CN121464092A - A stacking frame system with a lid that can be raised and lowered via a lifting device. - Google Patents
A stacking frame system with a lid that can be raised and lowered via a lifting device.Info
- Publication number
- CN121464092A CN121464092A CN202480044659.9A CN202480044659A CN121464092A CN 121464092 A CN121464092 A CN 121464092A CN 202480044659 A CN202480044659 A CN 202480044659A CN 121464092 A CN121464092 A CN 121464092A
- Authority
- CN
- China
- Prior art keywords
- stacking frame
- cover
- frame
- storage
- stacking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
A stacking frame system (501) for an automated storage and retrieval system, comprising a stacking frame (6) configured to be stored in a storage column of the automated storage and retrieval system, wherein the stacking frame (6) has a side wall (20) and a bottom (18), wherein the stacking frame (6) has an open top end (9) and is configured to accommodate a plurality of storage containers (106) stored one on top of the other in an upright stack in an interior space of the stacking frame (6), wherein the stacking frame (6) system comprises a removable lid (7) for covering the top end (9), and wherein the lid (7) comprises lid attachment recesses (54) configured to engage with a lifting frame of a lifting device from above the lid (7) to allow the lid (7) to be lifted relative to the stacking frame (6).
Description
Technical Field
The present invention relates to an automatic storage and retrieval system for storage and retrieval of containers, a stacking frame system for an automatic storage and retrieval system, and a method of operating an automatic storage and retrieval system.
Background
Fig. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and fig. 2,3 and 4 disclose three different prior art container handling vehicles 201, 301, 401 adapted to operate on the system 1.
The frame structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also referred to as bins) are stacked one on top of the other to form a stack 107. The member 102 may generally be made of metal (e.g., extruded aluminum profile).
The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 disposed across the top of the frame structure 100 on which a plurality of container handling vehicles 201, 301, 401 may run to lift and lower storage containers 106 from and into the storage columns 105 and also transport storage containers 106 over the storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide movement of the container handling vehicles 201, 301, 401 in a first direction X across the top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide movement of the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the column 105 are accessed by the container handling vehicles 201, 301, 401 through the access opening 112 in the track system 108. The container handling vehicles 201, 301, 401 may move laterally over the storage columns 105, i.e., in a plane parallel to the horizontal X-Y plane.
The upstanding members 102 of the frame structure 100 may be used to guide the storage containers during lifting of the containers out of the column 105 and lowering of the containers into the column. The stack 107 of containers 106 is typically self-supporting.
Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c that enable the container handling vehicle 201, 301, 401 to move laterally in the X-direction and the Y-direction, respectively. In fig. 2,3 and 4, two wheels of each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage with two adjacent tracks of the first set of tracks 110 and the second set of wheels 201c, 301c, 401c are arranged to engage with two adjacent tracks of the second set of tracks 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c may be raised and lowered such that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c may engage the corresponding set of tracks 110, 111 at any one time.
Each prior art container handling vehicle 201, 301, 401 further includes a lifting device for vertical transport of the storage containers 106, e.g., lifting the storage containers 106 from the storage column 105 and lowering the storage containers 106 into the storage column. The lifting device comprises one or more clamping/engagement devices adapted to engage with the storage container 106 and which can be lowered from the vehicle 201, 301, 401 such that the position of the clamping/engagement devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Some parts of the gripping means of the container handling vehicles 301, 401 are shown in fig. 3 and 4 and denoted by reference numerals 304, 404. In fig. 2, the gripping device of the container handling device 201 is located within the vehicle body 201a, and is therefore not shown.
Conventionally and also for the purposes of the present application, z=1 identifies the uppermost layer below the rails 110, 111 available for storage containers, i.e. the layer immediately below the rail system 108, z=2 identifies the second layer below the rail system 108, z=3 identifies the third layer, etc. In the exemplary prior art disclosed in fig. 1, z=8 identifies the bottom layer of the lowest side of the storage container. In a similar manner to that described above, x=1......n. and y=x. 1......n. each of the n identifiers. The locations of the individual storage columns 105 in the horizontal plane. Thus, as an example, and using the cartesian coordinate system X, Y, Z shown in fig. 1, it can be said that the storage vessel identified as 106' in fig. 1 occupies a storage position of x=17, y=1, z=6. It can be said that the container handling vehicles 201, 301, 401 travel in a layer with z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in fig. 1 extending above the track system 108 are also referred to as being arranged in a layer z=0.
The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage locations within the grid are referred to as storage cells. Each storage column may be identified by a position in the X-direction and the Y-direction, and each storage unit may be identified by a container number in the X-direction, the Y-direction, and the Z-direction.
Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or storage space for receiving and loading storage containers 106 as the storage containers 106 are transported across the track system 108. The storage space may comprise a cavity arranged inside the vehicle body 201a, 401a, as shown in fig. 2 and 4 and described for example in WO2015/193278A1 and WO2019/206487A1, the contents of which applications are incorporated herein by reference.
Fig. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever configuration. Such vehicles are described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.
The footprint of the cavity container handling vehicle 201 shown in fig. 2 may cover an area having dimensions in the X-direction and Y-direction that are approximately equal to the lateral extent of the storage column 105, such as described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may refer to "horizontal".
Alternatively, the footprint of the cavity container handling vehicle 401 may be greater than the lateral area defined by the storage columns 105, as shown in fig. 1 and 4 and disclosed, for example, in WO2014/090684A1 or WO2019/206487 A1.
The track system 108 generally includes a track having a groove in which wheels of a vehicle travel. Alternatively, the track may comprise an upwardly projecting element, wherein the wheels of the vehicle comprise flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as rails. Each track may comprise one rail or each track 110, 111 may comprise two parallel rails. In other track systems 108, each track in one direction (e.g., the X-direction) may include one rail, while each track in the other perpendicular direction (e.g., the Y-direction) may include two rails. Each rail 110, 111 may also include two rail members secured together, each rail member providing one rail of a pair of rails provided by each rail.
WO2018/146304A1 (the content of which is incorporated herein by reference) shows a typical configuration of a rail system 108 comprising rails and parallel tracks in both the X-direction and the Y-direction.
In the frame structure 100, most of the columns are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. In addition to the storage columns 105, there are dedicated columns within the framework. In fig. 1, columns 119 and 120 are such dedicated columns of container handling vehicles 201, 301, 401 for unloading and/or picking up storage containers 106 so that the storage containers may be transported to an access station (not shown) where the storage containers 106 may be accessed from outside the frame structure 100 or moved out of or into the frame structure 100. Such locations are commonly referred to in the art as "ports" and the column in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access station may be in any direction (i.e., horizontal, oblique, and/or vertical). For example, the storage containers 106 may be placed in a random or dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transport to an access station. Transportation from the port to the access station may require movement in a variety of different directions by means such as a transportation vehicle, trolley or other transportation line. Note that the term "tilting" refers to the transport of the storage container 106 having a generally transport orientation in a direction between horizontal and vertical.
In fig. 1, the first port column 119 may be, for example, a dedicated unloading port column at which the container handling vehicles 201, 301, 401 may unload the storage containers 106 to be transported to the access station or transfer station, and the second port column 120 may be a dedicated pick-up port column at which the container handling vehicles 201, 301, 401 may pick up the storage containers 106 that have been transported from the access station or transfer station.
The access station may generally be a pick-up station or a stock station where the product items are removed from or positioned into the storage containers 106. In the pick-up station or the stock-up station, the storage containers 106 are generally not removed from the automatic storage and retrieval system 1, but are returned to the frame structure 100 after being accessed. The ports may also be used to transfer the storage containers to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transportation vehicle (e.g., a train or truck), or to a production facility.
A conveyor system including a conveyor is typically used to transport the storage containers between the port columns 119, 120 and the access station.
If the port columns 119, 120 and the access station are located at different levels, the conveyor system may include a lifting device having vertical members for transporting the storage containers 106 vertically between the port columns 119, 120 and the access station.
The transfer system may be arranged to transfer the storage containers 106 between different frame structures, such as described in WO2014/075937A1, the content of which is incorporated herein by reference.
When the storage container 106 stored in one of the plurality of columns 105 disclosed in fig. 1 is to be accessed, one of the plurality of container handling vehicles 201, 301, 401 is instructed to take out the target storage container from the position of the target storage container 106 and to transport the target storage container to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, taking the storage container 106 out of the storage column 105 with a lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., there are one or more other storage containers 106 above the target storage container 106, the operation also involves temporarily moving the storage container above prior to lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") may be performed with the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port column 119, or with one or more other cooperating container handling vehicles. Alternatively or additionally, the automatic storage and retrieval system 1 may have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 may be repositioned into the original storage column 105. However, the removed storage containers 106 may be alternatively repositioned to other storage columns 105.
When the storage container 106 is to be stored in one of the plurality of columns 105, one of the plurality of container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and to transport the storage container to a position above the storage column 105 in which the storage container is to be stored. After any storage containers 106 within the stack 107 that are at or above the target location are removed, the container handling vehicles 201, 301, 401 position the storage containers 106 to the desired location. The removed storage containers 106 may then be lowered back into the storage column 105 or repositioned to other storage columns 105.
In order to monitor and control the automated storage and retrieval system 1, for example, the position of the individual storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, so that the desired storage containers 106 may be transported to the desired locations at the desired points in time without the container handling vehicles 201, 301, 401 colliding with one another, the automated storage and retrieval system 1 includes a control system 500 that is typically computerized and typically includes a database for keeping track of the storage containers 106.
The prior art storage systems are limited in the height of the stack of storage containers by the actual lifting height of the container handling vehicle and/or by the weight that the lower storage container in the stack of storage containers can support. Furthermore, a storage system that can more efficiently rearrange storage containers would be advantageous. Furthermore, if it is desired to control specific environmental conditions in a single or small group of storage containers, it is often desirable to provide a separate frame structure in a controlled environment.
Disclosure of Invention
The invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention.
In one aspect, the invention relates to a stacking frame system for an automated storage and retrieval system, the stacking frame system comprising a stacking frame configured to be stored in a storage column of the automated storage and retrieval system, wherein the stacking frame has a side wall and a bottom, wherein the stacking frame has an open top end, and the stacking frame is configured to accommodate a plurality of storage containers stored one on top of the other in a vertical stack in an interior space of the stacking frame, wherein the stacking frame system comprises a removable lid for covering the top end, and wherein the lid comprises lid connection recesses configured to engage with a lifting frame of a lifting device from above the lid, thereby enabling lifting of the lid relative to the stacking frame by the lifting device.
A stacking frame is understood to be a frame in which a group of storage containers can be stacked one on top of the other. The stacking frame itself can be stored in the frame structure of an automated storage and retrieval system. The stacking frame may be raised and lowered by robotic vehicles running on an automated storage and retrieval system. This enables multiple storage containers to be combined into a single transportable unit, thereby speeding up the transport of a group of storage containers. The dimensions of the stacking frame may be selected according to the specific storage system requirements. The stacking frame may be configured to receive one, two, three, four, five or more storage containers. The arrangement of the stacking frame and the storage containers stacked inside the stacking frame may be referred to as a "nested stack".
According to the invention, the stacking frame has side walls, a bottom and a removable cover. The stacking frame thus forms a housing for a set of storage containers. The side walls, bottom and cover may be substantially airtight, which enables isolation of the storage containers arranged within the interior space from the exterior of the stacking frame. The interior space of the stacking frame may be thermally controlled if desired. The air in the interior space may be conditioned in any other desired manner, such as humidifying or adjusting its composition.
The storage containers may have external dimensions, i.e., width, length, and height, that correspond to the dimensions of conventional storage containers used in a gridded automated storage and retrieval system. The internal dimensions may be, for example, 600 mm x 400 x mm (length x width) and may have various heights, for example 200 mm, 310 mm or 400 mm. The storage container may include a top rim that completely surrounds the top opening. The top rim may include a plurality of apertures or openings for receiving or passing therethrough a clamping device of the lifting frame of the remotely operated vehicle. The top opening allows items to be placed into or removed from the interior space.
However, small storage containers, such as small storage containers of half, one third, or one fourth, etc., of the size of a conventional storage container, may also be used. These small storage containers may be arranged adjacent to each other in one or more layers, wherein one layer may correspond to the footprint of a common storage container. There may be gaps between adjacent small storage containers that may support airflow through the layers of the small storage containers.
Removing the lid from the top end allows for insertion or removal of the storage container into or from the stacking frame. The cover may include a partially or fully enclosed surface depending on the desired items to be stored in the storage container inside the stacking frame. By providing the cover attachment recess, lifting means such as a container lifting mechanism or a stacking frame lifting mechanism can be caused to engage the cover by means of the gripper and lift the cover from or arrange the cover onto the respective stacking frame. Thus, manual interaction with the cover and the stacking frame may be reduced to the greatest possible extent. For example, a first lifting device of the automated storage and retrieval system may lift the lid from the stacking frame to open the stacking frame. The second lifting device may then handle the storage containers to be removed from or inserted into the stacking frame. Subsequently, the first lifting device may close the stacking frame again by arranging a cover on the top end.
All embodiments explained herein can be used in a frame structure and/or integrated into the automatic storage and retrieval system 1 explained above with reference to the prior art. The frame structure of the automated storage and retrieval system is constructed in a similar manner to the prior art frame structure 100 described above in connection with fig. 1-3. That is, the frame structure includes a plurality of upstanding members and includes a rail system extending in the X-direction and the Y-direction. The frame structure includes a plurality of storage columns. The at least one storage column may be configured to house one or more stacking frames arranged one on top of the other in a vertical stack. The opening in the rail system may correspond to the opening in the rail system of the frame structure according to the prior art discussed above. However, these openings may be slightly larger to accommodate a stacking frame with a slightly larger footprint.
The frame structure may have any size. In particular, it should be appreciated that the frame structure may be wider and/or longer and/or deeper than the frame structure disclosed in fig. 1. For example, the frame structure may have a horizontal extent of over 700 x 700 columns and a storage depth of over twelve containers. The upstanding members of the frame structure may be used to guide the stacking frames and/or storage containers during lifting and lowering of the stacking frames and/or storage containers from the columns 105. The stacking frame and/or the stack of storage containers may be self-supporting. It will be appreciated that the frame structure may be used to store stacks of storage containers in at least one storage column, while stacks of stacking frames may be stored in at least other storage columns.
The cap and/or the top end may have a seal configured such that the seal seals a gap between the top end and the cap when the cap is placed on the top end. The seal may include one or more sealing elements that may be retained to at least one of the stacking frame and the cover. The seal may extend along a circumferential line on the edge section of the stacking frame or cover. The top end of the stacking frame may include a recess into which the protrusion of the cover or the entire cover may be inserted. The seal may be arranged on the inner face of the recess, or on the outer face of the protrusion, or on the outer edge of the cover. Depending on the design of the cover, the seal may also be arranged on the horizontal surface of the top end of the stacking frame facing the cover or on the horizontal surface of the cover facing the top end of the stacking frame, such that the seal is surrounded by the top end and the cover. The seal may comprise an elastomeric material such as natural rubber or synthetic rubber or the like. The seal may include a compressible profile that is hollow or has an opening. This enables the seal to deform when pressure is applied to the seal (e.g. due to the weight of the cover or the stacking frame disposed thereon) to improve surface contact between the tip, cover and seal, thereby improving the sealing function between the tip, cover and seal.
The cap connection recess may extend from the bottom side of the cap to the top side of the cap. The cover connection recess can thus be open towards the top side, so that the lifting frame of the lifting device can be brought to protrude from above directly into the cover connection recess by the lowering of the lifting frame. The cover may have a closed bottom surface. The cover connection recess may be arranged above the closed bottom surface. However, the cap connection recess may also extend completely through the cap.
The cover may have a rim region at a periphery of the cover, and the cover connection recess may be disposed in the rim region. The arrangement of the cap connection recesses can thus correspond to the arrangement of the container recesses provided in the storage container.
The cover connection recess may be realized as a hole having a substantially rectangular cross-section parallel to the main extension plane of the cover. The lid connection recess may thus correspond to the general shape of the recess of the storage container. The edges of the generally rectangular aperture may be rounded.
Each cover attachment recess may have an undercut for forming a form-fit connection with the telescopic gripper of the lifting frame when the telescopic gripper is inserted into the cover attachment recess. The undercut can be in surface contact with portions of the gripper (e.g., two gripper arms) that are introduced into corresponding lid attachment recesses to allow vertical forces to be transferred between the lid and the gripper to lift the lid from the stacking frame.
The outer edge of the rim region may correspond to the outer edge of the top end of the stacking frame. The cover and the stacking frame may thus have substantially the same footprint in the horizontal plane. Thus, the cover may have substantially the same dimensions as the bottom of the stacking frame. The rim region of the cover may be supported on a side wall of the stacking frame. If another stacking frame is arranged on the cover, the rim area of the cover may thus be sandwiched between two stacking frames stacked together.
The cover may protrude radially above the side walls at the top end of the stacking frame. The stacking frame stacked on top of the other stacking frame can thus be supported on the cover of the underlying stacking frame, which in turn can be supported on the side wall of the underlying stacking frame.
The outer edge of the cover and the outer edge of the stacking frame may be flush with each other in the horizontal direction. The cover and the stacking frame can thus have the same footprint in the horizontal plane.
The cover may have a planar top surface. Alternatively, the cover may have a recess with a shape corresponding to the shape of the bottom of the stacking frame stacked on the cover.
The stacking frame system may comprise a locking means arranged in the cover, wherein the locking means may have a locking protrusion and a driving means, wherein the driving means may be configured to move the locking protrusion between a retracted position and an extended position, the locking protrusion protruding further in the extended position relative to the sides of the cover than when in the retracted position, thereby engaging the locking recess of the stacking frame. Thus, the locking means can lock the cover with the stacking frame.
The drive means may comprise an electrically operable linear actuator. The actuator may be powered by an internal power source disposed in the cover or by an external power source that can be coupled to the cover. The actuator may comprise a spindle gear driven by an electric motor. The spindle gear may be self-locking and the electric motor is thus required to actively move the locking tab into the extended and retracted positions. If the spindle gear is not self-locking, the locking tab may be biased into the extended position by a spring. The actuator may comprise an electromagnet configured to move the locking protrusion into the retracted position against a spring urging the locking protrusion in the direction of the extended position. Other variations are also contemplated.
The locking tab may be biased into the extended position. Thus, the locking protrusion is permanently pushed into the extended position such that the cover is locked when the locking means is not powered. An electrically operable linear actuator may act against a biasing force.
The cover may comprise a first electrical interface connectable to a second electrical interface arrangeable on the lifting frame, wherein the first electrical interface is connected to the drive means. By lowering the lifting frame onto the cover, the first electrical interface and the second electrical interface can be connected and the actuator of the drive device can then be supplied with electrical power.
The first electrical interface and the second electrical interface may comprise inductively coupled coils or electrical conductors to provide a direct electrical connection. The inductive coupling coil and the electrical conductor may alternatively be provided together, with the user deciding which connection to transfer power through. The power may thus be transmitted with or without direct contact. When an induction coil is used, debris and wear on the stacker frame do not substantially affect the quality or efficiency of the power transmission.
The stacking frame system according to the above may include a locking device control unit and a battery disposed in the cover, wherein the locking device control unit and the battery may be connected to the driving device, and wherein the locking device control unit may be configured to operate the driving device upon receiving a command from an external controller, thereby selectively moving the locking bolt. The locking device control unit is configured to control the locking device. For example, the locking device control unit may operate the locking device by supplying power to the locking device. The locking device control unit may be configured to receive commands from an external controller, such as a control system and/or a lifting device of an automated storage and retrieval system. This may be transmitted over a wired connection or a wireless connection. For example, the control system or the lifting device may send a command to unlock the respective cover before or while lowering the lifting frame to the respective cover, or after starting to lower the lifting frame, or immediately before or while reaching the cover.
The battery may be rechargeable and the cover may include a first charging connector configured to be connectable with a second charging connector to receive power to charge the battery in the cover. It is also conceivable to provide a dedicated charging stacker frame comprising a second charging connector. The charging stacker frame may include a large rechargeable battery pack and/or be wired to an external power source. Thus, the cover may be arranged on the charging stack frame to charge the battery inside the cover.
In a second aspect the invention relates to an automated storage and retrieval system comprising a frame structure defining a plurality of storage columns, a stacking frame system according to the above, a stacking frame lifting mechanism and a container lifting mechanism, wherein the stacking frame lifting mechanism and the container lifting mechanism are each configured to move in two directions perpendicular to each other over a storage column, wherein the container lifting mechanism is configured to retrieve a storage container via an open top end of an upper stacking frame, wherein the stacking frame lifting mechanism is configured to retrieve a stacking frame accommodated in a storage column, and wherein at least one of the stacking frame lifting mechanism and the container lifting mechanism is configured to remove or to arrange a lid arranged on top of the stacking frame.
The storage columns may be configured to accommodate a plurality of stacking frames arranged one on top of the other in vertical stacks. Depending on the individual dimensions of the stacked stacking frames, i.e. their storage container capacity, a certain number of stacking frames can be arranged inside the storage column.
The lifting frame of the stacking frame lifting mechanism and/or the lifting frame of the container lifting mechanism may include a second electrical interface, and the stacking frame lifting mechanism and/or the container lifting mechanism may be configured to engage with the cover such that the first electrical interface and the second electrical interface are connected, and the stacking frame lifting mechanism and/or the container lifting mechanism is configured to selectively apply a voltage to the second electrical interface to move the locking tab. As described above, by disposing the lifting frame on the cover, the locking device can be supplied with power, and the cover can be unlocked.
In a third aspect, the present invention relates to a method of operating an automated storage and retrieval system according to the above, comprising moving a stacking frame of a stacking frame system into or out of a frame structure of the automated storage and retrieval system, the frame structure defining a plurality of storage columns, and arranging and/or removing lids from the stacking frame by a container lifting mechanism.
The method may further comprise locking and/or unlocking the cover on the stacking frame by operating a locking means arranged in the cover.
Drawings
The following drawings are attached to facilitate an understanding of the invention. The embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:
fig. 1 is a perspective view of a frame structure of a prior art automatic storage and retrieval system.
Fig. 2 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying a storage container therein.
Fig. 3 is a perspective view of a prior art container handling vehicle having a boom for carrying a storage container underneath.
Fig. 4 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying a storage container therein, as seen from below.
Fig. 6-11 illustrate a storage system having a stacking frame.
Fig. 12a, 12b and 13 show a stacking frame and storage container for a storage system.
Fig. 14 is a top view of a storage column housing a stacking frame and storage containers as shown in fig. 12a, 12b and 13.
Fig. 15 and 16 are side views of a stacker frame lift mechanism and corresponding stacker frame.
Fig. 17 shows a perspective view of the stacking frame lifting mechanism and corresponding stacking frame of fig. 15 and 16.
Fig. 18 and 19 show a container lifting mechanism.
Fig. 20 is a perspective view of a storage system according to the present invention.
Fig. 21 shows a combination of a stacking frame and a storage container for a storage system.
Fig. 22 shows a stacking frame and storage container for a storage system.
Fig. 23 shows a stacking frame in which storage containers of different heights are stacked.
Fig. 24a and 24b show a stacking frame system, wherein the locking means are arranged in the cover.
Fig. 25a and 25b show a stacking frame system, wherein the locking means are arranged in the cover.
Fig. 26a to 26d show a cover and a lifting frame, wherein a locking device is arranged in the cover.
Fig. 27a and 27b show the stacking frame system in perspective view.
Fig. 28a and 28b show the stacking frame system in perspective view.
Fig. 29 shows a stacking frame system with a plurality of different cover attachment recesses in the cover.
Detailed Description
Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.
A first exemplary storage system 1' is shown in fig. 6-11. The storage system 1' includes a frame structure 100, a stacking frame system 5, storage containers 106, a stacking frame lift mechanism 8, and a container handling vehicle 301. The stacking frame 6 of the stacking frame system 5 comprises a cover 7. The frame structure 100, storage containers 106, and container handling vehicle 301 may be similar to the corresponding features of the prior art system in fig. 1.
In some illustrations, the stacking frame 6 is shown without a cover 7, but this should not be understood as limiting the scope of protection, but is chosen for simplicity only, and also to indicate that the stacking of the stacking frames 6 can also be provided in a combined arrangement, i.e. with both a stacking frame 6 with a cover 7 and a stacking frame 6 without a cover 7.
The frame structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art frame structure 100 described above in connection with fig. 1-3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a rail system 108 extending in the X-direction and the Y-direction.
The frame structure 100 includes a vertical column profile 102 defining a plurality of storage columns 105. Each storage column 105 accommodates a plurality of stacking frames 6 with removable covers 7 and arranged one on top of the other in vertical stacks.
The frame structure 100 may have any size. In particular, it should be appreciated that the frame structure 100 may be wider and/or longer and/or deeper than the frame structure disclosed in fig. 1. For example, the frame structure 100 may have a horizontal extent of over 700 x 700 columns and a storage depth of over twelve containers.
Each stacking frame 6 has a top end 9 for allowing the storage containers 106 to pass vertically and for receiving the lids 7, and is configured to accommodate a plurality of storage containers 106 stored one on top of the other in vertical stacks. The stacker frame 6 is configured to support the bottom of the lowermost storage container 106 in the stack of storage containers 106 accommodated in the stacker frame 6.
The stacking frame 6 (shown for example in fig. 12a, 12b and 13) comprises a bottom section 18 for supporting the lower end of the stack of storage containers 106, and a top section 19 having a top end 9 through which the storage containers 106 can pass in a vertical direction. A sidewall 20 extends between the bottom section 18 and the top section 19. At the upper portions of the mutually opposite side walls 20, which in the example shown are associated with the shorter side walls of the stacking frame 6, are arranged connection recesses 12. The connection recess 12 is illustratively arranged at a level above the upper surface of the stack of storage containers 106 arranged in the stack frame 6.
The cover 7 illustratively has a bottom projection 50 configured to extend into the top end 9 of the stacker frame 6. The cover 7 has a top shoulder 51 which is connected to the bottom projection 50 in a radial direction, extends along the periphery of the cover 7 and extends radially outwards.
Illustratively, a substantially rectangular seal 53 is provided, the shape of which corresponds to the shape of the shoulder 51 and the shape of the top rim 52 of the stacking frame 6. The seal may be configured to be retained on the bottom protrusion 50 and in intimate contact with the shoulder 51. In this example, the cover 7 is configured such that, with the cover 7 arranged on the stacking frame 6 with the bottom projection 50 protruding into the stacking frame 6, the shoulder 51 is supported on the seal 53, which in turn is supported on the top rim 52 of the stacking frame 6. Thus, the gap between the cap and the tip 9 can be sealed, thereby avoiding the ingress of dirt, moisture, odors and other substances. The seal may be illustratively formed to provide a hermetic seal. Other variations are also possible, which may include arranging the seal 53 in a circumferential recess on the outer surface of the bottom protrusion 50, or arranging the seal in a circumferential recess on the inner surface at the top section 19 of the stacking frame 6.
To improve the stability of the stacking frame, the bottom section 18 of the stacking frame may have a recess 23 with an outer periphery smaller than the inner periphery of the top section 19, i.e. the outer periphery of the recess can fit within the inner periphery of the top section. In this way, the stacking frames 6 can also be stacked one on top of the other while being able to limit the horizontal movement between them, in which case the use of covers 7 is not necessary or required. If a plurality of stacking frames 6 are stacked on each other, it may not be necessary to provide a cover to improve heat insulation in the inner space.
The cover 7 has a cover attachment recess 54, which may be of similar design to the attachment recess 12, and may be arranged on another pair of mutually opposite side walls 20, for example side walls 20 associated with long side walls of the stacking frame 6. The lid attachment recess 54 may be used, for example, by the stacker frame lifting mechanism 8, 8' or other container handling vehicle 201, 301, 401 to lift the lid 7 relative to the stacker frame 6.
The storage system 1' comprises a track system 108 arranged above the storage columns 105. The stacker frame lift mechanism 8 and container handling vehicle 301 are configured to move in two directions perpendicular to each other on the track system 108. Both the stacker frame lift mechanism 8 and the container handling vehicle 301 include a first set of wheels 28, 28 'and a second set of wheels 29, 29' for movement on the track system 108. These sets of wheels may be as described for the prior art container handling vehicle in fig. 2-4.
The container handling vehicle 301 may be similar to the prior art container handling vehicle 301 of fig. 3. The container handling vehicle 301 comprises a lifting frame 2 of a first type having a gripper 3 configured to be releasably connected to a connection recess 13 arranged in an upper rim 16 of a storage container 106, see fig. 5. The first type of lifting frame 2 may be similar to the prior art lifting frame shown in fig. 4. The container handling vehicle 301 is configured to remove the storage containers 106 via the open top end 9 of the upper stack frame 6' in the stack of stack frames 6, see fig. 8 and 12. The upper stacking frame 6 'in fig. 8 has a cross-sectional view to better illustrate the stacking of the storage containers 106 inside the stacking frame 6'. In order to remove the storage containers 106 from the stacking frame 6, the outer periphery of the lifting frame 2 of the first type is made smaller than the inner periphery of the stacking frame 6. The inner periphery of the stacker frame 6 may be configured to guide the vertical movement of the first type of lifting frame 2 within the stacker frame 6.
Furthermore, a lifting frame 2 of the first type may be used to lift the cover 7 relative to the stacking frame 6. To achieve this, the lid attachment recess 54 has a similar size and spacing as the container attachment recess 13.
The cover 7 has a recess 55 arranged such that it is located directly above the connection recess 12 of the stacking frame 6 when the cover 7 is arranged on the stacking frame 6.
The stacking frame lifting mechanism 8 comprises a lifting frame 10 of a second type, see fig. 15 and 16. The stacking frame lifting mechanism 8 is configured to take out the upper stacking frame 6' accommodated in the storage column 105. The second type of lifting frame 10 includes a horizontal base frame 11 and latches 17 disposed at each of opposite sides of the base frame 10. The connecting portion 17a of each latch 17 is configured to move between the release position of fig. 15 and the connecting position of fig. 16. The connecting portion 17a is closer to the vertical center line C of the base frame 10 when in the release position than when in the connecting position. When moving from the release position to the connection position, the connection portion 17a moves away from the vertical centre line C and may extend through a corresponding recess 12 in the side section 20 of the stacker frame 6. Connecting the latches 17 to the stacking frame 6 at the inner surface of the stacking frame is advantageous because the space between adjacent stacks of the stacking frame 6 can be minimized. In addition, the width of the side walls 20 of the stacking frame 6 may be minimized, provided that the stacking frame 6 is made of a material and/or a configuration that provides sufficient support for the stacking frame 6 stacked above. The stacking frame lifting mechanism 8 may be similar to the prior art vehicle of fig. 2 and 4, wherein the cavity is sized to lift and move the stacking frame 6. In order to increase the lifting height, the lifting frame 10 of the second type can be further modified, for example by providing a guiding shuttle as described in WO 2020/200631 A1.
Since the latch 17 can pass through the recess 55 when moving between the release position and the connection position, the stack frame 6 can be handled (i.e. lifted and lowered) with the cover 7 arranged on the stack frame 6.
The storage system 1' has several advantages in terms of increasing the height of the storage columns. The stacking frame 6 may be configured to support a stack of stacking frames 6 that is higher than the maximum height of the stack of storage containers 106. The stacking of the stacking framework 6 may be more stable than stacking of storage containers 106 having a similar height, because fewer individual stacking units than stacking of storage containers 106 are required to achieve a particular stacking height. Furthermore, the storage system 1' has the advantage that the storage containers 106 arranged at a lower level of the storage column can be removed more efficiently.
The removal of the target storage container 6 from the storage system 1' described above is shown in figures 9 to 11Is an advantageous method of (a). The method may comprise the steps of:
identifying the containment target stacking frame 6 Storage column 105, target storage container 106bStored in the target stacking frame;
-moving the stacking frame lifting mechanism 8 to a position above the storage columns 105 (fig. 9);
removing stacks from the storage columns 105 on the target stacking frame 6 At least one stacking frame 6 '(fig. 10) above (the at least one stacking frame 6' may optionally be stored in another storage column) until the target stacking frame 6An upper stacking frame in the storage column 105;
From the target stacking frame 6 using the container lifting mechanism 301 To take out the target storage container 106b(FIG. 11).
Depending on the configuration of the container handling vehicle 301 and/or the first type of lift frame 2, the first type of lift frame 2 may need to be guided during vertical movement inside the storage column 105. If guidance is desired, the method may include removing the target storage container 106 while utilizing the container handling vehicle 301Previously, the following steps were performed:
removal of the target stacking frame 6 from the storage column 105 And stacks the targets on the frame 6To another storage column 105 in which the target stacking frame 6 is movedStacked at an upper level of the storage columns. When stacked at the upper level of the storage column 105, the target stacking frame 6Is positioned at a level immediately below the rail system 108. In this way, when the lifting frames 2 of the first type are moved into the storage columns 105, they can pass through the target stacking frame 6Guiding the lifting frame of the first type.
To guide the first type of lifting frame independently of the stacking frame 6 as it moves inside the storage column 105, the lifting frame 2' may optionally comprise telescopic guiding elements 21, see fig. 18 and 19. The guide elements 21 are biased towards an extended position (see fig. 19) in which they can interact with the vertical column profiles 102 of the storage column 105 to provide a guide for the lifting frame 2'. When entering the open end 9 of the stacking frame 6, the guiding element 21 is pushed into the retracted position and guides the further vertical movement of the lifting frame 2' by interaction with the inner surface of the stacking frame. The guide element 21 may for example comprise an arm configured to move the wheel between the extended position and the retracted position.
A second exemplary storage system 1 "is shown in fig. 20. In the second exemplary storage system 1", the stacker frame lift mechanism 8' is arranged to be moved over the storage columns 105 by a crane assembly. The crane assembly includes a first gantry beam 24 slidably connected to a second gantry beam 25 such that the first gantry beam 24 can move in a first direction over the storage column 105. The stacking frame lift mechanism 8 'is slidably connected to the first door frame beam 24 such that the stacking frame lift mechanism 8' can move in a second direction perpendicular to the first direction. The second type of lifting frame 10 is suspended from the lifting platform 27 by lifting straps. The lift platform may be connected to the first door frame rail 24 by a telescoping arm 26. The telescoping arm 26 is configured to move the lift platform between an upper position in which the stacker frame lift mechanism 8' may move the stacker frame over the storage columns 105 and a lower position in which the lift frame and any stacker frames connected may be lowered into the storage columns. In the upper position, the bottom section 18 of the stacking frame 6 connected to the lifting frame 10 may advantageously be located at a level above the upper surface of the container handling vehicle 301. In this way, the stacker frame 6 may be moved over the storage column 105 without interfering with the operation of the container handling vehicle 301, and vice versa.
Other versions of the combination of the stacking frame and storage container are shown in fig. 21 and 22. In view of the above discussed stacking frame 6 and storage container 106, the main distinguishing feature of these combinations is the positioning of the storage container 106 "and/or the connecting recesses 13', 12' of the stacking frame 6". In both versions, the stacking frame 6 "comprises a connecting recess 12' at its upper edge. For example, the connection recess 12' may be adapted to be connected by a second type of lifting frame (not shown) having a gripper similar to the container connector 3 of the lifting frame 2 of the prior art in fig. 4. For example, the connection recess 13' of the storage container 106 "of fig. 22 may be adapted to be connected by a first type of lifting frame (not shown) having a latch 17 similar to the latch of a second type of lifting frame.
If the container handling vehicle 301 (i.e., container lifting mechanism) is configured to lift storage containers 106 of different heights, the stack of storage containers in the stack frame may include a combination of these storage containers, see fig. 23.
Fig. 24a shows the stacking frame system 501 in a perspective view. Fig. 24a shows a cover 7 incorporating a locking device 56. The components of the locking means 56 are shown in broken lines, as they are arranged between the bottom face 57 and the top face 58 of the cover 7. The locking device 56 has illustratively four electric actuators 59 distributed over the longer side 60 of the cover 7, and each coupled with a locking tab 61. The actuator 59 is configured to move the locking tab 61 in a lateral direction with respect to the corresponding side 60 of the cover 7. Thus, by operating the actuator 59, the locking tab 61 can be extended or retracted relative to the side 60. The locking projection 61 extends further relative to the respective side 60 when in the extended position than when in the retracted position.
Accordingly, the stacker frame 6 comprises a locking recess 62 at the top end 9 to receive the locking tab 61 in the extended position. Thus, with the cap 7 placed on the tip 9, the locking projection 61 protrudes into the locking recess 62 when extended. The cover 7 is then locked to the stacking frame 6. When the locking protrusions 61 are moved into their retracted position, they leave the locking recesses 62. The lid 7 may then be lifted by a corresponding container lifting mechanism.
In order to connect the actuator 59 to a power source, a first electrical interface 63a is arranged on the cover 7 and is connected to the actuator 59. In this example, the first interface 63a illustratively comprises two conductive strips configured to directly contact a correspondingly designed second electrical interface 63b disposed on the lifting frame 2.
The locking tab 61 may include a downwardly tapered chamfered outer surface 64. When the actuator 59 is not energized, the locking tab 61 is extended by the action of the spring 65. The cover 7 may be lowered onto the stacking frame 6 and the chamfered outer surface 64 contacts the top end 9 of the stacking frame 6. Due to the weight of the cover 7 and the lifting frame 2, the cover 7 moves further downwards and the outer surface 64 slides along the upper edge of the stacking frame 6 and is thereby pushed inwards until they reach the locking recesses 62 and snap in.
The stacking frame system 502 is shown in perspective view in fig. 24 b. Here, the locking device 66 includes a battery 67 or other type of internal power source, and a locking device control unit 68 connected to the actuator 59. The locking device control unit 68 is configured to wirelessly communicate with an external controller to receive a signal to lock or unlock the cover 7. For example, this signal may be sent by the container lifting mechanism that is lifting the lid 7, or by the control system of an automatic storage and retrieval system. Once the lock device control unit 68 receives a signal to unlock the cover 7, the actuator 59 is energized to retract the locking projection 61 and release the cover 7.
In fig. 25a stacking frame system 503 with a locking device 69 is shown. Four locking tabs 70 are shown here, each of which is part of a rotatable generally crescent shaped lever 71. Four bars 71 are exemplarily distributed over the longer side 60 of the cover 7. The four bars are connected to the winding device 72 by cables 73 attached to lugs 71a. The cable 73 is deflected by rollers 74 inside the cover 7 and is all directed to a spool or other winding body of the winding device 72. The winding device 72 comprises an electric motor connected to the first electrical interface 63a such that the electric motor can be selectively operated to pull the cable 73 and then move the rod 71, thereby retracting the locking tab 70. By pulling the cable 73, the locking tab 70 is thus retracted and the cover 7 is unlocked. When the winding device 72 is not powered, the spring 75 biases the rod 71 outwardly and biases the locking tab 70 to its extended position.
Similar to fig. 24b, fig. 25b shows a stacking frame system 504 with a locking device 76, which is based on the locking device 69 of fig. 24 a. The first electrical interface 63a is not provided here, but a battery 67 and a locking device control unit 68 connected to the winding device 72 are provided. The winding device 72 is powered to retract the locking tab 70 by receiving an appropriate signal from an external controller, such as the container lift mechanism or an integral control system of an automated storage and retrieval system.
Fig. 26a to 26d show two side views and two perspective views of a lifting frame 2 of a first type which is able to engage the container connection recess 13 and the lid connection recess 54. Inside the cover 7, a locking means 77 is arranged, comprising four locking protrusions 78, each arranged on one end of a multi-fold locking bar 79 and on a short side 81 of the cover 7. The other end of the locking lever faces the cover attachment recess 54 into which the holder 3 protrudes. The outer contour of the cover 7 is omitted for illustration purposes.
In fig. 26a and 26b, the grippers 3 of the lifting frame 2 are in an extended state, wherein the two gripper arms 80 of each gripper 3 are deployed, i.e. arranged spaced apart from each other, providing a form-fitting connection with the lid connection recess 54. The cap attachment recess may include an undercut 54a with which the gripper arms 80 make surface contact.
When the gripper arms 80 are deployed, one gripper arm 80 of each gripper 3 pushes the locking bar 79 away from the associated cap connection recess 54, which causes the corresponding locking protrusion 78 to retract. The locking tab 78 is thereby retracted in fig. 26a and 26 b. It will be appreciated that the stacker frame 6 has locking recesses 62 arranged in corresponding positions, i.e. on the short sides of the top end. In the state shown in fig. 26a and 26b, the cover 7 is unlocked. The unlocking process is automatically carried out by clamping the cover 7 with the clamp 3 of the lifting frame 2. It is also conceivable that the locking means 77 comprise one locking protrusion 78 for each gripper 3. However, the locking means 77 may comprise a smaller number of locking protrusions 78, such that one or more grippers 3 may not be associated with a locking protrusion 78.
When releasing the gripper 3, the gripper arms 80 come close to each other and no longer push the locking lever 79 away from the cover connection recess 54. The locking lever is biased to a locking position in which the locking protrusion 78 protrudes from the cover 7 and is engageable with a correspondingly arranged locking recess in the stacking frame by means of a spring 82 arranged on the locking lever 79. Thus, for example, after the cover 7 has been arranged on the stacking frame, the locking process is effected automatically by releasing the gripper 3.
Fig. 27a and 27b show a stacking frame system 1000 with a stacking frame 6 "and a cover 1001. In fig. 27a, the stacking frame 6 "is not covered by the cover 1001, whereas in fig. 27b the cover 1001 is placed on top of the stacking frame 6". The stacking frame 6″ includes a plurality of connection recesses 12' arranged at the longer side and extending in the upward direction, as shown in fig. 22. To provide adequate accessibility, the cover 1001 has a cutout located directly above the connection recess 12'.
The cover 1001 comprises a cover connection recess 1003 which is located in a position corresponding to the connection recess 12' when the cover 1001 is arranged on the stacking frame 6 ". However, the cover connection recess extends outwardly in the horizontal direction, i.e., parallel to the main extension plane of the cover 1001. The cover 1001 includes a recess 1004 immediately adjacent to the cover connection recess 1003 and further from the outer edge of the cover 1001. When disposed directly above the cover 1001 and recess 1004, the latch 17 of the second type lift frame 10 may be moved from the release position shown in fig. 15 to the connected position shown in fig. 16. The recess 1004 is sized to allow movement of the latch 17. Thus, the stacking frame lifting mechanism can lift the cover 1001 with the latch 17. This is accomplished by lowering the lifting frame 10 onto the cover 1001 and bringing the latch 17 into the release position. When the cover 1001 is reached, the latch 17 rotates to the connection position. Then, the connecting portion 17a of the latch protrudes into the cover connecting recess from inside the recess 1004 and connects the cover 1001 with the lifting frame 10.
Fig. 28a and 28b show a stacking frame system 1101 in which the cover attachment recess 54 of the cover 1100 is used in combination with the attachment recess 12' of the stacking frame 6 ".
In fig. 29, a stacking frame system 1203 is shown, wherein two types of cover attachment recesses are used in combination. Here, a cover 1200 is shown, which cover comprises a cover attachment recess 54 as shown in fig. 24a, and further comprises a cover attachment recess 1201 and a recess 1202 adjacent thereto, wherein the design of the cover attachment recess 1201 and the recess 1202 is similar to fig. 27a and 27b, but is arranged at the shorter side of the stacking frame 6. The stacking frame 6 comprises a connection recess 12 as shown in fig. 24 a.
Fig. 30a and 30b show a stacking frame system 900 with a stacking frame 901 and a cover 902. The stacker frame 901 has an open top end 9 as shown in fig. 12 a. Here, the cover 902 is shaped to be completely surrounded by the open top end 9 when the cover 902 is closed. The stacker frame 901 may have an internal shoulder on which the cover 902 may rest when in its closed state. However, the cover may also simply be supported on the uppermost storage container 106 in the stacker frame 901.
The upper portion of the corner 903 of the cover 902 is illustratively of a chamfer design to avoid jamming in the top end 9 when lifting or lowering the cover 902. A seal 53 as shown in fig. 12a may also be used in this exemplary embodiment. For example, the seal may be attached to the lower edge 904 of the cover 902 or may be located inside the open top end 9 of the stacker frame 901.
It should be understood that all of the locking means shown in the previous figures may be integrated into the covers 1001, 1100 and 1200.
In the foregoing description, various aspects of a delivery vehicle and an automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its operational principles. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the presently disclosed subject matter pertains are deemed to lie within the scope of the invention.
List of reference numerals
1. Automated storage and retrieval systems of the prior art
1' Storage system
1' Storage system
2. Lifting frame
2' Lifting frame
3. Clamp holder
5. Stacking frame system
6. Stacking frame
6Target stacking frame
6' Stacking frame
6' Stacking frame
7. Cover for a container
8. Stacking frame lifting mechanism
8' Stacking frame lifting mechanism
9. Top end
10. Lifting frame
11. Horizontal base frame
12. Connection recess
12' Connection recess
13. Container connection recess
13' Connection recess
16. Upper edge
17. Latch lock
17A connecting portion
18. Bottom section
19. Top section
20. Side wall
21. Guide element
23. Recessed portion
24. First portal beam
25. Second door frame beam
26. Telescopic arm
27. Lifting platform
28. Wheel of vehicle
28' Wheel
29. Wheel of vehicle
29' Wheel
50. Bottom protrusion
51. Shoulder part
52. Top edge
53. Sealing element
54. Cover connection recess
54A undercut portion
55. Recess (es)
56. Locking device
57. Bottom surface
58. Top surface
59. Actuator with a spring
60. Longer side edge
61. Locking projection
62. Locking recess
63A first interface
63B second interface
64. Outer surface
65. Spring
66. Locking device
67. Battery cell
68. Locking device control unit
69. Locking device
70. Locking projection
71. Rod
72. Winding device
73. Cable wire
74. Roller wheel
75. Spring
76. Locking device
77. Locking device
78. Locking projection
79. Locking lever
80. Clamp holder arm
81. Short side edge
82. Spring
100. Frame structure
102. Upright member of frame structure
104. Storage grid
105. Storage column
106. Storage container
106' Specific location of storage vessel
107. Stacking of
108. Rail system
110. Parallel tracks in a first direction (X)
112. Access opening
119. First port row
120. Second port row
201. Container handling vehicle of the prior art
201A vehicle body of container handling vehicle 201
201B drive/wheel arrangement/first set of wheels in a first direction (X)
201C in the second direction (Y) device/wheel device/second group of wheels
301. Cantilever container handling vehicles of the prior art
301A vehicle body of container handling vehicle 301
301B drive means/first set of wheels in a first direction (X)
301C in the second direction (Y) drive device/second group of wheels
304. Clamping device
401. Container handling vehicle of the prior art
Vehicle body of 401a container handling vehicle 401
401B drive means/first set of wheels in a first direction (X)
401C in the second direction (Y) drive device/second group of wheels
404. Clamping device
404A lifting belt
404B gripper
404C guide pin
404D lifting frame
500. Control system
501. Stacking frame system
502. Stacking frame system
503. Stacking frame system
504. Stacking frame system
900. Stacking frame system
901. Stacking frame
902. Cover for a container
903. Corner portion
904. Lower edge of
1000. Stacking frame system
1001. Cover for a container
1003. Cover connection recess
1004. Recess (es)
1100. Cover for a container
1101. Stacking frame system
1200. Cover for a container
1201. Cover connection recess
1202. Recess (es)
1203. Stacking frame system
X first direction
Y second direction
Z third direction
Claims (21)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20230851 | 2023-08-09 | ||
| NO20230851 | 2023-08-09 | ||
| PCT/EP2024/067364 WO2025031654A1 (en) | 2023-08-09 | 2024-06-20 | Stacker frame system with a lid liftable by a lifting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN121464092A true CN121464092A (en) | 2026-02-03 |
Family
ID=91699964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202480044659.9A Pending CN121464092A (en) | 2023-08-09 | 2024-06-20 | A stacking frame system with a lid that can be raised and lowered via a lifting device. |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN121464092A (en) |
| WO (1) | WO2025031654A1 (en) |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5111938A (en) * | 1990-10-12 | 1992-05-12 | Segri-Gator Associates L.P. | Solid waste container |
| US20100037565A1 (en) * | 2008-08-14 | 2010-02-18 | Meissen Cynthia R | Medical waste container lid |
| NO334806B1 (en) | 2012-11-13 | 2014-06-02 | Jakob Hatteland Logistics As | storage System |
| NO335839B1 (en) | 2012-12-10 | 2015-03-02 | Jakob Hatteland Logistics As | Robot for transporting storage containers |
| NO337544B1 (en) | 2014-06-19 | 2016-05-02 | Jakob Hatteland Logistics As | Remote controlled vehicle assembly to pick up storage containers from a storage system |
| GB201617727D0 (en) * | 2016-10-19 | 2016-11-30 | Ocado Innovation Limited | Storage systems and methods |
| NO20170216A1 (en) | 2017-02-13 | 2018-08-14 | Autostore Tech As | Rail arrangement for wheeled vehicles in a storage system |
| WO2019206487A1 (en) | 2018-04-25 | 2019-10-31 | Autostore Technology AS | Container handling vehicle with first and second sections and lifting device motor in second section |
| NO345730B1 (en) | 2019-04-02 | 2021-07-05 | Autostore Tech As | Storage system, container lift vehicle for storage system and method of transferring a storage container in storage system |
| US12233541B2 (en) * | 2021-12-02 | 2025-02-25 | Ford Global Technologies, Llc | Autonomous modular robots and methods of use |
-
2024
- 2024-06-20 CN CN202480044659.9A patent/CN121464092A/en active Pending
- 2024-06-20 WO PCT/EP2024/067364 patent/WO2025031654A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2025031654A1 (en) | 2025-02-13 |
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