WO2025157367A1 - Ensemble cadre de levage, véhicule de manipulation de conteneur associé et système de stockage et de récupération automatisé, et leurs procédés d'utilisation - Google Patents

Ensemble cadre de levage, véhicule de manipulation de conteneur associé et système de stockage et de récupération automatisé, et leurs procédés d'utilisation

Info

Publication number
WO2025157367A1
WO2025157367A1 PCT/EP2024/051335 EP2024051335W WO2025157367A1 WO 2025157367 A1 WO2025157367 A1 WO 2025157367A1 EP 2024051335 W EP2024051335 W EP 2024051335W WO 2025157367 A1 WO2025157367 A1 WO 2025157367A1
Authority
WO
WIPO (PCT)
Prior art keywords
lifting frame
storage
container
grippers
frame assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/051335
Other languages
English (en)
Inventor
Jørgen Heggebø
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autostore Technology AS
Original Assignee
Autostore Technology AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Priority to PCT/EP2024/051335 priority Critical patent/WO2025157367A1/fr
Publication of WO2025157367A1 publication Critical patent/WO2025157367A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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"
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • 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

Definitions

  • the invention relates to the technical field of automated storage and retrieval systems (ASRS), and in particular to the type of ASRS comprising a framework structure supporting a rails system above and where container handling vehicle can travel on the rail system while retrieving and putting storage containers into stacks below the rail system.
  • ASRS automated storage and retrieval systems
  • Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.
  • 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 columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form 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 201,301,401 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 no arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the framework 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 201,301,401 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 201,301,401 through access openings 112 in the rail system 108.
  • the container handling vehicles 201,301,401 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-supporting.
  • 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 the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively.
  • first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively.
  • the first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set no 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 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 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 which is orthogonal the first direction X and the second direction Y.
  • Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs. 3 and 4 indicated with reference number 304,404.
  • the gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2 and is thus not shown.
  • each storage column 105 can be identified by its X 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, 401a as shown in Figs. 2 and 4 and as described in e.g. WO2O15/ 193278A1 and
  • FIG. 3 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 vehicle 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 WO2O15/ 193278A1, the contents of which are incorporated herein by reference.
  • the term ‘lateral’ used herein may mean ‘horizontal’.
  • the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014/090684A1 or W02019/206487A1.
  • 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 110,111 may comprise two parallel tracks.
  • each rail in one direction e.g. an X direction
  • each rail in the other, perpendicular direction e.g. a Y direction
  • Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.
  • WO2O18/ 146304A1 illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.
  • a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107.
  • storage columns 105 there are special-purpose columns within the framework structure.
  • 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 maybe 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 maybe placed in a random or 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.
  • tilted 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 dropoff port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station
  • the second port column 120 maybe 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 returned into the framework structure 100 again once accessed.
  • 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 WO2O14/ 075937A1, the contents of which are incorporated herein by reference.
  • a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, 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 201,301,401 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 abovepositioned 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, maybe 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.
  • the temporarily removed storage containers 106 can be repositioned into the original storage column 105.
  • 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 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • a lifting frame which can be telescopically connected to a lifting frame holder arranged in a transfer column.
  • the transfer column does not have storage and is a column where the lifting frame may move up and down in order to put and retrieve storage containers in one or more of the surrounding, i.e. neighboring, storage columns.
  • the neighboring storage columns may comprise static shelves such that the storage containers are not supported on top of each other as described above but rather positioned on individual shelves.
  • An aim of the invention is to reduce the height required for putting and getting bins to and from a static shelf in a neighboring storage column when using a lifting frame assembly.
  • An advantage of the lifting frame assembly described herein is that less vertical height is required when putting and retrieving bins in a neighboring storage cell/ column, i.e. a cell next to a “transfer column” where the lifting device move up and down.
  • the lifting frame has to be liftable to a position where the grippers are clear of the top of the storage container in the neighboring cell (i.e. the lowermost part of the grippers has to be above the top of the storage container in order to be able to retract the lifting frame sideways into the transfer column when not carrying a storage container.
  • This is solved by making the grippers movable relative to the lifting frame.
  • the guiding members may be movable relative to the lifting frame.
  • the present invention relates to a lifting frame assembly for a container lift device of an automated storage system, wherein the lifting frame assembly comprises: a base configured to be suspended from the container lift device by suspension means; a lifting frame; a plurality of grippers, each gripper being movable between a first position and second position relative the lifting frame, wherein the second position is at a lower elevation than the first position, such that in the second position each gripper is connectable to a storage container.
  • the lowermost part of the gripper is at a higher elevation than in the second position.
  • Top bins are storage containers positioned on top of a stack where at least a part of the uppermost storage container extends above the rails of the rail system.
  • the grippers can connect to a storage container from above or from a side.
  • the container lift device can e.g. be arranged on a container handling vehicle or a gantry arrangement.
  • the grippers may be movable at least partly into the lifting frame.
  • the grippers can be completely retracted into the lifting frame and, as such, not be a limiting factor at all for the bin height in a neighbor storage column.
  • the grippers can be completely retracted into the lifting frame and, as such, not be a limiting factor at all for the bin height in a neighbor cell.
  • the grippers may retract into a hole in the lifting frame or slide up on an outer edge of the lifting frame.
  • the lifting frame assembly may comprise at least one linear actuator for moving the grippers in a vertical direction.
  • the lifting frame assembly may comprise at least one actuator for rotating the grippers in a vertical plane between the first position and the second position.
  • actuators there may one actuator per gripper or one actuator may operate two or more grippers when moving between the first position and the second position, respectively.
  • the grippers can be rotated between a position where a longitudinal axis of the grippers extends downwards from the lifting frame, i.e. the second position, and a position where the longitudinal axis of the grippers is parallel to the lifting frame, i.e. the first position. It is possible that the gripper is not protruding from the lifting frame at all and is flush with the lifting frame.
  • Rotating a gripper may comprise pivoting the gripper about a pivot point at an end of the gripper where the gripper attaches to the lifting frame.
  • the lifting frame assembly may comprise telescopic part for moving the lifting frame sideways relative to the base.
  • the lifting frame assembly may comprise at least one gripper connection member and wherein the grippers may be connected to the gripper connection member.
  • the gripper connection member can be a mutual connection member for two or more of the grippers such that the grippers move synchronous relative the lifting frame during movement between the first position and the second position.
  • the gripper connection member may be movable relative to the lifting frame.
  • the grippers are connectable to the connection member. Since the connection member is movable relative to the base, the grippers will move relative to the lifting frame together with the connection member.
  • the lifting frame assembly can comprise an actuator for moving the gripper connection member relative to the lifting frame.
  • a sum of a horizontal cross sectional area of the gripper connection member and lifting frame may be equal to or less than a horizontal cross sectional area of the base.
  • no parts of the lifting frame assembly extends outside a vertical projection of the base when the telescopic part is in the retracted position.
  • the lifting frame assembly may comprise guiding members, and the guiding members may be movable relative to the lifting frame.
  • the guiding members may be configured to guide against the upright members.
  • a guiding surface of the upright member and a guiding surface of the guiding members are preferably complementary shaped.
  • the storage containers are preferably provided with gripping recesses for lifting the storage container from above.
  • each corner of the storage containers are preferably provided with vertical recesses for guiding the guiding members of the lifting frame assembly.
  • a surface of the vertical recesses and the surface of the guiding members are preferably complementary shaped.
  • the guiding members may be connected to the gripper connection member.
  • the suspension means may be lifting bands.
  • suspension means such as wire, rope, chain etc.
  • the lifting bands may comprise means for signal and communication transmission between the container handling vehicle and the lifting frame assembly.
  • the signal may be communication signal.
  • the present invention also relates to an automated storage and retrieval system comprising a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction across the top of the framework structure which is perpendicular to the first direction, wherein a number of container handling vehicles operate on the rail system for storing and retrieving storage containers in the automated storage and retrieval system, and wherein the system comprises:
  • the lifting frame assembly may comprise guiding members for guiding against upright members of the framework structure of the automated storage system.
  • the present invention also relates to a method of picking up a target storage container stored in a neighboring storage column of an automated storage and retrieval system using a container lift device comprising a lifting frame assembly, the lifting frame assembly comprises:
  • each gripper being movable between a first position and second position relative the lifting frame, wherein the second position is at a lower elevation than the first position, such that in the second position each gripper is connectable to a storage container; wherein the method comprises the steps of:
  • the present invention also relates to a method of positioning a target storage container in a neighboring storage column of an automated storage and retrieval system using a container lift device comprising a lifting frame assembly, the lifting frame assembly comprises:
  • each gripper being movable between a first position and second position relative the lifting frame, wherein the second position is at a lower elevation than the first position, such that in the second position each gripper is connectable to a storage container; wherein the method comprises the steps of:
  • the present invention also relates to a method of retrieving a storage container which is extending above a rail system in an automated storage and retrieval system, the automated storage and retrieval system comprising a two- dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction across the top of the framework structure which is perpendicular to the first direction, a container handling vehicle operating on the rail system for storing and retrieving storage containers in the automated storage and retrieval system, wherein the container handing vehicle comprises a lifting frame assembly as defined above, wherein the method comprises the steps of: controlling that the grippers are in the first position; moving the container handling vehicle to a position such that the lifting frame is above the storage container; lowering the grippers to the second position and connecting the grippers to
  • top-bins i.e. bins which extends above the rails.
  • the grippers are movable upwardly relative the lifting frame and relative the top bin.
  • the present invention also relates to a method of positioning a storage container on top of a stack of storage containers such that when the storage container has been positioned on top of the stack it extends at least partly above a rail system in an automated storage and retrieval system
  • the automated storage and retrieval system comprising a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction across the top of the framework structure which is perpendicular to the first direction, a container handling vehicle operating on the rail system for storing and retrieving storage containers in the automated storage and retrieval system, wherein the container handing vehicle comprises a lifting frame assembly as defined above, wherein the method comprises the steps of: moving the container handling vehicle with a connected storage container to a position above a storage column with a maximum stack height of storage containers below the rail system; positioning the
  • Maximum stack height is the maximum height of stacked storage containers while the uppermost part of the uppermost storage container is still not extending above the top of the rail system.
  • the automated storage and retrieval system may comprise a plurality of upright members and each storage column is defined by four of the upright members.
  • the rail system may be arranged on top of the upright members, the rail system comprising a first set of parallel rails and a second set of parallel rails arranged perpendicular to the first set of rails.
  • the first and second set of rails providing a horizontal grid-based rail system defining a plurality of grid cells.
  • the first and second set of rails of the rail system may comprise one or two tracks.
  • both directions of rail comprise two tracks (double tracks), e.g., either as two parallel channels formed in a rail, or as a channel provided in each of a pair of rail members that have been fastened to the other to form a rail.
  • the access opening also named grid opening
  • a track-width on each side defines the “grid cell”.
  • the grid cell may extend a full rail -width on those sides.
  • the term “storage container” is intended to mean any goods holder unit having a bottom plate and side portions suitable for releasable connection to the container lift device, e.g. a bin, a tote, a tray or similar.
  • the side portions may preferably comprise gripping recesses.
  • the side portions are preferably sidewalls.
  • the height of the sidewalls may vary depending on the intended use of the automated storage and retrieval system and the goods to be stored.
  • the gripping recesses may be arranged at an upper rim of the sidewalls.
  • the outer horizontal periphery of the storage container is preferably rectangular.
  • the automated storage and retrieval system comprises a control system which typically is computerized and which typically comprises a database for keeping track of the storage containers.
  • the invention may be used in connection with storage containers and systems as described above. However, other areas where the disclosed automated storage and retrieval system and methods maybe used is within vertical farming, micro-fulfilment or grocery/ e-grocery.
  • FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system
  • FIG. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein;
  • FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath;
  • FIG. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein;
  • FIGs. 5A and 5B are side views of a container lift device in the form of a cantilever container handling vehicle comprising a lifting frame assembly with grippers in a first position, where Fig. 5A shows the lifting frame assembly in an upper position docked at the cantilever section whereas Fig. 5B shows the lifting frame assembly lowered from the cantilever section to a position below the container handling vehicle;
  • FIG. 6 is a side perspective view of a lifting frame assembly with grippers in a first position, the lifting frame assembly being suspended via suspension means and is arranged staggered relative to a storage container;
  • FIGs. 7A-7C are different views of a lifting frame assembly with a horizontally movable telescopic part to which a lifting frame is connected, and where grippers of the lifting frame assembly are in a first position above a storage container;
  • FIGs. 8A and 8B are different views of a lifting frame assembly with a horizontally movable telescopic part to which a lifting frame is connected, and where grippers of the lifting frame assembly are in a second position holding a storage container;
  • FIGs. 9A-9D are different views of a lifting frame assembly with a horizontally movable telescopic part to which a lifting frame is connected, and where grippers of the lifting frame assembly are in a first position holding a storage container;
  • FIG. 10A is a perspective view of a storage system comprising prior art upright members forming storage columns where storage containers can be stacked on top of each other and a transfer column in center formed by upright members, wherein the transfer column is enclosed by four neighboring storage columns with stationary shelves for supporting a storage container on each of the shelves;
  • Fig. 10B is a similar view as Fig. 10A where the shelves have been omitted on purpose and is a perspective view of the lifting frame assembly guided against upright members and where the lifting frame assembly comprises a base and a telescopic part, and wherein the telescopic part is in an extended position outside a vertical projection of the base;
  • FIGs. 11A-11J show a sequence of picking up a target storage container stored on a shelf in a neighboring storage column of an automated storage and retrieval system using a container handling vehicle comprising a lifting frame assembly with a telescopic part, where:
  • Fig. 11A is a side view and Fig. 11B is a perspective view of when the whole lifting frame assembly is arranged in the transfer column;
  • Fig. 11C is a side view and Fig. 11D is a perspective view of when the telescopic part has extended and moved the lifting frame into the neighboring storage column with the grippers in the first position above the storage container;
  • Fig. 11E is a side view and Fig. nF is a perspective view of the grippers in the second position engaging the storage container;
  • Fig. 11G is a side view and Fig. 11H is a perspective view of the grippers in the first position holding the storage container and having lifted the storage container up from the shelf;
  • Fig. ill is a side view and Fig. 11J is a perspective view of when the telescopic part has retracted and moved the lifting frame and the storage container back into the transfer column;
  • Figs. 12A-12I show a sequence of positioning a storage container on top of a stack of storage containers such that when the storage container has been positioned on top of the stack it extends at least partly above a rail system in an automated storage and retrieval system, where:
  • Fig. 12A is a side view
  • Fig. 12B is a perspective view
  • Fig. 12C is a front view of a container handling vehicle with the grippers of the lifting frame assembly in a first position holding a storage container such that a lowermost part of the storage container is above the rail system;
  • Fig. 12G is a side view
  • Fig. 12H is a perspective view
  • Fig. 12I is a front view of a container handling vehicle with the grippers of the lifting frame assembly in a first position above an uppermost part of a storage container such that the container handling vehicle is free to move on the rail system without the storage container.
  • a lifting frame assembly (23) for a container lift device (201,301,401) of an automated storage system (1) comprises a base (30) configured to be suspended from the container lift device (201,301,401) by suspension means (25), a lifting frame (29), and a plurality of grippers (26).
  • Each gripper (26) is movable between a first position and second position relative to the lifting frame (29). The second position is at a lower elevation than the first position, such that in the second position each gripper (26) is connectable to a storage container (106).
  • a framework structure 100 of the automated storage and retrieval system 1 may be constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure 100 may comprise a number of upright members 102, and comprise a first, upper rail system 108 extending in the X direction and Y direction.
  • the prior art framework structure 100 may further comprise storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 maybe stackable in stacks 107 within the storage columns 105.
  • 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.
  • FIGs. 5A and 5B are side views of a container lift device 201,30,401 in the form of a cantilever container handling vehicle 301 comprising a lifting frame assembly 23 with grippers 26 (also denoted gripping devices 26) in a first position, where Fig. 5A shows the lifting frame assembly 23 in an upper position docked at the cantilever section of the container handling vehicle 301 whereas Fig. 5B shows the lifting frame assembly 23 lowered from the cantilever section to a position below the container handling vehicle 301.
  • Fig. 6 is a side perspective view of a lifting frame assembly 23 with grippers 26 in a first position, the lifting frame assembly 23 being suspended via suspension means 25 and is arranged staggered relative to a storage container 106.
  • the lifting frame assembly 23 comprises a base 30 configured to be suspended from the container lift device (not shown in Fig. 6, see e.g. 201,301,401) by suspension means illustrated as lifting bands 25.
  • the lifting frame assembly 23 further comprises a lifting frame 29 connected to the base 30 and a plurality of grippers 26. Each gripper 26 is movable between a first position and second position relative the lifting frame 29. The second position is at a lower elevation than the first position, such that in the second position each gripper 26 is connectable to a storage container 106.
  • the grippers 26 are in the first position.
  • the grippers 26 can be moved between the first position and the second position e.g. by means of an actuator 22.
  • the actuator 22 can be a linear actuator or an actuator configured to rotate the grippers 26 in a vertical plane between the first position and the second position.
  • the base 30 has the largest extent in the horizontal plane of all of the lifting frame assembly components. For example, as seen in Fig. 6, a sum of a horizontal cross sectional area of the gripper connection member 27 and the lifting frame 29 is equal to (or less) than a horizontal cross sectional area of the base 30. 1.e. all parts of the lifting frame assembly 23 are within a vertical projection of the base 30.
  • the guiding members 31 can preferably also be moved between a first position and second position relative the lifting frame 29.
  • the guiding members 31 may be connected to the gripper connection member 27 such that the guiding members 31 follow any vertical movement of the gripper connection member 27 relative the lifting frame 29.
  • FIGs. 7A-7C are different views of a lifting frame assembly 23 with a horizontally movable telescopic part 21 to which a lifting frame 29 is connected, and where grippers 26 of the lifting frame assembly 23 are in a first position above a storage container 106.
  • a lowermost part of the guiding members 31 are above the storage container 106.
  • Two actuators 22 are disclosed for moving the grippers 26 between the first position and the second position.
  • FIGs. 8A and 8B are different views of a lifting frame assembly 23 with a horizontally movable telescopic part 21 to which a lifting frame 29 is connected, and where grippers 26 of the lifting frame assembly 23 are in a second position holding a storage container 106.
  • the grippers 26 have moved from the first position (as shown in Figs 7A-7C) to the second position (as shown in Figs. 8A and 8B). Since the grippers 26 (and the guiding members 31) are connected to the gripper connection member 27, the movement of the gripper connection member 27 downwards relative to the lifting frame 29, has resulted in the different positions shown in Figs. 7A-7C and Figs. 8A and 8B, respectively.
  • Actuator 22 has moved the gripper connection member 27 downwards relative the lifting frame 29.
  • FIGs. 9A-9D are different views of a lifting frame assembly 23 with a horizontally movable telescopic part 21 to which a lifting frame 29 is connected, and where grippers 26 of the lifting frame assembly 23 are in a first position holding a storage container 106.
  • Figs. 9A-9D When comparing the relative positions of the grippers 26 and the gripper connection member 27 relative the lifting frame 29 in Figs. 8A-8B and Figs. 9A-9D, it can be seen that in Figs. 9A-9D the grippers 26 and the gripper connection member 27 have moved upwards relative the lifting frame 29. This has been done e.g. by using the actuator 22 to move the gripper connection member 27 upwards relative the lifting frame 29.
  • Fig. 10A is a perspective view of a storage system 1 comprising upright members 102 forming storage columns 105 where storage containers 106 can be stacked on top of each other and a transfer column 60 in center formed by upright members 102, wherein the transfer column 60 is enclosed by four storage columns 70 with stationary shelves 51 for supporting a storage container 106 on each of the shelves 51.
  • the lifting frame assembly 23 in Fig. 10A comprises a horizontally movable telescopic part 21 to which the lifting frame 27 is connected.
  • the telescopic part 21 is configured to move between a retracted position below the base 30 and an extended position outside a vertical projection of the base 30. In Fig. 10A, the telescopic part 21 is in the extended position outside the vertical projection of the base 30.
  • the telescopic part 21 renders possible that a storage container 106 can be transported horizontally between adjacent columns 60,70 through two adjacent upright members 102.
  • the telescopic part 21 maybe powered through signal and communication via the lifting bands 25.
  • the lifting bands 25 may further comprise means for signal and communication transmission between the container handling vehicle 301 and other parts of the lifting frame assembly 23, such as any actuators 22, grippers 22 etc.
  • the storage containers 106 are independently movable as they are supported on one dedicated shelf 51 and not supported by an underlying storage container 106 nor supporting an overlying storage container 106.
  • Fig. 10B is a similar view as Fig. 10A where the shelves have been omitted on purpose and is a perspective view of the lifting frame assembly 23 guided against upright members 102 and where the lifting frame assembly 23 comprises a base 30 and a telescopic part 21, and where the telescopic part 21 is in an extended position outside a vertical projection of the base 30.
  • Fig. 10B is an example moving mechanism for moving the telescopic part 21 between the retracted position and the extended position.
  • the base 30 may comprise stabilizing means 20 for securing the base 30 in the transfer column 60 during extension of the telescopic part 21 to prevent tilting of the lifting frame assembly 23.
  • stabilizing means 20 for securing the base 30 in the transfer column 60 during extension of the telescopic part 21 to prevent tilting of the lifting frame assembly 23.
  • the stabilizing means 20 maybe configured for guiding against upright members 102 of the framework structure 100 of the automated storage system 1 and is preferably operable between a retracted position (where the guiding members are retracted within the outer periphery of the base) and an extended position (where the guiding members extend outside the outer periphery of the base).
  • the extension and retraction of the stabilizing means 20 may be powered via the lifting bands 25.
  • the cross-sectional area of the base is smaller than a cross-sectional area of the access opening 112 of the rail system 108, such that the base 30 can pass through the access opening 112 when the stabilizing means 20 are in the retracted position.
  • the stabilizing means 20 When in the extended position, the stabilizing means 20 preferable extend into contact with the upright members 102 such as to obtain satisfactory guiding against the surface of the upright members 102.
  • the distance between neighboring upright members 102 may be increased. This increased distance provides a larger opening such that storage containers 106 can be retrieved not only from above, but also sideways, easing retrieval of storage containers 106 from the storage system compared to the prior art solutions where the storage containers must be lifted to the top of the rail system prior to being transported to a port.
  • FIGs. 11A-11J show a sequence of picking up a target storage container 106 stored on a shelf 51 in a neighboring storage column 70 of an automated storage and retrieval system 1 using a container handling vehicle (not shown) comprising a lifting frame assembly 23 with a telescopic part 21, where: Fig. 11A is a side view and Fig. 11B is a perspective view of when the whole lifting frame assembly 23 is arranged in the transfer column 60. Fig. 11C is a side view and Fig. 11D is a perspective view of when the telescopic part 21 has extended and moved the lifting frame 29 into the neighboring storage column 70 with the grippers 26 in the first position above the storage container 106.
  • Fig. 11E is a side view and Fig.
  • nF is a perspective view of the grippers 26 in the second position engaging the storage container 106.
  • Fig. 11G is a side view and Fig. 11H is a perspective view of the grippers 26 in the first position holding the storage container 106 and having lifted the storage container 106 up from the shelf 51.
  • Fig. ill is a side view and Fig. 11J is a perspective view of when the telescopic part 21 has retracted and moved the lifting frame 29 and the storage container 106 back into the transfer column 60.
  • FIGs. 12A-12I show a sequence of positioning a storage container 106’ on top of a stack 107 of storage containers 106 such that when the storage container 106’ has been positioned on top of the stack 107 it extends at least partly above a rail system 108 (i.e. the upper most storage container 106’ is a so-called “top bin”).
  • Fig. 12A is a side view
  • Fig. 12B is a perspective view
  • Fig. 12C is a front view of a container handling vehicle 301 with the grippers 26 of the lifting frame assembly 23 in a first position holding a storage container 106’ such that a lowermost part of the storage container 106’ is above the rail system 108.
  • Gi there is a small gap Gi between the bottom of the storage container 106’ carried by the container handling vehicle 301 and the rail system 108.
  • the container handling vehicle 301 can move around on the rail system 108 while carrying the storage container 106’ when the grippers 26 are in the first position as shown in Figs. 12A-12C.
  • Fig. 12D is a side view
  • Fig. 12E is a perspective view
  • Fig. 12F is a front view of a container handling vehicle 301 with the grippers 26 of the lifting frame assembly 23 in a second position holding a storage container 106’ such that a lowermost part of the storage container 106’ is below the rail system 108.
  • the actuator 22 has moved the grippers 26 (possibly by moving the grippers 26 independently or the gripper connection member 27) downwards such that the grippers 26 have moved from the first position to the second position.
  • the gap Gi which was visible in Fig. 12A is not present in Fig. 12D. This means that the container handling vehicle 301 cannot move around on the rail system 108 while carrying the storage container 106’ when the grippers 26 are in the second position as shown in Figs. 12D-12F.
  • Fig. 12G is a side view
  • Fig. 12H is a perspective view
  • Fig. 12I is a front view of a container handling vehicle 301 with the grippers 26 of the lifting frame assembly 23 in a first position above an uppermost part of a storage container 106’ such that the container handling vehicle 301 is free to move on the rail system 108 without the storage container 106’.
  • the storage container 106’ i.e. the “top bin” is supported by the uppermost storage container 106 of the stack 107. At least a part of the storage container 106’ is below the rail system 106 and at least a part of the storage container 106’ is above the rail system 108.
  • FIG. 12A-12I it will be described a method of positioning a storage container 106’ on top of a stack 107 of storage containers 106 such that when the storage container 106’ has been positioned on top of the stack 107 it extends at least partly above a rail system 108 in an automated storage and retrieval system 1.
  • the automated storage and retrieval system 1 comprising a two-dimensional rail system 108 comprising a first set of parallel rails no arranged to guide movement of container handling vehicles 301 in a first direction X across the top of a framework 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 in a second direction Y across the top of the framework structure 100 which is perpendicular to the first direction X.
  • the method comprises the steps of: moving the container handling vehicle 301 with a connected storage container 106’ to a position above a storage column with a maximum stack height of storage containers 106 below the rail system 108; positioning the storage container 106’ on top of the stack 107; disengaging the grippers 26 from the storage container 106’ and raising the grippers 26 to the first position until a lowermost part of the grippers 26 is clear off the storage container 106’.

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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)

Abstract

L'invention concerne un ensemble cadre de levage (23) pour un dispositif de levage de conteneur (201, 301, 401) d'un système de stockage et de récupération automatisé (1), l'ensemble cadre de levage (23) comprenant : - une base (30) conçue pour être suspendue au dispositif de levage de conteneur (201, 301, 401) par des moyens de suspension (25) ; - un cadre de levage (29) supporté par la base (30) ; - une pluralité d'éléments de préhension (26), chaque élément de préhension (26) étant mobile entre une première position et une seconde position par rapport au cadre de levage (29), la seconde position étant à une hauteur plus basse que celle de la première position, de telle sorte que, dans la seconde position, chaque élément de préhension (26) puisse être relié à un conteneur de stockage (106). L'invention concerne également un véhicule de manipulation de conteneur associé comprenant l'ensemble cadre de levage, un système de stockage et de récupération automatisé comprenant l'ensemble cadre de levage et des procédés d'utilisation de l'ensemble cadre de levage.
PCT/EP2024/051335 2024-01-22 2024-01-22 Ensemble cadre de levage, véhicule de manipulation de conteneur associé et système de stockage et de récupération automatisé, et leurs procédés d'utilisation Pending WO2025157367A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2024/051335 WO2025157367A1 (fr) 2024-01-22 2024-01-22 Ensemble cadre de levage, véhicule de manipulation de conteneur associé et système de stockage et de récupération automatisé, et leurs procédés d'utilisation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2024/051335 WO2025157367A1 (fr) 2024-01-22 2024-01-22 Ensemble cadre de levage, véhicule de manipulation de conteneur associé et système de stockage et de récupération automatisé, et leurs procédés d'utilisation

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040188564A1 (en) * 2003-02-24 2004-09-30 Christian Boe Vertical transport lift for moving containers from deck to deck in a commercial aircraft
NO317366B1 (no) 1999-07-01 2004-10-18 Autostore As Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper
WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014079394A1 (fr) * 2012-11-26 2014-05-30 中集集团集装箱控股有限公司 Réceptacle rigide à toit ouvrant et appareil de levage de couvercle
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
WO2023088911A1 (fr) 2021-11-16 2023-05-25 Autostore Technology AS Ensemble cadre de levage à éléments de guidage extensibles et rétractables, véhicule de manipulation de conteneurs et système de stockage, et procédé associé
CN117242018A (zh) * 2021-05-21 2023-12-15 自动存储科技股份有限公司 包括具有侧开口的转移列以及阻挡件的自动储存和取出系统以及操作阻挡件的方法

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO317366B1 (no) 1999-07-01 2004-10-18 Autostore As Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper
US20040188564A1 (en) * 2003-02-24 2004-09-30 Christian Boe Vertical transport lift for moving containers from deck to deck in a commercial aircraft
WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014079394A1 (fr) * 2012-11-26 2014-05-30 中集集团集装箱控股有限公司 Réceptacle rigide à toit ouvrant et appareil de levage de couvercle
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
CN117242018A (zh) * 2021-05-21 2023-12-15 自动存储科技股份有限公司 包括具有侧开口的转移列以及阻挡件的自动储存和取出系统以及操作阻挡件的方法
WO2023088911A1 (fr) 2021-11-16 2023-05-25 Autostore Technology AS Ensemble cadre de levage à éléments de guidage extensibles et rétractables, véhicule de manipulation de conteneurs et système de stockage, et procédé associé

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