in same velocity during linear motion and each pinion in a separate appropriate velocity during the direction switching mode. A method for turning a pinion-driven lift-robot in an intersection of rails and a controller for controlling the linear motion modes and the direction switching modes of the lift robot are also disclosed.
A method, system and product for using multiple packing stations in delivery of goods. A packing scheme is determined for an order based on an optimality criteria, the scheme comprising a division of a set of items between packing stations, whereby defining one or more subsets of the set of items. The packing scheme further comprising an ordering of the one or more subsets and packing stations paired therewith, by which ordering the paired packing stations are to be utilized for packing the set of items and transporting thereof to the destination, wherein in each packing station, a respective portion of the set of items is to be packed and transported therefrom. Responsive to the optimality criteria being met, instructions for executing the order are issued, whereby the set of items are packed and transported according to the packing scheme.
A robotic picking apparatus, system and method of use thereof. A system comprising: a plurality of robotic picking apparatuses configured to pick an item from a container and place the item in a different place, wherein each robotic picking apparatus is configured to operate in one of at least three operational modes: an autonomous mode, a human-assisted mode, and a remote-controlled mode, wherein in the autonomous mode, the robotic picking apparatus operates without human input, wherein in the human-assisted mode, an operation plan is determined using human input and the operation plan is executed automatically without additional input from a human, wherein in the remote-controlled mode, movements of the robotic picking apparatus are controlled directly by a remote human user. Human users located at one or more remote sites provide the human input.
B65G 1/137 - Dispositifs d'emmagasinage mécaniques avec des aménagements ou des moyens de commande automatique pour choisir les objets qui doivent être enlevés
An inventory handling system (20, 150) includes multiple shelving units (22) for mounting over a horizontal floor (24). Each shelving unit contains a vertical array of shelves (28) on which containers (30) are placed. One or more floor robots (36) travel among the shelving units along first paths on the floor. One or more lift robots (32, 80, 120, 152) move independently of the floor robots along second paths in a vertical plane over vertical faces of the shelving units, and transfer the containers between the shelves and the floor robots.
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