AUTOMATED STORAGE SYSTEM

• US 20200031640A1
• Filed: 10/01/2019
• Published: 01/30/2020
• Est. Priority Date: 12/10/2012
• Status: Active Grant

• Current Assignee: Autostore Technology AS
• Original Assignee: Autostore Technology AS
• Inventors: Hognaland, Ingvar
• Granted Patent: US 10,696,478 B2
• Time in Patent Office: Days
• CPC Class Codes: B65G 1/00 Storing articles, individually or in orderly arrangement, in warehouses or magazines conveyor combinations in warehouses, magazines or workshops B65G37/00; stacking of articles B65G57/00; removing articles from stacks B65G59/00; loading machines B65G65/02
• CPC Class Codes: B65G 1/0407 using stacker cranes constructional features of stacker cranes B66F9/06
• CPC Class Codes: B65G 1/0464 with access from above
• CPC Class Codes: B65G 1/0478 for matrix-arrangements
• CPC Class Codes: B65G 1/06 with means for presenting articles for removal at predetermined position or level B65G1/12 takes precedence
• CPC Class Codes: B65G 1/065 with self propelled cars
• CPC Class Codes: B65G 1/137 with arrangements or automatic control means for selecting which articles are to be removed
• CPC Class Codes: B65G 1/1371 with data records
• CPC Class Codes: B66F 9/06 movable, with their loads, on wheels or the like, e.g. fork-lift trucks vehicle aspects B60 - B62; vehicles predominantly for transporting loads and modified to facilitate loading or unloading B60P1/00; low-lift hand trucks for transporting goods B62B3/06
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: B66F 9/07 Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G06K 17/00 Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
• CPC Class Codes: G06Q 10/00 Administration; Management
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

The present invention concerns an automated storage system and remotely operated vehicle or robot for picking up storage bins from a storage system. The inventive vehicle or robot comprises a vehicle body, which vehicle body further comprises a first section for storing vehicle driving means and a second section for receiving any storage bin stored in a storage column within the storage system, a vehicle lifting device which is at least indirectly connected to the vehicle body in order to lift the storage bin into the second section, a first set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a second direction (Y) in the storage system during use. The second direction (Y) is oriented perpendicular to the first direction (X). The inventive vehicle is characterized in that the second section comprises a cavity arranged centrally within the vehicle body. This cavity has at least one bin receiving opening facing towards the underlying storage columns during use. In addition, at least one of the two sets of vehicle rolling means is arranged fully within the vehicle body.

Claims

1. A method of operating a bin storage system comprising a plurality of storage columns for the storage of a plurality of vertically-stacked storage bins, and a plurality of robot vehicles for transporting storage bins on the bin storage system, wherein each of the plurality of robot vehicles comprises

a vehicle body,

a cavity arranged to receive a storage bin from a storage column,

a plurality of rolling members attached to the vehicle body about the cavity,

arranged for travelling in a first and second directions along the bin storage system,

a lifting device arranged to lift a storage bin from the storage column to an end position within the cavity;

and

wherein the method comprises the steps of;

positioning the cavity of one of the plurality of robot vehicles above one of the storage columns,

descending the lifting device of the robot vehicle into the storage column, lifting the lifting device of the robot vehicle from the storage column,

using the plurality of rolling members of the robot vehicle, moving the robot vehicle along the bin storage system prior to the lifting device comes to the end position within the cavity.

2. The method according to claim 1, further comprises the step of:

when positioning the cavity of one of the plurality of robot vehicles above one of the storage columns, initiating the descent of the lifting device prior to the robot vehicle comes to a halt above the storage column.

3. The method according to claim 1, wherein the step of lifting the lifting device of the robot vehicle further comprises lifting a storage bin with the lifting device from the storage column.

4. The method according to claim 2, wherein the step of descending the lifting device of the robot vehicle further comprises descending a storage bin with the lifting device into the storage column.

5. The method according to claim 1, further wherein the height of the lifted storage bin is significantly less than the height extending from suspension points of the lifting device to the lower edge of the robot vehicle.

6. The method according to claim 1, wherein the cavity is centrally arranged in the robot vehicle.

7. The method according to claim 1, wherein the plurality of rolling members is arranged symmetrically about the cavity.

8. The method according to claim 1, wherein the bin storage system comprises:

a. three-dimensional storage structure comprising

a plurality of pillars which are positioned with internal distances and in a rectangular arrangement, wherein the rectangular arrangement of the pillars define the storage columns for the storage of a plurality of vertically-stacked storage bins,

b. supporting rails arranged in a two-dimensional matrix on the pillars, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction, the supporting rails further defining openings for the storage columns.

9. The method according to claim 8, wherein the supporting rails defines rolling tracks, and the plurality of rolling members of the vehicle body is arranged for travelling along the rolling tracks.

10. A robot vehicle for transporting storage bins in a bin storage system, comprising

a. a vehicle body,

b. a cavity arranged to receive a storage bin from a storage column,

c. a plurality of rolling members attached to the vehicle body about the cavity, arranged for travelling in a first and second direction along the bin storage system,

d. a lifting device arranged to lift a storage bin from the storage column to an end position within the cavity;

and

wherein the plurality of rolling members is arranged to move the robot vehicle along the bin storage system prior to the lifting device comes to the end position within the cavity.

11. The robot vehicle according to claim 10, wherein the lifting device is arranged to initiate descent prior to the robot vehicle comes to a halt above a storage column.

12. The robot vehicle according to claim 11, wherein the lifting device is arranged to descend to engage a storage bin.

13. The robot vehicle according to claim 11, wherein the lifting device is arranged to descend a storage bin into the storage column.

14. The robot vehicle according to claim 10, wherein the height of the lifted storage bin is significantly less than the height extending from suspension points of the lifting device to the lower edge of the robot vehicle.

15. The robot vehicle according to claim 10, wherein the cavity is centrally arranged in the robot vehicle.

16. The robot vehicle according to claim 10, wherein the plurality of rolling members is arranged symmetrically about the cavity.

17. The robot vehicle according to claim 10, wherein the bin storage system comprises:

a. three-dimensional storage structure comprising

a plurality of pillars which are positioned with internal distances and in a rectangular arrangement, wherein the rectangular arrangement of the pillars define the storage columns for the storage of a plurality of vertically-stacked storage bins,

b. supporting rails arranged in a two-dimensional matrix on the pillars, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction, the supporting rails further defining openings for the storage columns.

18. The robot vehicle according to claim 17, wherein the plurality of rolling members of the vehicle body is arranged for travelling along a plurality of rolling tracks of the bin storage system, and the supporting rails defines the rolling tracks.

20. The automated storage system according to claim 14, wherein the supporting rails defines rolling tracks, and the plurality of rolling members of the vehicle body is arranged for travelling along the rolling tracks.

19. An automated storage system, comprising

a. a three-dimensional storage structure, comprising

i. a plurality of pillars which are positioned with internal distances and in a rectangular arrangement, wherein the rectangular arrangement of the pillars define storage columns for the storage of a plurality of vertically-stacked storage bins,

ii. supporting rails arranged in a two-dimensional matrix on the pillars, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction, the supporting rails defining openings for the storage columns,

b. a plurality of remotely controlled robot vehicles, said robot vehicles comprising

i. a vehicle body,

ii. a cavity arranged to receive a storage bin from a storage column,

iii. a plurality of rolling members attached to the vehicle body about the cavity, arranged for travelling along the storage structure in the first and second directions,

whereby the robot vehicle can move along the storage structure to position the cavity within the cross-sectional area of the storage column to receive the storage bin into the cavity for further transport along the storage structure.

21. The automated storage system according to claim 19, wherein the robot vehicles further comprise a lifting device arranged to lift a storage bin from the storage column to an end position within the cavity, and

the robot vehicle is moving along the bin storage system prior to the lifting device comes to its end position within the cavity.

22. The automated storage system according to claim 21, wherein the lifting device is arranged to initiate descent to engage a storage bin prior to the robot vehicle comes to a halt above the storage column.

23. The automated storage system according to claim 21, wherein the lifting device is arranged to initiate descent of a storage bin with the lifting device into the storage column prior to the robot vehicle comes to a halt above the storage column.

24. The automated storage system according to claim 21, wherein a height of the storage bin is significantly less than the height extending from suspension points of the lifting device to the lower edge of the vehicle.