Telescopic joint, automatic storage and retrieval system and related methods

Abstract

The invention relates to a telescopic joint for connecting areas of a rail-based grid storage system, the telescopic joint comprising: a first rail element and a second rail element, the rail elements being elongated and configured to slide relative to each other in a longitudinal direction in a joining area where they overlap, the telescopic joint having a profiled upper surface defining one or more tracks for supporting a container handling vehicle, the tracks extending from the first rail element through the joining area to the second rail element, in the joining area each rail element providing a portion of the track or each track of the profiled upper surface such that for the track or each track there is a transition along the telescopic joint extending from the first rail element to the second rail element. The invention also relates to an automated storage and retrieval system and a method of connecting areas of a rail-based grid storage system and / or a delivery rail system using one or more of the telescopic joints.

Description

[0001] This application is a divisional application of the Chinese patent invention application "Expansion joint, system and method for connecting areas of a rail-based grid storage system" with an application date of September 25, 2019 and application number 201980066516.7. Technical Field

[0002] The present invention relates to an expansion joint for connecting a first set of rails to a second set of rails, such as rails in an automated storage and retrieval system, and to related systems and methods utilizing such expansion joint(s). Background Art

[0003] Figure 1A and Figure 1C A typical prior art automated storage and retrieval system 1 having a frame structure 100 is disclosed. Figure 1B and Figure 1D Disclosed is a prior art operation in which Figure 1A and Figure 1C Container handling vehicles 200, 300 of the system 1 disclosed in the specification.

[0004] The frame structure 100 includes a plurality of vertical members 102 and optionally a plurality of horizontal members 103 supporting the vertical members 102. The members 102, 103 may typically be made of metal, such as extruded aluminum profiles.

[0005] The frame structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows, wherein the storage columns 105 of storage containers 106 (also referred to as boxes) are stacked one above the other to form a stack 107 .

[0006] Each storage container 106 may generally hold a plurality of product items (not shown), and the product items in the storage containers 106 may be the same, or may be different product types depending on the application.

[0007] The storage grid 104 prevents horizontal movement of the storage containers 106 in the stack 107 and guides vertical movement of the storage containers 106, but generally does not support the storage containers 106 when stacked.

[0008] The automated storage and retrieval system 1 includes a container handling vehicle rail system 108 arranged in a grid pattern on top of the storage grid 104, wherein on the rail system 108, a plurality of container handling vehicles 200, 300 (such as Figure 1B and Figure 1DThe storage container 106 is operated to lift the storage container 106 from the storage column 105 and lower the storage container 106 into the storage column, and also transport the storage container 106 above the storage column 105. The horizontal range of one of the grid cells 122 constituting the grid pattern is as follows: Figure 1A and Figure 1C Marked by the bold line in .

[0009] The width of each grid unit 122 is usually within the interval of 30cm to 150cm, and the length is usually within the interval of 50cm to 200cm. Due to the horizontal range of the guide rails 110, 111, the width and length of each grid opening 115 are usually 2cm to 10cm smaller than the width and length of the grid unit 122.

[0010] The rail system 108 comprises: a first set of parallel rails 110 arranged to guide the container handling vehicles 200, 300 to move on top of the frame structure 100 in a first direction X; and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 200, 300 to move in a second direction Y perpendicular to the first direction X. In this way, the rail system 108 defines a grid column over which the container handling vehicles 200, 300 can move laterally to above the storage columns 105, i.e., in a plane parallel to the horizontal XY plane.

[0011] Each prior art container handling vehicle 200, 300 comprises a vehicle body and a wheel arrangement of eight wheels 201, 301, wherein a first set of four wheels enables lateral movement of the container handling vehicle 200, 300 in the X direction, and a second set of the remaining four wheels enables lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be raised and lowered so that the first set of wheels and / or the second set of wheels can engage with the corresponding set of guide rails 110, 111 at any time.

[0012] Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertically transporting the storage container 106, for example, lifting the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting device includes one or more gripping / engaging devices (not shown) that are suitable for engaging the storage container 106 and that can be lowered from the vehicle 201, 301 so that the position of the gripping / engaging device relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0013] Conventionally, and also for the purposes of this application, Z=1 identifies the topmost layer of the grid 104, i.e., the layer immediately below the rail system 108; Z=2, the second layer below the rail system 108; Z=3, the third layer, etc. Figure 1A and Figure 1C In the exemplary prior art grid 104 disclosed in , Z=8 identifies the bottom layer of the grid 104. Therefore, as an example, and using Figure 1A and Figure 1D The Cartesian coordinate system X, Y, Z shown in Figure 1A The storage container identified as 106' in FIG. occupies grid position or cell X = 10, Y = 2, Z = 3. It can be said that the container handling vehicle 101 travels in the Z = 0 layer, and each grid column can be identified by its X and Y coordinates.

[0014] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and stowing storage containers 106 while transporting storage containers 106 across the rail system 108. The storage space may include a cavity centrally disposed within the vehicle body, for example, as described in WO 2014 / 090684 A1, which is incorporated herein by reference.

[0015] Alternatively, the container handling vehicle 300 may have a cantilever structure as described in NO 317366, the contents of which are also incorporated herein by reference.

[0016] The container handling vehicle 200 may have a footprint, i.e., an extent in the X and Y directions, which is generally equal to the lateral extent of the grid cells 122, i.e., the extent of the grid cells 122 in the X and Y directions, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontally".

[0017] Alternatively, the container handling vehicle 200 may have a footprint that is greater than the lateral extent of the grid columns 105 (the lateral area defined by the grid columns 105), for example, as disclosed in WO 2014 / 090684 A1.

[0018] As shown in FIG2A , the rail system 108 may be a single rail (also indicated as a single track) system. Alternatively, as shown in FIG2B , the rail system 108 may be a dual rail (also indicated as a dual track) system, thereby allowing a container handling vehicle 201 having a footprint corresponding to a lateral area defined by the grid columns 112 to move along a row of grid columns even if another container handling vehicle 200 is located above a grid column adjacent to the row. Single and dual rail systems or a combination of single and dual rail arrangements including the single rail system 108 form a grid pattern in a horizontal plane P that includes a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 includes a grid opening 115 bounded by a pair of rails 110a, 110b of the first rail 110 and a pair of rails 111a, 111b of the second set of rails 111. In FIG2B , the grid cells 122 are indicated by dashed boxes. For example, the sections of a rail-based system made of aluminum are rails, and on the upper surface of the rails there are tracks in which the wheels of the vehicle travel. However, the sections may be separate rails, each having a track.

[0019] Thus, rails 110a and 110b form a pair of adjacent rails defining parallel rows of grid cells extending in the X-direction, and rails 111a and 111b form a pair of adjacent rails defining parallel rows of grid cells extending in the Y-direction.

[0020] As shown in FIG. 2C , the width W of each grid unit 122 is c Usually in the interval of 30cm to 150cm, the length L c Typically, the grid opening 115 has a W of 50 cm to 200 cm. o and length L o Typically larger than the width W of the grid cell 122 c and length L c Small 2cm to 10cm.

[0021] In the X direction and the Y direction, adjacent grid cells 122 are arranged in contact with each other so that there is no space therebetween.

[0022] In the storage grid 104, most of the grid columns are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column that is not used to store storage containers 106, but rather includes a container handling vehicle 200, 300 that can unload and / or pick up storage containers 106 so that they can be transported to a second location (not shown) where the storage containers 106 can be accessed from outside the grid 104 or transferred out of or into the grid 104. In the art, such locations are typically referred to as "ports," and the grid columns in which the ports are located can be referred to as "delivery columns" 119, 120. The unloading ports and pick-up ports of the container handling vehicles are referred to as "upper ports of the delivery columns" 119, 120. And the opposite end of the delivery column is referred to as the "lower port of the delivery column."

[0023] Figure 1A and Figure 1C The storage grid 104 shown includes two delivery lanes 119 and 120. The first delivery lane 119 may, for example, include a dedicated unloading port where the container handling vehicles 200, 300 can unload the storage containers 106 to be transported by the delivery lane 119 and further transported to the access station or transfer station (not shown), and the second delivery lane 120 may include a dedicated pick-up port where the container handling vehicles 200, 300 can pick up the storage containers 106 that have been transported from the access station or transfer station (not shown) by the delivery lane 120. Each of the ports of the first delivery lane 119 and the second delivery lane 120 may include a port suitable for picking up and dropping off the storage containers 106.

[0024] The second location may typically be a pick-up station or reserve station where product items are removed from or placed into storage containers 106. In a pick-up station or reserve station, storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are returned to the storage grid 104 once entered. In order to transfer storage containers out of or into the storage grid 104, lower ports are also provided in the delivery train, which are used, for example, to transfer storage containers 106 to another storage facility (e.g., to another storage grid), directly to a transport vehicle (e.g., a train or truck), or to a production facility.

[0025] For monitoring and controlling the automatic storage and retrieval system 1 (for example, monitoring and controlling the positions of the corresponding storage containers 106 within the storage grid 104; the contents of each storage container 106; and the movement of the container handling vehicles 200 so that the desired storage containers 106 can be delivered to the desired locations at the desired time without causing the container handling vehicles 200, 300 to collide with each other), the automatic storage and retrieval system 1 includes a control system (not shown), which is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] A conveyor system including conveyors may be used to transport storage containers between the lower ports of the delivery trains 119, 120 and access stations.

[0027] If the lower port and the access station of the delivery train 119, 120 are located on different levels, the conveyor system may include a lifting device for vertically transporting the storage containers 106 between the port and the access station.

[0028] The conveyor system may be arranged to transfer storage containers between different grids, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0029] In addition, WO2016 / 198467A1, the contents of which are incorporated herein by reference, discloses an example of a prior art access system with a conveyor belt (Figures 5a and 5b in WO2016 / 198467A1) and frame-mounted rails (Figures 6a and 6b in WO2016 / 198467A1) for transporting storage containers between a delivery column and workstations where operators can access the storage containers.

[0030] When you want to enter the storage Figure 1A104, one of the container handling vehicles 200, 300 is instructed to retrieve the target storage container 106 from its position in the grid 104 and transport it to or through the delivery column 119. This operation involves moving the container handling vehicle 200, 300 to a grid position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle, and transporting the storage container 106 to the delivery column 119. If the target storage container 106 is located deep within the stack 107, that is, one or more other storage containers are located above the target storage container 106, the operation also involves temporarily moving the above-mentioned positioned storage containers before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed using the same container handling vehicle 200, 300 that is subsequently used to transport the target storage container 106 to the delivery train, or using one or more other cooperating container handling vehicles 200, 300. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle 200, 300 that is dedicated to the task of temporarily removing a storage container 106 from a storage train 105. Once the target storage container 106 has been removed from the storage train 105, the temporarily removed storage container may be relocated to the original storage train 105. However, the removed storage container may alternatively be relocated to another storage train 105.

[0031] When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 200, 300 is instructed to pick up the storage container 106 from the delivery column 120 and transport the storage container 106 to the grid position above the storage column 105 where it is to be stored. After any storage container located at or above the target position within the storage column stack 107 has been removed, the container handling vehicle 200, 300 positions the storage container 106 at the desired position. The removed storage container can then be lowered back into the storage column 105 or repositioned in another storage column 105.

[0032] In the case where two guide rail systems are connected simultaneously or built simultaneously for later connection, only minimal tolerances are possible with respect to misalignment between the guide rail systems. Severe misalignment can lead to a car derailment.

[0033] Ambient temperature or temperature differences within the building or area where the rail system is located can also cause problems for automated storage and retrieval systems. The rails can expand and contract significantly, resulting in buckling or over-tensioning of the rails, which can lead to rail movement and ultimately the risk of derailment of the container handling vehicle. The expansion and contraction problem depends to some extent on the length of the rails. Therefore, for rail systems with significant length in the X-direction and / or Y-direction, the risk of movement increases with buckling and / or over-tensioning in the rail system.

[0034] In view of the foregoing, it would be desirable to provide an automated storage and retrieval system and method for operating such a system which solves or at least alleviates one or more of the above-mentioned problems associated with the use of prior art storage and retrieval systems.

[0035] Another object is to provide a connection which simplifies the connection of two guide rail systems.

[0036] Another object is to provide a connection which solves or at least alleviates problems associated with expansion and / or contraction of guide rails, in particular guide rails of greater length which are subject to large temperature differences and are at risk of expansion and contraction. Summary of the invention

[0037] The invention is set out in the independent claim, while the dependent claims describe alternatives to the invention.

[0038] The present invention relates to an expansion joint for connecting areas of a track-based grid storage system, the expansion joint comprising:

[0039] - a first rail element and a second rail element, the rail elements being elongated and configured to slide relative to each other in a joining region where they overlap,

[0040] - the expansion joint has a profiled upper surface defining one or more rails extending from the first rail element through the joining area to the second rail element, wherein in the joining area each rail element provides a rail or a portion of each rail of the profiled upper surface so that for the rail or each rail there is a transition along the expansion joint extending from the first rail element to the second rail element.

[0041] The first track element may comprise a protruding male portion and the second track element may comprise a receiving female portion having a recess. Alternatively, the first track element may comprise a recess and the second track element may comprise a protruding male portion.

[0042] The first and second rail elements of the telescopic joint are arranged so that the wheel(s) of the vehicle transfers weight from the first area via one of the first or second rail elements to the other of the first or second rail elements without experiencing a step on the track when passing through the telescopic joint.

[0043] In other words, the parts of the first and second guide rail elements arranged side by side in the transition section form a part of a continuous drive rail(s) in their overlapping joining region.

[0044] The joining area may define a dividing line between the first and second track elements where the first and second track elements overlap, the dividing line running along the centre of the or each track, i.e. in the area where the first and second track elements are arranged side by side / laterally relative to each other.

[0045] When the first track element and the second track element overlap (ie, are arranged side by side), the combined total width of the first track element and the second track element is equal to the width of each track.

[0046] The expansion joint may include a first track and a second track, and the portions of the track may form a dividing line running along the center of the first track and the second track, respectively.

[0047] The expansion joint may further comprise a guide arrangement disposed beneath the one or more rails to support ends of the first and second rail elements and guide their relative longitudinal movement when the one or more rails slide relative to each other in the engagement region. The guide arrangement may comprise one or more of the following: an intermediate connection element, a sliding connection, a roller-based connection, a connecting rod, a groove in the second rail element, a groove in the intermediate connection element or the connecting rod.

[0048] If the guiding arrangement comprises a roller based connection, the roller based connection may be arranged to prevent movement in a direction perpendicular to the longitudinal direction.

[0049] If the guide arrangement comprises a link, the link may be connected to the first track element via a pivot connection arrangement and may be capable of spanning a gap between the first track element and the second track element. The pivot connection arrangement may allow the link to pivot between a non-connected position, in which the first track element and the second track element of the telescopic joint are not connected together, and a connected position, in which the first track element and the second track element of the telescopic joint are connected together via the link.

[0050] An automated storage and retrieval system is further described, comprising a first region and a second region of a rail-based grid storage system and / or a delivery rail system, wherein the system comprises one or more telescopic joints as described above, and each of the first region and the second region has a rail with a contoured upper surface defining one or more tracks having the same gauge and profile as one or more tracks in (one or more) telescopic joints, the telescopic joints being arranged as one or more connections between the first region and the second region.

[0051] The first area and the second area can be two areas of a rail-based grid storage system or two areas of a delivery rail system, that is, these areas can be the first rail system and the second rail system of the rail-based grid storage system, or these areas can be the first rail system and the second rail system of the delivery rail system.

[0052] The first and second regions of the rail-based grid storage system and / or the delivery rail system may include a grid arrangement of rails defining a plurality of grid cells.

[0053] The expansion joint may be arranged so that the track(s) in the first set of rails overlap with the track(s) in the expansion joint, which in turn overlap with the track(s) in the second set of rails, thereby forming a continuous track in the longitudinal direction while allowing the first rail system to slide relative to the second rail system and providing a smooth transition across the joint. For example, the expansion joint(s) are arranged so that there is no continuous slot extending laterally through the track that can be pulled apart - instead, the track is formed of two parts that overlap so that the wheels of the vehicle transfer weight from one part to the other without experiencing a step in the track.

[0054] From the middle position of the expansion joint, it is best to allow a longitudinal movement of, for example, ±40 mm. However, the longitudinal movement allowed can be more or less.

[0055] Further described is a method of connecting zones of a rail-based grid storage system and / or delivery track system using one or more expansion joints as described above, each of the zones having a rail with a profiled upper surface defining one or more rails having the same gauge and profile as the one or more rails in the expansion joint, wherein the method comprises the steps of:

[0056] - arranging the areas at predetermined intervals,

[0057] - Connecting the zones together using one or more of the expansion joints, thereby forming a continuous network of guide rails connecting one end of a first zone to an opposite end of a second zone via an expansion joint.

[0058] Before connecting the first area and the second area, the method may further include the following steps:

[0059] - Leveling the first region and the second region so that the profiled upper surfaces of the first region and the second region are at the same height.

[0060] The first and second areas connected by this method may be areas of a rail-based storage grid system or a delivery rail system.

[0061] Expansion joints can be used with any rail based system, including both grid storage systems and delivery rail systems.

[0062] Expansion joints can be used to connect two grid systems with guides in the X or Y direction.

[0063] A connection is also possible between a grid system having guides in the X-direction and the Y-direction and a rail system comprising single / double rails.

[0064] When connecting two areas of a rail-based storage system and / or delivery rail system, the respective first rail section and the second rail section to be connected can be completed in the middle of the unit. When connected, the unit in which the telescopic joint is arranged can have almost similar dimensions to the standard unit, but can also be longer or shorter. Cars can usually pass through these units in one direction, namely the direction of the telescopic joint, because the distance between the tracks of the wheels of the car in the opposite direction can be different. The distance between the wheels is fixed. In addition, due to the different distances between the tracks, the row in which the telescopic joint is arranged can not be used to store storage containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The following drawings depict exemplary embodiments of the present invention and are appended to facilitate understanding of the present invention.

[0066] Figure 1A-Figure 1D is a perspective view of a prior art automated storage and retrieval system, wherein Figure 1A and Figure 1C shows the entire system, and Figure 1B and Figure 1D An example of an operational prior art container handling vehicle is shown;

[0067] 2A-2C are top views of container handling vehicle rail systems, wherein FIG. 2A shows a single rail / track system, FIG. 2B shows a dual rail / track system, and FIG. 2C shows a dual rail / track system, and indicates the width and length of a container handling vehicle grid cell;

[0068] Figure 3A is a side view of two areas simplified as two storage grids that have been connected using an expansion joint that connects the rails in the X direction of the storage grid;

[0069] Figure 3B yes Figure 3A A top and side close-up view of the expansion joint in FIG.

[0070] Figure 3C yes Figure 3A A top view of the expansion joint and storage grid disclosed in;

[0071] Figure 3D is a top side view of a telescopic joint including a roller-based connection, which connects the rails in the Y direction and is arranged on top of the storage grid;

[0072] Figure 3E yes Figure 3D Another top side view of;

[0073] Figure 3F yes Figure 3E Side view of

[0074] Figure 4A is a side view of a rail system, such as a delivery rail system, arranged below two storage grids, regions of which have been connected in an X-direction of rails in the rail system using an exemplary telescopic joint according to the present invention, the telescopic structure comprising a sliding connection;

[0075] Figure 4B yes Figure 4A An enlarged view of section A in FIG. 1 showing a container handling vehicle on a delivery track system;

[0076] Figure 4C yes Figure 4B A magnified view of the delivery track system;

[0077] Figure 4D yes Figure 4C A top side view of an expansion joint;

[0078] Figure 4E yes Figure 4A-4D An exploded view of an expansion joint including a sliding connection disclosed in;

[0079] Figure 5Ais an example of an expansion joint in the Y direction of the guide rail including a sliding connection;

[0080] Figure 5B and Figure 5C yes Figure 5A An exploded view of the expansion joint including the sliding connection in the Y direction of the guide rail, wherein Figure 5B is a side view, Figure 5C It is a top side view;

[0081] Figure 5D is a close-up view of an expansion joint including a sliding connection in the Y direction of the guide rail and showing a Y-direction wheel of a container handling vehicle about to pass through the sliding connection;

[0082] Fig. 6A is an example of an expansion joint in the Y direction of the guide rail comprising a roller-based connection;

[0083] Figure 6B is from Fig. 6A A view from below;

[0084] Figure 6C yes Fig. 6A and Figure 6B An exploded view of an expansion joint comprising a roller-based connection, the figure showing the components of one of the expansion joints between two guide rail systems in the Y direction of the guide rail;

[0085] Fig. 7A is an example of a telescopic joint including a pivot connection for connecting to a first set of rails or a second set of rails, the example showing the telescopic joint in a non-connected position;

[0086] Figure 7B yes Fig. 7A An example of a telescopic joint comprising a pivotal connection connectable to a first set of rails or a second set of rails, the example showing the telescopic joint in a connected position;

[0087] Figure 7C yes Fig. 7A and Figure 7B a top view of the expansion joint in a connected position; and

[0088] Figure 8 is an example of an expansion joint used in the connection of a monorail. DETAILED DESCRIPTION

[0089] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings. Furthermore, even if some of the functions are described only with respect to an expansion joint or a system, it is obvious that they are also valid for the method of connecting a rail-based storage system, and vice versa. Therefore, any features described with respect to the method are also valid for the expansion joint and the system.

[0090] Figure 3A is a side view of two storage grids 104 ′, 104 ″ that have been connected using an expansion joint 10 . Figure 3A The telescopic joint 10 in the embodiment connects the guide rails extending in the X direction of the two storage grids 104', 104". The storage grids 104', 104" can have the same size or different sizes in terms of the horizontal extent of the grids 104', 104" and the vertical extent of the grids 104', 104". The disclosed storage grids 104', 104" both have the capacity to store stacks 107 of four storage containers 106. However, it would be advantageous if the guide rails in the storage grids 104', 104" were flush with each other so that a container handling vehicle traveling between the storage grids 104', 104" could travel mainly in the same horizontal plane P, regardless of whether the container handling vehicle 300 is located in the storage grid with reference number 104', the storage grid with reference number 104" or at the telescopic joint 10 between the two storage grids 104', 104". That is, in other words, when connecting the two areas of the storage grids 104', 104", they act as a common large grid. Similarly, and as referenced e.g. Figure 4A-4E , Figure 5A-5C as well as Figure 6A-6C As shown in more detail, when two areas of the delivery rail system 50, 50', 50" are connected, they act as one common large grid.

[0091] As mentioned above, in Figure 3A In the embodiment, two storage grids 104', 104" are connected in the X direction of the rails, wherein a first set of rails 20X in the X direction of the storage grid referenced 104' is connected to a second set of rails 21X in the X direction of the storage grid referenced 104". Similar expansion joints 10 are arranged between all first sets of rails 20X having corresponding second sets of rails 21X along the same horizontal axis. Figure 3A In the embodiment, there are four expansion joints 10 in total, which connect a total of four first set of rails 20X each with a dedicated second set of rails 21X. However, it is obvious that the number of expansion joints 10 and first and second sets of rails 20X, 21X can vary and can be more or less.

[0092] Due to the variation in length of the expansion joint 10, the space 22, ie the row formed below the expansion joint 10, will generally not be used as a storage space for the containers 106, 107, but may be used as a passage or the like.

[0093] All rails extending in the X direction are identical, so in all figures reference to the first set of rails 20X, 21X may be to any of the individual rails in the X direction (either a dual rail / track system or a single rail / track system).

[0094] Similarly, all rails extending in the Y direction are identical, so in the drawings, references to the first set of rails 20Y, 21Y may be to any one of the individual rails in the Y direction (either a dual rail / track system or a single rail / track system).

[0095] Figure 3B is Figure 3A A top side close-up view of three expansion joints 10 between a first set of guide rails 20X in the X direction and a second set of guide rails 21X in the X direction. Figure 3A In comparison, Figure 3B In the figure, storage grids 104', 104", expansion joints 10 and container handling vehicles 300 are seen from opposite sides. A container handling vehicle 300 carrying storage containers 106 is disclosed.

[0096] Figure 3C Yes Connect Figure 3A A top view of the four expansion joints 10 of the first set of guide rails 20X and the second set of guide rails 21X.

[0097] Figure 3D 6A-6B are top side views of a telescopic joint including a roller-based connection, the telescopic joint 10 connecting a first set of rails 20Y in the Y direction of a storage grid referenced 104' with a second set of rails 21Y in the Y direction of a storage grid referenced 104". The telescopic joint 10 connects the rail systems of the respective storage grids 104', 104". The telescopic joint 10 including a roller-based connection is the same regardless of whether it is used to connect rails extending in the X direction or in the Y direction. Figure 6C Details are given of an expansion joint 10 having a roller based connection.

[0098] Figure 3E yes Figure 3D 1, showing further details of the expansion joint 10 including a roller based connection.

[0099] Figure 3F yes Figure 3E Side view of.

[0100] Figure 4A is a side view of a delivery rail system 50 arranged below two storage grids 104', 104". The delivery rail system 50 is derived from two delivery rail systems which have been connected using a telescopic joint 10 according to an embodiment of the invention.

[0101] Figure 4B yes Figure 4A , which shows a container handling vehicle 400 with a wheel arrangement 401 on a delivery rail system 50. Figure 3A-3E The connection of the storage grids 104', 104" described above is Figure 4B-Figure 4E In the embodiment, two delivery rail systems 50', 50" are connected in the X direction of the rails, wherein a first group of rails 20X in the X direction of the delivery rail system with reference number 50' is connected to a second group of rails 21X in the X direction of the delivery rail system with reference number 50" via a telescopic joint 10, which includes a first rail element 12 and a second rail element 11. The same telescopic joint 10 is arranged between all first groups of rails 20X with corresponding second groups of rails 21X. Figure 4B-Figure 4E In the embodiment, there are a total of four expansion joints 10, which connect a total of four first groups of rails 20X, each of which has a dedicated second group of rails 21X. The first rail element 12 and the second rail element 11 are connected between the expansion joint 10 and the corresponding area to be connected (in the disclosed embodiment: the first group of rails 20X and the second group of rails 21X) at opposite sides of the expansion joint 10. This number is only an example - it provides three lanes for vehicles to travel - if a vehicle fails due to the grid arrangement (single point failure), two or more lanes will reduce the problem. In terms of flexibility in wiring, at least three lanes are preferred without taking up too much space. However, the lanes can be more.

[0102] Figure 4C yes Figure 4B A magnified view of the delivery rail system.

[0103] Figure 4D yes Figure 4C A top side view of an expansion joint.

[0104] Figure 4E It is used for connecting the first set of guide rails 20X and the second set of guide rails 21X in the X direction. Figure 4A-4DExploded view of the expansion joint 10 disclosed in . The expansion joint 10 comprises: a first rail element 12, which in this embodiment is a male protruding portion connectable to a first set of rails 20X; and a second rail element 11, which in this embodiment is a female receiving portion connectable to a second set of rails 20X. The first rail element 12 extends in an axial direction equal to the direction of the first set of rails 20X, and the second rail element 11 comprises a receiving portion extending in an opposite axial direction relative to the first rail element 12. Figure 4E , the telescopic joint 10 further comprises an intermediate connection element 14. The intermediate connection element 14 is shown as a sliding connection and is adapted to be connected below the first rail element 12 using suitable fastening means such as screws, pins or bolts 15 through (one or more) vertical holes 16 in the intermediate connection element 14. The second set of delivery rails 50' is provided with a groove below the second rail element 11 for receiving the intermediate connection element 14 when the first set of rails 50' and the second set of rails 50" are connected. When connected, the first rail element 12 and the second rail element 11 at least partially overlap in a direction perpendicular to the axial direction and form part of a rail system on which the container handling vehicle 300, 400 can travel. When connected, the first rail element 12, i.e. the convex part, is allowed to move in the axial direction relative to the second rail element 11 because the protruding part 12 of the first rail element is received in the groove 17 of the second rail element 11, thereby forming a continuous drive track between the first set of delivery rails 50' and the second set of delivery rails 50" in the axial direction. Furthermore, the axial flexibility of the telescopic joint 10 allows for some relative movement between the rails in the first set 50' and the second set 50" of rails when connected, e.g., + / - 40 mm, + / - 15 mm, or more or less. For container handling vehicles, discontinuous travel tracks are unacceptable. Any discontinuous tracks in the axial direction may result in an unstable container handling vehicle and / or derailment.

[0105] Figure 5A is an example of a telescopic joint in the Y direction between areas in a rail based storage system illustrated as a first set of delivery rails 50 ′ and a second set of delivery rails 50 ″. The telescopic joint 10 comprises a sliding connection.

[0106] Figure 5B and Figure 5C yes Figure 5A The telescopic joint 10 in the exploded view of the first set of delivery rails 50' and the second set of delivery rails 50" in the Y direction, the telescopic joint comprises a sliding connection, wherein Figure 5B is a side view, and Figure 5C It is a top side view. Figure 5A-5C The expansion joint 10 has almost the same Figure 4EAll the features of the expansion joint 10 described above are identical and will not be repeated, except that the intermediate connecting element 14 is provided with (one or more) holes 16 in its side walls instead of vertical holes. Thus, the first set of guide rails 50' also has a plurality of holes for receiving fastening members (see Figure 5A ) of the corresponding hole(s) 16. This is due to the different structure of the guide rail running in the Y direction and the guide rail running in the X direction.

[0107] Figure 5D is a close-up view of the telescopic joint 10 including the sliding connection in the Y direction of the rail and shows the Y-direction wheel 401 of the container handling vehicle 400 which is to pass through the telescopic joint 10. As can be seen from the figure, the complementary shapes of the groove 17 in the second rail element 11 and the protrusion of the first rail element 12 ensure a continuous drive track for the wheel of the container handling vehicle, since the protrusion and the groove 17 overlap in a direction perpendicular to the axial direction of the Y rail. In other words, the parts of the first rail element 12 and the second rail element 11 which are arranged side by side with each other in the transition portion form a part of the continuous drive track(s) in their overlapping joining area.

[0108] Fig. 6A is an example of an expansion joint 10 comprising a roller based connection in the Y direction of the guide rail. Figure 6B is from Fig. 6A The view seen from below. Figure 6C yes Fig. 6A and Figure 6B An exploded view of a telescopic joint 10 including a roller-based connection shows components of one of the telescopic joints 10 between a first rail system 20Y and a second rail system 21Y in the Y direction. The telescopic joint 10 includes: a first rail element 12, which in this embodiment is a male portion connectable to the first set of rails 20Y; and a second rail element 11, which in this embodiment is a female portion connectable to the second set of rails 21Y. The first rail element 12 extends in the same axial direction as the direction of the first set of rails 20Y, and the second rail element 11 includes a receiving portion extending in an opposite axial direction relative to the first rail element 12. The telescopic joint 10 further includes an intermediate connection element 14. The intermediate connection element 14 is shown as a roller-based connection 14. The roller-based connection 14 comprises two brackets 30', 30", which are connected on each side of the first set of rails 20Y and connected to each other using suitable fastening means such as screws and / or bolts 32. To ensure that the brackets 30', 30" are arranged at a predetermined distance from each other, a fixed distance element 31 can be arranged between the two brackets 30', 30". In addition, as shown Figure 6B As disclosed in, two screws 35 are connected to the first set of guide rails 20Y. Each bracket 30', 30" is also provided with a groove 33 ( Figure 6B Roller 34 (only one groove is shown) Fig. 6A , Figure 6B The telescopic joint 10 is a telescopic joint 10 which is connected to the second set of rails 21Y and is arranged to move inside the corresponding grooves 33 in the horizontal plane, i.e. in the axial direction of the drive track. The grooves 33 and rollers 34 lock the first set of rails 20Y vertically and in the X direction relative to the second set of rails 21Y, but allow translational relative movement between the first set of rails 20Y and the second set of rails 21Y in the Y direction. When connected, the axial flexibility of the telescopic joint 10 allows some relative movement between the rails in the first set of rails 20Y and the second set of rails 21Y, for example, +-40 mm, +-15 mm or more or less. In addition, when connected, the first rail element 12, i.e. the convex portion, is allowed to move in the axial direction relative to the second rail element 11 because the protruding portion 12 of the first rail element is received in the groove 17 of the second rail element 11, thereby forming a continuous drive track in the axial direction between the first set of rails 20Y and the second set of rails 21Y.

[0109] Fig. 7A is an example of a telescopic joint 10 comprising a link 14' connected to the second rail element 11 (and the second set of rails 21Y) via a pivot connection arrangement 19. The pivot connection arrangement 19 is connected to the second set of rails 21Y and the link 14' via suitable fastening means known to the skilled person (e.g. a pivot bracket 18 fastened by screws, bolts, pins etc.).

[0110] exist Fig. 7A In FIG. 1 , the pivot connection 19 and the link 14 ′ are shown pivoted in an upward direction relative to the second set of guide rails 21Y. Fig. 7A In the embodiment, the first set of guide rails 20Y and the second set of guide rails 21Y are not connected, that is, the telescopic joint 10 is in a non-connected position. Alternatively, the pivot connection arrangement 19 can be pivoted to rest in a downward position and can be pivoted upward to connect with the first set of guide rails 20Y.

[0111] Although pivot connection arrangement 19 is disclosed as being connected to second track element 11 (and hence to second set of track rails 21Y), it will be apparent that pivot connection arrangement 19 (and link 14') may instead be connected to first track element 12 (and hence to first set of track rails 20Y).

[0112] As in Figure 7A-7C As disclosed in Figure 7A-7CIn the solution disclosed in , the connecting rod 14' can be regarded as forming part of the second guide rail element 11, the connecting rod 14' forming a receiving part, i.e. a groove 17', on the end to be connected to the first guide rail element 12. This groove 17', i.e. a concave part, and the complementary first guide rail element 12, i.e. a convex protrusion, are arranged in the same manner as described above with respect to Figure 4E and Figure 5A In addition, the end of the connecting rod 14' closest to the second guide rail element 11 can be (as Figure 7A-7C A similar groove 17" is formed in the connecting rod 14' to provide a certain flexibility in the connection between the second guide rail element 11 (and therefore the second set of guide rails 21Y).

[0113] When the connecting rod 14' is arranged primarily to horizontally connect the first set of rails 20Y and the second set of rails 21Y, the cooperation between the connecting rod 14' and the first set of rails 20Y is such that a portion of the connecting rod 14' rests on a surface 25 on the first rail element 12. The surface 25 is preferably substantially horizontal so that the telescopic joint 10 provides a substantially flush drive track for the container handling vehicle 200, 300, 400 between the first set of rails 20Y and the second set of rails 21Y.

[0114] Figure 7B yes Fig. 7A 0048] An example of a telescopic joint 10 in FIG. 1, which shows the telescopic joint 10 in a connected position in which a first set of guide rails 20Y and a second set of guide rails 21Y are connected.

[0115] Figure 7C is in the connected position Fig. 7A and Figure 7B A top view of the expansion joint 10 is shown. Figure 7C , the grooves 17', 17" in the connecting rod 14' and the complementary portions of the first guide element 11 and the second guide element 12 are shown in more detail. The convex portion of the first guide element 12 extends approximately halfway into the groove 17' of the connecting rod 14', thereby allowing some relative axial movement between the first set of guides 20Y and the second set of guides 21Y when connected.

[0116] The first rail element 12 may be a male part or the second rail element 11 may be a male part, and the first rail element 12 may be a female part or the second rail element 11 may be a female part. In this embodiment, there is no separate intermediate element 14, i.e. the telescopic joint 10 pivots only between the connected position and the non-connected position by pivoting the connecting rod 14' between the rest position (i.e. the non-connected position) and the active position (i.e. the connected position).

[0117] Figure 7CThe guide rail system in the embodiment comprises a single rail in the X direction and a double rail in the Y direction, however this is only an option, as there may be only a single rail or only double rails in both the X direction and the Y direction.

[0118] In the foregoing description, various aspects of the telescopic joint and the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. Specific numbers, systems, and configurations are set forth for illustrative purposes in order to provide a thorough understanding of the system and how it works. However, the description is not intended to be interpreted in a limiting sense. For example, a guideway sensor in a container handling vehicle typically emits light toward the side, which is reflected back by the sidewalls in the guideway. When the container handling vehicle enters the XY cross, there are no sidewalls, so the light is not reflected back to the sensor. However, if the telescopic joint has a portion without sidewalls, an erroneous signal may result. The software in the car may be corrected for any such false light to the guideway / track sensor in the container handling vehicle when driving through the telescopic joint with respect to the measurement of the unit size (the size of the unit with the telescopic joint is not fixed, as is the case with the fixed grid unit). The entire control system (which tracks all the cars in the system) knows when a vehicle will enter a unit with a telescopic joint. When a vehicle enters a unit with a telescopic joint, the entire control system can ignore the signal indicating the false light at the telescopic joint, or turn off the sensor in the vehicle when passing the telescopic joint. Alternatively, the risk of such false light can be reduced by arranging a sliding side wall at the expansion joint, which moves with the expansion joint or is dimensioned so that it also covers the expansion joint in the maximum extended position.

[0119] Figure 8 is an example of an expansion joint used in the connection of a monorail. In the joint area of ​​the expansion joint for a monorail, it is formed in an S shape, such as Figure 8 This is because both the first rail element 12 and the second rail element 11 are S-shaped. The dividing line between the first rail element 12 and the second rail element 11 is preferably along the center line of the track 27'. If the track is a single track track, the joining area will be S-shaped, but it is usually a double track track, so they can be arranged as mirror profiles to create convex and concave parts. Figure 8 The joining area shown, where the S-shape spans from one track leading to the S-shape to another track arranged in a similar manner, so that the slots in the track 27' are distributed along the track 27'. The gap in the middle between the first and second track elements 12, 11 does not have to be as large as shown, which corresponds to the size of the gap at the sides. If providing convex and concave shapes is important for lateral stability, the tracks on opposite sides of the grid unit can have mirror image profiles to provide the same interlocking effect.

[0120] The disclosed drawings disclose a solution to the problems associated with the prior art, namely an expansion joint that simplifies the connection of two guide rail systems. In addition, the disclosed solution provides a connection that solves or at least alleviates the problems associated with expansion and / or contraction of the guide rails, in particular guide rails of larger lengths that are subject to large temperature differences and are therefore at risk of expansion and contraction.

[0121] Various modifications and variations of the illustrative embodiments, 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 fall within the scope of the invention as defined in the claims.

[0122] Reference numerals:

[0123] 1 Storage and retrieval system

[0124] 10 Expansion joints

[0125] 11 Second guide element / concave portion

[0126] 12 First rail element / male part

[0127] 14 Intermediate connecting elements / roller-based connections

[0128] 14' Connecting rod

[0129] 15 Fixing parts / pins / screws / bolts

[0130] 16 (one or more) holes

[0131] 17, 17', 17" Groove in the second guide element / Groove in the intermediate connecting element or connecting rod

[0132] 18 Bracket

[0133] 19 Pivot connection arrangement

[0134] 20X The first set of rails in the X direction

[0135] 20Y The first set of guide rails in the Y direction

[0136] 21X The second set of rails in the X direction

[0137] 21Y The second set of guide rails in the Y direction

[0138] 22 Space

[0139] 25 Surface first guide element

[0140] 27', 27" Track in Profiled Top Surface

[0141] 30', 30” Bracket

[0142] 31 Fixed distance element

[0143] 32 Screws / Bolts

[0144] 33 Grooves

[0145] 34 Rollers

[0146] 35 Screws

[0147] 50, 50', 50" Delivery Rail System

[0148] P Horizontal plane

[0149] 100 Frame structure

[0150] 102 Vertical members of frame structure

[0151] 103 Horizontal members of frame structures

[0152] 104, 104', 104" Storage Grid / 3D Grid

[0153] 105 Storage Rows

[0154] 106, 106' storage container

[0155] 107 Stack

[0156] 108 Rail systems / container handling vehicle rail systems

[0157] 110 A first set of parallel guide rails in a first direction (X direction)

[0158] 110a The first adjacent guide rail of the first group

[0159] 110b The second adjacent guide rail of the first group

[0160] 111 A second set of parallel guide rails in a second direction (Y direction)

[0161] 111a First adjacent rail of the second group

[0162] 111b The second adjacent rail of the second group

[0163] 115 Grid opening / grid opening for container handling vehicles

[0164] 119 Delivery Column

[0165] 120 Delivery Column

[0166] 122 grid cells / vessel handling vehicle grid cells

[0167] 200 First container handling vehicle

[0168] 201 Wheel Arrangement

[0169] 300 Second container handling vehicle

[0170] 301 Wheel Arrangement

[0171] 400 Third container handling vehicle

[0172] 401 Wheel Arrangement

[0173] X first direction

[0174] Y Second direction

[0175] P Horizontal plane of the guide rail system

[0176] W o Width of container handling vehicle grid opening

[0177] W c Width of the container handling vehicle grid cell

[0178] L o Length of container handling vehicle grid opening

[0179] L c Length of the container handling vehicle grid cell

Claims

1. A telescopic joint (10) for connecting areas of a rail-based grid storage system, the telescopic joint (10) comprising: - a first rail element (12) and a second rail element (11), the first rail element and the second rail element being elongated and configured to slide relative to each other in a longitudinal direction in their overlapping engagement region, - the expansion joint (10) has a profiled upper surface defining one or more rails for supporting a container handling vehicle, the rails extending from the first rail element (12) through the joining region to the second rail element (11), wherein in the joining region each rail element provides a portion of the or each rail of the profiled upper surface such that for the or each rail there is a transition along the expansion joint (10) extending from the first rail element (12) to the second rail element (11), wherein the expansion joint (10) further comprises a guide arrangement (14) disposed below the one or more rails to support ends of the first rail element and the second rail element and to guide relative longitudinal movement of portions of the one or more rails when portions thereof slide relative to each other in the joint region, and Therein, the guiding arrangement (14) comprises a roller-based connection, the roller-based connection being arranged to support movement in the longitudinal direction and also being arranged to prevent movement in a direction perpendicular to the longitudinal direction.

2. The expansion joint (10) according to claim 1, wherein: The first rail element (12) comprises a protruding male portion, and the second rail element (11) comprises a receiving female portion having a groove.

3. The expansion joint (10) according to claim 1 or 2, wherein: The joining region defines a dividing line between the first track element (12) and the second track element (11) in which the first track element and the second track element overlap, the dividing line extending along the centre of the or each track.

4. The expansion joint (10) according to claim 3, wherein: The expansion joint (10) comprises a first track and a second track, and wherein the portions of the tracks each form a separation line extending along the center of the first track and the second track, respectively.

5. An automated storage and retrieval system comprising a first area and a second area of ​​a rail-based grid storage system and / or a delivery rail system, wherein the system comprises one or more telescopic joints (10) according to any one of claims 1 to 4, and each of the first area and the second area has a rail with a profiled upper surface, the profiled upper surface defining one or more rails having the same gauge and profile as the one or more rails in the telescopic joint (10), the telescopic joint (10) being arranged as one or more connectors between the first area and the second area.

6. The automated storage and retrieval system of claim 5, wherein: The first area and the second area are two areas of a rail-based grid storage system or two areas of a delivery rail system.

7. The automated storage and retrieval system according to claim 5 or 6, wherein: The first region and the second region of the rail-based grid storage system and / or delivery rail system comprises a grid arrangement of rails defining a plurality of grid cells.

8. A method of connecting areas of a rail-based grid storage system and / or delivery rail system using one or more expansion joints (10) according to any one of the preceding claims 1 to 4, each of the areas having a rail with a profiled upper surface defining one or more rails of the same gauge and profile as the one or more rails in the expansion joint (10), wherein the method comprises the following steps: - arranging the areas at predetermined intervals, - connecting the zones together using one or more of the expansion joints (10) to form a continuous rail network connecting one end of a first zone to the opposite end of a second zone via the expansion joints (10).

9. The method according to claim 8, further comprising, before connecting the first area and the second area, performing the following steps: - Leveling the first area and the second area so that the profiled upper surfaces of the first area and the second area are at the same height.

10. The method according to claim 8 or 9, wherein: The first area and the second area are areas of a rail-based storage grid system or a delivery track system.

11. The method according to claim 10, wherein: The telescopic joints allow up to ±40 mm relative movement between the zones of the rail-based grid storage system and / or the delivery rail system to accommodate changes in ambient temperature.

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