Storage system and method of integrating multiple items in a storage system

Abstract

The invention provides a storage system comprising at least one consolidation carrier, a transfer track grid, an item pick-up area and an item delivery station, wherein the consolidation carrier comprises a wheel arrangement; the transfer track grid comprises a transfer track on which the consolidation carrier can move; the item pick-up area comprises a first section of the transfer track grid and an item pick-up device; the item delivery station comprises a second section of the transfer track grid; and the consolidation carrier comprises an item carrier arranged such that the item can be emptied from the item carrier when the consolidation carrier is located at the item delivery station. The item carrier has an open top and comprises an openable section arranged such that the item can be emptied from the item carrier when the openable section is open. The invention also provides a method of consolidating a plurality of items in a storage system.

Description

[0001] This application is a divisional application of Chinese Patent Invention Application No. 202080043125.6, filed on May 7, 2020, entitled "Storage System". Technical Field

[0002] This invention relates to an automatic storage and retrieval system and a method of using the automatic storage and retrieval system. Background Technology

[0003] Figure 1 A and Figure 2 B discloses a typical prior art automated storage and retrieval system 1 with a frame structure 100. Figure 1 B and Figure 2 B disclosed in Figure 1 A and Figure 2 The prior art container handling vehicles 200 and 300 that operate in System 1 disclosed in A.

[0004] The frame structure 100 defines a storage grid 104, which includes a plurality of upright members 102 and optionally a plurality of horizontal members 103 supporting the upright members 102. Members 102, 103 may typically be made of metal, such as extruded aluminum profiles.

[0005] Storage grid 104 includes multiple grid columns 112. Most of the grid columns are also referred to as storage columns 105, in which storage containers 106, also referred to as boxes, are stacked one on top of another to form a stack 107.

[0006] Each storage container 106 can typically hold multiple product items (not shown), and depending on the application, the product items within the storage container 106 can be the same or can be different product types.

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

[0008] The automated storage and retrieval system 1 includes a track system 108 (or top track grid) arranged in a grid pattern on top of a storage grid 104, on which multiple container handling vehicles 200, 300 (e.g., Figure 1 B and Figure 2 (Example B) This involves lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column, and also transporting the storage container 106 above the storage column 105. The horizontal extension of one of the grid cells 122 constituting the grid pattern extends to... Figure 1 A and Figure 2 The letter A is marked with a thick line.

[0009] Each grid cell 122 has a width typically in the range of 30 to 150 cm and a length typically in the range of 50 to 200 cm. Due to the horizontal extension range of the tracks 110, 111, the width and length of each grid opening 115 are typically 2 to 10 cm smaller than the width and length of the grid cell 122.

[0010] The track system 108, also known as the top track grid, includes a first set of parallel tracks 110 arranged to guide container handling vehicles 200, 300 to move along a first direction X on top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide container handling vehicles 200, 300 to move along a second direction Y perpendicular to the first direction X. Thus, the track system 108 defines the upper end of the grid column 112, above which the container handling vehicles 200, 300 can move laterally, i.e., in a plane parallel to the horizontal XY plane. Typically, at least one set of track groups 110, 111 consists of dual-track rails, thereby allowing two container handling vehicles to pass each other on adjacent grid cells 122. Dual-track rails are known and disclosed, for example, in WO 2015 / 193278A1 and WO 2015 / 140216A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 The diagram illustrates a grid cell 122 defined when both sets of tracks in the track system are dual-guided tracks. In this track system, even if another container handling vehicle 200 is located above a grid column adjacent to a row of grid columns, a container handling vehicle 200 with a maximum perimeter adapted within the lateral region defined by the grid cell 122 is allowed to travel along that row of grid columns. Each grid cell 122 includes a grid opening 115 defined by a pair of tracks 110a, 110b of a first set of parallel tracks 110 and a pair of tracks 111a, 111b of a second set of parallel tracks 111. Figure 3 In the diagram, grid cell 122 is indicated by a dashed box.

[0012] Therefore, track 110a and track 110b form an adjacent track pair defining parallel rows of grid cells extending in the X direction, and track 111a and track 111b form an adjacent track pair defining parallel rows of grid cells extending in the Y direction.

[0013] Each prior art container handling vehicle 200, 300 includes a vehicle body and a wheel assembly with eight wheels, wherein a first set of four wheels 32a enables the container handling vehicle 200, 300 to move laterally in the X direction, and a second set of four wheels 32b enables lateral movement in the Y direction. One or two sets of wheels in the wheel assembly can be raised and lowered, such that the first set of wheels and / or the second set of wheels can engage with a corresponding set of tracks 110, 111 at any given time.

[0014] Each prior art container handling vehicle 200, 300 also includes a lifting device 34 (only in...). Figure 2 (As shown in B), it is used for vertical transport of storage container 106, such as lifting storage container 106 from grid column 112 and lowering storage container 106 into grid column 112. Lifting device 34 includes four metal lifting straps 31 extending vertically and connected near the corners of lifting frame 33 (also referred to as clamping device) to keep the lifting frame horizontal. Lifting frame 33 is characterized by container connecting elements 35 for releasable connection to storage container 106 and guide pins 30.

[0015] Traditionally, and also for the purposes of this application, Z=1 identifies the uppermost layer of grid 104, that is, the layer directly below the orbital system 108; Z=2 identifies the second layer below the orbital system 108; Z=3 identifies the third layer, and so on. Figure 1 A and Figure 2 In the prior art storage grid disclosed in A, Z=8 identifies the bottommost layer of grid 104. Therefore, as an example, and using... Figure 1 A and Figure 2 The Cartesian coordinate system X, Y, Z indicated in B. Figure 1 The storage container marked 106' can be said to occupy a grid position or cell X=10, Y=2, Z=3. Container handling vehicles 200 and 300 can be said to travel in layer Z=0, and each grid column can be identified by its X and Y coordinates.

[0016] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and loading storage containers 106 when transported on top of storage grid 104. The storage space may include a cavity centrally located within the vehicle body, for example, as described in WO2014 / 090684A1, the contents of which are incorporated herein by reference.

[0017] Alternatively, the container handling vehicle 300 may have a cantilever structure as described in NO317366, the contents of which are also incorporated herein by reference.

[0018] The container handling vehicle 200 may have a coverage area, i.e. an extension in the X and Y directions, which is substantially equal to the horizontal area of ​​the grid cell 122, i.e. the extent of the grid cell 122 in the X and Y directions, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0019] Alternatively, the container handling vehicle 200 may have a coverage area greater than the horizontal area of ​​the grid cell 122, as disclosed in WO2014 / 090684A1.

[0020] In storage grid 104, most grid columns 112 are storage columns 105, i.e., grid columns where storage containers 106 are stored in stacks 107. However, grid 104 typically has at least one grid column 112 that is not used to store the storage container 106, but is arranged at a location where container handling vehicles 200, 300 can unload and / or pick up the storage container 106, allowing it to be transported to a second location (not shown) where the storage container 106 can be accessed from outside grid 104 or transferred out of or into grid 104. In the art, such a location is generally referred to as a "port," and the grid column where the port is located may be referred to as transfer columns 119, 120. The unloading and picking port is the upper end / opening of the corresponding transfer column 119, 120.

[0021] Figure 1 A and Figure 2 The prior art storage grid 104 in A includes two transfer columns 119 and 120. The first transfer column 119 may include, for example, a dedicated unloading port where container handling vehicles 200, 300 can unload storage containers 106 to be transported via transfer column 119, and further unload them to, for example, a pick-up / storage station. The second transfer column 120 may include a dedicated pick-up port where container handling vehicles 200, 300 can pick up storage containers 106 that have already been transported from, for example, a pick-up / storage station via transfer column 120. Storage containers can be transported through the transfer columns using lifting devices of container handling vehicles 200, 300 or by using storage container lifting devices arranged in the transfer columns. Each port of the first and second transfer columns can be adapted for the pick-up and unloading of storage containers.

[0022] The second location is typically a pick-up / storage station, where product items are removed from and / or located in storage container 106. In the pick-up / storage station, storage container 106 is typically never removed from the automated storage and retrieval system 1, but is returned to storage grid 104 once retrieved.

[0023] In order to monitor and control the automated storage and retrieval system 1, for example, to monitor and control the position 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, 300 such that the desired storage container 106 can be delivered to the desired location at the desired time, and the container handling vehicles 200, 300 do not collide with each other, the automated storage and retrieval system 1 includes a computer control system (not shown) that typically includes a database for tracking the storage containers 106.

[0024] A conveyor system including a conveyor belt or rollers is typically used to transport storage containers from the lower end of transfer columns 119, 120 to, for example, a pick-up / storage station.

[0025] The transport system can also be arranged to transfer storage containers between different storage grids, as described in, for example, WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0026] Furthermore, WO2016 / 198467A1, the contents of which are incorporated herein by reference, discloses examples of prior art access systems having a conveyor belt (as described in WO2016 / 198467A1). Figure 5 a and Figure 5 b) and the framed track (in WO2016 / 198467A1) Figure 6 a and Figure 6 b), used for transporting storage containers between transfer columns and stations where operators can access the storage containers.

[0027] When you need to access the stored Figure 1When a storage container 106 is in the storage grid 104 disclosed in A, 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 transfer column 119. This operation includes moving the container handling vehicles 200, 300 to the 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 transfer column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers are positioned above the target storage container 106, the operation also includes temporarily moving the storage container positioned above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling vehicles 200, 300 subsequently used to transport the target storage container 106 to the transfer column, or using one or more other cooperating container handling vehicles 200, 300. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 200, 300 specifically designed for the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. However, the removed storage container can alternatively be relocated to another storage column 105.

[0028] When storage container 106 is to be stored in grid 104, one of the container handling vehicles 200 or 300 is instructed to pick up storage container 106 from transfer column 120 and transport it to a grid location above storage column 105, where the storage container is stored. After any storage containers located at or above the target location within storage column stack 107 have been removed, container handling vehicles 200 or 300 position storage container 106 in the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column 105.

[0029] A common operation performed in existing storage systems is to consolidate multiple different items picked up from a storage grid, such as consolidating multiple items belonging to a single customer order. These multiple items are then consolidated for further processing, such as packaging them in a single parcel for shipment to the customer.

[0030] In existing systems, the consolidation of multiple items is performed by first transferring storage containers containing the items from a storage grid to a manual pick / store station in a specific order. At the pick / store station, the operator picks the required items for an order and places them in a single package for further processing, such as shipment to a customer. Different items to be consolidated are typically stored in different storage containers, and the speed of the consolidation process is therefore limited by the speed at which different storage containers become available at the pick / store station. Furthermore, due to the sequential access to different storage containers, identical orders with the same items from the same storage container are not processed much faster than dissimilar orders, because for each order, the storage container must be circulated between the pick / store station and the storage grid.

[0031] The efficiency of existing consolidation methods is not optimal for several other reasons. Pick-up / storage stations and the areas required for item consolidation must be arranged adjacent to each other so that operators can easily move items between the pick-up / supply station and the packages in which items are consolidated. Existing pick-up stations are arranged around the perimeter of the storage grid, and the locations of the pick-up / supply station and the areas required for item consolidation are set, for example, for conveyors transporting packages for consolidation. This positioning can be disadvantageous when the storage system must be adapted to a given building layout. Alternatively, the areas required for item consolidation, such as the conveyors transporting packages for consolidation, could be located in separate locations, but this would significantly reduce the efficiency of the consolidation process.

[0032] In view of the foregoing, the objective of the present invention is to provide a storage system and a method for operating such a system, which solves or at least mitigates one or more of the aforementioned problems associated with the use of prior art storage systems.

[0033] The object of this invention is to provide a storage system that is more efficient than existing systems in integrating items retrieved from the storage system.

[0034] Another objective is to provide a more flexible storage system. Summary of the Invention

[0035] This invention is defined by the appended claims and the following:

[0036] In a first aspect, the present invention provides a storage system comprising a storage grid structure in which storage containers are stored, and a plurality of container handling vehicles. The storage grid structure comprises vertical columns of profiles interconnected at their upper ends by top rails forming a top rail grid. The container handling vehicles are movable in two vertical directions on the top rail grid. The container handling vehicles are capable of retrieving storage containers from the storage grid structure, storing the storage containers in the storage grid structure, and transporting the storage containers on the top rail grid. The storage system includes at least one consolidation vehicle, a transfer rail grid, an item pickup area, and an item transport station.

[0037] - The integrated vehicle includes a wheel arrangement for moving the integrated vehicle in two perpendicular directions on a transfer track grid;

[0038] - The transfer track grid includes transfer tracks on which integrated vehicles can move along two vertical horizontal directions;

[0039] - The item pickup area includes: a first segment of a transfer track grid on which an integration vehicle can be positioned to receive multiple items picked up from at least one storage container; and an item pickup device arranged to pick up items from the storage container and transfer the items to the integration vehicle;

[0040] - The goods transport station includes a second section of a transfer track grid on which vehicles are integrated and positioned to transport goods received from storage containers to the packaging / processing assembly; and

[0041] - The integrated vehicle includes an item rack arranged such that items can be emptied from the item rack when the integrated vehicle is located at an item delivery station.

[0042] In other words, the item rack is arranged such that when the integrated carrier is located at the item conveying station, items can be emptied from the item rack without any external devices, such as an operator or robotic arm. Alternatively, the integrated carrier includes an item rack arranged such that when the integrated carrier is located at the item conveying station, items can be emptied from the item rack. Or, the item rack may be defined as including an item transfer assembly arranged to move items contained in the item rack in a lateral or downward direction, such that when the integrated carrier is located at the item conveying station, items can be emptied from the item rack.

[0043] In one implementation of the storage system, an integrated vehicle may be located on the first segment to receive multiple items picked up from multiple storage containers.

[0044] In one embodiment of the storage system, the item rack has an open top and includes an openable section arranged such that when the openable section is opened, items can be emptied from the item rack.

[0045] In one embodiment of the storage system, an openable segment may be connected to at least one actuator arranged to move the segment between an open position and a closed position. In the closed position, items may not be emptied from the shelf. In other words, the openable segment is arranged such that when the openable segment is in the open position, items contained in the shelf can be emptied from the shelf.

[0046] In one implementation of the storage system, the item rack is part of the integrated carrier.

[0047] In one embodiment of the storage system, the item rack is arranged to support a packaging box, into which the item can be received at an item pickup area.

[0048] A shelf can include a space in which items can be arranged.

[0049] In one implementation, the storage system includes multiple integrated carriers.

[0050] In one embodiment, the storage system includes at least a first integrated vehicle and a second integrated vehicle.

[0051] In one implementation, the storage system may include multiple item pickup areas.

[0052] In one embodiment, the storage system may include at least a first item pickup area and a second item pickup area. The first item pickup area and the second item pickup area may include separate segments of a transfer track grid.

[0053] In one embodiment, the storage system may include a first storage grid structure and a second storage grid structure. The transfer track grid may be arranged such that an integration vehicle can be located at a pickup area to receive items picked up from or retrieved from either the first or second storage grid structure.

[0054] In one embodiment, the storage system may include a first item retrieval area and a second item retrieval area, in which an integrated vehicle can retrieve items picked up from a storage container arranged in or retrieved from a first storage grid, and in the second item retrieval area, the integrated vehicle can retrieve items picked up from a storage container arranged in or retrieved from a second storage grid.

[0055] In one implementation, the storage system may include multiple item delivery stations.

[0056] In one embodiment of the storage system, the top track grid is separated from the transfer track grid. In other words, the top track grid and the transfer track grid are separate to prevent container handling vehicles from entering the transfer track grid, and to prevent consolidation vehicles and, optionally, container transfer vehicles (see below) from entering the top track grid. The top track grid and the transfer track grid can be separated by being arranged at different layers, or by having blocking elements (e.g., fences) arranged between the two grids in a horizontal plane, or by being arranged at a distance from each other in a horizontal plane.

[0057] In one embodiment of the storage system, the transfer track grid is arranged at a lower horizontal level than the top track grid.

[0058] In one embodiment of the storage system, the transfer track grid is arranged at a horizontal level below the top track grid.

[0059] In one embodiment of the storage system, the item rack includes peripheral sidewalls and a bottom section, and an openable section includes a portion of either the peripheral sidewall or the bottom section. The peripheral sidewalls and the bottom section define a space in which items can be arranged.

[0060] In one implementation of the storage system, when the consolidation vehicle is located at the goods transport station, the goods contained in the goods rack can be emptied from the goods rack in a lateral or downward direction.

[0061] In one embodiment of the storage system, the wheel assembly may include a first set of wheels and a second set of wheels, and one or both sets of wheels may be connected to a wheel lifting mechanism and may be raised and lowered such that the first set of wheels and / or the second set of wheels can engage with the corresponding set of transfer tracks in the transfer track grid at any given time. The wheel assembly is motorized, allowing the integrated vehicle to be driven in two perpendicular directions on the transfer track grid.

[0062] In one implementation of the storage system, the item picker includes a robotic arm. In other words, the item picker can be a robotic picking arm.

[0063] The robotic pickup arm can move horizontally at a height above the transfer track grid, allowing the assembly carrier to be positioned below it. The robotic pickup arm can move along a horizontal beam. The beam can be supported by columns, with at least a portion of the beam positioned above the transfer track grid to allow access to the beam and the assembly carrier below the robotic pickup arm. The robotic pickup arm can be arranged such that it can pick up at least one item from any of a plurality of storage containers. Each of the plurality of storage containers can be positioned above a corresponding storage column or contained in a container transfer carrier positioned at the first segment of the transfer grid.

[0064] In one embodiment of the storage system, the integrated carrier includes an actuator connected to an openable section or bottom section of a peripheral sidewall, the actuator being arranged to move the section or bottom section of the sidewall between an open position and a closed position, respectively.

[0065] In one embodiment of the storage system, when the integrated carrier is located at the item transport station and the openable section of the side wall or the bottom section is in the open position, the items contained in the item rack of the integrated carrier can be emptied from the item rack.

[0066] In one embodiment of the storage system, the openable section or bottom section of the peripheral sidewall includes a hinged surface.

[0067] In one embodiment of the storage system, the integrated carrier includes an openable section of peripheral sidewalls and a conveyor belt at the bottom section of the item rack. The peripheral sidewalls extend above the upper layer of the conveyor belt. The peripheral sidewalls prevent items arranged in the item rack from leaving the item rack until the openable section of the peripheral sidewalls is opened.

[0068] In one embodiment of the storage system, an openable section of the sidewall is hinged to the upper section of the item carrier, such that the lower end of the openable section is raised when in the open position.

[0069] In one embodiment of the storage system, the item transport station includes an opening or conveyor arranged to guide items emptied from the consolidation vehicle to the packaging / processing component.

[0070] The conveyor can be any suitable type of conveyor, such as a roller conveyor or a belt conveyor. In one embodiment, the conveyor is a belt conveyor to accommodate articles of any size suitable for storage in the storage container. The belt conveyor can be arranged to guide and transport articles in a lateral direction.

[0071] The opening can be positioned at a horizontal level below the second segment of the transfer track grid, preferably directly below the grid cells of the second segment of the transfer track. The opening can be positioned above a packaging / processing assembly, such as a conveyor characterized by a carton or container, into which items from at least one integrated carrier can be guided, or the opening can be positioned above a suitable conveyor for guiding items into the packaging / processing assembly.

[0072] In one implementation of the storage system, the transfer track is a dual-rail track, allowing two integrated vehicles to pass each other on adjacent grid cells of the transfer track grid.

[0073] In one embodiment of the storage system, the integrated vehicle has a horizontal perimeter, i.e., a maximum horizontal perimeter, which fits within a horizontal region defined by the grid cells of the transfer track grid.

[0074] In one embodiment of the storage system, vertical column profiles define multiple storage columns, wherein storage containers are stored one on top of another in a vertically stacked manner, and a container handling vehicle is capable of retrieving storage containers from the storage columns and storing the storage containers in the storage columns.

[0075] In one embodiment of the storage system, vertical column profiles define at least one transfer column through which a container handling vehicle can transfer storage containers between a top track grid and a lower layer of the storage grid structure.

[0076] In one embodiment, the storage system includes at least one container transfer vehicle having a storage container carrier and a wheel assembly arranged to move the container transfer vehicle in two perpendicular directions on a transfer track grid. The transfer track grid includes a third segment arranged below the transfer column of the storage grid, allowing the container handling vehicle to raise or lower storage containers between the storage container carrier and the top track grid. The wheel assembly may include eight wheels, wherein a first set of four wheels enables lateral movement of the container handling vehicle in a first direction, and a second set of four wheels enables lateral movement in a second direction perpendicular to the first direction. One or two sets of wheels in the wheel assembly may be connected to a wheel lifting mechanism and can be raised and lowered such that the first set of wheels and / or the second set of wheels can engage with a corresponding set of transfer tracks of the transfer track grid at any given time.

[0077] In one embodiment of the storage system, the wheel assembly of the integrated vehicle is the same as the wheel assembly of the container handling vehicle.

[0078] In one embodiment of the storage system, the container transfer vehicle has a horizontal perimeter, i.e., a maximum horizontal perimeter, which fits within a horizontal region defined by the grid cells of the transfer track grid.

[0079] In one embodiment of the storage system, the consolidation carrier may include a weighing mechanism to measure the weight of the items contained in the item rack. The measured weight can be used to optimize the consolidation process.

[0080] In a second aspect, the invention provides an integrated carrier for a storage system according to the first aspect. The integrated carrier includes a wheel assembly and an article rack, wherein...

[0081] - A wheel mechanism is used to move the integrated vehicle along two perpendicular directions on the transfer track grid; and

[0082] - The item rack includes peripheral sidewalls, a bottom section, and an open top, wherein one section of the peripheral sidewalls is openable, allowing items to be emptied from the item rack in a lateral direction.

[0083] In one implementation, the item rack may be box-shaped.

[0084] In one embodiment of the integrated vehicle, the wheel assembly includes eight wheels, wherein a first set of four wheels enables the integrated vehicle to move laterally along a first direction, and a second set of four wheels enables the integrated vehicle to move laterally along a second direction perpendicular to the first direction. One or two sets of wheels in the wheel assembly can be connected to a wheel lifting mechanism and can be raised and lowered such that the first set of wheels and / or the second set of wheels can engage with the corresponding set of transfer tracks in the transfer track grid at any given time.

[0085] In one embodiment, the integrated vehicle includes at least one actuator connected to an openable section of a peripheral sidewall, wherein the actuator is arranged to move the openable section between an open position and a closed position.

[0086] In one embodiment of the integrated carrier, the openable section includes at least one pivotable surface connected to an actuator. The pivotable surface may be hinged or pivotally connected to the upper section of the article rack.

[0087] In one embodiment of the integrated carrier, the peripheral sidewalls include four sidewall segments, a bottom segment, and an open top, wherein one of the sidewall segments is openable, allowing items to be emptied from the item rack in a lateral direction.

[0088] In one embodiment, the integrated carrier includes a laterally movable surface and / or a tiltable surface. The laterally movable surface is arranged to allow articles housed in an article rack to move laterally toward an openable section of a peripheral sidewall, and the tiltable surface is arranged such that articles can slide out of the article rack when the surface is tilted. The laterally movable surface may be a vertical surface arranged to push articles out of the article rack or a horizontal surface on which articles can be placed. The tiltable surface may be the surface of the bottom section, which can be tilted by using an actuator, by tilting the article rack, or by tilting the surface independently of the remaining portion of the article rack.

[0089] In one embodiment of the integrated carrier, the laterally movable surface is a conveyor belt arranged at the bottom section of the item rack. The conveyor belt can be arranged to move items contained in the item rack laterally out of the item rack, i.e., to empty the items from the item rack laterally. The conveyor belt can be part of the bottom section.

[0090] The first aspect of the invention may include any features of the embodiments of the second aspect.

[0091] In a third aspect, the present invention provides a method for integrating multiple items in a storage system, the storage system comprising a storage grid structure in which storage containers are stored, and a plurality of container handling vehicles. The storage grid structure includes vertical columns of profiles interconnected at their upper ends by top rails forming a horizontal top rail grid. The container handling vehicles are movable in two vertical directions on the horizontal top rail grid. The container handling vehicles are capable of retrieving storage containers from the storage grid structure, storing the storage containers in the storage grid structure, and transporting the storage containers on the top rail grid.

[0092] The storage system includes at least one integrated vehicle, a transfer track grid, an item pickup area, and an item transport station, wherein the integrated vehicle includes a wheel device for moving the integrated vehicle in two vertical directions on the transfer track grid;

[0093] The transfer track grid includes transfer tracks on which integrated vehicles can move along two vertical horizontal directions.

[0094] The item pickup area includes: a first segment of a transfer track grid on which an integrated vehicle can be positioned to receive multiple items picked up from at least one storage container; and an item pickup device arranged to pick up items from the storage container and transfer them to the integrated vehicle.

[0095] The goods transport station includes a second section of a transfer track grid on which integrated vehicles are positioned to transport goods received from storage containers to packaging / processing components; and

[0096] The integrated carrier includes an item rack having an open top and including an openable section arranged such that items can be emptied from the item rack when the integrated carrier is located at an item conveying station; the method includes the following steps:

[0097] - Position the integrated vehicle at the first segment of the transfer orbit grid;

[0098] - The first item is transferred from the first storage container to the item rack of the integrated vehicle using a pickup device;

[0099] - The second item is transferred from the first storage container or the second storage container to the item rack of the integrated vehicle by using a pickup device;

[0100] -Move the integration vehicle to the second segment of the transfer orbit grid; and

[0101] - Open the openable section to clear the first and second items from the item rack in a lateral or downward direction.

[0102] In one embodiment of a method for integrating multiple items in a storage system, a first item and a second item are emptied from an item rack onto a conveyor arrangement in a lateral or downward direction.

[0103] In one embodiment of a method for integrating multiple items into a storage system, the first and second items are emptied from the item carrier in a downward direction through openings located below the grid cells of a transfer grid.

[0104] In one embodiment of a method for integrating multiple items in a storage system, a first item and a second item are emptied from an item carrier onto a conveyor belt in a lateral direction.

[0105] In one embodiment, a method for integrating multiple items in a storage system includes the step of transporting a first item and a second item from an item transport station to a packaging / processing component.

[0106] In one embodiment of the method for integrating multiple items in a storage system, a first storage container is arranged on a first container transfer vehicle that can move on a transfer track grid. Prior to the step of transferring a first item from the first storage container to an item rack of the integration vehicle using a pickup device, the first container transfer vehicle carrying the first storage container may be arranged adjacent to the integration vehicle.

[0107] In one embodiment of the method for integrating multiple items in a storage system, a second storage container is arranged on a second container transfer vehicle that can move on a transfer track grid. The second container transfer vehicle may be arranged adjacent to the integration vehicle in steps prior to the step of transferring a second item from the second storage container to an item rack of the integration vehicle using a pickup device.

[0108] In one embodiment of the method for integrating multiple items into a storage system, the integration vehicle and container transfer vehicle have a horizontal perimeter, i.e., a maximum horizontal perimeter, which fits within a horizontal region defined by the grid cells of the transfer track grid.

[0109] In an embodiment of the method for integrating multiple items into a storage system, vertical column profiles define multiple storage columns, wherein storage containers are stored one on top of another in a vertically stacked manner, and a container handling vehicle is capable of retrieving storage containers from the storage columns and storing the storage containers in the storage columns.

[0110] In an embodiment of a method for integrating multiple items into a storage system, vertical column profiles define at least one transfer column through which a container handling vehicle can transfer storage containers between a top track grid and a lower layer of the storage grid structure.

[0111] In one embodiment of the method for integrating multiple items into a storage system, a first storage container is arranged on a first container transfer vehicle by positioning a first container transfer vehicle on a section of a transfer track grid below the at least one transfer column, and the first storage container is transferred from the top track grid to the container rack of the first container transfer vehicle by a container handling vehicle.

[0112] In one embodiment of the method for integrating multiple items into a storage system, a second storage container is arranged on a second container transfer vehicle by positioning a second container transfer vehicle on a section of a transfer track grid below the at least one transfer column, and the second storage container is transferred from the top track grid to the container rack of the second container transfer vehicle by a container handling vehicle.

[0113] The third aspect of the invention may include any features of the embodiments of the first and second aspects.

[0114] In a fourth aspect, the present invention provides a method for integrating multiple items in a storage system. The storage system includes a storage grid structure in which storage containers are stored, and multiple container handling vehicles. The storage grid structure includes vertical columns of profiles interconnected at their upper ends by top rails forming a horizontal top rail grid. The container handling vehicles are movable along the top rail grid in two vertical directions. The container handling vehicles are capable of retrieving storage containers from the storage grid structure, storing the storage containers in the storage grid structure, and transporting the storage containers along the top rail grid.

[0115] The storage system includes a first integrated vehicle, a second integrated vehicle, a transfer track grid, a first item pickup area, a second item pickup area, and an item transport station, wherein the transfer track grid includes transfer tracks on which the integrated vehicle can move along two vertical horizontal directions;

[0116] Each item pickup area includes: a segment of a transfer track grid on which an integration vehicle can be positioned to receive at least one item picked up from at least one storage container; and an item pickup device arranged to pick up an item from a storage container and transfer it to either a first integration vehicle or a second integration vehicle;

[0117] The item transport station includes a section of a transfer track grid on which vehicles are integrated and positioned to transport at least one item received at a first item pickup area or a second item pickup area to a packaging / processing component; and

[0118] Each integrated carrier includes an item rack having an open top and including an openable section arranged such that items can be emptied from the item rack when the integrated carrier is located at an item conveying station; the method includes the following steps:

[0119] - Position the first integrated vehicle at the first item pickup area;

[0120] - The first item is transferred from the storage container to the item rack of the first integrated vehicle by using a pickup device;

[0121] - Position the second integrated vehicle at the second item pickup area;

[0122] - An item rack that transfers a second item from a storage container to a second integrated vehicle using a pickup device;

[0123] - Move the first and second integrated vehicles to the goods delivery station; and

[0124] - Open the openable sections of the first and second integration carriers so that the first and second items are emptied from their respective item racks in a lateral or downward direction and integrated at the packaging / processing assembly.

[0125] In one embodiment of the fourth aspect, the steps of moving the first integrated vehicle and the second integrated vehicle to the article transport station and opening the openable section include the following sequential steps:

[0126] -Move the first integrated vehicle to the goods delivery station;

[0127] - Open the openable section of the first integrated vehicle so that the first item is emptied from the item rack in a lateral or downward direction;

[0128] -Move the second integrated vehicle to the goods delivery station;

[0129] - Open the openable section of the second integration carrier so that the second item is emptied from the item rack in a lateral or downward direction and integrated with the first item at the packaging / processing assembly.

[0130] In one embodiment of the fourth aspect, the first and second articles are emptied from their respective article carriers into the conveying facility in a lateral or downward direction.

[0131] In one embodiment of the fourth aspect, the first and second items are emptied from their respective item carriers in a downward direction through openings arranged below the grid cells of the transfer grid.

[0132] In one embodiment of the fourth aspect, the first and second articles are emptied from the article carrier onto the conveyor belt in a lateral direction.

[0133] In one implementation, the fourth aspect includes the step of transferring the first article and the second article from the article conveying station to the packaging / processing component.

[0134] In one embodiment of the fourth aspect, a first article is transferred from a first storage container arranged on a first container transfer vehicle at a first article pickup station, the first container transfer vehicle being movable on a transfer track grid. In steps preceding the step of transferring the first article from the first storage container to an article rack of a first consolidation vehicle using a pickup device, the first container transfer vehicle carrying the first storage container may be arranged adjacent to the first consolidation vehicle.

[0135] In one embodiment of the fourth aspect, the second article is transferred from a second storage container arranged on a second container transfer vehicle at a second article pickup station, the second container transfer vehicle being movable on a transfer track grid. In steps preceding the step of transferring the second article from the second storage container to the article rack of the second consolidation vehicle using a pickup device, the second container transfer vehicle may be arranged adjacent to the second consolidation vehicle.

[0136] In one embodiment of the fourth aspect, the integrated vehicle and container transfer vehicle have a horizontal perimeter, i.e., a maximum horizontal perimeter, which is adapted to a horizontal region defined by the grid cells of the transfer track grid.

[0137] In one embodiment of the fourth aspect, the vertical column profile defines a plurality of storage columns, wherein storage containers are stored one on top of another in a vertically stacked manner, and a container handling vehicle is capable of retrieving storage containers from the storage columns and storing the storage containers in the storage columns.

[0138] In one embodiment of the fourth aspect, the vertical column profile defines at least one transfer column through which the container handling vehicle can transfer storage containers between the top track grid and the lower layer of the storage grid structure.

[0139] In one embodiment of the fourth aspect, a first storage container is arranged on a first container transfer vehicle by positioning a first container transfer vehicle on a segment of a transfer track grid below the at least one transfer column, and the first storage container is transferred from the top track grid to the container rack of the first container transfer vehicle by a container handling vehicle.

[0140] In one embodiment of the fourth aspect, a second storage container is arranged on a second container transfer vehicle by positioning a second container transfer vehicle on a segment of a transfer track grid below the at least one transfer column, and the second storage container is transferred from the top track grid to the container rack of the second container transfer vehicle by a container handling vehicle.

[0141] In one embodiment of the fourth aspect, the storage system includes a first storage grid structure and a second storage grid structure, wherein a first item is transferred from a storage container of the first storage grid structure and a second item is transferred from a storage container of the second storage grid structure.

[0142] In a fifth aspect, the present invention provides a method for integrating multiple items in a storage system. The storage system includes a storage grid structure in which storage containers are stored, and multiple container handling vehicles. The storage grid structure includes vertical columns of profiles interconnected at their upper ends by top rails forming a horizontal top rail grid. The container handling vehicles are movable along the top rail grid in two vertical directions. The container handling vehicles are capable of retrieving storage containers from the storage grid structure, storing the storage containers in the storage grid structure, and transporting the storage containers along the top rail grid.

[0143] The storage system includes at least one integrated vehicle, a transfer track grid, an item pickup area, and an item transport station, wherein the transfer track grid includes transfer tracks on which the integrated vehicle can move in two vertical horizontal directions;

[0144] The item pickup area includes a first segment of a transfer track grid on which an integration vehicle can be positioned to receive multiple items picked up from at least one storage container, and an item pickup device arranged to pick up items from the storage container and transfer them to the integration vehicle.

[0145] The goods transport station includes a second section of a transfer track grid on which vehicles are integrated and positioned to transport goods received from storage containers to packaging / processing components; and

[0146] The integrated carrier includes a goods rack, characterized by having a conveyor on which a package with an open top can be arranged, such that when the integrated carrier is located at a goods conveying station, the package (and the goods) can be emptied from the goods rack; and the method includes the following steps:

[0147] - Position the integrated vehicle at the first segment of the transfer orbit grid;

[0148] - The first item is transferred from the first storage container to a packing box arranged on the item rack of the integrated vehicle by using a pickup device;

[0149] - Transfer the second item from the first storage container or from the second storage container to a packing box on the integrated vehicle using a pickup device;

[0150] -Move the integration vehicle to the second segment of the transfer orbit grid; and

[0151] - The actuator of the integrated vehicle's conveyor causes the packaging box (as well as the first and second items) to be emptied (or transferred) from the item rack in a lateral direction.

[0152] In one embodiment of the fifth aspect, the packaging box (as well as the first and second articles) is emptied (or transferred) from the article carrier to the conveying arrangement in a lateral direction.

[0153] The term “empty from…” can be replaced by the term “transfer from…” because these terms are considered interchangeable. Attached Figure Description

[0154] The invention is described in detail below by way of example and with reference to the following figures:

[0155] Figure 1 and Figure 2 This is a perspective view of an existing automated storage and retrieval system, in which... Figure 1 A and Figure 2 A shows the complete system, and Figure 1 B and Figure 2 Figure B illustrates an example of a container handling vehicle of the prior art suitable for this system.

[0156] Figure 3 This is a schematic top view of a grid cell defined by dual guide rails.

[0157] Figure 4 This is a perspective view of a first exemplary storage system according to the present invention.

[0158] Figure 5 yes Figure 3 A perspective view of the pickup station of the storage system.

[0159] Figure 6 yes Figure 3 A perspective view of the item delivery station in the storage system.

[0160] Figure 7 yes Figure 5 A detailed view of the item delivery station.

[0161] Figure 8 Is Figure 3 A perspective view of the integrated vehicle used in the storage system.

[0162] Figure 9 This is a top side perspective view of an exemplary integrated vehicle arranged at a goods delivery station.

[0163] Figure 10 yes Figure 8 Top-side perspective view of the integrated vehicle during the emptying of items at the item delivery station.

[0164] Figure 11 yes Figure 8 and Figure 9 A perspective sectional view of the integrated vehicle in the image.

[0165] Figure 12This is a perspective view of a storage grid characterized by a container transfer vehicle arranged on a transfer grid to receive storage containers from a container handling vehicle.

[0166] Figure 13 This is a perspective view of a second exemplary storage system according to the present invention.

[0167] Figure 14 yes Figure 12 A perspective view of the pickup station of the storage system.

[0168] Figure 15 This is a perspective view of an exemplary integrated vehicle. Detailed Implementation

[0169] 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 therein. Furthermore, even though some features are described only with respect to the system, it is clear that they are effective for related methods, and vice versa.

[0170] The present invention aims to provide a storage system with improved and efficient item retrieval integration.

[0171] Figures 4 to 7 The image shows a first exemplary embodiment of a storage system according to the present invention. The storage system is characterized by a storage grid structure 104 on which a plurality of container handling vehicles 300 are arranged.

[0172] The storage grid structure includes vertical column profiles 102 defining multiple storage columns 105, wherein storage containers 106 are stored one on top of another in a vertical stack 107. The storage grid is further characterized by at least one transfer column (see...). Figure 12 An exemplary transfer column), the at least one transfer column being arranged to allow storage containers to be moved out and in from the storage grid.

[0173] The column profiles 102 are interconnected at their upper ends by top rails 110 and 111, which form a horizontal top rail grid 108. The container handling vehicle 300 can move along the top rail grid in two vertical directions. The container handling vehicle can retrieve the storage container 106 from the storage column 105 and store the storage container in the storage column 105, and transport the storage container on the storage grid structure 104.

[0174] To achieve efficient integration of items picked up from storage containers, the storage system has multiple integration vehicles 6, a transfer track grid 5, an item pickup area 7, and an item delivery station 8.

[0175] The transfer track grid 5 consists of transfer tracks 110' and 111', and the integrated vehicle 6 can move along two vertical horizontal directions on these transfer tracks.

[0176] The item pickup area 7 includes a first segment 9 of a transfer track grid on which the integration vehicle 6 can be positioned to receive items 21 picked up from any storage container 106 placed within reach of a robotic pickup arm 11 (i.e., an item pickup). Each robotic pickup arm is arranged to pick up items from storage containers 106 placed below it and transfer them to the integration vehicle 6. In the case of completing an order comprising multiple items, the multiple items are transferred to the same integration vehicle 6.

[0177] Once all items in an order have been transferred to the consolidation vehicle, the consolidation vehicle is moved along the transfer track grid to the item conveying station for further order processing. The item conveying station is characterized by a second segment 10 of the transfer track grid 5, on which the consolidation vehicle 6 can be positioned to convey items from the order received from the storage container to the packaging / processing component 12. Therefore, the combination of the consolidation vehicle 6 and the transfer track grid 5 provides highly flexible positioning for both the item conveying station 8 and the packaging / processing component 12.

[0178] exist Figures 4 to 7 In the exemplary storage system shown, item 21 can be conveyed to packaging / processing component 12 via belt conveyor 20 or opening 19. The preferred method of conveying item to packaging / processing component 12 may depend on the layout of the storage system and the available space in the building housing the storage system.

[0179] exist Figures 4 to 7 A detailed view of the exemplary integrated vehicle 6 used in the storage system is shown below. Figure 8 As shown. The integrated carrier 6 includes an item rack 13 with an open top 17, four side walls 14, 15 (i.e., peripheral side walls), and a conveyor belt 22 (i.e., a laterally movable surface and / or item transfer assembly) arranged at the bottom section of the item rack. One of the side walls 15 is hinged to the upper section of the item rack 13 and connected to an actuator 18, allowing the side wall to move between an open position and a closed position. Figure 6 and Figure 7 As shown, when the conveyor belt 22 is activated and the openable sidewall 15 is in the open position, the items 21 arranged in the item rack 13 can be emptied.

[0180] The integrated vehicle 6 is characterized by motorized wheel assemblies 32a and 32b, which allow the vehicle to move along two perpendicular directions on the transfer grid 5. These wheel assemblies are similar to those of prior art container handling vehicles 200 and 300 disclosed, for example, in NO317366B1 and WO2015 / 193278A1, and can optionally be motorized using hub motors as disclosed in WO2016 / 120075A1.

[0181] The transfer track grid consists of dual guide rails 110' and 111', and the integrated carrier 6 has a horizontal perimeter that fits within a horizontal area defined by the grid cells 122' of the transfer track grid 5. This solution is efficient because two integrated carriers 6 can pass over each other on any adjacent grid cells 122' of the transfer track grid 5, requiring minimal deviation from the shortest path between two locations on the transfer grid. Furthermore, multiple integrated carriers 6 can be arranged in adjacent grid cells of the item pickup area, allowing the robotic pickup arm to reach multiple integrated carriers by moving the shortest possible distance between the integrated carrier and the storage container. The latter provides a very time-efficient pickup process.

[0182] Depending on the type of container handling vehicles 200 and 300 used on the storage grid structure, the top track grid 108 may be the same as or different from the transfer track grid 5. For example, the top track grid may differ from the transfer track grid, characterized by a first set of tracks being single-rail tracks and a second set of tracks being double-rail tracks, as described in the background section. However, regardless of whether the top track grid is the same as the transfer track grid, the track grids are arranged separately from each other to prevent the container handling vehicle 300 from entering the transfer track grid 5 and to prevent the consolidation vehicle 6 from entering the top track grid 108. Figures 4 to 7 In the exemplary storage system, the transfer track grid 5 is separated from the top track grid 108 by being positioned at different horizontal levels. Separating the track grids is highly advantageous for several reasons. The first advantage of separating track grid 5 from track network 108 is that consolidation operations performed on the transfer track grid can be stopped without affecting operations unrelated to consolidation performed on storage grid 104, such as retrieving storage containers and transporting them to a manually operated pick-up / supply station (not shown). This ensures minimal downtime for the storage system. It should be noted that if container handling vehicles 200, 300 have approached the transfer track grid, the entire storage system must be shut down for, for example, maintenance of equipment positioned on the transfer track grid. A second advantage is that the control system is simplified because the consolidation vehicles can be controlled and moved without having to consider the movement of the container handling vehicles.

[0183] In other implementations of the storage system, the transfer track grid and the top track grid may be at the same horizontal level, but separated by having a blocking element (e.g., a fence) arranged between the two grids or by being arranged at a distance from each other.

[0184] Figures 9 to 11 A second exemplary embodiment of the integrated carrier 6' is shown. The integrated carrier 6' is characterized by wheel assemblies 32a, 32b that allow the carrier to move in two vertical directions on the transfer grid 5, and includes an item rack 13 having an open top 17, four side walls 14, 15 (i.e., peripheral side walls), and an openable bottom section 16 (i.e., item transfer assembly). The bottom section 16 is connected to an actuator 18 arranged to keep the bottom section in a closed position (see...). Figure 9 ) and opening location (see Figure 10 and Figure 11 The wheels move between the sections. To make room for the openable bottom section, the wheel assembly is motorized by a hub motor in each wheel.

[0185] In use, the consolidation carrier 6' can first be positioned at the item pickup area to receive items to be consolidated, and then move to the item conveyor station, which is located above the opening 19, for conveying the items to the packaging / processing assembly 12 by opening the bottom section 16. Although not shown, the opening 19 may, in some cases, be positioned above the conveyor for further transporting the items 21 to the packaging / processing assembly 12.

[0186] Figure 15 A third exemplary embodiment of the "integration carrier 6" is shown. The "integration carrier 6" is characterized by wheel assemblies 32a, 32b that allow the carrier to move in two perpendicular directions on a transfer grid 5, and includes an item carrier 13 comprising a roller conveyor 25 (i.e., an item transfer assembly) arranged at the bottom section of the carrier. The "integration carrier 6" is particularly suitable for directly integrating items, for example, those in top-open packaging boxes 26 (schematically depicted in dashed lines) arranged on the item carrier 13, and is also suitable for transferring large items to be integrated at the packaging / processing assembly 12. In use, packaging boxes or large items can be transferred from the integration carrier to the conveyor 20 at the item transport station 8 by actuating the roller conveyor 25.

[0187] Depend on Figures 4 to 7The consolidation operation performed by the exemplary storage system may include the following steps: positioning consolidation carriers 6, 6' at the first segment 9 of transfer track grid 5; transferring a first item 21 from a first storage container 106 to the item rack 13 of the consolidation carriers 6, 6' using a robotic pickup arm; transferring a second item 21 from the first storage container 106 or from the second storage container 106 to the item rack 13 of the consolidation carriers 6, 6' using a robotic pickup arm; moving the consolidation carriers 6, 6' to the second segment 10 of transfer track grid 5; and opening the openable sidewall 15 or bottom segment 16 (i.e., opening the openable segment of the item rack) so that the first and second items 21 are emptied from the item rack 13 in a lateral or downward direction. When emptied from the item rack, the items can be transferred to a conveyor arrangement, such as a conveyor belt or rollers.

[0188] In an alternative consolidation operation, the consolidation of items can also be performed at the packaging / processing component 12. For example, by transferring a first item to a first consolidation carrier 6, 6' and a second item to a second consolidation carrier 6, 6'. The first and second consolidation carriers can then be moved to empty the first and second items respectively at the same item transport station 8, such that the items are consolidated at item transport station 8 or packaging / processing component 12. An alternative consolidation process may include multiple consolidation carriers, each used to transfer one fewer item.

[0189] Figures 12 to 14 A second exemplary embodiment of the storage system is illustrated. In this second exemplary embodiment, a storage container 106 containing an item 21 to be picked up is first transferred from a storage grid 104 to a container transfer carrier 23 arranged on a third segment 24 of a transfer track grid 5 using a container handling carrier 300. The third segment 24 of the transfer track grid 5 extends below the transfer column of the storage grid 104 and connects to the first segment 9 of the transfer track grid, allowing the container transfer carrier to move the storage container to the item pickup area. The second exemplary embodiment of the storage system includes, as shown in the figure... Figures 4 to 7 The storage system described in the text includes an item transport station 8 (not shown), which has a second segment 10 of the transfer track grid 5 connected to a first segment 9 of the transfer track grid 5 to allow integrated vehicles to move from the item pickup area 7 to the item transport station 8.

[0190] The container handling vehicle is characterized by wheel assemblies 32a, 32b that allow the vehicle to move in two vertical directions on the transfer track grid 5, and includes a storage container rack 38 for receiving storage containers lowered by the container handling vehicle 300 via the transfer column. In the exemplary container transfer vehicle 23, the container rack 38 has an open top 17 and four side walls 14. However, alternative container racks are conceivable. The requirement for the container rack is that during movement on the grid, the container rack can hold the storage containers in a stable position on the container transfer vehicle, and the container rack can receive the storage containers from above and provide top-side access to the items within the storage containers. Like the consolidation vehicle 6, the container transfer vehicle 23 has a maximum horizontal perimeter that adapts to a horizontal area defined by the grid cells 122' of the transfer track grid 5. This allows for a compact arrangement of multiple adjacent container transfer vehicles 23 and consolidation vehicles 6 at the item pickup area 7. This compact arrangement ensures that the distance the robotic pickup arm 11 must travel to pick up items from storage containers arranged on the container transfer carrier 23 and transfer them to the integration carrier 6 is as short as possible. By using the container transfer carrier to move the storage containers to the item pickup area, and... Figures 4 to 7 Compared to the storage system in the past, it provides more flexible positioning of the item pickup area.

[0191] Depend on Figures 12 to 14 The integration operations performed on the exemplary storage system in the example may include the above-mentioned operations targeting Figures 4 to 7 The exemplary storage system described in the figure includes the steps preceding these steps: retrieving a first storage container 106 having a first item 21 from storage grid 104, accommodating the first storage container on a first container transfer carrier 23 and positioning the first container transfer carrier 23 at a first segment 9 of transfer track grid 5; and optionally retrieving a second storage container 106 having a second item 21 from storage grid 104 and accommodating the second storage container on the second container transfer carrier 23 and positioning the second container transfer carrier 23 at a first segment 9 of transfer track grid 5.

[0192] Apart from the item pickup area 7, where items can be picked up by the automated robotic pickup arm 11, Figures 12 to 14 The exemplary storage system in the example is further characterized by having a manual pick-up / storage station for handling items that are not suitable for pickup by the robotic pick-up arm 11. If the order to be consolidated includes such unsuitable items, the consolidation vehicles 6, 6', 6" can be positioned at the manual pick-up / storage station to receive the items from the operator, for example, before moving to the conveyor station 8 or to the item pick-up area 7 to receive additional items to be consolidated.

[0193] The exemplary storage system is characterized by a single storage grid structure 104. However, the invention is also highly advantageous in similar storage systems characterized by at least two separate storage grid structures. In such a storage system, items stored in different storage grid structures can be easily integrated. For example, referring to the integration operation described above, a first storage container can be retrieved from a first storage grid structure, and a second storage container can be retrieved from a second storage grid structure.

[0194] In a further embodiment of the storage system of the present invention, the transfer track grid is arranged such that packages / items from at least one prior art or third-party storage system can be transferred to an integration vehicle for integration and / or packaging / processing at the packaging / processing component 12.

[0195] Figure label:

[0196] 1. Storage System

[0197] 2. Transfer Section

[0198] 3 Manual Pickup / Storage Station

[0199] 5. Transfer orbit grid

[0200] 6. Integrated Vehicle

[0201] 7. Item pickup area

[0202] 8. Goods delivery station

[0203] 9 (First segment of the transfer orbit grid)

[0204] 10 (Second paragraph of the transfer orbit grid)

[0205] 11. Item pickup device, robotic arm

[0206] 12 Packaging / Handling Components

[0207] 13. Item racks

[0208] 14 Sidewalls

[0209] 15. The side wall can be opened to reveal the cover.

[0210] 16 Bottom Section

[0211] 17. Open top

[0212] 18 Actuators

[0213] 19 Entrances and Exits

[0214] 20 (at the goods transport station) conveyor belt

[0215] 21 (Items suitable for storage in storage containers)

[0216] 22 (at the bottom of the integrated vehicle) conveyor belt

[0217] 23 Container transfer vehicles

[0218] 24 (Transfer Mesh) Third Segment

[0219] 25 Roller Conveyor

[0220] 26 Packaging boxes

[0221] 30 guide pins

[0222] 31 Lifting belt

[0223] 32a, 32b (wheel assembly for container handling vehicles)

[0224] 32'a, 32'b (integrated vehicle) wheel assembly

[0225] 33 Improve the framework

[0226] 34 Lifting device

[0227] 35 Container connecting elements

[0228] 38 Storage container racks

[0229] 100 Frame Structure

[0230] 102. Upright members of a frame structure, i.e., vertically aligned profiles.

[0231] 103 Horizontal members of frame structures

[0232] 104 Storage grid, storage grid structure

[0233] 105 Storage Columns

[0234] 106 Storage Containers

[0235] 107 Stacking

[0236] 108 Top track grid, track system

[0237] 110 The first set of parallel tracks along the first direction (X), top track

[0238] 111 The second set of parallel tracks along the second direction (Y), top track

[0239] 110' Transfer orbit in the first direction of the transfer orbit grid

[0240] 111' Transfer orbit grid in the second direction perpendicular to the first direction.

[0241] 112 grid columns

[0242] 115 Grid opening

[0243] 119 Transition Column

[0244] 120 Transfer Column

[0245] 122 (top track grid) grid cells

[0246] 122' (transfer orbit mesh) grid cell

[0247] 200 Prior art container handling vehicles

[0248] 300 Prior art container handling vehicles

[0249] X First Direction

[0250] Y Second Direction

[0251] Z Third Direction

Claims

1. A storage system (1), comprising: A storage grid structure (104) is provided, and a storage container (106) is stored in the storage grid structure. The storage grid structure includes multiple container handling vehicles (200, 300), comprising vertical columns of profiles (102) interconnected at their upper ends by top rails (110, 111) forming a horizontal top rail grid (108), the container handling vehicles (200, 300) being movable in two vertical directions on the top rail grid, the container handling vehicles being capable of retrieving storage containers (106) from the storage grid structure (104), storing the storage containers in the storage grid structure, and transporting the storage containers on the top rail grid, characterized in that... The storage system includes at least one integrated vehicle (6), a transfer track grid (5), an item pickup area (7), and an item transport station (8), wherein, - The integrated vehicle includes wheel devices (32a, 32b) for moving the integrated vehicle (6) in two perpendicular directions on the transfer track grid (5). - The transfer track grid (5) includes transfer tracks (110', 111'), and the integrated vehicle (6) is capable of moving along two vertical horizontal directions on the transfer tracks; - The item pickup area includes: a first segment (9) of the transfer track grid, on which the integrated vehicle can be positioned to receive a plurality of items (21) picked up from at least one storage container (106); and an item pickup device arranged to pick up the items from the storage container (106) and transfer the items to the integrated vehicle (6). - The article transport station includes a second segment (10) of the transfer track grid (5), on which the integrated vehicle can be positioned to transport articles received from the storage container to the packaging / processing component (12); and - The integrated carrier (6) includes an item rack (13) arranged such that when the integrated carrier is located at the item conveying station, items can be emptied from the item rack (13). The item carrier (13) has an open top (17) and includes an openable section (15, 16) arranged such that when the openable section is opened, the item can be emptied from the item carrier (13).

2. The storage system according to claim 1, wherein, When the integrated carrier is located at the article delivery station, the articles can be emptied from the article rack (13) in a lateral or downward direction.

3. The storage system according to claim 1, wherein, The item picker includes a robotic picker arm.

4. The storage system according to claim 1, wherein, The article conveying station (8) includes an opening (19) or a conveyor (20) arranged to guide articles emptied from the integrated carrier to the packaging / processing assembly (12).

5. The storage system according to claim 1, wherein, The transfer tracks (110', 111') are dual-track tracks, allowing the two integrated vehicles (6) to pass each other on adjacent grid cells (122') of the transfer track grid.

6. The storage system according to claim 1, wherein, The integrated vehicle (6) has a horizontal perimeter that fits within a horizontal region defined by the grid cells (122') of the transfer track grid (5).

7. The storage system according to claim 1, comprising at least one container transfer vehicle (23) including a storage container carrier (38) and a wheel assembly (32a, 32b) arranged to allow the container transfer vehicle (23) to move in two vertical directions on the transfer track grid (5), and the transfer track grid including a third segment (24) arranged below the transfer columns (119, 120) of the storage grid structure, such that a container handling vehicle (200, 300) can raise or lower a storage container (106) between the storage container carrier (38) and the top track grid (108).

8. A method for integrating multiple items in a storage system, the storage system comprising: A storage grid structure (104) is provided, and a storage container (106) is stored in the storage grid structure. The storage grid structure includes multiple container handling vehicles (200, 300), comprising vertical columns of profiles (102) interconnected at their upper ends by top rails (110, 111) forming a horizontal top rail grid (108). The container handling vehicles (200, 300) are movable in two vertical directions on the top rail grid. The container handling vehicles are capable of retrieving storage containers (106) from the storage grid structure (104), storing the storage containers in the storage grid structure, and transporting the storage containers on the top rail grid. The storage system includes a first integrated vehicle (6), a second integrated vehicle, a transfer track grid (5), a first item pickup area (7), a second item pickup area, and an item transport station (8), wherein the transfer track grid includes transfer tracks (110', 111'), and the first integrated vehicle and the second integrated vehicle can move along two vertical horizontal directions on the transfer tracks; Each of the first item pickup area and the second item pickup area includes: a segment of the transfer track grid on which the first and second integrated vehicles can be positioned to receive at least one item picked up from at least one storage container (106); and an item pickup device arranged to pick up the item from the storage container and transfer the item to either the first or the second integrated vehicle. The article transport station (8) includes a section of the transfer track grid, on which the first and second integrated vehicles are positioned to transport at least one article received in the first article pickup area or the second article pickup area to the packaging / processing component (12); and Each of the first and second integrated carriers includes an item rack having an open top and including an openable section arranged such that when the integrated carrier is located at the item conveying station, the items can be emptied from the item rack; the method includes the following steps: - Position the first integrated vehicle at the first item pickup area; - The first item is transferred from the storage container to the item rack of the first integrated vehicle by using a pickup device; - Position the second integrated vehicle at the second item pickup area; - The second item is transferred from the storage container to the item rack of the second integrated carrier by using the pickup device; - Move the first integrated vehicle and the second integrated vehicle to the goods delivery station; and - Open the openable sections of the first and second integrated carriers, so that the first and second items are emptied from their respective item racks in a lateral or downward direction and integrated at the packaging / processing assembly.

Images