[go: up one dir, main page]

WO2025031654A1 - Système de cadre d'empileur doté d'un couvercle pouvant être soulevé par un dispositif de levage - Google Patents

Système de cadre d'empileur doté d'un couvercle pouvant être soulevé par un dispositif de levage Download PDF

Info

Publication number
WO2025031654A1
WO2025031654A1 PCT/EP2024/067364 EP2024067364W WO2025031654A1 WO 2025031654 A1 WO2025031654 A1 WO 2025031654A1 EP 2024067364 W EP2024067364 W EP 2024067364W WO 2025031654 A1 WO2025031654 A1 WO 2025031654A1
Authority
WO
WIPO (PCT)
Prior art keywords
lid
stacker frame
stacker
storage
frame
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/EP2024/067364
Other languages
English (en)
Inventor
Jorgen Djuve Heggebo
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 WO2025031654A1 publication Critical patent/WO2025031654A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins

Definitions

  • the present invention relates to an automated storage and retrieval system for storage and retrieval of containers, to a stacker frame system for an automated storage and retrieval system, and to a method of operating an automated storage and retrieval system.
  • Fig. 1 discloses a prior art automated storage and retrieval system 1 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.
  • 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 columns 105 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 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 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.
  • 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 A 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 K 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- supporting.
  • 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.
  • 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 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 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 which is orthogonal the first direction X and the second direction Y.
  • Parts of the gripping device of the container handling vehicles 301, 401 are shown in Figs. 3 and 4 indicated with reference number 304, 404.
  • the gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2 and is thus not shown.
  • 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 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, 401a as shown in Figs. 2 and 4 and as described in e.g. WO2015/193278A1 and WO20 19/206487 Al, 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.
  • 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 vehicle 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 110,111 may comprise two parallel tracks.
  • each rail in one direction e.g. an X direction
  • each rail in the other, perpendicular direction e.g. a Y direction
  • Each rail 110, 111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.
  • WO2018/146304A1 illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.
  • a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107.
  • storage columns 105 there are special-purpose columns within the framework structure.
  • 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.
  • the transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines.
  • tilted means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.
  • the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201, 301, 401 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 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.
  • a conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119, 120 and the access station.
  • 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.
  • 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.
  • 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 (not shown), 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 automated storage and retrieval system 1 For monitoring and controlling the automated storage and retrieval 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 automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • the prior art storage systems are restricted regarding the height of the stacks of storage containers by the practical lifting height of the container handling vehicles and/or the weight that may be supported by the lower storage container in a stack of storage containers. Further, a storage system in which the storage container may be rearranged more efficiently would be advantageous. In addition, controlling certain environmental conditions in single or a small group of storage containers usually requires providing a separate framework structure in a controlled environment.
  • the invention is related to a stacker frame system for an automated storage and retrieval system, the stacker frame system comprising a stacker frame configured to be stored in a storage column of the automated storage and retrieval system, wherein the stacker frame has side walls and a base, wherein the stacker frame has an open top end and is configured to accommodate a plurality of storage containers stored one on top of another in a vertical stack in an interior space of the stacker frame, wherein the stacker frame system comprises a removable lid for covering the top end, and wherein the lid comprises lid connecting recesses that are configured to engage with a lifting frame of a lifting device from above the lid to allow the lid to be lifted from the stacker frame by the lifting device.
  • the stacker frame is to be understood as a frame, in which a group of storage containers can be stacked one on top of another.
  • the stacker frame itself is storable in the framework structure of the automated storage and retrieval system.
  • the stacker frame may be liftable and lowerable by a robotic vehicle operating on the automated storage and retrieval system. This allows a plurality of storage containers to be combined into a single, handleable unit, thereby accelerating the handling of a group of storage containers.
  • the size of the stacker frame can be chosen according to specific storage system requirements.
  • the stacker frame may be configured to receive one, two, three, four, five or more storage containers.
  • the arrangement of a stacker frame and storage containers stacked inside the stacker frame may be referred to as a “nested stack”.
  • the stacker frame has side walls, a base, and a removable lid.
  • the stacker frame thus forms a housing for the group of storage containers.
  • the side walls, the base and the lid may be substantially gas-tight, which allows to shield the storage containers arranged inside the interior space from the exterior of the stacker frame.
  • the interior space of the stacker frame may be thermally controlled.
  • the air inside the interior space may be conditioned in any other desired way, e.g. humidified or adjusted in its composition.
  • the storage containers may comprise outer dimensions, i.e. width, length, and height, that correspond to the dimensions of common storage containers used in grid-based automated storage and retrieval systems.
  • the interior dimensions may be e.g. 600 x 400 mm (length x width) and may have various heights, for example 200 mm, 310 mm, or 400 mm.
  • the storage containers may comprise a top rim that completely surrounds a top opening.
  • the top rim may comprise several apertures or openings for receiving or passing through gripping devices of a lifting frame of a remotely operated vehicle. The top opening allows items to be placed into the interior space or to be removed therefrom.
  • smaller storage containers may also be used, for example with half the size, a third of the size, or a quarter of the size, and so on, of a common storage container.
  • These smaller storage containers could be arranged adjacent to each other in one or more layers, wherein one layer may correspond to the footprint of a common storage container. Between adjacent smaller storage containers, gaps may remain, which may support an air flow through the layer of smaller storage containers.
  • the lid may comprise a surface that is partially or completely closed.
  • a lifting device such as a container lifter, or a stacker frame lifter
  • a first lifting device of the automated storage and retrieval system may lift the lid from a stacker frame to open the stacker frame.
  • a second lifting device may afterwards handle a storage container to be removed from the stacker frame or to be inserted into the stacker frame. Afterwards, the first lifting device may close the stacker frame again by placing the lid onto the top end.
  • the framework structure of the automated storage and retrieval system is constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure comprises a number of upright members, and comprises a rail system extending in the X direction and Y direction.
  • the framework structure comprises a plurality of storage columns. At least one storage column may be configured to accommodate one or a plurality of stacker frames being arranged one on top of another in a vertical stack.
  • the openings in the rail system may correspond to the openings in a rail system of framework structures according to the abovediscussed prior art rail systems.
  • the framework structure can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1.
  • the framework structure may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
  • the upright members of the framework structure may be used to guide the stacker frames and/or storage containers during raising of the stacker frames and/or containers out from and lowering of the stacker frames and/or storage containers into the columns 105.
  • the stacks of stacker frames and/or storage containers may be self- supporting. It is to be understood that the framework structure may be used to store stacks of storage containers in at least one of the storage columns, while stacks of stacker frames may be stored in at least another one of the storage columns.
  • the lid and/or the top end may have a seal configured to seal a gap between the top end and the lid when the lid is placed on the top end.
  • the seal may comprise one or more sealing elements, which may be held to at least one of the stacker frames and the lid.
  • the seal may extend along a circumferential line on an edge section of the stacker frame or the lid.
  • the top end of the stacker frame may comprise a recess, into which a projection of the lid or the whole lid can be inserted.
  • the seal may be arranged on an interior face of the recess or an outer face of the projection or of an outer edge of the lid.
  • the seal may also be arranged on a horizontal surface of the top end of the stacker frame facing the lid or on a horizontal surface of the lid facing the top end of the stacker frame, such that the seal is enclosed by the top end and the lid.
  • the seal may comprise an elastic material, such as a natural or synthetic rubber or the like. It may comprise a compressible profile, which is hollow or has an opening. This allows to deform the seal upon applying a pressure force onto it, e.g. due to the weight of the lid or a stacker frame arranged on it, to improve the surface contact and thus the sealing function between the top end, the lid, and the seal.
  • the lid connecting recesses may extend from an underside of the lid to a top side of the lid. Hence, the lid connecting recesses may be open to the top side, such that the lifting frame of the lifting device may directly reach into the lid connecting recesses from above through lowering the lifting frame.
  • the lid may have a closed bottom surface.
  • the lid connecting recesses may be arranged above the closed bottom surface. However, they may also completely extend through the lid.
  • the lid may have a rim area at a periphery of the lid, and the lid connecting recesses may be arranged in the rim area.
  • the arrangement of the lid connecting recesses may thus correspond to the arrangement of container recesses provided in a storage container.
  • the lid connecting recesses may be implemented as holes having a substantially rectangular cross-section parallel to a main extension plane of the lid. They may thus correspond to the general shape of recesses of storage containers. Edges of the substantially rectangular holes may be rounded.
  • Each of the lid connecting recesses may have an undercut for providing a form-fit connection with expandable grippers of the lifting frame, when the expandable grippers are inserted into the lid connecting recesses.
  • the undercut allows a surface contact with parts of the gripper, e.g. two gripper arms, that are introduced into the respective lid connecting recess to allow a transfer of a vertical force between the lid and the gripper to lift the lid from the stacker frame.
  • An outer edge of the rim area may correspond to an outer edge of the top end of the stacker frame.
  • the lid and the stacker frame may thus have substantially the same footprint in a horizontal plane.
  • the lid may thus comprise roughly the same size as the base of the stacker frame.
  • the rim area of the lid may rest on the side walls of the stacker frame. If another stacker frame is arranged on the lid, the rim area of the lid may thus be sandwiched between two stacked stacker frames.
  • the lid may radially project over the side walls at the top end of the stacker frame.
  • a stacker frame that is stacked on top of another stacker frame may thus rest on the lid of the stacker frame underneath, which in turn may rest on the side walls of the stacker frame underneath.
  • Outer edges of the lid and the stacker frame may be horizontally flush with each other.
  • the lid and the stacker frame may thus have the identical footprint in a horizontal plane.
  • the lid may have a planar top surface.
  • the lid may have an indentation that has a shape corresponding to the shape of a base of a stacker frame stacked upon the lid.
  • the stacker frame system may comprise a locking device arranged in the lid, wherein the locking device may have a locking projection and a drive device, wherein the drive device may be configured to move the locking projection between a retracted position, and an extended position, in which the locking projection protrudes from a side of the lid further than in the retracted position to engage a locking recess of the stacker frame.
  • the locking device is able to lock the lid with the stacker frame.
  • the drive device may comprise an electrically operable linear actuator.
  • the actuator may be supplied with power from an internal power source arranged in the lid or an external power source couplable with the lid.
  • the actuator may comprise a spindle gear driven by an electric motor.
  • the spindle gear may be self-locking, and the electric motor thus needs to actively move the locking projection into the extended and the retracted position. If the spindle gear is not self-locking, a spring may bias the locking projection into the extended position.
  • the actuator may comprise an electric magnet, which is configured to move the locking projection into the retracted position against a spring that urges the locking projection in the direction of the extended position.
  • Other variants are also conceivable.
  • the locking protrusion may be biased into the extended position.
  • the locking projection is permanently urged into the extended position, such that the lid is locked when the locking device is not powered.
  • the electrically operable linear actuator may act against a biasing force.
  • the lid may comprise a first electric interface, which is connectable to a second electric interface arrangeable on the lifting frame, wherein the first electric interface is connected to the drive device.
  • the first electric interface and the second electric interface may connect, and the actuator of the drive device may then be supplied with electrical power.
  • the first electric interface and the second electric interface may comprise inductive coupling coils or electric conductors to provide a direct electrical connection.
  • the inductive coupling coils and the electric conductors may be provided as alternatives or together to let the user decide, through which connection electric power shall be transferred.
  • the electric power may thus be transferred with or without a direct contact.
  • the stacker frame system may comprise a locking device control unit and a battery arranged in the lid, wherein the locking device control unit and the battery may be connected to the drive device, and wherein the locking device control unit may be configured to operate the drive device to selectively move the locking bolt upon receiving a command from an external controller.
  • the locking device control unit is configured to control the locking device. For example, it may operate the locking device by supplying power to it.
  • the locking device control unit may be configured to receive a command from an external controller, such as the control system of the automated storage and retrieval system and/or the lifting device. This may be transferred through a wired or wireless connection.
  • the control system or the lifting device may send a command to unlock a respective lid prior or simultaneously to lowering the lifting frame to the respective lid or directly after starting to lower the lifting frame or just before reaching or when reaching the lid with the lifting frame.
  • the battery may be rechargeable, and the lid may comprise a first charging connector, which is configured to be connectable with a second charging connector to receive electric power to recharge the battery in the lid. It is conceivable to provide a dedicated recharging stacker frame, which comprises the second charging connector.
  • the recharging stacker frame may comprise a large charging battery pack and/or a wired connection to an external power source. The lid may thus be placed on the recharging stacker frame to recharge the battery inside the lid.
  • the invention concerns an automated storage and retrieval system, comprising a framework structure defining a plurality of storage columns, a stacker frame system according to the above, a stacker frame lifter and a container lifter, wherein the stacker frame lifter and the container lifter are each configured to move in two perpendicular directions above the storage columns, wherein the container lifter is configured to retrieve a storage container via the open top end of the upper stacker frame, wherein the stacker frame lifter is configured to retrieve the stacker frame accommodated in a storage column, and wherein at least one of the stacker frame lifter and the container lifter is configured to remove the lid arranged on the top end of the stacker frame or to place the lid onto the top end of the stacker frame.
  • the storage columns may be configured to accommodate a plurality of the stacker frames arranged one on top of another in a vertical stack. Depending on the individual sizes of the stacked stacker frames, i.e., their storage container capacity, a certain number of stacker frames may be arranged inside the storage column.
  • a lifting frame of the stacker frame lifter and/or of the container lifter may comprise the second electric interface, and the stacker frame lifter and/or the container lifter may be configured to engage with the lid such that the first electric interface and the second electric interface are connected, and the stacker frame lifter and/or the container lifter is configured to selectively apply an electric voltage to the second electric interface to move the locking projection.
  • the locking device can be powered, and the lid can be unlocked.
  • the invention is directed to a method of operating an automated storage and retrieval system according to the above, comprising: moving a stacker frame of a stacker frame system into or out of a framework structure of the automated storage and retrieval system defining a plurality of storage columns, and placing a lid onto the stacker frame and/or removing the lid from the stacker frame by a container lifter.
  • the method may comprise locking and/or unlocking the lid on the stacker frame by operating a locking device arranged in the lid.
  • Fig. l 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 an internally arranged cavity for carrying storage containers therein.
  • Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.
  • Fig. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
  • Figs. 6 to 11 show a storage system having stacker frames.
  • Figs. 12a, 12b and 13 show a stacker frame and storage containers for a storage system.
  • Fig. 14 is a topside view of a storage column accommodating a stacker frame and storage container as shown in figs. 12a, 12b and 13.
  • Figs. 15 and 16 are side views of a stacker frame lifter and a corresponding stacker frame.
  • Fig. 17 shows perspective views of the stacker frame lifter and the corresponding stacker frame in figs. 15 and 16.
  • Figs. 18 and 19 show a container lifter.
  • Fig. 20 is a perspective view of a storage system according to the invention.
  • Fig. 21 shows a combination of a stacker frame and storage containers for a storage system.
  • Fig. 22 shows a stacker frame and storage containers for a storage system.
  • Fig. 23 shows a stacker frame in which storage containers of different heights are stacked.
  • Fig. 24a and 24b show stacker frame systems with a locking device arranged in the lid.
  • Fig. 25a and 25b show stacker frame systems with a locking device arranged in the lid.
  • Fig. 26a to 26d show a lid with a locking device arranged therein and a lifting frame.
  • Fig. 27a and 27b show a stacker frame system in perspective views.
  • Fig. 28a and 28b show a stacker frame system in perspective views.
  • Fig. 29 shows a stacker frame system with multiple different lid connecting recesses in the lid.
  • a first exemplary storage system 1’ is shown in figs. 6-11.
  • the storage system 1’ comprises a framework structure 100, a stacker frame system 5, storage containers 106, a stacker frame lifter 8 and a container handling vehicle 301.
  • the stacker frames 6 of the stacker frame system 5 comprise lids 7.
  • the framework structure 100, the storage containers 106 and the container handling vehicle 301 may be similar to the corresponding features of the prior art system in fig. 1.
  • stacker frames 6 are shown without lid 7, but this is not to be understood as limiting the scope of protection and is merely chosen for simplification and for showing that stacks of stacker frames 6 may also be provided in a mixed arrangement, i.e., having stacker frames 6 with a lid 7 and stacker frames 6 without a lid 7.
  • the framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure 100 comprises a number of upright members 102, and comprises a rail system 108 extending in the X direction and Y direction.
  • the framework structure 100 comprises vertical column profiles 102 which define a plurality of storage columns 105. Each storage column 105 accommodates a plurality of the stacker frames 6 having a removable lid 7 and being arranged one on top of another in a vertical stack.
  • the framework structure 100 can be of any size. In particular it is understood that the framework structure 100 can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1. For example, the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
  • Each of the stacker frames 6 has a top end 9 for allowing a vertical passage of a storage container 106 and for receiving a lid 7 and is configured to accommodate a plurality of the storage containers 106 stored one on top of another in a vertical stack.
  • the stacker frame 6 is configured to support the bottom of a lowermost storage container 106 in a stack of storage containers 106 accommodated in the stacker frame 6.
  • the stacker frame 6, as e.g. illustrated in figs. 12a, 12b and 13, comprises a bottom section 18, for supporting a lower end of a stack of storage containers 106, and a top section 19 having the top end 9, through which a storage container 106 may pass in a vertical direction.
  • Side walls 20 extend between the bottom section 18 and the top section 19.
  • Connecting recesses 12 are arranged at an upper portion of opposite side walls 20, which in the shown example are associated with short sides of the stacker frame 6.
  • the connecting recesses 12 are exemplarily arranged at a level above an upper level of a stack of storage containers 106 arranged in the stacker frame 6.
  • the lid 7 exemplarily has a bottom protrusion 50, which is configured to reach into the top end 9 of the stacker frame 6.
  • the lid 7 has top shoulder 51 that radially connects to the bottom protrusion 50, extends along a circumference of the lid 7 and extends radially outwards.
  • a substantially rectangular seal 53 shaped corresponding to the shoulder 51 and a top rim 52 of the stacker frame 6 is provided. It may be configured to be held on the bottom protrusion 50 in a close contact with the shoulder 51.
  • the lid 7 is configured to rest with the shoulder 51 on the seal 53, which in turn rests on the top rim 52 of the stacker frame 6, if the lid 7 is arranged on the stacker frame 6 having the bottom protrusion 50 reaching into the stacker frame 6.
  • the seal may exemplarily be formed to provide a gas-tight sealing.
  • the bottom section 18 of the stacker frame may have a recessed portion 23 having an outer periphery being smaller than, i.e. fitting within, an inner periphery of the top section 19.
  • the stacker frames 6 may be stacked on top of another while horizontal movement between them is restricted if a lid 7 is not desired or required. If a plurality of stacker frames 6 are stacked upon each other, providing a lid for improving the thermal insulation inside the interior space may not be necessary.
  • the lid 7 has lid connecting recesses 54, which may be designed similarly to the connecting recesses 12 and which may be arranged on another pair of opposite side walls 20, e.g. the side walls 20 associated with the long sides of the stacker frame 6.
  • the lid connecting recesses 54 may be used for lifting the lid 7 from the stacker frame 6, e.g. by a stacker frame lifter 8, 8’ or another container handling vehicle 201, 301, 401.
  • the storage system 1’ comprises a rail system 108 arranged above the storage columns 105.
  • the stacker frame lifter 8 and the container handling vehicle 301 are configured to move in two perpendicular directions on the rail system 108.
  • Both the stacker frame lifter 8 and the container handling vehicle 301 comprise a first set of wheels 28, 28’ and second set of wheels 29,29’ for moving on the rail system 108.
  • the sets of wheels may be as described for the prior art container handling vehicles in figs. 2-4.
  • the container handling vehicle 301 may be similar to the prior art container handling vehicle 301 in fig. 3.
  • the container handling vehicle 301 comprises a first type of lifting frame 2 having grippers 3 configured to releasably connect to container connecting recesses 13 arranged in an upper rim 16 of a storage container 106, see fig, 5.
  • the first type of lifting frame 2 may be similar to the prior art lifting frame shown in fig. 4.
  • the container handling vehicle 301 is configured to retrieve a storage container 106 via an open top end 9 of an upper stacker frame 6’ of a stack of stacker frames 6, see fig. 8 and 12.
  • the upper stacker frame 6’ in fig. 8 has a cut-away section to better illustrate the stacking of the storage containers 106 inside the stacker frame 6’.
  • the first type of lifting frame 2 has an outer periphery being smaller than an inner periphery of the stacker frame 6.
  • the inner periphery of the stacker frame 6 may be configured to guide the vertical movement of the first type of lifting frame 2 within the stacker frame 6.
  • the first type of lifting frame 2 may be used for lifting the lid 7 from the stacker frame 6.
  • the lid connecting recesses 54 have a similar size and spacing as the container connecting recesses 13.
  • the lid 7 has indentations 55, which are arranged directly above the connecting recesses 12 of the stacker frame 6, when the lid 7 is arranged on the stacker frame 6.
  • the stacker frame lifter 8 comprises a second type of lifting frame 10, see figs. 15 and 16.
  • the stacker frame lifter 8 is configured to retrieve an upper stacker frame 6’ accommodated in a storage column 105.
  • the second type of lifting frame 10 comprises a horizontal base frame 11 and latches 17 arranged at each of two opposite sides of the base frame 10.
  • a connecting portion 17a of each latch 17 is configured to move between a release position, fig. 15, and a connecting position, fig. 16. In the release position the connecting portion 17a is closer to a vertical centerline C of the base frame 10 than in the connecting position.
  • the connecting portion 17a When moving from the release position to the connecting position, the connecting portion 17a is moved away from the vertical centerline C and may extend through a corresponding recess 12 in the side section 20 of a stacker frame 6. Having the latches 17 connecting to the stacker frame at an inner surface of the stacker frame 6 is advantageous in that the space between adjacent stacks of stacker frames 6 may be minimized. Further, the width of the side walls 20 of the stacker frames 6 may also be minimized provided the stacker frames 6 are made in a material and/or have a configuration providing sufficient support for the stacker frames 6 stacked above.
  • the stacker frame lifter 8 may be similar to the prior art vehicles in fig. 2 and 4, wherein the size of the cavity is adapted to lift and move a stacker frame 6. To provide an increased lifting height, the second type of lifting frame 10 may be further modified, for example by having a guide shuttle as described in WO 2020/200631 Al.
  • the stacker frame 6 may be handled, i.e. lifted and lowered, with the lid 7 arranged on the stacker frame 6, since the latches 17 can pass through the indentations 55 when moving between the release and connecting positions.
  • the storage system 1’ provides several advantages regarding the possibility of increasing the height of the storage columns.
  • the stacker frames 6 may be configured to support a stack of stacker frames 6 being higher than a maximum height of a stack of storage containers 106.
  • a stack of stacker frames 6 may be more stable than a stack of storage containers 106 having a similar height since a specific stack height requires fewer individual stacked units compared to a stack of storage containers 106.
  • the storage system il ’ s also advantageous in that storage containers 106 arranged at lower levels of a storage column may be retrieved more efficiently.
  • the method may comprise the steps of identifying a storage column 105 accommodating a target stacker frame 6* in which the target storage container 106* is stored; moving the stacker frame lifter 8 to a position above the storage column 105 (fig- 9); retrieving at least one stacker frame 6’ (fig. 10), stacked above the target stacker frame 6*, from the storage column 105 (the at least one stacker frame 6’ may optionally be stored in another storage column) until the target stacker frame 6* is the upper stacker frame in the storage column 105; retrieving the target storage container 106* from the target stacker frame 6* by use of the container lifter 301 (fig. 11).
  • the first type of lifting frame 2 may require guidance during vertical movement inside the storage column 105. If guidance is required, the method may comprise the following step before the target storage container 106* is retrieved by the container handling vehicle 301 : retrieving the target stacker frame 6* from the storage column 105 and moving the target stacker frame 6* to another storage column 105 in which the target stacker frame 6* is stacked at an upper level of the storage column. When stacked at an upper level of the storage column 105, the open end 9 of the target stacker frame 6* is at a level directly below the rail system 108. In this manner, the first type of lifting frame 2 may be guided by internal surfaces of the target stacker frame 6* when moving into the storage column 105.
  • the lifting frame 2’ may optionally comprise extendable guiding elements 21, see figs. 18 and 19.
  • the guiding elements 21 are biased towards an extended position, see fig. 19, in which they may interact with vertical column profiles 102 of a storage column 105 to provide guidance of the lifting frame 2’.
  • the guiding element 21 may e.g. comprise an arm configured to move a wheel between the extended and the retracted position.
  • a second exemplary storage system 1” is shown in fig. 20.
  • the stacker frame lifter 8’ is arranged to move above the storage columns 105 by a crane assembly.
  • the crane assembly comprises a first gantry beam 24 slidably connected to a second gantry beam 25, such that the first gantry beam 24 may move in a first direction above the storage columns 105.
  • the stacker frame lifter 8’ is slidably connected to the first gantry beam 24, such that the stacker frame lifter 8’ may move in a second direction perpendicular to the first direction.
  • the second type of lifting frame 10 is suspended from a lifting platform 27 by lifting bands.
  • the lifting platform may be connected to the first gantry beam 24 by a telescopic arm 26.
  • the telescopic arm 26 is configured to move the lifting platform between an upper position in which the stacker frame lifter 8’ may move a stacker frame above the storage columns 105, and a lower position in which the lifting frame, and any connected stacker frame, may be lowered into a storage column.
  • the bottom section 18 of a stacker frame 6 connected to the lifting frame 10 may advantageously be at a level above an upper level of the container handling vehicle 301. In this manner, the stacker frame 6 may be moved above the storage columns 105 without interfering with the operation of the container handling vehicle 301, and vice versa.
  • FIG. 21 and 22 Other versions of combinations of stacker frames and storage containers are shown in figs. 21 and 22.
  • the main differentiating feature of these combinations in view of the stacker frame 6 and storage containers 106 discussed above is the positioning of the connecting recesses 13’, 12’ of the storage container 106” and/or the stacker frame 6”.
  • the stacker frame 6 comprises connecting recesses 12’ in an upper rim thereof.
  • the connecting recesses 12’ may for instance be suitable for connection by a second type of lifting frame (not shown) having grippers similar to the container connectors 3 of the prior art lifting frame 2 in fig. 4.
  • the connecting recesses 13’ of the storage container 106”, fig. 22, may for instance be suitable for connection by a first type of lifting frame (not shown) having latches 17 similar to the second type.
  • a stack of storage containers in a stacker frame may comprise a mix of such storage containers, see fig. 23.
  • Fig. 24a shows a stacker frame system 501 in a perspective view.
  • Fig. 24a shows the lid 7 having an integrated locking device 56.
  • the components of the locking device 56 are illustrated with dashed lines, as they are arranged between a bottom face 57 and a top face 58 of the lid 7.
  • the locking device 56 exemplarily has four electric actuators 59 that are distributed on the longer sides 60 of the lid 7 and are coupled with a locking projection 61 each.
  • the actuators 59 are configured to move the locking projections 61 in a transverse direction relative to the respective side 60 of the lid 7. Hence, by operating the actuators 59, the locking projections 61 can be extended or retracted from the sides 60. In an extended position, the locking projections 61 extend further from the respective sides 60 than in the retracted position.
  • the stacker frame 6 comprises locking recesses 62 at the top end 9 to receive the locking projections 61 in their extended positions.
  • the locking projections 61 when extended, they reach into the locking recesses 62, when the lid 7 rests on the top end 9. Then, the lid 7 will be locked on the stacker frame 6.
  • the locking projections 61 When moving the locking projections 61 into their retracted positions, they leave the locking recesses 62. The lid 7 may then be lifted by the respective container lifter.
  • a first electric interface 63a is arranged on the lid 7 and is connected to the actuators 59.
  • the first interface 63a exemplarily comprises two conductive stripes configured to directly contact a correspondingly designed second electrical interface 63b arranged on the lifting frame 2.
  • the locking projections 61 may comprise a chamfered outer surface 64, which tapers downwards.
  • the actuators 59 When the actuators 59 are not powered, the locking projections 61 are extended through the action of springs 65.
  • the lid 7 can be lowered onto the stacker frame 6 and the chamfered outer surfaces 64 contact the top end 9 of the stacker frame 6. Due to the weight of the lid 7 and the lifting frame 2, the lid 7 moves further downwards and the outer surfaces 64 slide along an upper edge of the stacker frame 6 and are thereby pushed inwards, until they reach the locking recesses 62 and snap in.
  • a stacker frame system 502 is shown in a perspective view.
  • a locking device 66 comprises a battery 67 or another type of internal power source, and a locking device control unit 68 that is connected to the actuators 59.
  • the locking device control unit 68 is configured to wirelessly communicate with an external controller to receive a signal for locking or unlocking the lid 7.
  • the signal may be sent by the container lifter that is in the process of lifting the lid 7, or by a control system of the automated storage and retrieval system.
  • the actuators 59 are powered to retract the locking projections 61 and release the lid 7.
  • a stacker frame system 503 having a locking device 69 is shown.
  • four locking projections 70 are shown, which each are a part of a swivable, substantially crescent-shaped lever 71.
  • levers 71 are exemplarily distributed over the longer sides 60 of the lid 7. They are connected to a spooling device 72 through cables 73 attached to a lug 71a. The cables 73 are deflected by rollers 74 inside the lid 7 and all lead to a spool or another winding body of the spooling device 72.
  • the spooling device 72 comprises an electric motor, which is connected to a first electrical interface 63a to be selectively operated to pull the cables 73 to move the levers 71 and thereby retract the locking projections 70. By pulling the cables 73, the locking projections 70 are thus retracted and the lid 7 is unlocked.
  • springs 75 bias the levers 71 outwards and the locking projections 70 into their extended positions.
  • Fig. 25b shows a stacker frame system 504 having a locking device 76, which is based on the locking device 69 of Fig. 24a.
  • a battery 67 and a locking device control unit 68 are provided and connected to the spooling device 72.
  • the spooling device 72 is powered to retract the locking projections 70.
  • Fig. 26a to 26d show two lateral views and two perspective views of a lifting frame
  • a locking device 77 which comprises four locking projections 78, which are each arranged on one end of a multiple bent locking rod 79 and are located on short sides 81 of the lid 7. The opposite end of the locking rod faces the lid connecting recess 54, into which a gripper
  • Fig. 26a and 26b the grippers 3 of the lifting frame 2 are in an extended state, in which two gripper arms 80 of each gripper 3 are spread, i.e., arranged in a distance to each other, thereby providing a form-fit connection with the lid connecting recesses 54.
  • the lid connecting recesses may comprise an undercut 54a, with which the gripper arms 80 come into a surface contact.
  • the stacker frame 6 has locking recesses 62 that are arranged in corresponding positions, i.e., on short sides of the top end.
  • the lid 7 is unlocked. The unlocking process is automatically provided with gripping the lid 7 by the grippers 3 of the lifting frame 2.
  • the locking device 77 comprises one locking projection 78 for each gripper 3.
  • the locking device 77 may comprise fewer locking projections 78, such that one or more of the grippers 3 may not be associated with a locking projection 78.
  • Figs. 27a and 27b show a stacker frame system 1000 having a stacker frame 6” and a lid 1001. In Fig. 27a, the stacker frame 6” is not covered by the lid 1001, while in Fig.
  • the stacker frame 6 comprises a plurality of connecting recesses 12’ arranged at the longer sides and extending in an upward direction, as shown in Fig. 22.
  • the lid 1001 has cutouts directly above the connecting recesses 12’.
  • the lid 1001 comprises lid connecting recesses 1003 in positions corresponding to the connecting recesses 12’, when the lid 1001 is arranged on the stacker frame 6”.
  • the lid connecting recesses extend in a horizontal direction outwards, i.e., parallel to a main extension plane of the lid 1001.
  • the lid 1001 comprises indentations 1004.
  • Latches 17 of a second type of lifting frame 10 can move from a release position shown in Fig. 15 to a connecting position shown in Fig. 16 when they are arranged directly above the lid 1001 and the indentations 1004.
  • the indentations 1004 are dimensioned to allow the motion of the latches 17.
  • a stacker frame lifter can lift the lid 1001 with the latches 17. This is done by lowering the lifting frame 10 onto the lid 1001 with the latches 17 in release position. When reaching the lid 1001, the latches 17 are rotated into the connecting position. Then, the connecting portions 17a of the latches reach into the lid connecting recesses from inside the indentations 1004 and connect the lid 1001 with the lifting frame 10.
  • Figs. 28a and 28b show a stacker frame system 1101 having a lid 1100 with lid connecting recesses 54 in combination with the connecting recesses 12’ of the stacker frame 6”.
  • a stacker frame system 1203 is illustrated, in which both types of lid connecting recesses are combined.
  • a lid 1200 is shown, which comprises lid connecting recesses 54 as shown in Fig. 24a, as well as lid connecting recesses 1201 with adjacent indentations 1202, wherein the lid connecting recesses 1201 and indentations 1202 are designed in analogy to Fig. 27a and 27b but are arranged at the shorter sides of the stacker frame 6.
  • the stacker frame 6 comprises the connecting recesses 12 as illustrated in Fig. 24a.
  • Figs. 30a and 30b show a stacker frame system 900 with a stacker frame 901 and a lid 902.
  • the stacker frame 901 has an open top end 9 as shown in Fig. 12a.
  • the shape of the lid 902 is configured to be completely surrounded by the open top end 9 when the lid 902 is closed.
  • the stacker frame 901 may have an internal shoulder, on which the lid 902 may rest in its closed state. However, it may simply rest on an uppermost storage container 106 in the stacker frame 901.
  • An upper part of corners 903 of the lid 902 are exemplarily chamfered to avoid canting in the top end 9 when lifting or lowering the lid 902.
  • the seal 53 as shown in Fig. 12a may be used in this exemplary embodiment, too. It may, for example, be attached to a lower edge 904 of the lid 902, or inside the open top end 9 of the stacker frame 901.
  • 301b Drive means / first set of wheels in first direction (X)
  • 301c Drive means / second set of wheels in second direction (F)
  • Prior art container handling vehicle 01a Vehicle body of the container handling vehicle 401 01b Drive means / first set of wheels in first direction (X)
  • 01c Drive means / second set of wheels in second direction (F)
  • stacker frame system 900 stacker frame system 901 stacker frame 902 lid

Landscapes

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

Abstract

L'invention concerne un système de cadre d'empileur (501) pour un système de stockage et de récupération automatisé comprenant un cadre d'empileur (6) conçu pour être stocké dans une colonne de stockage du système de stockage et de récupération automatisé, le cadre d'empileur (6) ayant des parois latérales (20) et une base (18), le cadre d'empileur (6) ayant une extrémité supérieure ouverte (9) et étant conçu pour recevoir une pluralité de conteneurs de stockage (106) stockés les uns au-dessus des autres dans un empilement vertical dans un espace intérieur du cadre d'empileur (6), le système de cadre d'empileur (6) comprenant un couvercle amovible (7) pour recouvrir l'extrémité supérieure (9), et le couvercle (7) comprenant des évidements de raccordement de couvercle (54) qui sont conçus pour venir en prise avec un cadre de levage d'un dispositif de levage depuis le dessus du couvercle (7) pour permettre au couvercle (7) d'être soulevé du cadre d'empileur (6).
PCT/EP2024/067364 2023-08-09 2024-06-20 Système de cadre d'empileur doté d'un couvercle pouvant être soulevé par un dispositif de levage Pending WO2025031654A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20230851 2023-08-09
NO20230851 2023-08-09

Publications (1)

Publication Number Publication Date
WO2025031654A1 true WO2025031654A1 (fr) 2025-02-13

Family

ID=91699964

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2024/067364 Pending WO2025031654A1 (fr) 2023-08-09 2024-06-20 Système de cadre d'empileur doté d'un couvercle pouvant être soulevé par un dispositif de levage

Country Status (1)

Country Link
WO (1) WO2025031654A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5111938A (en) * 1990-10-12 1992-05-12 Segri-Gator Associates L.P. Solid waste container
EP2156808A2 (fr) * 2008-08-14 2010-02-24 Rehrig Pacific Company Couvercle de conteneur de déchets médicaux
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
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
US20190263589A1 (en) * 2016-10-19 2019-08-29 Ocado Innovation Limited Storage systems and methods
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
WO2020200631A1 (fr) 2019-04-02 2020-10-08 Autostore Technology AS Système de stockage
US20230173694A1 (en) * 2021-12-02 2023-06-08 Ford Global Technologies, Llc Autonomous modular robots and methods of use

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5111938A (en) * 1990-10-12 1992-05-12 Segri-Gator Associates L.P. Solid waste container
EP2156808A2 (fr) * 2008-08-14 2010-02-24 Rehrig Pacific Company Couvercle de conteneur de déchets médicaux
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
US20190263589A1 (en) * 2016-10-19 2019-08-29 Ocado Innovation Limited Storage systems and methods
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
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
WO2020200631A1 (fr) 2019-04-02 2020-10-08 Autostore Technology AS Système de stockage
US20230173694A1 (en) * 2021-12-02 2023-06-08 Ford Global Technologies, Llc Autonomous modular robots and methods of use

Similar Documents

Publication Publication Date Title
US20250353678A1 (en) Rescue system and methods for retrieving a malfunctioning vehicle from a rail system
JP2023159362A (ja) コンテナ取扱車両の交換可能な電源を充電するための充電ステーションを備えた自動保管および取出しシステム
CN114401915B (zh) 使用自动化装载机的自动化存储和取出系统以及更换电源的方法
NO344308B1 (en) Storage system comprising a charging station assembly and method of replacing the power source of a remotely operated vehicle
KR20230015950A (ko) 컨테이너 취급 차량
KR20230169202A (ko) 보관 컨테이너 내에 보관된 전달 컨테이너를 취급하기 위한 리프팅 디바이스 조립체
CA3188453A1 (fr) Systeme de stockage
KR102870266B1 (ko) 저장 시스템
EP4642712A1 (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
WO2025031654A1 (fr) Système de cadre d'empileur doté d'un couvercle pouvant être soulevé par un dispositif de levage
US20240425277A1 (en) Storage system
US20250346393A1 (en) Two part storage container with an assembled configuration and a split configuration
CN120265556A (zh) 移动多个货物保持器的单元和移动多个货物保持器的方法
US20240199324A1 (en) An assembly for retrieving storage elements
EP4588817A1 (fr) Couvercle pour un récipient
WO2025157370A1 (fr) Système de cadre d'empileur
WO2025157369A1 (fr) Système de cadre d'empileur
EP4588836A1 (fr) Véhicule pour manipuler des cadres d'empilage
WO2024200791A1 (fr) Système de stockage
WO2025051545A1 (fr) Système de stockage, élément de plancher et procédé
WO2025003365A2 (fr) Station de charge
WO2023041449A1 (fr) Système de stockage
WO2025157368A1 (fr) Système de cadre d'empileur
WO2025157364A1 (fr) Système et procédé de détermination d'erreurs de charge dans un système de stockage et de récupération automatisé
WO2024246282A1 (fr) Récipient de stockage doté d'un couvercle et d'un joint d'étanchéité

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: 24736707

Country of ref document: EP

Kind code of ref document: A1