CN121358674A - Storage system - Google Patents
Storage systemInfo
- Publication number
- CN121358674A CN121358674A CN202480040363.XA CN202480040363A CN121358674A CN 121358674 A CN121358674 A CN 121358674A CN 202480040363 A CN202480040363 A CN 202480040363A CN 121358674 A CN121358674 A CN 121358674A
- Authority
- CN
- China
- Prior art keywords
- floor element
- storage
- track
- support
- storage system
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
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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
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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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
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/40—Safety features of loads, equipment or persons
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
本发明提供了一种用于储存系统的地板元件，储存系统包括具有轨道网格（108）的框架结构（100），该地板元件包括：多个轨道支撑件（10），可枢转地连接到地板元件（8）的周缘；以及顶表面（11），操作者能站立在顶表面上，其中，轨道支撑件（10）中的每一个包括：支撑部分（18），包括面向下的支撑表面（12），支撑部分朝向第一位置偏置；以及致动器部分（19），朝向其中致动器部分从地板元件的周缘伸出的位置偏置；其中，致动器部分（19）布置在支撑部分（18）上方，并且当致动器部分（19）被朝向地板元件的周缘向内推动时，支撑部分（18）移动到向地板元件（8）的周缘外伸出的第二位置。
The present invention provides a floor element for a storage system comprising a frame structure (100) having a track grid (108), the floor element comprising: a plurality of track supports (10) pivotally connected to a periphery of the floor element (8); and a top surface (11) on which an operator can stand, wherein each of the track supports (10) comprises: a support portion (18) including a downward-facing support surface (12) biased toward a first position; and an actuator portion (19) biased toward a position in which the actuator portion extends from the periphery of the floor element; wherein the actuator portion (19) is arranged above the support portion (18), and when the actuator portion (19) is pushed inward toward the periphery of the floor element, the support portion (18) moves to a second position extending outward toward the periphery of the floor element (8).
Description
Technical Field
The present invention relates to a floor element for a storage system of storage containers.
Background
Fig. 1 discloses a prior art automated storage and retrieval system 1 (i.e., a storage system) having a frame structure 100, and fig. 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for operation on such a 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 stacks 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 (i.e., a track grid) disposed across the top of the frame structure 100 on which a plurality of container handling vehicles 201, 301, 401 may operate to raise 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 across the top of the frame structure 100 in a first direction X, 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 openings 112 in the track system 108 (the access openings 112 may also be referred to as grid spaces, i.e., rectangular spaces/openings defined by 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 raising and lowering of the containers from and into the columns 105. 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 wheel assembly having 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 be engaged with the respective set of tracks 110, 111 at any one time.
Each prior art container handling vehicle 201, 301, 401 further includes a lifting device 404 (i.e., container lifting device) for vertical transport of the storage containers 106, see fig. 4, for example, lifting the storage containers 106 from the storage column 105 and lowering the storage containers 106 into the storage column. The lifting device 404 has a lifting frame 2 comprising a container connector 3 adapted to engage a connection recess 13 at the upper edge of the side wall 14 of the storage container 106 (see fig. 5) and a guide pin 4. The guide pins 4 are arranged to interact with guide pin recesses 7 located at corners of the storage container and ensure correct alignment of the lifting frame 2 and the container connector 3 relative to the storage container. The guide pins 4 will also assist in guiding the lifting frame 2 relative to the upright members of the storage columns 105. The lifting frame 2 can be lowered from the vehicle 201, 301, 401 such that the position of the lifting frame 2 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. In fig. 2, the lifting device of the container handling vehicle 201 is located in the vehicle body 201 a.
To raise or lower the lifting frame 2 (and optionally the attached storage containers 106), the lifting frame 2 is suspended from the belt drive assembly by lifting belts 5. In the belt drive assembly, the lift belt is typically wound on/off at least one rotating lift shaft or spool disposed in the container handling vehicle. Various designs of belt drive assemblies are described, for example, in WO 2015/193278 A1, WO 2017/129384 A1 and WO 2019/206438 A1.
Conventionally, and also for the purposes of the present application, z=1 identifies the uppermost layer below track system 108 (i.e., the layer immediately below track system 108) for storing storage containers, z=2 identifies the second layer below track system 108, z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in fig. 1, z=8 identifies the lowest bottom layer 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 indicated in fig. 1, it can be said that the storage container identified as 106' in fig. 1 occupies the storage position 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 storage containers 106 are transported across track system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a, as shown in fig. 2 and 4 and as described for example in WO2015/193278A1 and WO2019/206487A1, the contents of both applications being 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, for example, in NO 317366, the contents of which are also incorporated herein by reference.
The cavity container handling vehicle 201 shown in fig. 2 may have a footprint covering an area having dimensions in the X-direction and the Y-direction that is generally equal to the lateral extent of the storage column 105, as described, for example, in WO2015/193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".
Alternatively, the cavity container handling vehicle 401 may have a larger footprint than the lateral area defined by the storage columns 105 shown in fig. 1 and 4, for example as disclosed 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 may comprise two parallel rails.
WO2018/146304A1 (the contents of which are incorporated herein by reference) illustrates a typical configuration of a track system 108 comprising tracks and parallel rails in both the X-direction and the Y-direction, forming a track grid.
In the frame structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In fig. 1, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, 401 to unload and/or pick up storage containers 106 so that storage containers may be transported to an access station (not shown) where storage containers 106 may be accessed from outside of frame structure 100 or transferred from or into 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. Note that the term "tilted" means that the transport of the storage container 106 has a general 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 automated storage and retrieval system 1, but are returned to the frame structure 100 once 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 employed to transport storage containers between the port columns 119, 120 and the access station.
If the port columns 119, 120 and access station are at different levels, the conveyor system may include a lifting device with vertical members for transporting the storage containers 106 vertically between the port columns 119, 120 and the access station.
The conveyor system may be arranged to transfer the storage containers 106 between different frame structures, for example as described in WO2014/075937A1, the content of which is incorporated herein by reference. The conveyor system in WO2014/075937A1 is a storage container lifting device arranged to transport storage containers between two vertically separated frame structures 100.
When the storage containers 106 stored in one of the storage columns 105 disclosed in fig. 1 are to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to take out the target storage container 106 from its position 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 positioned, taking the storage container 106 out of the storage column 105 using the lifting device 404 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., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned 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 automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specific to the task of temporarily removing storage containers 106 from the storage columns 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 may be repositioned into the original storage column 105. However, alternatively, the removed storage containers 106 may be relocated to other storage columns 105.
When a storage container 106 is to be stored in one of the plurality of columns 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport the storage container to a location above the storage column 105 where the storage container is to be stored. After removing any storage containers 106 positioned at or above the target location within the stack 107, the container handling vehicles 201, 301, 401 position the storage containers 106 at the desired locations. 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 storage system 1, for example the position of the respective storage containers 106 within the frame structure 100, the content of each storage container 106 and the movement of the container handling vehicles 201, 301, 401, so that a desired storage container 106 can be transported to a desired location at a desired time without the container handling vehicles 201, 301, 401 colliding with each other, the storage system 1 comprises a control system 500, which is typically computerized and typically comprises a database for tracking the storage containers 106.
A problem with the automated storage and retrieval system described above is that it is difficult for maintenance personnel to face access equipment disposed on the frame structure 100 when the equipment requires maintenance. Such devices include container handling vehicles, charging stations for container handling vehicles, and the like. For example, if a container handling vehicle stops working on the track grid 108, there is no easy way for service personnel to reach the vehicle. One option is to use a service vehicle unit, which is a manually driven personnel vehicle. However, the use of these vehicles is cumbersome and does not allow the operator to transport any required equipment on the track grid. Furthermore, the area around the equipment to be serviced is often made up of open-ended storage columns 105, making maintenance work difficult to perform, at least in a safe manner.
The use of floor elements to allow access to areas on a track grid is described in WO 2019/081092 A1. The floor element may be arranged on top of and supported by a stack of storage containers. The floor element may comprise rail interaction elements to support the floor element by rails of a rail grid. The configuration of the rail-interacting element is not disclosed.
It is an object of the present invention to provide an improved floor element to be supported by a track of a storage system and a storage system comprising such a floor element.
Disclosure of Invention
The invention is defined by the appended claims and by the following:
In a first aspect, the invention provides a storage system for storing containers, the storage system comprising a frame structure having a track grid on which a container handling vehicle is arranged to move, the frame structure defining a plurality of storage columns below the track grid, wherein the storage containers in the storage columns are arranged one on top of the other in a vertical stack, the track grid comprising a first set of parallel tracks and a second set of parallel tracks defining a plurality of access openings, one access opening being arranged at an upper end of each of the storage columns, wherein the storage system comprises a floor element configured to be arranged in a supporting position at the upper end of the storage columns, the floor element comprising a track support and a top surface on which an operator can stand, each of the track supports being arranged at a periphery of the floor element and comprising a downwardly facing supporting surface configured to engage with the upwardly facing surface of the track to support the floor element at a fixed height relative to the track grid when the floor element is in a supporting position, wherein each of the track supports comprises a floor element having a downwardly facing supporting surface and an actuator portion to deflect the floor element from within the periphery of the floor element to a position when the access portion is connected to the actuator portion beyond the periphery of the floor element when the access portion is in the supporting position.
The second set of parallel tracks may be arranged perpendicular to the first set of tracks.
The access opening may be rectangular and the inner periphery is sized to allow storage containers to pass through the track grid into the storage columns.
The floor element may be configured to be disposed within the access opening when in the support position at the upper end of the storage column.
The flooring element may alternatively be referred to as a floor panel.
The top surface of the floor element may be flush with the upper layer of the rail mesh or slightly below or above the upper layer of the rail mesh when the floor element is in the supporting position. The top surface may be disposed at a height relative to an upper layer of the track grid that allows the container handling vehicle to move above the floor.
The upper portion of the rail may be an upper edge of the rail, which edge is arranged at the periphery of the access opening.
The downwardly facing support surface may be configured to engage with upwardly facing surfaces of respective ones of the first and second sets of parallel tracks.
The periphery of the floor element may be substantially rectangular. The perimeter of the rectangle may be defined by two pairs of opposing side walls. In the second position, the downwardly facing support surface may extend beyond the periphery defined by the side walls.
The support portion is disposed at a height below the actuator portion.
In some embodiments of the storage system, the downwardly facing support surface may be configured to engage with an upwardly facing surface of the rail when the support portion is in the second position and the floor element is in the support position. In other words, the downwardly facing support surface is configured to engage with upwardly facing surfaces of respective ones of the first and second sets of parallel tracks.
In some embodiments of the storage system, the first set of parallel tracks and the second set of parallel tracks provide a horizontally extending recess at an inner periphery of the access opening, the recess comprising an upwardly facing surface. In other words, each track of the first and second sets of parallel tracks has a vertical cross-sectional profile including recesses on opposite sides thereof.
In some embodiments of the storage system, the support portion is biased toward the first position by a resilient element (e.g., a spring).
In some embodiments of the storage system, the support portion and the actuator portion may be arranged at opposite ends of a lever which is pivotably connected to the floor element by a pivot connection arranged between the support portion and the actuator portion. In other words, each track support may comprise a lever which is connected to the floor element by a pivot connection, and which may comprise a support portion and an actuator portion arranged on opposite sides of the pivot connection.
In some embodiments of the storage system, the actuator portion may comprise a curved or inclined surface for engaging with an upper portion of the respective track during lowering of the floor element into the access opening, whereby the actuator portion is urged in a direction away from the upper portion of the track. In other words, the actuator portion may be pushed in a direction away from the upper portion of the rail due to the interaction between the curved/inclined surface and the upper portion of the respective rail.
In some embodiments of the storage system, the container handling vehicle may include a vertically movable lifting frame for lifting or lowering storage containers from or into any of the storage columns.
In some embodiments of the storage system, the floor element may comprise a recess for releasable connection to the lifting frame.
The lifting frame may comprise a holder for connection to the recess of the floor element. The holder may be adapted to be connected to the floor element and any of the storage containers. The recess may be arranged at the top surface of the floor element.
The frame structure may include a plurality of vertical column profiles, i.e., upstanding members, defining storage columns. The vertical column profile may include vertical angle sections for guiding corresponding corners of the lifting frames lowered or raised within the storage column. The vertical corner sections may define corners of the rectangular inner periphery of the storage column.
The track grid may be arranged on top of and supported by the vertical column profile of the frame structure.
The first set of parallel tracks and the second set of parallel tracks may be dual rail tracks, single rail tracks, or any combination thereof.
The container handling vehicle may include a wheel assembly that enables the container handling vehicle to move in two perpendicular directions on the track grid. The wheel assembly may have a first set of wheels and a second set of wheels. The first set of wheels may be arranged to engage a first set of parallel tracks of the track grid and the second set of wheels may be arranged to engage a second set of parallel tracks of the track grid. At least one of the sets of wheels may be raised and lowered relative to the other sets of wheels such that the first set of wheels and/or the second set of wheels may engage the corresponding set of tracks at any one time.
In a second aspect, the invention provides a floor element for a storage system comprising a frame structure with a track grid, which storage system may be a storage system according to any embodiment of the first aspect, the floor element comprising a plurality of track supports arranged at the periphery of the floor element, and a top surface on which an operator can stand, wherein each of the track supports comprises a support portion comprising a downwardly facing support surface biased towards a first position, an actuator portion biased towards a position protruding from (i.e. extending beyond) the periphery of the floor element, and a pivotal connection to the floor element between the support portion and the actuator portion, wherein the actuator portion is arranged at a height above the support portion, and wherein the support portion moves to a second position outside the periphery of the floor element when the actuator portion is pushed towards the periphery of the floor element.
The flooring element may comprise side walls defining a periphery of the flooring element.
In some embodiments, the flooring element of the second aspect may comprise the features of the flooring element of any of the embodiments of the first aspect.
In a third aspect, the present invention provides a method of supporting a floor element at an upper end of a storage column in a storage system according to any embodiment of the first aspect. The method includes the steps of lowering the floor element in a vertical direction toward an upper end of one of the storage columns until an actuator portion of each rail support engages an upper portion of the rail (e.g., an upper edge of the rail), and further lowering the floor element in a vertical direction until a support portion of each rail support has been moved from a first position to a second position such that a downwardly facing support surface engages an upwardly facing surface of the rail to support the floor element at a fixed height relative to the rail grid.
When engaged with the upper portion of the track, the actuator portion is urged towards the periphery of the floor element. Alternatively, the actuator portion may be defined to be urged closer to the vertical centre line of the floor element when engaged with the upper portion of the track.
Drawings
Embodiments of the present invention will be described in detail by referring 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 a centrally disposed cavity for carrying a storage container therein.
Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for carrying a storage container underneath.
Fig. 4 is a perspective view of a prior art container handling vehicle, wherein a container lift assembly is shown.
Fig. 5 is a perspective view of a storage container suitable for the storage system of fig. 1.
Fig. 6 is a perspective view of a prior art storage system.
Fig. 7-10 illustrate exemplary flooring elements for use in a storage system according to the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. The drawings are not intended to limit the invention to the subject matter shown.
As discussed above, the prior art storage system 1 as shown in fig. 1 may present challenges for safe movement of an operator on a track grid.
A prior art solution is disclosed in patent application WO 2019/081092 A1, which overcomes at least some of the safety problems with respect to an operator moving on a track grid, see fig. 6. The floor elements 6 of the prior art may be arranged on top of and supported by a stack of storage containers 106. The prior art floor elements may comprise rail interaction elements to support the floor elements by rails of a rail grid, but no specific configuration of rail interaction elements is disclosed.
The present invention provides a storage system with improved flooring elements. The improved floor element does not require any modification to the track grid 108 of the prior art storage system and will not interfere with the movement of the container handling vehicle on the track grid.
The configuration of the frame structure 100, container handling vehicle, and storage container 106 of the storage system of the present invention may be as disclosed for the prior art storage system 1 discussed in the background section above and shown in fig. 1.
Thus, an exemplary storage system will include a frame structure 100 having a vertical column profile 102 defining a plurality of storage columns 105 and a track grid 108 disposed above the storage columns 105. The track grid 108 is configured to allow container handling vehicles 201, 301, 401 as shown in fig. 2-4 to move thereon. The track grid 108 comprises a first set of parallel tracks 110 and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110. The tracks 110, 111 define an access opening 112 at the upper end of the storage column 105. The storage columns 105 may house storage containers 106 that are supported on top of each other in a vertical stack. The tracks of the first set of parallel tracks 110 and the second set of parallel tracks 111 comprise horizontally extending recesses 20 on opposite sides thereof. The recess 20 is arranged at the inner periphery of the access opening 112. Each recess 20 includes or is defined by an upwardly facing surface 17.
An exemplary floor element 8 is shown in fig. 7 to 10. The floor element 8 comprises a top surface 11 on which an operator can stand, and a plurality of rail supports 10. To allow the floor element 8 to be moved on top of the track grid 108 by means of prior art container handling vehicles 201, 301, 401, the floor element 8 comprises a recess 9 for releasable connection with the lifting frame 2 via the gripper 3 and is configured to be arranged in a supporting position at the upper end of the storage column 105. The exemplary flooring element includes a sidewall 25 defining a periphery of the flooring element.
Each of the rail supports 10 is arranged at the periphery of the floor element 8 and comprises a downwardly facing support surface 12 configured to engage with one of the upwardly facing surfaces 17 of the rails 110, 111 to support the floor element 8 at a fixed height relative to the rail grid 108 when the floor element is in the support position, see fig. 10. The track support 10 comprises a lever having a support portion 18 with a downwardly facing support surface 17 and an actuator portion 19.
The track support 10 is pivotably connected 22 to the floor element 8 such that when the actuator portion 19 is deflected inwardly towards the inner periphery of the access opening 112 by engaging the upper side edge 24 (i.e. the upper portion) of one of the tracks during lowering of the floor element 8 into the access opening 112, the support portion 18 moves in a horizontal direction from the first position to the second position, outwardly beyond the inner periphery of the access opening 112, see fig. 8 and 9. The support portion 18 is biased towards the first position by a spring 21, i.e. a resilient element.
The actuator portion 19 includes a curved or inclined surface 23 for engagement with an upper side edge 24 to provide smooth movement of the support portion 18 between the first and second positions.
In the secured position, the top surface 11 of the floor element is flush with, or at a level slightly below, the upper edges of the tracks 110, 111 defining the access opening 112.
Further, the present disclosure includes configurations according to the following clauses.
Clause 1. A storage system for storing containers, the storage system comprising a frame structure having a track grid on which a container handling vehicle is arranged to move, the frame structure defining a plurality of storage columns below the track grid, wherein the storage containers in the storage columns are arranged one on top of the other in a vertical stack, the track grid comprising a first set of parallel tracks and a second set of parallel tracks defining a plurality of access openings, one access opening being arranged at an upper end of each of the storage columns, wherein the storage system comprises a floor element configured to be arranged in a supporting position at the upper end of the storage columns, the floor element comprising a track support and a top surface on which an operator can stand, each of the track supports being arranged at a periphery of the floor element and comprising a downwardly facing supporting surface configured to engage with the upwardly facing surface of the track to support the floor element at a fixed height relative to the track grid when the floor element is in a supporting position, wherein each of the track supports comprises a support portion having a downwardly facing supporting surface and an actuator portion, and the actuator portion being movable from within the floor element beyond the periphery of the access portion into the supporting position when the actuator portion is deflected from the upper side of the first support portion into the periphery of the access opening.
Clause 2 the storage system of clause 1, wherein the downwardly facing support surface is configured to engage with the upwardly facing surface of the rail when the support portion is in the second position and the floor element is in the support position.
Clause 3 the storage system of clause 1 or 2, wherein the first set of parallel tracks and the second set of parallel tracks provide a horizontally extending recess at the inner periphery of the access opening, the recess comprising an upwardly facing surface.
Clause 4 the storage system of any of the preceding clauses, wherein the support portion is biased toward the first position by the resilient element.
Clause 5 the storage system according to any of the preceding clauses, wherein the support portion and the actuator portion are arranged at opposite ends of a lever that is pivotably connected to the floor element by a pivot connection arranged between the support portion and the actuator portion.
Clause 6 the storage system according to any of the preceding clauses, wherein the actuator portion comprises a curved or inclined surface for engaging with an upper portion of the corresponding track during lowering of the floor element into the access opening, whereby the actuator portion is urged in a direction away from the upper portion of the track.
Clause 7 the storage system of any of the preceding clauses, wherein the container handling vehicle comprises a vertically movable lifting frame for lifting the storage containers from or lowering the storage containers into any of the storage columns.
Clause 8 the storage system of any of the preceding clauses, wherein the floor element comprises a recess for releasable connection to the lifting frame.
Clause 9. A floor element for a storage system comprising a frame structure with a track grid, the floor element comprising a plurality of track supports arranged at a periphery of the floor element, and a top surface on which an operator can stand, wherein each of the track supports comprises a support portion comprising a downwardly facing support surface, biased towards a first position, an actuator portion biased towards a position protruding from the periphery of the floor element, and a pivotal connection to the floor element between the support portion and the actuator portion, wherein the actuator portion is arranged at a height above the support portion, and wherein the support portion moves to a second position outside the periphery of the floor element when the actuator portion is pushed towards the periphery of the floor element.
Clause 10. A method of supporting a floor element at an upper end of a storage column in a storage system according to any of clauses 1-8, the method comprising the steps of lowering the floor element in a vertical direction towards an upper end of one of the storage columns until an actuator portion of each rail support engages an upper portion of the rail, and further lowering the floor element in a vertical direction until a support portion of each rail support has been moved from a first position to a second position such that a downwardly facing support surface engages an upwardly facing surface of the rail to support the floor element at a fixed height relative to the rail grid.
List of reference numerals
Claims (12)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20230960 | 2023-09-08 | ||
| NO20230960 | 2023-09-08 | ||
| PCT/EP2024/075040 WO2025051986A1 (en) | 2023-09-08 | 2024-09-06 | Storage system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN121358674A true CN121358674A (en) | 2026-01-16 |
Family
ID=92711191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202480040363.XA Pending CN121358674A (en) | 2023-09-08 | 2024-09-06 | Storage system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN121358674A (en) |
| WO (1) | WO2025051986A1 (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101253848B1 (en) * | 2010-12-09 | 2013-04-12 | 주식회사 포스코 | Conveyer Shuttle System |
| 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 |
| NO20160118A1 (en) | 2016-01-26 | 2017-07-27 | Autostore Tech As | Remotely operated vehicle |
| NO20170216A1 (en) | 2017-02-13 | 2018-08-14 | Autostore Tech As | Rail arrangement for wheeled vehicles in a storage system |
| NO344407B1 (en) | 2017-10-24 | 2019-12-02 | Autostore Tech As | Automated storage and retrieval system and method of providing access to equipment |
| 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 |
| US11377298B2 (en) | 2018-04-25 | 2022-07-05 | Autostore Technology AS | Container handling vehicle with first and second sections and lifting device motor in second section |
| NO346141B1 (en) * | 2020-09-11 | 2022-03-21 | Autostore Tech As | System and method of circulating a gas in an automated grid based storage and retrieval system |
| NO346543B1 (en) * | 2021-03-09 | 2022-09-26 | Autostore Tech As | A storage system featuring covers arrangeable in storage columns |
-
2024
- 2024-09-06 CN CN202480040363.XA patent/CN121358674A/en active Pending
- 2024-09-06 WO PCT/EP2024/075040 patent/WO2025051986A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| WO2025051986A1 (en) | 2025-03-13 |
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