[go: up one dir, main page]

WO2024251571A1 - Véhicule de manutention de conteneur et système de stockage - Google Patents

Véhicule de manutention de conteneur et système de stockage Download PDF

Info

Publication number
WO2024251571A1
WO2024251571A1 PCT/EP2024/064684 EP2024064684W WO2024251571A1 WO 2024251571 A1 WO2024251571 A1 WO 2024251571A1 EP 2024064684 W EP2024064684 W EP 2024064684W WO 2024251571 A1 WO2024251571 A1 WO 2024251571A1
Authority
WO
WIPO (PCT)
Prior art keywords
lifting frame
lifting
storage
container
container handling
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
Application number
PCT/EP2024/064684
Other languages
English (en)
Inventor
Trond Austrheim
Ivar Fjeldheim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autostore Technology AS
Original Assignee
Autostore Technology AS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Publication of WO2024251571A1 publication Critical patent/WO2024251571A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

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
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers

Definitions

  • Container handling vehicle and storage system
  • the present disclosure relates to a container handling vehicle and a storage system comprising the container handling vehicle.
  • Fig. 1 discloses a prior art automated storage and retrieval system 1 (i.e. a storage system), with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.
  • a prior art automated storage and retrieval system 1 i.e. a storage system
  • Figs. 2, 3 and 4 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 stacks 107.
  • the members 102 may typically be made of metal, e.g. extruded aluminium profiles.
  • the framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 (i.e. a rail grid) arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301 ,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.
  • a rail system 108 i.e. a rail grid
  • the rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201 ,301 ,401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201 ,301,401 in a second direction / which is perpendicular to the first direction X.
  • Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201 ,301,401 through access openings 112 in the rail system 108.
  • the container handling vehicles 201 ,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 the lateral movement of the container handling vehicles 201 ,301 ,401 in the X direction and in the Y direction, respectively.
  • 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.
  • the lift device 404 features a lifting frame 2 comprising container connectors 3, adapted to engage connecting recesses 13 at an upper rim of the sidewalls 14 of a storage container 106, see fig. 5, and guiding pins 4.
  • the guiding pins 4 are arranged to interact with guiding pin recesses 7 at the corners of the storage container and ensure a correct alignment of the lifting frame 2 and container connectors 3 relative to the storage container.
  • the guiding pins 4 will also assist in guiding the lifting frame 2 relative to the upright members of the storage column 105.
  • the lifting frame 2 can be lowered from the vehicle 201 ,301,401 so that the position of the lifting frame 2 with respect to the vehicle 201 ,301 ,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y.
  • the lifting device of the container handling vehicle 201 is located within the vehicle body 201a in Fig. 2.
  • the lifting frame 2 is suspended from a band drive assembly by lifting bands 5.
  • the lifting bands are commonly spooled on/off at least one rotating lifting shaft or reel arranged in the container handling vehicle.
  • band drive assemblies are described in for instance WO 2015/193278 A1 , WO 2017/129384 A1 and WO 2019/206438 A1.
  • each storage column 105 can be identified by its X and Y coordinates.
  • 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 /-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 4 and as described in e.g. WO2015/193278A1 and WO2019/206487A1 , the contents of which are incorporated herein by reference.
  • Fig. 3 shows an alternative configuration of 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.
  • the cavity container handling vehicles 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference.
  • the term 'lateral' used herein may mean 'horizontal'.
  • the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014/090684A1 or WO2019/206487A1.
  • the rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run.
  • the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks.
  • Each rail may comprise one track, or each rail may comprise two parallel tracks.
  • WO2018/146304A1 illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions forming a rail grid.
  • 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 transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical.
  • the storage containers 106 may be placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station.
  • tilted means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.
  • 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 returned into the framework structure 100 again once accessed.
  • 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 comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.
  • one of the container handling vehicles 201 ,301 ,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119.
  • This operation involves moving the container handling vehicle 201 ,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201 ,301,401 lifting device 404, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e.
  • the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105.
  • This step which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles.
  • the automated storage and retrieval system 1 may have container handling vehicles 201 ,301 ,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage 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 it to a location above the storage column 105 where it is to be stored.
  • the container handling vehicle 201 ,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105 or relocated to other storage columns 105.
  • the storage 1 For monitoring and controlling the storage system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework 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 delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the storage 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • a control system 500 typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • a disadvantage of, for example, the prior art container handling vehicle 301 shown in fig. 3 is that horizontal movement of the lifting frame 2 is not prevented until the lifting frame is fully raised and in contact with an underside of the cantilevered section 6 from which the lifting frame 2 depends.
  • the lifting frame 2 interacts with the cantilever section 6 to restrain horizontal movement between the lifting frame 2 and the cantilever section 6.
  • the container handling vehicle 301 in fig. 3 should not move upon the rail system 108 until the lifting frame is fully raised.
  • the time delay of having the container handling vehicle 301 standing still until the lifting frame is fully raised is minor when viewed on an individual basis.
  • a storage system will commonly have a plurality of container handling vehicles, wherein each vehicle performs many lifting operations and actions of one must often be completed before another vehicle can perform its actions. Consequently, a slight time delay for each operation will add up and contribute to a less than optimal efficiency of the storage system.
  • An object of the present disclosure is therefore to provide an improved container handling vehicle, for example wherein some of the disadvantages of the prior art vehicles featuring a cantilevered section are avoided or alleviated.
  • a container handling vehicle for lifting a storage container from an underlying framework structure
  • the container handling vehicle comprising: a vehicle body; and a container lifting assembly for lifting the storage container
  • the container lifting assembly comprises: a lifting frame for releasable connection to a storage container; a lifting shaft assembly; and a plurality of lifting bands, wherein the lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly
  • the vehicle body further comprises: a sidewall; and a cantilevered section from which the lifting frame depends, wherein the cantilevered section extends laterally from an upper end of the sidewall
  • the container handling vehicle further comprises a lifting frame guide assembly, the lifting frame guide assembly comprising a vertical guide surface arranged at each of two opposite sides of the sidewall; and the vertical guide surfaces are arranged to interact with two opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall such that horizontal movement of the lifting frame
  • the vertical guide surfaces and a width of the lifting bands extend in substantially the same horizontal direction.
  • each of the vertical guide surfaces is configured to provide a corresponding vertically extending corner section.
  • the lifting frame comprises at least two vertical guide pins, and each of the vertically extending corner sections is configured to accommodate one of the guide pins when the lifting frame is adjacent to the sidewall.
  • each of the vertically extending guide profiles is configured to provide a or the vertically extending corner section featuring one of the guide surfaces, each of the corner sections being configured to accommodate a respective corner of the lifting frame and arranged to interact with the lifting frame when the lifting frame is adjacent to the sidewall.
  • each of the vertically extending corner sections extends from a lower position on the sidewall towards the cantilevered section, such that the lifting frame is configured to be guided by the vertically extending corner sections during movement of the lifting frame in a vertical direction between the lower position and an upper position in which the lifting frame docks with the cantilevered section.
  • the container handling vehicle comprises: a first set of wheels; and a second set of wheels, wherein at least one of the sets of wheels is displaceable in a vertical direction between a first position and a second position, and wherein: the first set of wheels is arranged on opposite sides of the vehicle body and is configured for moving the vehicle along a first direction on a rail system of the underlying framework structure when the at least one of the sets of wheels is in the first position; and the second set of wheels is arranged on other opposite sides of the vehicle body and is configured for moving the vehicle along a second direction on the rail system when the at least one of the sets of wheels is in the second position.
  • a storage system comprising: at least one container handling vehicle of the first aspect; and a or the framework structure, wherein the framework structure comprises a plurality of storage columns, each storage column arranged to store a plurality of storage containers on top of one another in a substantially vertical stack, and wherein the vehicle is operated on a or the rail system at an upper level of the framework structure and is arranged to: retrieve storage containers from the storage columns; store storage containers in the storage columns; and transport the storage containers horizontally across the rail system.
  • a method of operating a container handling vehicle in a storage system comprising: a framework structure, wherein the framework structure comprises a plurality of storage columns, each storage column arranged to store a plurality of storage containers on top of one another in a substantially vertical stack; and at least one container handling vehicle, wherein the container handling vehicle is operated on a rail system at an upper level of the framework structure and is arranged to: retrieve storage containers from the storage columns; store storage containers in the storage columns; and transport the storage containers horizontally across the rail system, wherein the container handling vehicle comprises: a vehicle body; and a container lifting assembly for lifting the storage container, wherein the container lifting assembly comprises: a lifting frame for releasable connection to a storage container; a lifting shaft assembly; and a plurality of lifting bands, wherein the lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly, and wherein the vehicle body further comprises: a sidewall; and
  • a container handling vehicle for lifting a storage container from an underlying framework structure
  • the vehicle comprises a container lifting assembly for lifting the storage container and a vehicle body
  • the container lifting assembly comprises a lifting frame for releasable connection to a storage container, a lifting shaft assembly and a plurality of lifting bands, the lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly
  • the vehicle body comprises a sidewall and a cantilevered section from which the lifting frame depends, the cantilevered section extends laterally from an upper end of the sidewall
  • the container handling vehicle features a lifting frame guide assembly comprising a vertical guide surface arranged at each of two opposite sides of the sidewall; and the vertical guide surfaces are arranged to interact with two opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall (i.e. the vertical guide surfaces are arranged on opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall), such that horizontal movement of
  • the vertical guide surfaces and a width of the lifting bands may extend in the same horizontal direction.
  • the vertical guide surfaces and vertical lengths of the lifting bands i.e. the vertical length of the lifting bands extending between the lifting frame and the lifting shaft assembly, may be arranged in parallel vertical planes.
  • each of the vertical guide surfaces may be configured to provide a corresponding vertically extending corner section.
  • Each of the corner sections may be configured to accommodate a respective corner of the lifting frame and be arranged to interact with the lifting frame when the lifting frame is adjacent to the sidewall.
  • the vertical guide surfaces may be provided by vertically extending guide profiles arranged at each of two opposite sides of the sidewall, each of the vertically extending guide profiles providing one of the vertical guide surfaces.
  • the vertically extending corner sections may be configured to interact with two opposite corners of the lifting frame, the opposite corners being adjacent to the sidewall.
  • the lifting frame may comprise vertical guide pins, and each of the vertically extending corner sections may be configured to accommodate one of the guide pins when the lifting frame is adjacent to the sidewall.
  • the vehicle according to the first example may comprise: a first set of wheels arranged on opposite sides of the vehicle body, for moving the vehicle along a first direction on a rail system of the underlying framework structure; a second set of wheels arranged on other opposite sides of the vehicle body, for moving the vehicle along a second direction on the rail system, the second direction being perpendicular to the first direction; and at least one of the sets of wheels being displaceable in a vertical direction between a first position, wherein the first set of wheels allows movement of the vehicle along the first direction, and a second position, wherein the second set of wheels allows movement of the vehicle along the second direction.
  • a storage system comprising a framework structure and at least one container-handling vehicle according to the first example, wherein the framework structure comprises multiple storage columns, in which storage containers may be stored on top of one another in vertical stacks, and the container handling vehicle is operated on a rail system at a top level of the framework structure for retrieving storage containers from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the rail system.
  • a method of operating a container handling vehicle in a storage system comprising a framework structure and at least one container-handling vehicle, wherein the framework structure comprises multiple storage columns, in which storage containers may be stored on top of one another in vertical stacks, and the container handling vehicle is operated on a rail system at an upper level of the framework structure for retrieving storage containers from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the rail system
  • the container handling vehicle comprises a container lifting assembly for lifting the storage container and a vehicle body;
  • the container lifting assembly comprises a lifting frame for releasable connection to a storage container, a lifting shaft assembly and a plurality of lifting bands, the lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly;
  • the vehicle body comprises a sidewall and a cantilevered section from which the lifting frame depends, the cantilevered section extends laterally from an upper end of the side
  • the container handling vehicle comprises a container lifting assembly for lifting the storage container and a vehicle body;
  • the container lifting assembly comprises a lifting frame for releasable connection to a storage container, a lifting shaft assembly and a plurality of lifting bands, the lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly;
  • the vehicle body comprises a sidewall and a cantilevered section from which the lifting frame depends, the cantilevered section extends laterally from an upper end of the sidewall;
  • the container handling vehicle features a lifting frame guide assembly comprising a vertical guide surface arranged at each of two opposite sides of the sidewall; the vertical guide surfaces arranged to interact with two opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall, such that horizontal movement of the lifting frame relative to the vehicle body is restricted; wherein the method comprises the steps of: raising the lifting frame from a
  • the container handling vehicle may comprise wheels for moving the vehicle along any of a first direction and a second direction on a rail system of the underlying framework structure, the first direction being perpendicular to the second direction.
  • the container handling vehicle may be according to any of the examples of the first example.
  • sidewall is intended to mean a side section of the vehicle body.
  • the side section may comprise a cover plate but may also be a framework structure.
  • the side section may be substantially vertical.
  • horizontal movement is intended to comprise both lateral and rotational horizontal movement.
  • 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. 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for carrying storage containers underneath.
  • Fig. 4 is a perspective view of a prior art container handling vehicle, wherein a container lifting assembly is shown.
  • Fig. 5 is a perspective view of a storage container as used in the storage system in fig. 1.
  • Fig. 6 is a perspective side view of an exemplary container handling vehicle according to the present disclosure.
  • Figs. 7 to 9 are side views of the container handling vehicle in fig. 6.
  • Fig. 10 is a perspective view from below of the container handling vehicle in fig. 6.
  • Fig. 11 is an enlarged view of details in fig. 10.
  • Fig. 12 is a perspective side view of the container handling vehicle in fig. 6, wherein parts of the bodywork are not shown for ease of understanding.
  • Fig. 13 is an enlarged view of details shown in fig. 12.
  • a container handling vehicle suitable for lifting a storage container from an underlying framework structure which, advantageously, prevents horizontal movement of a lifting frame and thus, if present, a storage container being lifted by the lifting frame. More specifically, the container handling vehicle prevents horizontal movement of the lifting frame of the container handling vehicle during the period (that is, distance) before the lifting frame is fully raised and in contact with a cantilevered section of the container handling (at which point horizontal movement is generally prevented by interaction of the lifting frame with the cantilever section, as previously described). Such horizontal movement is prevented at least in part by the provision of a lifting frame guide assembly which includes vertical guide surfaces.
  • the vertical guide surfaces are arranged at opposite sides of the container handling vehicle, and more specifically on two opposite sides of a side wall of a body of the container handling vehicle.
  • the vertical guide surfaces interact with the lifting frame such that horizontal movement of the lifting frame - and thus any storage container being lifted - is restricted.
  • this means that the container handling vehicle may move upon the rail system upon which it sits before the lifting frame is fully raised into the cantilevered section. This could be advantageous both when no storage container is being lifted (for example, after delivery of a storage container) and when a storage container is being lifted. In both cases, the container handling vehicle can move on the rail system before the lifting frame is fully raised, and thus can move sooner.
  • the container handling vehicle may move as soon as the storage container being lifted is above the rail system, or - if no storage container is being presently lifted - as soon as the lifting frame is lifted above the rail system. Accordingly, the container handling vehicle can move sooner and need not lift the lifting frame entirely into the cantilever section. Overall, time and energy are thus saved because the container handling vehicle can perform its operations faster and with reduced movement of the lifting device. A more efficient device, system comprising the device, and methods of using the device and system are thus provided.
  • a remotely operated container handling vehicle is provided for use in an automated storage system featuring storage columns 105 for accommodating a stack of storage containers and a rail system 108, as discussed for the prior art storage system disclosed in fig. 1.
  • FIG. 6-13 An example of a container handling vehicle according to the present invention is shown in figs. 6-13.
  • the vehicle is for picking up storage containers 106 in an automated storage system 1, e.g. as shown in fig. 1 , by use of a container lifting assembly 2, 5, 8a, 8b.
  • the container lifting assembly features, for example, a lifting frame 2 for releasable connection to a storage container 106, a lifting shaft assembly 8a, 8b (shown in fig. 12) and four lifting bands 5.
  • the lifting bands 5 are connected to the lifting frame 2 and the lifting shaft assembly 8a, 8b such that the lifting frame 2 may be raised or lowered by operating the lifting shaft assembly 8a, 8b.
  • the container handling vehicle has a vehicle body 9 comprising a sidewall 10 and a cantilevered section 6.
  • the lifting frame 2 is suspended from the cantilevered section 6 which extends laterally from an upper end 11 of the sidewall 10.
  • the lifting frame features contact sensors 12 arranged on a top side of the lifting frame 2 (shown in figs. 12 and 13).
  • the contact sensors 12 interact with a part of the cantilever section 6 when the lifting frame is fully raised. When fully raised, horizontal movement between the lifting frame 2 and the cantilever section 6 is restrained.
  • the lifting bands 5 suspending the lifting frame 2 are tape-shaped.
  • the width W of the lifting bands is commonly in the range of 1-5 cm, i.e. substantially larger than their thickness.
  • the thickness of the lifting bands is usually about 0.15 mm.
  • the shape of the lifting bands 5 When suspending the lifting frame below the cantilever section 6, the shape of the lifting bands 5 provides an inherent restriction of horizontal movement of the lifting frame in the direction of their width W. Movement of the lifting frame in the thickness direction, i.e. a direction perpendicular to the direction in which the lifting band width W extends, is not substantially restricted.
  • errors may be caused by horizontal movement in the lifting frame 2 and the prior art cantilevered container handling vehicle 301 in fig. 3 should not move upon the rail system 108 until the lifting frame 2 is fully raised.
  • the vehicle comprises a lifting frame guide assembly having a vertical guide surface 19 arranged at each of two opposite sides of the sidewall 10.
  • the vertical guide surfaces 19 are arranged to interact with two opposite sides of the lifting frame 2 when the lifting frame is adjacent to the sidewall 10, such that horizontal movement of the lifting frame 2 relative to the vehicle body 9 is restricted.
  • the guide surfaces 19 also extend in substantially the same horizontal direction as the width W of the lifting bands, such that horizontal movement of the lifting frame is restricted in a direction being perpendicular to the width W of the lifting bands 5.
  • the vertical guide surfaces 19 are provided by vertically extending guide profiles 17 arranged at each of two opposite sides of the sidewall 10, each of the vertically extending guide profiles 17 provides a vertically extending corner section 18 featuring one of the vertical guide surfaces 19.
  • Each of the corner sections is configured to accommodate a respective corner and guide pin 4 of the lifting frame 2 and arranged to interact with the lifting frame when the lifting frame is adjacent to the sidewall 10.
  • the lifting frame 2 can be raised from a lower position close to the rail system 108 where it emerges from the lateral constraints of the storage column 105, to a higher position adjacent the sidewall 9 while horizontal movement of the lifting frame 2 is restricted or prevented.
  • the lowermost level of the lifting frame 2 when in the lower position is above an uppermost level of a rail system 108 upon which the container handling vehicle is arranged, see fig. 7. In the upper position, the lifting frame is fully raised towards the cantilevered section 6.
  • the container handling vehicle may start to move upon the rail system 108 as soon as the lifting frame is in the lower position, e.g. after storing a storage container 106 in a storage column 105.
  • the lifting frame may be kept in the lower position while the container handling vehicle 20 moves upon the rail system 108. In this manner time and energy is also saved by not requiring the lifting frame 2 to be lifted between the cantilever section 6 and the lower position when a storage container is to be retrieved.
  • the lifting frame guide assembly will also ensure that the container handling vehicle 20 can move upon the rail system 108 as soon as a storage container connected to the lifting frame 2 is lifted above the rail system 108.
  • the latter feature is advantageous when the container handling vehicle is used in a storage system comprising storage containers of different heights, since a storage container being lower than the maximum storage container height may be lifted clear of the rail system before the lifting frame is at its upper position in contact with the cantilever section.
  • the container handling vehicle 20 of the present example is more efficient in that less time is required to perform multiple container lifting/storage operations.
  • the prior art container vehicle 301 is not allowed to move upon a rail system 108 until its lifting frame 3 is fully raised into contact with the cantilevered section.
  • the vehicle features a first set of wheels 21a arranged to allow movement of the vehicle along a first direction of the rail system 108 as shown in fig. 1 , e.g. along rails extending in a first direction X, and a second set of wheels 21 b arranged to allow movement of the vehicle in a second direction, e.g. along rails extending in a second direction Y.
  • a container handling vehicle for lifting a storage container from an underlying framework structure comprises a container lifting assembly for lifting the storage container and a vehicle body;
  • the container lifting assembly comprises a lifting frame for releasable connection to a storage container, a lifting shaft assembly and a plurality of lifting bands, the lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly;
  • the vehicle body comprises a sidewall and a cantilevered section from which the lifting frame depends, the cantilevered section extends laterally from an upper end of the sidewall;
  • the container handling vehicle features a lifting frame guide assembly comprising a vertical guide surface arranged at each of two opposite sides of the sidewall; and the vertical guide surfaces are arranged to interact with two opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall, such that horizontal movement of the lifting frame relative to the vehicle body is restricted.
  • the vertical guide surfaces and a width of the lifting bands extend
  • each of the vertical guide surfaces are configured to provide a corresponding vertically extending corner section.
  • each of the vertically extending guide profiles is configured to provide a vertically extending corner section featuring one of the guide surfaces, each of the corner sections being configured to accommodate a respective corner of the lifting frame and arranged to interact with the lifting frame when the lifting frame is adjacent to the sidewall.
  • each of the vertically extending corner sections extends from a lower position on the sidewall towards the cantilevered section, such that the lifting frame may be guided during movement in a vertical direction between a lower position adjacent to the sidewall and an upper position in which the lifting frame docks with the cantilevered section.
  • a vehicle comprising: (a) a first set of wheels arranged on opposite sides of the vehicle body, for moving the vehicle along a first direction on a rail system of the underlying framework structure; (b) a second set of wheels arranged on other opposite sides of the vehicle body, for moving the vehicle along a second direction on the rail system, the second direction being perpendicular to the first direction; and (c) at least one of the sets of wheels being displaceable in a vertical direction between a first position, wherein the first set of wheels allows movement of the vehicle along the first direction, and a second position, wherein the second set of wheels allows movement of the vehicle along the second direction.
  • each vertical guide surface is arranged to interact with a respective one of the two opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall.
  • a storage system comprising a framework structure and at least one container-handling vehicle according to any of the preceding clauses, wherein the framework structure comprises multiple storage columns, in which storage containers may be stored on top of one another in vertical stacks, and the container handling vehicle is operated on a rail system at a top level of the framework structure for retrieving storage containers from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the rail system.
  • a method of operating a container handling vehicle in a storage system comprising a framework structure and at least one container-handling vehicle, wherein the framework structure comprises multiple storage columns, in which storage containers may be stored on top of one another in vertical stacks, and the container handling vehicle is operated on a rail system at an upper level of the framework structure for retrieving storage containers from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the rail system
  • the container handling vehicle comprises a container lifting assembly for lifting the storage container and a vehicle body;
  • the container lifting assembly comprises a lifting frame for releasable connection to a storage container, a lifting shaft assembly and a plurality of lifting bands, the lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly;
  • the vehicle body comprises a sidewall and a cantilevered section from which the lifting frame depends, the cantilevered section extends laterally from an upper end of the sidewall;
  • Prior art automated storage and retrieval system Lifting frame 3 Container connector, container gripper 4 Guiding pin 5 Lifting bands 6 Cantilever section 7 Guiding pin recess 8a Rotatable lifting shaft, lifting shaft assembly 8b Shaft featuring lifting band sheaves, lifting shaft assembly 9 Vehicle body 10 Sidewall 11 Upper end (of sidewall) 12 Contact sensor 13 Connecting recess in upper rim of storage container 14 Sidewall of storage container 15 Lower bottom surface of lifting frame 16 Upper rim of storage container 17 Vertical guide profile 18 Vertically extending corner section 19 Vertical guide surface 20 Container handling vehicle according to the present example

Landscapes

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

Abstract

L'invention concerne un véhicule de manutention de conteneurs (20) destiné à lever un conteneur de stockage (106) à partir d'une structure d'ossature sous-jacente (100), le véhicule de manutention de conteneurs comprenant : une carrosserie de véhicule (9) ; et un ensemble de levage de conteneur (2, 5, 8) servant à lever le conteneur de stockage. L'ensemble de levage de conteneur comprend : un cadre de levage (2) pour une liaison amovible à un conteneur de stockage (106) ; un ensemble arbre de levage (8) ; et une pluralité de bandes de levage (5). Les bandes de levage (5) sont reliées au cadre de levage (2) et à l'ensemble arbre de levage (8) de sorte que le cadre de levage (2) peut être élevé ou abaissé par actionnement de l'ensemble arbre de levage. La carrosserie de véhicule (9) comprend en outre : une paroi latérale (10) ; et une section en porte-à-faux (6) de laquelle dépend le cadre de levage (2). La section en porte-à-faux (6) s'étend latéralement à partir d'une extrémité supérieure (11) de la paroi latérale (10). Le véhicule de manutention de conteneurs comprend en outre un ensemble de guidage de cadre de levage, l'ensemble de guidage de cadre de levage comprenant une surface de guidage verticale (19) disposée au niveau de chacun de deux côtés opposés de la paroi latérale (10). Les surfaces de guidage verticales (19) sont agencées pour interagir avec deux côtés opposés du cadre de levage (2) lorsque le cadre de levage est adjacent à la paroi latérale, de sorte qu'un mouvement horizontal du cadre de levage par rapport à la carrosserie de véhicule est limité.
PCT/EP2024/064684 2023-06-06 2024-05-28 Véhicule de manutention de conteneur et système de stockage Pending WO2024251571A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20230646A NO20230646A1 (en) 2023-06-06 2023-06-06 Container handling vehicle and storage system
NO20230646 2023-06-06

Publications (1)

Publication Number Publication Date
WO2024251571A1 true WO2024251571A1 (fr) 2024-12-12

Family

ID=91375272

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2024/064684 Pending WO2024251571A1 (fr) 2023-06-06 2024-05-28 Véhicule de manutention de conteneur et système de stockage

Country Status (2)

Country Link
NO (1) NO20230646A1 (fr)
WO (1) WO2024251571A1 (fr)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3608750A (en) * 1969-03-03 1971-09-28 Kaiser Ind Inc Storage means and load-handling equipment therefor
WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2017129384A1 (fr) 2016-01-26 2017-08-03 Autostore Technology AS Véhicule télécommandé pour le ramassage d'un bac de stockage depuis un système de stockage sous-jacent
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019101366A1 (fr) * 2017-11-22 2019-05-31 Autostore Technology AS Véhicule à plusieurs compartiments destiné à un système de stockage et de récupération automatisé comprenant une grille tridimensionnelle
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
WO2019206438A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manutention de conteneurs
DE102022201404B3 (de) * 2022-02-10 2023-03-16 Gebhardt Fördertechnik GmbH Lager- und Entnahmesystem sowie Station für ein Lager- und Entnahmesystem
US20230145633A1 (en) * 2020-03-30 2023-05-11 Autostore Technology AS Container handling vehicle

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES3010537T3 (en) * 2020-04-16 2025-04-03 Autostore Tech As Container handling vehicle comprising a container carrying position, associated system and methods

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3608750A (en) * 1969-03-03 1971-09-28 Kaiser Ind Inc Storage means and load-handling equipment therefor
WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2017129384A1 (fr) 2016-01-26 2017-08-03 Autostore Technology AS Véhicule télécommandé pour le ramassage d'un bac de stockage depuis un système de stockage sous-jacent
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019101366A1 (fr) * 2017-11-22 2019-05-31 Autostore Technology AS Véhicule à plusieurs compartiments destiné à un système de stockage et de récupération automatisé comprenant une grille tridimensionnelle
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
WO2019206438A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manutention de conteneurs
US20230145633A1 (en) * 2020-03-30 2023-05-11 Autostore Technology AS Container handling vehicle
DE102022201404B3 (de) * 2022-02-10 2023-03-16 Gebhardt Fördertechnik GmbH Lager- und Entnahmesystem sowie Station für ein Lager- und Entnahmesystem

Also Published As

Publication number Publication date
NO20230646A1 (en) 2024-12-09

Similar Documents

Publication Publication Date Title
US20230174302A1 (en) Container handling vehicle
US12421033B2 (en) Container handling vehicle
EP4178884A1 (fr) Véhicule de manutention de conteneurs avec empattement extensible
WO2024141363A1 (fr) Système de stockage pour contenants de stockage comprenant une structure d'ossature, des bâtis d'empilement, des contenants de stockage, un dispositif de levage de bâti d'empilement et un dispositif de levage de contenant
US20250368437A1 (en) An automated storage and retrieval system comprising a first type of container handling vehicle, a crane and a gantry arrangement, and a method of transferring a storage container
US20250171231A1 (en) A remotely operated vehicle, an automated storage and retrieval system and a method of driving a remotely operated vehicle for handling a goods holder of an automated storage and retrieval system
US20250091804A1 (en) Storage System
US20240425277A1 (en) Storage system
EP4630341A2 (fr) Dispositif de levage et procédé de déplacement d'un conteneur de stockage dans un système de stockage multi-structures
WO2024251571A1 (fr) Véhicule de manutention de conteneur et système de stockage
US20250388397A1 (en) Container handling vehicle
NO348016B1 (en) Container handling vehicle and storage system
WO2024200791A1 (fr) Système de stockage
WO2025051986A1 (fr) Système de stockage
WO2024141364A1 (fr) Système de stockage pour contenants de stockage comprenant une structure d'ossature, des bâtis d'empilement, des contenants de stockage, un dispositif de levage de bâti d'empilement et un dispositif de levage de contenant
WO2024189159A1 (fr) Système de stockage
EP4626811A1 (fr) Système de stockage et de récupération automatisé avec récipients de stockage de grande taille
HK40082170A (en) Container handling vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24730278

Country of ref document: EP

Kind code of ref document: A1