NO342459B1 - Lifting system for lifting and placing bins and method for same - Google Patents
Lifting system for lifting and placing bins and method for same Download PDFInfo
- Publication number
- NO342459B1 NO342459B1 NO20160970A NO20160970A NO342459B1 NO 342459 B1 NO342459 B1 NO 342459B1 NO 20160970 A NO20160970 A NO 20160970A NO 20160970 A NO20160970 A NO 20160970A NO 342459 B1 NO342459 B1 NO 342459B1
- Authority
- NO
- Norway
- Prior art keywords
- bins
- lifting
- lifting system
- vehicle
- remotely operated
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 210000000352 storage cell Anatomy 0.000 claims abstract description 12
- 230000004913 activation Effects 0.000 claims abstract description 9
- 230000003213 activating effect Effects 0.000 claims abstract description 6
- 210000004027 cell Anatomy 0.000 description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
A lifting system 10 adapted for being integrated in a remotely operated vehicle 20 arranged for lifting and placing bins 30 of different shapes stored in vertical stacks in storage cells 40 made of a grid structure 50 of storage columns. The vehicle 20 is running on rails 60 arranged on the upper most location of the grid structure 50. The lifting system 10 comprises a frame structure 70 connected to the vehicle 20 by means of adjustable wires or beits 80. The frame structure 70 is provided with a set of controllable gripping devices 90, means for controlling each gripping device, and activation means for activating only griping devices 90 to be used according to the size of one or more bins 30 to be lifted. An inventive method for lifting bins 30 of different shapes is also defined.A lifting system 10 adapted for being integrated in a remotely operated vehicle 20 arranged for lifting and placing bins 30 of different shapes stored in vertical stacks in storage cells 40 made of a grid structure 50 of storage columns. The vehicle 20 is running on rails 60 arranged on the upper most location of the grid structure 50. The lifting system 10 comprises a frame structure 70 connected to the vehicle 20 by means of adjustable wires or beits 80. The frame structure 70 is provided with a set of controllable gripping devices 90, means for controlling each gripping device, and activation means for activating only griping devices 90 to be used according to the size of one or more bins 30 to be lifted. An inventive method for lifting bins 30 of different shapes is also defined.
Description
TECHNICAL FIELD
The present invention relates to the field of automated logistics and storage systems. More specifically the invention relates to a lifting system and method for handling, lifting and placing bins of different shapes.
BACKGROUND
The applicant's already known AutoStore® system is a storage system comprising a three-dimensional storage grid containing similar sized storage bins that are stacked on top of each other to a certain height. The storage grid is constructed with aluminium columns interconnected by rails on the top level. A number of vehicles, or robots, are arranged to run on the rails.
Each vehicle is equipped with a lifting device for picking up, carrying, and placing bins that are stored in the cells of the storage grid. Each vehicle is further configured to pick up a standardized sized bin from one location and place it at another location.
A vehicle or robot may for instance be remotely operated and controlled to pick up the upper most bin from a stack of bins stored in a cell, and move the bin to another cell or a delivery station and vice versa. In order to be able to do this a robot vehicle is equipped with a lifting frame which is connectible to a storage bin, as illustrated in figure 1.
The lifting frame is connected to the robot vehicle by means of two pairs of wirelines or bands. Each pair of wirelines/bands can be spooled onto a separate rotatable lifting shaft comprised in the robot vehicle. The lifting frame may thus be lowered or raised in a vertical direction depending on the direction in which the rotatable lifting shaft rotates. In this way a bin can be picked up from one cell in the storage grid and placed in another cell or at another location.
WO 2015193278 A1 describes a remotely operated vehicle assembly for picking up storage bins from a storage system. The assembly comprises a lifting frame being integrated in a remotely operated vehicle and arranged for lifting and placing bins of similar size by means of lifting grips arranged along the edge of the lifting frame.
Storage systems described in prior art comprise a lifting frame made for handling bins of similar sizes. The frame comprises guide pins arranged at each corner of the lifting frame, and gripping means for connection to a storage bin to be picked up.
The limitations of handling only bins of same size are disadvantageous since they set a clear upper limit with regards to degree of bin content grouping.
It is thus an object of the present invention to provide a flexible lifting system adapted for being integrated in a remotely operated vehicle arranged for lifting and handling bins of different shapes.
The present invention comprises an improved and flexible lifting system suitable for being integrated in applicant’s already known AutoStore® system.
SHORT DESCRIPTION OF THE INVENTION
The present invention is defined by a lifting system adapted for being integrated in a remotely operated vehicle arranged for lifting and placing bins stored in vertical stacks in storage cells made of a grid structure of storage columns. The vehicle is running on rails arranged on the upper most location of the grid structure. The lifting system comprises a frame structure connected to the vehicle by means of adjustable wires or belts.
The lifting system according to the invention differs from prior art in that it is enabled for handling bins of various sizes.
The present invention is set forth and characterized in the main claims, while the dependent claims describe other characteristics of the invention.
In particular, the invention concerns a lifting system adapted for being integrated in a remotely operated vehicle arranged for lifting and placing bins of different shapes. The bins are stored in vertical stacks in storage cells made of a grid structure of storage columns, wherein the vehicle is running on rails arranged on the upper most location of the grid structure. The lifting system comprises a frame structure connected to the vehicle by means of adjustable wires or belts. The lifting system is characterized in that the frame structure is provided with a set of controllable fitted gripping devices as well as means for controlling each gripping device, and activation means for activating the gripping devices according to the size of one or more bins to be lifted.
The invention also concerns a method which is suitable for lifting and placing bins of different shapes that is handled by the lifting system described above. The method is characterized in providing the frame structure with a set of controllable gripping devices, providing means for controlling each gripping device, and activating only griping devices to be used according to the size of one or more bins to be lifted.
DESCRIPTION OF THE DRAWINGS
Figure 1 is an illustration of a lifting system integrated in a remotely operated vehicle;
Figure 2 is an illustration showing details of a frame structure of the lifting system;
Figure 3 is an illustration of a lifting frame equipped with adjustably fitted gripping devices, and
Figure 4 is an illustration of one embodiment of a lifting frame equipped with several guiding tracks for holding adjustably fitted gripping devices.
DETAILED DESCRIPTION OF THE INVENTION
The invention will in the following be described in detail with reference to the figures. Specific details are introduced to provide a thorough understanding of embodiments of the claimed lifting system and method. One skilled in the relevant art, however, will recognize that these embodiments can be practiced without one or more of the specific details, or with other components, systems, etc. In other instances, well known structures or operations are not shown, or are not described in detail, to avoid obscuring aspects of the disclosed embodiments.
Figure 1 is an illustration of a lifting system 10 integrated in a remotely operated vehicle 20. The illustrated vehicle 20 is arranged to run on rails 60 mounted on top of a grid structure 50. The grid structure 50 is made with storage cells arranged in columns for vertical storing of bins 30 of different shapes. The lifting system 10 of the vehicle 20 comprises a frame structure 70 which is connected to the vehicle 20 by means of adjustable wires or belts 80. The figure shows the frame structure 70 connected to a bin 30.
The figure shows a lifting system 10 that is mounted at one side of the remotely operated vehicle 20. The lifting system 10 can also be mounted in the centre of the remotely operated vehicle 20. In this configuration, a bin can be lifted and integrated into the body of a vehicle 20. The footprint of the vehicle 20 will then be smaller, i.e. covering only one storage cell 40.
The frame structure 70 is provided with a set of controllable fitted gripping devices 90, means for controlling each gripping device 90, and activation means for activating the gripping devices 90 according to the size of one or more bins 30 to be lifted.
Each bin 30 to be used in the lifting system 10 is provided with cavities along its upper edges. The cavities are fitted in order to engage with the gripping devices 90. When a bin 30 is to be lifted, gripping devices 90 will be inserted into cavities and will then, when accommodated in the cavities, be activated to engage and lock to the cavity. Which gripping devices 90 that are activated will depend on the shapes and number of bins 30 to be lifted.
In one embodiment the frame structure 70 comprises a set of guide pins 100 adjusted according to the size of one or more bins 30 to be lifted.
Figure 2 shows details of a frame structure 70 of the lifting system 10 according to one embodiment of the invention. In this embodiment, the gripping devices 90 are stationary mounted to the frame structure 70 at positions matching the size of one or more bins 30 to be handled by a vehicle. The figure shows a frame structure 60 provided with gripping devices 90 distributed along its surface. A total of sixteen gripping devices 90 are shown. This configuration enables handling of several bins 30 of different shapes, e.g. one large bin 30, two medium bins 30, one medium bin 30 and two small bins 30, or four smaller bins 30.
When one large bin 30 is to be lifted, only gripping devices 90 at the edge of the frame structure 70 will be activated. In the configuration shown in figure 2 this means activation of a gripping device in each corner of the frame structure 70. If a bin with heavy articles is to be loaded more gripping devices 90 along the edge of the bin 30 may be activated for providing a firmer grip.
A set of four guide pins 100, one in each corner of the frame structure 70, are shown in figure 2. The frame structure 70 may however be provided with multiple sets of guide pins 100 according to shapes of bins 30 to be lifted. If for instance four small bins 30 are to be lifted at the same time, the frame structure 70 will have four sets of guide pins 100 with one set of four guide pins 100 placed in each corner of the footprint of a bin 30.
The activation means activating each gripping device 90 to be used in a lifting operation is connected to a supervisory control system having information related to number and shapes of bins 30 to be lifted by the lifting system 10.
If for instance four small sized bins 30 are to be lifted, the frame structure 70 will be lowered onto the top of the four bins 30 such that guide pins 100 of the frame structure 70 will come in contact with the cavities of the bins 30, thus guiding the gripping devices 90 into the cavities of each bin 30. All the gripping devices 90 in figure 2 will then be activated when fully accommodated in the cavities of the bins 30. A lifting operation of a bin 30 may then begin.
Figure 3 shows another embodiment of the invention where the frame structure 70 is provided with tracks 110 for guiding adjustably fitted gripping devices 90 to positions according to the size of one or more bins 30 to be lifted. In this configuration, each gripping device 70 can slide to a specific location in the frame structure 70 by means of the tracks 110 and driving means. Each gripping device will be controlled and guided to its position according to the shape of the one or more bins 30 to be lifted.
In this embodiment each gripping device may be provided with an electrical motor, as a driving means, which is controlled by a supervisory control system.
In another embodiment the gripping devices 90 may be connected by a wire and pulley system such that when a wire is moved the gripping devices 90 will be relocated. How this is implemented is regarded as obvious for a skilled person and not discussed further here.
Figure 4 shows one embodiment of the invention where the lifting frame structure 70 is provided with several guiding tracks for holding adjustably fitted gripping devices. By introducing a plurality of tracks 110 as shown in the figure, the frame structure will be able to handle a lot of different shaped bins 30 by guiding adjustably fitted gripping devices 90 to and from a plurality of different positions according to bin 30 shapes.
The invention further comprises a method for lifting and placing bins 30 of different shapes, where the bins 30 are stored in vertical stacks in storage cells 40 made of a grid structure 50 of storage columns. A lifting operation is performed by means of a lifting system 10 described above which is adapted for being integrated in a remotely operated vehicle 20 running on rails 60 that are arranged on the upper most location of the grid structure 10. The lifting system 10 comprises a frame structure 70 connected to said vehicle 20 by means of adjustable wires or belts 80.
The method is characterized in providing the frame structure 70 with a set of controllable gripping devices 90, and providing means for controlling each gripping device 90. In this way only griping devices 90 to be used according to the size of one or more bins 30 to be lifted is activated.
In one embodiment of the invention, stationary fitted gripping devices 90 are activated according to the size of one or more bins 30 to be lifted. The size and number of bins 30 to be lifted may be controlled by known sensor means integrated in the vehicle 20.
In another embodiment, the adjustable fitted gripping devices 90 are guided in tracks 110, provided in the frame structure 70, to positions according to the size of one or more bins 30 to be lifted.
The method can be performed by mounting the lifting system 10 described above on one side of the remotely operated vehicle 20. It may also be mounted on at least two sides of the vehicle 20. The body of the vehicle 20 may be enabled to rotate such that several bins 30 can be handled from all four storage 40 cells adjacent to the main body of a remotely operated vehicle 20 covering one storage cell 40. This provides a very flexible system enabled for handling bins 30 of different shapes and also placing and lifting bins 20 from several storage cells 40 in one operation, i.e. at the same time.
By providing a lifting system 10 in the centre of the remotely operated vehicle 20 a vehicle 20 will only occupy one storage cell 40, i.e. the storage cell 40 that it is currently placing or lifting bins 30 to or from. A combination comprising lifting systems mounted in the centre as well as to the sides of a vehicle 20 is also feasible.
In the preceding description, various aspects of the assembly according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the apparatus and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the apparatus, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.
By integrating the lifting system 10 according to the invention in a remotely operated vehicle 20, a flexible lifting assembly for handling bins of different sizes is provided.
Claims (10)
1. A lifting system (10) adapted for being integrated in a remotely operated vehicle (20) arranged for lifting and placing bins (30) of different shapes, said bins (30) are provided with cavities along its upper edges and are stored in vertical stacks in storage cells (40) made of a grid structure (50) of storage columns, wherein the vehicle (20) is running on rails (60) arranged on the upper most location of the grid structure (50), the lifting system (10) comprises a frame structure (70) connected to said vehicle (20) by means of adjustable wires or belts (80), c h a r a c t e r i z e d i n
that the frame structure (70) is provided with a set of stationary fitted gripping devices (90) comprising activation means for controlling activation and locking of the gripping devices (90) to the cavities according to the size of one or more bins (30) to be lifted.
2. The lifting system (10) according to claim 1, where the activation means are arranged to activate only gripping devices (90) needed according to the size of one or more bins (30) to be lifted.
3. The lifting system (10) according to claim 1 or 2, where the frame structure (70) comprises a set of guide pins (100) adjusted according to the size of one or more bins (30) to be lifted.
4. The lifting system (10) according to one of the claims 1 to 3, where the lifting system (10) is mounted on one side of the remotely operated vehicle (20).
5. The lifting system (10) according to one of the claims 1 to 3, where the lifting system (10) is mounted in the centre of the remotely operated vehicle (20).
6. A method for lifting and placing bins (30) of different shapes, said bins (30) are provided with cavities along its upper edges and are stored in vertical stacks in storage cells (40) made of a grid structure (50) of storage columns, where lifting is performed by means of a lifting system (10) adapted for being integrated in a remotely operated vehicle (20) running on rails (60) arranged on the upper most location of the grid structure (10), said lifting system (10) comprises a frame structure (70) connected to said vehicle (20) by means of adjustable wires or belts (80), c h a r a c t e r i z e d i n
providing the frame structure (70) with a set of stationary gripping devices (90) provided with activation means, activating and locking griping devices (90) to the cavities according to the size of one or more bins (30) to be lifted.
7. The method according to claim 6, by providing a lifting system (10) mounted in the centre of the remotely operated vehicle (20).
8. The method according to claim 6, by providing a lifting system (10) mounted on one side of the remotely operated vehicle (20).
9. The method according to claim 6, by providing a lifting system (10) mounted on at least two sides of the remotely operated vehicle (20).
10. The method according to claim 6, by providing a lifting system (10) mounted in the centre of the remotely operated vehicle (20) and on at least two sides of the remotely operated vehicle (20).
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20160970A NO342459B1 (en) | 2016-06-06 | 2016-06-06 | Lifting system for lifting and placing bins and method for same |
| PCT/EP2017/063097 WO2017211634A1 (en) | 2016-06-06 | 2017-05-31 | A lifting system of a remotely operated vehicle for handling dissimilar sized bins in an automated storage system |
| PL428068A PL245073B1 (en) | 2016-06-06 | 2017-05-31 | Lifting system of a remotely operated vehicle for carrying baskets of various sizes in an automatic storage system |
| TW106118503A TW201802017A (en) | 2016-06-06 | 2017-06-05 | A lifting system of a remotely operated vehicle for handling dissimilar sized bins in an automated storage system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20160970A NO342459B1 (en) | 2016-06-06 | 2016-06-06 | Lifting system for lifting and placing bins and method for same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| NO20160970A1 NO20160970A1 (en) | 2017-12-07 |
| NO342459B1 true NO342459B1 (en) | 2018-05-22 |
Family
ID=58992863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NO20160970A NO342459B1 (en) | 2016-06-06 | 2016-06-06 | Lifting system for lifting and placing bins and method for same |
Country Status (4)
| Country | Link |
|---|---|
| NO (1) | NO342459B1 (en) |
| PL (1) | PL245073B1 (en) |
| TW (1) | TW201802017A (en) |
| WO (1) | WO2017211634A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022214580A1 (en) * | 2021-04-09 | 2022-10-13 | Autostore Technology AS | A container handling vehicle for handling a delivery container stored within a storage container and a method thereof |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO345674B1 (en) | 2018-04-25 | 2021-06-07 | Autostore Tech As | Container-handling vehicle with a lifting shaft and method of operating gripper elements on a lifting frame of a container-handling vehicle |
| NO345766B1 (en) | 2018-10-12 | 2021-07-19 | Autostore Tech As | A mobile storage system and a method of providing the mobile storage system |
| NO345321B1 (en) | 2019-03-25 | 2020-12-07 | Autostore Tech As | Automated grid storage and retrieval system with foam-based fire prevention system |
| WO2020193475A1 (en) | 2019-03-25 | 2020-10-01 | Autostore Technology AS | Automated grid storage and retrieval system with foam-based fire prevention system |
| CN109985817A (en) * | 2019-05-10 | 2019-07-09 | 北京极智嘉科技有限公司 | A kind of sorting system and method for sorting |
| NO20200467A1 (en) * | 2020-04-16 | 2021-10-18 | Autostore Tech As | Container handling vehicle with cantilever construction and automated storage and retrieval system comprising a plurality of the container handling vehicles |
| NO20211040A1 (en) * | 2021-04-09 | 2022-10-10 | Autostore Tech As | A container handling vehicle for handling a delivery container stored within a storage container and a method thereof. |
| NO348008B1 (en) * | 2021-04-09 | 2024-06-17 | Autostore Tech As | Product handling system |
| NO346814B1 (en) * | 2021-04-28 | 2023-01-16 | Autostore Tech As | Container handler and method for handling a storage container |
| DE102022201404B3 (en) | 2022-02-10 | 2023-03-16 | Gebhardt Fördertechnik GmbH | Storage and removal system and station for a storage and removal system |
| EP4349740A1 (en) * | 2022-10-05 | 2024-04-10 | VOLUME Lagersysteme GmbH | Vehicle for lifting storage bins of a warhouse |
| WO2024074615A1 (en) * | 2022-10-05 | 2024-04-11 | Volume Lagersysteme Gmbh | Vehicle employable in a warehouse system |
| WO2024133118A1 (en) | 2022-12-19 | 2024-06-27 | Autostore Technology AS | Container handling vehicle for handling of smaller-sized storage containers in an automated storage and retrieval system |
| NO348392B1 (en) | 2023-05-09 | 2025-01-06 | Autostore Tech As | Container handling vehicle for handling containers in an automated storage and retrieval system and an automated storage and retrieval system |
| WO2024231497A1 (en) | 2023-05-09 | 2024-11-14 | Autostore Technology AS | A set of storage containers |
| WO2025003259A1 (en) | 2023-06-27 | 2025-01-02 | Autostore Technology AS | Container transfer device |
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| DE2029681A1 (en) * | 1970-06-16 | 1971-12-23 | Hilgers Ag | Crane suspension |
| EP0550114A1 (en) * | 1992-01-02 | 1993-07-07 | Rohaco Engineering B.V. | Device for gripping and moving articles |
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| WO2015193278A1 (en) * | 2014-06-19 | 2015-12-23 | Jakob Hatteland Logistics As | Robot for transporting storage bins |
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| JPS6145826A (en) * | 1984-08-09 | 1986-03-05 | Murata Mach Ltd | Article transferring robot |
| DE4242869A1 (en) * | 1992-12-18 | 1994-06-23 | Prinzing Georg Gmbh Co Kg | Shelf system for storing concrete moldings during setting |
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2017
- 2017-05-31 WO PCT/EP2017/063097 patent/WO2017211634A1/en active Application Filing
- 2017-05-31 PL PL428068A patent/PL245073B1/en unknown
- 2017-06-05 TW TW106118503A patent/TW201802017A/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2029681A1 (en) * | 1970-06-16 | 1971-12-23 | Hilgers Ag | Crane suspension |
| EP0550114A1 (en) * | 1992-01-02 | 1993-07-07 | Rohaco Engineering B.V. | Device for gripping and moving articles |
| JP2004292135A (en) * | 2003-03-28 | 2004-10-21 | Mitsui Eng & Shipbuild Co Ltd | Container space adjusting device for container lifting device |
| US20060045721A1 (en) * | 2004-08-03 | 2006-03-02 | Flexicell Inc. | Servo adjustable gripper device |
| US20080095604A1 (en) * | 2004-12-16 | 2008-04-24 | Jeon Jae H | Automatic Storage and Discharge Apparatus for Sheet |
| EP2241528A1 (en) * | 2009-04-17 | 2010-10-20 | EBAWE Anlagentechnik GmbH | Device for moving finished concrete components |
| WO2012080567A1 (en) * | 2010-12-13 | 2012-06-21 | Rannikon Konetekniikka Oy | Spreader |
| WO2015193278A1 (en) * | 2014-06-19 | 2015-12-23 | Jakob Hatteland Logistics As | Robot for transporting storage bins |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022214580A1 (en) * | 2021-04-09 | 2022-10-13 | Autostore Technology AS | A container handling vehicle for handling a delivery container stored within a storage container and a method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201802017A (en) | 2018-01-16 |
| PL428068A1 (en) | 2020-07-27 |
| PL245073B1 (en) | 2024-05-06 |
| NO20160970A1 (en) | 2017-12-07 |
| WO2017211634A1 (en) | 2017-12-14 |
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