Carrier rotation device and system

Abstract

A rotation device and system for rotating an autonomously operating vehicle running on a rail system of an automated storage and retrieval system. The rotation device is in the form of a module having a front wall, side faces, a rear wall and a bottom. The module is adapted to be installed in a grid cell below the rail system of the storage system. A fixation member is fixed to the bottom of the module and the vehicle and / or the module comprises a mechanical linkage transferring force from the vehicle to the fixation member, thereby converting the force to rotation of the vehicle. In one embodiment, the module comprises a rotatable turntable. In another embodiment, the vehicle is docked on the fixation member and rotates around the fixation member when the wheels of the vehicle are lifted.

Description

TECHNICAL FIELD

[0001] The present invention relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to a mechanical device for rotating the direction of travel of an autonomously operating vehicle operating on such a system. BACKGROUND

[0002] Overview of grid storage systems

[0003] Fig. 1 discloses a common prior art automated storage and retrieval system 1 having a framework structure 100, Figs. 2 and 3 disclose two different prior art container handling vehicles 201, 301 adapted to operate on such a system 1.

[0004] The framework structure 100 comprises upright members 102, horizontal members 103 and storage volumes comprising storage columns 105 arranged between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also known as bins, are stacked one on top of another to form stacks 107. The members 102, 103 can typically be made of metal, e.g. extruded aluminium profiles.

[0005] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of the framework structure 100, on which rail system 108 a number of container handling vehicles 201, 301 are operated to lift containers 106 from, and lower containers 106 into, the storage columns 105, and also to transport the containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 201, 301 in a second direction Y which is perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings 112 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0006] The upright members 102 of the framework structure 100 can be used to guide the storage containers during lifting of the containers from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting.

[0007] Each prior art container handling vehicle 201, 301 comprises a vehicle body 201a, 301a and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c which enable the container handling vehicle 201, 301 to move laterally in the X and Y directions, respectively. In Figs. 2 and 3, two wheels from each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent rails from the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent rails from the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered such that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the respective set of rails 110, 111 at any time.

[0008] Each prior art container handling vehicle 201, 301 further comprises a lifting device (not shown) for storing vertical transport of storage containers 106, e.g. lifting a storage container 106 from a storage column 105 and lowering a storage container 106 into a storage column. The lifting device comprises one or more gripping / engaging devices adapted to engage with a storage container 106, which gripping / engaging devices can be lowered from the vehicle 201, 301 such that the position of the gripping / engaging devices relative to the vehicle 201, 301 can be adjusted in a third direction Z, which is orthogonal to the first direction X and the second direction Y. Some parts of the gripping device of the container handling vehicle 301 are shown in Fig. 3 and denoted by reference 304. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2.

[0009] Conventionally and for the purposes of the present application, Z = 1 denotes the uppermost level of storage containers, i.e. the level immediately below the rail system 108, Z = 2 denotes the second level below the rail system 108, Z = 3 denotes the third level, etc. In the exemplary prior art disclosed in Fig. 1, Z = 8 denotes the bottommost level of storage containers. Similarly, X = 1...n and Y = 1...n denote the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in Fig. 1, it can be said that the storage container identified as 106’ in Fig. 1 occupies the storage position X = 10, Y = 2, Z = 3. It can be said that the container handling vehicles 201, 301 travel in the Z = 0 level, and that each storage column 105 can be identified by its X and Y coordinates.

[0010] The storage volume of the framework structure 100 is often referred to as the grid 104, where the possible storage positions within the grid are referred to as storage cells. Each storage column can be identified by a position in the X and Y directions, and each storage cell can be identified by a container number in the X, Y and Z directions.

[0011] Each prior art container handling vehicle 201, 301 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space can comprise a cavity centrally arranged within the vehicle body 201a as shown in Fig. 2 and described e.g. in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0012] Fig. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such vehicles are described in detail in e.g. NO317366, the contents of which are incorporated herein by reference.

[0013] The footprint of the central cavity style container handling vehicle 201 shown in Fig. 2 can cover an area in the X and Y directions that is substantially equal in size to the lateral extent of the storage columns 105, e.g. as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein can mean “horizontal”.

[0014] Alternatively, the footprint of the central cavity style container handling vehicle 101 can be larger than the lateral area defined by the storage columns 105, e.g. as disclosed in WO2014 / 090684A1.

[0015] The rail system 108 typically comprises rails with grooves in which wheels of the vehicles run. Alternatively, the rails can comprise upwardly protruding elements of which the wheels of the vehicles comprise a flange that prevents derailing. These grooves and upwardly protruding elements are collectively referred to as tracks. Each rail can comprise one track, or each rail can comprise two parallel tracks.

[0016] A common configuration of the rail system 108 is shown in WO2018 / 146304, the contents of which are incorporated herein by reference, comprising rails and parallel tracks in both the X and Y directions.

[0017] In the framework structure 100, the majority of the columns 105 are storage columns 105, i.e. storage containers 106 are stored in stacks 107 in the columns 105. However, some columns 105 can have other purposes. In Fig. 1, columns 119 and 120 are dedicated columns for unloading and / or order picking of storage containers 106 by the container handling vehicles 201, 301 so that the storage containers can be transported to an access station (not shown) where they can be accessed from outside of the framework structure 100 or brought out of or into the framework structure 100. Such locations are typically referred to as “ports” in the art and the columns in which they are located can be called “port columns” 119, 120. The transportation to the access station can be in any direction, i.e. horizontal, inclined and / or vertical. For example, a storage container 106 can be placed in a random or dedicated column 105 within the framework structure 100 and then picked up by any container handling vehicle and transported to a port column 119, 120 for further transportation to an access station. It is noted that the term “inclined” means that the transportation of a storage container 106 has a general transportation orientation between horizontal and vertical.

[0018] In Fig. 1, the first port column 119 can for example be a dedicated unloading port column where the container handling vehicles 201, 301 can unload storage containers 106 that are to be transported to an access station or a consolidation station, and the second port column 120 can be a dedicated order picking port column where the container handling vehicles 201, 301 can pick up storage containers 106 that have been transported from an access station or a consolidation station.

[0019] The access station can typically be a picking or stocking station where product items are removed from or placed into the storage containers 106. In a picking or stocking station, the storage containers 106 are typically not removed from the automated storage and retrieval system 1 but returned into the framework structure 100 after access. The ports can also be used for transferring storage containers to another storage facility (e.g. another framework structure or another automated storage and retrieval system), a transport vehicle (e.g. a train or a lorry) or a production facility.

[0020] A conveyor system, including conveyors, is typically employed for transporting the storage containers between the port columns 119, 120 and the access station.

[0021] If the port columns 119, 120 and the access station are located at different levels, the conveyor system can include lifting devices with vertical components for transporting the storage containers 106 vertically between the port columns 119, 120 and the access station.

[0022] The conveyor system can be arranged to transfer storage containers 106 between different framework structures, e.g. as described in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0023] When a stored container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the plurality of container handling vehicles 201, 301 is instructed to retrieve the target stored container 106 from the location where it is stored and transport it to the drop-off port column 119. This operation comprises moving the container handling vehicle 201, 301 to a location above the storage column 105 where the target stored container 106 is stored, retrieving the stored container 106 from the storage column 105 using the container handling vehicle’s 201, 301 lifting device (not shown), and transporting the stored container 106 to the drop-off port column 119. If the target stored container 106 is located deep within the stack 107, i.e. with one or more other stored containers 106 located above the target stored container 106, the operation also includes the temporary moving of the overlying stored containers prior to lifting the target stored container 106 from the storage column 105. This step is sometimes referred to as “digging” in the art, and can be performed with the same container handling vehicle that is subsequently used for transporting the target stored container to the drop-off port column 119, or by one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301 that are dedicated to the task of temporarily removing stored containers 106 from storage columns 105. After the target stored container 106 has been removed from the storage column 105, the temporarily removed stored containers can be replaced into the original storage column 105. However, the removed stored containers can alternatively be repositioned to other storage columns.

[0024] When a stored container 106 is to be stored in a column 105, one of the plurality of container handling vehicles 201, 301 is instructed to pick up the stored container 106 from the pick port column 120 and transport it to a position above the column 105 where the stored container is to be stored. After any stored containers 106 located at or above the target position within the stack 107 have been removed, the container handling vehicle 201, 301 positions the stored container 106 at the desired location. The removed stored containers 106 can then be lowered back into the storage column 105, or be repositioned to other storage columns.

[0025] To monitor and control the automated storage and retrieval system 1, e.g. to monitor and control the position of individual stored containers 106 within the framework structure 100, the contents of each stored container 106; and to monitor and control the movement of the container handling vehicles 201, 301 so that a desired stored container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500, which is typically computerized and which typically comprises a database for keeping track of the stored containers 106.

[0026] Direction of travel of the container handling vehicle

[0027] As mentioned above, the container handling vehicles 201, 301 are capable of changing direction from travel in the X-direction to travel in the Y-direction by lifting and lowering one of the two sets of wheels that are engaged with the rail system 108 of the framework structure 100. This applies also to other types of vehicles running on the rail system of the framework structure, such as service vehicles or other specialized vehicles performing various functions. When the direction of travel of the vehicle (as a whole) is changed from the X-direction to the Y-direction, the orientation of the vehicle body remains unchanged. After being positioned on the rail system, the vehicle body will maintain its orientation regardless of how many times the direction is changed.

[0028] However, in some situations it is desirable for the vehicle body to change its orientation relative to the framework structure. This is particularly true for vehicles 201 of the type having a cantilevered lifting portion that extends beyond the vehicle body. The extended portion can become an obstacle that prevents the vehicle body from having direct access to some parts of the storage system in the direction of the lifting portion. For example, in some situations there can be a charging port on the vehicle body that is blocked by the lifting portion or other structures that must be positioned adjacent to another structure. It can also be desirable for a vehicle to position itself directly adjacent to another vehicle in a particular orientation. There are also situations where it is advantageous to change the orientation of the vehicle body of a more symmetrical vehicle 301, of the type without a cantilevered lifting portion, or any other type of vehicle running on the framework structure. There are also possible configurations of automated storage and retrieval systems where the vehicles travel along the rails at a physical location other than the top level of the framework structure. For example, dedicated delivery vehicles can run along the rail system at a lower level of the automated storage system on the rail system. It can also be desirable to rotate the orientation of such vehicles. SUMMARY

[0029] The present invention is set forth and characterized in the independent claims, while the dependent claims describe further features of the invention.

[0030] In one aspect, the invention relates to a system and arrangement for rotating a vehicle travelling along a rail system of an automated storage and retrieval system of the type described in the background section of this application, wherein the power for rotating the vehicle is provided by the vehicle itself. While the invention will be described in connection with a container handling vehicle running on the upper level of the framework structure of the automated storage and retrieval system, it should be understood that in other aspects the scope of the invention can include other types of vehicles, such as maintenance vehicles and other specialized vehicles running on the top level rail system, as well as vehicles running at other physical locations of the rail system, such as at a lower level.

[0031] In one aspect, the invention relates to an apparatus and system employing an apparatus that rotates an automated vehicle, such as but not limited to a container handling vehicle, running on a rail system, e.g. on an upper level of an automated storage and retrieval system, which is of the type having a framework structure comprising a number of upright members defining storage columns for storage of stacks of storage containers, wherein the rail system is arranged on an upper level of the framework structure, the rail system comprising vertical tracks, the intersection of which defines a grid having grid cells, which grid cells define openings to the storage columns, and wherein the container handling vehicle is of the type having wheels that travel along the rail system and the container handling vehicle changes direction by alternately raising or lowering groups of wheels, one group of wheels adapted to cause the vehicle to travel in a first direction and a second group of wheels adapted to cause the vehicle to travel in a second direction perpendicular to the first direction, wherein the system comprises:

[0032] a. a rotating apparatus comprising a module according to one aspect, the module having a front wall, a side, a back wall and a bottom, the module adapted to be installed in a grid cell below the plane defined by the rail system of the framework structure,

[0033] b. a fixed member fixed to the bottom of the module,

[0034] c. wherein the vehicle and / or the module comprises a mechanical linkage arranged to transfer force from the vehicle to the fixed member, thereby converting the force to rotation of the vehicle.

[0035] In one aspect, the rotating system of the invention comprises a rotating apparatus in the form of a module that can be inserted in a grid cell of the framework structure of an automated storage and retrieval system. The module comprises a fixed member relative to which the vehicle is rotated via a mechanical linkage that transfers rotational or translational force from the vehicle to the fixed member. In one aspect, the fixed member is a circular member.

[0036] In one aspect, the module has a side and a bottom and the fixed member is a fixed gearwheel, hereinafter referred to as module gearwheel, fixed to the bottom of the module. The mechanical linkage transfers rotational force from the vehicle to the module gearwheel to rotate the vehicle. In one aspect, the rotational force is the rotational force of the wheels of the vehicle transferred through the mechanical linkage to rotate the vehicle. In another aspect, the rotational force is the rotational force of a gearwheel, such as a worm wheel, of the vehicle. In another aspect, the rotational force can be the rotational force of a rotatable plate.

[0037] In one embodiment, the rotating device comprises a rotatable turntable, the outer periphery of the turntable comprising a track segment that replaces the rail segment around the grid cell where the module is mounted. When the turntable is in a non-rotating, aligned state, the track segment of the module abuts the rail system of the framework structure, allowing the vehicle to pass through the turntable in the normal manner. The turntable is rotatably connected to the central shaft of the module gear by an arm or spindle. The arm is rotatable and comprises a turntable gear that engages the module gear, for example by having the axis of rotation perpendicular to the axis of rotation of the stationary gear. Thus, rotation of the arm causes the turntable gear to travel circumferentially around the module gear. A mechanical linkage transmits the rotational force from the vehicle to the arm to rotate the turntable gear, thereby rotating the turntable on which the vehicle is parked around the module gear. In one aspect, the mechanical linkage is one or more rollers integrated into the track segment of the turntable, the rollers being connected to the arm by a transmission belt, the rollers being operated by the rotation of the wheels of the vehicle.

[0038] In a second embodiment, the module does not comprise a rotatable turntable. In this embodiment, the module can comprise its own track segment that continuously replaces the rail segment around the grid cell, or the module can simply be arranged to interface with the existing rail system of the grid cell, for example by being mounted underneath the existing rail system that encircles the grid cell. According to this second embodiment, the stationary member is again a stationary module gear. In this embodiment, the module gear has a central portion on which the lower surface of the vehicle body can be parked, for example by the vehicle raising its drive wheels and lowering the vehicle body onto the central portion of the module gear. A gear (for example but not limited to a worm gear) on the underside of the vehicle is arranged to engage the teeth of the module gear and rotate the vehicle together with its raised wheels around the central portion of the module gear. Upon completion of the rotation, the wheels are lowered into engagement with the rail system of the framework structure, thereby lifting the vehicle off the module gear. Advantageously, the underside of the vehicle can comprise a guide pin that cooperates with a recess in the central portion of the module gear to ensure correct alignment of the vehicle with the module gear during rotation.

[0039] In a third embodiment, the stationary member is a stationary pillar arranged at the bottom of the module. As in the second embodiment, the vehicle can lower itself by raising the wheels to park on the stationary pillar. In this embodiment, a rotatable plate under the vehicle is parked on the pillar. The rotatable plate is then rotated, thereby rotating the vehicle and its raised wheels around the stationary pillar. The rotatable plate can be powered by a mechanical drive, a separate electric motor, a linkage connected to the drive wheels, or other known means.

[0040] The advantage of the rotating device of the present invention in modular form is that it can be effortlessly inserted into almost any unit of the frame structure. According to one aspect, the module's dimensions are the cross-sectional area occupied by the grid unit. Since the rotating device is powered by the vehicle itself, there is no need to lay power cables to the module, nor to use a separate motor to power the device. This makes the present invention a very flexible and easy-to-install solution for changing the orientation of the container handling vehicle relative to the frame structure in various situations where rotation is advantageous.

[0041] According to one aspect, the rotation of the vehicle is initiated by the control system of the automatic storage and retrieval system sending commands to the vehicle to position itself above the rotating device and to engage the internal force transmission mechanism of the vehicle connected to the rotating device. For example, commands to rotate wheels resting on rollers in one embodiment of the device, commands to engage worm gears from another embodiment of the device, commands to rotate rotatable plates from another embodiment of the device, and commands to lift the wheels of the vehicle if necessary.

[0042] It should be understood that, within the scope of this invention, the mechanical linkages and gears shown in various embodiments can be replaced by alternatives. For example, the drive belt can be a drive chain, the worm gear under the vehicle can be a vertically oriented standard gear arranged to engage modular gears, and so on. Attached Figure Description

[0043] The following figures are attached to aid in understanding the spirit of the invention. The figures illustrate some embodiments of the invention, which will now be described by way of example only, in the figures:

[0044] Figure 1 is a perspective view of the framework structure of an existing automated storage and retrieval system.

[0045] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for holding storage containers therein.

[0046] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0047] Figure 4 This is a perspective view of one embodiment of the rotating device of the present invention.

[0048] Figure 5 The device is from Figure 4 A 3D image rotated approximately 90 degrees.

[0049] Figure 6 yes Figure 4 An exploded view of the rotating mechanism in the diagram.

[0050] Figure 7 is Figure 6 an assembly view.

[0051] Figure 8 is a perspective view of the rotating device module showing the protective plate covering the gear.

[0052] Figure 9 is Figure 8 a view from above showing the rail system of the frame structure and the installed module.

[0053] Figure 10 is a partially cut perspective view showing the wheels of the carrier engaging the rollers of the rotating device in Figure 4

[0054] Figure 11 is a partially cut perspective view of the device rotated about 45 degrees from Figure 10

[0055] Figure 12 is a perspective view of the carrier with the cantilevered lifting portion on the rotating device in Figure 4

[0056] Figure 13 is a perspective view of the rotating device rotated about 45 degrees from Figure 12

[0057] Figure 14 is a detailed perspective view of the second embodiment of the invention showing the fixed module gear.

[0058] Figure 15 is Figure 14 a top view.

[0059] Figure 16 is Figure 14 a side view.

[0060] Figure 17 is a view from below of the carrier used in conjunction with the second embodiment showing the worm gear.

[0061] Figure 18 is Figure 17 a detailed perspective view.

[0062] Figure 19 is a partially cut view showing the carrier being lifted so that the worm gear is disengaged from the module gear.

[0063] Figure 20 is Figure 19 a side view of the carrier in

[0064] Figure 21 is​​​​Figure 20 a side view showing the vehicle lowered so that its worm gear engages the module gear of the second embodiment.

[0065] Figure 22 is a partial cutaway view showing the worm gear of the vehicle engaging the module gear of the second embodiment.

[0066] Figure 23 is an isometric view of the vehicle on top of the second embodiment with its raised wheels rotated about 45 degrees.

[0067] Figure 24 is a view of the third embodiment of the invention showing a rotatable plate below the vehicle.

[0068] Figure 25 is a view showing Figure 24 the vehicle in

[0069] Figure 26 is a side view of Figure 25 DETAILED DESCRIPTION

[0070] In the following, embodiments of the present application will be discussed in more detail with reference to the drawings. It should be understood, however, that the drawings solely are intended for illustrative purposes and that the application is not limited to the subject matter depicted in the drawings.

[0071] The present application is used in connection with an automated storage and retrieval system of the type described in the background section of the present application.

[0072] The framework structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art framework structure 100 described above in connection with Figs. 1-3, i.e. a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the framework structure 100 further comprises a first upper rail system 108 in the X- and Y-directions.

[0073] The framework structure 100 further comprises storage compartments in the form of storage columns 105 arranged between the members 102, 103, wherein storage containers 106 can be stacked as stacks 107 within the storage columns 105.

[0074] The framework structure 100 can be of any size. In particular, it is understood that the framework structure can be wider and / or longer and / or deeper than the framework structure disclosed in Fig. 1. For example, the framework structure 100 can have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0075] Reference will now be made to Figures 4 to 13 , Figures 14 to 23 and Figure 24 ​The various aspects of the carrier rotation device 600 according to the preferred embodiment of the present application are discussed in more detail, Figures 4 to 13 A first embodiment of the present application is shown, Figures 14 to 23 A second embodiment of the present application is shown, and Figure 24 A third embodiment of the present application is shown.

[0076] In the foregoing description, various aspects of the container handling carrier 201 / 301 and automated storage and retrieval system according to the present application have been described with reference to illustrative implementations. For the sake of expediency, specific numerical, systems and configurations have been set forth in order to provide a thorough understanding of the systems and their working principles. Such description is however not intended to be explanatory in a limiting sense. It will be apparent to those skilled in the art of the disclosed subject matter that various modifications and variations of the illustrative implementations and other implementations of the systems are considered to be within the scope of the present application.

[0077] As Figure 4 shown, according to the first embodiment, the carrier rotation device 600 of the present application is in the form of a module 602 arranged to be inserted and occupy a grid cell 604 of the framework structure 100. Figure 4 The device 600 is shown in a non-rotated state, while Figure 5 the rotation device 600 is shown in a rotated state and rotated about 90 degrees.

[0078] As Figures 6 to 9 shown, the rotation device 600 comprises a module 602. The module 602 comprises a front wall 606, side faces 607, a rear wall 608 and a bottom 610. Mounted on the bottom 610 is a stationary gearwheel 612, hereinafter referred to as the "module gearwheel". It will be appreciated that the specific shape and arrangement of the module gearwheel is exemplary and that a person skilled in the art will recognize that various types of gearwheels can be employed. As Figure 5 shown, a rotatable turntable 614 is movably connected to the module gearwheel 612 via a rotatable extension arm or spindle 616 connected to a central shaft 617. The rotatable extension arm 616 and the central shaft 617 have rotation axes arranged 90 degrees to each other. A turntable gearwheel 618 is fixed to the rotatable extension arm 616 and arranged to travel around the periphery of the module gearwheel 612 as the extension arm 616 is rotated.

[0079] The turntable 614 comprises a plurality of track segments 620 arranged to extend over the periphery of the cell 604 and to provide continuous communication with the rail system 108 of the framework 100 when the turntable 614 is in a non-rotated state (aligned state), as Figure 4 and Figure 9 shown.

[0080] Integrated in the track section 620 is one or more rollers 622, which are connected to the rotatable extension arm 616 by a transmission belt 624. Rotation of the one or more rollers 622 thus causes the turntable gear 618 to travel circumferentially around the module gear 612, thereby rotating the turntable relative to the module gear 612.

[0081] As Figure 5 shown, the turntable 614 has an arcuate corner 626 at substantially 45 degrees, and cooperates with an arcuate end piece 628.

[0082] As Figure 8 shown, the turntable 614 of the rotation device 600 can comprise a cover plate 627 covering the interior components of the module.

[0083] As Figure 9 shown, when the device is in a non-rotating state, the arcuate corner 626 and the arcuate end piece 628 are aligned to allow the carrier to pass through the track section of the rotation device.

[0084] Figure 10 A container handling carrier 201 is shown docked at the rotation device 600. Figure 10 The way in which the module 602 is inserted into the grid cell 604 is also shown. In the grid cell 604, the parallel rails 110a are removed and replaced by module rails 630. The rail system 108 is cut or removed at the grid cell 604, so that the rail system comprises the arcuate end piece 628. The module 602 can then be placed on the module rails 630 and secured in place in a manner known in the art.

[0085] As Figure 10 and Figure 11 shown, the carrier 201 / 301 is driven onto the turntable 614 so that the one or more wheels 201c dock on the rollers 622. For example, the carrier 201 / 301 can be driven onto the turntable 614 in an X-direction by the wheels 201b as Figure 10 shown. The wheels 201b can then be raised so as to lower the wheels 201c onto the rollers 622. Alternatively, the carrier 201 can be driven directly onto the rollers 622 in a Y-direction perpendicular to the X-direction by the wheels 201c.

[0086] As Figure 10 and Figure 12 shown, after the wheels 201c are in place on the rollers 622, the wheels 201c are caused to rotate by a torque provided by a drive motor in the carrier 201 / 301, which in turn causes the transmission belt 624 to rotate the extension arm 616 about the axis of the central shaft 617. As Figure 11 and Figure 13As shown, as the extension arm 616 rotates, the turntable gear 618 travels around the module gear 612, causing the turntable 614 and the carrier 201 / 301 to rotate.

[0087] A second embodiment of the present application is shown in Figures 14 to 23 As shown, the module 602 includes a fixed gear 612 mounted on the base 610. In this embodiment, there is no rotatable turntable. Rather, the rail system 108 remains intact around the grid cell into which the rotation device is inserted. Alternatively, the module 602 can include its own track segment that replaces the rail system 108 around a portion of the grid cell. Figure 14

[0088] The module gear 612 has a central segment 632. In one aspect, the central segment 632 has a recess 634. In one aspect, the module gear 612 can protrude vertically above the horizontal plane defined by the upper surface of the rail system 108, with the central segment 632 protruding vertically higher than the module teeth 636.

[0089] According to this second embodiment, the container handling carrier body has an underside 638. In one aspect, a guide pin 640 is arranged on the underside 638, as shown in Figure 17 A gear portion 642 is located below the carrier body underside 638, arranged to engage with the fixed gear 612 to exert a pushing force reacted by the fixed gear to cause the carrier to rotate. In one embodiment, the gear portion 642 is a worm gear, but those skilled in the art will realize that other types of gear portions can also be employed. The gear portion 642 can be rotated by a motor for the drive wheels of the carrier or by other means.

[0090] Figures 20 to 23 Operation of the second embodiment is shown. The carrier 201 / 301 is driven onto the rotation device 600. The wheels 201c are raised so that the underside of the carrier rests on the central segment 632 of the module gear 612. It will be appreciated that the guide pin 640 can be inserted into the recess 634 to align the carrier with the module gear. The wheels 201c are then further raised so that the carrier 201 / 301 rests fully on the module gear, with the worm gear 642 engaging the module teeth 636. Rotation of the worm gear 642 will thus cause the carrier 201 / 301 to rotate around the module gear 612. Once rotation is complete, the wheels of the carrier are lowered into contact with the rail system, as shown in Figure 23

[0091] Figure 24 ​​A third embodiment of the present application is shown. Like the second embodiment, the third embodiment does not include a rotatable turntable. In the third embodiment, the module 602 includes fixed pillars 644 instead of the module gears 612. In this embodiment, the vehicles 201 / 301 include rotatable plates 646. Like the case of the second embodiment, the third embodiment operates by driving the vehicles onto the rotating device and raising their wheels so that the vehicles rest on the pillars 644 and the rotatable plates 646 rest on the upper surfaces 648 of the pillars 644. By rotating the rotatable plates, the vehicles are rotated around the pillars 644. The rotatable plates 646 can be rotated by a mechanical linkage connected to the vehicle drive wheels, by their own motors, or by other means known in the art.

[0092] Reference Number List

[0093] Prior Art (Figures 1 to Figure 4 ):

[0094] 1 Prior Art Automated Storage and Retrieval System

[0095] 100 Frame structure

[0096] 102 Upright members of the frame structure

[0097] 103 Horizontal members of the frame structure

[0098] 104 Storage grid

[0099] 105 Storage columns

[0100] 106 Storage containers

[0101] 106’ Specific locations of storage containers

[0102] 107 Piles

[0103] 108 Rail system

[0104] 110 Parallel rails in a first direction (X)

[0105] 110a First rail in the first direction (X)

[0106] 110b Second rail in the first direction (X)

[0107] 111 Parallel rails in a second direction (Y)

[0108] 111a First rail in the second direction (Y)

[0109] 111b Second rail in the second direction (Y)

[0110] 112 Access opening

[0111] 119 first port column

[0112] 120 second port column

[0113] 201 prior art storage container carrier

[0114] 201a carrier body of the storage container carrier 201

[0115] 201b drive arrangement / wheel arrangement, first direction (X)

[0116] 201c drive arrangement / wheel arrangement, second direction (Y)

[0117] 301 prior art cantilevered storage container carrier

[0118] 301a carrier body of the storage container carrier 301

[0119] 301b drive arrangement in the first direction (X)

[0120] 301c drive arrangement in the second direction (Y)

[0121] 304 clamping arrangement

[0122] 500 control system

[0123] X first direction

[0124] Y second direction

[0125] Z third direction

[0126] the invention

[0127] 600 carrier rotation arrangement

[0128] 602 module

[0129] 604 grid cell

[0130] 606 front wall

[0131] 607 side face

[0132] 608 rear wall

[0133] 610 bottom

[0134] 612 module gear

[0135] 614 turret

[0136] 616 extension arm

[0137] 617 central shaft

[0138] 618 turret gear

[0139] 620 track segment

[0140] 622 roller

[0141] 624 drive belt

[0142] 626 corner

[0143] 627 cover plate

[0144] 628 end piece

[0145] 630 module rail

[0146] 632 central segment

[0147] 634 recess

[0148] 636 module tooth

[0149] 638 carrier body underside

[0150] 640 guide pin

[0151] 642 worm gear

[0152] 644 strut

[0153] 646 rotatable plate

[0154] 648 upper strut surface

Claims

1. A rotation device (600) for rotating an autonomous operating vehicle (201 / 301) operating on a rail system of an automated storage and retrieval system of the type having a framework structure (100) comprising a plurality of vertical upright members (102) to define storage columns (105) for storing stacks of storage containers (106), wherein, The rail system (108) is arranged on the framework structure, comprising vertical tracks, the intersection of which defines a grid with grid cells (604) defining openings to the storage columns, and wherein the autonomous running vehicle is of the type with wheels (201b / 201c) running along the rail system, and the autonomous running vehicle changes direction by alternately raising or lowering groups of wheels, one group of wheels adapted to make the vehicle travel in a first direction, and a second group of wheels adapted to make the vehicle travel in a second direction perpendicular to the first direction, wherein the rotation device comprises: a. a module (602) adapted to be mounted in a grid cell (604) below the plane defined by the rail system (108) of the framework structure, b. a fixing member (612 / 644) fixed to the module, c. wherein the fixing member is arranged to receive a force transferred from a container handling vehicle to the fixing member by a mechanical linkage, and to convert this force into a rotation of the vehicle.

2. The rotating device of claim 1, wherein, The fixing member is a circular member.

3. The rotating device of claim 1, wherein, The fixing member is a fixed gear (612) with teeth (636).

4. The rotating device of claim 1, wherein, The fixing member is a strut (644).

5. The rotating device of claim 3, wherein, The rotation device further comprises a turntable (614) rotatably connected to the fixing member, the turntable comprising a track section (620) around the circumference of the turntable, which is in continuous communication with the rail system of the framework structure when the turntable is in a non-rotating, aligned state, and wherein the rotation device comprises means for converting a rotational force from a wheel of a container handling vehicle docked on the turntable into a rotational force that rotates the turntable.

6. The rotating device of claim 5, wherein, The turntable is connected to the fixing member via a rotatably extending arm or spindle (616), the arm comprising a rotatable turntable gear (618) arranged to travel circumferentially around the fixed gear (612) when the rotatable turntable gear is rotated, wherein the turntable further comprises one or more rollers (622) arranged in the track section, and the rollers are connected to the rotatably extending arm by a transmission belt (624), such that the rotation of the wheel of the container handling vehicle is converted into a rotation of the rotatably extending arm, thereby rotating the turntable.

7. The rotating device of claim 3, wherein, The fixed gear has a central section (632) adapted to have the underside of the container handling vehicle docked on the central section when the wheel of the container handling vehicle is lifted, thereby supporting the container handling vehicle above the plane of the rail system, the teeth of the fixed gear are adapted to engage with a gear portion (642) on the underside (638) of the container handling vehicle, and to convert the rotation of the gear portion (642) into a rotation of the container handling vehicle.

8. The rotating device of claim 7, wherein, The gear portion (642) is a worm gear.

9. The rotating device of claim 4, wherein, The pillar (644) has an upper surface (648) adapted to dock a rotatable plate (646) arranged on the underside (638) of the container handling vehicle on the upper surface when wheels of the container handling vehicle are lifted, thereby supporting the container handling vehicle above the plane of the rail system, whereby rotation of the rotatable plate is translated into rotation of the container handling vehicle.

10. A system for rotating an autonomous operating vehicle (201 / 301) operating on a rail system of an automated storage and retrieval system of the type having a framework structure (100) comprising a plurality of vertical upright members (102) to define storage columns (105) for storage of stacks of storage containers (106), wherein, The rail system (108) is arranged on the framework structure, comprising vertical tracks, the intersection of which defines a grid with grid cells (604) defining openings to the storage columns, and wherein the vehicle is of the type having wheels that travel along the rail system, and the vehicle changes direction by alternately raising or lowering groups of wheels, one group of wheels being adapted to travel the vehicle in a first direction and a second group of wheels being adapted to travel the vehicle in a second direction perpendicular to the first direction, wherein the system comprises: a. a rotation device (600) comprising a module (602) adapted to be mounted in a grid cell (604) below the plane defined by the rail system (108) of the framework structure, b. a fixed member (612 / 644) fixed to the bottom of the module, c. wherein the vehicle and / or the module comprises a mechanical linkage arranged to transfer force from the vehicle to the fixed member, whereby the force is translated into rotation of the vehicle, d. a control system arranged to issue commands to the vehicle to initiate and complete a rotation.

11. The system of claim 10, wherein, The vehicle is a container handling vehicle.

12. The system of claim 10, wherein, The fixed member is a fixed gear (612) having gear teeth (636).

13. The system of claim 10, wherein, The fixed member is a pillar (644).

14. The system of claim 12, wherein, The rotation device further comprises a turntable (614) rotatably connected to the fixed member, the turntable comprising track segments (620) around the circumference of the turntable, which are in continuous communication with the rail system of the framework structure when the turntable is in a non-rotating, aligned state, and wherein the rotation device comprises means to translate rotational force from the wheels of a vehicle docked on the turntable into rotational force that rotates the turntable with the vehicle.

15. The system of claim 14, wherein, The turntable is connected to the fixed gear via an arm or spindle (616) that can rotate, the arm comprising a rotatable gear (618) arranged to travel circumferentially around the fixed gear when the rotatable gear is rotated, wherein the turntable further comprises one or more rollers (622) arranged in the track segments, and the rollers are connected to the arm that can rotate via a transmission belt (624), such that rotation of the wheels of the vehicle is translated into rotation of the arm that can rotate, thereby rotating the turntable with the vehicle. The arm or spindle (616) is connected to the fixed gear via a transmission belt (624) that is arranged to travel circumferentially around the fixed gear when the belt is rotated, wherein the turntable further comprises one or more rollers (622) arranged in the track segments, and the rollers are connected to the arm that can rotate via the transmission belt, such that rotation of the wheels of the vehicle is translated into rotation of the arm that can rotate, thereby rotating the turntable with the vehicle.

16. The system of claim 12, wherein, The fixed gear has a central section (632) adapted to rest on an underside (638) of the carrier when the wheels of the carrier are lifted, thereby supporting the carrier above the plane of the rail system, the teeth of the gear are adapted to engage with a gear portion (642) on the underside of the carrier, and to convert rotation of the gear portion (642) to rotation of the carrier about the fixed gear.

17. The system of claim 16, wherein, The underside of the container handling carrier comprises a guide pin (640) arranged to be inserted into a recess (634) of the central section (632).

18. The system of claim 13, wherein, The strut has an upper surface (648) adapted to rest on a rotatable plate (646) arranged on the underside of the carrier when the wheels of the carrier are lifted, thereby supporting the carrier above the plane of the rail system, thereby converting rotation of the rotatable plate to rotation of the carrier.

Images