An automated, grid-based storage and retrieval system includes a framework structure and a cooler system. The framework structure includes vertically extending members and a grid of horizontal rails provided at upper ends of said vertical members. The framework structure defines a storage volume disposed below the horizontal rails, and an air release volume disposed below the horizontal rails and above the storage volume. The cooler system is for releasing cooling air into the air release volume. The cooler system includes at least one air deflecting element provided in the air release volume. The at least one air deflecting element extends between vertically extending members. The at least one air deflecting element is arranged to deflect a flow of released cooling air from the cooler system downward to the storage volume. The deflected cooling air is introduced into the storage volume from above and propagates in a vertical direction downward through the storage volume.
F25D 17/06 - Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces for circulating gas, e.g. by natural convection by forced circulation
2.
AN ASSEMBLY AND A METHOD FOR TRANSFERRING A PLURALITY OF GOODS HOLDERS
The invention relates to an assembly (5) for transferring a plurality of goods holders (106) from a first (1) storage and retrieval system to at least one second (2) storage and retrieval system. The assembly (5) comprises a receptacle (10) for holding a plurality of goods holders (106) in a stack, a guideway (15) connecting the first (1) storage and retrieval system and the second (2) storage and retrieval system and a transporter (20) in engagement with the guideway (15), wherein said transporter (15) is configured to transfer the receptacle (10) along the guideway (15) between the first (1) and the at least one second (2) automated storage and retrieval system. The invention further relates to a method for transferring in one go a plurality of goods holders (106).
An automated storage and retrieval system includes a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings. Each container handling vehicle includes a protruding section which extends horizontally into a neighbouring grid cell, and a recessed section arranged to accommodate the protruding sections of another container handling vehicle.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - 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
4.
A BUFFER SYSTEM FOR TEMPORARILY STORING CONTAINERS IN AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
The present invention relates to a buffer system (10) for temporarily storing containers (106) in an automated storage and retrieval system (1). The buffer system (10) comprises an endless guide (13, 14) and a plurality of container carriers (20) connected to the endless guide (13, 14). The plurality of container carriers (20) are individually movable along the endless guide (13, 14) between a container handling position (HP), in which a container (106) is loaded onto and/or unloaded from one of the container carriers (20), and buffering positions (BP), in which the containers (106) are temporarily stored on their respective container carrier (20). The invention also relates to an access station and a system with such a buffer system.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
5.
AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM COMPRISING A TEMPERATURE MANAGEMENT SYSTEM AND A METHOD FOR MANAGING TEMPERATURE IN THE AUTOMATED STORAGE AND RETRIEVAL SYSTEM
The invention relates to an automated, grid-based storage and retrieval system (1), said system (1) comprising a framework structure (100) comprising vertically extending members (102) and a grid of horizontal rails (110, 111) provided at upper ends of said vertical members (102), wherein remotely operated vehicles for handling goods holders (106) operate on top of the grid, the framework structure (100) comprising vertically extending storage columns (105) providing a storage volume (500) for storing goods holders (106). The storage volume (500) is disposed below the horizontal rails (110, 111) and at a distance from said horizontal rails (110, 111). Said system (1) further comprises a temperature management system (20) for the storage volume (500) comprising means (22) for providing air at a first temperature, and a horizontally extending air duct (24) for conveying air at the first temperature to the storage volume (500), the air duct being disposed along a middle of the storage volume (500), wherein air at the first temperature is released in an upper section (500U) of the storage volume (500). The invention further relates to a method for managing air in an automated, grid-based storage and retrieval system (1).
F25D 13/00 - Stationary devices associated with refrigerating machinery, e.g. cold rooms
F25D 17/06 - Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces for circulating gas, e.g. by natural convection by forced circulation
The present invention provides a container handling vehicle (2,2') for moving in two perpendicular horizontal directions on a rail system (108), the rail system comprising a first set of parallel rails (110) and a second set of parallel rails (111) 5 arranged perpendicular to the first set of rails (110), the container handling vehicle comprising - a vehicle frame (4); - an internal storage space (5) arranged in an upper portion of the vehicle frame (4); 10 - a lifting device comprising a lifting frame (7) for releasably connecting to a storage container (106), the lifting frame featuring a centre opening (3) through which an item arranged in the storage container may be retrieved, the lifting frame being vertically moveable between a lower position and an upper position; and - a robotic item picker (6); wherein the robotic item picker (6) is configured to transfer an item between the storage space (5) and a storage container (106) when the storage container is connected to the lifting frame and the lifting frame is in the upper position.
A method controls storage locations of products stored in storage containers in an automated storage and retrieval system operated by container handling vehicles. The storage and retrieval system comprises a grid structure with storage columns adapted for holding stacks of storage containers. The grid structure has a corresponding rail system above the storage columns for guiding movements of the vehicles adapted for transferring storage containers to and from the storage columns. Each vehicle comprises a vehicle controller connected to driving means for controlling movements of the vehicle along the rail system relative to movements of other vehicles. Controlling of container handling vehicles and storage locations of storage containers is handled by a main controller of the automated storage and retrieval system communicating with a Warehouse Management System configured to register each storage container to be stored and type of one or more products placed in the storage containers. The method for storing storage containers includes: a transferring step, a transmitting step, a reading step, and a selecting step. The transferring step transfers a set of storage rules from the Warehouse Management System to the main controller. The transmitting step transmits unique identification codes of the storage containers from the Warehouse Management System to the main controller, and corresponding content codes from a content code module to the main controller. The content codes are linked to storage rules that the main controller will apply for storing the storage containers at locations defined by the storage rules. The reading step reads the content codes in the main controller, and determines a storage location for the storage container according to the storage rule linked to the content code. The selecting step selects container handling vehicles for transferring the storage container, and for each selected container handling vehicle transmits instructions from the main controller to the vehicle controller to transfer the storage container to a storage location defined by the corresponding storage rule and updates a storage location database with the identification and storage location of the storage container.
The invention concerns an automated storage and retrieval system comprising a first space, a second space, a dividing wall, a storage volume to store storage containers in vertical stacks and a horizontal rail system arranged above where the storage containers would be stored. The invention also concerns a container transfer housing configured to allow transfer of the storage containers between the first space and the second space and a method using such a container transfer housing.
F25D 3/00 - Devices using other cold materials; Devices using cold-storage bodies
F25D 13/04 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems the compartments being at different temperatures
The present invention provides An access station (2) for a storage system (1), the access station comprises a station housing (3), the station housing having an access opening (4) and a moveable cover (5) for closing the access opening, and a transport system (6,7) for moving a container (106) between a first position and a second position, wherein in the first position the container (106) is removed from the access opening (4), and in the second position the container (106) is arranged below the access opening (4); wherein a seal (9) is arranged at a periphery of the access opening (4), the seal being configured to seal against a container when the container (106) is in the second position.
A method of measuring level deviation in an automated storage and retrieval system, wherein the system includes rail system, at least one container handling vehicle, and a central control unit. The rail system includes a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction. The first and second sets of parallel rails divide the rail system into a plurality of grid cells. The at least one container handling vehicle is configured to operate on the rail system. The at least one container handling vehicle is provided with at least one orientation sensor configured to measure at least one orientation parameter of the sensor in a three-dimensional cartesian reference system. The central control unit is configured to receive, transmit, and process data signals of the container handling vehicle and to receive and process data signals of the sensor. The method includes arranging the container handling vehicle in a predetermined position on the grid, transmitting a data signal from the central control unit to the container handling vehicle commanding the container handling vehicle to move a distance in one direction along the grid, and measuring at predetermined intervals, using the orientation sensor, at least one orientation parameter to produce orientation measurements that are indicative of the container handling vehicle's orientation within the three-dimensional cartesian reference system. The method further includes transmitting data concerning the orientation measurements to the central control unit, and processing the orientation measurements using the central control unit in order to identify portions of the rail system that deviate from predetermined values.
A container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system, includes: a vehicle body having a first section and a second section arranged side-by-side; a first set of wheels for moving the container handling vehicle along a first direction on a rail system of the grid; and a second set of wheels for moving the container handling vehicle along the second direction on the rail system of the grid. The first section is configured to accommodate a storage container and has a footprint that is substantially equal to a cross-sectional area of one grid cell of the grid. The second section comprises an assembly of motors for driving at least one wheel of each of the sets of wheels and has a second footprint that is equal to or smaller than half of the first footprint.
A storage system includes a first grid structure of storage cells. Each cell is arranged to accommodate a vertical stack of storage bins. The first grid structure has a top level. The system further includes a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station. The first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device. The bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station. The storage system further includes one or more additional grid structures of storage cells at a different vertical level than the first grid structure, and additional vehicles that is arranged to move horizontally at the top level of the additional grid structures.
A method, control system 500 and computer program for routing and rerouting of container handling vehicles 201 handling storage containers 106 in an automated storage and retrieval system comprising a framework structure 100 forming a three-dimensional storage grid structure 104 for storing the storage containers 106 in storage columns 105, the framework structure including a grid-based rail system 108 arranged above the storage columns 105 with the rail system 108 providing available routes for the container handling vehicles 201 handling and transferring the storage containers 106 to and from the storage columns 105, and wherein each container handling vehicle 201 comprises a first set of wheels configured to move the vehicle along a first lateral direction (X) of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction (Y) of the grid-based rail system (108), the second direction (Y) being perpendicular to the first direction (X), the movements of the container handling vehicles being controlled by a control system 500, that determines which tasks are to be done by specified container handling vehicles 201, destination locations for performing the tasks and which routes the container handling vehicles 201 are to travel on the rail system 108. The method comprises the following steps performed by the control system 500 when executing the computer program: running 410 a multi-agent pathfinding algorithm, MAPF, in the control system 500 for establishing and assigning routes on the rail system 108 for the container handling vehicles 201 from their current locations to assigned tasks at destination locations; determining 420 how far the container handling vehicles 201 can travel on a first part of the assigned routes within a set time interval, the first part being shorter than the assigned routes to the destinations; locking 430 the first parts of the assigned routes that the container handling vehicles 201 can travel within the set time interval; instructing 440 the container handling vehicles 201 to move from their current locations to an end location on the assigned locked routes; repeating steps above.
A storage container, which is for an automated storage and retrieval system (ASRS), is configured to be stacked in a stack of storage containers where an underlying storage container supports the storage container(s) positioned above. The storage container is adapted to be lifted by grippers on a lifting device such that the storage container can be lifted from above. The storage container includes a base, four sides, and four corner posts. The four sides are each hingedly connected to an edge of the base. The four corner posts are each configured to interconnect a pair of adjacent sides to each other in a horizontal direction when the sides are positioned substantially 90 degrees relative the base and relative each other.
B65D 6/18 - Containers having bodies formed by interconnecting or uniting two or more rigid, or substantially rigid, components made wholly or mainly of metal, plastics, wood or substitutes therefor collapsible with hinged components
B65D 21/02 - Containers specially shaped, or provided with fittings or attachments, to facilitate nesting, stacking, or joining together
B65D 21/06 - Containers specially shaped, or provided with fittings or attachments, to facilitate nesting, stacking, or joining together with movable parts adapted to be placed in alternative positions for nesting the containers when empty and for stacking them when full
B65D 25/22 - External fittings for facilitating lifting or suspending of containers
The invention relates to a system (600) for extracting air from an evaporator unit (10), said evaporator unit (10) comprising an evaporator coil (12) and being disposed in a cold room (14) of an automated, grid-based storage and retrieval system (1) for frozen food. The system (600) comprises an extraction fan (16) configured to extract air from an interior (18) of the evaporation unit (10) to an exterior (20) of the cold room (14), wherein the system (600) is configured such that the extraction fan (16) operates while the evaporator coil (12) is being defrosted. The invention further relates to a corresponding method.
F25D 13/00 - Stationary devices associated with refrigerating machinery, e.g. cold rooms
F25D 17/04 - Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces for circulating gas, e.g. by natural convection
F25D 21/12 - Removing frost by hot-fluid circulating system separate from the refrigerant system
16.
AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM COMPRISING A FIRST TYPE OF CONTAINER HANDLING VEHICLE, A CRANE AND A GANTRY ARRANGEMENT, AND A METHOD OF TRANSFERRING A STORAGE CONTAINER.
An automated storage and retrieval system (1) comprising a rail system (108) and: • - a port column (119,120) through which a storage container (106) may be transferred between an upper end and a lower end of the port column (119,120); • - a first type of container handling vehicle (30) operating on a rail system having a container carrier (35) for supporting a storage container (106); • - a crane (501) comprising a first lifting device (503a), wherein the first lifting device (503a) is configured to transfer a storage container (106) stored in a stack of storage containers (107) to the container carrier (35) of the first type of container handling vehicle (30); • - a gantry arrangement (600) arranged at a port area (50) where the upper ends of the port columns (119,120) are arranged, wherein the gantry arrangement (600) comprises a first cross- member (601), a crane trolley assembly (604) comprising a first crane trolley (603a) suspended from the first cross-member (601) and a first lifting frame (504), wherein the lifting frame (504) is raisable at a level above an uppermost part of a storage container (106) carried by the container carrier (35) of the first type of container handling vehicle (30) and is configured to transfer a storage container (106) between the container carrier (35) and the port column (119,120).
The invention relates to a crane trolley assembly (604',604'',604''') comprising: - a crane trolley (603a,603b,603c,603d,603e,603f) configured for guided movement along a beam (601,602) of a crane (600); - a lifting frame (504) configured for connection to a storage container (106) to lift the storage container (106) from above through a first vertical movement range (R1) and a second vertical movement range (R2) of the lifting frame (504); - a plurality of lifting members (505) suspending the lifting frame (504) below the crane trolley (603a,603b,603c,603d,603e,603f) for lifting and lowering the lifting frame (504) through at least the second vertical movement range (R2); and - a stabilizer (620',620'',620''') extending below the crane trolley (603a,603b,603c,603d,603e,603f); wherein a lower end (620L',620L'',620L''') of the stabilizer (620',620'',620''') is configured to interact with the lifting frame (504) in order to stabilize the lifting frame (504) during the first vertical movement range (R1) of the lifting frame (504), and wherein the stabilizer (620',620'',620''') and the lifting frame (504) are configured to move vertically relative each other when in the second vertical movement range (R2) of the lifting frame (504). The invention further relates to an associated automated storage and retrieval system and methods of transferring a storage container.
A method for returning containers to the grid after finished picking in the port in a system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing items, where the grid structure (104) forms vertical storage columns (105) each having a horizontal area defined by the size of an access opening (112) of the vertical storage columns (105) and where the framework structure comprises a rail system (108) arranged above the storage columns (105), the rail system comprising a plurality of rails extending in an X-direction and a Y-direction to form a grid, the rails defining a perimeter of each access opening (112) on top of each storage column (105), the rail system (108) providing available routes in the X-direction or the Y-direction for container handling vehicles (201, 301) handling and transferring the storage containers (106) to and from the storage columns (105), and a central computer system with a Warehouse Management System (WMS) for controlling the operation of the storage and retrieval system wherein the method comprises the following steps; using a container handling vehicle to transport a container from the storage and retrieval system to a port for picking of at least one item stored in the container, picking the indicated items from the container in the port, registering the container as finished in the port, sending the container back automatically into the storage and retrieval system if the container has not been sent out of the port by a second container waiting to be picked, or that the container is not requested at another port.
A method and system for rearranging containers in an automated storage and retrieval system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing items, where the grid structure (104) forms vertical storage columns (105) each having a horizontal area defined by the size of an access opening (112) of the vertical storage columns (105) and where the framework structure comprises a rail system (108) arranged above the storage columns (105), the rail system comprising a plurality of rails extending in an X-direction and a Y-direction to form a grid, the rails defining a perimeter of each access opening (112) on top of each storage column (105), the rail system (108) providing available routes in the X-direction or the Y-direction for container handling vehicles (201, 301) handling and transferring the storage containers (106) to and from the storage columns (105), wherein the method comprises the following steps; checking if there are free spaces along at least one of the edges of the grid of the storage and retrieval system, checking if there are enough free spaces in the non-edge cells of the grid of the storage and retrieval system to perform normal operations, creating Rearranging jobs in the central computer system if there are free spaces along at least one of the edges of the grid of the storage and retrieval system and there is not enough free spaces in the non-edge cells of the grid of the storage and retrieval system to perform normal operations, informing container handling vehicles to perform Rearranging jobs, continuing normal procedure on the grid of the storage and retrieval system after the container handling vehicles have performed the Rearranging jobs.
The present invention provides a storage system comprising a framework structure (100) having a plurality of storage columns (105) for accommodating a vertical stack of storage containers (106), and a rail system (108) upon which a container handling vehicle (201,301,401) may move in two perpendicular directions above the storage columns, the rail system comprises a first set of parallel rails (110) and a second set of parallel rails (111) forming a rail grid, wherein each of the rails of the first set of rails (110) and the second set of rails (111) comprises rail portions (6,7) having at least one longitudinal aluminium profile (1,2,3) featuring a hollow section (4,5) extending along the whole length of the profile; wherein each of the rails of the first set of rails (110) and the second set of rails (111) has heat providing means passing through the hollow section.
A method for optimising the picking of items from containers at a port of an automated storage and retrieval system comprising a framework structure (100) forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing items, where the grid structure (104) forms vertical storage columns (105) each having a horizontal area defined by the size of an access opening (112) of the vertical storage columns (105) and where the framework structure comprises a rail system (108) arranged above the storage columns (105), the rail system comprising a plurality of rails extending in an X-direction and a Y- direction to form a grid, the rails defining a perimeter of each access opening (112) on top of each storage column (105), the rail system (108) providing available routes in the X-direction or the Y-direction for container handling vehicles (201, 301) handling and transferring the storage containers (106) to and from the storage columns (105), wherein the method comprises the following steps; presenting the central computer system with a queue of tasks, reconfiguring the queue of tasks that can share sorting container with another orders, setting the container queue at the port based on the inventory inside a container/container compartment in such a way that when one container is presented it gets the maximum amount of pick to destination containers.
A storage network includes a plurality of storage systems. Each storage system includes a storage grid structure, having at least one transfer column and a horizontal top rail grid upon which the container handling vehicle moves in two perpendicular directions, and at least one container handling vehicle. The storage system includes at least one container transfer vehicle and transfer rails forming a transfer rail grid upon which the container transfer vehicle moves in at least one horizontal direction. The container transfer vehicle includes a container carrier for carrying a storage container and a wheel arrangement for moving the container transfer vehicle in two perpendicular directions upon the transfer rail grid. The at least one transfer column extends from the top rail grid to the transfer section, such that a storage container may be transferred between the top rail grid and the container carrier of the container transfer vehicle.
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 43/00 - Control devices, e.g. for safety, warning or fault-correcting
B65G 47/06 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
B65G 47/52 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices
B65G 57/03 - Stacking of articles by adding to the top of the stack from above
B65G 63/06 - Transferring or trans-shipping at storage areas, railway yards or harbours; Marshalling yard installations with essentially-vertical transit
B65G 65/23 - Devices for tilting and emptying of containers
B66F 9/06 - 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
B66F 9/19 - Additional means for facilitating unloading
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02 - Control of position or course in two dimensions
23.
AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM HAVING A CONTAINER TRANSFER SYSTEM AND A METHOD THEREOF
The invention concerns an automated storage and retrieval system and a method using the system. The system comprises a wall separating the storage system in a first space and a second space, a tunnel extending through the wall and a partition vehicle movably arranged within the tunnel. The tunnel may be configured to allow transport of storage containers between the first space and the second space.
An automated storage and retrieval system includes: a track system having a first set of parallel tracks and a second set of parallel tracks, which form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each having a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; a plurality of storage containers arranged in storage columns located beneath the track system, wherein each storage column is located vertically below a grid opening; and a vehicle configured to move on top of the track system above the storage columns, including a storage container lifting device for lifting storage containers and a drive system including a wheel arrangement, configured to drive the vehicle along the track system in at least one of the first direction and the second direction.
B66F 9/06 - 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
B65G 60/00 - Simultaneously or alternatively stacking and de-stacking of articles
25.
AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM HAVING A CONTAINER TRANSFER APPARATUS, AND A METHOD THEREOF
The invention concerns an automated storage and retrieval system comprising a first space, a second space, a wall separating the storage system into the first space and the second space, a container transfer passage extending through the wall and a container carrier arranged within the passage for transport of at least one storage container therethrough. The container transfer passage is suitable for holding and transferring storage containers between the first space and the second space and extends below a level of the rail system. The invention also concerns a container transfer apparatus and a method using the system and the apparatus.
A container accessing station for accessing a storage container of an automated storage and retrieval grid. The container accessing station comprising:
an access opening through which a human and/or robot may access contents of the storage container;
a base opening; and
a lifting device arranged to retrieve the storage container from a first level beneath the base opening and lift it up through the base opening to a second level so that the storage container may be accessed through the access opening.
A container accessing station for accessing a storage container of an automated storage and retrieval grid. The container accessing station comprising:
an access opening through which a human and/or robot may access contents of the storage container;
a base opening; and
a lifting device arranged to retrieve the storage container from a first level beneath the base opening and lift it up through the base opening to a second level so that the storage container may be accessed through the access opening.
The invention is also directed to a container accessing system and a method thereof.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/06 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
B65G 47/52 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices
B65G 57/03 - Stacking of articles by adding to the top of the stack from above
B65G 63/06 - Transferring or trans-shipping at storage areas, railway yards or harbours; Marshalling yard installations with essentially-vertical transit
B65G 65/23 - Devices for tilting and emptying of containers
B66F 9/06 - 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
B66F 9/19 - Additional means for facilitating unloading
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02 - Control of position or course in two dimensions
27.
A DUAL CARRIAGE ACCESS STATION FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD FOR USING SAME
An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, has a receiving area for receiving storage containers, forward of the receiving area a picking position for picking products from the storage container. The access station includes a guiding frame, a primary carriage, and a secondary carriage. The guiding frame is arranged in a horizontal plane and extends between the picking position and the receiving area. The primary carriage, which is for transporting a storage container, includes a primary carriage base, a primary carriage displacement motor, a first storage container support, and a transfer device. The primary carriage base is movable along the guiding frame. The primary carriage displacement motor is configured to move the primary carriage along the guiding frame. The first storage container support is connected to the primary carriage base. The transfer device is for displacement of a storage container positioned on the first storage container support. The secondary carriage, which is for transporting a storage container, includes a secondary carriage base, a secondary carriage displacement motor, and a second storage container support. The secondary carriage base is movable along the guiding frame. The secondary carriage displacement motor is configured to move the secondary carriage along the guiding frame. The second storage container support is connected to the secondary carriage base. The secondary carriage is configured to receive a storage container being displaced from the primary carriage by the transfer device.
An automated storage and retrieval system includes a framework structure. The framework structure includes upright members, a storage volume comprising columns provided between the members, and a rail system provided on top of the members. Storage containers are stackable in stacks within the columns. The automated storage and retrieval system includes an access station and container handing vehicles configured to move on the rail system. The framework structure includes an access station compartment. The access station compartment comprises an access module, wherein the access module is one single independent access module with a self-supporting frame provided with wheels. The one single independent access module with a self-supporting frame is insertable into and retrievable out from the access station compartment.
A system for storing and transporting storage containers includes an automated storage and retrieval grid including vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns. The container handling vehicle rail system includes a first set of parallel rails arranged in a first horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the first horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the first horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. A transfer column is adapted for transport of a storage container between the container handling vehicle and a delivery space is situated at a lower end of the transfer column. A delivery system includes a first delivery rail system having at least one set of parallel rails arranged in a second horizontal plane guiding at least one delivery vehicle thereon. The delivery vehicle is adapted to receive and/or deliver a storage container at a storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location, the first delivery rail system covers at least an area extending from the storage container delivery location to the second location. A vehicle lift device for transfer of the at least one delivery vehicle between a first lift stop position adjacent the second location in the second horizontal plane and a second lift stop position adjacent a third location arranged in a third horizontal plane being at a different vertical level than the second horizontal plane.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/06 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
B65G 47/52 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices
B65G 57/03 - Stacking of articles by adding to the top of the stack from above
B65G 63/06 - Transferring or trans-shipping at storage areas, railway yards or harbours; Marshalling yard installations with essentially-vertical transit
B65G 65/23 - Devices for tilting and emptying of containers
B66F 9/06 - 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
B66F 9/19 - Additional means for facilitating unloading
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02 - Control of position or course in two dimensions
A method and system for optimizing the time used for clearing up after digging for containers in a grid of an automated storage and retrieval system, the grid comprising a grid-based rail system being part of a framework structure wherein the rail system comprises a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction (X) across the top of the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of cells, the framework structure comprising upright members that define storage columns for storing containers within the framework structure, a central computer system with an Assigner program for assigning tasks to container handling vehicles is configured to calculate the method comprising: the central computer system calculates the hole percent of the automated storage and retrieval system, the central computer system provides information regarding the density of container handling vehicles on the grid, the central computer system provides information regarding the working space, using at least one of the parameters hole percent, density of container handling vehicles on the grid and/or the working space for calculating in the assigner part of the central computer system how much resources should be used for cleaning up after digging for containers in the storage and retrieval unit.
An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, has a receiving position for receiving a storage container, forward of the receiving position a picking position for picking products from the storage container, and behind the receiving position a buffer area for buffering of a storage container. The access station includes a guiding frame, an inner carriage, and an outer carriage. The guiding frame is arranged in a horizontal plane and extending between the picking position, the receiving position, and the buffer area. The inner carriage, which is for transporting a storage container, includes an inner carriage base movable along the guiding frame and a first storage container support connected to the inner carriage base. The inner carriage base includes an elevation mechanism for raising and lowering the first storage container support relative to the guiding frame. The outer carriage, which is for transporting a storage container, is movable along the guiding frame by means of the inner carriage. The outer carriage includes a second storage container support and a gap provided in the second storage container support for receiving the first container support of the inner carriage. The access station includes a displacement device configured to move the inner carriage between the receiving position, the picking position, and the buffer area; and an attachment system for releasably connecting the inner carriage to the outer carriage. The inner carriage has an elevated state in which the first storage container support is arranged at a higher elevation than the second storage container support, and a lowered state in which the first storage container support is arranged at a lower elevation than the second storage container support.
Rail vehicle (2) for moving in two perpendicular horizontal directions on a rail system (108), the rail system comprising a first set of parallel rails (110) in a first direction (X) and a second set of parallel rails (111) in a second direction (Y) being perpendicular to the first direction (X), the rail vehicle comprising a vehicle frame (3); rail engaging supports (4); and a plurality of wheel modules (5) configured to move the vehicle on the rail system; wherein each wheel module (5) comprises a wheel (6) with a horizontal axis of rotation, the wheel module allowing the wheel to pivot 90 degrees around a vertical axis such that the rotational direction of the wheel may be switched between the first direction (X) and the second direction (Y); the wheel modules (5) and the rail engaging supports (4) are vertically moveable relative to each other between a first position and a second position so to engage and disengage the wheels from the rails.
An automated grid based storage and retrieval system includes a framework structure including upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines a plurality of storage volumes arranged adjacent one another below the horizontal rails. The storage volumes are open against the horizontal rails such that storage container vehicles may lower and raise storage containers into and out of the storage volumes. The system includes a plurality of vertical walls surrounding each of the plurality of storage volumes, and a cooler system adapted to draw air from an input of the cooler system, cool the air drawn from the input, and blow cooled air through an output of the cooler system. For each of the plurality of storage volumes, the system further includes a first air damper connected between the output of the cooler system and an air release area above the storage volume, and a second air damper connected between a void beneath the storage volumes and the input of the cooler system. The system includes a controller. The controller is adapted, independently for each of the plurality of storage volumes, to adjust airflow through the first air damper associated with that storage volume to control an overpressure and air temperature in the air release area, and to adjust airflow through the second air damper associated with that storage volume to control an underpressure in the void, such that a storage volume temperature is controlled separately for each of the plurality of storage volumes. The storage volume temperature is regulated by the air temperature in the air release area and by controlling a pressure differential between the overpressure in the air release area and the underpressure in the void in each of the storage volumes.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
F25D 13/04 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems the compartments being at different temperatures
F25D 17/00 - Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces
F25D 17/04 - Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces for circulating gas, e.g. by natural convection
34.
A STORAGE CONTAINER HANDLING SYSTEM AND A METHOD OF TRANSFERRING A STORAGE CONTAINER
A storage container handling system includes a base, and a delivery vehicle configured to travel on the base. The delivery vehicle includes a rolling base unit, a container carrier, and an elevating device. The rolling base unit includes first and second sets of rolling means for guiding the delivery vehicle along the base in a first and second directions respectively. The container carrier is provided on the rolling base unit. The container carrier is configured to removably support a storage container from below. The elevating device is configured to move the container carrier vertically between an upper and a lower position relative to the base. The storage container handling system includes a temporary storage station for temporarily storing a storage container to be picked-up or dropped off by the delivery vehicle. The temporary storage station includes a fixed container support configured to removably support the storage container. A vertical distance between the base and the container support is set such that, when the delivery vehicle is positioned in a storage container transfer position below the container support of the temporary station, the weight of the storage container is on the container support when the container carrier is in the lower position and the weight of the storage container is on the container carrier when the container carrier is in the upper position. The elevating device is a rolling means displacement assembly connected to the first set of rolling means. The rolling means displacement assembly is configured to lift and lower the first set of rolling means relative to the second set of rolling means such that only the first set of rolling means traveling in a desired direction is in contact with the base, and such that the container carrier is in the upper position when the first set of rolling means is lowered and in contact with the base and he container carrier is in the lower position when the first set of rolling means is lifted.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 57/30 - Stacking of articles by adding to the bottom of the stack
35.
CONTAINER HANDLING VEHICLE WITH MOTOR AT LOWER ELEVATION THAN FIRST AND SECOND LIFTING SHAFTS, A SYSTEM COMPRISING THE CONTAINER HANDLING VEHICLE, AND METHOD OF DRIVING THE FIRST AND SECOND LIFTING SHAFTS
The invention relates to a container handling vehicle for moving storage containers stacked in stacks within an automated storage and retrieval system, wherein the container handling vehicle is configured to move on a rail system above storage columns, wherein the container handling vehicle comprises a lifting assembly (60) which comprises a first lifting shaft (25) and a second lifting shaft (26) supported in an upper portion of the vehicle and a motor (13) for driving a drive belt (20) for rotating the first lifting shaft (25) and the second lifting shaft (26), and wherein the motor (13) is arranged at a lower elevation than the first and second lifting shafts (25,26).
B66C 1/10 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles by mechanical means
The present invention provides a container handling vehicle (2) for moving in two perpendicular horizontal directions on a rail system, 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 container handling vehicle comprising a vehicle frame (4), a base (6), an internal space (5) defined by the vehicle frame (4) and the base (6), the base (6) providing at least one storage section upon which at least two storage containers stacked on top of each other may be supported, a lifting device comprising a vertically moveable lifting frame (7) for releasably connecting to a storage container and an opening (8) allowing vertical passage of the lifting frame (7) between the internal space (5) and a position below the base; wherein the lifting device is configured to be horizontally moveable between a position above the opening (8) and a position above the at least one storage section.
A remotely operated picking vehicle, which is for an automated storage and retrieval system for retrieving and storing products within storage containers, includes a vehicle body, a picker support, and a storage container. The vehicle body includes a base with displacement means for transportation on a rail system. The picker support, which is for a robotic picking device or a human picker, is arranged on the vehicle body. The storage container magazine, which is for supporting three or more storage containers simultaneously, is arranged on the vehicle body. The storage container includes a storage container loading/offloading position and a storage container accessing position. The storage container loading/offloading position is for loading and offloading of storage containers by means of a container handling vehicle. The storage container accessing position is for presenting storage containers to a picker positioned on the picker support.
A vehicle operates on an automated storage and retrieval system. The automated storage and retrieval system includes a two-dimensional rail system including a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a frame 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 which is perpendicular to the first direction. The vehicle includes a wheeled base. The wheeled base includes a first set of non-motorized guiding wheels for interaction with the rails in the first direction and a second set of non-motorized guiding wheels for interaction with the rails in the second direction; and a first motorized belt drive arranged for frictional contact with a rail of the rail system for driving the vehicle in one of the first direction and/or the second direction.
A vehicle tilting device for tilting a delivery vehicle for increasing access to items from a storage container transported on the delivery vehicle includes a base structure and a tiltable platform connected to the base structure. The tiltable platform includes guiding features adapted to guide the delivery vehicle onto the tiltable platform, and a tilting actuator arranged for lifting the tiltable platform at a second platform side which is opposite to a first platform side, such that the tiltable platform is tilted towards the first platform side.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/06 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
B65G 47/52 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices
B65G 57/03 - Stacking of articles by adding to the top of the stack from above
B65G 63/06 - Transferring or trans-shipping at storage areas, railway yards or harbours; Marshalling yard installations with essentially-vertical transit
B65G 65/23 - Devices for tilting and emptying of containers
B66F 9/06 - 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
B66F 9/19 - Additional means for facilitating unloading
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02 - Control of position or course in two dimensions
A rotation device rotates an autonomous vehicle operating on a rail system of an automated storage and retrieval system. The system is of the type having a framework structure including a plurality of vertical upright members defining storage columns for storing stacks of storage containers, with the rail system arranged on the framework structure. The rail system includes perpendicular tracks, the intersection of which define a grid having grid cells. The grid cells define openings to the storage columns. The autonomous vehicle is of the type having wheels that travel along the rail system, and which changes direction by alternatively lifting or lowering sets of wheels. One set of wheels is adapted for travel of the vehicle in a first direction, and a second set of wheels is adapted for travel of the vehicle in a second direction, perpendicular to the first direction. The rotation device includes a module adapted for mounting in a grid cell beneath a plane defined by the rail system of the framework structure, and a stationary member affixed to the module. The stationary member is arranged to receive a force, transferred from the container handling vehicle to the stationary member by a mechanical linkage, and to convert the force into a rotation of the vehicle.
An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, includes an access module, a drawer, a first actuator, and a second actuator. The access module includes a frame defining a drawer compartment provided within the frame. The drawer includes a drawer base and a drawer front. The drawer is movably connected to the frame. The first actuator is for moving the drawer relative to the frame between a presentation position in which the drawer is protruding from the drawer compartment and a retracted position in which the drawer is retracted within the drawer compartment. The drawer base includes a support on which the storage container can be supported in a front position or in a rear position. The second actuator is for moving the storage container from the front position to the rear position. The storage container is presented to the picker when the storage container is in the front position and when the drawer is in the presentation position.
A method of operating a bin storage system includes a plurality of storage columns for storage of a plurality of vertically-stacked storage bins and a plurality of robot vehicles for transporting storage bins. A plurality of supporting rails are arranged in a two-dimensional matrix at the top of the columns. The supporting rails are arranged in a first direction and a second direction orthogonal to the first direction. The method includes positioning a cavity displaying a downwardly facing opening for the storage bin of one of the plurality of robot vehicles such that the cavity is aligned with one of the storage columns to permit the cavity to receive a storage bin from the storage columns, receiving a storage bin from the storage column into the cavity, and moving the robot vehicle along the bin storage system, using a plurality of wheels attached to the robot vehicle. A first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails. A second set of wheels is arranged to allow the robot vehicle to travel in the second direction along the supporting rails. At least one of the first set of wheels and the second set of wheels are configured to be displaceable from the supporting rails, such that the first set of wheels are in contact with the supporting rails when the robot vehicle travels in the first direction and the second set of wheels are in contact with the supporting rails when the robot vehicle travels in the second direction.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B66F 9/07 - Floor-to-roof stacking devices, e.g. stacker cranes, retrievers
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06Q 10/08 - Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
B66F 9/06 - 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
44.
A METHOD AND A SYSTEM FOR DETERMINING CONDITION OF A COMPONENT OF A REMOTELY OPERATED VEHICLE
The invention relates to a method for determining a condition of a component of a remotely operated vehicle (501) operating on a rail system (108) of an automated storage and retrieval system (1) for goods holders (106). The method comprises selecting the component of the remotely operated vehicle (501), recording an image of the component, identifying the component on the basis of the recorded image and determining condition of the identified component using the recorded image. The invention further relates to a system (510) for determining a condition of a component and an automated storage and retrieval system (1) comprising said system (510).
A remotely operated vehicle, which is for transporting a storage container on a rail system of an automated storage and retrieval system, includes a vehicle body having a base. The base includes a first set of drivers and a second set of drivers. The first set of drivers are arranged on opposite sides of the vehicle body, and are for moving the vehicle along a first horizontal direction on the rail system. The second set of drivers are arranged on other opposite sides of the vehicle body or within a cavity of the vehicle body, and are for moving the vehicle along a second horizontal direction on the rail system, the second direction being perpendicular to the first direction. A storage container support, which is for carrying the storage container, is moveably mounted to the vehicle body. The storage container support is movable between: a first position; and a second position wherein the storage container support is extending in a horizontal plane for supporting the storage container. The vehicle has a first footprint when the storage container support is in the first position and a second footprint when the storage container support is in the second position, and wherein the second footprint s larger than the first footprint in at least one of the first and/or second directions.
A distribution dock includes a dock for handling and providing access to storage containers of a mobile storage system. The dock includes a framework structure of upright members and a first rail system arranged on the upright members of the framework structure including a set of parallel rails arranged to guide movement of a container handling vehicle in a direction across the top of the framework structure. At least one container handling vehicle is configured to operate on the first rail system. At least one interface includes a set of parallel tracks configured to connect the first rail system of the dock to a second rail system of a mobile storage system such that the container handling vehicle can retrieve storage containers from the mobile storage system.
A remotely-operated vehicle assembly for picking up storage bins from a storage system and a method for changing vehicle direction includes a body displaying a cavity, a lifting device connected to the body for lifting the bin into the cavity, a displacement arrangement including a displacement motor which provides power to displace one or both of first and second sets of vehicle wheels between a displaced state where the relevant vehicle wheels are displaced away from the underlying system during use, and a non-displaced state where the relevant vehicle wheels are in contact with the underlying system during use, and driving wheels coupled to the displacement arrangement. The driving wheels further includes first and second sets of vehicle wheels connected to the body allowing movement of the vehicle along first and second directions, respectively, within the system. The first and second directions are perpendicular.
An access station, which is for presentation of a storage container from automated storage and retrieval system to a picker, has a receiving position for receiving a storage container, forward of the receiving position a picking position for picking products from the storage container, and a transfer zone connecting the receiving position and the picking position. The access station includes a ramp at least partly arranged below the transfer zone; a guiding frame arranged in a horizontal plane and extending between the picking position, the transfer zone and the receiving position; and an inner carriage for transporting a storage container. The inner carriage includes an inner carriage base movable along the guiding frame; a first storage container support pivotably connected to the inner carriage base; and a follower connected to and extending from the first storage container support for interaction with the ramp. The inner carriage has a receiving state in which the first storage container support is arranged substantially parallel to the horizontal plane, and a picking state in which the first storage container support is tilted relative to the horizontal plane with a predetermined tilting angle. A displacement device is configured to move the inner carriage between the receiving position and the picking position. The follower and the ramp are configured to interact to move the inner carriage into the picking state in response to a movement of the inner carriage from the receiving position to the picking position.
A method of weighing storage containers to determine the quantity of items in a storage container, in particular the number of items in a source storage container after the completion of a picking operation at a picking station that transfers items from the source storage container to a target container, for example to a delivery package.
G01G 19/42 - Weighing apparatus or methods adapted for special purposes not provided for in groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight for counting by weighing
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
A container handling module for an access station in a storage system includes a first container holder, a second container holder, a shuttle, and a rail assembly. The first and second container holders are rotatably mounted to the shuttle via a rotary shaft. Each of the first and second container holders is arranged to accommodate a storage container and is rotatable around an axis of rotation between a first angular position and a second angular position. The second angular position is opposite the first angular position relative to a centreline of the rotary shaft. The shuttle is configured for linear movement in a horizontal direction between a first linear position and a second linear position relative to the rail assembly.
A container handling vehicle operates on a two-dimensional rail system. The two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a frame 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 which is perpendicular to the first direction. The container handling vehicle includes a wheel base unit, a support section, a cantilever section, a lifting frame, four guiding sheaves, four lifting bands, a lifting shaft, and a lifting device motor. The wheel base unit includes first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively. The support section extends vertically from the wheel base unit. The support section has a footprint with a horizontal extent. The cantilever section extends from the support section. The lifting frame is suspended in a horizontal orientation from the cantilever section by a plurality of lifting bands. The lifting frame includes a releasable connection for connecting to a storage container. The guiding sheaves are provided in the cantilever section. Each of the guiding sheaves are arranged for guiding and supporting one of the four plurality of lifting bands and the lifting frame. The lifting shaft for winding up and unwinding the plurality of lifting bands. The lifting device motor rotates the at least one lifting shaft. A first and second wheel in a first pair of wheels in the first set of wheels are arranged closer to the cantilever section than a third and fourth wheel in a second pair of wheels of the first set of wheels. At least one of the lifting shaft and the lifting device motor are arranged closer to the third and fourth wheel than the first and second wheel in the first set of wheels. At least one of the lifting shaft and the lifting device motor is arranged within the wheel base unit.
A plurality of container handling vehicles operate on a rail system arranged at least partially across a top of framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to handle storage containers. A control system is in communication with a local controller in each container handling vehicle and performs a method of controlling movement of the plurality of container handling vehicles. The method includes instructing a first container handling vehicle to move in a first direction towards a grid cell designated as a first target position on the rail system, instructing a second container handling vehicle to move in the first direction towards the first target position such that the second container handling vehicle physically contacts the first container handling vehicle, and the second container handling vehicle after contact applies a push force on the first container handling vehicle to maintain physical contact.
A service vehicle operates on a rail system of a storage and retrieval grid. The service vehicle is configured for retrieving a remotely operated vehicle for service. The service vehicle includes a first vehicle area in which the remotely operated vehicle can be received by the service vehicle while the remotely operated vehicle is still on the rail system, and a second vehicle area in which the remotely operated vehicle can be supported by the service vehicle for servicing. The first vehicle area is configured as a vehicle pen for holding the remotely operated vehicle before entry to the second vehicle area. The first vehicle area is linked to the second vehicle area for passage of the remotely operated vehicle via the vehicle pen. The vehicle pen includes an entry barrier to regulate entry of the remotely operated vehicle into the service vehicle and the vehicle pen, and an exit barrier on exit from the vehicle pen into the second vehicle area to regulate the passage of the remotely operated vehicle through the first vehicle area and into the second vehicle area.
PHH PHH H ) arranged perpendicular to the first set of parallel 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), the container handling vehicle comprises: - a vehicle frame (10) defining a first section (S1), a second section (S2) and a third section (S3) of the container handling vehicle arranged side-by-side, wherein the first section (S1) is arranged on a first side of the second section (S2) and the third section is arranged on an opposite second side of the second section (S2); - the second section (S2) comprises a cavity for accommodating a storage container (106); - a first set of wheels (11) comprising a first wheel (11a), a second wheel (11b), a third wheel (11c) and a fourth wheel (11d) for driving in the first direction (X); - a second set of wheels (12) comprising a first wheel (12a), a second wheel (12b), a third wheel (12c) and a fourth wheel (12d) for driving in the second direction (Y); - a first drive motor (20a) for driving the first wheel (11a) and the second wheel (11b) of the first set of wheels (11); - a second drive motor (20b) for driving the third wheel (11c) and the fourth wheel (11d) of the first set of wheels (11); and wherein the first wheel (11a) and the second wheel (11b) of the first set of wheels (11) and the first drive motor (20a) are arranged in the first section (S1), and the third wheel (11c) and the fourth wheel (11d) of the first set of wheels (11) and the second drive motor (20b) are arranged in the third section (S3).
A remotely operated vehicle for handling a storage container or a further vehicle works on a rail system of an automated storage and retrieval system. The rail system overlies upright members and includes a first set of parallel rails and a second set of parallel rails arranged perpendicular to the first set of parallel rails. The remotely operated vehicle includes a first set of wheels arranged to engage with two adjacent rails of the first set of rails and a second set of wheels arranged to engage with two adjacent rails of the second set of rails. The remotely operated vehicle further includes a mass balancing system including a balance weight. The mass balancing system is configured to purposely displace the balance weight in order to improve stability of the remotely operated vehicle. The balance weight is displaced in response to a change in position of the remotely operated vehicle's center of gravity (COG).
A CONTAINER HANDLER, A STORAGE AND RETRIEVAL SYSTEM COMPRISING THE CONTAINER HANDLER AND A METHOD FOR HANDLING A CONTAINER BY MEANS OF THE CONTAINER HANDLER
The invention concerns a container handler (2) for bidirectional transfer of containers (20, 106) between a port (205) of a storage grid (104) of an automated storage and retrieval system (1) and a conveyor (210) for transporting containers. The container handler (2) comprises an arm (215) having an axis of rotation (AR), an arm displacer (220), at least a first coupler (225a) provided at a first end of said arm (215), said first coupler (225a) for releasable engagement with a container (20, 106). The arm displacer (220) is configured to rotate the arm (215) about the axis of rotation (AR) with at least the first coupler (225a) held in a horizontal plane between a first and a second arm rotational position and displace the arm (215) with the first coupler (225a) in a vertical direction between a first and a second vertical position. The invention further concerns an automated storage and retrieval system (1) comprising the container handler (2) and a method for handling a container (20, 106) by means of the container handler (2).
A method picks products from at least one storage container in a picking zone of a picking station of an automated storage and retrieval system. The picking is controlled by a picking system controller communicating with a warehouse management system, WMS. The picking is performed by a picking device in the picking zone by placing picked products in one or more consolidation containers according to orders. The picking system controller is adapted for controlling the picking device and picking station for executing the method. The method includes a) receiving and ranking product orders in the warehouse management system, b) moving, by means of a transport system, storage containers with ordered products towards the picking zone according to the ranking of product orders, and c) checking which storage containers are available and ready to be picked from in the picking station and which storage containers and consolidation containers will be available within a timeframe, as well as determining a current position of the picking device relative to the positions of the at least one storage container that are ready to be picked from and the consolidation containers that are ready to receive the picked products. The method further includes d) establishing different picking sequences for completing each product order from the ranked product orders. Each picking sequence lists the products to be picked from the storage containers and which consolidation containers to place the products in within the timeframe. Each picking sequence is established by estimating the following: shortest travel distance for moving the picking device for picking from one storage container to picking from another storage container; fastest completion of picking from storage containers in the picking station for enabling new storage containers to enter the picking zone of the picking station; and fastest completion of the consolidation containers for replacing with new consolidation containers. The method further includes e) ranking the picking sequences and selecting the picking sequence providing higher throughput of picked products according to ranked product orders; f) executing picking of products by letting the picking system controller control the picking device to pick products from the storage containers and place them within the consolidation containers according to the selected picking sequence within the timeframe; and g) repeating steps a) to f) above.
A tool, a method, a computer program product and a system for detecting the positioning of a first container handling vehicle on a grid-based rail system of an automated storage and retrieval system, the rail system being part of a framework structure where the rail system comprises a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the framework structure comprising upright members that define storage columns for storing containers within the framework structure, wherein the tool comprises an upper surface provided with formations to allow the tool to be picked up by a lifting device of a second container handling vehicle working on the rail system, the tool including a sensor for detecting the positioning of the first container handling vehicle on the rail system.
System and method for calculating the physical positioning of a container handling vehicle on a grid of an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a framework structure which includes a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the top of the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the framework structure comprising upright members defining storage columns for storing containers within the framework structure, wherein the automated storage and retrieval system comprises container handling vehicles configured to operate on the rail system, a wireless communication system for communicating instructions and information between the central computer system and the container handling vehicles and between the container handling vehicles, wherein the wireless communication system comprises a plurality of transceivers positioned at known locations(501) either on the grid or around the grid, and a transceiver positioned on an unknown position (503) on the grid and using a signal sent between the transceivers positioned at known locations (501) on the grid or around the grid and the transceiver positioned on an unknown position (503) on the grid for calculating the distance between the sender of a signal and the receiver of the signal.
The invention relates to a system for rental of physical items, a method of rental of physical items and a computer program product for controlling the system. The system comprises an automated storage and retrieval system comprising a plurality of storage locations, the automated storage and retrieval system comprising a framework structure defining a storage grid for storing storage containers in grid cells, the framework structure comprising a number of upright members, an upper rail system extending in the X direction and Y direction, a plurality of storage locations comprising storage containers stackable in stacks within storage columns provided between the upright members, at least one access station, at least one item handling vehicle operable to transfer physical items to and from the at least one access station and the plurality of storage locations, the at least one item handling vehicle being a container handling vehicle, and the storage containers are handled by the at least one container handling vehicle running on top of the storage grid, and a computerized control system for controlling the at least one access station and the at least one item handling vehicle, and a computerized control system controlling the access station and the item handling vehicle, a computerized rental management system in communication with the computerized control system of the automated storage and retrieval system, the computerized rental management system comprising records of physical items in the storage locations, the computerized rental management system is adapted to, receive, via a computer interface, a request for a physical item from a user, match the request for the physical item with a record of the physical item in one of the storage locations, instruct the automated storage and retrieval system to transfer the physical item from one of the storage locations to the access station for handover to the user, update the record of the physical item as rented, receive, via the computer interface, a request from the user to return the physical item, instruct the automated storage and retrieval system to transfer the physical item from the access station to one of the storage locations, and update the record of the physical item as available at the one of the storage locations.
The present invention relates to a two part storage container (10) for storing a product item (80) in an automated storage and retrieval system (1). The storage container (10), in an assembled configuration, comprises a base panel (11) and four side panels (12) extending from the base panel (11). The base panel (11) and the four side panels (12) define a storage space. The storage container (10) has a top opening (13) to provide access to the storage space. The two parts of the storage container (10) comprise an upper container section (20) comprising at least two of the side panels (12a) and a lower container section (30) comprising at least the base panel (11). The upper container section (20) and the lower container section (30) are configured to allow vertical movement of the upper container section (20) relative to the lower container section (30). The storage container (10) is in a split configuration when the upper container section (20) is moved vertically relative to the lower container section (30).
B65D 6/24 - Containers having bodies formed by interconnecting or uniting two or more rigid, or substantially rigid, components made wholly or mainly of metal, plastics, wood or substitutes therefor collapsible with detachable components
B65D 19/38 - Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered - Details or accessories
B65D 88/12 - Large containers rigid specially adapted for transport
B65D 88/52 - Large containers collapsible, i.e. with walls hinged together or detachably connected
62.
A CONVEYOR ACCESS STATION FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD FOR USING SAME
An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position beyond a horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly within the horizontal extent of the vehicle body and above the vehicle body.
A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels, for moving the vehicle along a first direction on a rail system in the grid; and a second set of wheels, for moving the vehicle along a second direction on the rail system in the grid, the second direction being perpendicular to the first direction. A vehicle body includes walls on all sides and forms a quadrilateral footprint. The footprint is defined by horizontal peripheries in the first and second directions of the vehicle body. The container handling vehicle further includes a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section is arranged off centre relative a centre point of the footprint formed by the vehicle body. The first and second sections are separated by a divider element. The first set of wheels includes two pairs of wheels, including a first and third wheel and a second and fourth wheel, respectively, arranged on opposite portions of the first section, wherein the first and third wheel of the first set of wheels are connected to the vehicle body and the second and the fourth wheel of the first set of wheels are connected to the divider element. The second set of wheels includes two pairs of wheels, including a first and third wheel and a second and fourth wheel, respectively, arranged on opposite portions of the vehicle body. Two of the wheels in the second set of wheels are arranged on opposite sides of the second section and the other two wheels in the second set of wheels are arranged on opposite sides of the first section.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
65.
AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD OF TRANSPORTING STORAGE CONTAINERS BETWEEN AN AUTOMATED STORAGE AND RETRIEVAL GRID AND A SECOND LOCATION
An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system, which is for guiding a plurality of container handling vehicles, includes a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. The delivery column is adapted for transport of a storage container arranged in a stack of storage containers beneath the container handling vehicle rail system between a container handling vehicle and a delivery port situated at a lower end of the delivery column. The delivery system includes a remotely operated delivery vehicle. The remotely operated delivery vehicle includes a vehicle body, rolling devices connected to the vehicle body, rolling device motors for driving the rolling devices in a horizontal plane, and a power source connected to the rolling device motors. A container carrier is adapted to support the storage container. The delivery vehicle is further adapted to transport the storage container between a delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator.
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 65/23 - Devices for tilting and emptying of containers
B65G 63/06 - Transferring or trans-shipping at storage areas, railway yards or harbours; Marshalling yard installations with essentially-vertical transit
G05D 1/02 - Control of position or course in two dimensions
B65G 43/00 - Control devices, e.g. for safety, warning or fault-correcting
B66F 9/19 - Additional means for facilitating unloading
B65G 47/06 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
B66F 9/06 - 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
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B65G 47/52 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices
B65G 57/03 - Stacking of articles by adding to the top of the stack from above
A floor element for an automated storage and retrieval system, which comprises a three-dimensional grid, a plurality of container handling vehicles, and multiple floor elements, each floor element arrangeable at a top end of a storage column on top of a vertical stack of containers, includes an upper surface with a substantially rectangular horizontal periphery suitable for being accommodated in a storage column. The floor element further includes lifting frame connecting elements, for releasable connection to a lifting frame, on a peripheral top section of the upper surface and a cut-out at each corner of the substantially rectangular horizontal periphery for interaction with guiding pins arranged on the lifting frame, and rail-connecting elements at the substantially rectangular horizontal periphery.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B66F 9/06 - 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
A product handling system for retrieving and storing products within storage containers includes a rotatable container carousel, a robotic picking device, and an access station. The rotatable container carousel includes a rotational device having a rotational carousel axis, and a storage container support connected to the rotational device at a radial carousel distance between the rotational axis of the rotational device and a horizontal center point of the storage container support, allowing rotation through at least a storage container loading position and a storage container accessing position. The robotic picking device includes a robotic base at a base center position, a first robotic segment connected to the robotic base, and a gripper connected at least indirectly to the first robotic segment. The gripper is spaced at an adjustable radial gripper distance between the base center position and the gripper such that the gripper is as least within reach of the storage container accessing position. The gripper is configured to releasably grab a product from within a storage container positioned in the storage container accessing position. The rotatable container carousel and the robotic picking device are configured to be in signal communication with a control system. The access station is arranged at least partly above the rotatable container carousel. The access station is configured to allow an operator access to content within a storage container supported on the storage container support.
B65G 1/133 - Storage devices mechanical with article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the circuit being confined in a horizontal plane
68.
STORAGE GRID WITH CONTAINER ACCESSING STATION WITH LOCKING DEVICE TO LOCK REMOTELY OPERATED VEHICLE
An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated delivery vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device is arranged to latch to a motorized vehicle body of the remotely operated delivery vehicle, and to lock the remotely operated delivery vehicle against accidental displacement prior to interaction with the human and/or robotic operator. The locking device is arranged to unlock the remotely operated delivery vehicle once interaction with the human and/or robotic operator is no longer required.
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B66F 9/19 - Additional means for facilitating unloading
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/06 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
B65G 47/52 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices
B65G 57/03 - Stacking of articles by adding to the top of the stack from above
B65G 63/06 - Transferring or trans-shipping at storage areas, railway yards or harbours; Marshalling yard installations with essentially-vertical transit
B65G 65/23 - Devices for tilting and emptying of containers
B66F 9/06 - 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
G05D 1/02 - Control of position or course in two dimensions
A storage system comprises a first grid structure of storage cells, each cell being arranged to accommodate a vertical stack of storage bins, the first grid structure having a top level. The system further comprises a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station. The first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device. The bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station. The storage system further comprises one or more additional grid structures of storage cells at a different vertical level than the first grid structure, and additional vehicles that is arranged to move horizontally at the top level of the additional grid structures.
H04L 67/1097 - Protocols in which an application is distributed across nodes in the network for distributed storage of data in networks, e.g. transport arrangements for network file system [NFS], storage area networks [SAN] or network attached storage [NAS]
An automated grid based storage and retrieval system includes a framework structure and a plurality of storage containers. The framework structure includes upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines a storage volume including a plurality of columns arranged in a grid pattern below the horizontal rails between the upright members. The plurality of storage containers are stacked vertically in stacks in the columns to provide a plurality of storage columns. An under-stack void extends beneath the stacks of storage containers. A plurality of inlets lead to the under-stack void between the stacks of storage containers. At least one column, which is empty of storage containers and arranged amongst the storage columns, provides a ventilation column. The ventilation column includes a fan. A plurality of duct walls surrounding the ventilation column define a duct having a first end adjacent the horizontal rails and a second end adjacent the under-stack void. The fan is arranged to circulate gas along sides of the stacks, via the plurality of inlets and the under-stack void, and through the duct.
An automated storage and retrieval system includes a plurality of stacks of storage containers arranged in storage columns, and a container handling vehicle. The container handling vehicle includes a transport mechanism for transport of the vehicle, and a lifting assembly for picking up storage containers from the storage columns. The lifting assembly includes: a lifting frame connectable to a storage container, a first lifting shaft and a second lifting shaft, the first and second lifting shafts being mainly parallel, and each of the first and second lifting shafts being supported in an upper portion of the vehicle, two lifting elements extending from each of the first and second lifting shafts to the lifting frame, and a motor drive assembly having at least one motor including a first motor, and a force transferring assembly rotatably connecting the first and second lifting shafts via a force transferring element.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
72.
DELIVERY VEHICLE, AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD OF TRANSPORTING STORAGE CONTAINERS BETWEEN AN AUTOMATED STORAGE AND RETRIEVAL GRID AND A SECOND LOCATION
A remotely operated delivery vehicle transports a storage container between a location directly below an automated storage and retrieval grid configured to store a plurality of stacks of storage containers, and a second location for handling of the storage container by at least one of a robotic operator and a human operator. The remotely operated delivery vehicle may include a rolling devices configured to move the remotely operated delivery vehicle in a horizontal plane along tracks of a delivery rail system. Additionally, rolling device motors are provided for driving the rolling devices. A power source provides propulsion power to the rolling device motors. A container carrier receives the storage container from above and onto or at least partly into the container carrier so that contents of the storage container are accessible by the at least one of the robotic operator and the human operator.
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B66F 9/19 - Additional means for facilitating unloading
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/06 - Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
B65G 47/52 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices
B65G 57/03 - Stacking of articles by adding to the top of the stack from above
B65G 63/06 - Transferring or trans-shipping at storage areas, railway yards or harbours; Marshalling yard installations with essentially-vertical transit
B65G 65/23 - Devices for tilting and emptying of containers
B66F 9/06 - 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
G05D 1/02 - Control of position or course in two dimensions
The present invention relates to a storage system (2) comprising a first structure (10) comprising upright members (12), the upright members defining a volume of columns (15) provided between the upright members (12). The system (2) comprises a rail system (18) provided on top of the upright members (12). A plurality of storage containers (6; 106) are arranged in stacks (17) within the columns (15). One or more of the stacks (17) includes a plurality of access frames (20), each access frame (20) being positioned between storage containers (6; 106) within that stack, with a bottom of each access frame (20) resting on an underlying storage container (6; 106) and a top of the access frame supporting an overlying storage container (6; 106). Each access frame (20) is configured to provide a side opening (20a) and a bottom opening (20b) to allow a person (P) to reach an item (80) stored in an underlying storage container (6; 106) by reaching in via the side opening (20a) through the bottom opening (20b) of the access frame (20) and through the top opening (6a, 106a) of the underlying storage container (6; 106), wherein the plurality of access frames (20) are arranged in an alternating manner with consecutive storage containers (6; 106), each storage container (6; 106) being spaced from one above by an access frame (20), to provide a set of accessible storage containers in that stack where access is allowed to each of the underlying storage containers in that set.
System, method, and computer program product for determining a route for a container handling vehicle operating on a rail system of an automatic grid-based storage and retrieval system. The method comprising creating a model of the rail system representing the rail system as a finite set of non-overlapping rectangular first zones in a first direction, and a finite set of non-overlapping rectangular second zones in a second direction, wherein the zones are positioned around grid positions that are not accessible by the container handling vehicle, determining overlap information indicative of one or more regions of the rail system in which there is an overlap between a zone of the finite set of first zones and a zone of the finite set of second zones, determining grid position zone information by, for each grid position determining in which of the finite set of first zones and/or the finite set of second zones the grid position is located, receiving a request for a route for at least one container handling vehicle from a first grid position to a second grid position; and determining the route using the model of the rail system.
An automated grid based storage and retrieval system includes a framework structure including upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines at least one storage volume below the horizontal rails. The at least one storage volume is open against the horizontal rails such that storage container vehicles may lower and raise storage containers into and out of the storage volume. The at least one storage volume includes a plurality of storage columns arranged adjacent one another, a plurality of walls surrounding the at least one storage volume; a void extending beneath the storage columns; and a cooler system adapted to draw air from the void, cool the air, and release the cooled air into an air release area arranged below the horizontal rails. The cooler system is arranged within an cooler enclosure arranged inside the plurality of walls and adjacent the plurality of storage columns. The cooler enclosure includes at least one opening from the void for the cooler system to draw air from the void, and a conduit for releasing the cooled air in the air release area.
F25D 17/06 - Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces for circulating gas, e.g. by natural convection by forced circulation
F25D 13/04 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems the compartments being at different temperatures
A storage system for storing product items includes a grid structure and a number of first storage bins configured to be stored in vertical stacks in the grid structure. Each first storage bin is configured to contain at least one product item. A vehicle is arranged to move horizontally at the top level of the grid structure, and further arranged to pick up, carry, and place the first storage bins at desired locations within the grid structure. The storage system further includes a robot device that includes a movable arm with a picking mechanism in one end thereof. The robot device is configured to move a storage item between a first location and a second location by means of its picking mechanism. The first location is the location of a first storage bin stored in the storage grid.
It is disclosed a remotely operated vehicle, an automated storage and retrieval system comprising the remotely operated vehicle, and a method of using same. The remotely operated vehicle comprises: • - a first set of wheels (610) configured to move the remotely operated vehicle (600) in the first direction (X) along the first set of rails (110), • - a second set of wheels (620) configured to move the remotely operated vehicle (600) in the second direction (Y) along the second set of rails (111), • - a wheel lift mechanism (630) configured to disengage the first set of wheels (610) from the rail system (108) to bring the second set of wheels (620) into engagement with the second set of parallel rails (111), and configured to disengage the second set of wheels (620) from the rail system (108) to bring the first set of wheels (610) into engagement with the first set of parallel rails (110), and • - a counter weight (640) coupled to the wheel lift mechanism (630) such that operation of the wheel lift mechanism (630) causes a centre of gravity (CoG) of the remotely operated vehicle (600) to change in the first direction (X) and/or in the second direction (Y) through movement of the counter weight.
In a wireless communication network, a node communicates with a central communication unit via at least one access point. An operating method of the communication node includes receiving, at the node, a wireless signal from the access point; determining, by the node, channel quality information based on the received wireless signal; and determining, by the node, an order of active channels ranked according to the determined channel quality. The operating method further includes selecting, by the node, an active channel for transmitting wireless signals in accordance with the determined order; and transmitting, by the node, wireless signals on the selected, active channel. The access point is configured to filter a message. When operating the access point in a beacon transmit mode, the access point transmits wireless beacon data to the node. In a listening mode, the access point relays data received from the node to the central communication unit.
It is described a trolley (50) for operation on an automated storage and retrieval system (1) comprising a two-dimensional rail system (108) comprising a first set of parallel rails (110) and a second set of parallel rails (111) in the horizontal plane arranged perpendicular to the first set of parallel rails (110) to guide movement of container handling vehicles. The trolley (50) comprises a trolley frame (51), a first set of wheels (42a) for interaction with the rails ( 110) in the first direction (X) and a second set of wheels (42b) for interaction with the rails (111) in the second direction (Y), a wheel lift mechanism operable between a first position in which the first set of wheels (42a) is above the second set of wheels (42b) such that the second set of wheels (42b) is in contact with the rail system (108), and a second position in which the first set of wheels (42a) is below the second set of wheels (42b) such that the first set of wheels (42a) is in contact with the rail system (108), and an actuator assembly (60) manually operable by a human operator (10) for actuating the wheel lift mechanism (70) between the first position and the second position. It is further described an automated storage and retrieval system (1) comprising the trolley (50), as well as a method of operating the trolley (50).
A system for condition-based monitoring of an automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening of the vertical storage columns. The framework structure includes a rail system arranged above the storage columns. The rail system includes a plurality of rails extending in an X-direction and a Y-direction to form a grid. The rails define a perimeter of each access opening on top of each storage column. The rail system provides available routes in the X-direction or the Y-direction for container handling vehicles handling and transferring the storage containers to and from the storage columns. At least one container handling vehicle has two or more sensors, directed to monitor a section of the rails adjacent of the container handling vehicle. The sensors are part of a monitoring system set up to report a condition of the rails of the grid system and uploading the information to one or all of a central computer system, a cloud system, and/or an image analysis and processing system. The two or more sensors are at least one camera and a pendulum, and/or a level, and/or an accelerometer, and/or a sound detecting device.
B65G 43/02 - Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load- carriers, e.g. for interrupting the drive in the event of overheating
The present invention provides a container handling vehicle (501) for moving on a rail system (108), the rail system comprising a first set of parallel rails (110) and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110), the container handling vehicle comprising a first set of wheels and a second set of wheels for moving upon the rail system in two perpendicular directions.
A REMOTELY OPERATED VEHICLE, AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD OF DRIVING A REMOTELY OPERATED VEHICLE FOR HANDLING A GOODS HOLDER OF AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
The invention relates to a remotely operated vehicle (50) operating on a two-dimensional rail system (108) of an automated storage and retrieval system (1). The vehicle (50) comprises a vehicle body (10) and a first set of wheels (12) enabling movement in a first horizontal direction of the rail system (108) and a second set of wheels (14) enabling movement in a second horizontal direction of the rail system (108), perpendicular to the first direction. The vehicle body (10) comprises a motor section (16) that houses at least one drive motor and a cavity section (20) for storing a goods holder (106). The vehicle (50) has a center of gravity (COG) located in the cavity section (20) wherein the first set of wheels (12) comprises a pair of driven wheels (12D) and a pair of passive wheels (12P). The pair of passive wheels (12P) is provided in the cavity section (20) to transfer a share of a load from the remotely operated vehicle (50) to the rail system when moving in the first horizontal direction, the pair of passive wheels (12P) is arranged on an opposite side of the center of gravity (COG) to the pair of driven wheels (12D) of the first set of wheels.
A REMOTELY OPERATED VEHICLE, AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD OF OPERATING A REMOTELY OPERATED VEHICLE FOR HANDLING A GOODS HOLDER OF AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
The invention relates to a remotely operated vehicle (50) for handling a goods holder (106) on a two-dimensional rail system (108) of an automated storage and retrieval system (1). The vehicle (50) comprises a first wheel mount (12) which is vertically displaceable relative to a frame (14) of the vehicle body, the first wheel mount (12) carrying a first pair (61) of coplanar wheels of said first set of wheels (6), and a second wheel mount (13) which is vertically displaceable relative to the frame (14) of the vehicle body, the second wheel mount (13) carrying a second pair (62) of coplanar wheels of said first set of wheels (6), the second wheel mount (13) being arranged parallel to and on an opposite side of said cavity (22) to said first wheel mount (12). A mechanism (15) for vertically displacing the first wheel mount (12) relative to the frame (14) of the vehicle body (10) is movable between a first position and a second position such that the movement of the mechanism (15) from the first to the second position results in the first wheel mount (12) being displaced vertically relative to the frame (14) of the vehicle body. A coupling assembly (19) couples the first (12) and the second (13) wheel mounts so that vertical movement of the first wheel mount (12) is transferred to the second wheel mount (13). The invention further relates to an automated storage and retrieval system (1) comprising said remotely operated vehicle (50) and a method of operating said remotely operated vehicle (50).
The present invention provides a container handling vehicle (501) for moving on a rail system (108), the rail system comprising a first set of parallel rails (110) and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110), the container handling vehicle comprising a first set of wheels and a second set of wheels and a mechanism for lifting the second set of wheels in a vertical direction.
The present invention provides an improved track sensor arrangement for an automated vehicle operating on an automated storage and retrieval system, arranged whereby the sensor directly detects the position of the vehicle in relation to an access opening. The term "directly detects" in the context of the present invention is to be understood to mean that the gripping mechanism of the vehicle is correctly positioned in relation to the access opening at the precise moment the sensor detects a specific structural feature of a track. In one aspect the specific structural feature of the track is an intersection adjacent to an access opening.
A storage container for storing product items in an automated storage and retrieval system includes a base; two first parallel side walls; two second parallel side walls perpendicular to the two first parallel side walls; a top opening; and two side openings, to allow one or more items to be unloaded from the storage container or loaded into the storage container through one of the side openings at an unloading station or at a loading station. The storage container is provided with a restraint which is arranged to restrain movement of the one or more items from exiting through one of the side openings during transportation of the storage container to the unloading or loading station. The restraint includes an elevatable floor movably connected to the storage container between: a lower position, arranged to restrain movement of the one or more items from exiting through one of the side openings during transportation of the storage container to the unloading or loading station; and an upper position, arranged not to restrain movement of one or more items from exiting through one of the side openings at the unloading or loading station. The elevatable floor includes apertures and the storage container includes friction increasing members positioned in the apertures. In the lower position, the elevatable floor is vertically aligned with, or lower than the friction increasing members. In the upper position, the elevatable floor is higher than the friction increasing members.
B65D 25/00 - CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES - Details of other kinds or types of rigid or semi-rigid containers
B65D 1/22 - Boxes or like containers with side walls of substantial depth for enclosing contents
B65D 21/02 - Containers specially shaped, or provided with fittings or attachments, to facilitate nesting, stacking, or joining together
The invention relates to a position sensing device (10) for determining a rotational position of a rotating shaft (12) of a remotely operated vehicle of a system (1) for storing and retrieving goods holders, said rotating shaft (12) being a wheel axle of the remotely operated vehicle. The device comprises a reflector (14) attached to the rotating shaft so as to rotate simultaneously with said shaft (12), a distance measuring unit (16) arranged to emit a beam (18) of radiation towards a portion of the reflector (14), wherein the emitted beam is parallel to the rotating shaft, as the shaft (12) and the reflector (14) are rotated with respect to the distance measuring unit (16), and to receive a return beam (20) generated when the emitted beam (18) is reflected by the portion of the reflector (14). The distance measuring unit (16) is configured to output a signal based on a distance of said beam to said portion of the reflector (14), wherein a rotational position of the rotating shaft (12) is determined based on the output signal of measured distance from said distance measuring unit (16). The invention further relates to a method for determining rotational position of a rotating shaft (12).
G01D 5/28 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with deflection of beams of light, e.g. for direct optical indication
G01D 5/48 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using wave or particle radiation means
The present invention relates to an automated storage and retrieval system (1) comprising a framework structure (100) comprising a first framework element (61) having a first opening (61a), a second framework element (62) having a second opening (62a), and a storage volume comprising storage columns (105) for storing stacks (107) of storage containers (106). The automated storage and retrieval system (1) comprises a framework adjuster (10) comprising a double-threaded rod (20) having a first threaded section (21) threaded in a first direction, and a second threaded section (22) threaded in a second direction opposite of the first direction. The first threaded section (21) of the double-threaded rod (20) is engaged in the first opening (61a) of the first framework element (61) and the second threaded section (22) of the double-threaded rod (20) is engaged in the second opening (62a) of the second framework element (62). The framework adjuster (10) comprises an adjustment interface (25) for adjusting a distance (D) between the first framework element (61) and the second framework element (62) by rotation of the double-threaded rod (20).
An automated storage and retrieval system includes a track system including a first set of tracks arranged in a horizontal plane and extending in a first direction, and a second set of tracks arranged in the horizontal plane and extending in a second direction that is orthogonal to the first direction. The first set of tracks and the second set of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each grid cell includes an opening defined by the first set of tracks and the second set of tracks such that the track system includes a plurality of openings. A plurality of storage containers are arranged in columns beneath the track system such that the storage containers are located vertically below the openings. A plurality of container handling vehicles for lifting and moving the storage containers are configured to move on the track system and access the storage containers via the openings. Each container handling vehicle of the container handling vehicles includes a lower part in contact with the track system and an upper part. The lower part has a width and a length that form a vehicle footprint. The vehicle footprint of the lower part has dimensions smaller than the opening such that a contact area of the container handling vehicle does not extend into an adjacent grid cell. The upper part, which is disposed vertically above the lower part, includes a protruding section and a recessed section. The protruding section is configured to extend beyond the lower part into the adjacent grid cell. The recessed section is of a complimentary shape to the protruding section such that the recessed section is configured to receive other protruding sections of other vehicles of the container handling vehicles. The lower part further includes a storage space configured to accommodate a storage container of the storage containers.
An automated storage and retrieval system includes a rail system with a first set of parallel rails extending in a first direction and a second set of parallel rails extending in second direction. The second direction is perpendicular to the first direction. The system includes a plurality of container handling vehicles on the rail system operable to handle storage containers. Each container handling vehicle includes a positioning node and a local controller adapted to control movements of the container handling vehicle. The system includes a positioning system comprising at least three reference positioning nodes spaced in fixed positions on and/or proximate the rail system. The positioning system is adapted to determine a position on the rail system for each of the container handling vehicles based on signal measurements between the positioning node of each container handling vehicle and the at least three reference positioning nodes. A control system is adapted to communicate with each local controller in each container handling vehicle and the positioning system. The control system is adapted to: instruct a first container handling vehicle to move to a target position, repeatedly receive position data from the positioning system of a position of the first container handling vehicle and repeatedly receive position data from the positioning system of a position of a second container handling vehicle, and instruct the second container handling vehicle to move with and follow the first container handling vehicle within a predetermined separation from the first container handling vehicle based on the received position data of the positions of the first and second container handling vehicles.
A container handling vehicle with a cantilever solution operates on an automated storage and retrieval system. The automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening of the vertical storage columns. A rail system is arranged on the framework structure, rails of the rail system extending in an X-direction and a Y-direction to define a grid and to define a perimeter of each access opening on top of each storage column. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. Each rail has a first track and a parallel second track allowing two container handling vehicles to pass each other using the same rail. Each vehicle communicates with a central computer system controlling the operation. At least one container handling vehicle has a container handling platform with a set of grippers for handling the storage containers. The wheels are on a cantilever side of the container handling vehicle, used for manoeuvring the container handling vehicle in the Y-direction, are positioned or are positionable with respect to the container handling vehicle to allow them to use an outer track of a rail in the Y-direction to manoeuvre the container handling vehicle when the wheels on an opposite side of the container handling vehicle are using an inner track of an adjacent rail in the Y-direction.
The present invention provides a storage system (1) comprising a framework structure (100) and at least one container handling vehicle (301), the framework structure comprises vertical column profiles (102) defining multiple storage columns (105) in which storage containers (106) are stored one on top of another in vertical stacks, the column profiles are interconnected at their upper ends by rails (110,111) forming a horizontal rail grid (108) upon which the container handling vehicle (301) may move in two perpendicular directions, the container handling vehicle arranged to retrieve storage containers (106) from the storage columns (105), store storage containers in the storage columns (105), and transport the storage containers on the framework structure, the container handling vehicle comprises a cantilevered section from which a lifting frame (2) is suspended, the lifting frame being configured to releasably attach to an upper section of a storage container (106) and arranged to be raised or lowered in order to raise or lower an attached storage container (106), wherein the storage system comprises at least one container rack column (6) comprising a container rack (7), the container rack comprises container supports (8) by which a plurality of storage containers (106a- 1061) can be supported one above another at vertically spaced storage levels, the container rack (7) is moveable relative to the container rack column (6) in a vertical direction between a lowest position and a plurality of container access positions, where at each of the container access positions a storage container supported at a corresponding storage level may be retrieved by the container handling vehicle.
A system for allocating jobs and/or targets to robots in an automated storage and retrieval system includes a plurality of robots and a framework structure forming a three-dimensional storage grid structure for storing storage containers. The framework structure includes a rail system. The rail system provides available routes for the robots handling and transferring the storage containers to and from the storage columns. At least one robot includes a first set of wheels configured to move the robot along a first horizontal direction of the grid-based rail system and a second set of wheels configured to move the robot along a second horizontal direction of the grid-based rail system. The second direction is perpendicular to the first direction. The movement of the robots is controlled by a central computer system including a warehouse management system that includes a router and an assigner. The router decides which routes the robots travel and the assigner has control over which jobs are to be done and which targets to reach. The assigner is configured to create a list of job options of jobs to be done and a list of target options of targets to be reached by each robot, which lists of job options and target options are made accessible to the router. The router is configured to decide which job and target to be assigned to the robot using a multi-position search algorithm. The decision is based on the location of the robot in question and the route it has to travel to reach the job and the target.
An access station for a storage system includes at least one container holder arranged to rotate about an axis of rotation. The axis of rotation is inclined at a first angle relative to a vertical. The container holder is arranged to accommodate a storage container and is configured such that a centreline of the storage container when supported by the container holder is inclined at a second angle relative to the axis of rotation. The container holder may rotate between a first position, where the centreline of an accommodated storage container is vertical, and a second position being opposite the first position relative to the axis of rotation. The centreline of an accommodated storage container is inclined at a third angle relative to the vertical. The third angle is equal to the sum of the first angle and the second angle.
A system and method for a variable temperature zone (503, 504, 505, 506, 507) in a storage and retrieval system (1), wherein the storage and retrieval system comprises a framework structure (100) which includes a rail system (108) comprising a first set of parallel rails arranged to guide movement of a container handling vehicle (201, 301, 401) in a first direction (X) across the top of the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the framework structure comprising upright members (102) defining storage columns (105) for storing containers (106) within the framework structure, wherein the storage and retrieval system comprises at least one container handling vehicle configured to operate on the rail system wherein the different temperature zones are separated by an insulated curtain (501) that can be lowered and raised from the roof and can be moved up and down the length and/or the width of the grid system, and storage containers stacked on top of each other to create an insulating wall in the grid system.
(1) Conveying machines, apparatus and installations; conveying machines apparatus and installations, namely, conveyors and roller conveyors for conveying goods for storage and retrieval, for use in warehousing and storage depots; electronically controlled machines and apparatus for use for storage and retrieval of goods; electronically controlled machines, apparatus and installations for use for storage and retrieval of goods, namely, automated warehouse storage and retrieval machines and systems comprised primarily of carts with lifting function and continuous tracks therefor, for repositioning storage bins or boxes from one location to another location; boxes and containers adapted for use with the aforementioned machines and apparatus; machine coupling and transmission components, except for land vehicles; Gripper as part of an industrial and storage and retrieval robot which is used to pick up bins, boxes, carts and goods; Robotic gripper as part of an industrial and storage and retrieval robot; Cranes attached to a conveying machine apparatus and installations, for use in warehousing and storage depots; machines, apparatus and installations for use for storage and retrieval of goods, namely picking and buffer module; machines, apparatus and installations for use for storage and retrieval of goods, namely a device for receiving carts, bins, boxes; parts and fittings for all the aforementioned goods; all of the aforementioned goods being for or in connection with storage and/or retrieval robots.
Conveying machines, apparatus and installations; conveying machines apparatus and installations, namely, conveyors and roller conveyors for conveying goods for storage and retrieval, for use in warehousing and storage depots; electronically controlled machines and apparatus for use for storage and retrieval of goods; electronically controlled machines, apparatus and installations for use for storage and retrieval of goods, namely, automated warehouse storage and retrieval machines and systems comprised primarily of carts with lifting function and continuous tracks therefor, for repositioning storage bins or boxes from one location to another location; boxes and containers adapted for use with the aforementioned machines and apparatus; machine coupling and transmission components, except for land vehicles; Gripper as part of an industrial and storage and retrieval robot which is used to pick up bins, boxes, carts and goods; Robotic gripper as part of an industrial and storage and retrieval robot; Cranes attached to a conveying machine apparatus and installations, for use in warehousing and storage depots; machines, apparatus and installations for use for storage and retrieval of goods, namely, picking and buffer module; machines, apparatus and installations for use for storage and retrieval of goods, namely, a device for receiving carts, bins, boxes; parts and fittings for all the aforementioned goods; all of the aforementioned goods being for or in connection with storage and/or retrieval robots
An automated storage and retrieval system includes a framework structure having a plurality of internal and peripheral upright members arranged to define a storage grid including multiple storage columns for storing storage containers on top of each other in vertical stacks. The upright members are interconnected at their upper ends by a rail system arranged to guide at least one container handling vehicle thereon. The container handling vehicle is configured to raise storage containers from, and lower storage containers into the storage columns and to transport the storage containers horizontally above the storage columns. The peripheral upright members of the framework structure define a horizontal periphery of the framework structure. A vehicle elevator includes a vertically extending support, a platform, and a lift mechanism. The platform includes a horizontally extending structure arranged to carry the container handling vehicle and a connection device moveably attaching the platform to the vertically extending support. The lift mechanism is arranged to move the platform between a first lift stop position, which establishes access between the platform and the rail system, and a second lift stop position arranged within an accessing area such that a human operator/service personnel and/or robot can perform in-situ maintenance on the container handling vehicle while the container handling vehicle is arranged on the platform. The first and second lift stop positions are arranged vertically offset.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B66B 9/16 - Mobile or transportable lifts specially adapted to be shifted from one part of a building or other structure to another part or to another building or structure
