HK40066664B - A delivery system, an automated storage and retrieval system and a method of transporting a container - Google Patents

Description

Methods for conveying systems, automated storage and retrieval systems, and transport containers

Technical Field

This invention relates to a conveying system for transporting storage containers between a first location and a second location serving as an access point. The access point is located in a container access station having at least one conveyor line. The invention also relates to an automated storage and retrieval system including a conveying system and a method for transporting containers.

Background Technology

Figure 1A(A) and Figure 1B(C) disclose a typical prior art automated storage and retrieval system 1 with a frame structure 100. Figure 1A(B) and Figure 1B(D) disclose prior art container handling vehicles 101 operating the system 1 disclosed in Figure 1A(A) and Figure 1B(C), respectively.

The frame structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103 optionally supporting the upright members 102. Members 102, 103 may typically be made of metal, such as extruded aluminum profiles.

The frame structure 100 defines a storage grid 104, which includes storage columns 105 arranged in rows, wherein storage columns 105 (also referred to as boxes) of storage containers 106 are stacked on top of each other to form a stack 107. Each storage container 106 can typically hold multiple product items (not shown), and depending on the application, the product items within the storage container 106 can be the same or can be different product types.

Storage grid 104 prevents horizontal movement of storage containers 106 in stack 107 and guides vertical movement of storage containers 106, but typically does not otherwise support storage containers 106 during stacking. Automated storage and retrieval system 1 includes a track system 108 arranged in a grid pattern on top of storage 104, on which multiple container handling vehicles 200, 300 (shown as B in FIG. 1A and D in FIG. 1B) operate to lift storage containers 106 from storage column 105 and lower storage containers 106 into storage column 105, and also to transport storage containers 106 above storage column 105. The horizontal extent of one of the grid cells 122 constituting the grid pattern is marked by a thick line in FIG. 1A and FIG. 1B.

Each grid cell 122 has a width typically in intervals of 30 to 150 cm and a length typically in intervals of 50 to 200 cm. Due to the horizontal range of the tracks 110, 111, the width and length of each grid opening 115 are typically 2 to 10 cm smaller than the width and length of the grid cell 122.

The track system 108 includes: a first set of parallel tracks 110 arranged to guide container transport vehicles 200 and 300 across the top of the frame structure 100 along a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide container transport vehicles 200 and 300 along a second direction Y perpendicular to the first direction X. In this way, the track system 108 defines a grid column on which the container transport vehicles 200 and 300 can move laterally above the storage column 105 (i.e., in a plane parallel to the horizontal X-Y plane).

Each prior art container handling vehicle 200, 300 includes a body and a wheel arrangement of eight wheels 201, 301, wherein a first set of four wheels enables the container handling vehicle 200, 300 to move laterally in the X direction, and a second set of the remaining four wheels enables the container handling vehicle 200, 300 to move laterally in the Y direction. One or two sets of wheels in the wheel arrangement can be raised and lowered such that the first set of wheels and/or the second set of wheels can engage with a corresponding set of tracks 110, 111 at any given time.

Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertically transporting the storage container 106, such as raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column 105. The lifting device includes one or more clamping/engaging devices (not shown) adapted to engage the storage container 106, and the clamping/engaging devices are lowerable from the vehicles 201, 301 such that the position of the clamping/engaging devices relative to the vehicles 201, 301 can be adjusted along a third direction Z orthogonal to the first direction X and the second direction Y.

Conventionally, and also for the purposes of this application, Z=1 represents the uppermost layer of grid 104, i.e., the layer immediately below the track system 108, Z=2 represents the second layer below the track system 108, Z=3 represents the third layer, and so on. In the exemplary prior art grid 104 disclosed in Figure 1A A and Figure 1B C, Z=8 represents the lowermost layer of grid 104. Therefore, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Figure 1A A and Figure 1B D, the storage container identified as 1061 in Figure 1A A can be said to occupy a grid position or cell X=10, Y=2, Z=3. It can be said that the container transport vehicle 101 travels in layer Z=0, and each grid column can be identified by its X and Y coordinates.

Each container handling vehicle 200 includes a storage compartment or space (not shown) for accommodating and storing the storage container 106 when transporting it across the track system 108. The storage space may include a cavity arranged in the center of the vehicle body, such as that described in WO2014/090684A1, the contents of which are incorporated herein by reference.

Alternatively, the container handling vehicle 300 may have a cantilever structure, as described in N0317366, the contents of which are also incorporated herein by reference.

Container handling vehicle 200 may have a floor area, i.e., an extent in the X and Y directions, which is generally equal to the lateral extent of grid cell 122, i.e., the extent of grid cell 122 in the X and Y directions, for example as described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

Alternatively, the container handling vehicle 200 may have a footprint greater than the lateral extent of the grid column 105 (the lateral area defined by the grid column 105), for example, as disclosed in WO2014/090684A1.

The track system 108 can be a single-track system, as shown in Figure 2A. Alternatively, the track system 108 can be a dual-track system, as shown in Figure 2B, thereby allowing a container transport vehicle 201 with a footprint roughly corresponding to the lateral extent defined by grid column 112 to travel along rows of grid columns, even if another container transport vehicle 200 is located above a row of a neighboring grid column. Both single-track and dual-track systems, or combinations thereof, in the single-track system 108, form a grid pattern in the horizontal plane P comprising a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of tracks 110a, 110b of a first track 110 and a pair of tracks 111a, 111b of a second set of tracks 111. In Figure 2B, the grid cell 122 is indicated by a dashed box.

Therefore, tracks 110a and 110b form a track pair defining a row of parallel grid cells running along the X direction, and tracks 111a and 111b form a track pair defining a row of parallel grid cells running along the Y direction.

As shown in Figure 2C, each grid cell 122 has a width _Wc , which is typically spaced between 30 and 150 cm, and a length _Lc , which is typically spaced between 50 and 200 cm. Each grid opening 115 has a width _Wo and a length _Lo , which are typically 2 to 10 cm smaller than the width _Wc and length _Lc of the grid cell 122.

In the X and Y directions, adjacent grid cells are arranged in contact with each other, so that there is no space between them.

In storage grid 104, most grid columns are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored in stack 107. However, grid 104 typically has at least one grid column not used for storing storage containers 106, but it includes locations where container handling vehicles 200, 300 can unload and/or pick up storage containers 106 so that they can be transported to a second location (not shown) where storage containers 106 can be accessed from outside grid 104 or removed from or moved into grid 104. In the art, such locations are generally referred to as “ports”, and grid columns in which ports are located may be referred to as “transfer columns” 119, 120. The unloading and/or picking ports of the container handling vehicles are referred to as “upper ports of the transfer column” 119, 120. The other end of the transfer column is referred to as the “lower port of the transfer column”.

The storage grid 104 in Figure 1A (A) and Figure 1B (C) includes two transport columns 119 and 120. For example, the first transport column 119 may include a dedicated unloading port in which container handling vehicles 200, 300 can unload storage containers 106 to be transported through transport column 119 and further to an access or transfer station, and the second transport column 200 may include a dedicated pick-up port in which container handling vehicles 200, 300 can pick up storage containers 106 that have been transported through transport column 120 from an access or transfer station. Each port of the first and second transport columns may include a port suitable for picking up and unloading storage containers.

When access is required for storage container 106 stored in grid 104 as shown in Figure 1A, one of the container transport vehicles 200 or 300 is instructed to retrieve the target storage container 106 from its position in grid 104 and transport it to or through transport column 119. This operation involves moving the container transport vehicles 200 or 300 to the grid position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting device (not shown) of the container transport vehicle, and transporting the storage container 106 to the transport column 119.

If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers are located above the target storage container 106, the operation also involves temporarily moving the storage container placed above it before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling vehicle 200, 300 subsequently used to transport the target storage container 106 to the transfer column, or by one or more other cooperating container handling vehicles 200, 300. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 200, 300 specifically designed for the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column 105.

When storage container 106 is stored in grid 104, one of the container transport vehicles 200 or 300 is instructed to pick up storage container 106 from transport column 120 and transport it to the grid position above the storage column 105 where it is to be stored. After removing any storage container located at or above the target position within or above the storage column stack 107, the container transport vehicles 200 or 300 position storage container 106 in the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned into another storage column 105.

Container access stations are typically pick-up or storage stations for retrieving products from or placing products into storage container 106. At a pick-up or storage station, storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to storage grid 104 once accessed. For moving storage containers in or out of storage grid 104, lower ports are also provided in the transport column. Such lower ports are used, for example, to transfer storage container 106 to another storage facility (e.g., to another storage grid), directly to a transport vehicle (e.g., a train or truck), or to a production facility.

Picking and storing operations at container access stations can be performed by human operators. While measures have been taken to reduce the risk of human operators injuring themselves, improvements are still needed. Furthermore, as robotic operators (such as robotic arms) become increasingly prevalent in these areas, it is desirable to minimize the risk of damage to these devices.

Therefore, the object of the present invention is to provide an automatic storage and retrieval system that is more efficient than existing systems, provides security for operators, and increases the transmission capacity to access points.

Another object of the present invention is to provide a system that can effectively package articles contained in a storage container for further transportation of the packaged articles.

Summary of the Invention

This invention relates to a conveying system for transporting containers to an access point for handling of items contained within the containers by human and/or robotic operators.

The transmission system includes:

- A transport track grid, comprising: at least a first set of parallel tracks arranged in a horizontal plane (P1) and extending along a first direction (X); and at least a second set of parallel tracks arranged in the horizontal plane (P1) and extending along a second direction (Y) orthogonal to the first direction (X), wherein the first set of tracks and the second set of tracks together define a plurality of transport grid cells.

-A transfer vehicle, suitable for carrying containers and operating on a grid of transfer tracks, and

- A container access station, which includes an access point and at least one conveyor line extending into the access point and operatively connected to the conveyor track grid.

The transfer vehicle is arranged to transfer containers to/receive containers from at least one conveyor line, wherein at least one conveyor line is arranged to transport containers between the transfer vehicle and an access point.

A container can be a storage container, a KLT box, a packaging box, etc. Therefore, the term "container" refers to any container suitable for holding one or more items. A "container" can be made of any material suitable for holding at least one item (such as plastic, metal, wood, paper, etc.).

KLT boxes are industrial stackable containers conforming to VDA 4500 standards. The most common sizes are 600mm × 400mm and 400mm × 300mm, meaning that these containers stacked on top of each other will fill a European pallet measuring 1200mm × 800mm. These containers are stackable and are typically manufactured by injection molding from grey polypropylene or other thermoplastics.

The term "operably connected" means that the container can be transported between two connected areas, i.e., at least one conveyor and a conveyor grid, even if at least one conveyor and conveyor grid are not located at the same level.

The conveying system of the present invention can be arranged for transporting containers between a first location and a second location, which may be an access point.

The first location can be an external location relative to the conveying system. A conveyor vehicle operating on the conveying system can reach the external location. Therefore, the external location can be connected to the conveying system, allowing the conveyor vehicle to retrieve containers from or transport containers to the external location. One or more external locations can be connected to the conveying system.

An external location can be any location on or outside the conveying system, arranged or configured to perform specific tasks (such as assembly, production, shipping, etc.) related to the storage and retrieval system. Therefore, a defined area on the conveying system set up to perform a specific task (packaging, assembly, production, etc.) can be defined as an external location.

One or more external locations may be high-priority areas that are linked to automated storage and retrieval systems for packaging and shipping, distribution, sales, or production purposes.

One or more external locations may be at least any one of the following: storage grid, packaging and assembly area, inspection location, production area, shipping and transportation area, etc.

The transport vehicle can reach external locations via a transport track grid.

External locations can be situated at a different level from the transport track grid.

External locations can be connected to the conveyor system, allowing the conveyor vehicle to receive containers from external locations for transport across the conveyor track grid, and vice versa.

The transfer vehicle can receive containers from the container handling vehicle for transport across the transfer track grid. Therefore, the transfer vehicle can transfer containers to the container handling vehicle for transport to external locations, such as the storage grid.

The transport vehicle may include a motor vehicle body and a container carrier mounted on top of the motor vehicle body for carrying the container.

The container carrier may include a conveyor arranged to transport containers onto and off the container carrier in a horizontal direction.

The conveyor may include multiple parallel-oriented rollers having a common longitudinal direction perpendicular to one or more sidewalls. In this way, the rollers allow one or more containers to move into or out of a container carrier while being guided by the sidewalls. The conveyor may be connected to a motor for rotating one or more rollers. Other types of conveyors are also possible, such as belts or chains.

Below, the roller may also include belt or chain drive.

The conveyor motor can be operated reversibly to move the rollers in opposite directions.

The transport vehicle may further include:

- A first set of wheels, arranged on a first opposing portion of the transport vehicle, for moving the transport vehicle along a first direction (X) on a transport track grid; and

- A second set of wheels, arranged on the second opposite part of the transport vehicle, for moving the transport vehicle along a second direction (Y) on the transport track grid, the second direction (Y) being perpendicular to the first direction (X).

At least one conveyor line may include at least one of rollers, belts, chains, etc. At least one conveyor line is operated by a drive motor.

The drive motor can be reversible, used to move rollers, belts, chains, etc. in opposite directions.

The upper surface of at least one conveyor line is positioned at the same height as the upper surface of the container carrier carrying the container. This allows containers to easily enter or exit at least one conveyor line from the transport vehicle.

Containers can be transported on rollers to/from access points on the same conveyor line. This means that a drive motor drives the rollers to transport the container to the access point, and after the container has been accessed, the drive motor is reversed to transport the container in the opposite direction, away from the access point and toward a point on the conveyor line where the container can be picked up by a transfer vehicle.

The conveyor lines can also be arranged in a loop (U-turn), with inlets and outlets for containers. The system may include a first and a second conveyor line arranged in parallel and operatively connected to each other, allowing containers to move from the first conveyor line to the second conveyor line and vice versa. For example, a container may enter and be transported to an access point at one end of the first conveyor line. After the container has been received at the access point, it can move to the second conveyor line and be further transported to a point on the second conveyor line where it can be picked up by a transfer vehicle.

The system may include a third conveyor line comprising rollers arranged perpendicular to the first and second conveyors. Access points may be located on the third conveyor line such that containers can be accessed before being transported on the third conveyor line to the second conveyor line. Therefore, containers can enter at the first conveyor line, move via the third conveyor line to the second conveyor line, and exit from the second conveyor line. The third conveyor line may operate separately from the first and second conveyor lines.

The third conveyor line may include a lifting or tilting mechanism for raising (lowering)/tilting the third conveyor line (roller) relative to the first and second conveyor lines to allow containers to enter or exit the third conveyor line.

The system may include a lifting device for lifting containers so that they do not contact the rollers (conveyors) at the access point. The lifting device includes a motorized belt or chain for moving containers from one conveyor line to another.

The first and second conveyor lines may each have a length that allows them to transport two or more containers in a row. The length of the first conveyor line increases the capacity for conveying storage containers to the access point, as the transfer vehicle can operate efficiently by continuously transferring containers to the first conveyor line for transport to the access point. After being handled at the access point, each container moves to the second conveyor line and queues to await collection by the transfer vehicle for further transport.

A container access station may include wall or shell panels arranged around the access point and at least a portion of at least one conveyor line.

A container inlet station may include two or more conveyor lines that are separate, side-by-side, or parallel. Separate means that they are not connected, and containers can enter and exit from the same conveyor line.

Two or more conveyor lines include a first conveyor line and a second conveyor line arranged in the same horizontal plane (P2).

The transfer vehicle can be arranged to transfer the first container to the first conveyor line and move to the second conveyor line to receive the second container that has already been moved at the access point.

The advantage of this invention lies in its ability to provide an efficient transport system, offering operator safety and increasing transport capacity to the access point. It achieves this by increasing the availability of the transport vehicle by reducing waiting time at the access point. Therefore, the transport vehicle does not need to remain at the access port but can move to perform other tasks.

Instead of waiting for human and/or robotic operators to move items stored in containers, the transfer vehicle can move to a second conveyor line to collect another storage container that has already been moved at the access point.

At the access point, items stored in storage containers can be placed into packaging boxes for further transport and handling. By including storage containers and packaging boxes at the container access station, a compact and flexible workspace is provided, where containers are close to the operator and handling can be performed more quickly.

This saves operation time because after delivering the storage container, the delivery vehicle can move to a nearby location to collect another container (storage container or box) that has already been moved at the access point.

The present invention also relates to an automated storage and retrieval system comprising a storage grid for storing storage containers and a delivery system as described above.

The storage grid includes:

- A container handling vehicle track system for guiding multiple container handling vehicles, the container handling vehicle track system comprising: at least a first set of parallel tracks arranged in a horizontal plane (P) and extending along a first direction (X); and at least a second set of parallel tracks arranged in the horizontal plane (P) and extending along a second direction (Y) orthogonal to the first direction (X), the first set of tracks and the second set of tracks forming a grid pattern in the horizontal plane (P), the grid pattern comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks; and

- A transfer train, which is suitable for transferring storage containers between container handling vehicles running on a container handling vehicle track system and transfer vehicles running on a transfer vehicle track system.

Storage containers can be stored in a stack of storage containers in the storage columns of the storage and retrieval grid.

Container handling vehicles can be arranged to retrieve storage containers from storage locations in the storage and retrieval grid and transport them to a conveyor belt, from where they are passed to a transport vehicle located at the lower end of the conveyor belt. Thus, container handling vehicles can retrieve storage containers from transport vehicles via the conveyor belt for transport to storage locations within the storage and retrieval grid.

Container handling vehicles can transport containers directly from the delivery vehicle via a conveyor or transfer train. Therefore, container handling vehicles can directly retrieve containers from the delivery vehicle via the conveyor and transfer train and transport them to storage locations within the storage grid.

The transmission port can be located at the bottom of the transmission column.

Remotely operated transport vehicles can be arranged to transport storage containers from the transport ports of the transport columns of the storage grid across the transport grid to at least one transport line, and return the storage container or different storage containers to the transport ports of the transport columns for storage within the storage grid.

The remotely operated delivery vehicle can also pick up another container (which is not a storage container) to transport to an external location.

The transport system may include a first transport track grid and a second transport track grid.

The first transport track grid can be located within the grid structure of the storage grid (vertically below), and the second transport track grid is located outside the grid structure of the storage grid.

The first and second transport track grids are connected, allowing transport vehicles to run between the first and second transport track grids.

Container access stations and access points can be located on the second transport track grid.

An access point can be part of a container access station, which includes one of the access points in a row of container access stations. Each access point is capable of accommodating a container when it accesses a container.

Container access stations can include two rows of access points, arranged opposite each other and spaced three to five container lengths apart. Operators can access multiple containers to collect items into a single packaging box or KLT container.

The container access station can include another row of access points arranged at a 90-degree angle to the other two rows of access points (traditional pick-up stations). Operators can access multiple containers delivered to the access points from different locations.

The present invention also relates to a method for transporting a container to an access point of a conveyor system as described above. An access point is a location on a conveyor track grid for a robot or human operator to access an item contained in a container that has been conveyed to the access point.

The method includes the following steps:

a) Operate the transfer vehicle carrying the first container to guide the transfer vehicle to at least one conveyor line;

b) Operate the transfer vehicle to transfer the first container to the conveyor line for transport to the access point;

c) Operate a transfer vehicle to receive a second container that has already been moved at the access point from at least one conveyor line.

d) Transport the second container to an external location.

As mentioned earlier, external locations can include high-priority areas.

The high-priority area of an external location can be at least any of the following: storage grid, production area, packaging and assembly area, inspection area, etc.

Attached Figure Description

The following figures are provided as examples only to facilitate understanding of the invention.

Figures 1A and 1B are perspective views of a prior art automated storage and retrieval system, wherein A in Figure 1A and C in Figure 1B show the complete system, and B in Figure 1A and D in Figure 1B show examples of prior art container handling vehicles in which the system is operable.

Figure 2, A-C, is a view from the top of a grid cell, which includes a set of parallel tracks arranged to guide the movement of a remotely operated vehicle.

Figure 3A-C shows different versions of the remotely operated transport vehicle, which is deployed to transport storage containers between a first location and a second location serving as an access point.

Figure 4, A-B, is a perspective view of other automated storage and retrieval grids and transport systems used to transport storage containers between storage grids and container access stations.

Figure 5 shows a container access station comprising multiple conveyor lines connected to allow containers to enter on one conveyor line and exit on another.

Figure 6 shows a container access station that includes another row of access points arranged at a 90-degree angle to the other two rows of access points, allowing the operator to access multiple containers delivered to the access points from different locations.

Figures 7-9 show the system of Figure 6 from different angles.

Detailed Implementation

In the following discussion, embodiments of the invention will be described in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

Furthermore, even if some characteristics are described only for the transport vehicle, they are clearly applicable to the system and related methods, and vice versa.

Referring to Figures 1A and 1B, the storage grids 104 of each storage structure 1 constitute a frame 100 with a total of 143 grid columns 112, wherein the width and length of the frame correspond to the width and length of 13 and 11 grid columns 112, respectively. The top layer of the frame 100 is a track system 108, on which multiple container handling vehicles 200 and 300 run.

The frame 100 of the storage system 1 is constructed according to the aforementioned prior art framework 100, namely, a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102. Furthermore, the horizontal members 103 include a track system 108 comprising parallel tracks 110, 111 arranged along the X and Y directions respectively across the top of the storage column 105. The horizontal region of a single grid cell 122, i.e., along the X and Y directions, can be defined by the distance between adjacent tracks 110 and 111 respectively (see also Figures 2B and C). In Figures 1AA and 1BC, such grid cells 122 are marked with thick lines on the track system 108.

The track system 108 allows container transport vehicles 200 and 300 to move horizontally between different grid locations, wherein each grid location is associated with a grid cell 122.

In Figure 1A(A) and Figure 1B(C), the storage grid 104 is shown as having a height of eight cells. However, it should be understood that the storage grid 104 can be of any size in principle. Specifically, it should be understood that the storage grid 104 can be much wider and/or much longer than those disclosed in Figure 1A(A) and Figure 1B(C). For example, the grid 104 can have a horizontal range exceeding 700 × 700 grid cells 122. Furthermore, the grid 104 can be much deeper than those disclosed in Figure 1A(A) and Figure 1B(C). For example, the depth of the storage grid 104 can be greater than 12 grid cells.

The storage container vehicles 200 and 300 can be of any type known in the art, such as any of the automated container handling vehicles disclosed in WO2014/090684A1, NO317366 or WO2015/193278A1.

The track system 108 can be a single-track system, as shown in Figure 2A. Alternatively, the track system 108 can be a dual-track system, as shown in Figure 2B. The track system 108 can also be a combination of single-track and dual-track systems. Details of single-track and dual-track systems are disclosed in the background section of this specification.

Figures 3A-C illustrate an embodiment of a remotely operated transport vehicle 30 (hereinafter referred to as transport vehicle 30).

The transfer vehicle 30 is configured to transport storage containers 106 (not shown in C of Figure 3) between an automated storage and retrieval grid 104 (see A and B of Figure 4) and an access point 65, the automated storage and retrieval grid 104 (hereinafter referred to as storage grid 104) being configured to store a stack 107 of multiple storage containers 106, and the access point 65 being located in a container access station 60 for handling of the storage containers 106 by at least one of a robot operator and a human operator.

In the following text, the container access station will also be referred to as the container transport station.

The transport vehicle 30 includes: a body 31; at least one rolling device 32a, 32b connected to the body 31; at least one rolling device motor for driving the rolling devices 32a, 32b in a horizontal plane (P); and a power source (not shown) connected to the rolling device motor. The power source should provide sufficient power to the rolling device motor (not shown) to drive the rolling devices 32a, 32b along a predetermined route, for example, from the storage grid 104 to the container access station 60.

The transport vehicle 30 may also include a container carrier 35 mounted above the vehicle body 31. The container carrier 35 should be configured, for example, to receive the storage container 106 above or inside the vehicle body 31, thereby preventing the storage container 106 from sliding relative to the transport vehicle 30 along the horizontal plane (P1).

The container carrier 35 may include a container support device that supports the storage container 106 from below.

In Figures 3-B, a container carrier 35 is disclosed in the form of a storage container receiving compartment having a bottom/base and sidewalls. The volume of the compartment is shown in this exemplary configuration, such that it can receive and accommodate the entire horizontal range of the storage container and at least a portion of the vertical range of the storage container.

The specific configuration of the container carrier 35 disclosed in Figures 3-B allows the transport vehicle 30 to transport storage containers 106 with different heights.

Note that the dimensions of the compartments within the container carrier 35 can be easily adapted to receive and support multiple storage containers 106 in a single operation.

Figure 3C illustrates another exemplary configuration of the remotely operated transport vehicle 30. In this configuration, the container carrier 35 includes a base plate, a conveyor disposed on the base plate, and two sidewalls projecting upward from the base plate. The rolling device 32 and the vehicle body 31 are the same as or similar to those described above.

The conveyor can be configured using multiple parallel-oriented rollers 36, each roller having a common longitudinal direction perpendicular to the two sidewalls. In this way, the rollers 36 allow one or more containers 70 to move into or out of the container carrier 35 while being guided by the sidewalls. The conveyor can be connected to a conveyor motor that allows one or more rollers to rotate.

The container carriers 35 (such as KLT boxes, packaging boxes) shown in Figure 3A-C can all be adapted to carry different types of containers 70 other than storage containers 106 and other types of containers mainly used to hold items.

A perspective view of the automated storage and retrieval system is shown in Figure 4A-B. The system includes a storage grid 104 and a transport system 140 including a transport track grid 50, as well as multiple transport vehicles 30 operating on the transport track grid 50.

Storage grid 104 is the same as or may be similar to the prior art storage grid 104 described above, i.e., storage grid 104 includes a track system 108; a plurality of stacks 107 of storage containers 106; a plurality of container transport vehicles 300 for lifting and moving the stacked storage containers 106 in the stacks 107; and transport columns 119, 120 configured to receive storage containers 106 from the container transport vehicles 300.

The conveying system 140 includes one or more conveying vehicles 30 as described above, i.e., conveying vehicles 30 configured to receive and support storage containers 106 for transporting between one or more conveying columns 119, 120 and one or more container handling stations 60 located outside the storage grid 104. The container handling stations 60 may be located at any predetermined location suitable for handling containers.

The transport system 140 may further include a transport track grid 50 located below the transport ports 150 of one or more transport columns 119, 120.

The conveying system 140 is arranged such that storage containers 106, conveyed by container handling vehicles or elevators via conveyor columns 119 and 120, can be effectively received by the conveyor vehicle 30 below the conveyor port 150 and transported off the conveyor track grid 50 to the container access station 60, thereby avoiding congestion of storage containers 106 at conveyor columns 119 and 120.

As shown in Figures 4-B, the transfer track grid 50 can be constructed in the same or similar manner as the track system 108 used for container handling vehicles 200, 300. The transfer track grid 50 extends from at least one transfer port 150 of one or more transfer columns 119, 120 and extends to at least one container access station 60, such that each storage container 106 can be transported to the container access station 60, where the items contained in the storage container 106 can be accessed.

As shown in Figure 4B, the transmission system 140 may include a first transmission track grid and a second transmission track grid, wherein the first transmission track grid is located directly below the grid structure of the storage grid 104, and the second transmission track grid is located outside the grid structure of the storage grid 104. The first transmission track grid and the second transmission track grid are connected, so that the transmission vehicle 30 can run between the first transmission track grid and the second transmission track grid.

Figure 4A shows the first transfer track grid located within (directly below) the storage grid structure and the second transfer track grid extending into the access container station 60 (not shown).

Access point 65 can be one or more transport grid cells 52 located on the second transport track grid.

As shown in Figure 4-B, the container access station 60 may include a cabinet 61, which includes walls and a top cover supported thereon. Items contained in storage containers 106 carried by the transfer vehicle 30 and transported to the access point 65 of the container access station 60 can be accessed through access openings 63 in the top cover of the cabinet 61.

The cabinet 61 is arranged adjacent to the storage grid 104, wherein the transfer track grid 50 extends from below the transfer port 150 and extends to the access point 65 of the container access station 60.

As described above, the container carrier 35 of the transport vehicle 30 can be adapted to carry different types of containers 70. Therefore, the term "container" refers to different types of containers suitable for holding one or more items.

Figure 5 illustrates a conveyor system 140 for transporting container 70 to access point 65 for handling of items contained in container 70 by human and/or robotic operators.

The transmission system 140 includes:

- A transport track grid 50 includes: at least a first set of parallel tracks arranged in a horizontal plane (P1) and extending along a first direction (X); and at least a second set of parallel tracks arranged in the horizontal plane (P1) and extending along a second direction (Y) orthogonal to the first direction (X), wherein the first set of tracks and the second set of tracks together define a plurality of transport grid cells 52.

-A conveyor vehicle 30, adapted to carry a container 70 and operate on a conveyor track grid 50, and

- Container access station 60, which includes: access point 65; and at least one conveyor line 66 extending into access point 65 and operatively connected to conveyor track grid 50.

The transfer vehicle 30 is arranged to transfer the container 70 to/receive the container 70 from at least one conveyor line 66, and wherein at least one conveyor line 66 is arranged to transport the container 70 between the transfer vehicle 30 and the access point 65.

In Figure 3C, the container carrier 35 of the transfer vehicle 30 may include a conveyor 36, which is arranged to transport the container 70 onto and off the container carrier 35 in a horizontal direction.

The conveyor 69 of at least one conveyor line 66 may include a plurality of parallel-oriented rollers having a common longitudinal direction perpendicular to the sidewalls. In this way, the rollers allow one or more containers 70 to move into or out of the container carrier 35 while being guided by the sidewalls. The conveyor 69 may be connected to a conveyor motor (not shown) that allows one or more rollers to rotate in both directions.

The container receiving station may include four separate, side-by-side, and parallel conveyor lines 66, as shown in Figures 5-7 and 9. Each conveyor line 66 includes a receiving point 65 located at the end of the conveyor line 66. A container 70 can be conveyed to the end of the conveyor line 66 opposite the receiving point 65 and transported to the receiving point 65 on a motorized roller. After the container 70 has been handled or received at the receiving point 65, the container 70 is transported back to the end of the conveyor line 66 for pickup by any available transfer vehicle 30.

The conveyor line 66 can be partitioned by walls, so that the container 70 can only enter and exit from the same conveyor line 66. Therefore, a container 70 can be located on one conveyor line 66 at a time.

The conveyor vehicle 30 can be operated to transfer container 70 to one of the conveyor lines 66 and move to another conveyor line to receive another container 70 that has been received or transported at access point 65.

As shown in Figure 5, the access point 65 may include a lifting device 67 for lifting the container 70 so that the container 70 does not contact the roller (conveyor) 69 at the access point 65. The lifting device 67 may include a motorized belt 68 for moving the container 70 from the first conveyor line to the second conveyor line 66.

The lifting device 67 may include a frame structure supporting the circumference of the container 70 from below. This frame structure is arranged such that it extends from a first conveyor line to a second conveyor line and may include a conveyor 69 arranged perpendicular to the direction of movement of the first and second conveyor lines 66. When the frame structure is lifted, the container 70 is lifted from the conveyor on the first conveyor line 66 and can move vertically to transfer it from the first conveyor line to the second conveyor line.

The first and second conveyor lines 66 may each have a length capable of accommodating multiple containers 70 arranged in a row (see Figure 5). The length of the first conveyor line can increase capacity because the transport vehicle 30 can transport more containers 70 to queue up when traveling to the access point 65. Therefore, the second conveyor line 66 may include multiple containers 70 that are accessed and queued at the access point 65 so that they can be picked up by the transport vehicle 30.

Figures 6-9 illustrate a conveying system 140 according to an embodiment of the present invention. The system includes two container access stations 60 according to the present invention, with another container access station having a cabinet. An operator can retrieve items from different access points 65 located in the different container access stations 60.

Access point 65 may be part of an access area, and access point 65 includes one of a row of access points 65 in the access area, each access point 65 being able to accommodate container 70 when accessing container 70.

The access area can include two rows of access points 65, arranged opposite each other and spaced three to five container lengths apart. The operator can access multiple containers to collect items into a single packaging box or KLT container.

The access area includes another row of access points 65 arranged at a 90-degree angle to the other two rows of access points (traditional pickup stations). The operator can access multiple containers 70 transmitted from different locations to access point 65.

Reference number

30 transport vehicles

31 Body

32 Rolling device

32a First set of wheels

32b Second set of wheels

35 Container carrier

36 Conveyor rollers

50 Transport Track Grid

52 Transport Grid Units

60 Container Access Stations

61 cabinets

63 Access opening

65 Access Points

66 Conveyor Line

67 Lifting device

68 Motor belt

69 Conveyor line rollers

70 containers

Horizontal plane of P2 conveyor line

P1 Horizontal plane of the transport track grid

100 Frame Structure

102. Upright members of a frame structure

103 Horizontal members of frame structures

104 Storage Grid/3D Grid

105 Storage Columns

106 Storage Containers

107 stacked

108 Track System

110 The first set of parallel orbits in the first direction (X)

111 The second set of parallel orbits in the second direction (Y)

115 Mesh Opening

119 Teleportation Column

120 Teleportation Column

122 grid cells

140 Teleportation System

150 transmission ports

200 First Container Handling Vehicle

201 Wheel Arrangement

300 Second Container Handling Vehicle

301 Wheel Arrangement

X First Direction

Y Second Direction

The horizontal plane of the P orbital system.

Claims (15)

1. A conveying system (140) for transporting a container (70) to an access point (65) for handling articles contained in the container by a human and/or robotic operator, The transmission system (140) includes: - A transport track grid (50) includes: at least a first set of parallel tracks arranged in a horizontal plane (P1) of the transport track grid and extending along a first direction (X); and at least a second set of parallel tracks arranged in the horizontal plane (P1) of the transport track grid and extending along a second direction (Y) orthogonal to the first direction (X), the at least first set of parallel tracks and the at least second set of parallel tracks together defining a plurality of transport grid cells (52). - A transfer vehicle (30) adapted to carry the container (70) and operate on the transfer track grid (50), and - A container access station (60) includes: the access point (65); and multiple conveyor lines extending into the access point (65) and operatively connected to the conveyor track grid (50). The conveyor vehicle (30) is arranged to convey the container (70) to/from at least one conveyor line, and the at least one conveyor line is arranged to transport the container (70) between the conveyor vehicle (30) and the access point (65). The conveyor vehicle (30) comprises a vehicle body (31) and a container carrier (35) disposed above the vehicle body for carrying the container (70), and the container carrier (35) comprises a conveyor arranged to horizontally convey the container (70) onto and remove it from the container carrier (35). The access point (65) is a location on the transport track grid (50) for a robot or human operator to access an item contained in the container (70) that has been transported to the access point (65). In the container access station (60), the multiple conveyor lines are arranged separately, side by side and in parallel, and each conveyor line includes the access point (65) located at the end of the conveyor line. 2. The conveying system (140) according to claim 1, wherein the conveying vehicle (30) comprises: - A first set of wheels (32a), arranged on a first opposing portion of the transport vehicle (30), for moving the transport vehicle along a first direction (X) on the transport track grid (50); and - A second set of wheels (32b) is arranged on a second opposite portion of the transport vehicle (30) for moving the transport vehicle (30) along a second direction (Y) on the transport track grid (50), the second direction (Y) being perpendicular to the first direction (X). 3. The conveying system (140) according to claim 1, wherein the at least one conveyor line (66) includes at least one of rollers (69), belts, chains, etc., and the rollers, belts, and chains have drive motors. 4. The conveying system (140) according to claim 3, wherein the drive motor is reversible for moving the roller (69) in opposite directions. 5. The conveying system (140) according to claim 1, wherein the container access station (60) includes a wall or outer shell plate arranged around the access point (65). 6. The conveying system (140) according to claim 1, wherein the upper surface of the at least one conveying line is disposed at the same height as the upper surface of the container carrier (35) carrying the container (70). 7. The conveying system (140) according to claim 1, wherein the container access station (60) comprises two or more conveyor lines (66) arranged in parallel side by side. 8. The conveying system (140) according to claim 7, wherein the two or more conveying lines (66) include a first conveying line and a second conveying line arranged in the same horizontal plane (P2) of the conveying lines. 9. The conveying system (140) according to claim 8, wherein the conveying vehicle (30) is arranged to convey the first container to the first conveyor line and move to the second conveyor line to receive the second container already handled at the access point (65). 10. An automated storage and retrieval system comprising a storage grid (104) for storing storage containers (106) and a transfer system (140) according to any one of claims 1 to 9, wherein the storage grid (104) comprises: - A track system (108) for guiding multiple container handling vehicles (200, 300), the track system (108) comprising: at least a first set of parallel tracks (110) arranged in a horizontal plane (P) and extending along a first direction (X); and at least a second set of parallel tracks (111) arranged in the horizontal plane (P) and extending along a second direction (Y) orthogonal to the first direction (X), the first set of parallel tracks (110) and the second set of parallel tracks (111) forming a grid pattern in the horizontal plane (P), the grid pattern comprising a plurality of adjacent grid cells (122), each grid cell (122) comprising a grid opening (115) defined by a pair of adjacent tracks (110a, 110b) of the first set of parallel tracks (110) and a pair of adjacent tracks (111a, 111b) of the second set of parallel tracks (111); and - Transfer trains (119, 120) are adapted to transfer storage containers (106) between the container handling vehicles (200, 300) operating on the track system and transfer vehicles operating on the transfer track system. The remotely operated transport vehicle (30) is arranged to transport the storage container (106) from the transport column of the storage grid (104) through the transport track grid (50) to the at least one transport line, and to return the storage container or different storage containers to the transport column for storage within the storage grid (104). 11. The automated storage and retrieval system of claim 10, wherein the transport vehicle is capable of picking up different containers (70) from the second conveyor line for transport to an external location. 12. The automatic storage and retrieval system according to claim 10, wherein the transport system (140) includes a first transport track grid and a second transport track grid, wherein the first transport track grid is located below the grid structure of the storage grid (104), and the second transport track grid is located outside the grid structure of the storage grid (104), the first transport track grid and the second transport track grid are connected such that the transport vehicle (30) can operate between the first transport track grid and the second transport track grid. 13. The automatic storage and retrieval system according to claim 12, wherein the access point (65) is located on the second transport track grid. 14. A method for transporting a container (70) to an access point (65) of a conveying system (140) according to any one of claims 1 to 9, The method includes the following steps: a) Operate the transfer vehicle (30) carrying the first container to guide the transfer vehicle (30) to at least one conveyor line; b) Operate the transfer vehicle (30) to transfer the first container to the conveyor line for transport to the access point (65); c) Operate the transfer vehicle (30) to receive the second container that has been moved at the access point from the at least one conveyor line. d) Transport the second container to an external location. 15. The method of claim 14, wherein the external location is a high-priority region.