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WO2025157366A1 - Dispositif de levage pour conteneurs dans un système automatisé de stockage et de récupération - Google Patents

Dispositif de levage pour conteneurs dans un système automatisé de stockage et de récupération

Info

Publication number
WO2025157366A1
WO2025157366A1 PCT/EP2024/051334 EP2024051334W WO2025157366A1 WO 2025157366 A1 WO2025157366 A1 WO 2025157366A1 EP 2024051334 W EP2024051334 W EP 2024051334W WO 2025157366 A1 WO2025157366 A1 WO 2025157366A1
Authority
WO
WIPO (PCT)
Prior art keywords
carrier
container
storage containers
storage
lifting device
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/EP2024/051334
Other languages
English (en)
Inventor
Jørgen Heggebø
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
Priority to PCT/EP2024/051334 priority Critical patent/WO2025157366A1/fr
Publication of WO2025157366A1 publication Critical patent/WO2025157366A1/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

Definitions

  • the present invention relates to a lifting device for containers in an automated storage and retrieval system.
  • the present invention also relates to an automated storage and retrieval system comprising the lifting device.
  • the present invention also relates to methods of transferring containers.
  • 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 200,300,400 maybe 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 no arranged to guide movement of the container handling vehicles 200,300,400 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 no to guide movement of the container handling vehicles 200,300,400 in a second direction Y which is perpendicular to the first direction X.
  • Containers 106 stored in the columns 105 are accessed by the container handling vehicles 200,300,400 through access openings 112 in the rail system 108.
  • the container handling vehicles 200,300,400 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 200,300,400 comprises a vehicle body 200a, 300a, 400a and first and second sets of wheels 200b, 200c, 300b, 300c, 400b, 400c which enable the lateral movement of the container handling vehicles 200,300,400 in theX direction and in the Y direction, respectively.
  • first and second sets of wheels 200b, 200c, 300b, 300c, 400b, 400c which enable the lateral movement of the container handling vehicles 200,300,400 in theX direction and in the Y direction, respectively.
  • the first set of wheels 200b, 300b, 400b is arranged to engage with two adjacent rails of the first set no of rails
  • the second set of wheels 200c, 300c, 400c is arranged to engage with two adjacent rails of the second set 111 of rails.
  • At least one of the sets of wheels 200b, 200c, 300b, 300c, 400b, 400c can be lifted and lowered, so that the first set of wheels 200b, 300b, 400b and/or the second set of wheels 200c, 300c, 400c can be engaged with the respective set of rails no, 111 at any one time.
  • Each prior art container handling vehicle 200,300,400 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 200,300,400 so that the position of the gripping / engaging devices with respect to the vehicle 200,300,400 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 300,400 are shown in Figs. 3 and 4 indicated with reference number 304,404.
  • the gripping device of the container handling device 200 is located within the vehicle body 200a 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 T-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 200,300,400 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 200a, 400a as shown in Figs. 2 and 4 and as described in e.g. WO2O15/193278A1 and W02019/206487A1, 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.
  • 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 200 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 WO2O15/193278A1, the contents of which are incorporated herein by reference.
  • the term ‘lateral’ used herein may mean ‘horizontal’.
  • the cavity container handling vehicles 400 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 W02019/206487A1.
  • 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.
  • W02018/146304A1 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 specialpurpose columns used by the container handling vehicles 200,300,400 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 200,300,400 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 200,300,400 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 W02014/075937A1, the contents of which are incorporated herein by reference.
  • a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 200,300,400 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 200,300,400 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 200,300,40 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 abovepositioned 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 200,300,400 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 200,300,400 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 200,300,400 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 200,300,400 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 200,300,400 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
  • the automated storage and retrieval system may be provided with lifting devices such as for example: vehicle lifts that transport container handling vehicles or delivery vehicles with storage containers from one level of the storage system to another. These vehicle lifts generally have the capability to accommodate a single container handling vehicle or a delivery vehicle on itself. Thus, the vehicle with a single container accommodated within may be transported between the levels /floors of the storage system.
  • vehicle lifts that transport container handling vehicles or delivery vehicles with storage containers from one level of the storage system to another.
  • These vehicle lifts generally have the capability to accommodate a single container handling vehicle or a delivery vehicle on itself.
  • the vehicle with a single container accommodated within may be transported between the levels /floors of the storage system.
  • W02020126725 describes a vehicle lift for transferring a delivery vehicle carrying a storage container from a lower level of a delivery system to an access station at an upper level. The contents of the storage container are then retrieved by a human or robotic operator while being carried by the delivery vehicle.
  • WO2O21255235 is related to an elevator for a container handling vehicle.
  • the elevator is provided with a platform for carrying container handling vehicles and a lift mechanism that moves the elevator from one level to another such that a service personal may access the vehicle for maintenance.
  • WO2O19238639 describes a vehicle lift or elevator for transferring delivery vehicles from one level in the storage system to another.
  • the vehicle lift is provided with positioning arrangement for enabling the delivery vehicle to be transported safely between storage levels.
  • W02020127060 describes a vehicle lift arrangement that establishes connection between vertically displaced levels of the automated storage and retrieval system.
  • the vehicle lift is provided with a platform for carrying the container handling vehicles between the storage levels.
  • An aim of the invention is to increase efficiency of the storage system by transferring plurality of storage containers in one go and reducing energy consumption required for the transfer of entire vehicles themselves.
  • Another aim of the invention is to reduce unnecessary wear and tear on the system components by reducing movements of the vehicles between the storage levels.
  • Another aim is to increase the storage density by providing compact lifting solutions.
  • the invention concerns a container lifting device for transferring storage containers through a port column of an automated storage and retrieval system (hereinafter referred to as a ‘storage system’).
  • the container lifting device may transfer the storage containers through the port column to an external location outside the storage system.
  • the external location may be referred to as an access location, wherein the storage containers may be retrieved and moved out of the container lifting device.
  • the access location may comprise an access station installed at an opening provided in the port column and comprises an opening at the top with a removable cover for providing access to the storage containers within the access station.
  • the access location may comprise a workstation, wherein the workstation may be configured for processing storage containers once the storage containers have been removed from the access location by a robotic or a human operator.
  • the storage system may comprise a framework structure which includes a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction X across the top of the framework structure and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction Y which is perpendicular to the first direction X.
  • the first and second sets of parallel rails divide the rail system into a plurality of grid cells.
  • the framework structure comprising upright members defining storage columns for storing storage containers within the framework structure.
  • the storage system may further comprise at least one container handling vehicle configured to operate on the rail system.
  • the container lifting device comprises a carrier for supporting one or more storage containers during transfer of the one or more storage containers thereon.
  • the carrier may comprise a periphery with an open top, three side walls and a framework structure at the base, without a complete base plate that spans the base.
  • a vertical guiding structure is coupled to the carrier, optionally to the periphery of the carrier, to guide the carrier between at least a first vertical position (LSi) of the vertical guiding structure and a second vertical position (LS2) of the vertical guiding structure.
  • the first vertical position (LSi) as defined in relation to the vertical guiding structure is a position of a base of the carrier, when the carrier is in a first horizontal plane (Pi) and a second vertical position (LS2) as defined in relation to the vertical guiding structure is a second position of the base of the carrier, when the carrier in a second horizontal plane (P2).
  • the two horizontal planes Pi and P2 are displaced vertically apart.
  • the carrier may be guided for movement between more than two vertical positions along the vertical guiding structure, wherein each of vertical positions are displaced in a different horizontal plane (for example, Pi, P2, P3 and so on).
  • the container lifting device comprises a lifting mechanism for moving the carrier between the first vertical position (LSi) and the second vertical position (LS2).
  • the carrier comprising a horizontal support area (A) for supporting one or more storage containers during movement of the carrier between the first vertical position (LSi) and the second vertical position (LS2).
  • the horizontal support area (A) may be defined as the area of the carrier within the outer edges of the carrier or a periphery of the carrier and formed by the side walls on at least three sides of the carrier.
  • the one or more storage containers make contact at the bottom when they are supported on the carrier.
  • the carrier comprises one or more container stabilizing elements, optionally horizontally protruding above or into the horizontal support area (A), for stabilizing the one or more storage containers during said movements.
  • the one or more container stabilizing elements optionally horizontally protrude from one or more inner side walls of the carrier.
  • the container stabilizing elements may optionally protrude on the horizontal support area (A) of the carrier, in absence of the side walls on the carrier.
  • the container stabilizing elements (505) may be configured to stabilize storage containers of at least two different sizes.
  • the container stabilizing elements (505) may be configured to stabilize storage containers of multiple sizes.
  • the container stabilizing elements may comprise a structure that stabilizes and supports the one or more storage containers on the carrier such as for example: guiding elements, plates, flaps, physical barriers.
  • the carrier may be a structure that supports the storage containers thereon for example: a framework structure, a platform.
  • the one or more storage containers maybe defined as at least one of: a large storage container that has a footprint that corresponds to the horizontal support area (A) of the carrier.
  • the larger storage container occupies the entire space on the carrier or is substantially equal to the footprint of a single cell on the grid.
  • a small storage container has a footprint that is smaller than the horizontal support area (A) of the carrier for example, either half the footprint of the large container or one fourth the footprint of the large container: more specifically, half-size and one-fourth size of a large container.
  • the carrier may also comprise a base for supporting the one or more storage containers.
  • the base may include a base plate that spans an entire framework of the base for supporting the one or more storage containers.
  • the base or a framework of the base may be provided with furrows or depressions that extend on the base and provide the friction necessary to support the storage containers on the base during movement.
  • the storage containers may also be provided with complementary recesses at the bottom surface of the storage containers, such that the area of contact of the containers with the horizontal support area (A) on the carrier is influenced by friction between the depressions and the recesses at the bottom of the container, thus keeping the storage container in place during the vertical movements.
  • the carrier comprises: two arms and a bridge element connecting the arms.
  • the arms may be latitudinal extending structures for example, rectangular elements.
  • each arm extends from an end of the bridge element and is configured to at least partly enclose the one or more storage containers in place within the carrier.
  • the arms may be enclosing the small storage container from one side.
  • the arms may be at least 50% in width or height of the storage containers, thus covering a section of the width or height of the storage containers. Alternatively, or in addition the arms may be the same height of the storage containers.
  • the arms may also abut the one or more storage containers partially from at least one side so as to support and stabilize the storage containers within the carrier.
  • the arms may be provided with ridges on the inner side of the arms to achieve the abutment of the storage containers.
  • the carrier comprises at least two vertical flanges extending perpendicular to the direction of the arms from the ends of the arms, and the vertical flanges are configured to abut at least one of the storage container within the carrier during movement of the carrier.
  • the vertical flanges on either side of the arms are vertically aligned to ensure the one or more storage containers are abutted or squeezed within the carrier during movement of the carrier.
  • the vertical flanges for example may occupy a width of 1 to 25%, preferably 1 to 20%, most preferably 5 to 15%, of the width of the bridge element.
  • the vertical flanges may extend a few centimeters from the respective arm of the carrier in the direction of the respective opposite arm of the carrier, for example the flanges may have an extension length in this direction of about 2, 3, 4, 5, 6, 7 or more centimeters.
  • the vertical flanges on either arm are aligned and may be retractable into the arm or towards the base of the carrier or may comprise a retractable mechanism for example, click mechanism similar to that of a click pen or may be spring loaded to allow the flanges to retract.
  • the retraction of the vertical flanges allows easy removal of the one or more storage containers from the carrier without interference.
  • the vertical flanges may be provided with a sliding mechanism and may be movable manually into the arms to allow removal of the storage containers from the carrier.
  • the one or more storage containers may be of the dimensions in the range of any of: 4OO-45Omm in width, 6oo-65omm in length and 200-450 mm in height such that the arms maybe at a distance range of 50-70 cm.
  • the bridge element comprises a pair of rollers arranged at a corner of a rear face of the bridge element and configured to roll along a channel flange provided on an inner side of the port column during the movements of the carrier between the said vertical positions. More particularly, the rollers are sized to fit into the channel on the inner side of the port column. Additionally, or alternatively, each roller may comprise one or two wheels to allow rolling within the channels/ channel flanges.
  • the container stabilizing elements comprise elongated guiding elements extending inwardly from the inner side walls of the carrier.
  • the elongated guiding elements may be horizontally extending profiles from the one or more side walls of the carrier that guide the storage containers and support them on the horizontal support area (A) of the carrier.
  • the elongated guiding elements comprise surfaces with ridges extending along a length of the guiding element, wherein the ridges are configured to fit into complementary shaped recesses or grooves provided on the one or more storage containers.
  • the ridges extend along the entire length of the elongated guiding element to allow a structure such as a corner/or side of the storage container to slide onto/ or be inserted into the ridges. Thereby, achieving stabilization of the smaller container.
  • the elongated guiding elements are configured to hold/lock the one or more storage containers in place on the carrier, by allowing the storage containers to slide onto the elongated guiding element.
  • the elongated guiding element provides lateral support (in horizontal orientation) to the one or more storage containers.
  • an additional central elongated guiding element may be arranged in the middle of the carrier or the center point of the carrier and is positioned parallel to the inner side walls.
  • the center point of the carrier may be defined in relation to the carrier when provided with a base that spans an entire framework of the base as mentioned above.
  • the additional central elongated guiding element is configured to fit into corresponding complementary shaped recesses or grooves on the storage containers.
  • the additional central elongated guiding element may slide or mate with the corresponding recesses or grooves of the storage containers.
  • the additional central elongated guiding element comprises a cross shaped profile and is positioned parallel to the inner side walls on the horizontal support area (A) of the carrier.
  • the one or more of the container stabilizing elements may extend from an inner side wall or a base of the carrier.
  • the carrier comprises a rim at least partly encircling the carrier on three sides and provided on an upper part of the carrier.
  • the rim comprises protrusions arranged on an inner surface of the rim, wherein the protrusions are shaped to support the one or more storage containers thereon.
  • the protrusions may thus replace the function of the base of the carrier by providing the support for stabilizing the one or more containers within the carrier.
  • the protrusions may for example be provided on the rim, or alternatively may be a design of the rim that allow to support the storage container in place.
  • An example of the design of the rim may be grooves or ridges on the rim, furrow or a depression that can support containers.
  • the storage container may correspondingly be provided with a rim that extends outwards in a U shape and that is configured to sit onto the protrusions, ridges or depressions of the carrier.
  • protrusions may be hooks, plates, ledge or other structural elements that may be arranged at the inner surfaces of the carrier to hold the containers on the carrier.
  • the protrusions may extend from the rim towards one or more inner side walls of the carrier.
  • the protrusions may support or hold the storage containers in place on the rim by friction created between the protrusions and a surface of contact of the storage containers.
  • the protrusions may extend on the base of the carrier and may comprise depressions made of material for example: rubber, silicon or similar materials that assist in providing the necessary friction between the protrusions and the surface of contact of the storage containers to allow the storage containers to be supported or held in place during movements of the carrier.
  • the container stabilizing elements comprise side flaps arranged on the one or more side walls of the carrier and are configured to be displaced from a resting position from within/inside a slot provided at the center point of the one or more side walls towards a center of the carrier to a protruding position for stabilizing the one or more containers.
  • the side flaps are arranged in a center region of each side wall of the carrier (or a center point of the side walls) and are configured to protrude out towards the center of the carrier to support the smaller containers on the carrier.
  • the side flaps on both the arms may be protruding to stabilize or support the smaller container in place on the carrier.
  • the carrier comprises a base or a framework of the base for supporting the one or more storage containers.
  • the framework of the base is as defined above wherein the base plate does not span the entire area of the base.
  • the container stabilizing elements comprise base flaps arranged on the base or a framework of the base of the carrier and is configured to be displaced or moved from a resting position within a slot provided in the base or a framework of the base, to a protruding position perpendicular to the base for stabilizing the one or more storage containers.
  • the base and the framework of the base is provided with slots within which the base flaps are arranged.
  • the base flaps may protrude out of the slot and retract into the slot by means of an actuation mechanism for example: spring loaded mechanism, actuation devices such as a motor, screw and rack or a hydraulic means.
  • the one or more of the above-mentioned base flap and side flap may be configured to be deployed to stabilize an arrangement comprising smaller containers.
  • the carrier comprises an actuation device configured to deploy one or more of the container stabilizing elements for stabilizing the smaller container on the carrier. More preferably, the actuation device is configured to deploy the one or more base flap and the side flap.
  • the actuation device is configured to deploy the one or more of the container stabilizing elements (base and side flaps) based on an arrangement, preferably, a particular arrangement of the one or more storage containers (smaller containers) to be placed within the horizontal support area (A) of the carrier.
  • the actuation device may select which of the flaps are to be deployed. For example, one or more flaps are deployed based on the number and size of storage containers to be placed within the carrier.
  • the actuation device may be wirelessly controlled by a control system or controlled manually by a human or robotic operator.
  • the carrier may be provided with one or more position sensors, weight sensors, light sensors etc to detect the position and placement of the one or more storage containers within the horizontal support area (A) of the carrier.
  • the sensors may be in communication with the actuation device and the control system. Based on the detected position of the one or more storage containers, the actuation device may be controlled to deploy the respective container stabilizing elements (or the base and side flaps as described above) on the horizontal support area (A) of the carrier.
  • the elongated guiding elements may provide the necessary support to hold the said smaller container in place on the carrier.
  • the lifting mechanism comprises an arrangement of two pulleys: one at the top that is rotatably mounted on the top of a horizontal cross bar, the horizontal cross bar extends the sides of the vertical guiding structure and forms a bridge member between the guiding structure.
  • the guiding structure extends within the channels/ channel flanges of the port column.
  • a second drive pulley is provided at the lower end of the vertical guiding structure along with a drive mechanism and a belt that is wound around the top pulley and the drive pulley.
  • the lifting mechanism comprises top pulley and h the belt that wound around the top pulley and the drive mechanism that consists of: drive pulley, drive motor.
  • the drive mechanism is an electrical motor.
  • the position of the drive mechanism may be either at the top of the vertical guiding structure or at the lower end of the vertical guiding structure. More preferably, if mounted at the lower end of the vertical guiding structure the drive mechanism (with the drive motor) is mounted such that when the carrier is at the lower position or the first vertical position (LS1) the carrier is above the drive mechanism and does not interfere with the drive mechanism.
  • the drive mechanism may also be mounted at the top of the vertical guiding structure such that it does not interfere with a rail system of the grid framework and is positioned below the rail system.
  • the drive mechanism may comprise a rack and pinion arrangement that drives the drive pulley and the top pulley by means of the belt.
  • the invention concerns a stackable storage container for transferring items between a container lifting device of the first aspect through a port column of an automated storage and retrieval system and an access location outside of the port column.
  • the storage container comprises
  • the recesses or grooves may be provided at the center of the outer surfaces and the corners of the container. Additionally, or alternatively, the recesses may comprise one or more grooves or depressions that extend along the length of the recesses and allow sliding into a corresponding elongated guiding element on the carrier as described above (refer to the first aspect).
  • the recesses may comprise at least one additional central recess in form of a hollow cross shaped element extending from a center of the base of the container, parallel to the side wall.
  • the additional central recess may comprise a hollow inner side and four grooves that run along the four corners of the element vertically. The grooves are built to slide/or fit into a corresponding additional central elongated guiding element of the carrier as described in the first aspect.
  • the invention concerns an automated storage and retrieval system (referred to as the ‘storage system’) comprising a container lifting device as described in the first aspect.
  • the storage system may comprise at least one framework structure for storing a plurality of storage containers in stacks, the or each framework structure comprising a rail system arranged above the stacks, the rail system comprising perpendicular rails the intersections of which form a horizontal grid structure having grid cells defining grid openings; a plurality of vertical upright members defining a plurality of storage columns for storing the stacks; and a port column for transferring the storage containers between the or each rail system and an access location using the container lifting device; a plurality of container handling vehicles configured to travel along the rail and to transfer storage containers to the container lifting device, more particularly to the carrier of the container lifting device and a control system configured to send instructions to control operations of at least one of the container handling vehicles and the container lifting device.
  • control system may be configured to control the operations of all the moving components within the container lifting device for example: the lifting mechanism, carrier and the container stabilizing elements such as side and base flaps.
  • the control system sends instruction signals to the container handling vehicle, wherein the instruction signal comprises information on the number, sizes and position of the storage containers.
  • the container handling vehicle may activate two gripper devices positioned directly below the two smaller storage containers, such that the two smaller storage containers may be lifted by the gripper devices.
  • container lifting device is arranged to occupy a horizontal footprint substantially equal to a footprint within the port column. More particularly, the container lifting device is sized and positioned within the confines of the upright members constituting the port column and thus the container lifting device does not extend outside the port column.
  • the port column comprises four upright members, wherein at least two of the upright members that are positioned at or near an exit of the port column also called as the access location are configured to allow removal of plurality of storage containers from the port column by removing a section of each inner channel flange at the base of the upright members. For example, a section from the base of the respective upright members are cut out to create space that is at least more than the width of the carrier and/or the storage container to allow removing of the storage containers from the carrier.
  • the storage containers maybe removed manually by a robotic or a human operator who is at the access location of the storage system.
  • the storage containers may be removed by container handling vehicles using their gripper devices, when the carrier is positioned at a second vertical position (LS2) near the rail system on top of the grid framework.
  • LS2 second vertical position
  • the system comprises a conveyor arranged at or near the access location and the conveyor is configured to transfer the storage containers loaded by an operator out of the port column away from the container lifting device. More particularly, the robotic or human operator may release or retract the vertical flanges by activation of the click mechanism as described above, that helps release/retract the vertical flanges and allows removal of the storage containers from the carrier.
  • the automated storage and retrieval system comprises:
  • first framework structure comprising:
  • a second port column for transferring the plurality of storage containers between a second rail system and the access location, wherein the first framework structure and the second framework structure are vertically displaced by a height (H); and wherein the container lifting device is configured to transfer the plurality of storage containers between the first and the second framework structures.
  • the vertical height displacement between the two framework structures may be at least more than the height of the container handling vehicles plus room for extra space right before the ceiling of a room wherein the storage system may be arranged: for example, this height could be in the range of 3-5 m above.
  • the height could span in the range of 5-2 om when two frameworks are displaced on top of each other, such that there is no interference with the operation of the vehicles on the two framework structures.
  • the container lifting device is arranged within the first port column and the second port column in vertical alignment to allow direct transfer of the plurality of storage containers between the first and the second framework structures.
  • the container lifting device is arranged to transfer the plurality of storage containers between at least two of: the first vertical position (LS1), the second vertical position (LS2), a fourth vertical position (LS4), wherein the first vertical position (LS1) and the second vertical position (LS2) are associated with the first framework structure, wherein the fourth vertical position (LS4) is associated with the second framework structure, wherein the second vertical position (LS2) is above the first vertical position (LSi), and wherein the fourth vertical position (LS4) is above the first and second vertical position (LSi, LS2).
  • LS3 there may be a third vertical position (LS3) associated with the second framework structure and wherein the third vertical position (LS3) is above the second vertical position (LS2) but below the fourth vertical position (LS4) as an additional stop position for the container lifting device.
  • the invention concerns a method for transferring one or more storage containers through a port column of an automated storage and retrieval system (abbreviated storage system) as described in connection with the third aspect, using the container lifting device as described in the first aspect.
  • the method comprises the following steps:
  • - D activating the lifting mechanism of the container lifting device to move the carrier up or down along the vertical guiding structure;
  • - E moving the carrier from a first vertical position (LS1) to a second vertical position (LS2), wherein the one or more storage containers are accessible to the container handling vehicle;
  • the method further comprises:
  • the container stabilizing elements comprise: elongated guiding elements extending inwardly from the inner side walls of the carrier and wherein the elongated guiding elements comprise surfaces with ridges, wherein ridges are configured to fit into complementary shaped recesses or grooves on the plurality of storage containers, and wherein I. further comprises:
  • the container stabilizing elements comprise: side flaps arranged on the one or more inner side walls of the carrier and are configured to be displaced from a resting position from within a slot provided at the center point of the one or more inner side walls towards a center of the carrier to a protruding position for stabilizing the one or more containers; wherein the container stabilizing elements comprises
  • the resting position is defined as the position in which the side flaps are not active and are positioned within the slot in the inner side walls of the carrier.
  • the protruding position is defined as the position in which the side flaps are activated and positioned out of the slot and providing the support or stabilizing the one or more storage containers on the carrier, particularly the small storage containers. In the protruding position the side flaps provide lateral support to the one or more storage containers.
  • the first actuation device is preferably remote controlled and activates the first actuation device on receiving instruction signals from the control system.
  • the container stabilizing elements comprise: base flaps arranged on a base of the carrier or a framework of the base and are configured to be displaced from a resting position from within a slot provided in the base or a framework of the base to a protruding position perpendicular to the base for stabilizing the one or more containers; wherein the container stabilizing elements comprises
  • the resting position and the protruding position of the side flaps is similar to the resting position as described above in relation the base flaps.
  • the second actuation device is preferably remote controlled and activates the second actuation device on receiving instruction signals from the control system.
  • the first and the second actuation device may be positioned at the bottom of the carrier and may be controlled wirelessly by the control system.
  • the actuation device maybe a motor, a screwjack, rack and pinion or the like which is suitable for operation of the container stabilizing elements (base and side flaps).
  • the invention concerns a method for modifying a port column of an automated storage and retrieval system (storage system) as described in connection with the third aspect, for employing the container lifting device of the first aspect, wherein the port column comprises at least four upright members, wherein at least two upright members positioned at or near an access location are configured to allow removal of the one or more storage containers from the carrier out of the port column by removing a section of each inner channel flange at the base of the upright members; and wherein the method comprises the step of:
  • the height and width of the section cut out in the upright members herein is at least more than the height and width of the carrier so as to allow easy removal of the storage container without interference.
  • the inventor concerns to a computer program product comprising instructions which, when the program is executed by a computer coupled with or being a part of a control system of an automated storage and retrieval system of the third aspect causes the computer to carry out the method steps as described in relation with the fourth aspect and the fifth aspect.
  • Fig. 1 is a perspective side view of a framework structure of a prior art automated storage and retrieval system.
  • FIG. 2 is a perspective side view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
  • FIG. 3 is a perspective side view, of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.
  • Fig. 4 is a perspective side view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
  • Fig. 5a is a perspective side view, of a container lifting device employed within a port column of a grid framework.
  • Fig. 5c is a perspective side view, of the container lifting device and an expanded view of its carrier showing the components of the carrier.
  • Fig. 6a is a perspective side view, of the container lifting device with its carrier in an uppermost position.
  • FIG. 6b is a perspective side view, of the container lifting device with its carrier transferring small storage containers.
  • Fig. 7a is a perspective side view, of the container lifting device without the grid framework.
  • Fig. 7b is a perspective side view, of the container lifting device without the grid framework and the carrier in the uppermost position interacting with a container handling vehicle.
  • FIG. 8 a perspective side view, of the container lifting device without the grid framework and the carrier in the lowermost position.
  • Fig. 8b is a perspective side view, of the container lifting device with the carrier transferring small storage containers.
  • Fig. 9a is a perspective side view, as seen from a side of the container lifting device with its carrier moving along the vertical guiding structure.
  • Fig. 9b is perspective view of the container lifting device of fig. 9a showing the components in detail.
  • Fig. 10a is a perspective side view, of the container lifting device and its components.
  • Fig 10b and 10c depicts a side view and rear view of the container lifting device showing the carrier in lowermost position with container stabilizing elements.
  • Fig. 11a is a perspective side view, of the container lifting device and its components.
  • Fig 11b and 11c depicts a side view and rear view of the container lifting device showing the carrier in uppermost position with container stabilizing elements.
  • Fig. 12 is a perspective side view, of the container lifting device and the carrier supporting smaller containers by additional elongated guiding elements.
  • Fig. 13a is a perspective side view, of the container lifting device operating between two grid framework structures.
  • FIG. 13b and 13 c are rear view and side view of the container lifting device operating between two grid framework structures.
  • Fig. 14. is a perspective view of a carrier of the container lifting device showing a base and container stabilizing elements.
  • Fig. 15a is a perspective view of a carrier of the container lifting device with a framework of the base and container stabilizing elements.
  • Fig. 15b is a perspective view of a carrier of the container lifting device showing protrusions.
  • Fig. 16a and 16b is a second embodiment of the container lifting device with the storage containers supported at the rim and the container stabilizing elements.
  • Fig. 17a is a perspective view of the carrier with side flaps in active position and fig. 17b is a perspective view of the carrier with side flaps in resting position and 17b.
  • Fig. 18a and 18b is a side and top view of the carrier, with base flaps in resting position.
  • Fig- 18c is a perspective view of the carrier with the base flaps in active position.
  • Fig. 19 is a perspective view of a large storage container with recesses at the sides and the middle of the container.
  • a container lifting device (500) for transferring storage containers (106) through a port column (119,120) of an automated storage and retrieval system (1).
  • the container lifting device (500) comprises: a carrier (502), a vertical guiding structure (504) and a lifting mechanism.
  • the carrier (502) comprises a horizontal support area (A) for supporting one or more storage containers (106) during movement of the carrier (502) between a first vertical position (LS1) and a second vertical position (LS2).
  • the carrier (502) comprises one or more container stabilizing elements (505) configured to stabilize the one or more storage containers (106) during said movement.
  • 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 first, upper rail system 108 extending in the X direction and Y direction.
  • the framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.
  • the framework structure 100 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. 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.
  • the automated storage and retrieval system hereinafter referred to as the ‘storage system’ will be described in more detail with reference to Figs 5 to 19.
  • storage container 106 throughout the description may be commonly used to refer all the three sized containers: a large storage, a half-size storage container 30 and a one-fourth size storage container 40. However, specific examples are described as smaller storage containers 30, 40.
  • the large storage container may be defined as a storage container 106, 10 that occupies a footprint that spans an entire area of a carrier of the container lifting device. Or alternatively, that occupies a footprint of a single cell on the grid framework structure 100.
  • the smaller storage container 20 maybe defined as a container that occupies either half the footprint of a large storage container 30, or a container that occupies one fourth the footprint of a large storage container 40.
  • FIG. 5a is a perspective side view, of a container lifting device employed within a port column of a grid framework.
  • a container lifting device 500 is installed inside a port column 119, 120 of the grid framework structure 100 for transferring storage containers between a storage volume 104 of the grid framework 100 and a location outside of the grid framework.
  • the location outside the grid framework is not shown in the fig. 5a however it is to be envisaged that a location outside the grid framework 100 may be arranged by creating an opening in the port column 119, 120 of the grid framework and may be referred to an access location.
  • the access location maybe provided with an access station comprising a cabinet with an access opening to allow removal of storage containers outside the port column 119,120 or alternatively allow only access to the items within the storage containers 106. For this, a section of the upright members 102 constituting the port column 119, 120 maybe removed to create an opening for the exit.
  • the container lifting device 500 is sized and arranged to fit within the port column 119, 120 without extending its components into the neighboring columns, thus the neighboring columns may be employed for storage of containers like normal vertical stacks.
  • the container lifting device 500 comprises: a carrier, a vertical guiding structure, lifting mechanism, drive mechanism and a base 516.
  • the carrier 502 is in the form of a rectangular/or alternatively square platform or a support structure.
  • the carrier 502 comprises side walls provided at least one three side walls 509, an open top, and an open fourth side.
  • the open fourth side allows loading and unloading of storage containers into the carrier 502.
  • the containers 106 may also be loaded from the open top onto the carrier 502.
  • the three side walls 509 of the carrier 502 are provided with a rim 507 encircling the carrier 502 on the top of the three side walls 509.
  • the carrier 502 also comprises a framework of a base with or without a base plate that spans an entire area of the base.
  • the base 516 of the container lifting device 500 may be in the form of a base plate on which the drive mechanism 520 is installed.
  • the base 516 may also function as a stand and allow the container lifting device 500 to be supported on the floor inside the port column 119, 120.
  • the drive mechanism 520 comprises a drive pulley with a drive motor that runs the pulley.
  • the container lifting device 500 is configured to move vertically between two lift stop positions LS1 and LS2 as in fig 5a.
  • the first vertical lift stop position LS1 is in a first horizontal plane Pi and is the lowermost position of the carrier 502 along the vertical guiding structure 504.
  • the second vertical lift stop position LS2 is in a second horizontal plane P2 and is the uppermost position of the carrier 502 along the vertical guiding structure 504. It is observed that in the lowermost position LS1, the carrier is positioned at a clearance height above the ground. This is to ensure the drive mechanism 520 positioned below the carrier 502 does not interference with the positioning of the carrier 502.
  • the carrier 502 in the lowermost position LS1 (or the first vertical position) always rests at a certain clearance equal to the height occupied by the drive mechanism 520 from the ground.
  • the lowermost position LSi of the carrier 502 maybe such that the bottom of the carrier 502 touches the base 516 of the container lifting device 500.
  • the drive mechanism 520 with the drive motor 520a provides the energy needed to drive the drive pulley 517, that in turns transfers the energy to a top pulley by means of the belt to move the carrier between the first vertical position LSi and the second vertical position LS2.
  • the container lifting device 500 may be envisaged to move between three or more vertically displaced lift stop positions.
  • the carrier 502 supports and transports one or more storage containers 106 to/from the storage volume 104 of the grid framework structure 100.
  • an available container handling vehicle 300 performs retrieval of one or more storage containers 106 from the carrier 502.
  • the container handling vehicle 300 on receiving instruction signals from a control system 109 activates one or more of its gripper devices 3O4(a-d) depending on the size, number and distribution of the storage containers within the carrier 502.
  • the container handling vehicle 300 may also load the carrier 502 with one or more storage container 106 that are to be transferred out of the storage volume 104 of the grid framework structure 100.
  • FIG. 5b is a perspective side view, of the container lifting device with its carrier in a lowermost position supporting small storage containers.
  • the container lifting device 500 is seen transferring storage containers from a storage volume 104 through a port column 119, 120 of the framework 100 to outside the framework to an access location 540.
  • the port columns 119, 120 comprises four upright members i02a-d surrounding the port column at the four corners.
  • the two upright member 102a- b positioned towards the access location 540 have been modified and adapted to allow removal of the storage containers 106 from the carrier 502.
  • the upright members 102 generally comprise inner channel flanges 103 running throughout the vertical length of the uprights.
  • the inner channel flanges 103 are in the form of depression that form tracks for movement of the container lifting device along the channel flanges 103.
  • the lower ends of the upright members i02a-b are adapted by creating a section cut-out from the lower ends of the upright members i02a-b. This creates more width for movement of the storage containers 106 at the section cut-out from and out of the carrier 502.
  • the container handling vehicle 500 loads the carrier 502 with storage containers 106.
  • the carrier 502 is seen herein transferring two small sized storage containers: for example: two half-size containers 30 on the carrier.
  • the carrier 502 is moved down along the vertical guiding structure 504 and positioned at the first vertical lift stop position LS1 at the lowermost level.
  • the small storage containers 30 may be removed from the carrier 502 by either a human or a robotic operator.
  • the carrier 502 is seen to comprise a pair of vertical flanges 510 on either side of the carrier 502.
  • These vertical flanges 510 provide abutment of the small storage containers 30 stored within the carrier 502 and support the storage containers 30 during transfers.
  • the vertical flanges 510 comprise simple retraction mechanisms similar to that of a click pen, spring loaded mechanisms etc. These details will be described further with reference to the components of the carrier 502 in fig. 9.
  • Fig. 5c is a perspective side view, of the container lifting device with its carrier in expanded view showing the components of the carrier.
  • the container lifting device 500 can been seen transferred two small storage containers 30 via the port column 119, 120.
  • the carrier 502 of the container lifting device 500 is positioned in the first vertical stop position LS1 at the lowermost level of the carrier 502.
  • the expanded view of the carrier 502 of the container lifting device 500 shows the two small storage containers 30 each of half-size of the storage container are supported on the carrier 502 by means of container stabilizing elements 505 of the carrier 502.
  • the container stabilizing elements 505 are elongated guiding elements 505 that protrude from three side walls of the carrier 502 on the inner side of the carrier.
  • the elongated guiding elements 505 are positioned at or near the center of the side walls 509 of the carrier 502.
  • elongated guiding elements 505 may also protrude from the corners of the three side walls 509 of the carrier 502 to provide additional support to the storage containers 30, 106 during transfers.
  • An additional elongated central guiding element 505’ maybe provided at the center point or the middle of the carrier 502 to allow supporting smaller containers 30, 40 on the carrier.
  • the carrier 502 also comprises a pair of vertical flanges 510 that are extending from the two side walls of the carrier 502 towards each other. These vertical flanges 510 provide additional support to the smaller container by abutting/ squeezing the smaller containers 30, 40 within the carrier 502. As described above, the vertical flanges 510 maybe retracted into the side walls of the carrier 502 by means of the retraction mechanisms operated by an operator.
  • transfer of the smaller storage containers 30 into the storage volume 104 of the framework structure 100 maybe envisaged.
  • the carrier 502 maybe transferred to the second vertical lift stop position LS2 and the container handling vehicle 300 may then activate the required gripper devices 3O4a-d depending on the distribution of the smaller storage container on the carrier 502. For example, for this configuration of smaller containers 30 all the gripper devices 5O4a-d will need to be activated to retrieve the smaller containers 30.
  • FIG. 6a is a perspective side view, of the container lifting device with its carrier in an uppermost position.
  • the container lifting device 500 with the carrier 502 is seen positioned at the second vertical lift stop position LS2 at the uppermost level of the framework 100.
  • the container handling vehicle 300 on top is loading four one-fourth size storage containers 40 onto the carrier 502.
  • the drive mechanism 520 positioned at the lower level of the port column 119, 120 is activated and moves the lifting mechanism 512 with the pulleys bringing the carrier 502 to first vertical lift stop position LS1 at the lowermost level of the port column 119, 120.
  • a conveyor 530 is arranged for transferring the storage containers 40 out of the carrier 502.
  • the conveyor 530 may only transfer the items within the storage containers 40 and the carrier 502 may then return the small storage containers 40 back into the storage volume 104 of the grid framework structure 100.
  • the conveyor 530 may be arranged at or near the access location 540, that leads from the port column 119, 120.
  • the conveyor 530 comprises a horizontal movement mechanism with motor that runs the conveyor 530.
  • Fig. 6b is a perspective side view, of the container lifting device with its carrier transferring small storage containers.
  • Fig. 6b is a perspective view of fig 6a with the carrier 502 moved to a second vertical lift stop position LS2 at the uppermost level of the framework structure 100.
  • the container handling vehicle 300 operating on top of the framework structure 100 on the rails 108 has activated all the gripper device 5O4a-d to retrieve the four small containers 40: one-fourth size containers 40.
  • FIG. 7a and 7b depict container lifting device with a side and perspective view with the carrier 502 transferring four one-fourth size containers 40.
  • the carrier 502 is positioned at the second vertical lift stop position LS2 at the uppermost level.
  • a conveyor 530 is seen in 7a arranged next to the first vertical lift stop position LS1 to allow removal of the storage container or the items within the storage container 40.
  • FIG. 8a and 8b depict container lifting device with a side and perspective view with the carrier 502 transferring two half size containers 30.
  • the carrier 502 is positioned at the first vertical lift stop position LS1 at the lowermost level.
  • the carrier 502 can be seen with container stabilizing elements 505 in the form on elongated guiding elements 505 that protrude from the inner side walls 509 of the three sides of the carrier 502.
  • the additional central elongated guiding element 505’ that extends from a center point or middle of the carrier 502 is also observed.
  • Fig. 9a is a perspective side view, of the container lifting device with its carrier moving along the vertical guiding structure.
  • the container lifting device 500 comprises the carrier 502 for supporting the storage containers 106 on it, the vertical guiding structure 504 that extends from a periphery of the carrier 508 and spans across a horizontal extent of the carrier 502, the drive mechanism 520 at the bottom on the vertical guiding structure 504 and the base 516 of the device.
  • the lifting mechanism 512 along with the lifting components are observed in the fig 9b and will be described thereon.
  • the carrier 502 is supporting smaller storage containers 106, 20 on it and transferring the smaller storage containers between the vertical lift stop positions LS1 and LS2.
  • the carrier 502 comprises an upper rim 507 that encircles the carrier on the top along the three side walls of the carrier 502.
  • the height of the storage containers is shown to be more than the height of the side walls of the carrier 502 and thus the storage containers 106, 20 are seen protruding out when supported on the carrier.
  • the height of the storage container may also be equal to the height of the side walls of the carrier 502.
  • Fig. 9b is perspective view of the container lifting device of fig. 9a showing the components in detail.
  • the container lifting device 500 comprises the carrier 502 for supporting the storage containers 106, a vertical guiding structure 504 that guides the carrier 502 vertically between the lift stop positions, a lifting mechanism 512, a drive mechanism 520 and a base 516 of the device.
  • the carrier 502 supports and transfer storage containers 106, that are smaller storage containers 20, 30 which are half the size of the storage container as seen in fig. 9b. However, other sizes of storage containers may be transferred.
  • the carrier 502 as seen spans a horizontal periphery 508.
  • the area within this periphery 508 is referred to as horizontal support area (A) of the carrier 502.
  • the horizontal support area (A) is the area within the carrier on a base 506 or a framework of the base of the carrier that provides contact with the base of the storage containers 106, 20 supported on the carrier 502.
  • the carrier 502 comprises three inner side walls 509 surrounding the carrier 502.
  • the inner side walls 509 also constitute two arms and a bridge member 502c of the carrier 502.
  • the terminology inner side walls may also be referred to as two arms 502a, b and bridge element 502c of the carrier 502.
  • Abridge element 502c (seen in fig 10b and 10c) is a horizontal member that connects the two arms 502a, b.
  • a pair of vertical flanges 510 extend from each end of the arms 502a, b and in a direction perpendicular to the arms 502a, b.
  • the pair of vertical flanges 510 are said to extend towards each other.
  • the pair of vertical flanges 510 comprise a retractable mechanism provided at the sides of the arms 502a, b from where the vertical flanges extend out.
  • the retractable mechanism is in the form of: spring loaded mechanism, or a click pen mechanism that may snap/release/retract on being push towards the arms 502a, b.
  • the retractable mechanism may be a sliding mechanism that may slide the vertical flanges 510 downwards to the base 506 of the carrier 502 or into the arms 502a, b of the carrier 502.
  • the carrier 502 comprises a framework of the base 506, without a solid base plate that spans an entire support area of the carrier, but rather a framework that runs through the inner edges of the horizontal support area (A) and a center of the carrier 502.
  • the carrier 502 comprises a base 506 with a solid base plate wherein the horizontal support area (A) spans on the entire base plate of the carrier 502.
  • the arms 502a, b and the bridge element 502c comprises container stabilizing elements in the form on elongated guiding elements 505 that extends from a center of the arms 502a, b inwards and from the center of the bridge element 502c inwards.
  • the elongated guiding elements 505 are longitudinal protruding thin structures provided on the inner surface of the arms 502a, b and the bridge element 502c.
  • the elongated guiding elements 505 are provided with ridges that extend throughout the body of the elongated guiding element 505.
  • the ridges may include one or more channels that allow locking or sliding onto corresponding grooves/recesses 106’, 106” provided on the storage containers 106, 10, 20.
  • elongated guiding elements 505 may also be provided at the intersections of the arms 502a, b and the bridge element 502c. These help in providing additional support and stability to the smaller containers 30, 40 during their movements or transfers on the carrier 502.
  • An additional central elongated guiding element 505’ is also provided that protrudes from a center point or a middle of the carrier base 506.
  • the additional central elongated guiding element 505’ has a cross shaped profile and protrudes parallel to the arms 502a, b of the carrier 502.
  • the cross profile may be solid or hollow from the inside.
  • the additional central elongated guiding element 505’ provides additional support and stability to smaller storage containers for example: when the carrier 502 is transferring a single half size container 30 or transferring two one fourth size containers 40 that are positioned diagonally on the carrier 502.
  • the vertical guiding structure 504 as seen guides the carrier 502 along the vertical direction between the two vertical stop positions LSi and LS2 on the vertical guiding structure.
  • the vertical guiding structure is hidden inside the upright members 102 of the port column 119, 120.
  • the vertical guiding structure 504 comprises two vertical bars on either sides that are connected by a horizontal cross bar 519.
  • the vertical guiding structure 504 also supports the lifting mechanism 512 and the drive mechanism 520.
  • the lifting mechanism 512 constitutes a top pulley 515 mounted to the horizontal cross bar 519 of the vertical guiding structure 504 and the belt 514 that connected the top pulley 515 with drive pulley 517 of the drive mechanism 520 at the bottom.
  • the lifting mechanism 512 works in conjunction with the drive mechanism (drive pulley 517) to lift or move the carrier 502 along the vertical guiding structure 504.
  • the drive mechanism 520 includes a drive motor 520a and the drive pulley 517 that transfer the energy of the drive motor 520a to the drive pulley 517 that further transfers the energy to the lifting mechanism 512 via the belt 514 and the top pulley 515 thus moving the carrier 502 vertically.
  • the bottom of the container lifting device 500 include a base 516 on top of which the drive motor and drive pulley are supported. The base 516 also supports the bottom of the vertical guiding structure 504.
  • the carrier 502 maybe provided with one or more position sensors, weight sensors, light sensors etc to detect the position and placement of the one or more storage containers within the horizontal support area (A) of the carrier 502.
  • the sensors maybe in communication with an actuation device and the control system.
  • Fig. 10a is a perspective side view, of the container lifting device and its components.
  • the carrier 502 is seen at the lowermost position or a first vertical position LS1 along the vertical guiding structure 504.
  • the vertical positions LS1 and LS2 as shown in the figures are not exact in measurement but are intended to convey a position that is the lowermost position LS1 of the carrier and an uppermost position LS2 of the carrier 502.
  • the drive mechanism 520 with the motor 520a drives the drive pulley 517 and transfers the energy for the movement of the top pulley 515 by means of the belt 514.
  • the details of the components are described in relation to fig. 9b.
  • Fig 10b and 10c depicts a side view and rear view of the container lifting device showing the carrier in lowermost position with container stabilizing elements.
  • the side view shows the carrier 502 of the container lifting device 500 in the first vertical lift stop position LS1.
  • the carrier 502 does not include a base plate, but rather a framework of the base 506 as observed.
  • the framework of the base 506 is seen to run along the inner edges of the arms 502a, b and the bridge element 502c.
  • the base framework is in the form of a thin horizontally protruding plate.
  • the area within the base 506 as defined within the two arms 502a, b and the bridge element 502c is referred to as the horizontal support area (A) of the carrier 502, as the area provides the required support when the storage containers 106, 10, 20 are loaded onto the carrier 502.
  • the container stabilizing elements 505 in the form of elongated guiding elements 505 are seen extending into the horizontal support area (A) of the carrier 502.
  • the elongated guiding elements 505 are provided on the center of each arm 502a, b and the center of the bridge element 502c inwards.
  • the bridge element 502c is provided with a rear face that contacts the vertical guiding structure 504 and is supported thereof by the guiding structure 504.
  • the rear face comprises rollers or wheels 525 provided on each side towards the lower edges on the rear face of the bridge element 502c.
  • the roller or wheels maybe two sets of wheels on each side.
  • the roller 525 are configured such that they slide into an inner channel flanges provided on the upright members 102a, b of the port column 119, 120.
  • Fig. 10c shows a clearer view of the rear face of the bridge member 502c with the rollers 525 at the side corners.
  • Fig. 11a is a perspective side view, of the container lifting device and its components.
  • the carrier 502 is at the second vertical lift stop position LS2 and is moved by the drive mechanism 520 with the drive motor 520a and the lifting mechanism 516 operating together.
  • Fig 11b and 11c are perspective side view showing a side view and rear view of the container lifting device showing the carrier in uppermost position with container stabilizing elements.
  • the embodiment of fig. 11b and 11c are similar to that of 10b and 10c, but with the carrier 502 being in the second vertical lift stop position LS2.
  • the base 506 of the carrier 502 as described above only comprises a framework.
  • the elongated guiding elements 505 distributed towards the inner side on the horizontal support area (A) of the carrier 502 provide the support for the storage containers 106, 10, 20 when arranged within the carrier 502.
  • the drive mechanism 520 may alternatively also include different mechanism such as for example, a traction mechanism drive such as belt, V-belt, toothed belt, chain.
  • a traction mechanism drive such as belt, V-belt, toothed belt, chain.
  • the drive mechanism 520 is shown arranged at the base of the container lifting device 500, however it maybe arranged at the top of the vertical guiding structure 504. In such a scenario, the carrier 502 may extend all the way down up the base of the carrier rests on top of the base 516 of the container lifting device 500.
  • Fig. 12 shows a view of the carrier supporting smaller storage containers 20.
  • the carrier 502 is positioned at the second lift stop position LS2 at the uppermost level in the horizontal plane P2.
  • the carrier supports two smaller sized containers: one one-fourth sized container 40, and a half sized container 30.
  • the carrier 502 does not comprise a base plate that spans an entire base of the framework the smaller storage containers 30, 40 are supported and stabilized by elongated guiding elements 505 at the inner sides on the arms 502a, b and the bridge element 502c.
  • the additional central elongated guiding element 505’ providing the additional stability to the smaller container 40 when the container is positioned on the carrier 502 (without the base plate).
  • the vertical flanges 510 extend out from the ends of the arms 502a, b towards each other in the opposite directions. An additional vertical flange 510’ is also seen that provides support for the smaller container 40. The vertical flanges 510, 510’ hold or abut the smaller container and help maintaining the smaller containers 40 in position when the carrier 502 is moved vertically along the vertical guiding structure 504.
  • the drive motor 520a drives the drive pulley 517, that into transfer the energy to move the belt 514 and the top pulley 515, that moves the lifting mechanism 512 to cause movement of the carrier 502 between the two vertical lift stop positions LS1, LS2.
  • Fig. 13a is a perspective side view, of the container lifting device operating between two grid framework structures the container lifting device 500 is installed between two grid framework structure 100 and 100’ that are vertically displaced one above the other on two floors/levels.
  • the container lifting device 500 is arranged such that the carrier 502 of the device comprises: at least three vertical stop positions: the first lift stop position LS1, second lift stop position LS2 and fourth lift stop position LS4.
  • Each of the vertical lift stop positions LS1, LS2, LS4 are arranged in different horizontal planes Pi, P2 and P4 respectively.
  • the arrangement allows transfer of storage containers 106, 10, 20 between the storage volumes 104, 104’ of the two grid frameworks 100, 100’, thus expanding the storage capacity and density of the items in the automated storage and retrieval system employing such an arrangement.
  • a container handling vehicle 300 operating on the rail system 108 of the first framework 100 is awaiting arrival of the carrier 502 at the second vertical lift stop position LS2 to retrieve the storage containers 106 ,10, 20 transferred by the carrier 502 from the second framework 100’ via the second container handling vehicle 300’ operating on the rail system 108’ of the second framework 100’.
  • Each container handling vehicles 300, 300’ may activate their corresponding gripper devices 3O4a-d, 3O4a’-d’ depending on the desired distribution on the storage containers on the carrier 502.
  • an opening may be created a lower end of the first framework structure 100 to create an exit in the upright members 102 of the port column 119, 120.
  • a conveyor 530 maybe arranged at the opening to remove the containers 106, 10, 20 out of the carrier 502 or remove individual items out of the storage containers 106, 10, 20.
  • FIG. 13b and 13 c are rear view and side view of the container lifting device operating between two grid framework structures. As seen in 13b is a rear view of two framework structures 100, 100’ arranged one above the other in different levels and the container lifting device 500 installed between the two framework structures 100, 100’ in order to transfer storage containers 106, 10, 20 between the two levels.
  • the rear view shows the rear face of the bridge element 502c with two rollers 525 arranged at the corners of the rear face on either side.
  • the rollers 525 are arranged to slide within the inner channel flanges 103 provided on the upright members 102, 102’. This arrangement allows effective movement of the carrier 502 when drive by the drive mechanism 520 and the lifting mechanism 512.
  • the top pulley 515 can be seen mounted at the top as the vertical guiding structure 504 extends inside the upright members 102a, b and flushed inside.
  • the drive pulley 517 is arranged at the base 516 of the container lifting device 500 within the first framework structure 100 and the belt 514 connects the top pulley 515 and the drive pulley 517 and extends between the two framework structures 100, 100’.
  • Fig- 14- is a perspective view of a carrier of the container lifting device showing a base and container stabilizing elements.
  • the carrier 502 as seen comprises a base 506 that spans an entire horizontal support area (A) on the carrier.
  • the base 506 is also the contact area for the base of the storage containers 106, 10, 20 when they are supported on the carrier 502.
  • the carrier spans a horizontal periphery 508 and includes two arms 502a, b and a bridge element 502c that constitutes inner side walls 509 of the carrier.
  • the carrier 502 comprises an upper rim 507 that encircles the three sides of the carrier (two arms 502a, b and the bridge element 502c).
  • the upper rim 507 as seen comprises protrusions 518 that maybe in the form of: a patter such as zig-zag, depressions, ridges, furrows that extend throughout the surface of the rim 507 and allow supporting the storage containers 106 ,10, 20 on the protrusions 518.
  • the protrusions 518 maybe a design of the rim 507 that allows supporting the storage containers 106, 10, 20 on it.
  • the rim 507 may extend outside to form a slight U shaped design and this may allow the storage containers 106, 10, 20 to be supported thereon.
  • the protrusions 519 may include hooks, clips, or other structural elements that allow supporting the storage containers 106, 10, 20 on them.
  • elongated guiding elements 505 are seen on the inner side walls 509 of the carrier 502 in the middle of each inner side wall 509.
  • the elongated guiding elements 505 are also provided at the corners of the side walls 509.
  • Three vertical flanges 510, 510’ are provided on the carrier 502 for additional support to the smaller storage containers 106, 10, 20.
  • Two vertical flanges 510 extend from the side of the arms 502a, b and one vertical flange 510’ is at the center of an open side of the carrier 502.
  • rollers 525 on the rear face of the carrier 502 are also visible on one side.
  • Fig. 15a is a perspective view of a carrier of the container lifting device with a framework of the base and container stabilizing elements.
  • Fig. 15 is a view of the carrier 504 of fig. 14 supporting a smaller container: half size container 30.
  • the container 30 is supported on the rim 507 of the carrier 502 and held in place on the protrusions 518 of the rim as described above.
  • the protrusions 518 are shown as depression 518 on the surface of the upper rim 507 that allow the storage containers 106, 10, 20 to be supported thereon. It is seen how the storage container 30 comprises a rim that allows the storage container 106, 10, 20 to fit into the depressions/protrusions 518 on the upper rim 507 of the carrier 502. Thus, holding the storage container 30 on the carrier 502.
  • the storage container 106, 10, 20 is held in place additionally by elongated guiding elements 505 at the corner of the side walls of the carrier 502 and the center of the arms 502a, b.
  • the additional central elongated guiding element 505’ also provides additional support along with the three vertical flanges 510, 510’.
  • Fig. 15b shows the carrier 502 of the container lifting device with protrusions 518 in enlarged view.
  • the protrusions 518 can be seen extending from a rim 507 of the carrier 502 all the way on the inner surfaces of the arms 502a, b and the bridge element 502c. This arrangement provides better support and stability to storage container when they are supported by the rim 507.
  • the protrusions 518 are in the form of vertical depressions extending from the rim 507 to the inner surface of the carrier.
  • the protrusions 518 maybe in any other forms for example: ridges, furrows, ledges, hooks or other structural elements that are capable of providing support to the one or more storage containers 106, 10, 20 by friction by holding them at the rim where the contact with the rim of the storage container 106, 10, 20 takes place.
  • protrusions 518 may extend all the way on the base 506 of the carrier and may comprise depressions made of material for example: rubber, silicon or similar materials that assist in providing the necessary friction between the protrusions and the surface of contact of the storage containers 106, 10, 20 to allow the storage containers to be supported or held in place during movements of the carrier 502.
  • the storage containers 106, 10, 20 may also be provided with complementary recesses at the bottom surface of the storage containers, such that the area of contact of the containers with the horizontal support area (A) on the carrier is influenced by friction between the depressions and the recesses at the bottom of the container, thus keeping the storage container in place during the vertical movements.
  • Fig- 16a and 16b is a second embodiment of the container lifting device with the storage containers supported at the rim and the container stabilizing elements.
  • the carrier 502 is at the second vertical position LS2 at the uppermost level and transferring a half size storage container 30.
  • the storage container 30 is positioned to occupy a first and second quadrant (if we image the base area of the carrier 502 to be divided into four quadrants).
  • the elongated guiding elements 505 on the inner side of the arms 502a, b and the bridge element 502c provide the support and stabilize the storage container 30 on the carrier 502.
  • the storage container 30 is held at the upper rim 507 of the carrier 502 by means of the protrusions 518 as described above.
  • the vertical flanges 510, 510’ are shown to be in protruding position, however they may be retracted by the retractable mechanism as described above to allow removal of the storage container 30 without interference.
  • Fig. 17a and 17b shows the carrier with container stabilizing elements as side flaps 521.
  • the carrier 502 of fig. 17 is shown to comprise three side flaps 521 that protrude from inner surface of the two arms 502a, b and the bridge element 502c of the carrier.
  • the arms 502a, b and the bridge element 502c are provided with slots 526 or sections in the middle of the arms 502a, b and the bridge element 502c. These slots 526 are provided with the side flaps 521.
  • the side flaps 521 are longitudinal flanges or vertical plates fixed at one end inside the slot 526 and that extend from the arms 502a, b and the bridge element 502c of the carrier 502.
  • Each side flap 521 can be moved from a resting position where the side flap 521 is embedded inside the slot 526, to a protruding position/or an active position outside the slot 526. In the protruding position, the side flaps 521 provide support and stabilize the smaller storage containers on the carrier 502. For example, as shown in fig. 17a the half size storage container 30 is supported by the side flaps 521 that are activated/ protruding from the two arms 502a, b.
  • the carrier 502 here does not comprise the additional central guiding element 505’.
  • the side flaps 521 are provided with first activation device 523 which may be positioned at the bottom of the carrier 502 or on the rear face of the bridge element 502b.
  • the first activation device 523 may comprise a simple activation mechanism such as a screw and nut arrangement or a rack and pinion, click mechanism or other electronic actuation devices.
  • the first activation device is in communication with the control system 109 and receives instruction signals from the control system 500. On receiving instruction signals, the first activation device 523 moves the side flap 521 from resting position to protruding position to stabilize the smaller storage containers 30 within the carrier 502.
  • the first activation device 523 may also move the side flap 521 from a protruding position to a resting position, when not needed.
  • Fig. 18a and 18b and 18c shows the carrier with container stabilizing elements as base flaps 522.
  • the carrier 502 comprises three or more base flaps 522 that are provided on the framework of the base 506 of the carrier 502.
  • framework of the base is provided with two base slots 527 on either sides of the framework and three base slots 527 are on the central bar of the framework, the central bar extends longitudinally along the center of the base as shown in figure 18.
  • Each base slot 527 is provided with a base flap 522 that protrudes from within the base slot 527.
  • the base flaps 522 are longitudinal flanges or vertical plates fixed at one end, inside the slot 527 and that extend from the base of a framework of the base 506 as shown in the figure.
  • Each base flap 522 can be moved from a resting position where the base flap 522 is embedded inside the slot 527, to a protruding position/or an active position outside the slot 527. In the protruding position, the base flaps 522 provide support and stabilize the smaller storage containers on the carrier 502. For example, in fig. 18c a smaller container 40 that is a one-fourth size container 40 is supported and stabilized on the carrier 502 by the base flaps 522.
  • the carrier 502 does not comprise the additional central guiding element 505’.
  • the base flaps 522 are provided with second activation device 524 which may be positioned at the bottom of the carrier 502 or on the rear face of the bridge element 502b.
  • the second activation device 524 may comprise a simple activation mechanism such as a screw and nut arrangement or a rack and pinion, click mechanism or other electronic actuation devices.
  • the second activation device is in communication with the control system 109 and receives instruction signals from the control system 500. On receiving instruction signals, the second activation device 524 moves the base flap 522 from resting position to protruding position to stabilize the smaller storage containers 40 within the carrier 502.
  • the second activation device 524 may also move the base flap 522 from a protruding position to a resting position, when not needed.
  • the base flaps 522 are seen in resting position in fig. 18a and 18b.
  • the carrier maybe provided with one or more position sensors, weight sensors, light sensors etc. to detect the position and placement of the one or more storage containers within the horizontal support area (A) of the carrier.
  • the sensors may be in communication with the first and second actuation device and the control system. Based on the detected position of the one or more storage containers, the actuation devices may be controlled to deploy the respective container stabilizing elements (or the base and side flaps as described above) on the horizontal support area (A) of the carrier.
  • FIG. 19a and 19b are perspective views of a large storage container with recesses at the sides and the middle of the container.
  • the storage container 106 is a large container 10 that occupies a footprint substantially equal to the footprint of the carrier 502 as described above.
  • the storage container 10 comprises a base 11, four side walls 12 enclosing the base 12 and a rim 14 that encircles the container 10.
  • the container 10 is provided with two types of recesses 106a, 106b.
  • the first type of recesses 106a are distributed on the outer surface of the side walls 12.
  • the first type of recesses 106a as illustrated in the figure are provided at the center of the outer side walls 12 and the corners of the outer side walls 12.
  • a second type of recess 106b in positioned on the center point or the middle of the base 12 of the container 10.
  • the second type of recess 106b extends vertically and is a cross shaped profile, with a central hollow area 17.
  • the corners of the second type of recess 106b are provided with depressions 18 that run vertically along the length of the recess 106b.
  • the enlarged view of the recess 106” shows the hollow area and the four corner depressions 18.
  • the depressions 18 allow the container 10 to be held stably by the carrier 502 during movement.
  • the first type of recesses 106a may also be provided at different positions on the outer side walls 12 of the container 10. An important aspect is that the recesses 106a are complementary to fit into the elongated guiding elements 505 on the carrier 502 to hold the container 10 in place.
  • a method for transferring one or more storage containers between the storage system 100 and an external access location 540 employing container lifting device 500 is described.
  • one or more storage containers 106, 10, 20 are loaded by the container handling vehicles 200, 300, 400 on to the container lifting device 500.
  • the container lifting device 500 is at the second vertical lift stop position LS2 at the uppermost level.
  • the container lifting device 500 may beforehand receive instruction signals from the control system 500 on the number, size and position of the storage containers 106, 10, 20 to be loaded onto the carrier 502 of the container lifting device 500.
  • the carrier actuates one or more container stabilizing elements 505 provided on an inner surface of the carrier 502.
  • the carrier 502 is then loaded with the one or more storage containers 106, 10, 20.
  • the drive mechanism 520 for moving the container lifting device 500 is activated.
  • the drive mechanism 520 activates the drive motor 520a that moves the drive pulley 517, which in turn drives the belt 514 and the top pulley 515, thus moving the lifting mechanism 512.
  • the coordinated movement of the drive mechanism 520 and the lifting mechanism 512 moves the carrier 502 along the vertical guiding structure 504 downwards through the port column 119, 120 towards an exit of the port column 119, 120.
  • an access location 540 is arranged with a robotic or a human operator to retrieve the storage containers 106, 10, 20 or the items from the storage container.
  • a method for transferring one or more storage containers from the access location 540 through the container lifting device 500 through the port column 119, 10 into the storage system 100 may also be envisaged.
  • the sequence of steps as described above are performed in the reverse fashion.
  • a method for transferring one or more storage containers between two levels of the storage system 100, 100’ employing the container lifting device 500 is also envisaged.
  • various aspects of the container lifting device, container handling vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.
  • a vertical guiding structure (504) coupled to a periphery (508) of the carrier (502) to guide the carrier (502) between at least a first vertical position (LSi) of the vertical guiding structure (504) and a second vertical position (LS2) of the vertical guiding structure (504);
  • the carrier (502) comprising a horizontal support area (A) for supporting one or more storage containers (106) during movement of the carrier (502) between the first vertical position (LSi) and the second vertical position (LS2), wherein the carrier (502) comprises:
  • one or more container stabilizing elements (505) arranged on one or more inner side walls (509) or the horizontal support area (A) of the carrier (502) and protruding above or into the horizontal support area (A) for stabilizing the one or more storage containers (106) during said movements.
  • the carrier (502) comprises: two arms (502a, 502b) and a bridge element (502c) connecting the arms (502a, 502b).
  • each arm (502a, 502b) extends from an end of the bridge element (502c) and is configured to at least partly enclose the one or more storage containers (106) in place within the carrier (502).
  • the carrier (502) comprises at least two vertical flanges (510) extending perpendicular to the direction of the arms (502a, 502b), and wherein the vertical flanges (510) are configured to abut at least one of the storage container (106) within the carrier (502) during movements of the carrier (502).
  • the bridge element (502c) comprises a pair of rollers (525) arranged at corner of a rear face of the bridge element (502c) and configured to roll along a channel flange provided on an inner side of the port column (119, 120) during the movements of the carrier (502).
  • the container stabilizing elements (505) comprise elongated guiding elements (505) extending inwardly from the inner side walls (509) of the carrier (502).
  • the carrier (502) comprises a rim (507) at least partly encircling the carrier (502) and provided with protrusions (518) arranged on an inner surface of the rim (507), wherein the protrusions (518) are shaped to support the one or more storage containers (106) thereon.
  • the container stabilizing elements comprise side flaps (521) arranged on the one or more inner side walls (509) of the carrier (502) and are configured:- to be displaced from a resting position from within a slot (526) provided at the center point of the one or more inner side walls (509) towards a center of the carrier (502) to a protruding position for stabilizing the one or more containers (106).
  • the carrier (502) comprises a base (505) or a framework of the base for supporting the one or more storage containers (106) and wherein the container stabilizing elements comprise base flaps (522) arranged on the base (506) or a framework of the base of the carrier (502) and configured:- to be displaced from a resting position within a slot (527) provided in the base (506) or a framework of the base, to a protruding position perpendicular to the base (506) for stabilizing the one or more storage containers (106).
  • the lifting mechanism (512) comprises: a pulley (515) rotatably mounted on the top of a horizontal cross bar (519) that extends from the vertical guiding structure (504), a drive mechanism (520) at one end of the vertical guiding structure (504) having a drive pulley (517), and a belt (514) that is wound around the pulley (515) and the drive pulley (517).
  • An automated storage and retrieval system (1) comprising:
  • the or each framework structure (100) for storing a plurality of storage containers (106) in stacks (107), the or each framework structure (100) comprising: a rail system (108) arranged above the stacks (107), the rail system (108) comprising perpendicular rails (110, 111), the intersections of which form a horizontal grid structure having grid cells (112) defining grid openings; a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing the stacks (107); and a port column (119,120) for transferring the storage containers (106) between the or each rail system (108) and an access location (540) using the container lifting device (500);
  • a plurality of container handling vehicles (200, 300, 400) configured to travel along the rail system (108) and to transfer storage containers (106) to the container lifting device (500);
  • control system (109) configured to send instructions to control operations of at least one of the container handling vehicles (200, 300, 400) and the container lifting device (500).
  • each of the container handling vehicles (200,300,400) comprises a plurality of gripper devices (3O4a-d), wherein the gripper devices (3O4a-d) are selected for gripping a plurality of storage containers (106) based on the desired distribution of the plurality of storage containers (106) to be transferred by the carrier (502) of the container lifting device (500).
  • the port column (119, 120) comprises four upright members (102), wherein at least two of the upright members (102a, 102b) that are positioned at or near the access location (540) are configured to allow removal of plurality of storage containers (106) from the port column (119, 120) by removing a section of each inner channel flange (103) at the base of the upright members (102a, b).
  • first framework structure comprising:
  • first port column (119, 120) for transferring a plurality of storage containers (106) between a first rail system (108) and an access location (540);
  • [00305] 24 The automated storage and retrieval system (1) in accordance with clause 22 or 23, wherein the container lifting device (500) is arranged to transfer the plurality of storage containers (106) between at least two of: the first vertical position (LSi), the second vertical position (LS2), and a fourth vertical position (LS4), wherein the first vertical position (LS1) and the second vertical position (LS2) are associated with the first framework structure (100), wherein the fourth vertical position (LS4) is associated with the second framework structure (100’), wherein the second vertical position (LS2) is above the first vertical position (LSi), and wherein the fourth vertical position (LS4) is above the first and second vertical position (LSi, LS2).
  • the container lifting device (500) is arranged to transfer the plurality of storage containers (106) between at least two of: the first vertical position (LSi), the second vertical position (LS2), and a fourth vertical position (LS4), wherein the first vertical position (LS1) and the second vertical position (LS2) are associated with the first framework structure (100), wherein the fourth vertical position (
  • the container stabilizing elements (505) comprise: elongated guiding elements (505) extending inwardly from the inner side walls (509) of the carrier (502) and wherein in the elongated guiding elements (505) comprise surfaces with ridges, wherein ridges are configured to fit into complementary shaped recesses (106a, 106b) on the plurality of storage containers (106), and wherein I. further comprises:
  • the container stabilizing elements (505) comprise: side flaps (521) arranged on the one or more inner side walls (509) of the carrier (502) and are configured to be displaced from a resting position from within a slot (526) provided at the center point of the one or more inner side walls (509) towards a center of the carrier (502) to a protruding position for stabilizing the one or more containers (106); wherein the container stabilizing elements (505) comprises
  • the container stabilizing elements (505) comprise: base flaps (522) arranged on a base (506) of the carrier (502) or a framework of the base (506) and are configured to be displaced from a resting position from within a slot (527) provided in the base (506) or a framework of the base (506) to a protruding position perpendicular to the base for stabilizing the one or more containers (106); wherein the container stabilizing elements (505) comprises: base flaps (522) arranged on a base (506) of the carrier (502) or a framework of the base (506) and are configured to be displaced from a resting position from within a slot (527) provided in the base (506) or a framework of the base (506) to a protruding position perpendicular to the base for stabilizing the one or more containers (106); wherein the container stabilizing elements (505) comprises
  • a computer program product comprising instructions which, when the program is executed by a computer coupled with or being a part of a control system of an automated storage and retrieval system of any of the clauses 17 to 24, cause the computer to carry out the steps of clauses 25 to 29.
  • Prior art automated storage and retrieval system 0 First Framework structure of the ASRS 0’ Second Framework structure of ASRS 2 Upright members of first framework structure 2a, b Two upright members/front upright members of port2’ column 3 Upright members of second framework structure
  • Inner channel flanges of upright members4 Storage volume of first framework 4’ Storage volume of second framework 5 Storage column of first framework 5’ Storage column of second framework 6 Storage container

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Abstract

La présente invention concerne un dispositif, un système et un procédé de levage de conteneurs pour transférer des conteneurs de stockage entre différents niveaux dans un système automatisé de stockage et de récupération. Le système automatisé de stockage utilise un dispositif de levage de conteneurs pour soulever et transférer des conteneurs de stockage entre des niveaux de stockage déplacés verticalement dans le système automatisé de stockage et de récupération. Le dispositif de levage de conteneurs comprend un support pour supporter des conteneurs de stockage, une structure de guidage verticale qui s'étend le long du support et guide le mouvement du support entre les positions verticales et un mécanisme de levage et d'entraînement pour déplacer le support. Le dispositif de levage de conteneurs comprend un ou plusieurs éléments de stabilisation de conteneurs conçus pour stabiliser les conteneurs de stockage pendant le transfert. La présente invention concerne également un procédé de transfert de conteneurs de stockage entre deux niveaux verticaux dans le système de stockage.
PCT/EP2024/051334 2024-01-22 2024-01-22 Dispositif de levage pour conteneurs dans un système automatisé de stockage et de récupération Pending WO2025157366A1 (fr)

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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
WO2017211634A1 (fr) * 2016-06-06 2017-12-14 Autostore Technology AS Système de levage d'un véhicule télécommandé pour la manipulation de boîtes de tailles différentes dans un système de stockage automatisé
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
WO2020126725A1 (fr) 2018-12-20 2020-06-25 Autostore Technology AS Station d'accès à un conteneur pour un système de stockage et de récupération automatisé
WO2020127060A1 (fr) 2018-12-20 2020-06-25 Autostore Technology AS Transport de véhicules de manutention de conteneurs entre des grilles de stockage de hauteurs différentes
WO2021255235A1 (fr) 2020-06-19 2021-12-23 Autostore Technology AS Dispositif élévateur pour véhicule de manutention de conteneurs
CN117242018A (zh) * 2021-05-21 2023-12-15 自动存储科技股份有限公司 包括具有侧开口的转移列以及阻挡件的自动储存和取出系统以及操作阻挡件的方法
WO2023088911A1 (fr) * 2021-11-16 2023-05-25 Autostore Technology AS Ensemble cadre de levage à éléments de guidage extensibles et rétractables, véhicule de manipulation de conteneurs et système de stockage, et procédé associé

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