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
• • 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
  • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
• • 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
  • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
• • 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
  • B65G1/14—Stack holders or separators
• • 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
  • B65G57/00—Stacking of articles
  • B65G57/02—Stacking of articles by adding to the top of the stack
  • B65G57/03—Stacking of articles by adding to the top of the stack from above
  • B65G57/06—Gates for releasing articles
• • G—PHYSICS
  • G07—CHECKING-DEVICES
  • G07F—COIN-FREED OR LIKE APPARATUS
  • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
  • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
  • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
  • G07F11/16—Delivery means
• • A—HUMAN NECESSITIES
  • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
  • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
  • A47F1/00—Racks for dispensing merchandise; Containers for dispensing merchandise
  • A47F1/04—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs
  • A47F1/06—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs dispensing from top
• • A—HUMAN NECESSITIES
  • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
  • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
  • A47F1/00—Racks for dispensing merchandise; Containers for dispensing merchandise
  • A47F1/04—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs
  • A47F1/12—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs dispensing from the side of an approximately horizontal stack
• • 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
  • B65G65/00—Loading or unloading

Definitions

• the present invention primarily relates to a unit for moving a plurality of goods holders out of a grid-based storage and retrieval system.
• Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3a-3b disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.
• the framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102.
• storage containers 106 also known as bins, are stacked one on top of one another to form container stacks 107.
• the members 102 may typically be made of metal, e.g. extruded aluminum profiles.
• the framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 301, 401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105.
• the rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 301, 401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 301, 401 in a second direction Y which is perpendicular to the first direction X.
• Containers 106 stored in the columns 105 are accessed by the container handling vehicles 301, 401 through access openings 112 in the rail system 108.
• the container handling vehicles 301, 401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.
• the upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105.
• the stacks 107 of containers 106 are typically self- supportive.
• Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable lateral movement of the container handling vehicles 201, 301, 401 in the A direction and in the Y direction, respectively.
• two wheels in each set are fully visible.
• the first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set 110 of rails
• the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails.
• At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.
• Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device 304, 404 (visible in Figs. 3a-3b) having a lifting frame part 304a, 404a for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105.
• the lifting device 304, 404 comprises one or more gripping/ engaging devices which are adapted to engage a storage container 106, and which gripping/engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the gripping/engaging devices with respect to the vehicle 201, 301, 401 can be adjusted in a third direction Z (visible for instance in Fig.
• the storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells.
• Each storage column may be identified by a position in an X- and Y- direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.
• Each prior art container handling vehicle 201, 301, 401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108.
• the storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in Figs. 2 and 3b and as described in e.g. WO2015/193278A1 and WO2019/206487A1, the contents of which are incorporated herein by reference.
• Fig. 3a shows an alternative configuration of a container handling vehicle 301 with a cantilever construction.
• a container handling vehicle 301 with a cantilever construction.
• Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.
• columns 105 In the framework structure 100, a majority of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes.
• columns 119 and 120 are such special -purpose columns used by the container handling vehicles 201, 301, 401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100.
• such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120.
• the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201, 301 can drop off storage containers 106 to be transported to an access or a transfer station
• the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from an access or a transfer station.
• the access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106.
• the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are, once accessed, returned into the framework structure 100.
• a port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.
• the conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in WO2014/075937A1, the contents of which are incorporated herein by reference.
• a number of storage containers exits the storage space(s) for subsequent transport to an alternative location.
• a wheeled structure shown in Fig. 5a of WO2016/166294A1 that transports storage containers between the storage space(s) and the transport vehicle is employed.
• one major challenge associated with the system of WO2016/166294A1 is to ensure efficient and safe flow of storage containers. More specifically, it is necessary to provide a solution that allows precise and secure loading/unloading of said wheeled structure while preserving structural integrity of the storage containers.
• First aspect of the invention relates to a unit for moving a plurality of goods holders in accordance with claim 1.
• MFC micro fulfilment center
• the remotely operated vehicle may collect all the goods holders needed for an order and drop them into a given unit without any particular restriction on the order. This could improve efficiency, especially when it comes to grouping of goods holders for an order, as the number of scheduled movements taken by the remotely operated vehicle should be significantly reduced.
• the unit holding the goods holders hereby creates a type of temporary buffer in the system. Furthermore, it becomes possible to effortlessly put back goods holders into the unit in a desired order to facilitate further handling of these by the remotely operated vehicle once said goods holders reenter the storage and retrieval system.
• the goods holders are firmly secured during unit transport since the unit is sized so that a goods holder in an upright configuration fits snugly in the space delimited by unit walls and the barrier in second position (preventing extraction of goods holder from the unit).
• advantages discussed above in connection with the unit for moving a plurality of goods holders may even be associated with the corresponding methods and are not further discussed.
• the unit for moving a plurality of goods holders of the present invention is for use in the context of the framework structure 100 comprising upright members 102.
• the unit for moving a plurality of goods holders of the present invention is for use in the context of a storage volume comprising storage columns
• the unit for moving a plurality of goods holders 106 of the present invention is for use in the context of a rail system 108 arranged across the top of the framework structure 100.
• a plurality of remotely operated vehicles travels on the rail system 108 and raises goods holders 106 from, and lowers goods holders 106 into, the storage columns 105, and also to transport the goods holders
• the unit for moving a plurality of goods holders of the present invention is for use in the context of a SDG-based rail system 108.
• SDG stands for Single/Double Grid. This design provides a single rail track along one axis and a double rail track along the other axis. Utilizing a single rail in one direction requires the meeting robots to have a cell between them.
• the unit for moving a plurality of goods holders of the present invention is for use in the context of a DDG-based rail system 108.
• DDG stands for Double/Double Grid. This design provides a double rail track in all directions allowing robots to pass each other in all directions.
• the term “container handling vehicle” used in “Background and Prior Arf ’-section of the application and the term “remotely operated vehicle” used in the rest of the application text are synonymous and define an autonomous wheeled vehicle operating on a rail system arranged across the top of the framework structure being part of an automated storage and retrieval system.
• the terms “storage container” and “storage bin” used in “Background and Prior Art”-section of the application and the term “goods holder” used in the rest of the application text are synonymous and define a vessel for storing items.
• the goods holder of the present application can be any one of a bin, a tote, a pallet, a tray or similar. Different types of goods holders may be used in the same automated storage and retrieval system.
• lifting frame part used in “Background and Prior Art”-section of the application and the term “gripper assembly” used in in the rest of the application text both define a device for vertical transportation of storage containers, e.g. raising a storage container from, and lowering a storage container into, a storage column.
• FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.
• Fig. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.
• Fig. 3a is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.
• Fig. 3b is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
• Fig. 5 is a perspective view of a unit for moving a plurality of goods holders in accordance with one embodiment of the present invention, said unit also being featured in Fig. 4.
• Fig. 9 shows a unit of Fig. 8 where a goods holder rests on deployed goods holder supports shown in Fig. 8.
• Fig. 10 is a perspective view showing a unit for moving a plurality of goods holders in accordance with another embodiment of the present invention where the unit is completely filled with goods holders.
• Fig. 11 shows a unit of Fig. 10 where uppermost goods holder is being extracted from the unit.
• Fig. 12 is a perspective view showing a unit for moving a plurality of goods holders in accordance with yet another embodiment of the present invention.
• the framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 where storage containers 106 are stackable in stacks 107 within the storage columns 105.
• Fig. 4 shows a grid-based storage and retrieval system 1 according to an embodiment of the present invention.
• the grid-based storage and retrieval system 1 comprises a framework structure comprising vertically extending members 102 and a grid 108 of horizontal rails provided at upper ends of said vertical members 102.
• the framework structure defines a storage volume for storing goods holders 106.
• a remotely operated vehicle 506 for handling goods holders 106 operates on top of the grid 108.
• the shown system 1 is a micro fulfilment center (MFC).
• MFC micro fulfilment center
• an MFC is a small-scale warehouse facility placed close to the consumer to improve delivery times.
• goods holders 106 are inserted/extracted in/from a unit 10 for moving a plurality of goods holders by means of said remotely operated vehicle 506.
• Fig. 5 is a perspective view of a unit for moving a plurality of goods holders shown in Fig. 4.
• the unit 10 has an open top 12 for inserting or extracting a goods holder 106 in a vertical direction (as disclosed in connection with Fig. 4).
• the unit 10 is arranged to allow a goods holder 106 to be extracted from the unit via a lateral side 508 of said unit 10.
• the unit 10 comprises a barrier 512 associated with said lateral side.
• Said barrier 512 is movable between a first position allowing extraction of a goods holder from the unit 10 via said lateral side and a second position (shown in Fig. 5) preventing lateral extraction of a goods holder from the unit 10 via said lateral side 508.
• Two positions of the barrier 512 are shown in Figs. 8-11.
• the unit in accordance with the above enables automatic and accurate loading of the unit with goods holders (by means of a remotely operated vehicle).
• the unit 10 is for moving a single column of goods holders 106 and the open top 12 of the unit 10 is sized so as to allow insertion or extraction of a single goods holder 106 in an upright configuration.
• a goods holder in the upright configuration fits snugly in a space limited by unit walls and the barrier in the second position (preventing extraction of goods holder from the unit). In consequence, the goods holder is firmly secured during unit transport.
• the goods holder of the tote type is also conceivable, said tote having slightly smaller dimensions than the goods holder.
• the unit 10 is in a shape of a rectangular parallelepiped and said barrier is arranged at a long side of said unit 10.
• the barrier may be arranged at a short side of said unit 10.
• Figs. 6a-6d show a unit 10 for moving a plurality of goods holders 106, said unit being shown with a unit 514 for controlling a position of the foldable flaps in accordance with one embodiment of the present invention. More specifically, the unit for controlling a position of the foldable flaps 518 comprises a manual flap depl oyer in the shape of a lever 516, wherein deployment of said lever 516 results in pivoting of the flap.
• Figs. 6a-6b uppermost flaps 518 are mutually parallel and uppermost levers 516 are also mutually parallel, whereas lowermost flaps (not visible) and lowermost levers are in a plane. In consequence, it is possible to position a goods holder (by means of a remotely operated vehicle) on the lowermost flaps.
• Figs. 6c-6d both uppermost and lowermost flaps are in a plane and uppermost and lowermost levers are also in a plane. In consequence, it is possible to position a goods holder (by means of a remotely operated vehicle) only on the uppermost flaps.
• the lever is manually deployed, typically by an operator.
• Figs. 6e-6f show a unit 10 for moving a plurality of goods holders, said unit being shown with a unit 514 for controlling a position of the foldable flaps 518 in accordance with another embodiment of the present invention.
• a barrier 512 is also shown. More specifically, the unit for controlling a position of the foldable flaps is automatized and shown in engagement with a rectangular frame 520 affixed to a part of the framework structure (typically a booth shown in Fig. 4; not shown in Figs. 6e-6f).
• Said unit 514 for controlling a position of the foldable flaps is arranged at the rectangular frame.
• said unit for controlling a position of the foldable flaps comprises automatized flap deployers, the deployment of these resulting in pivoting of the flaps. More particularly and with reference to Fig. 6f, side bars 520 of the unit 10, to which bars the flaps are rigidly connected, are brought in engagement with flap deployers at the rectangular frame. The flap deployers are automatically turned, typically once a goods holder passes the corresponding flap pair in upward position, resulting in rotation of the side bars and pivoting of the flaps such that the flaps are in a plane and the 10 unit may receive another goods holder.
• Fig. 7a is a perspective view of a booth (525; also shown in Fig. 4) for accommodating the unit and the unit 10 itself. With reference to Fig. 4, the booth is accessible to a lifting device of the remotely operated vehicle.
• the booth 525 shown in Fig. 7a comprises a lateral enclosure 526 comprising at least three sections 526a-526c arranged so that the lateral enclosure is U-shaped.
• the lateral enclosure comprises a first means 528 for aligning in the shape of two sets of rollers arranged in opposite sections of the lateral enclosure.
• the lateral enclosure also comprises a second means 530 for aligning (also visible in Fig. 7c) in the shape of two protruding fingers arranged in a remaining section of the lateral enclosure, i.e. the one lacking the first means for aligning.
• the unit 10 for moving a plurality of goods holders comprises two cavities for receiving the protruding fingers.
• cavities are also part of the second means 530 for aligning.
• a tip of each protruding finger there is a first part of means (not shown) for locking the unit 10 with respect to the booth 525.
• This first part is a tap arranged at a right angle with respect to the protruding finger.
• the taps are for interaction with a second part of said means - vertically extending recesses (not shown), one recess being arranged in each cavity.
• Fig. 8 is a perspective view showing a wheeled unit 10 for moving a plurality of goods holders in accordance with another embodiment of the present invention where several goods holder supports are deployed.
• the goods holders 106 in the unit 10 are vertically spaced and the unit 10 comprises a plurality of vertically spaced goods holder supports.
• the goods holder support comprises at least one pair of foldable flaps 518 arranged at opposite walls of the unit 10.
• a unique feature of the unit shown in Fig. 8 is that each foldable flap is structurally integrated in a wall of the unit 10.
• Fig. 9 shows a unit of Fig. 8 where a goods holder rests on deployed goods holder support shown in Fig. 8.
• the flaps 518 could be manually deployed.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Warehouses Or Storage Devices (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=88417123

Family Applications (1)

Country Status (4)

Families Citing this family (1)

Family Cites Families (17)

• 2022
  • 2022-11-25 NO NO20221274A patent/NO20221274A1/en unknown
• 2023
  • 2023-10-17 WO PCT/EP2023/078777 patent/WO2024110121A1/en not_active Ceased
  • 2023-10-17 EP EP23790336.4A patent/EP4622891A1/de active Pending
  • 2023-10-17 CN CN202380081321.6A patent/CN120265556A/zh active Pending

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