Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/0464—Storage devices mechanical with access from above
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G65/00—Loading or unloading
  • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
  • B65G65/08—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with reciprocating pick-up conveyors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
  • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
  • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
  • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"

Definitions

• the present invention primarily relates to an assembly for transporting a plurality of goods holders to/from a grid-based storage and retrieval system.
• the framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102.
• storage containers 106 also known as bins, are stacked one on top of one another to form container stacks 107.
• the members 102 may typically be made of metal, e.g. extruded aluminum profiles.
• the framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 301, 401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105.
• the rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 301, 401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 301, 401 in a second direction Y which is perpendicular to the first direction X.
• Containers 106 stored in the columns 105 are accessed by the container handling vehicles 301, 401 through access openings 112 in the rail system 108.
• the container handling vehicles 301, 401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.
• the upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105.
• the stacks 107 of containers 106 are typically self- supportive.
• Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable lateral movement of the container handling vehicles 201, 301, 401 in the A direction and in the Y direction, respectively.
• two wheels in each set are fully visible.
• the first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set 110 of rails
• the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails.
• At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.
• Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device 304, 404 (visible in Figs. 3a-3b) having a lifting frame part 304a, 404a for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105.
• the lifting device 304, 404 comprises one or more gripping/ engaging devices which are adapted to engage a storage container 106, and which gripping/engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the gripping/engaging devices with respect to the vehicle 201, 301, 401 can be adjusted in a third direction Z (visible for instance in Fig.
• each storage column 105 can be identified by its A and Y coordinates.
• the storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells.
• Each storage column may be identified by a position in an X- and Y- direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.
• Each prior art container handling vehicle 201, 301, 401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108.
• the storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in Figs. 2 and 3b and as described in e.g. WO2015/193278A1 and WO2019/206487A1, the contents of which are incorporated herein by reference.
• Fig. 3a shows an alternative configuration of a container handling vehicle 301 with a cantilever construction.
• a container handling vehicle 301 with a cantilever construction.
• Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.
• the cavity container handling vehicles 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference.
• the term ‘lateral’ used herein may mean ‘horizontal’.
• the rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run.
• the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks.
• Each rail may comprise one track, or each rail may comprise two parallel tracks; in other rail systems 108, each rail in one direction may comprise one track and each rail in the other perpendicular direction may comprise two tracks.
• the rail system may also comprise a double track rail in one of the X or Y direction and a single track rail in the other of the X or Y direction.
• a double track rail may comprise two rail members, each with a track, which are fastened together.
• WO2018/146304A1 illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both A and Y directions.
• columns 105 In the framework structure 100, a majority of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes.
• columns 119 and 120 are such special -purpose columns used by the container handling vehicles 201, 301, 401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100.
• such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120.
• the transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical.
• the storage containers 106 may be placed in a random or a dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119, 120 for further transportation to an access station.
• the transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines.
• tiltted means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.
• the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201, 301 can drop off storage containers 106 to be transported to an access or a transfer station
• the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from an access or a transfer station.
• the access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106.
• the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are, once accessed, returned into the framework structure 100.
• a port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.
• a conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119, 120 and the access station.
• the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119, 120 and the access station.
• the conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in WO2014/075937A1, the contents of which are incorporated herein by reference.
• one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119.
• This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201, 301, 401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e.
• the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105.
• This step which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles.
• the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.
• one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored.
• the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105 or relocated to other storage columns 105.
• the automated storage and retrieval system 1 For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106 and the movement of the container handling vehicles 201, 301, 401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 (shown in Fig. 1) which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
• a control system 500 shown in Fig. 1 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
• a destacker is normally employed to fragment a stack of containers to individual containers apt for being introduced into the system. In addition to requiring operator presence, the destacker takes up valuable floor space. Analogously, a stacker is frequently employed in order to group a number of extracted storage containers to a stack thus preparing the containers for further transport.
• WO2016/166294A1 discloses an object handling system having certain similarities with the system shown in Fig. 1.
• the system comprises a workspace with several vertically extending storage spaces, each comprising a plurality of stacked storage containers.
• the system further comprises wheeled robotic load handling devices operating on rails arranged in a grid pattern above the work space.
• the robotic devices can move in a horizontal direction and, when suitably positioned relative a selected storage space, i.e. immediately above a stack of containers, use lifting means to engage and lift a top container from the stack such that the engaged container is removed from the work space.
• a corresponding operation is performed in the opposite scenario, i.e. when a storage container needs to be introduced into a selected storage space of the work space.
• WO2016/166294A1 a number of storage containers are extracted from the storage space(s) for subsequent transport to an alternative location.
• a wheeled structure shown in Fig. 5a of WO2016/166294A1 that transports stacked storage containers between the storage space(s) and the transport vehicle is employed.
• One major challenge associated with the system of WO2016/166294A1 is to ensure efficient and flexible management of storage containers being introduced to/extracted from the work space.
• MFC micro fulfilment center
• an MFC is a small-scale warehouse facility typically placed close to the consumer to improve delivery times.
• the solution in accordance with claim 1 enables two-way transfer of goods holders to/from the storage volume without constructional changes to the storage and retrieval system.
• the guiding/protective structures are easily retrofitted to existing systems.
• the unit for moving a plurality of goods holders of the present invention is for use in the context of the framework structure 100 comprising upright members 102.
• the unit for moving a plurality of goods holders 106 of the present invention is for use in the context of a rail system 108 arranged across the top of the framework structure 100.
• a plurality of remotely operated vehicles travels on the rail system 108 and raises goods holders 106 from, and lowers goods holders 106 into, the storage columns 105, and also to transport the goods holders
• the remotely operated vehicles move laterally, i.e. in a plane which is parallel to a horizontal plane.
• the unit for moving a plurality of goods holders of the present invention is for use in the context of a SDG-based rail system 108.
• SDG stands for Single/Double Grid. This design provides a single rail track along one axis and a double rail track along the other axis. Utilizing a single rail in one direction requires the meeting robots to have a cell between them.
• the unit for moving a plurality of goods holders of the present invention is for use in the context of a DDG-based rail system 108.
• DDG stands for Double/Double Grid. This design provides a double rail track in all directions allowing robots to pass each other in all directions.
• the term “container handling vehicle” used in “Background and Prior Art”-section of the application and the term “remotely operated vehicle” used in the rest of the application text are synonymous and define an autonomous wheeled vehicle operating on a rail system arranged across the top of the framework structure being part of an automated storage and retrieval system.
• the terms “storage container” and “storage bin” used in “Background and Prior Art”-section of the application and the term “goods holder” used in the rest of the application text are synonymous and define a vessel for storing items.
• the goods holder of the present application can be any one of a bin, a tote, a pallet, a tray or similar. Different types of goods holders may be used in the same automated storage and retrieval system.
• Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.
• Figs. 6a-6b are perspective views showing a safety hatch in accordance with one embodiment of the present invention, the safety hatch being pivotable between a horizontal and a vertical position.
• Fig. 7c is a side view of the transporter with goods holder alignment means in accordance with another embodiment of the present invention.
• Fig. 7d is a perspective side view of the transporter with goods holder alignment means shown in Fig. 7c.
• Figs. 8a-8c are perspective views sequentially showing how the transporter is aligned and locked in accordance with one embodiment of the present invention.
• Fig. 9a is a perspective side view showing a goods holder support actuator comprising a frame and means for engaging.
• Fig. 9b is a perspective side view showing a goods holder support actuator shown in Fig. 9b where means are engaging a rotatable axel thus enabling pivoting of the goods holder support.
• Figs. lOa-lOb are perspective views of the transporter showing operation of a goods holder support actuator comprising a lever.
• the framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with Figs. l-3b, i.e. a number of upright members 102, wherein the framework structure 100 also comprises a first, upper rail system 108 in the X direction and Y direction.
• the framework structure 100 can be of any size. In particular, it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1.
• the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
• the protective structure 606 is a door and opening of said door allows access to the transporter positioned such that the base is below the guiding structure.
• the protective structure further comprises two oppositely arranged side retention members, here embodied as panels. In an alternative embodiment, these retention members may be part of the guiding structure.
• the transporter of the assembly may have wheels and braking means, typically discbased brakes, could be mounted on these wheels.
• goods holders 106 are inserted/ extracted in/from the transporter 604 by means of the remotely operated vehicle 506 of the cantilever type.
• the guiding structure 602 is affixed adjacent to a peripheral section of the framework structure and aligned with two adjacent parallel rails 110.
• the guiding structure shown in Figs. 4a-4b is tubular.
• the guiding structure consists of at least one pair of diagonally arranged vertically extending members, wherein guiding portions of the members face the goods holder 106 vertically passing through a space limited by the guiding portions, and each guiding portion has L-shaped cross-section.
• Fig. 5 is a perspective view showing parts of an assembly for transporting a plurality of goods holders in accordance with another embodiment of the present invention.
• Fig. 5 also shows a transporter 602 for transporting a stack of goods holders.
• a protective structure 606 is a retention member structurally integrated with the transporter. The retention member extends upwardly from the base 605 of the transporter.
• a handle 608 is arranged at a side of the retention member 606 facing away from the goods holders being transported.
• the protective structure comprises two oppositely arranged side retention members 610, here embodied as panels.
• the parts discussed above in connection with Figs. 4a-4b are not further discussed in connection with Fig. 5.
• Figs. 6a-6b are perspective views showing a safety hatch 612 in accordance with one embodiment of the present invention, the safety hatch being pivotable between a horizontal and a vertical position.
• the movable safety hatch is for preventing inadvertent downward movement of the goods holders from the storage volume. When deployed, said safety hatch also denies access to the transporter 604 to unauthorized personnel.
• the vertically extending members 102 of the framework structure are also shown.
• the movable hatch is operated by being pivoted between a first, horizontal, closed position (Fig. 6b) in which the downward movement of the goods holders is obstructed and a second, vertical, open position (Fig. 6a).
• a transporter 604 moving towards the framework structure is also shown in Fig. 6b and below the guiding structure (not shown) in Fig. 6a. In consequence, the safety hatch is in closed position.
• Fig. 7c is a side view of the transporter 604 with goods holder alignment means 615 in accordance with another embodiment of the present invention.
• the alignment means are arranged in the base.
• said means is a plurality of flanges 617 extending upwardly from the periphery at one or more sides of the base 605.
• said flanges are joined to the base at a right angle, and are approximately mid-height bent outward to form a lip.
• Fig. 7d is a perspective view of the transporter with flanges 617 shown in Fig. 7c.
• the parts discussed above in connection with Fig. 7c are not further discussed in connection with Fig. 7d.
• Figs. 8a-8c are perspective views sequentially showing how the transporter 602 is aligned and locked in accordance with one embodiment of the present invention.
• Fig. 8a shows means for aligning a base 605 of a transporter 602 with respect to a framework structure (here represented as a framework plate 620 fixed between two vertical members (not shown) of the framework structure).
• a goods holder 106 is positioned on the base.
• Fig. 8a shows the transporter 602 similar to the one discussed in connection with Figs. 4a-4b, said transporter comprising a bore hole 622 and the framework structure comprising a guiding finger 624 configured to mate with the bore hole to form the means for aligning the transporter.
• the bore hole 622 extends in an axial direction of a cylindrically shaped rod 626 affixed to the base of the transporter.
• At least one of the guiding finger 624 and the cylindrically shaped rod 626 may be tapered.
• the shown guiding finger has circular cross-section, but other variants, such as elliptical or quadrangular cross-section, are conceivable.
• the guiding finger may be provided with a radially protruding stop for abutting against edge of the cylindrically shaped rod. Shown means have a pair of guiding fingers and corresponding bore holes, but a solution involving a single finger/hole-set is equally conceivable.
• Fig. 8b the guiding finger 624 is mated with the bore hole 622 and the transporter 602 is aligned with the framework structure.
• the parts discussed above in connection with Fig. 8a are not further discussed in connection with Fig. 8b.
• 201c Drive means / wheel arrangement, second direction (F) 301 Cantilever-based container handling vehicle belonging to prior art 301a Vehicle body of the container handling vehicle 301 301b Drive means in first direction (X) 301c Drive means in second direction (F) 401 Container handling vehicle belonging to prior art 401a Vehicle body of the container handling vehicle 401 401b Drive means in first direction (X) 401c Drive means in second direction (F) 500 Control system 506 Remotely operated vehicle X First direction F Second direction Z Third direction 602 Guiding structure 604 Transporter 605 Base 606 Protective structure/Retention member 608 Handle 610 Side retention members 612 Hatch 615 Upward projecting pin Flange

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Transportation (AREA)
• Structural Engineering (AREA)
• Civil Engineering (AREA)
• Life Sciences & Earth Sciences (AREA)
• Geology (AREA)
• Warehouses Or Storage Devices (AREA)

Applications Claiming Priority (2)

Publications (1)

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Family Cites Families (20)

• 2022
  • 2022-11-25 NO NO20221276A patent/NO20221276A1/en unknown
• 2023
  • 2023-10-17 WO PCT/EP2023/078766 patent/WO2024110120A1/en not_active Ceased
  • 2023-10-17 EP EP23790640.9A patent/EP4622892A1/de active Pending
  • 2023-10-17 CN CN202380081323.5A patent/CN120265557A/zh active Pending

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