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).
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
3.
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.
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.
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
8.
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.
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.
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 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.
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.
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.
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 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
23.
CONTAINER HANDLING VEHICLE WITH ALL WHEEL DRIVE IN AT LEAST ONE DIRECTION, ASSOCIATED SYSTEM AND METHOD OF ASSEMBLING
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 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 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
29.
A CONVEYOR ACCESS STATION FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD FOR USING SAME
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.
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.
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).
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.
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).
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 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.
THE PRESENT INVENTION RELATES TO AN ILLUMINABLE STORAGE GRID FOR STORING AND CULTIVATING CROPS, AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM FOR STORING AND RETRIEVING CROPS FROM/TO SUCH A STORAGE GRID AND A METHOD THEREOF
The invention concerns an automated storage and retrieval system (1) comprising storage containers (106), an illuminable storage grid (500), a support displacement system (700) and a container handling device (200, 300, 400). The system is configured to allow the container handling device (200, 300, 400) to move between a first location above or on the illuminable storage grid (500) and a second location outside the horizontal periphery of the illuminable storage grid (500).
An automated storage and retrieval system comprising an arrangement and system for the disposal of and/or recycling of trash, such as packaging materials, recyclable materials or other refuse The container handling vehicles of the system transport trash in a trash container from an access station, along the rail system of the storage system, to a trash port which has means for emptying the trash and advantageously diverting the trash to an appropriate receptacle.
A buffer system for a station (701) of a storage and retrieval system, wherein the 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 (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 defining storage columns for storing containers 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 buffer system has at least two automated lifts for delivering containers to and from the station (701), wherein a first lift (501) is for delivering containers to the station that have been delivered from the framework structure by a container handling vehicle and a second lift (502) is for delivering containers from the station (701) to the framework structure of the storage and retrieval system using a container handling vehicle and wherein the speed of the first and the second lifts (502) in the buffer system is controlled with the effect that when one container is finished at the station (701) another is delivered to the station (701).
AN AIR FLOW CONTROL DEVICE, AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM COMPRISING SUCH A DEVICE AND A METHOD FOR THERMALLY MANAGING AIR IN AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
The invention relates to an air flow control device (400) for controlling air flow in an automated, grid-based storage and retrieval system (1) for storing goods holders (106). The air flow control device (400) comprises a body (410) provided with a plurality of perforations (420), said air flow control device (400) being configured to be arranged at an orifice of a transversally directing air duct (508) positioned to distribute the air transversally into a first air release volume (405) such that with the air flow control device (400) in position the air duct (508) can produce a first transversal air curtain downstream the air flow control device (400) in the first air release volume (405). Temperature of the air of the first transversal air curtain is stratified. The invention further relates to an automated storage and retrieval system (1) comprising said air flow control device and a method for thermally managing air in such a system (1).
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
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
47.
AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD OF OPERATING SUCH AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM.
The invention relates to a method of operating an automated storage and retrieval system (1), the method comprising using a device (600) of the automated storage and retrieval system (1) to calculate energy used by the device (600). The invention further relates to an automated storage and retrieval system (1) with an energy manager.
B60L 15/20 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
B60L 50/60 - Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
B60L 58/10 - Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
48.
SYSTEM AND METHOD OF TEMPERATURE CONTROL IN AN AUTOMATED GRID BASED STORAGE AND RETRIEVAL SYSTEM
The present invention provides an automated grid based storage and retrieval system (1), comprising: a framework structure (100) comprising upright members (102) and a grid of horizontal rails (110,111) provided at upper ends of the upright members (102), the framework structure defining at least one storage volume (500) below the horizontal rails (110,111), the at least one storage volume (500) comprising: a plurality of storage columns (105) arranged adjacent one another, a plurality of walls (501) surrounding an outer extent of the plurality of storage columns (105); a first plenum (502) extending horizontally beneath the storage columns (105); a first plurality of transversally directing air ducts (504) connected to at least one fan (505) adapted to draw air from outside the at least one storage volume (500), the first plurality of horizontally directing air ducts (504) being positioned to distribute the air horizontally below the horizontal rails (110,111) to provide a first horizontal air curtain; a cooling system (506) adapted to draw air from the first plenum (502), cool the air, and blow cooled air from an output (507) of the cooling system (506) as a cooled airflow; and a second plurality of horizontally directing air ducts (508) adapted to receive the cooled airflow from the cooling system (506) through a first air damper (509), the second plurality of horizontally directing air ducts (508) being positioned at a level below the first plurality of horizontally directing air ducts (504) to distribute at least a first portion of the cooled airflow horizontally above an uppermost layer of the storage columns (105).
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
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
F25D 17/00 - Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces
49.
CROSSING WITH THERMAL EXPANSION JOINT FOR A RAIL-BASED GRID
The invention relates to a crossing (30; 30'; 30"; 30'") for a grid-based rail system (108) of an automated storage and retrieval system (1), wherein the crossing (30; 30'; 30"; 30'") comprises a first rail (130) extending in a first direction (X) and a second rail (131) extending in a second direction (Y) which is perpendicular to the first direction (X), wherein the first and second rails (130, 131) each comprise at least one track (125) for guiding wheels (201b, 201c; 301b, 301c; 401b, 401c) of a container handling vehicle (201; 301;401) in a longitudinal direction of said rail (130, 131), the first and second rails (130, 131) engaging one another to form the crossing (30; 30'; 30"; 30'") where the at least one track (125) of the first rail (130) crosses a path of the at least one track of the second rail (131), the crossing (30; 30'; 30"; 30'") being configured to be supported by an upright member (102) from below, and wherein at least one of the first and second rails (130, 131) is provided as a pair of rail sections (130', 130"; 131', 131") arranged in an end-to-end manner in the longitudinal direction of said rail (130, 131), the ends of the rail sections (130', 130"; 131', 131") meeting in a central portion of the crossing (30; 30'; 30"; 30'"), and the rail sections (130', 130"; 131', 131") being configured to permit a range of movement of one end relative to the other in the longitudinal direction of the said rail (130, 131) so as to provide a thermal expansion joint (35', 35", 35'") for the said rail (130, 131) that is arranged within a volume of the crossing (30; 30'; 30"; 30'") defined by the engagement of the first and second rails (130, 131). It is further described a storage system comprising the crossing and providing a crossing (30; 30'; 30"; 30'") in a grid-based rail system (108) of an automated storage and retrieval system (1), the crossing (30; 30'; 30"; 30'") allowing for thermal expansion and contraction of rails (110, 111, 130, 131) extending through the crossing (30; 30'; 30"; 30'").
A method whereby the logistics of product delivery is improved in the situation where a customer picks up preordered goods directly from a warehouse facility (600) that includes an automated storage and retrieval system (1), arriving at the facility in an automobile (602). One or more cameras (610) equipped with optical character recognition capability are provided. A first camera reading makes a first, initial recognition of the license plate number of a customer's vehicle upon arrival at the property (606) of the warehouse facility. The initial reading triggers the initiation of a sequence of steps in the consolidation and transport of the delivery package to a customer pickup bay (604), which may include an automated pickup door (605). A second camera reading makes a second recognition of the license plate when the customer arrives at a particular parking space adjacent to a specific pickup bay (604) and communicates this information to the control system (500) of the automated storage and retrieval system.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
E04H 14/00 - Buildings for combinations of different purposes not covered by any single one of main groups of this subclass, e.g. for double purpose; Buildings of the drive-in type
The present invention relates to a method for transporting a product item (80) stored within a first storage container (106) within an automated storage and retrieval system (1) to an access station (10). The method comprises the steps of: - moving (M1) the first storage container (106) from a storage column (105) to a transfer station (20); - transferring (T) the product item (80) from the first storage container (106) to a second storage container (6) at the transfer station (20); - returning (R1) the first storage container (106) from the transfer station (20) to the automated storage and retrieval system (1); - moving (M2) the second storage container (6) from the transfer station (20) to an access station (10) at which a person (P) may access the product item (80); - returning (R2) the second storage container (6) from the access station (10) to the transfer station (20).
It is disclosed a storage module, an automated storage and retrieval system comprising the storage module, and a method for using same. Wherein the storage module comprises: - a vertically extending structure, and - a plurality of support segments being pivotably arranged on the vertically extending structure with a mutual vertical axis of rotation and distributed with vertical offsets such that the plurality of support segments are arranged one above another, wherein each support segment comprises: - a supporting part for supporting a goods holder, and - a guiding part for guiding vertical movement of a goods holder, wherein the supporting part and the guiding part of each support segment are arranged on opposite sides of the axis of rotation.
The invention relates to a levelling assembly (10) for a storage and retrieval system (1) for storing goods holders (106). The assembly (10) comprises a threaded elongate member (12), a threaded nut (14) for engaging with the threaded elongate member (12) and a floor rail (16) for supporting upright members (102) of the storage and retrieval system (1). In a first state, the threaded elongate member (12) engages with the threaded nut (14) and is provided in a channel (20) of the floor rail (16) and rotationally immobilized relative the channel (20). In response to a rotational force applied on the threaded elongate member (12), the floor rail (16) is movable in vertical direction. The invention further relates to a method for taking up irregularities in a floor surface by means of the levelling assembly (10).
It is described a lifting frame assembly (23) for a container lift device (201,301,401) of an automated storage system (1), wherein the lifting frame assembly (23) comprises: - a lifting frame holder (29) configured to be suspended from the container lift device by lifting bands (25), wherein the lifting frame holder (29) has a rectangular horizontal outer periphery (30); - a lifting frame (27) comprising grippers (26) for connection to a storage container (106) from above; - at least a first set of guide members (20a,20b,20c) for guiding against upright members (102a) of a framework structure (100a) of the automated storage system (1), and wherein the first set of guide members (20a,20b,20c) is operable between: - a retracted position where the guide members (20a,20b,20c) are retracted within the outer periphery (30) of the lifting frame holder (29), and - an extended position where the guide members (20a,20b,20c) extend outside the outer periphery (30) of the lifting frame holder (29). It is further described a framework structure (100a) comprising upright members (102a) supporting a two-dimensional rail system (108) arranged across the top of framework structure (100a), wherein the upright members (102a) are configured complementary to the guide members (20a,20b,20c) such that the lifting frame assembly (23) can be guided by the upright members (102a) via the extendible guide members (20a,20b,20c). In addition, is described a method of guiding a lifting frame assembly (23) against upright members (102a) of a framework structure (100a).
A device for assessing a top of a framework structure of a storage grid in an automated storage and retrieval system, wherein the framework structure comprises a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle 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) across the top of the framework structure that 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 to support the rail-system and at least one container handling vehicle operating on the rail system, where the device comprises a body with a pivoting arm (602) on at least one side, and each pivoting arm (602) is positioned in the centre on each side, each pivoting arm (602) having a rail contactor (603) at either end and being pivoted around a central point of the pivoting arm (601) corresponding to a balance point of the device, and there is an tilt sensor (701) attached to at least one of the pivoting arms (602) for measuring the angle of the pivoting arm (602) in relation to a horizontal level.
A vehicle gate arrangement comprising: • a space (51) for accommodating a vehicle (201, 301, 401, 501); • a first shutter (52) for separating the space (51) and a first area (11); and • a second shutter (53) for separating the space (51) and a second area (12); wherein both the first shutter (52) and the second shutter (53) are each actuatable between: • an open position which allows passage of the vehicle (201, 301, 401, 501) therethrough; and • an obstructing position which restricts passage of the vehicle (201, 301, 401, 501) therethrough; and wherein the first shutter (52) and the second shutter (53) are coupled to each other for synchronous movement and wherein the first shutter (52) and/or the second shutter (53) is in the respective obstructing position at any time.
The present invention relates to an access station (10) for presentation of a storage container (106) from an automated storage and retrieval system (1) to an operator (OP) at the access station. The access station (10) comprises an access module (20) comprising a frame (21) defining a drawer compartment (25) provided within the frame (21) and a front opening (22) for allowing presentation of the storage container (106). The access station also comprises a drawer (40) comprising a drawer base (41) and a drawer front (42). The access station (10) comprises a safety mechanism (60) located above the front opening (22) and comprises a cover (61) secured to the frame (21), a safety plate (62) movable relative to the cover (61) between a non-activated position (Pl) and an activated position (P2) and a safety sensor (65) for sensing the movement of the safety plate (62); wherein the access station (10) is configured to allow movement of the drawer (40) relative to the frame (21) when the safety sensor (65) is sensing that the safety plate (62) is in its non-activated position (Pl) and wherein the access station (10) is configured to stop or reverse the movement of the drawer (40) relative to the frame (21) when the safety sensor (65) has sensed that the safety plate (62) is in its activated position (P2).
The inventions concerns a robotic container handler (500) for automatic handling of containers (20, 106) such as picking up and placing containers onto a conveyor (600), an access and distribution station (500) comprising said robotic container handler (500), a storage and retrieval system for storing the containers to be handled and a method for using said access and distribution station.
The present invention provides a storage system (1) comprising a framework structure (100), at least one container lift device (501) and a plurality of storage containers (106), the framework structure (100) comprises multiple storage columns (105), in which the storage containers (106) are stored on top of one another in vertical stacks (107), and the container lift device comprises a lifting frame (2') for releasable connection to one of the storage containers when the lifting frame (2') is lowered into one of the storage columns to retrieve said storage container (106), wherein an outer periphery of each storage container (106) comprises a vertical guiding pin recess (7) at each of four container corners (12), and a vertical guiding pin (4') is provided at each of four frame corners (17) of the lifting frame (2), a lower part of at least two of the guiding pins (4') having a container support portion (6, 8) comprising a container support surface (11, 11'), wherein the container support portion (6, 8) is moveable in a lateral direction between a first position, in which the guiding pins (4') can enter the corresponding guiding pin recess (7) of a storage container, and a second position, in which the container support portion is displaced closer to a vertical centreline (C) of the lifting frame than in the first position such that the container support surfaces (11, 11') are positioned to support the storage container via downwardly facing support surfaces (10) of the storage container.
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
B66C 17/04 - Overhead travelling cranes comprising one or more substantially-horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
B66C 1/66 - 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 comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
60.
AN ASSEMBLY, A STORAGE MODULE AND AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
The invention relates to an assembly (30) comprising a goods holder (106) comprising a front side (60), wherein at least a section (55) of the front side is movable so as to allow access into the interior of the goods holder (106), and a storage cell (101) for storing the goods holder (106). The storage cell (101) is provided with a locking mechanism (50) configured to engage with the movable section (55) of the front side (60) of the stored goods holder (106) so as to secure said movable section (55). The invention further relates to a storage and pick-up module (200) comprising a plurality of assemblies (30).
It is disclosed a service vehicle for irrigation and/or inspection of crops stored within an automated storage and retrieval system, an automated storage and retrieval system for vertical farming and a method of using same. The automated storage and retrieval system comprises: - a plurality of goods holders for holding crops, - a storage section configured for storing goods holders in a plurality of columns. The service vehicle is movable above the storage section and comprises: - irrigation equipment for irrigating crops held by a goods holder, and/or - inspection equipment for inspecting crops held by a goods holder.
The invention relates to a delivery port (10) for delivery of goods contained in goods holders (106) originating from a storage and retrieval system (1) for storing goods holders (106). Said delivery port (10) comprises a first path (12), a delivery vehicle (14) for transporting goods holders (106), said delivery vehicle (14) being movable on the first path (12), a second path (16), said goods holder (106) being movable on the second path (16), said second path (16) comprising a delivery point (34) where the goods holder is emptied of its content, such as product items, and a pair of conveyors (18a, 18b) establishing a dual connection between the first (12) and the second (16) path. The goods holder (106) is transferable around a closed loop formed by the first (12) and the second (16) paths and the pair of conveyors (18a, 18b). A mechanism enabling strictly vertical movement of the goods holder (106) is provided in said delivery point (34). The invention further relates to a method for delivery of goods contained in goods holders (106) originating from said storage and retrieval system (1).
The invention relates to a hatch assembly (10) for a port of a storage and retrieval system (1) for storing goods holders (106). Said hatch assembly (10) comprises a pivotable hatch (14) comprising a hatch frame (16) pivotable about a horizontal pivot axis at its base, and a hatch cover (18) connected to the hatch frame (16), wherein said hatch cover (18) can move in an arcuate manner for covering an open side of the goods holder (106). The assembly (10) further comprises at least one driven arm (20) rigidly connected to a drive shaft of driving means, at least one link (26) for linking the pivotable hatch frame (16) and the driven arm (20) so that motion of the driven arm (20) causes pivoting motion of the hatch (14), the link (26) having a first direction of extension (27), said link (26) being rigidly connected to the hatch frame (16) and flexibly connected to the driven arm (20). Said link (26) has variable length in the first direction of extension (27) and length of the link (26) is reduced once a forward pivotal movement of the hatch frame (16) is discontinued. The invention also relates to a method for controlling operation of a hatch assembly (10).
A47G 29/22 - Deposit receptacles for food, e.g. breakfast, milk; Similar receptacles for large parcels with appliances for preventing unauthorised removal of the deposited articles with appliances for preventing unauthorised removal of the deposited articles having rotatable or reciprocable parts
The invention concerns an illuminable storage grid for storing and cultivating crops within containers, a storage and retrieval system comprising such an illuminable storage grid and a method for operating the system. The illuminable storage grid comprises a plurality of horizontal container supporting frameworks distributed vertically with vertical offsets, each comprising one or more displaceable container supports.
The present invention provides a storage system (1) comprising a framework structure (100) in which storage containers (106) can be stored, a container lift device (501) and a container transfer device (2,2'), the framework structure comprises vertical column profiles (102) defining at least a first port column (119) through which a storage container (106) may be transferred to or from the container transfer device by the container lift device (501), the first port column comprises an upper end (6), at which the container lift device (501) is arranged when a storage container is to be lowered or lifted through the port column, and a lower end (7) at which a container buffering assembly is arranged, wherein the container buffering assembly features a container holder frame (3a,3b) comprising a plurality of supports (4,5); the container holder frame (3a,3b) is horizontally moveable between a first position under the lower end (7) of the first port column (119) and a second position away from the lower end of the first port column; the supports (4,5) are 15 actuatable between a holding position, in which the supports are configured to support a storage container (106), and a release position, in which a storage container may pass through the container holder frame in a vertical direction.
It is described a storage system (1) comprising a framework structure (100) in which storage containers (106) are stored, a container lift device (301; 401), and a conveyor (2), the framework structure comprises at least a first port column (119, 120) through which a storage container (106) may be transferred by the container lift device (301; 401), the first port column (119, 120) comprises an upper end (6) at which the container lift device (301; 401) is arranged when a storage container is to be lowered or lifted through the port column, and a lower end (7) at which a container buffering assembly is arranged, the container buffering assembly comprises: - a container holder frame (3a, 3b); and - a plurality of supports (4', 4", 5', 5") connected to the container holder frame (3a, 3b); the container holder frame (3a, 3b) is movable in a first horizontal direction (X) between a first position under the lower end (7) of the first port column (119, 120) and a second position away from the lower end (7) of the first port column (119, 120); the supports (4', 4", 5', 5") are actuatable between: - a holding position, in which the supports (4', 4", 5', 5") are configured to support a storage container (106); - a release position, in which a storage container (106) may pass through the container holder frame (3a, 3b); and wherein the container holder frame (3a, 3b) is vertically movable for transferring a storage container (106) between the container holder frame (3a, 3b) and the conveyor (2). It is further described a container buffering assembly and associated methods of transferring a storage container from a container lift device to a conveyor, as well as from a conveyor to a container lift device.
The present invention relates to a storage container (6; 106) for storing produce in an automated storage and retrieval system (1). The storage container (6; 106) comprises a base panel (6a; 106a) and four side panels (6b; 106b) extending from the base (6a; 106a). In addition, the storage container comprises a top panel (6c) 5 provided above the four side panels (6b; 106b), wherein the storage container (6; 106) comprises an adjustable ventilation opening (6VO) provided in the base panel (6a; 106a), the top panel (6c) or one of the four side panels (6b; 106b).
System and method for unloading a container of its content, comprising an automated storage and retrieval system, wherein the system comprises a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling 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 comprises upright members and horizontal members, at least one container handling vehicle configured to operate on the rail system, wherein 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, a central control unit configured to receive, transmit and process data signals of the container handling vehicle and to receive and process data signals of the sensor, at least one container comprised of four side walls and a bottom creating an open box structure, means for transporting the container to an unloading station where the content of the container is emptied by gravity wherein the unloading station comprises a container tipping device that tips the container around at least one axis, emptying the content.
The present invention relates to a disinfection station (10) for disinfection of a storage container (106) in an automated storage and retrieval system (1). The disinfection station (10) comprises a frame (11) comprising a support (12), by which the storage container (106) is supported in a disinfection position (DP) during disinfection, and an opening (16) through which the storage container (106) is transported between a storage position (SP) in the automated storage and retrieval system (1) and the disinfection position (DP). The disinfection station comprises a disinfection system (20) is for disinfecting the storage container (106) in the disinfection position (DP). A disinfection fluid or ultraviolet radiation is used.
The invention relates to a vertically displaceable gripper assembly (30) suspended from a remotely operated vehicle (500) operating on top of upright members (102) of an automated storage and retrieval system (1). The gripper assembly (30) is for engaging with a goods holder (106) positioned in a storage column (105) defined by a set of said upright members (102). The goods holder (106) has an open side. The gripper assembly (30) comprises a detector (33) for determining whether goods placed in the goods holder project out of the open side of said goods holder (106). The invention further relates to a method for operating a vertically displaceable gripper assembly (30).
SYSTEM, METHOD AND COMPUTER PROGRAM PRODUCT OF DETERMINING A POSITION OF A CONTAINER HANDLING VEHICLE IN AN AUTOMATED GRID BASED STORAGE AND RETRIEVAL SYSTEM
The invention relates to a system and method of determining a position of a container handling vehicle (501) on a rail system of an automated grid based storage and retrieval system, the automated grid based storage and retrieval system comprising a grid of horizontal rails defining a plurality of grid positions (Xi, Yj), a plurality of storage containers (106) stacked on top of one another in storage columns to form a plurality of stacks (107), a container handling vehicle (501) and a control system comprising records of a grid coordinate (Xi, Yj) and a level (Z) of the storage containers (106) in the stack (107) of the storage column for each grid position (Xi, Yj). The method comprises determining a level (Z) of the storage containers (106) in the stack (107) by lowering the lifting device (502) of a first container handling vehicle (501) until a storage container (106) is detected at a vertical position (Zk) by the lifting device (502) and determining a grid position (Xi, Yj) of the first container handling vehicle (501) through matching the detected vertical position (Zk) with a record of a grid position (Xi, Yj) having the same level of storage containers (106) in a stack (107).
It is disclosed an access station, an automated storage and retrieval system and a method of using same. The access station (500) comprises a frame structure (520), a drawer (510) arranged in the frame structure (520) and comprising a compartment (511) for accommodating a goods holder (106), wherein the drawer (510) is movable between a receiving position for receiving the goods holder (106) from above where the drawer (510) is retracted into the frame structure (520) for preventing a user from accessing the compartment (511), and a picking position for presenting the goods holder (106) to a user, and a blocker (530) operational with the drawer (510) for providing a safety zone (Zs) above the receiving position, wherein the blocker (530) is configured to block movement of the drawer (510) located in the receiving position when an object (304) is located in the safety zone (Zs), and wherein the blocker (530) is configured to block movement of the object (304) into the safety zone (Zs) when the drawer (510) is at least partly located outside the receiving position.
It is disclosed an access station (500), an automated storage and retrieval system and a method of using same. The access station (500) comprises a frame structure (520), and a tilt drawer (510) arranged in the frame structure (520), wherein the tilt drawer (510) comprises a compartment (511) for accommodating a goods holder (106), wherein the tilt drawer (510) is pivotable between a receiving position for receiving a goods holder (106) from above, and a tilted picking position for presenting a goods holder (106) to a user.
The invention relates to a storage container (106) for an automated, grid-based storage and retrieval system (1), wherein a side wall of the storage container (106) comprises a first recess (47). The storage container (106) comprises a first part (51) for gauging information regarding temperature in the interior of the storage container (106), said first part (51) being suitable for placing in the first recess (47) such that said information is readable from the exterior of the storage container (106).
A system for connecting two or more wheel modules operating on an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) 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 (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, and a Service Vehicle Unit (SVU) configured to operate on the rail system and is wherein that the SVU is mounted on two or more wheel modules that are coupled together using a connecting device, wherein the connecting device and the frame of the two or more wheel modules are attached to each other at attachment points and that there are placed a shock absorbing component at the attachment point between the connecting device and the frame of the two or more wheel modules
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
76.
A REMOTELY OPERATED VEHICLE WITH TOP GUIDING AND A METHOD OF USING SAME
It is disclosed a remotely operated vehicle (510; 530; 550; 560) for an automated storage and retrieval system, wherein the automated storage and retrieval system comprises: - a horizontal base structure extending in a first direction (A) and in a second direction (T) which is orthogonal to the first direction (A), and - a first downward facing guide system being horizontally arranged, positioned above the base structure, and extending at least in the first direction (A), wherein the remotely operated vehicle (510; 530; 550; 560) comprises: - a lower base (514a; 534a; 554a; 564a) provided with driving means configured for movement along the base structure in the first direction (A) and/or in the second direction (T), and - an upper base (515a; 535a; 555a; 565a) provided with guiding means configured for engagement with the first downward facing guide system. It is also disclosed an automated storage and retrieval system comprising the remotely operated vehicle, and a method of using same.
The invention relates to an assembly (20) for retrieving goods holders, such as storage containers (105), storage trays (22) and/or storage pallets, from a storage column (106) of an automated storage and retrieval system (1). The assembly (20) comprises a base body (24) for connection to a lifting device for vertical transportation of the goods holders (106, 22) in said storage column (106) and a lifting frame (26) having a central opening. The lifting frame (26) is arranged at a vertical distance (VI, V2) below said base body (24). The assembly also comprises engagement means (30) associated with the lifting frame (26) and for engaging with the goods holder (106, 22). The assembly (22) further comprises at least one connecting element (32) for connecting the lifting frame (26) and the base body (24). The vertical distance (VI, V2) between the lifting frame (26) and the base body (24) is variable. The invention further relates to a method for handling a goods holder by means of said assembly.
The present invention provides a storage system comprising a first region (50) and a second region (50') of a rail system (108), wherein each of the first region and the second region has rails (110,111) with a profiled upper surface that define one or more tracks (27', 27'') for supporting container handling vehicles (201, 301, 401), and each rail of at least one pair of parallel rails (110) of the first region (50) is connected to a corresponding rail of a pair of rails (110') of the second region (50') via an expansion joint (10,10'), the expansion joint comprises: - a first rail element (12) and a second rail element (11), the rail elements (12, 11) being elongate and configured at a first end (22, 23) to allow the first ends (22, 23) of the first and second rail elements to move relative to one another in a longitudinal direction in a junction area (14) where they overlap, and - a profiled upper surface that defines one or more tracks (27', 27''), the tracks (27', 27'') extending from the first rail element (12) through the junction area (14) to the second rail element (11), and wherein a second end (24) of the first rail element (12) is pivotably connected to the first region (50) of the rail system (108) around a first vertical axis (VI), and a second end (25) of the second rail element (11) is pivotably connected to the second region (50') of the rail system (108) around a second vertical axis (V2).
The invention relates to a storage column module (200) for coupling to a framework structure (100) of an automated storage and retrieval system (1), said module (200) comprising at least one storage column (105') for accommodating goods holders (106) inserted by means of a remotely operated vehicle (500) operating on a rail system (108) arranged across the top of the framework structure (100). The at least one storage column (105') comprises a plurality of storage cells (101) each comprising a goods holders support (121) movable between a first position in which said support (121) can obstruct passage of the goods holder (106) moving vertically through the storage cell (101) and a second position in which the vertically moving goods holder (106) can pass through the storage cell (101'). The invention further relates to an automated storage and retrieval system (1) comprising the storage column module (200).
The present invention relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to an automated storage and retrieval system comprising a transfer column with a side opening. A blocker is provided in the side opening for guiding of lifting devices in a first position and for allowing transfer of a goods holder through the side opening in a second position. The invention further relates to a method of moving the blocker between the first and second positions in order to transfer goods holders between the side opening.
A storage container handling system that comprises a base, a storage station, and a remotely operated vehicle operating on the base. The remotely operated vehicle comprises rolling means to operate the vehicle on the base. The vehicle further comprises a container carrier to carry a storage container. The storage station is for storing a storage container that is to be picked-up by or dropped off by the vehicle. The station comprises a container support to hold the storage container, a delivery position for the vehicle picking-up or dropping off the storage container, and an elevating system. The elevating system is configured to lift and lower the container support between a transfer position, where the storage container can be picked-up or dropped off by the vehicle, and a storage position, where the storage container can be stored off the vehicle on the container support. Such that when the vehicle is in a delivery position at the storage station and the container support is in the transfer position, the storage container may be transferred between the vehicle and the the storage station.
The present invention relates to a container handler (10) for handling a storage container (106) in a column (105) of a frame structure (100) of an automated storage and retrieval system (1). The container handler (10) comprises a lifting frame (20) arranged for vertical movement within the column (105) of the frame structure (100), a first guide pin (30) protruding downwardly from the lifting frame (20) for guiding the lifting frame (20) vertically within the column (105) of the frame structure (100) relative to the storage container (106); and a gripper element (40) protruding downwardly from the lifting frame (20) for gripping the storage container (106). The first guide pin (30) comprises a first sensor (35) for sensing the position of the lifting frame (20) relative to the storage container (106).
The invention concerns an access station for an automated storage and retrieval system and a method for operating such an access station. The access station comprises a receiving area for receiving storage containers from an automated storage and retrieval system; a first picking position for presentation of the storage container to a picker, the first picking position being arranged on a first side of the receiving area; a second picking position for presentation of the storage container to a picker, the second picking position being arranged on a second side of the receiving area, opposite the first side; and a primary carriage for transporting a storage container between the picking positions and the receiving area.
A service vehicle unit (SVU) and a method for operating a service vehicle unit (SVU) for manoeuvring a container handling vehicle that has stalled on an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) 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 (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, at least one container handling vehicle configured to operate on the rail system, wherein the SVU comprises a wheel module 708 which is configured to operate on the rail system and wherein the SVU has a turret mounted positioner 701 used for manoeuvring a container handling vehicle to a predetermined position on the grid.
The invention concerns a coupler adapted for releasable connection to a container. The coupler comprises a coupler frame comprising a lower coupler frame face and an upper coupler frame face, a handle protruding from the upper coupler frame face for releasable connection to an operative end of a robotic picking device and a gripping mechanism for releasable connection to a container. The invention also concerns a product handling system using such a coupler and a method thereof.
The invention concerns a container handling vehicle fitted with a coupler for coupling to a delivery container and/or to a storage container, wherein the delivery container is arranged inside the storage container. The invention also concerns such a coupler, a method for operating the container handling vehicle and a computer-readable medium for executing the method.
The invention concerns a lifting device assembly for handling a delivery container stored within a storage container, a delivery container coupler for use in the lifting device assembly, a container handling vehicle using the lifting device assembly, a storage and retrieval system onto which the container handling vehicle is operating, a method for lifting a delivery container out of a storage container by use of the delivery container coupler and a computer-readable medium having stored thereon a computer program comprising instructions to execute the method steps.
A bracing arrangement and method bracing a framework structure (100) of an automated storage and retrieval system (1). The arrangement includes multiple twin-post upright members (602) arranged in at least one row (604) of the framework structure, the twin-post upright members formed by a pair of upright member sections (606) arranged with a space (610) therebetween. At least one elongated bracing member is connected at a first end to a first connection point and at a second end to a second connection point in order to brace the framework structure. Each elongated bracing member arranged to pass through the spaces between the vertical sections of the pairs of upright member sections arranged in the at least one row.
A bracing arrangement for a framework structure upon which automated vehicles travels. The arrangement includes a friction damper arranged to dissipate kinetic energy associated with lateral movement of the framework structure. The damper is isolated from operation by a releasable locking mechanism that is tripped when a threshold force value exceeded. The threshold value is calculated such that normal operation of the vehicles does not trip the releasable locking mechanism.
The present invention provides a storage system (1) comprising a framework structure (100) featuring multiple storage columns (105) in which storage containers (106) are stored stacked on top of one another in vertical stacks (107), and at least one of the storage columns comprises a cover (7) and a pair of cover interaction elements (8), wherein the cover (7) comprises a horizontal cover plate (9), having a periphery that can be accommodated within an inner periphery of the storage column (105), and at least two cover holding assemblies (10) arranged at opposite sides of the cover plate (9); the cover interaction elements (8) are arranged each at opposite sides of the inner periphery of the storage column (105); each of the cover holding assemblies (10) comprises a stop (11) and an actuator portion (12), and is pivotably connected relative to the cover plate (9) such that the stop (11) is moved in a horizontal direction outwardly beyond the inner periphery of the storage column (105), from a first position to a second position, when the actuator portion (12) is deflected inwardly of the inner periphery of the storage column by interaction with a corresponding cover interaction element (8) during lowering of the cover (7) relative to the storage column (105); and the stop (11) is biased towards the first position and arranged to hold the cover (7) at a predetermined level by interaction with a ledge (13,14) at the inner periphery of the storage column (105) when in the second position.
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
F25D 13/02 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems
The present invention provides a framework structure (100',100'') for a storage system, the framework structure (100',100'') comprises a plurality of vertical column profiles (102) and a horizontal rail system (108) supported upon the vertical column profiles (102), wherein at least a lower section of each of the column profiles (102) is thermally divided from the rail system by a thermal break (2, 2') positioned at each column profile between a lower section of the column profile and a connection to the rail system, the thermal break being configured to restrict thermal conductivity between the lower section of the column profile (102) and the rail system (108).
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
F25D 13/02 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems
93.
IMPROVED COOLING AIR DISTRIBUTION IN AN AUTOMATED STORAGE SYSTEM
The invention relates to an automated grid-based storage and retrieval system (1). The system (1) comprises a framework structure (100) comprising vertically extending members (102) and a grid of horizontal rails (110) provided at upper ends of said vertical members (102). The framework structure (100) defines a storage volume (400) disposed below the horizontal rails (110), and an air release volume (405) disposed below the horizontal rails (110) and above the storage volume (400). The system (1) further comprises a cooler system (404) for releasing cooling air into the air release volume (405). The cooler system (404) comprises at least one air deflecting element (440) provided in the air release volume (405), said at least one air deflecting element (440) extending between vertically extending members (102), wherein said at least one air deflecting element (440) is arranged to deflect a flow of released cooling air from the cooler system (404) downward to the storage volume (400).
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
The present invention relates to a storage container assembly (10) comprising a storage container (20), a holder (30) and a delivery container (40). The holder (30) is telescopically retained within the storage container (20) and extendable from the opening (20o) of the storage container (20). The holder (30) has a side-access opening (30so) which is revealed on extension of the holder (30) from the storage container (20). The delivery container (40) can be guided into and out from the side-access opening (30so) of the holder (30). The delivery container (40) can be slidably retained within the holder (30) for storage within the storage container (20).
A method of measuring level deviation in an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) 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 (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, at least one container handling vehicle configured to operate on the rail system, wherein 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, a central control unit configured to receive, transmit and process data signals of the container handling vehicle and to receive and process data signals of the sensor, wherein the method comprises the steps of: 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 (X, Y) along the grid, 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, 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.
It is described a storage container (106) for an automated storage and retrieval system, ASRS, (1) the storage container (106) being configured to be stacked in a stack of storage containers (106) where an underlying storage container (106) supports the storage container(s) (106) positioned above, the storage container (106) being adapted to be lifted by grippers (304) on a lifting device such that the storage container (106) can be lifted from above, wherein the storage container (106) comprises: a base (10); four sides (11',11'',11''',11''''), each hingedly connected to an edge (14',14'',14''',14'''') of the base (10); four corner posts (12',12'',12''',12''''), each configured to interconnect a pair of adjacent sides (11',11'',11''',11'''') to each other in a horizontal direction when the sides (11',11'',11''',11'''') are positioned substantially 90 degrees relative the base (10) and relative each other. It is further described an automated storage and retrieval system (1) comprising a two-dimensional rail system (108) and one or more storage container(s) (106). It is further described methods of transporting a storage container (106) and assembling the storage container (106).
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 6/26 - Devices for holding collapsible containers in erected state
97.
SYSTEM AND METHOD FOR USING A CAMERA TO DETECT ROBOT POSITION ON GRID.
A system and method for tracking the position of a container handling vehicle on a grid, following a set route relative to rails laid out on a frame structure forming a storage grid, the vehicle having first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid wherein the 5 container handling vehicle has at least one camera mounted underneath filming downwards while the container handling vehicle is in motion and means for transmitting the images to a computer system with an image processing algorithm to process the transferred images and detecting the rail crossings in the images.
A method, system and computer program product for controlling storage locations of products stored in storage containers in an automated storage and retrieval system operated by container handling vehicles, where the storage and retrieval system comprises a grid structure with storage columns adapted for holding stacks of storage containers, where 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 adapted to register a storage container to be stored and one or more products placed in the storage container. The method comprises the following steps for storing a storage container: transmitting a unique identification of the storage container and a corresponding content code, from the Warehouse Management System to the main controller, the content code is linked to a storage rule that the main controller will apply for the storage container; reading the content code in the main controller, and determining a storage location (x, y, z) for the storage container according to the storage rule linked to the content code; selecting a container handling vehicle for transferring the storage container, and transmitting instructions from the main controller to the vehicle controller of the selected vehicle to transfer the storage container to the determined storage location (x, y, z) and updating a storage location database with the identification and storage location of the storage container.
The invention relates to a storage container handling system (900) comprising a base (408), a delivery vehicle (400, 401, 402) configured to travel on the base, and a temporary storage station (500). The delivery vehicle comprises a rolling base unit (470) for guiding the delivery vehicle along the base, a container carrier (410) provided on the rolling base unit and configured to removably support a storage container (106) from below; and an elevating device (430, 431) configured to move the container carrier vertically between an upper and a lower position relative to the base. The temporary storage station comprises a fixed container support (510) configured to removably support the storage container. When the delivery vehicle is positioned in a storage container transfer position below the container support, the storage container is on the container support when the container carrier is in the lower position and the storage container is on the container carrier when the container carrier is in the upper position. The invention further relates to a method for transferring a storage container between the delivery vehicle and the temporary storage station.
It is described a vehicle (40) for operation on an automated storage and retrieval system (11), the automated storage and retrieval system (1) comprising a two- dimensional rail system (108) comprising a first set of parallel rails (110a,b) arranged to guide movement of container handling vehicles (301) in a first direction (X) across the top of a frame structure (100), and a second set of parallel rails (111a,b) arranged perpendicular to the first set of rails (110a, b) to guide movement of the container handling vehicles (301) in a second direction (Y) which is perpendicular to the first direction (X), where the vehicle (40) comprises a wheeled base, wherein the wheeled base comprises: - a first set of non-motorized guiding wheels (42a) for interaction with the rails (110a, b) in the first direction (X) and a second set of non-motorized guiding wheels (42b) for interaction with the rails (111a,b) in the second direction (Y); and - a first motorized belt drive (43a) arranged for frictional contact with a rail (110a,b, 111a,b) of the rail system (108) for driving the vehicle (40) in one of the first direction (X) and/or the second direction (Y). It is further described an associated automated storage and retrieval system as well as methods comprising the vehicle (40).
patents
