Storage container for an automated storage and retrieval system

Abstract

The present invention relates to a storage container (6) for an automated storage and retrieval system for storing product items (5; 5a) in an automated storage and retrieval system (1). The storage container (6) comprises a base (6B), two first parallel side walls (6S1), two second parallel side walls (6S2) perpendicular to the two first parallel side walls, and a top opening (6TO). The storage container further comprises two side openings (6SO) to allow one or more items to be unloaded from the storage container (6) at an unloading station (10) or loaded into the storage container at a loading station (10a) through one of the side openings. The storage container (6) is provided with a restraint arranged to restrain movement of the one or more items (5; 5a) from exiting through one of the side openings (6SO) during transport of the storage container (6).

Description

[0001] This application is a divisional application of the Chinese national phase application, filed on November 28, 2019, with international application number PCT / EP2019 / 082955 and entitled "Storage Container for Automated Storage and Retrieval System". The Chinese national phase application entered the national phase on May 27, 2021, with application number 201980078314.4 and entitled "Storage Container for Automated Storage and Retrieval System". Technical Field

[0002] This invention relates to a storage container for an automated storage and retrieval system. Background Technology

[0003] Figure 1A and Figure 1C A typical prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed. Figure 1B and Figure 1D The operation was disclosed separately. Figure 1A and Figure 1C The prior art container handling vehicles 200 and 300 of System 1 disclosed in the paper.

[0004] The frame structure 100 includes a plurality of upright members 102, and optionally includes a plurality of horizontal members 103 supporting the upright members 102. Members 102, 103 may typically be made of metal (e.g., extruded aluminum profiles).

[0005] The frame structure 100 defines a storage grid 104, which includes rows of storage columns 105 in which storage containers 106 (also referred to as boxes) are stacked on top of each other to form a stack 107.

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

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

[0008] The automated storage and retrieval system 1 includes a container handling vehicle track system 108 arranged in a grid pattern on top of a storage grid 104, and multiple container handling vehicles 200, 300 (e.g., Figure 1B and Figure 1D(Example shown) operates on orbital system 108 to raise and lower storage container 106 from storage column 105 into storage column 105, and also to transport storage container 106 above storage column 105. The horizontal extent of one of the grid cells 122 constituting the grid pattern is... Figure 1A and Figure 1C Marked with a thick line.

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

[0010] The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111. The first set of parallel tracks is arranged to guide container transport vehicles 200 and 300 to move along a first direction X on top of the frame structure 100. The second set of parallel tracks is arranged perpendicular to the first set of parallel tracks 110 to guide container transport vehicles 200 and 300 to move along a second direction Y perpendicular to the first direction X. In this way, the track system 108 defines grid posts 112 above which the container transport vehicles 200 and 300 can move laterally (i.e., in a plane parallel to the horizontal XY plane) above the storage posts 105.

[0011] Each prior art container handling vehicle 200, 300 includes a vehicle body 201 and a wheel assembly 301 with eight wheels, wherein a first set of four wheels enables the container handling vehicle 200, 300 to move laterally in the X direction, and a second set of the remaining four wheels 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.

[0012] Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertically transporting the storage container 106, such as raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column 105. The lifting device includes one or more clamping / engaging devices (not shown) adapted to engage the storage container 106, and these clamping / engaging devices can be lowered from the vehicle 200, 300 such that the position of the clamping / engaging devices relative to the vehicle 200, 300 can be adjusted along a third direction Z orthogonal to the first direction X and the second direction Y.

[0013] Traditionally, and also for the purposes of this application, Z=1 represents the uppermost layer of grid 104, i.e., the layer immediately below orbital system 108; Z=2 represents the second layer below orbital system 108; Z=3 represents the third layer, and so on. Figure 1A and Figure 1C In the exemplary prior art mesh 104 disclosed herein, Z=8 represents the bottommost layer of mesh 104. Therefore, as an example, and using... Figure 1A and Figure 1D The Cartesian coordinate system X, Y, Z is represented in the figure. Figure 1A The storage container, represented as 106', can be referred to as occupying a grid position or cell: X=10, Y=2, Z=3. Container transport vehicles 200 and 300 can be referred to as traveling in layer Z=0, and each grid column 112 can be represented by its X and Y coordinates.

[0014] Each container handling vehicle 200 includes a storage compartment or space (not shown) for accommodating and loading the storage container 106 when transporting it on the track system 108. The storage space may include a cavity centrally located within the vehicle body, such as that described in WO2014 / 090684A1 (the contents of which are incorporated herein by reference).

[0015] Alternatively, the container handling vehicle 300 may have a cantilever configuration, as described in NO317366 (the contents of which are incorporated herein by reference).

[0016] The container handling vehicle 200 may have a footprint, that is, an area in the X and Y directions, which is typically equal to the lateral extent of the grid cell 122, that is, the extent of the grid cell 122 in the X and Y directions, as described, for example, as in WO2015 / 193278A1 (the contents of which are incorporated herein by reference). The term “lateral” as used herein may mean “horizontal”.

[0017] Alternatively, the container handling vehicle 200 may have a coverage area greater than the lateral extent (lateral region defined by the grid posts) of the grid posts 112, such as that disclosed in WO2014 / 090684A1.

[0018] Track system 108 can be a single track system, such as Figure 2A As shown. Alternatively, the orbital system 108 can be a dual-track system, such as... Figure 2BAs shown, this allows a container transport vehicle 201 having a coverage area 202, 202' that typically corresponds to a lateral region defined by the grid posts 112 to travel along rows of the grid posts 112, even if another container transport vehicle 200 is positioned adjacent to that row above the grid posts 112. Single-track and dual-track systems, or combinations thereof in a single-track system 108, form a grid pattern in the horizontal plane P comprising a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of tracks 110a, 110b of a first track 110 and a pair of tracks 111a, 111b of a second set of tracks 111. Figure 2B In the diagram, grid cell 122 is indicated by a dashed box.

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

[0020] like Figure 2C As shown, each grid cell 122 has a width W C and length L C The width typically ranges from 30cm to 150cm, and the length typically ranges from 50cm to 200cm. Each grid opening 115 has a width W. O and L O The length, width, and length are typically greater than the width W of grid cell 122. C and length L C Smaller than 2cm to 10cm.

[0021] In the X and Y directions, adjacent grid cells 122 are arranged to contact each other, so that there is no space between them.

[0022] In storage grid 104, most grid posts 112 are storage posts 105, i.e., grid posts 112 in which storage containers 106 are stored in stacks 107. However, grid 104 generally has at least one grid post 112 that is not used to store storage containers 106, but rather includes a location where container handling vehicles 200, 300 can unload and / or pick up storage containers 106, such that these storage containers can be transported to a second location (not shown) where the storage containers 106 can be accessed from outside grid 104, or where the storage containers can be transported out of grid 104 or into the grid. In the art, this location is generally referred to as a "port," and the grid post 112 containing the port may be referred to as a "delivery post" 119, 120. The unloading port and pick-up port of the container handling vehicle are referred to as the "upper port of delivery post 119, 120." The opposite end of the delivery post is referred to as the "lower port of delivery post."

[0023] Figure 1A and Figure 1C The storage grid 104 includes two delivery columns 119 and 120. The first delivery column 119 may, for example, include a dedicated unloading port where container handling vehicles 200, 300 can unload storage containers 106 destined for transport via the delivery column 119 to an entrance or transfer station (not shown), and the second delivery column 120 may include a dedicated pick-up port where container handling vehicles 200, 300 can pick up storage containers 106 already transported via the delivery column 120 from an entrance or transfer station (not shown). Each of the ports of the first delivery column 119 and the second delivery column 120 may include a port suitable for picking up and unloading storage containers 106.

[0024] The second location is typically a picking or receiving station, where product items are removed from or positioned into storage container 106. At the picking or receiving station, storage container 106 is generally not removed from the automated storage and retrieval system 1, but is returned to storage grid 104 once approached. To transfer storage containers out of or into storage grid 104, the delivery column also includes lower ports, such as those for transferring storage container 106 to another storage facility (e.g., another storage grid), directly to a transport vehicle (e.g., a train or truck), or to a production facility.

[0025] In order to monitor and control the automated storage and retrieval system 1 (e.g., to monitor and control the position of the respective storage containers 106 within the storage grid 104, the capacity of each storage container 106, and the movement of the container transport vehicles 200, 300, so that the desired storage containers 106 can be delivered to the desired location at the desired time without the container transport vehicles 200, 300 colliding with each other), the automated 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 conveyor belts can be used to transport storage containers between the lower ports of distribution columns 119 and 120 and the access stations.

[0027] If the lower ports and access stations of delivery columns 119 and 120 are located at different levels, the delivery system may include lifting equipment for vertically transporting storage container 106 between the ports and access stations.

[0028] The transport system can be arranged to transport storage containers between different grids, as described in, for example, WO2014 / 075937A1 (the contents of which are incorporated herein by reference).

[0029] Furthermore, WO2016 / 198467A1 (the contents of which are incorporated herein by reference) discloses an example of a prior art access system that includes a conveyor belt (as described in WO2016 / 198467A1). Figure 5 a and Figure 5 b) and frame mounting rails (in WO2016 / 198467A1) Figure 6a and Figure 6b (This is used to transport storage containers between delivery columns and workstations where operators can access the storage containers.)

[0030] When approaching storage Figure 1AWhen storing container 106 in grid 104, one of container handling vehicles 200 or 300 is instructed to remove the target storage container 106 from its position in grid 104 and transport the target storage container to or through delivery column 119. This operation involves moving container handling vehicles 200 or 300 to the grid position above storage column 105 where the target storage container 106 is located, removing the storage container 106 from storage column 105 using the lifting device (not shown) of the container handling vehicle, and transporting the storage container 106 to delivery column 119. If the target storage container 106 is located deeper within stack 107, i.e., one or more other storage containers are positioned above the target storage container 106, the operation also involves temporarily moving the storage containers positioned above before lifting the target storage container 106 from storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle 200, 300 subsequently used to transport the target storage container 106 to the distribution 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 dedicated to 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, alternatively, the removed storage container can be repositioned into another storage column 105.

[0031] When storage container 106 is to be stored in grid 104, one of container handling vehicles 200 or 300 is instructed to pick up storage container 106 from delivery column 120 and transport it to the grid location above storage column 105 where the storage container is to be stored. After any storage container positioned at or above the target location within the storage column stack 107 has 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.

[0032] A problem associated with the known automated storage and retrieval system 1 is that the areas around the pick-up and unload ports can become congested by container handling vehicles 200, 300 instructed to unload or pick up storage containers 106. This can severely hinder the operation of the automated storage and retrieval system 1. In smaller systems, this situation might be eliminated by adding delivery columns to the grid, as this would allow container handling vehicles 200, 300 to be distributed among a large number of ports on the delivery columns to avoid congestion. However, if ports and columns are added, the transfer system infrastructure generally must be increased. This requires space, which is not always available. Moreover, adding transfer system infrastructure is costly.

[0033] Another problem with the existing automated storage and retrieval system 1 is that the separate unloading and picking ports of the delivery columns 119, 120 require container handling vehicles 200, 300 to move to the storage column 105 after unloading to retrieve new containers 106. Similarly, the container handling vehicles 200, 300 must be empty of the storage containers 106 when they are sent to the picking port 120 to pick up the storage containers. This results in inefficiency and increased congestion near the ports because the container handling vehicles 200, 300 move around the grid without carrying storage containers 106 as a payload. Furthermore, the delivery columns 119, 120 can occupy space on the grid 104 that could be used for other purposes, such as the movement of the container handling vehicles 200, 300.

[0034] For example, as known from WO2016 / 198565, the aforementioned automated storage and retrieval system includes a robotic device comprising a movable arm with a picking mechanism at one end for moving product items between storage containers 106. The robotic device may be fixed to a grid or to the ceiling of the building where the grid is located. In this prior art, the robotic device is used to move product items between storage containers 106 located at the top level of the grid and storage containers 106 located on a conveyor belt of a conveyor system.

[0035] Furthermore, the area around the robotic equipment may be congested by container handling vehicles 200 and 300 that are instructed to unload or pick up storage containers 106. In addition, the cost of adding the conveyor system infrastructure is high.

[0036] GB 2544648 (Ocado Innovation) discloses an automated storage and retrieval system with a robotic device for picking product items, wherein the robotic device is attached to a robotic vehicle to form a picking vehicle. A container transport vehicle moves adjacent to the picking vehicle, and the picking vehicle moves product items between containers held by the container transport vehicle. The container transport vehicle includes a top opening that allows the picking vehicle to approach the containers from above.

[0037] It is also known from the above disclosure that product items are sorted from the container into multiple end-consumer shipping packages located in a destination container. The destination container with these shipping packages is then transported to a port where the shipping packages are removed from the container, after which the shipping packages are sealed and may be addressed and stamped. This is typically a manual process.

[0038] One object of the present invention is to provide a storage container that can automatically and more efficiently unload product articles from storage containers in such automated storage and retrieval systems and load product articles into such storage containers.

[0039] Another objective is to provide a storage container in which loading and unloading can occur while the storage container is being transported by a vehicle, and in which loading and unloading can occur when the storage container is not being transported by a vehicle. Summary of the Invention

[0040] This invention relates to a storage container for storing product items in an automated storage and retrieval system, wherein the storage container comprises:

[0041] - Base;

[0042] - Two first parallel sidewalls;

[0043] - Two second parallel sidewalls, which are perpendicular to the two first parallel sidewalls;

[0044] - Top opening;

[0045] - Two side openings to allow one or more items to be unloaded from the storage container at the unloading station through one of the side openings or loaded into the storage container at the loading station through one of the side openings.

[0046] The storage container is provided with a restraint that is arranged to restrict the movement of one or more items during transport of the storage container to an unloading or loading site to prevent them from leaving through one of the side openings.

[0047] In one respect, the term "unloading" refers to the ejection of one or more product articles from a storage container by means of the unloading components of an unloading device located at an unloading station. The term unloading can also refer to the tipping or tilting of a storage container that causes product articles to slide out of the storage container through one of the side openings.

[0048] In one respect, the term "loading" refers to pushing one or more product articles into a storage container using a loading component (similar to an unloading component of an unloading device) of a loading device located at a loading station. The term "loading" can also refer to product articles sliding into a storage container through one of the side openings. Product articles may, for example, slide down an inclined surface and slide into the storage container.

[0049] It should also be noted that the term "site" can be interpreted broadly. For example, when unloading or loading is performed at an unloading "site" or a loading "site," the storage container may or may not be transported by a vehicle. Therefore, a port is considered a site where the unloading or loading of a storage container can occur.

[0050] In one respect, the side opening has a width equal to the width of the storage container minus the thickness of the second sidewall. Therefore, the side opening is as wide as the base surface inside the storage container.

[0051] In one aspect, the restraint includes a lip that projects upward from the base at the lower edge of one of the side openings.

[0052] In one respect, a lip may be present at the lower edge of each of the side openings.

[0053] Alternatively, the lower edge of the side opening is formed by the base surface of the base.

[0054] In one respect, the lips can be continuous, discontinuous, or broken.

[0055] In one aspect, the lip is movably connected to the base, and wherein the lip is configured in one of the following positions:

[0056] - Elevated position, which is arranged to restrain the movement of one or more items during the transport of the storage container to the unloading or loading site to prevent them from leaving through one of the side openings;

[0057] - Lowering position, which is arranged so as not to restrict the movement of one or more items out through one of the side openings at the unloading or loading site.

[0058] In one respect, the lip is tilted or bent in a direction perpendicular to the first parallel sidewall to allow the product article to be pushed over the upwardly projecting member at the unloading or loading site.

[0059] In one aspect, the constraint includes a friction-increasing material for increasing friction between one or more product articles and the upper surface of the base.

[0060] In one aspect, the friction-increasing material can be a coating deposited onto multiple portions or the entire upper surface of the substrate. The coating can be applied to the upper surface of the substrate by bonding, printing, spraying, painting, or other means.

[0061] In one respect, the friction-increasing material can be a granular material deposited on multiple portions or the entire upper surface of the substrate.

[0062] In one respect, the friction-increasing material can be a filler material that is filled into a cavity disposed in the upper surface of the base.

[0063] In one respect, friction-increasing materials can be integrally formed in the material on the upper surface of the base.

[0064] Friction-increasing materials can be supplied during the manufacture of the storage container, for example, as part of a two-component injection molding process. Alternatively, friction-increasing materials can be applied in subsequent steps after the manufacture of the storage container.

[0065] In one aspect, the constraint includes a profile element disposed on the upper surface of the base.

[0066] In one respect, the profile element set in the upper surface of the base is made of the same material as the base itself.

[0067] In one aspect, profiles include grooves, ridges, bosses, steps, or other raised shapes or combinations of such shapes.

[0068] In one aspect, the constraint includes a liftable base plate movably connected to the storage container between the following locations:

[0069] - A lower position, arranged to restrain movement of one or more containers during transport to an unloading or loading site to prevent exit through one of the side openings; and

[0070] - Upper position, which is arranged so as not to restrict the movement of one or more items out through one of the side openings at the unloading or loading site.

[0071] In one aspect, the liftable base plate includes an opening, and wherein the storage container includes a friction-increasing member positioned in the opening;

[0072] - In the lower position, the base plate can be raised to be vertically aligned with the friction-increasing component, or lower than the friction-increasing component;

[0073] - In the upper position, the base plate can be raised above the friction-increasing components.

[0074] In the aforementioned aspect, the liftable base plate is in a lower position during transport to the unloading or loading station, and is raised to its upper position at the unloading or loading station. Conversely, it is lowered. In one aspect, a friction-reducing member may be positioned within an opening in the liftable base plate, and the liftable base plate itself may contain a friction-increasing material. Here, the liftable base plate is in an upper position during transport to the unloading or loading station, and is lowered to its lower position at the unloading or loading station.

[0075] In the lower position, the elevable base plate may be lower than the upwardly protruding lip, and in the upper position, the elevable base plate may be vertically aligned with or higher than the upwardly protruding lip.

[0076] In one respect, the liftable base is tiltable to allow one or more product items to slide out of the storage container.

[0077] In one aspect, the liftable base plate is movably connected to the base of the storage container by means of one or more legs, wherein one or more legs can be accessed from below the storage container.

[0078] In one aspect, the liftable base plate is configured to be in the lower position due to gravity. Alternatively, the liftable base plate can be biased (e.g., by means of a spring) to be in the lower position.

[0079] In one aspect, because the support legs can be accessed from below the storage container, the actuator can be used to move the liftable base plate from a lower position to an upper position. The actuator can be part of the storage container itself, for example, integrally formed into the base. Alternatively, the actuator can be integrally formed in a container handling vehicle and / or delivery vehicle. In yet another alternative aspect, the actuator can be provided as part of an unloading or loading station.

[0080] In one aspect, one or more outriggers include stops for limiting vertical movement of the elevable base plate relative to the base.

[0081] In one aspect, the top opening is configured to allow product items to be inserted into and / or removed from the storage container. Therefore, product items can also be loaded or unloaded through this top opening.

[0082] In one aspect, the two first parallel sidewalls or the two second parallel sidewalls include an upper vehicle connection interface. The upper vehicle connection interface may be formed by one or more cutouts or openings in the upper region of these walls, into which the gripping equipment of a container handling vehicle or the lifting frame of an unloading station may be engaged.

[0083] In one aspect, the storage container is made of molded plastic. In another aspect, the storage container includes an array of molded ribs that allow a load of product articles carried by the base to be transferred into the sidewall and further transferred to the top of the sidewall, which is provided with an upper vehicle connection interface.

[0084] The storage container further includes a lower stacking interface and an upper stacking interface for allowing the storage container to be stacked together with other storage containers in a stack. The lower stacking interface and the upper stacking interface are configured to prevent relative horizontal movement between two adjacent storage containers that are stacked on top of each other. Attached Figure Description

[0085] The following figures depict exemplary embodiments of the present invention, and are included to facilitate understanding of the invention.

[0086] Figures 1A to 1DA perspective view of existing automated storage and retrieval systems, in which Figure 1A and Figure 1C Show the complete system, and Figure 1B and Figure 1D An example of a prior art container transport vehicle that the system can operate on is shown.

[0087] Figures 2A to 2C A top view of the container handling vehicle track system, in which Figure 2A A single-track system is shown. Figure 2B The dual-track system 2B is shown, and Figure 2C A dual-track system is shown that indicates the width and length of the grid cells for container handling vehicles.

[0088] Figure 3 and Figure 4 A perspective view of the first embodiment of the present invention—in Figure 3 In the middle, the containers are transported by delivery vehicles, while Figure 4 In the image, the container is shown to be separate from the delivery vehicle.

[0089] Figure 5 An enlarged view of a container containing two shipping packages.

[0090] Figures 6a to 6d The operation of the first implementation scheme is shown.

[0091] Figures 7a to 7g The operation of the second implementation scheme is shown.

[0092] Figures 8a to 8h The operation of the third implementation scheme is shown.

[0093] Figure 9a and Figure 9b An alternative implementation scheme is shown.

[0094] Figure 10a , Figure 10b and Figure 10c Another alternative implementation scheme is shown.

[0095] Figure 11a Another embodiment of the storage container is shown.

[0096] Figure 11b Showing along Figure 11a The dashed line indicated by arrow A in the middle cuts through Figure 11a Storage container.

[0097] Figure 12 Another embodiment of the storage container is shown.

[0098] Figure 13a Another embodiment of a storage container with a bottom plate in a lower position is shown.

[0099] Figure 13b It shows a base plate in the upper position. Figure 13a The implementation plan.

[0100] Figure 13c Shown from below the lower position Figure 13a The implementation plan.

[0101] Figure 13d Shown from below the lower position Figure 13b The implementation plan.

[0102] Figure 13e To follow Figure 13b The cross section indicated by the dashed line pointed to by arrow A in the diagram shows... Figure 13b The storage container in.

[0103] Figure 14 This illustrates how the product item's movement is restricted due to the upward-protruding lip.

[0104] Figure 15a and Figure 15b The lower and upper positions of the base plate are shown.

[0105] Figure 15c The alternative upper position for raising the base plate is shown.

[0106] Figure 16a A first implementation of the loading site is shown.

[0107] Figure 16b A second implementation of the loading site is shown. Detailed Implementation

[0108] The embodiments of the present invention will be discussed in more detail below with reference to the accompanying drawings.

[0109] refer to Figures 1A to 1D Each storage structure 1 has storage grids 104 forming a frame 100 with a total of 143 grid posts 112, where the width and length of the frame correspond to the width of 13 grid posts 112 and the length of 11 grid posts, respectively. The top layer of the frame 100 is a track system 108 on which multiple container handling vehicles 200 and 300 operate.

[0110] The frame structure 100 of the storage system 1 is constructed according to the prior art framework 100 mentioned above, namely, it is constructed of a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102. Furthermore, the horizontal members 103 include a container transport vehicle track system 108 arranged on top of the storage column 105 with parallel tracks 110, 111 along the X and Y directions, respectively. The horizontal region (i.e., along the X and Y directions) of a single grid cell 122 can be defined by the distance between adjacent tracks 110 and 111, respectively (see also Figure 2A-). Figure 2C ).exist Figure 1A and Figure 1C In this context, the grid cell 122 is marked with a thick line on the track system 108.

[0111] The container handling vehicle track system 108 allows container handling vehicles 200, 300 to move horizontally between different grid locations, each grid location being associated with a grid cell 122.

[0112] exist Figure 1A and Figure 1C In the diagram, storage grid 104 is shown with a height of eight cells. However, it should be understood that storage grid 104 can, in principle, be of any size. In particular, it should be understood that storage grid 104 can be compared to... Figure 1A and Figure 1C The grid disclosed is significantly wider and / or longer. For example, grid 104 may have a horizontal range of more than 700x700 grid cells 122. Moreover, grid 104 may be wider and / or longer than the grid disclosed. Figure 1A and Figure 1C The depth disclosed in the text is significantly greater. For example, storage grid 104 can be deeper than twelve grid cells.

[0113] The storage container vehicles 200 and 300 may be of any type known in the art, such as any of the automated container handling vehicles disclosed in WO2014 / 090684 A1, NO317366 or WO2015 / 193278A1.

[0114] The orbital system 108 can be as follows Figure 2A The single-track system shown, such as Figure 2B The diagram shows a dual-track system, or a combination of a single-track system and a dual-track system. Details of various track systems are disclosed in the background section of this specification.

[0115] exist Figure 1A In the diagram, the control system of the automated storage and retrieval system 1 is shown as a box 20 configured to communicate with vehicles 200 and 300.

[0116] First Implementation Plan (Unloading Site)

[0117] Now for reference Figure 3 and Figure 4 Here, the unloading station 10 of the automated storage and retrieval system 1 is shown.

[0118] The unloading site 10 includes an unloading device generally indicated by arrow 40 and a destination transmitter generally indicated by arrow 60.

[0119] A remotely operated vehicle in the form of a delivery vehicle 30 is also shown. The delivery vehicle 30 includes a vehicle body 31 and a wheel assembly 32 connected to the vehicle body 31. The wheel assembly 32 is configured to move the remotely operated vehicle 30 along the track system 108 of the automated storage and retrieval system 1 or along a corresponding track system 108 located below or near the grid 104. The wheel assembly 32 is considered prior art and will not be described in detail herein.

[0120] Delivery vehicle 30 includes a container carrier 36 located above the wheel assembly 32. It should be noted that the delivery vehicle 30 in this embodiment differs from vehicles 200 and 300 described above in that vehicle 30 itself does not include lifting equipment for lowering and raising the storage container relative to the grid 104. In this embodiment, vehicle 30 is of a type suitable for receiving the storage container 6 from above or returning the storage container 6 upwards by means of a separate lifting device. When vehicle 30 is located below one of vehicles 200 and 300, the lifting device used for this operation may be, for example, the lifting device of prior art vehicles 200 and 300. Another example of such a lifting device will be described in detail below.

[0121] In this embodiment, the container carrier 36 includes two first parallel sidewalls 36S1 and two second parallel sidewalls 36S2. Each first parallel sidewall has a side opening 36S0, and the second parallel sidewalls are perpendicular to the first sidewalls 36S1. The two second sidewalls 36S2 do not have side openings. Additionally, the container carrier includes a bottom plate 36F and a top opening 36T0 for receiving and distributing the storage container 6. In this embodiment, when the storage container 6 is disposed within the container carrier 36, the lower edge 36S0E of the side opening 36S0 is horizontally aligned with the bottom plate 6F of the storage container 6.

[0122] The storage container 6 here is similar to the prior art storage container 106 described above, but with one difference—the storage container 6 includes two side openings 6S0 located in its two first parallel sidewalls 6S1. For example... Figure 4 As shown, the storage container has a bottom plate 6F and a top opening 6TO.

[0123] The unloading device 40 will now be described. The unloading device 40 includes a base structure 41 that can be fixed to the grid 104 or the track system 108. The unloading device 40 also includes a first unloading member 42a and a second unloading member 42b, the first unloading member having a first contact surface 43a and the second unloading member having a second contact surface 43b. Contact surfaces 43a and 43b are adapted to the article 5. Figure 3 The flat cardboard box in the middle has flat contact surfaces 43a and 43b.

[0124] The unloading device 40 also includes a first actuator 44a and a second actuator 42b, the first actuator being configured to move the first unloading member 42a relative to the base structure 41, and the second actuator being configured to move the second unloading member 42b relative to the base structure 41.

[0125] Additionally, the unloading device 40 includes a control system for controlling the first actuator 44a and / or the second actuator 44b. This control system may be... Figure 1A The control system 20 of the automated storage and retrieval system 1 shown also controls the movement of the vehicle relative to the unloading device 40.

[0126] It should be noted that there may be one unloading component 42, or there may be three or more unloading components 42. In the automated storage and retrieval system 1, there may be a number of unloading stations 10, some of which have one unloading component 42 to be used for larger items 5, while other unloading stations 10 have several unloading components 42 to be used for smaller items 5. In addition, the contact surface 43 of some unloading components 42 may be designed for a specific type of item 5.

[0127] It should also be noted that Figure 3 The unloading components 42a and 42b can move side by side when unloading larger items, and can move one after another when unloading smaller items.

[0128] The purpose of the unloading device 40 is to move the item 5 stored in the storage container 6 through the side opening 36SO of the container carrier 36 and the side opening 6SO of the storage container 6, and further to the destination conveyor 60. Since the lower edge 36SOE of the side opening 36SO is horizontally aligned with the bottom plate 6F of the storage container 6 when the storage container 6 is placed in the container carrier 36, the item 5 can be easily pushed out through the side openings 6SO and 36SO.

[0129] In the first embodiment, the first actuator 44a and the second actuator 44b are linear actuators that cause the unloading members 42a and 42b to move linearly. The linear movement can be in a horizontal plane.

[0130] The destination conveyor 60 will now be described. Here, the destination conveyor 60 includes a belt conveyor 61 that receives the item 5 at one end and conveys the item to its second end, which will also be referred to as the target destination TD below.

[0131] exist Figure 3 In the image, an item 5, in the form of a transport package containing two product items 5a, is shown located at the target destination TD. Here, before arriving at the unloading station 10, the product items 5a have been picked from the storage container 106 stored in the grid 104 into the transport package 5 set in the storage container 6, and then the transport package is transferred to the unloading station 10 by means of a vehicle 30 for unloading the transport package to the destination conveyor 60.

[0132] It should be noted that here, transport packaging 5 is a cardboard box, which is one example of transport packaging that can be used to transport product article 5a. Other examples of such transport packaging are boxes or bags made of plastic or paper, lined covers, etc. Unloading station 10 can be used in a manner independent of the product articles being picked into the transport packaging; the picking operation can be an automated picking process or a manual picking process. Therefore, in some cases, no picking operation occurs before the storage container 6 is moved to the unloading station.

[0133] It should also be mentioned that some product items 5a do not require additional shipping packaging 5 before shipment. An example of this is... Figure 5 As shown in the diagram. Here, before arriving at the automated storage and retrieval system, two product articles 5a have been pre-packaged into corresponding transport packages and stored in storage containers 6 and / or 106. Here, product articles 5a can be directly unloaded from storage container 6 to the destination conveyor. Therefore, the term "article" here refers to both the product article 5a and the transport package 5 containing one or more such product articles 5a.

[0134] It should be noted that the destination conveyor 60 may include a roller conveyor or other type of conveying device for conveying items to the target destination TD. Furthermore, it should be noted that the target destination TD is the target destination of the unloading station 10. Items 5 may be transferred to another destination, such as a station where the transport packaging is sealed, addressed, and / or prepared for dispatch to a pickup point by postal or delivery services.

[0135] exist Figure 3In this configuration, the distance D between the contact surfaces 43a and 43b in their deactivated positions and the destination conveyor 60 is slightly greater than the width W of the vehicle 30, thereby allowing the vehicle 30 to move between the destination conveyor 60 and the unloading device 40, while also helping to prevent the item 5 from falling onto the base plate below the unloading station 10.

[0136] In addition, the height of the conveyor 61 is aligned with the height of the base plate 6F of the storage container 6.

[0137] The operation of uninstalling site 10 will now be described. Figure 6a In the process, a vehicle 30 carrying a storage container 6 containing an item 5 is moved to an unloading station 10 under the control of a control system 20.

[0138] exist Figure 6b In the middle, vehicle 30 has stopped at the unloading position between destination transmitter 60 and unloading device 40.

[0139] exist Figure 6c In the process, unloading components 42a and 42b have moved linearly side by side into the side openings 36SO and 6SO, thereby pushing the item 5 out of the storage container 6 and the container carrier 36 and into the conveyor 61.

[0140] exist Figure 6d In the middle, unloading components 42a and 42b have moved back to their initial positions, while the conveyor belt is moving item 5 toward its target destination TD.

[0141] Then, in Figure 3 In the final step shown, vehicle 30 is moving away from unloading site 10, while item 5 has arrived at its target destination TD.

[0142] One advantage of the unloading station 10 in the first embodiment described above is its relative simplicity. A minor drawback of the first embodiment is the risk that the item 5 may slide out through the side openings 6SO and 36SO during acceleration and deceleration, specifically along... Figure 6b The vehicle slides out in the Y direction as shown. This can be avoided by keeping the acceleration and deceleration of the vehicle 30 relatively low. Another way to overcome this drawback is to provide a material that increases the friction between the bottom plate 6F of the storage container 6 and the article 5. The second embodiment described below provides yet another alternative solution to this drawback.

[0143] Second Implementation Plan (Unloading Site)

[0144] Now for reference Figure 7a , Figure 7b and Figure 7c The unloading site 10 here is similar to the unloading site 10 of the first embodiment, and this document will only describe their differences in detail.

[0145] In this embodiment, when the storage container 6 is placed in the container carrier 36, the lower edge 36SOE of the side opening 36SO is not horizontally aligned with the bottom plate 6F of the storage container 6. Alternatively, the lower edge 36SOE of the side opening 36SO is positioned at a height H1 above the bottom plate 6F of the storage container 6, such as... Figure 7b As shown. In this way, if the item 5 disposed in the storage container 6 slides due to the acceleration and deceleration of the vehicle 30, the lower edge 36SOE will prevent the item 5 from sliding further out through the side opening 36SO of the container carrier 36. Thus, another objective of the invention is achieved by preventing the product item from falling out of the container during transport or delivery.

[0146] In this embodiment, the unloading site 10 includes a container lifting device 50 for lifting the storage container 6 from the vehicle 30. Figure 7c As shown, the lifting height of the storage container 6 corresponds to height H1, that is, the container lifting device 50 is configured to lift the storage container 6 until the bottom plate 6F of the storage container 6 is horizontally aligned with the lower edge 36SOE of the side opening 36SO. Figure 7c In the raised position shown, the item 5 can be easily pushed out through the side openings 6SO and 36SO by means of the unloading device 40.

[0147] exist Figure 7a The diagram shows that the container lifting device 50 includes a first frame structure 51, which is fixed to the base structure 41 of the unloading device 40 and projects upward relative to the grid 104. It should be noted that in alternative embodiments, the first frame structure 51 may be fixed to the grid 104 or to another fixed structure near the unloading device 40.

[0148] The container lifting device 50 includes a container lifting frame 54 having a connection interface CI for connecting to and disconnecting from the storage container 6. In this embodiment, the container lifting frame 54 and... Figure 1D The container lifting frame 354 of the container handling vehicle 300 shown is of the same type. The container lifting frame 54 is fixed below the second frame structure 52, wherein the second frame structure 52 can move up and down about the first frame 51 by means of a lifting mechanism 53. The lifting mechanism 53 can be an electric motor, a linear electric actuator, or an electro-hydraulic actuator, etc.

[0149] In this embodiment, the height of the unloading members 42a and 42b located above the grid 104 can be adapted to the height of the lower edge 36SOE of the side opening 36SO by increasing the height of the base structure 41. Furthermore, the height of the destination transmitter 60 can be adapted to the height of the lower edge 36SOE.

[0150] The operation of uninstalling site 10 will now be described. Figure 7a In the process, a vehicle 30 carrying a storage container 6 containing an item 5 is moved to an unloading station 10 under the control of a control system 20.

[0151] exist Figure 7d In the middle, vehicle 30 has stopped at the unloading position between destination transmitter 60 and unloading device 40. Lifting frame 54 is in the raised position here.

[0152] exist Figure 7e In this process, the lifting frame 54 has been lowered, and the connection interface CI is connected to the storage container 6.

[0153] exist Figure 7f In, corresponding to Figure 7c The lifting frame 54 has raised the storage container to a height H1.

[0154] exist Figure 7g In the process, unloading components 42a and 42b have moved linearly side by side into the side openings 36SO and 6SO, thereby pushing the item 5 out of the storage container 6 and the container carrier 36 and onto the conveyor 61.

[0155] Once item 5 has been pushed out and propelled to destination conveyor 60, unloading components 42a and 42b will return to their initial positions, lifting frame 54 will be lowered, and connection interface CI will be disconnected from storage container 6. After raising lifting frame 54 without storage container 6, vehicle 30 moves away from unloading station 10. As described above, destination conveyor 60 will move item 5 to its target destination TD.

[0156] Third Implementation Plan (Unloading Site)

[0157] Now for reference Figure 8a , Figure 8b and Figure 8c Unloading site 10 here is similar to unloading site 10 in the second embodiment, and this document will only describe their differences in detail.

[0158] In this embodiment, the container carrier 36 of the vehicle 30 has no opening. Here, the storage container 6 is lifted to a position using the container lifting device 50. Figure 8b and Figure 8f The indicated height H2 is such that the bottom plate 6F of the storage container 6 is horizontally aligned with the upper edge 36UE of the container carrier 36, as shown below. Figure 8c As shown. In this way, if the item 5 placed in the storage container 6 slides due to the acceleration and deceleration of the vehicle 30, the item 5 will not fall out of the storage container 6 because there is no side opening in the storage container 36.

[0159] In this embodiment, by increasing the height of the base structure 41, the heights of the unloading components 42a and 42b located above the grid 104 are adapted to the height of the upper edge 36UE. Furthermore, the heights of the first frame structure 51 and the second frame structure 52 are also changed due to the different lifting heights H2 in this embodiment. Moreover, the height of the destination transmitter 60 has been adapted to the height of the upper edge 36UE.

[0160] The operation of uninstalling site 10 will now be described. Figure 8a In the process, a vehicle 30 carrying a storage container 6 containing an item 5 is moved to an unloading station 10 under the control of a control system 20.

[0161] exist Figure 8d In the middle, vehicle 30 has stopped at the unloading position between destination conveyor 60 and unloading device 40. Lifting frame 54 is in the raised position at this point.

[0162] exist Figure 8e In this process, the lifting frame 54 has been lowered, and the connection interface CI is connected to the storage container 6.

[0163] exist Figure 8f In, corresponding to Figure 7c The lifting frame 54 has raised the storage container to a height H2.

[0164] exist Figure 8g In the process, unloading components 42a and 42b have moved linearly side by side into the side opening 6SO, thereby pushing the item 5 out of the storage container 6 and onto the conveyor 61.

[0165] exist Figure 8h In the process, unloaded components 42a and 42b have returned to their initial positions.

[0166] Subsequently, the lifting frame 54 will be lowered, and the connection interface CI will be disconnected from the storage container 6. After raising the lifting frame 54 without the storage container 6, the vehicle 30 can move away from the unloading station 10. As described above, the destination transporter 60 will move the item 5 to its target destination TD.

[0167] Fourth Implementation Plan (Unloading Site)

[0168] Now for reference Figure 9a and Figure 9b This embodiment corresponds to the first embodiment, where the unloading site 10 does not include the container lifting device 50. However, the base plate 6F is located here, as in the second embodiment, at a height H1 below the lower edge 36SOE of the side opening 36SO of the container carrier 36.

[0169] Here, the storage container 6 includes an inclined member 6G disposed between the base plate 6F and the lower edge 36SOE, thereby allowing the article 5 to be pushed along the base plate 6F by means of unloading members 42a, 42b, and pushed upward along the inclined member 6G, and further pushed out of the side opening 36SOE, as shown. Figure 9b As shown.

[0170] The embodiments described in the accompanying drawings address at least some of the objectives, including that product items and transport packaging are handled carefully—that is, they are not damaged during container unloading.

[0171] Fifth Implementation Plan (Unloading Site)

[0172] Now for reference Figure 10a Here, the unloading device 40 does not include the container lifting device 50 or the unloading component 42. Here, the unloading device 40 is provided as a tilting or pivoting device 48 installed between the vehicle body 31 and the container carrier 36. In Figure 10, it is shown that the container carrier 36 can be tilted relative to the horizontal plane at a tilt angle TA. The tilt angle TA can be, for example, up to 60°. This will cause the article 5 to slide out of the container 6 and the container carrier 36 and onto the conveyor 61.

[0173] exist Figure 10b In the middle, the container carrier 36 is similar to Figure 3 The container carrier in which the storage container 6 is placed is such that when the storage container 6 is placed in the container carrier 36, the lower edge 36SOE of the side opening 36SO is aligned with the bottom plate 6F of the storage container 6.

[0174] exist Figure 10c In the middle, the container carrier 36 is similar to Figure 9b The container carrier in the middle has an inclined member 6G disposed between the bottom plate 6F and the lower edge 36SOE.

[0175] It should be noted that in this embodiment and the other embodiments above, the container base plate 6F may be made of or equipped with a material that provides the desired friction relative to the article 5 so that the article slides out of the container 6 and the container carrier 36 only at the desired location.

[0176] It should also be noted that the unloading device 40 may include a combination of the fifth embodiment and the first embodiment, namely having both a skewing or pivoting device 48 disposed on the vehicle 30 and one or more reciprocating unloading members 42.

[0177] Storage Container - First Implementation Plan

[0178] The unloading station 10, unloading equipment 40, and delivery vehicle 30 have been described in detail above. It should be noted that in some of the above embodiments, the delivery vehicle 30 prevents product items from unintentionally leaving through the side opening of the storage container during transport.

[0179] More specifically, Figure 7b and Figure 7c The lower edge side opening of the container carrier 36SOE prevents unintentional departure during transport through the side opening. Figure 8b and Figure 8c The entire sidewall of the container carrier 30 prevents the product items from unintentionally leaving through the side opening of the storage container during transportation.

[0180] Furthermore, in all the above embodiments, the storage container 6 is transported by a delivery vehicle during product unloading. However, the storage container should also allow for unloading of product items in a similar manner if it is not transported by such a delivery vehicle. Additionally, loading should also be feasible.

[0181] Now for reference Figure 5 Here, the storage container 6 is shown to include a base 6B, two first parallel sidewalls 6S1, and two second parallel sidewalls 6S2 perpendicular to the two first parallel sidewalls. The base 6B is also shown to have an upper base surface 6F, also referred to as a bottom plate 6F.

[0182] The storage container 6 includes a top opening 6TO. The top opening 6TO is configured to allow product items 5, 5a to be inserted into and / or removed from the storage container 6. Therefore, product items are also loaded or unloaded through this top opening 6TO.

[0183] The storage container also includes two side openings 600 to allow one or more items to be unloaded from the storage container 6 at unloading station 10 or loaded into the storage container at loading station 10a through one of the side openings 600. The unloading station 10 for unloading the storage container when it is transported by a delivery vehicle has been described in detail above. A similar principle can be used for unloading storage containers that are not transported by any vehicle. An example of a loading station is shown in... Figure 16a and Figure 16b As shown in the figure, and further detailed descriptions of examples of loading sites will follow below.

[0184] The six side openings are identical in size and aligned with each other. Figure 5 In the diagram, it is shown that they have a width W. SO This width is equal to the width W6 of the storage container 6 minus the thickness Ts2 of each of the second sidewalls 6S2. Therefore, the side opening 6SO is as wide as the base surface 6F inside the storage container 6. Figure 5In the middle, the lower edge of the side opening 6SO is formed by the base surface 6F of the base 6B.

[0185] Two first parallel sidewalls 6S1 or two second parallel sidewalls 6S2 include an upper vehicle connection interface 6CI. The upper vehicle connection interface 6CI may be formed by one or more cutouts or openings in the upper region of these walls, and the lifting frame 354 of the container handling vehicles 201, 301 ( Figure 1A The lifting frame 54 of the unloading site can be engaged into these cutouts or openings.

[0186] The storage container is preferably made of molded plastic with an array of molded ribs, allowing the load of product articles carried by the base 6B to be transferred into the sidewalls and further to the top of the sidewalls, where the upper vehicle connection interface 6CI is located. The storage container may also be made of plastic reinforced with metal profiles on the inside or outside of the plastic material. The entire storage container may also be made of metal, such as aluminum or aluminum alloys.

[0187] Storage container 6 also includes a lower stacking interface (LSI) and an upper stacking interface (USI) to allow the storage container to be stacked together with other storage containers in a stack. The lower stacking interface (LSI) and the upper stacking interface (USI) are configured to prevent relative horizontal movement between two adjacent storage containers that are stacked on top of each other.

[0188] The storage container 6 is also provided with a restraint arranged to restrict the movement of product articles 5, 5a to prevent them from leaving through one of the side openings 60 during the transfer of the storage container 6 to the unloading site 10 or the loading site 10a.

[0189] The following section describes implementation schemes and examples of such constraints.

[0190] Now for reference Figure 9a and Figure 9b , Figure 10c and Figure 14 .

[0191] Here, the restraint includes a protrusion or lip 6G that projects upward from the base 6B at the lower edge of one of the side openings 6SO. Preferably, a lip 6G is present at the lower edge of each of the side openings 6SO.

[0192] exist Figure 6b In the diagram, the first direction of movement is indicated by the arrow X. Figure 14 and Figure 6b In the diagram, the second direction of movement is indicated by arrow Y, which is perpendicular to the first direction X.

[0193] During acceleration and deceleration of the storage container, the product articles inside the storage container may move relative to the base surface 6F due to the lack of sufficient friction between the product articles and the base surface 6F. Figure 14 In the image, product item 5 is shown sliding and moving relative to the right-side lip 6G of the storage container. The lip 6G here prevents further movement of the product item and thus restricts the movement of product item 5 out through the side opening.

[0194] exist Figure 14 In this design, the height of the lip 6G is indicated as height H1. This height can be from 0.5 mm to 20 mm. The lip 6G can have a square or rectangular cross-sectional shape, a triangular or rounded cross-sectional shape 5. For example, the lip 6G can be tilted or bent in a direction perpendicular to the first parallel sidewall 6S1 to allow product articles 5, 5a to be pushed or tipped over the lip 6G at the unloading or loading site. This is in Figure 9a , Figure 9b and Figure 10c As shown in the image.

[0195] The lip 6G can be provided as a continuous lip between the two second sidewalls 6S2, or the lip can be intermittent or broken, i.e., the lip can be provided as multiple spaced-apart lip segments. The height can also vary along the length of the lip.

[0196] In another embodiment, the lip 6G is movably connected to the base 6B, wherein the lip 6G is configured to be in one of the following positions:

[0197] - Elevated position, which is arranged to restrict the movement of one or more items to prevent them from leaving through one of the side openings 6SO during transport of the storage container to the unloading or loading site;

[0198] - Lowering the position, which is arranged to not restrict the movement of one or more items at the unloading or loading site.

[0199] The lip 6G can be biased to its raised position, wherein the actuator is used to bring the lip to its lowered position at the unloading or loading site.

[0200] Storage Containers - Second Implementation Plan

[0201] Now for reference Figure 11a and Figure 11b The storage container here is similar to the first embodiment described above—and this document only describes in detail the differences between the first and second embodiments.

[0202] In this embodiment, the constraint includes a friction-increasing material 6mat to increase friction between one or more product articles and the upper surface 6F of the base 6B.

[0203] The friction-increasing material 6mat can be a coating deposited on multiple portions or the entire upper surface 6F of the base 6B. The coating can be applied to the upper surface of the base 6B by bonding, printing, spraying, painting, or other means. The friction-increasing material 6mat can be a granular material deposited on multiple portions or the entire upper surface 6F of the base 6B. Therefore, the friction-increasing material 6mat can form a flat or uneven surface.

[0204] In the above implementation scheme, the friction-increasing material 6mat is relatively thin.

[0205] like Figure 11b As shown, a friction-increasing material 6mat can also be provided as a filler for filling a cavity 6cav disposed in the upper surface of the base 6B.

[0206] Friction-increasing material 6mat can be supplied during the manufacture of the storage container, for example, as part of a two-component injection molding process. Alternatively, the friction-increasing material can be applied in subsequent steps after the manufacture of the storage container.

[0207] In one respect, the friction-increasing material 6mat can be integrally formed in the material of the upper surface 6F of the base 6B.

[0208] It should be noted that this type of friction-increasing material constraint can be used as a supplement to or alternative to lip-type constraints. Figure 11a and Figure 11b The image shows that the storage container has two types of constraints.

[0209] Storage Containers - Third Implementation Plan

[0210] Now for reference Figure 12 The storage container here is similar to the first embodiment described above—and this document only describes in detail the differences between the first and third embodiments.

[0211] In this embodiment, the constraint includes a three-dimensional surface structure or contour member 6pro disposed in the upper surface 6F of the base 6B. Here, the contour member disposed in the upper surface 6F of the base 6B is made of the same material as the base 6B itself, which in this embodiment is molded plastic. Figure 12 The image shows a profiled component including grooves and ridges.

[0212] Alternatively, the profile may include bosses, steps or other raised shapes, or combinations of such shapes.

[0213] It should be noted that this type of contoured constraint can be used as a complement or alternative to a friction-increasing material type constraint. For example, a friction-increasing coating can be deposited onto... Figure 12 On the molded base surface 6F of the container.

[0214] It should also be noted that this type of contour constraint can be used as a supplement to or alternative to the lip type constraint 6G.

[0215] exist Figure 12 The image shows a container with both contour-type constraints and lip-type constraints.

[0216] Storage Containers – Fourth Implementation Plan

[0217] Now for reference Figures 13a to 13e as well as Figures 15a to 15c The storage container here is similar to the first embodiment described above—and this document only describes in detail the differences between the first and fourth embodiments.

[0218] In this embodiment, the restraint includes a liftable base plate 6PS that is movably connected to the storage container 6. For example... Figure 13e As shown, the liftable base plate 6PS includes a plate-like structure having downwardly projecting legs 6L disposed through an opening in the base 6B. Therefore, the legs 6L can be accessed from below the storage container 6. The legs 6L may include a stop 6ST to limit vertical movement of the liftable base plate 6PS relative to the base 6B.

[0219] The 6PS liftable base plate can have the following positions:

[0220] - Figure 13a , Figure 13c and Figure 15a The lower position shown is arranged to restrict the movement of one or more items to prevent them from leaving through one of the side openings during the transport of the storage container to the unloading or loading site.

[0221] - Upper position, which is arranged to not restrict the movement of one or more items at the unloading or loading site through one of the side openings.

[0222] In the above embodiment, the liftable base plate 6PS is positioned at a height H1 below the upper base surface 6F in its lower part, and the upper base surface 6F is positioned on both sides of the liftable base plate 6PS. This height H1 is... Figure 13e and Figure 15aAs shown in the diagram. Therefore, the base or upper base surface 6F itself constrains the product article to move outward through one of the side openings. In the upper position, the base plate 6PS can be raised to be vertically aligned with the upper base surface 6F, or set higher than the upper base surface.

[0223] Here, the upper base surface 6F together with the liftable base plate 6PS forms a constraint.

[0224] The liftable base plate will be in the lower position during transport to the unloading or loading station, and at the unloading or loading station, the liftable base plate will be raised to its upper position.

[0225] The upper base surface 6F may be provided with a lip 6G.

[0226] In this embodiment, the liftable base plate 6PS is configured to be in the lower position due to gravity. Alternatively, the liftable base plate 6PS may be biased to the lower position, for example, by means of a spring.

[0227] Because the legs can be accessed from below the storage container 6, an actuator can be used to move the liftable base plate 6PS from a lower position to an upper position, such as... Figure 15b As shown. The actuator may be part of the storage container itself, for example, integrally formed in the base 6B. Alternatively, the actuator may be integrally formed in a container handling vehicle and / or delivery vehicle. In yet another alternative embodiment, the actuator may be provided as part of an unloading or loading station.

[0228] One aspect of this embodiment is shown in Figure 15. Here, the actuator can tilt the liftable base plate 6PS and thus cause the product article 5 to slide out of the storage container. Here, at least some of the legs do not include the stop 6ST.

[0229] Some aspects of this implementation plan will now be described.

[0230] In one aspect, the riser base plate 6PS includes an opening, and the storage container 6 includes friction-increasing members positioned within the opening. These friction-increasing members are typically fixed to the base 6B. In the lower position, the riser base plate 6PS is vertically aligned with or below the friction-increasing members. Here, the product article is in contact with the friction-increasing members. In the upper position, the riser base plate 6PS is above the friction-increasing members. In this position, the product article is in contact only with the riser base plate 6PS. Here, the coefficient of friction between the product article and the friction-increasing members is higher than the coefficient of friction between the product article and the riser base plate.

[0231] Alternatively, the friction-reducing component can be positioned within an opening in the liftable base plate, which itself may contain a friction-increasing material. Here, the coefficient of friction between the product article and the friction-reducing component is lower than the coefficient of friction between the product article and the liftable base plate. In this respect, the liftable base plate will be in an upper position during transport to the unloading or loading station, and the product article will contact the friction-increasing material of the liftable base plate. At the unloading or loading station, the liftable base plate is lowered to its lower position, and the product article then contacts only the friction-reducing component to facilitate unloading or loading.

[0232] The above constraints are specifically arranged to constrain the movement of the product items during the movement of the storage container along the second direction Y.

[0233] The two second parallel sidewalls 6S2 have no openings. Therefore, these sidewalls can also be considered to be arranged to constrain the movement of product articles 5, 5a during the movement of the storage container 6 (particularly along the first direction X).

[0234] Loading site

[0235] Now for reference Figure 16a This section shows loading station 10a, where product articles are loaded into storage containers along an inclined surface. The storage containers can slide, roll, or otherwise move along the inclined surface and enter into storage containers. The product articles will then enter... Figure 16a The left side opening is stopped by the constraint member set on the right side (i.e., the opposite side of the left side opening) in the form of a lip 6G.

[0236] Now for reference Figure 16b Here, a loading station 10a based on the same principle as the unloading station 10 described above is shown. Loading station 10a includes a loading device 40a having a loading member 42 for pushing product articles 5 from a temporary storage device TS into a storage container. The temporary storage device may be a transmitter or another type of temporary storage device.

[0237] like Figure 16a and Figure 16b As shown in several other implementation schemes, product articles can be unloaded from or loaded into storage containers when the storage container is not being transported by a vehicle.

[0238] In the above description, the term "unloading" refers to the removal of one or more product articles from the storage container 6 by means of the unloading member 42 of the unloading device 40 located at the unloading station 10. The term unloading may also refer to the tilting or tilting of the storage container 6, causing the product articles to slide out of the storage container through one of the side openings 600.

[0239] In the above description, the term "loading" refers to pushing one or more product articles into the storage container 6 by means of the loading member 42 (similar to the unloading member 42 of the unloading device 10) of the loading equipment 40a located at loading station 10b. The term loading can also refer to the product articles sliding into the storage container through one of the side openings 600. The product articles may, for example, slide down an inclined surface and slide into the storage container.

[0240] In the above description, the term "site" should be interpreted broadly. For example, when unloading or loading is performed at an unloading "site" or a loading "site," the storage container may or may not be transported by a vehicle. Therefore, a port is considered a site where the loading or unloading of a storage container can occur.

[0241] In the preceding description, various aspects of the storage container according to the invention have been described with reference to exemplary embodiments. Specific figures, systems, and configurations are presented for illustrative purposes to provide a thorough understanding of the storage container and its operating principles. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations of the exemplary embodiments, as well as embodiments of the storage container that are obvious to those skilled in the art to which the disclosed subject matter pertains, are considered to be within the scope of the invention as defined by the appended claims.

[0242] Figure Labels

[0243] 1. Automated storage and retrieval system

[0244] 5 items

[0245] 5a Product Items

[0246] 6. Storage containers

[0247] 6SO storage container side opening

[0248] 6F storage container bottom plate

[0249] 6B Base of storage container

[0250] 6G Lips

[0251] 6S1 First parallel sidewall of storage container

[0252] Top opening of 6TO storage container

[0253] 10 Uninstall sites

[0254] 20. Control system for storage and retrieval system

[0255] 30 delivery vehicles

[0256] 31 Vehicle body

[0257] 32 Wheel assembly

[0258] 36 Container carrier

[0259] 36F Container Carrier Base Plate

[0260] 36SO container carrier side opening

[0261] 36S1 First parallel sidewall of the container carrier

[0262] 36S2 Container carrier's second parallel sidewall

[0263] 36TO container carrier top opening

[0264] 36SOE container carrier with a side opening at the lower edge.

[0265] 36UE upper edge of container carrier

[0266] 40 Uninstall the device

[0267] 41. Base structure of unloading equipment

[0268] 42a First unloading component

[0269] 42b Second unloading component

[0270] 43a First contact surface of the first unloading component

[0271] 43b Second contact surface of the unloading component

[0272] 44a First actuator

[0273] 44b Second Actuator

[0274] 48. Skew / Pivot Equipment

[0275] 50 Container Lifting Equipment

[0276] 51 First Frame Structure

[0277] 52 Second Frame Structure

[0278] 53. Upgrading mechanism

[0279] 54 Container Lifting Framework

[0280] 60 Destination Transporters

[0281] 61 with conveyor

[0282] 100 Frame Structure

[0283] 102. Upright members of a frame structure

[0284] 103 Horizontal members of frame structures

[0285] 104 Storage Grid / 3D Grid

[0286] 105 Storage Columns

[0287] 106 Storage Containers

[0288] 107 Stacked items

[0289] 108 Track System / Container Handling Vehicle Track System

[0290] 110 The first set of parallel orbits in the first direction (X)

[0291] 110a First adjacent orbit of the first group

[0292] 110b The second adjacent orbit of the first group

[0293] 111 The second set of parallel tracks in the second direction (Y)

[0294] 111a The first adjacent orbit of the second group

[0295] 111b The second adjacent orbit of the second group

[0296] 115 Grid opening / Container transport vehicle grid opening

[0297] 119 Delivery Column

[0298] 120 delivery column

[0299] 122 Grid Cells / Container Transport Vehicle Grid Cells

[0300] 140 Delivery System

[0301] 150 delivery ports

[0302] 151 Mezzanine

[0303] 152 Upright support

[0304] 200 First Container Handling Vehicle

[0305] 201 Wheel assembly

[0306] 202, 202' Container handling vehicle coverage area

[0307] 300 Second Container Handling Vehicle

[0308] 301 Wheel assembly

[0309] X First Direction

[0310] Y Second Direction

[0311] W O Width of the mesh opening on the container handling vehicle

[0312] Wc is the width of the container handling vehicle grid cell.

[0313] Lo container handling vehicle mesh opening length

[0314] Lc Length of container handling vehicle grid cell

[0315] Width of mesh openings in Wod delivery vehicles

[0316] Wcd Width of delivery vehicle grid cell

[0317] Lod delivery vehicle mesh opening length

[0318] Lcd delivery vehicle grid cell length

[0319] H1 height

[0320] H2 height

[0321] TD target destination

[0322] CI connection interface.

Claims

1. A storage container (6) for storing articles in an automated storage and retrieval system (1), wherein the storage container (6) comprises: - Base (6B); - Two first parallel sidewalls (6S1); - Two second parallel sidewalls (6S2), perpendicular to the two first parallel sidewalls; - Top opening (6TO); - Two side openings (6SO) to allow one or more items to be unloaded from the storage container (6) at the unloading station (10) or loaded into the storage container at the loading station (10a) through one of the side openings; The storage container (6) is provided with a restraint that is arranged to restrain the movement of the one or more items during transport of the storage container (6) to the unloading station (10) or the loading station (10a) to prevent them from leaving through one of the side openings (6SO). The constraint member includes a lip (6G) that protrudes upward from the base (6B) at the lower edge of one of the side openings (6SO); The constraint includes a liftable base plate (6PS) that is movably connected to the storage container (6) between the following positions: - A lower position, said lower position being arranged to restrain the movement of the one or more items during transport of the storage container to the unloading site or the loading site to prevent them from leaving through one of the side openings; and - Upper position, which is arranged to not restrict the movement of one or more items out through one of the side openings at the unloading site or the loading site; in: - In the lower position, the liftable base plate (6PS) is lower than the upwardly projecting lip (6G). - In the upper position, the liftable base plate (6PS) is vertically aligned with or higher than the upwardly protruding lip (6G).

2. The storage container (6) according to claim 1, wherein the lip (6G) is continuous, discontinuous, or broken.

3. The storage container (6) according to claim 1 or 2, wherein the lip (6G) is tilted or bent in a direction perpendicular to the first parallel sidewall (6S1) to allow items to be pushed over the upwardly projecting lip (6G) at the unloading site or the loading site.

4. The storage container (6) according to claim 1 or 2, wherein the constraint comprises a friction-increasing material (6mat) for increasing friction between the one or more articles and the upper surface (6F) of the base (6B).

5. The storage container (6) according to claim 1 or 2, wherein the constraint includes a profile (6pro) disposed in the upper surface (6F) of the base (6B).

6. The storage container (6) of claim 1, wherein the riser base plate (6PS) includes an opening, and wherein the storage container (6) includes a friction-increasing member positioned in the opening, wherein: - In the lower position, the liftable base plate (6PS) is vertically aligned with or lower than the friction-increasing member; - In the upper position, the elevable base plate (6PS) is higher than the friction-increasing member.

7. The storage container (6) according to claim 1 or 6, wherein the liftable base plate (6PS) is movably connected to the base (6B) of the storage container (6) by means of one or more legs, wherein the one or more legs can be accessed from below the storage container (6).

8. The storage container (6) according to claim 7, wherein the one or more legs (6L) include a stop (6ST) for limiting vertical movement of the liftable base plate (6PS) about the base (6B).

9. The storage container (6) according to claim 1 or 2, wherein the storage container is made of molded plastic.

10. The storage container (6) according to claim 1 or 2, wherein the storage container includes an array of molded ribs, thereby allowing the load of the articles carried by the base (6B) to be transferred into the sidewall and further transferred to the top of the sidewall.

11. The storage container (6) according to claim 1 or 2, wherein the storage container includes an upper vehicle connection interface (6CI).

12. The storage container (6) according to claim 1 or 2, wherein the storage container includes a lower stacking interface and an upper stacking interface (LSI, USI) for allowing the storage container to be stacked together with other storage containers in a stack.

13. The storage container (6) according to claim 1 or 2, wherein, The lip (6G) is formed by the lower edge of one of the side openings (6SO).

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