Automated storage and retrieval system with dynamic storage sections and method of using the same

Abstract

An automated storage and retrieval system and method of using the same are disclosed. The automated storage and retrieval system includes a rail system (108) and a storage section (130) located below or above the rail system (108). The storage section (130) includes a plurality of storage towers (510) for storing cargo holders and configured to move in at least one of a first direction (X) and a second direction (Y), and at least one column void (522) defined by a space between two or more of the plurality of storage towers (510), the at least one column void (522) having an occupied area corresponding to an area of at least one cell (122). The at least one column void (522) is repositionable within the storage section (130) in at least one of the first direction (X) and the second direction (Y) into vertical alignment with different access openings (112) at different locations via movement of at least one of the plurality of storage towers (510) in at least one of the first direction (X) and the second direction (Y).

Description

Technical Field

[0001] This invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to an automated storage and retrieval system with a dynamic storage grid. Background Technology

[0002] Figure 1 discloses a prior art automated storage and retrieval system 1 with a frame structure 100. Figures 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301 and 401 suitable for operation on such system 1.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106, also called boxes, are stacked one on top of another to form a stack 107. The members 102 can typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which multiple container handling vehicles 201, 301, 401 can be operated to raise and lower storage containers 106 from storage columns 105 into storage columns 105, and also to transport storage containers 106 above storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 along a first direction X across the top of the frame structure 100, and a second set of parallel tracks 111 arranged vertically to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 along a second direction Y, vertical to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. Container handling vehicles 201, 301, and 401 can move laterally above storage column 105, that is, in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the process of raising and lowering the containers into the column 105. The stack 107 of the containers 106 is typically self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a, and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, which respectively enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions. In Figures 2, 3, and 4, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks of the second set of tracks 111. At least one set of wheelsets 201b, 301b, 401b, 201c, 301c, and 401c can be raised and lowered such that the first set of wheelsets 201b, 301b, and 401b and / or the second set of wheelsets 201c, 301c, and 401c can engage with the corresponding set of tracks 110 and 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, for example, raising the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row 105. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are lowerable from the vehicles 201, 301, 401 such that the position of the clamping / engaging devices relative to the vehicles 201, 301, 401 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the clamping device of the container handling vehicles 301, 401 is indicated by reference numerals 304, 404 in Figures 3 and 4. The clamping device of the container handling device 201 is located within the vehicle body 201a in Figure 2 and is therefore not shown.

[0008] Generally, and also for the purposes of this application, Z=1 represents the uppermost layer available for storage containers below tracks 110, 11, i.e., the layer directly below track system 108; Z=2 represents the second layer below track system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 represents the lowest layer of storage containers. Similarly, X=1…n and Y=1…n represent the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG1, the storage container identified as 106' in FIG1 can be said to occupy storage position X=17, Y=1, Z=5. Container transport vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, the storage containers extending above track system 108 shown in FIG1 are also referred to as being arranged in layer Z=0.

[0009] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 when transporting it across the track system 108. The storage space may include a cavity centrally arranged within the vehicle body 201a, 401a, as shown in Figures 2 and 4, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.

[0012] The cavity container transport vehicle 201 shown in Figure 2 may have an occupancy area (footprint) covering a certain region whose dimensions in the X and Y directions are approximately equal to the lateral extent of the storage column 105, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0013] Alternatively, the cavity container transport vehicle 101 may have an occupied area larger than the lateral area defined by the storage column 105, as shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle run. Alternatively, the tracks may include upwardly projecting elements, with the wheels of the vehicle including flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails. In other track systems 108, each track may include one guide rail in one direction (e.g., the X direction), and each track may include two guide rails in another vertical direction (e.g., the Y direction).

[0015] WO2018 / 146304A1, the contents of which are incorporated herein by reference, shows a typical construction of an orbital system 108, which includes an orbit and parallel guide rails in the X and Y directions.

[0016] In frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301, 401 to drop and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside frame structure 100, or transferred out of or into frame structure 100. In the art, such a location is commonly referred to as a “port,” and the columns where the ports are located may be referred to as “port columns” 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage container 106 can be placed within random or dedicated columns 105 within frame structure 100, and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to the retrieval station. Once storage container 106 has been lowered through port columns 119, 120, transport from the port to the retrieval station may require movement in various different directions via transport vehicles, trolleys, or other transport routes. It should be noted that the term "inclined" implies transport of storage container 106 with a general transport direction somewhere between horizontal and vertical.

[0017] In Figure 1, the first port column 119 may be a dedicated unloading port column, where container handling vehicles 201, 301, and 401 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 may be a dedicated pickup port column, where container handling vehicles 201, 301, and 401 can pick up the storage container 106 that has been transported from the storage station or transfer station.

[0018] The storage and retrieval station can typically be a pick-up station or a storage station, where product items are removed from or located within storage container 106. At the pick-up station or storage station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but is instead returned to the frame structure 100 once retrieved. The port can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] Storage containers are typically transported between port columns 119, 120 and the access station using a transmitter system that includes a transmitter.

[0020] If port columns 119, 120 and access stations are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0021] The transport system can be arranged to transfer storage container 106 between different frame structures, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When access is required for a storage container 106 stored in one of the columns 105 shown in Figure 1, one of the container handling vehicles 201, 301, and 401 is instructed to remove the target storage container 106 from its position and transport it to the unloading port column 119. This operation includes moving the container handling vehicles 201 and 301 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicles 201, 301, and 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container located above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as “digging,” can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. Once the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

[0023] When storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301, and 401 is instructed to pick up storage container 106 from pick-up port column 120 and transport it to the storage location above storage column 105 where the storage container will be stored. After any storage container 106 located at or above the target location within stack 107 has been removed, container handling vehicles 201, 301, and 401 position the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into storage column 105 or repositioned to another storage column 105.

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, 401, so that the desired storage container 106 can be delivered to the desired location at the desired time, and the container transport vehicles 201, 301, 401 do not collide with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] Several cubic storage solutions have been proposed, in which storage containers can be removed without excavation. One example is W020210558A1. This method allows for faster container removal. However, a significant portion of the storage capacity must be sacrificed.

[0026] Therefore, the object of the present invention is to reduce the sacrifice of storage space required to realize a storage and retrieval system that can store and retrieve without digging.

[0027] WO2020 / 210558A1 discloses a logistics tower comprising a vertical storage unit column, a vertical retrieval system, and a horizontal shuttle system. The vertical storage unit column includes an elevator shaft extending through it and a plurality of storage modules arranged around the elevator shaft. The vertical retrieval system includes a winch and a robotic box transporter. The robotic box transporter can be moved within the elevator shaft of the vertical storage unit column via the winch. The robotic box transporter includes a carriage assembly that extends and retracts inward and outward from the robotic box transporter to store and retrieve storage boxes from the storage modules arranged around the elevator shaft. The carriage assembly includes a clamping assembly that selectively engages and disengages the storage boxes from the carriage of the robotic box transporter. The vertical retrieval system lowers the storage boxes coupled to the carriage assembly onto a robotic shuttle located on the horizontal shuttle system. Summary of the Invention

[0028] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0029] This invention relates to an automatic storage and retrieval system, comprising:

[0030] - A track system comprising: a first set of parallel tracks arranged in a horizontal plane and extending along a first direction; and a second set of parallel tracks arranged in the horizontal plane and extending along a second direction orthogonal to the first direction, the first set of tracks and the second set of tracks forming a grid comprising a plurality of adjacent cells in the horizontal plane, wherein each cell includes an access opening; and

[0031] - Storage sections, located below or above the orbital system, where storage locations within the storage sections can be accessed via access openings in the orbital system;

[0032] The storage section includes: a plurality of storage towers for storing cargo holders and configured to move in at least one direction, a first direction and a second direction; and at least one column gap defined by the space between two or more of the plurality of storage towers, the at least one column gap having an occupied area corresponding to the area of ​​at least one unit; and

[0033] In this configuration, at least one column gap can be repositioned within the storage section to be vertically aligned with different access openings by moving at least one of the multiple storage towers in at least one of the first and second directions.

[0034] The column gaps can be used as port columns. This allows for a more dynamic, automated storage and retrieval system.

[0035] The column gaps also provide lateral access to cargo holders stored in storage towers adjacent to the column gaps. Lateral access allows container handling vehicles to remove cargo holders without digging, thus being advantageous at least in terms of faster cargo holder removal.

[0036] The storage tower can move within the storage section in at least one of a first direction and a second direction, i.e., from vertical alignment with the first access opening to vertical alignment with the second access opening of the track system.

[0037] The storage tower is preferably movable in a first direction and a second direction.

[0038] The storage tower can be moved throughout the entire storage section. Therefore, column gaps can be repositioned to any location within the storage section.

[0039] At least one column gap can preferably be repositioned within the storage section to be vertically aligned with a different access opening by moving at least one of the storage towers within the storage section in at least one of the first and second directions. Thus, at least one column gap can be repositioned within the storage section without removing any storage tower from the storage section.

[0040] The storage area can be defined as the region directly beneath the track system. The track system typically includes multiple access openings along a first direction X and multiple access openings along a second direction Y.

[0041] An automated storage and retrieval system is achieved using movable storage towers, allowing for lateral access to cargo holders arranged in any of the towers. This can be accomplished using only a single column gap, thus providing dense storage. However, it should be recognized that having multiple column gaps increases the system's flexibility but also increases the number of cargo holders that may be retrieved simultaneously.

[0042] This enables an automated storage and retrieval system with high storage density, in which cargo holders can be retrieved more quickly.

[0043] Column gaps can also provide access for human pickers. If several column gaps are arranged adjacent to each other, they can form a passageway for human or robotic pickers to enter from outside the storage section. The picker can then retrieve one or more cargo holders from the storage tower near the column gap.

[0044] When one or more column gaps are repositioned within a storage segment, the one or more column gaps may be moved in at least one of the first direction X and the second direction Y.

[0045] This system can be used in vertical agriculture.

[0046] In one respect, each storage tower may preferably have an occupied area corresponding to an area of ​​n units, where n is an integer of 1 or greater. However, a storage tower may have any occupied area.

[0047] The occupied area of ​​a storage tower can correspond to an area of ​​one unit (1x1), two units (1x2), three units (1x3), four units (1x4 or 2x2), etc. Storage towers with the same occupied area or different occupied areas may exist within the same system.

[0048] Then, the storage tower will be better configured to be vertically aligned with the units of the track system. When the storage tower is vertically aligned with the units of the track system, this will also allow the column gaps to be vertically aligned with the units of the track system.

[0049] The occupied area of ​​the column gap can change in response to the movement of the storage tower, and is therefore dynamic.

[0050] When the storage tower is vertically aligned with the unit of the track system, the occupied area of ​​the column gap preferably has an occupied area corresponding to the area of ​​n units, where n is an integer of 1 or greater.

[0051] To provide lateral access to all storage locations in each storage tower, the occupied area of ​​a storage tower in both directions should not exceed two units (e.g., 3x3 or larger). If it does not exceed two units in the second direction (e.g., 2x4), the occupied area may exceed two units in one direction.

[0052] However, if the storage tower occupies an area exceeding two units in both directions, storage locations inaccessible via side openings can still be reached through the top opening of the tower. Alternatively, the lifting device may include a telescopic component configured to extend beyond the first adjacent storage location in the lateral direction.

[0053] In one aspect, the storage and retrieval system may consist of only a storage tower and a column gap. The storage tower typically has a 1x2 occupancy area. Lateral access to all storage locations is then provided by moving the column gap to either side of the storage tower.

[0054] In one aspect, each storage tower may include a frame consisting of upright members and horizontal supports, the horizontal supports being vertically distributed with a vertical offset to support cargo holders in the storage location.

[0055] The vertical offset can vary within a single storage tower. The vertical offset can also vary between two different storage towers.

[0056] Each storage tower preferably includes multiple storage locations.

[0057] The vertical offset can be adapted to the size of the cargo holder. The vertical offset of a storage tower does not need to be equal. The vertical offset can also vary between storage towers within the same system. The vertical offset can be specifically set based on the size of the cargo holder, the size of the cargo to be transported (e.g., in vertical agriculture, plants may extend over the cargo holder), and the type and size of the lifting device (e.g., the lifting device may be configured to grab the cargo holder from above or raise it from below).

[0058] The purpose of the horizontal support is to provide storage location for the cargo holders to be stored in the storage section.

[0059] In one respect, each horizontal support member is pivotally connected to the storage tower, for example, to an upright or horizontal member, and is movable between the following positions:

[0060] - A first position, in which the horizontal support is arranged to impede vertical movement of the cargo retainer within the storage tower, thereby providing a storage location, and

[0061] - Second position, in which the horizontal support is arranged so as not to impede the vertical movement of the cargo holder in the storage tower, thereby allowing the cargo holder to be moved to different vertical heights in the storage tower.

[0062] The horizontal support can have a horizontal axis of rotation or a vertical axis of rotation.

[0063] The horizontal support may be a plate covering the entire vertical cross-section of the storage tower. Alternatively, the horizontal support may cover only a portion of the horizontal cross-section of the storage tower sufficient to impede and support the cargo retainer.

[0064] A horizontal support can be a single piece or multiple pieces working together to provide support for a cargo retainer.

[0065] When the horizontal support is in the second position, if the cargo holder is being stored or retrieved from above, the cargo holder can move vertically past the horizontal support. Therefore, the lower storage position of the storage tower can be reached without lateral approach to the target storage position.

[0066] When the horizontal support is in the second position, it can guide the lifting device of the container transport vehicle through the adjacent storage column in the vertical direction.

[0067] When the horizontal support is in the second position, it can cover at least a portion of the side opening of the storage tower, thereby preventing lateral access to the storage tower.

[0068] In one aspect, each storage tower may include a drive unit configured to drive the storage tower in at least one of a first direction and a second direction, or

[0069] The system includes a displacement device configured to shift the storage tower in at least one of a first direction and a second direction.

[0070] Each storage tower may have a base. If the storage tower includes a drive unit, the drive unit may be housed in the base. If the system includes a displacement device, the base may provide an interface for the displacement device.

[0071] The drive mechanism of the storage tower may include a first set of wheels and a second set of wheels, which enable the storage tower to move laterally in a first direction and a second direction, respectively.

[0072] If the storage tower includes two sets of wheels, then at least one set of wheels can be configured for raising and lowering, such that the first set of wheels and / or the second set of wheels can engage with a drive surface (such as a warehouse floor or track system) at any time.

[0073] If the driving surface is a track system, the first set of wheels can be arranged to engage with two adjacent tracks of the first set of tracks, and the second set of wheels can be arranged to engage with two adjacent tracks of the second set of tracks that are perpendicular to the first set of tracks.

[0074] The drive unit may include one or more motors configured to provide torque to at least one wheel to move the storage tower in a first direction and / or a second direction. The motors may engage with one or more wheels via one or more belts, one or more chains, and / or one or more shafts. Alternatively, the motor may be a hub motor, such as an external rotor motor disposed within the wheel.

[0075] The drive unit may include a power source configured to operate one or more motors. The power source is typically a battery. Alternatively, power may be supplied to the drive unit from an external power source.

[0076] The displacement device can be releasably engaged with the storage tower. A displacement device can be configured to move one or more storage towers. If the displacement device is configured to move multiple storage towers, it can move one storage tower at a time or move multiple storage towers simultaneously.

[0077] In one aspect, the system may also include:

[0078] - Control system, configured to monitor and control the movement of multiple storage towers.

[0079] The control system can communicate wirelessly with multiple storage towers. Alternatively, the control system can communicate with multiple storage towers via signals transmitted through a base, which can move along, for example, a second track system.

[0080] The control system can also be configured to monitor and control the movement of container transport vehicles.

[0081] In one aspect, each storage tower may include a side opening and an adjustable stopper for blocking the side opening.

[0082] The stopper includes a vertical surface for a lifting device used to guide a container transport vehicle over a side opening, and the stopper is movable between the following positions:

[0083] - A first position, in which the vertical guide surface is positioned to guide the lifting device and impede horizontal movement of the cargo retainer through the side opening, and

[0084] - Second position, in which the vertical guide surface is positioned to not guide the lifting device and allows the storage container to move horizontally through the side opening.

[0085] Adjustable stoppers facilitate the movement of the lifting device through column gaps, which themselves do not provide any guidance for the lifting device. This is particularly advantageous when raising and lowering the lifting device via a flexible belt.

[0086] In one respect, at least one storage tower can be moved outside the storage section.

[0087] In addition to being able to move within a storage section, storage towers can also move between different storage sections of a facility or even between different facilities.

[0088] In one respect, the system can be configured to provide predetermined climate zones.

[0089] The predetermined climate zone can be set using parameters such as humidity, temperature, and light intensity. This could be advantageous if the system is used for vertical agriculture or as a cold storage facility.

[0090] This system is advantageous, for example, when the frozen zone of a cold storage facility is confined within a grid, meaning the track system and container handling vehicles are located outside the frozen zone. It reduces the time spent on heat exchange with the outside of the frozen zone by eliminating the need for digging operations. Furthermore, only the target cargo holder is removed to the outside of the frozen zone.

[0091] Therefore, this system will be particularly suitable for storing groceries.

[0092] In one aspect, the automated storage and retrieval system may also include:

[0093] - Multiple cargo holders arranged in the storage section.

[0094] Cargo holders can be, for example, storage containers, boxes, handbags, pallets, or the like. Different types of cargo holders can be used in the same system.

[0095] Alternatively, the cargo retainer can be a drawer-type device that can be attached to the storage tower. When attached to the storage tower, the drawer-type device can open into the adjacent column gap. Stored items can then be retrieved from the drawer-type device via the column gap. The lifting mechanism then does not require telescopic components.

[0096] In one aspect, the storage section may be located below the track system, and the automated storage and retrieval system may also include:

[0097] - A container handling vehicle, including a lifting device for lifting a cargo holder and a drive device configured to drive the vehicle along a track system in at least one of a first direction and a second direction.

[0098] Container handling vehicles can be overhead cranes.

[0099] Items can be stored in the storage tower without using cargo retainers, for example, directly on the support of the cargo retainer in the storage tower.

[0100] In addition to or in place of container handling vehicles that move along the track system, the system can also use vehicles that move along the same base as the storage tower to store and retrieve stored items.

[0101] The drive unit of the container handling vehicle may include a first set of wheels and a second set of wheels, which enable the container handling vehicle to move laterally in a first direction and a second direction, respectively.

[0102] At least one of the two sets of wheels can be configured for raising and lowering, such that the first set of wheels and / or the second set of wheels can engage with the track system at any time.

[0103] The first set of wheels is arranged to engage with two adjacent tracks of the first set of tracks, and the second set of wheels is arranged to engage with two adjacent tracks of the second set of tracks.

[0104] The drive unit may include one or more motors configured to provide torque to at least one wheel to move the container handling vehicle in a first and / or second direction. The motor may engage with one or more wheels via one or more belts, one or more chains, and / or one or more shafts. Alternatively, the motor may be a hub motor, such as an external rotor motor disposed within the wheel.

[0105] The drive unit may include a power source configured to operate one or more motors. The power source is typically a battery. Alternatively, power may be supplied to the drive unit from an external power source.

[0106] In one aspect, the lifting device may include a telescopic component for allowing the lifting device to enter the storage tower from the side.

[0107] Alternatively, the horizontal supports of the storage tower may include telescopic components configured to provide cargo retainers in the column gaps.

[0108] A horizontal support with telescopic components will allow for faster removal of cargo retainers in the system. Integrating the telescopic components onto the lifting mechanism will reduce the number of moving parts in the storage system.

[0109] In one aspect, multiple storage towers may include wheels configured to engage with the underside of a track system.

[0110] In one aspect, the track system may be a first track system, and the automated storage and retrieval system may also include a second track system arranged in a second horizontal plane below the storage section;

[0111] The second orbital system includes:

[0112] A third set of parallel tracks vertically aligned with the first set of parallel tracks of the first orbital system, and a fourth set of parallel tracks vertically aligned with the second set of parallel tracks of the first orbital system; and

[0113] Each storage tower is configured to move along a second track system.

[0114] The second track system can be installed at the level of the warehouse floor or at the level above the warehouse floor.

[0115] If the second track system is arranged horizontally above the warehouse floor, the robot can travel horizontally below the second track system, and the storage section can therefore be accessed from below, i.e., through the access openings of the second track. Therefore, a system is provided in which the cargo holder can be retrieved from below the storage section.

[0116] The robot traveling below the second track system may include a lifting device for raising and lowering a cargo holder and a drive device configured to drive the robot in at least one of the first and second directions.

[0117] The robot traveling below the second track system can be a remotely operated transport vehicle. The remotely operated transport vehicle can be configured to receive a cargo holder from above and transfer the received cargo handling structure to another location.

[0118] As an alternative to the second track system, the storage tower can be constructed to move along the warehouse floor.

[0119] In one aspect, the multiple storage towers may include wheels configured to engage with the underside of the first track system.

[0120] Uneven weight distribution of products stored in a storage tower can combine with sudden tower movement to cause the tower to tilt. Tilt can lead to blockage, overturning, or derailment. Wheels located in the upper part of the storage tower prevent tilting. The tower can then be accelerated and decelerated safely and more quickly.

[0121] The storage tower can be constructed to support some of the weight of the track system and associated container handling vehicles. This enables an automated storage and retrieval system in which the frame structure can be constructed with fewer upright members. This, in turn, allows a larger portion of the storage section to be free of upright members. The storage tower, or other robots operating within the storage section, can then move more freely without being hindered by upright members.

[0122] In one respect, the lower side of the first track system may be provided with guide rails for guiding the storage tower in a first direction and a second direction.

[0123] The first track system also has an upper side. The upper side is typically equipped with guide rails for guiding container transport vehicles in the first and second directions.

[0124] The track system may include a single-track system. Alternatively, the track system may include a dual-track system, thereby allowing container transport vehicles having an occupied area that typically corresponds to a lateral region defined by the unit to travel along a row of units, even if another container transport vehicle is located above units adjacent to that row. Alternatively, the track system may include a combination of single-track and dual-track systems, such as a single track in a first direction and a dual track in a second direction.

[0125] The first track system may include any of these guide rail systems on its upper and / or lower sides.

[0126] The second track system may include any of these guide rail systems.

[0127] In one aspect, at least one storage tower may be configured to receive at least one cargo holder from above via an access opening.

[0128] Typically, the uppermost horizontal support of each storage tower can be configured to receive the cargo retainer from above. This is usually done by arranging the storage tower vertically aligned with the access opening of the track system and lowering the cargo retainer through the access opening and top opening of the storage tower.

[0129] This can be achieved with all horizontal supports of the storage tower being static.

[0130] The uppermost horizontal support of the cargo holder can be configured to receive the cargo holder from above through the top opening of the storage tower, or it can be configured to receive the cargo holder laterally from the gap between adjacent columns through the side opening of the storage tower.

[0131] In one aspect, the system may also include stacks of multiple storage containers arranged in storage columns, each located below the access opening of the first track system.

[0132] Multiple stacks of storage containers are typically arranged in separate sections of an automated storage and retrieval system, which are preferably adjacent to storage sections that include storage towers.

[0133] Storage sections may include a combination of storage towers and storage columns, which have quantities suitable for individual automated storage and retrieval systems.

[0134] A cargo holder stored in one or more storage towers may contain an order that will be collected by a customer. Buffer storage is achieved by having one or more storage towers available for storing cargo holders containing orders, which allows for more time-efficient order delivery to customers or other recipients.

[0135] Cargo holders stored in one or more storage towers may contain frequently picked items. Buffer storage is achieved by having one or more storage towers that can be used to store cargo holders containing frequently picked items, allowing items to be delivered to pickers more promptly and efficiently. Pickers can be robotic or human pickers.

[0136] Therefore, the system will be particularly suitable for micro-level implementation.

[0137] The present invention also relates to a method for storing and / or retrieving cargo holders using an automated storage and retrieval system as described herein.

[0138] The storage section is located below the orbital system; and

[0139] The automated storage and retrieval system also includes:

[0140] Multiple cargo retainers are arranged in the storage section; and

[0141] A container handling vehicle includes a lifting device for lifting a cargo holder and a drive device configured to drive the vehicle along a track system in at least one of a first direction and a second direction.

[0142] The method includes the following steps:

[0143] - Move one or more storage towers in a first and / or second direction to reposition at least one column gap to be vertically aligned with and adjacent to the storage tower where the target cargo holder is stored or to be stored, in a first access opening of the track system.

[0144] - Move the container transport vehicle to the first access opening.

[0145] -The lifting device of the container transport vehicle is lowered into the first row of gaps via the first access opening, and

[0146] - The target cargo holder is retrieved or stored using a lifting device.

[0147] One or more cargo holders in the storage tower are used to store and retrieve orders that will be collected by customers. These orders can be retrieved quickly once the customer arrives.

[0148] Buffer storage is achieved by using storage towers with holders for storing goods containing orders, which enables more time-efficient order delivery to customers or other recipients.

[0149] The cargo holders to be stored may contain frequently picked items. A buffer storage system is achieved by using storage towers that can be used to store cargo holders containing frequently picked items, allowing items to be delivered to the picker more promptly and efficiently. The picker can be a robotic picker or a human picker.

[0150] In one respect, the method may also include the following steps:

[0151] - To move one or more storage towers in a first direction and / or a second direction to arrange one or more storage towers in the periphery of the storage section; and

[0152] - Collect one or more storage towers to transport to another facility.

[0153] In one respect, the method may also include the following steps:

[0154] - Transfer one or more storage towers from an automated storage and retrieval system to another facility, or from a storage section to another part of the facility where the automated storage and retrieval system is located.

[0155] One or more storage towers can be loaded onto vans, trucks, trailers, or containers for transport. In these applications, storage towers can provide dense storage and rapid access to all cargo holders.

[0156] One or more storage towers can be used to store goods holders containing orders to be delivered to customers, such as groceries.

[0157] The area surrounding the storage section is typically the volume below the outermost unit of the orbital system.

[0158] In one respect, the method may also include the following steps:

[0159] - Move one or more storage towers in a first direction and / or a second direction to provide at least one column gap in the periphery of the storage section, thereby providing a passage from the outside of the storage section to the storage section.

[0160] It enables direct access by human or robotic pickers to target cargo holders stored in a grid. Therefore, container handling vehicles can be bypassed.

[0161] It also provides access to the grid for remotely operated delivery vehicles. These vehicles can receive or transport cargo holders from the container handling vehicles above.

[0162] It also provides climbing robots with access to the grid. Attached Figure Description

[0163] The following figures are provided to facilitate understanding of the invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, wherein:

[0164] Figure 1 is a perspective view of the framework structure of a prior art automatic storage and retrieval system;

[0165] Figure 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0166] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0167] Figure 4 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0168] Figure 5 It is a 3D view of the lifting device of the container handling vehicle;

[0169] Figure 6 It is a perspective view of an automated storage and retrieval system, in which container transport vehicles can move along a track system and storage towers can move along a drive surface in the form of a floor.

[0170] Figure 7 It is a perspective view of an automated storage and retrieval system, in which container transport vehicles can move along a first track system and storage towers can move along a drive surface in the form of a second track system;

[0171] Figure 8 yes Figure 6 The side view shown is of the automatic storage and retrieval system.

[0172] Figure 9 It is a perspective view of part of an automated storage and retrieval system, in which the storage tower includes wheels configured to engage with the underside of the same track system on which a container transport vehicle can move.

[0173] Figure 10 This is a perspective view of a storage tower, which includes a base, a first set of wheels, and a second set of wheels. Both sets of wheels are arranged on the base and configured to allow the storage tower to move in the first direction X and the second direction Y.

[0174] Figure 11aIt is a perspective view of a storage tower and a displacement device, wherein the displacement device is housed in the base of the storage tower and configured to move the storage tower along at least one of a first direction X and a second direction Y.

[0175] Figure 11b yes Figure 11a A perspective view of the storage tower and the displacement device, wherein the displacement device is positioned adjacent to the storage tower;

[0176] Figure 12a yes Figure 11a First side view of the storage tower and displacement device;

[0177] Figure 12b yes Figure 11a Second side view of the storage tower and displacement device;

[0178] Figure 13 It is a perspective view of two storage towers working in collaboration with climbing robots and remotely operated transport vehicles, with the climbing robots positioned in the column gaps and the remotely operated transport vehicles positioned below the second track system;

[0179] Figure 14 This is a 3D diagram of the storage tower; the area occupied by the storage tower corresponds to the area of ​​two units of the orbital system; and

[0180] Figure 15 This is a perspective view of an automated storage and retrieval system according to the present invention, combined with existing automated storage and retrieval systems. Detailed Implementation

[0181] In the following discussion, various embodiments of the invention will be described in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0182] The frame structure 100 of the automatic storage and retrieval system 1 is constructed in a manner similar to that of the prior art frame structure 100 described above in conjunction with Figures 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper track system 108 extending in the X and Y directions.

[0183] The frame structure 100 also includes storage compartments in the form of storage columns 105 disposed between the members 102, wherein storage containers 106 can be stacked in stacks 107 within the storage columns 105.

[0184] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be wider and / or longer and / or deeper than disclosed in Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700x700 columns and a storage depth of more than twelve containers.

[0185] An embodiment of the automatic storage and retrieval system according to the present invention will now be discussed in more detail with reference to the accompanying drawings.

[0186] Figure 5 A perspective view of the lifting device 14 of container handling vehicles 201, 301, and 401 is shown. The lifting device 14 includes a telescopic member 19 that allows the lifting device 14 to extend laterally horizontally relative to its base member 17 in a second direction Y (as shown), a first direction X, or both the first direction X and the second direction Y. Figure 5 In this configuration, the telescopic member 19 extends to one side of the base member 17 in the second direction Y. The telescopic member 19 may also extend to the opposite side of the base member 17.

[0187] The lifting device 14 may include a lifting belt 18, which is connected at a first end to a base component 17 and at a second end to container handling vehicles 201, 301, and 401. The lifting belt 18 allows the lifting device to move vertically in the third direction Z (i.e., vertical movement).

[0188] The lifting device 14 may include a clamping member 20 for gripping the cargo holder.

[0189] When the lifting device 14 carries a cargo holder (such as storage container 106), the extension of the telescopic member will cause the carried cargo holder to move relative to the base member 17.

[0190] When the lifting device 14 descends into port rows 119, 120 or row gap 522, the extended telescopic member 19 can move the carried cargo holder and a portion of the telescopic member 19 to an adjacent storage location. The lifting device 14 can therefore be accessed laterally through the side opening 516 of the storage tower 510.

[0191] Therefore, the lifting device 14 can be used to store the cargo holder in the storage tower 510 and / or retrieve the cargo holder from the storage tower via the adjacent column gap 522.

[0192] Figure 6 This is a perspective view of the automatic storage and retrieval system of the present invention. The automatic storage and retrieval system includes a track system 108 and a storage section 130 located below the track system 108.

[0193] Track system 108 includes a track arranged in horizontal plane P H The first set of parallel tracks 110 extending along the first direction X and arranged in the horizontal plane P H A second set of parallel tracks 111 extends in a second direction Y, which is orthogonal to the first direction X. The first and second sets of tracks 110 and 111 lie in the horizontal plane P. HA grid consisting of multiple adjacent cells 122 is formed in the storage section 130. Each cell (122) includes an access opening (112). Storage locations in the storage section 130 can be accessed via the access opening 112 of the track system 108.

[0194] Storage section 130 includes a plurality of storage towers 510. The storage towers 510 are configured to store cargo holders and to move in at least one of a first direction X and a second direction Y. Figure 6 In this configuration, storage tower 510 can move along a drive surface in the form of a warehouse floor. Individual storage towers 510 can move independently or in groups.

[0195] Multiple storage towers 510 are typically arranged side-by-side to form a grid corresponding to the upper orbital system 108. Figure 6 In this configuration, the occupied area of ​​each storage tower 510 corresponds to the area of ​​a cell 122. Therefore, the grid of the storage tower 510 can be vertically aligned with the grid of the track system 108.

[0196] Storage section 130 includes at least one column gap 522 defined by the space between two or more of the plurality of storage towers 510. The at least one column gap 522 typically has an occupied area corresponding to the area of ​​at least one unit 122.

[0197] By moving one or more of the storage towers 510 in the first direction X and / or the second direction Y, at least one column gap 522 can be repositioned within the storage section 130 to be vertically aligned with the different access openings 112.

[0198] Figure 6 The automated storage and retrieval system shown also includes multiple cargo holders. These cargo holders can be stored in storage towers 510 arranged in the storage section 130. Each storage tower 510 is preferably configured to store multiple cargo holders.

[0199] Figure 6 The automated storage and retrieval system shown also includes a container transport vehicle 301, which includes a lifting device 304 for raising and lowering cargo holders. The container transport vehicle 301 also includes a drive unit configured to drive the container transport vehicle 301 along at least one of a first direction X and a second direction Y of the track system 108.

[0200] Each storage tower 510 may include a drive device configured to drive the storage tower 510 along a drive surface in at least one of a first direction X and a second direction Y.

[0201] The system may also include a control system 500 configured to monitor and control the movement of multiple storage towers 510. The same control system 500 may also be configured to monitor and control the movement of container handling vehicle 301 and any other remotely operated vehicles or robots used in conjunction with the automated storage and retrieval system.

[0202] One or more column gaps 522 can be repositioned within storage segment 130 by moving one or more storage towers 510 in the first direction X and / or the second direction Y. Column gaps 522 are preferably vertically aligned with one of the cells 122 (which also makes them vertically aligned with one of the access openings 112). Vertical alignment of a column gap 522 with an access opening 112 is formed if all storage towers 510 have an occupied area corresponding to a region of a cell 122 and are all vertically aligned with different cells 122. A column gap 522 may be vertically aligned with multiple cells 122 (which also makes it vertically aligned with multiple access openings 112). Multiple individual column gaps 522 may be separated by storage towers 510 within the same storage segment 130.

[0203] Each column gap 522 can have an occupied area corresponding to the area of ​​n cells 122, where n is an integer of 1 or greater.

[0204] exist Figure 6 In the diagram, the column gap 522 shown has an occupied area corresponding to two units 122 (which may be referred to as an lx2 occupied area).

[0205] exist Figure 6 In this context, each of the storage towers 510 shown has an occupancy area corresponding to a unit 122 (which may be referred to as an lxl occupancy area).

[0206] Figure 6 The column gap 522 has a 1x2 occupied area and is vertically aligned with the two cells 122, and therefore also vertically aligned with the two access openings 112. The column gap 522 can be considered as a single column gap 522 with a 1x2 occupied area, or alternatively as two adjacent column gaps 522 with a 1x1 occupied area.

[0207] By moving one of the storage towers 510 with an 1x1 occupancy area to a column gap 522 with a 1x2 occupancy area, the column gap 522 will be divided into two column gaps 522, each column gap having a 1x1 occupancy area.

[0208] By using two storage towers in storage tower 510 with a 1x1 occupancy area (or, as Figure 14As shown, a storage tower 510 with a 1x2 occupied area is moved into a column gap 522 with a 1x2 occupied area, and the entire column gap 522 will be repositioned.

[0209] if Figure 6 If column gaps 522 are considered to be two adjacent column gaps 522, then by moving one of the storage towers 510 with a 1x1 occupied area into one of the column gaps 522 with a 1x1 occupied area, that column gap 522 will be repositioned, while the other column gap 522 will remain in the same position as before. The repositioned column gap 522 will occupy the previous position of the moved storage tower 510.

[0210] Thus, column gap 522 can be repositioned to the desired location in storage segment 130.

[0211] When the cargo retainer is stored laterally in and / or removed from the target storage tower 510, a gap column 522 can be repositioned to either side of the target storage tower 510. The container handling vehicle 301 can then move to the unit 122 vertically aligned with the gap column 522, as... Figure 6 As shown. The lifting device 304 can then enter the column gap 522 via the access opening 112 in the unit 122. The cargo holder can then be stored in and / or retrieved from the storage tower 510 via the side opening 516 in the storage tower 510.

[0212] Therefore, storage tower 510 can also be repositioned to the desired location in storage section 130.

[0213] If one or more storage towers 510 are to be moved to another part outside the storage section 130 of the automated storage and retrieval system, or to be collected for transport outside the automated storage and retrieval system, one or more storage towers 510 may preferably be repositioned to a portion of the storage section 130 in which the storage towers are easily accessible and allowed to leave the storage section 130. This is typically the outermost location along the perimeter of the storage section 130.

[0214] exist Figure 6 In this configuration, all storage towers 510 are positioned along the perimeter of storage section 130. This is partly because the occupied area (3x3 occupied area) of storage section 130 corresponds to the size of the nine units 122. If the occupied area were larger, storage towers 510 positioned closer to the center of storage section 130 would generally be less accessible than those positioned closer to the perimeter.

[0215] Storage tower 510 can be moved out of storage section 130 by an operator or remotely.

[0216] Figure 6 The dimensions and shape of the storage section 130 are for illustrative purposes only. Any other dimensions may be used. The storage section 130 is typically larger and does not necessarily have the same number of cells 122 in the first direction X as it does in the second direction Y.

[0217] Storage tower 510 can also be repositioned within storage section 130 to form column gaps 522, thereby providing access from outside storage section 130 into storage section 130. This will allow human pickers or remotely operated vehicles / robots to move into storage section 130 along the same drive surface as storage tower 510 and thus access cargo holders stored in storage tower 510 adjacent to the channel (i.e., the column gaps 522 providing the channel).

[0218] exist Figure 6 In this configuration, a passage is formed from the outside of storage section 130 into storage section 130. The passage has an occupied area corresponding to the regions of two units 122 and provides lateral access to five adjacent storage towers 510.

[0219] The cargo holder can also be stored in and / or retrieved from the storage tower 510. The container handling vehicle 301 can then move to the unit 122, which is vertically aligned with the target storage tower 510. The lifting device 304 can then enter the storage tower via the access opening 112 in the unit 122. The cargo holder can then be stored in and / or retrieved from the storage tower 510 via the top opening 518 (e.g., ...). Figure 9 (As shown). This will allow at least one cargo holder to be stored and / or retrieved from above. It is conceivable that multiple cargo holders can also be stored and / or retrieved from above through the top opening 518 of each storage tower 510.

[0220] Figure 7 This is a perspective view of the automatic storage and retrieval system of the present invention. Figure 7 The automated storage and retrieval system may include Figure 6 All features of the automatic storage and retrieval system.

[0221] and Figure 6 Unlike automatic storage and retrieval systems, Figure 7 The automated storage and retrieval system also includes a second track system 108'. The track system 108 on which the storage container transport vehicle 301 moves can be considered the first track system 108. The first track system 108 is arranged on a first horizontal plane P above the storage section 130. H The second track system 108' is arranged in the second horizontal plane P below the storage section 130. H middle.

[0222] exist Figure 7 In this configuration, the storage tower 510 is designed to move along a drive surface in the form of a second track system 108'.

[0223] The second track system 108' may include a third set of parallel tracks 110'. The third set of parallel tracks 110' is preferably vertically aligned with the first set of parallel tracks 110 of the first track system 108.

[0224] The second track system 108' may also include a fourth set of parallel tracks 111'. The fourth set of parallel tracks 111' is preferably vertically aligned with the second set of parallel tracks 111 of the first track system 108.

[0225] The first track system 108 preferably includes two tracks in the first direction X and the second direction Y.

[0226] The second track system 108' preferably includes dual tracks in the first direction X and the second direction Y (especially as shown in the example). Figure 7 and Figure 9 As shown), this allows the storage tower 510 to be located simultaneously on the adjacent unit 122' of the second orbital system 108'.

[0227] Figure 8 yes Figure 6 The diagram shows a side view of the automated storage and retrieval system. Each storage tower 510 includes seven storage locations. Four cargo holders are stored in each storage tower 510, leaving three empty storage locations. An additional number of storage locations can be provided in the storage tower 510 depending on the offset ΔdV between the height of the storage tower 510 and the storage locations.

[0228] Figure 8 The storage tower 510 shown has six storage locations that can be accessed from the side and one storage location that can be accessed from above.

[0229] Storage tower 510 can be configured to allow lateral access to its storage location from only one side, two sides, three sides, or all four sides. In one configuration, lateral access from two opposing sides can be allowed.

[0230] Figure 9 This is a perspective view of a portion of an automated storage and retrieval system. This automated storage and retrieval system may include... Figure 6 and Figure 7 All features of the automatic storage and retrieval system.

[0231] and Figure 6 and Figure 7 Unlike automatic storage and retrieval systems, in Figure 9In the automated storage and retrieval system, the storage tower 510 also includes wheels 515 configured to engage with the underside of the first track system 108. The first track system 108 may have the underside with the wheels 515 configured to engage therewith, and simultaneously have the upper side with container transport vehicles 201, 301, 401 configured to move thereon.

[0232] Preferably, a guide rail for guiding the storage tower 510 in the first direction X and the second direction Y is provided on the lower side of the first track system 108.

[0233] The lower side of the first track system 108 preferably includes double rails in the first direction X and the second direction Y. The guide rails disposed on the lower side of the first track system 108 are preferably vertically aligned with the guide rails disposed on the upper side of the first track system 108. The guide rails disposed on the lower side of the first track system 108 are preferably vertically aligned with the guide rails disposed on the second track system 108'. The guide rails disposed on the upper side of the second track system 108'.

[0234] Wheels 515 are preferably disposed on all four sides of the storage tower 510, such as Figure 9 As shown. However, wheels 515 can be installed on fewer sides of the storage tower 510.

[0235] exist Figure 9 In the storage tower 510, two wheels 515 are provided on each side. Alternatively, only one wheel 515 may be provided on any one side of the storage tower 510. Or, more than two wheels 515 may be provided on any one side of the storage tower 510.

[0236] Wheel 515 can be considered as a first set of wheels and a second set of wheels capable of moving laterally along the lower side of the first track system 108 in the first direction X and the second direction Y, respectively.

[0237] At least one set of these wheel sets can be configured for raising and lowering, such that the first set of wheels and / or the second set of wheels can engage with the underside of the first track system 108 at any time.

[0238] The first set of wheels is arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels is arranged to engage with two adjacent tracks of the second set of tracks 111.

[0239] One or more of the storage towers in storage tower 510 can be configured to be moved outside of storage section 130. Figure 9 In the storage tower 510, one of the storage towers is located outside the storage section 130 at a position where the storage tower can enter or leave the storage section 130.

[0240] Figure 10This is a perspective view of storage tower 510. This storage tower 510 can be used for... Figure 6 and Figure 7 An automatic storage and retrieval system.

[0241] The storage tower 510 includes a base 514a, a first set of wheels 514b, and a second set of wheels 514c. The first set of wheels 514b and the second set of wheels 514c are both arranged on the base 514a and configured to allow the storage tower 510 to move in a first direction X and a second direction Y.

[0242] The first set of wheels 514b and / or the second set of wheels 514c can be configured for raising and lowering, such that the first set of wheels 534b and / or the second set of wheels 514c can engage with the second track system 108' at any time.

[0243] The first set of wheels 514b can be arranged to engage with two adjacent tracks of the third set of tracks 110' on the second track system 108'. The second set of wheels 514c can be arranged to engage with two adjacent tracks of the fourth set of tracks 111' on the second track system 108'.

[0244] The first set of wheels 514b and the second set of wheels 514c can be arranged on the side plate 517 of the storage tower 510.

[0245] Figure 10 The storage tower 510 shown includes a frame consisting of upright members 511 and horizontal supports 512. The horizontal supports 512 are vertically distributed with a vertical offset ΔdV to form storage locations for cargo holders. The storage locations provided by the horizontal supports 512 are accessible via side openings 516 in the storage tower 510.

[0246] Figure 10 The storage tower 510 shown includes a top opening 518. The top opening 518 allows the storage tower 510 to receive at least one cargo holder from above. The cargo holder can be stored and / or retrieved by container handling vehicles 201, 301, 401 via access opening 112 in the first track system 108.

[0247] like Figure 8 As shown, cargo holders do not need to be stored in storage tower 510 from bottom to top. Storage spaces can be filled in any order, and there are open storage spaces between filled storage spaces.

[0248] Figure 11a This is a perspective view of the storage tower 510 and the displacement device 524. The storage tower 510 and the displacement device 524 can be used for... Figure 6 and Figure 7 In an automated storage and retrieval system. Figure 11aThe storage tower 510 shown may also include wheels 515 configured to engage with the underside of the first track system 108, as... Figure 9 and Figure 10 As shown.

[0249] As an alternative to having a first set of wheels 514b and a second set of wheels 514c, the base 514a can be configured to accommodate a displacement device 524. The displacement device 524 can be configured to move the storage tower 510 in at least one of a first direction X and a second direction Y.

[0250] The displacement device 524 is movable along the drive surface and may include a lifting mechanism configured to lift the storage tower 510 away from the drive surface.

[0251] The displacement device 524 may include a first set of wheels and a second set of wheels. Both the first set of wheels 514b and the second set of wheels 514c are configured to allow the displacement device 524 (and therefore the storage tower 510) to move in the first direction X and the second direction Y when raised.

[0252] The first set of wheels and / or the second set of wheels of the displacement device 524 can be configured for raising and lowering, such that the first set of wheels and / or the second set of wheels can engage with the second track system 108' at any time.

[0253] The first set of wheels of the displacement device 524 can be arranged to engage with two adjacent tracks of the third set of tracks 110' on the second track system 108', and the second set of wheels of the displacement device 524 can be arranged to engage with two adjacent tracks of the fourth set of tracks 111' on the second track system 108'.

[0254] like Figure 11a As shown, the frame of the storage tower 510 may also include horizontal members 513. These horizontal members 513 may be provided in addition to the horizontal supports 512, or these horizontal members 513 may be used as horizontal supports.

[0255] Figure 11a and Figure 11b The cargo holder shown is a tray used to hold flower pots. These flower pots may contain plants, for example, if an automated storage and retrieval system is used in vertical agriculture.

[0256] Figure 11b yes Figure 11a A perspective view of the storage tower 510 and the displacement device 524, wherein the displacement device 524 is positioned adjacent to the storage tower 510.

[0257] exist Figure 11bIn this configuration, the base 514a is configured such that the displacement device 524 can enter the base 514a from both sides by moving along the first direction X. Alternatively, the base 514a can be configured such that the displacement device 524 can enter the base 514a from both sides by moving along the second direction Y.

[0258] Figure 12a yes Figure 11a First side view of the storage tower 510 and displacement device 524.

[0259] Figure 12b yes Figure 11a Second side view of storage tower 510 and displacement device 524.

[0260] Figure 13 This is a 3D diagram of a part of an automated storage and retrieval system. Figure 13 The image shows how the storage tower 510 collaborates with other remotely operated robots and vehicles.

[0261] This example demonstrates how the climbing robot 540 can climb through the column gaps 522 to reach any storage space in the storage tower 510. Figure 13 An exemplary climbing robot 540 utilizes the upright member 511 of the storage tower 510 for climbing. The climbing robot 240 can be configured to move along the second track system 108' in a similar manner to the storage tower 510. The climbing robot 540 can be configured to carry a cargo holder while moving along the second track system 108' and while climbing the column gaps 522. The climbing robot 540 can be configured to store and retrieve the cargo holder via a side opening 516 in the storage tower 510.

[0262] The upright member 511 of the storage tower 510 can be configured to guide the lifting devices 304 and 404 of the container transport vehicles 201, 301, and 401 when the lifting devices 304 and 404 move up and down in the column gap 522.

[0263] At least the target storage tower 510 will be positioned adjacent to the column gap 522, and thus the lifting devices 304, 404 can be guided. Typically, two or more storage towers 510 will be positioned adjacent to the column gap 522, and thus the lifting devices 304, 404 can be guided cooperatively.

[0264] Horizontal support 512 can be pivotally connected to storage tower 510, allowing it to move between a first position and a second position. Horizontal support 512 is then typically connected to either of the two upright members 511 or to one of the horizontal members 513. Horizontal support 512 is typically movable about a horizontal axis of rotation.

[0265] In the first position, the horizontal support 512 can be arranged to provide a storage location within the storage tower 510. The horizontal support 512 will then impede vertical movement of the cargo holder within the storage tower 510. In the first position, the horizontal support 512 can be supported by one or more horizontal members 513.

[0266] In the second position, the horizontal support 512 can be arranged so as not to impede the vertical movement of the cargo holder in the storage tower 510, thereby allowing the cargo holder to move to different vertical heights in the storage tower 510.

[0267] In the second position, when the lifting devices 304 and 404 of the container transport vehicles 201, 301, and 401 move through the column gap 522, the horizontal support 512 can guide the lifting device in the vertical direction to prevent the lifting devices 304 and 404 from hooking into one of the horizontal members 513 or one of the other horizontal supports 512 in the first position.

[0268] The second track system 108' can have a vertical height above the warehouse floor. For example, as Figure 13 As shown, this can be achieved by the upright member 102' that supports the second track system 108'.

[0269] By raising the second track system 108', the second drive surface can be positioned below the second track system 108'. The remotely operated transport vehicle 530 can move along the second drive surface in at least one of the first direction X and the second direction Y.

[0270] The transport vehicle 530 may be configured to receive the cargo holder from above through the access opening 112' in the second track system 108'. The transport vehicle 530 may receive the cargo holder, for example, from container handling vehicles 201, 301, 401 arranged on the first track system 108. The transport vehicle 530 may, for example, transport the cargo holder to container handling vehicles 201, 301, 401 arranged on the first track system 108. The first track system 108 and the second track system 108' are preferably vertically aligned, such as... Figure 13 As shown.

[0271] Figure 14 This is a perspective view of storage tower 510, whose occupied area corresponds to the area of ​​the two units 122, 122' of the track system 108, 108' (also referred to as a 1x2 occupied area). Using this type of storage tower 510, two cargo holders can be stored side-by-side in the same storage tower 510. Alternatively, this type of storage tower 510 can allow for the storage of larger cargo holders.

[0272] Storage tower 510 may have any occupied area; however, it is preferred that each storage tower 510 has an occupied area corresponding to the area of ​​n units 122, where n is an integer of 1 or greater.

[0273] Figure 15 This is a perspective view of an automated storage and retrieval system including the prior art storage grid 104. Both the storage grid 104 and the storage section 130 are located below the first track system 108, allowing the same container transport vehicle 301 to access both the storage grid 104 and the storage section 130.

[0274] Storage grid 104 includes storage columns 105, each located below the access opening 112 of the first track system 108. Multiple cargo holders may be arranged in stacks 107 within each storage column 105.

[0275] exist Figure 15 In the example shown, the cargo holder is a storage container 106 that can be stored in storage column 105 and storage tower 510.

[0276] The automated storage and retrieval system can be divided into two parts: the first part (storage grid 104) has storage columns 105, and the second part (storage section 130) has storage towers 510. These two parts can provide different advantages for the automated storage and retrieval system. Storage grid 104 can be used as a low-flow storage device, while storage section 130 can be used as a high-flow storage device.

[0277] Storage units. As an example, a high-flow storage unit can store goods holders containing already selected orders ready for shipment, while a low-flow storage unit can store goods holders containing product items to be selected. As another example, storage grid 104 and storage section 130 can be configured for different climate zones, such as temperature, humidity, and lighting. One section could, for example, be a cold storage unit.

[0278] In the foregoing description, various aspects of the transport vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for illustrative purposes to provide a thorough understanding of the systems and their operation. However, this description is not intended to be interpreted in a limiting sense. It will be apparent to those skilled in the art to which this subject matter belongs that various modifications and variations of the illustrative embodiments and other embodiments of the systems are considered to fall within the scope of the invention.

[0279] List of reference numerals

[0280] 1. Existing automated storage and retrieval systems

[0281] 14 Lifting device

[0282] 17. Base components

[0283] 18 Lifting Belt

[0284] 19 Telescopic components

[0285] 20 Clamping components

[0286] 100 Frame Structure

[0287] 102. Upright members of a frame structure

[0288] 102' The upright component of the second track system

[0289] 104 Storage Grid

[0290] 105 Storage Columns

[0291] 106 Storage Containers

[0292] Specific location of 106' storage container

[0293] 107 Stacking

[0294] 108 orbital system

[0295] 108' Second Orbit System

[0296] 110 The first set of parallel tracks oriented in the first direction (X)

[0297] 110' The third set of parallel orbits oriented along the first direction (X)

[0298] 111 The second set of parallel tracks oriented in the second direction (Y)

[0299] 111' The fourth set of parallel orbits oriented along the second direction (Y)

[0300] Access openings in the first orbital system 112

[0301] Access opening in the 112' second orbital system

[0302] 119 First Port Column

[0303] 120 Second Port Column

[0304] 122 Units of the First Orbital System

[0305] 122' Second Orbit System Unit

[0306] 130 storage section

[0307] 201 Container handling vehicles of the prior art

[0308] 201a Container Handling Vehicle 201 Vehicle Body

[0309] The first set of wheels in the first direction (X) of 201b

[0310] The second set of wheels in the second direction (Y) of 201c

[0311] 301 Existing Technology: Cantilever Container Handling Vehicle

[0312] 301a Container Handling Vehicle 301 Vehicle Body

[0313] The first set of wheels in the first direction (X) of 301b

[0314] The second set of wheels on the second direction (Y) of the 301c

[0315] 304 Lifting Device

[0316] 401 Container handling vehicles of the prior art

[0317] 401a Container Handling Vehicle 401 Vehicle Body

[0318] 401b First set of wheels in the first direction (X)

[0319] The second set of wheels on the second direction (Y) of 401c

[0320] 404 Lifting Device

[0321] 510 Storage Tower

[0322] 511 Vertical components of storage tower

[0323] 512 Cargo Holder Horizontal Support

[0324] 513 Horizontal components of the storage tower

[0325] 514a base

[0326] 514b First set of wheels in the first direction (X)

[0327] The second set of wheels on the second direction (Y) of 514c

[0328] 515 wheels

[0329] 516 Side opening

[0330] 517 Side Panel

[0331] 518 Top opening

[0332] 522 column gaps

[0333] 524 Displacement Device

[0334] 530 Remotely operated delivery vehicles

[0335] 540 Climbing Robot

[0336] X First Direction

[0337] Y Second Direction

[0338] Z Third Direction

[0339] ΔdV Vertical offset

Claims

1. An automatic storage and retrieval system, comprising: - Track system (108), comprising: a first set of parallel tracks (110), arranged in a horizontal plane (P H In and extending in the first direction (X); and a second set of parallel tracks (111), arranged in the horizontal plane (P) H The first set of tracks and the second set of tracks (110, 111) extend in a second direction (Y) orthogonal to the first direction (X), and in the horizontal plane (P). H A grid comprising multiple adjacent cells (122) is formed in the ), wherein each cell (122) includes an access opening (112); and - Storage section (130), located below or above the track system (108), wherein the storage location in the storage section (130) can be accessed through the access opening (112) of the track system (108); The storage section (130) includes: a plurality of storage towers (510) for storing cargo holders and configured to move in at least one of a first direction (X) and a second direction (Y), wherein each storage tower (510) is configured to allow a container handling vehicle to approach its cargo holder from at least one side; and at least one column gap (522) defined by the space between two or more of the plurality of storage towers (510), the at least one column gap (522) having an occupied area corresponding to the area of ​​at least one unit (122), wherein the at least one column gap (522) provides lateral access to cargo holders stored in storage towers adjacent to the column gap among the plurality of storage towers; and The at least one column gap (522) can be repositioned within the storage section (130) to be vertically aligned with different access openings (112) via the movement of at least one of the plurality of storage towers (510) in at least one of the first direction (X) and the second direction (Y).

2. The system according to claim 1, in, Each storage tower (510) has an occupied area corresponding to the area of ​​n units (122), where n is an integer of 1 or greater.

3. The system according to claim 1 or 2, in, Each storage tower (510) includes a frame consisting of upright members (511) and horizontal supports (512), the horizontal supports being vertically distributed with a vertical offset (ΔdV) to support cargo holders in the storage location.

4. The system according to claim 3, in, Each of the horizontal supports (512) is pivotally connected to the storage tower (510) and is movable between the following positions: - In a first position, the horizontal support (512) is arranged to impede vertical movement of the cargo retainer within the storage tower (510) to provide a storage location, and - Second position, in which the horizontal support (512) is arranged not to impede the vertical movement of the cargo holder in the storage tower (510), such that the cargo holder can be moved to different vertical heights in the storage tower (510).

5. The system according to claim 1 or 2, in, Each storage tower (510) includes a drive unit configured to drive the storage tower (510) in at least one of the first direction (X) and the second direction (Y), or The system includes a displacement device (524) configured to shift the storage tower (510) in at least one of the first direction (X) and the second direction (Y).

6. The system according to claim 1 or 2, in, The system also includes: - A control system (500) is configured to monitor and control the movement of the plurality of storage towers (510).

7. The system according to claim 1 or 2, in, Each storage tower (510) includes a side opening (516) and an adjustable stop for blocking the side opening (516), wherein the stop includes a vertical guide surface for guiding a lifting device (304) of a container transport vehicle over the side opening, and the stop is movable between the following positions: - In a first position, the vertical guide surface is positioned to guide the lifting device (304) and impede horizontal movement of the cargo retainer through the side opening (516), and - Second position, in which the vertical guide surface is positioned to not guide the lifting device (304) and to allow the storage container to move horizontally through the side opening (516).

8. The system according to claim 1 or 2, in, At least one storage tower (510) can be moved outside the storage section (130).

9. The system according to claim 1 or 2, in, The system is configured to provide a predetermined climate zone.

10. The system according to claim 1 or 2, in, The automated storage and retrieval system also includes: - Multiple cargo holders are arranged in the storage section (130).

11. The system according to claim 1 or 2, in, The storage section (130) is located below the track system (108); and The automatic storage and retrieval system further includes: - Container transport vehicle (201, 301, 401), comprising: lifting device (14, 304, 404) for lifting cargo holder; and drive device configured to drive the container transport vehicle (201, 301, 401) along the track system (108) in at least one of the first direction (X) and the second direction (Y).

12. The system according to claim 11, in, The lifting device (14) includes a telescopic component (19) for allowing the lifting device (14) to enter the storage tower (510) from the side.

13. The system according to claim 11, in, The track system (108) is a first track system (108), and the automatic storage and retrieval system also includes a second track system (108') arranged in a second horizontal plane below the storage section (130). The second orbital system (108') includes: A parallel third set of tracks (110') is vertically aligned with the parallel first set of tracks (110) of the first track system (108); and a parallel fourth set of tracks (111') is vertically aligned with the parallel second set of tracks (111) of the first track system (108); and Each storage tower (510) is configured to move along the second track system (108').

14. The system according to claim 13, in, The plurality of storage towers (510) include wheels (515) configured to engage with the underside of the first track system (108).

15. The system according to claim 14, in, The lower side of the first track system (108) is provided with guide rails for guiding the storage tower (510) in the first direction (X) and the second direction (Y).

16. The system according to claim 11, in, At least one storage tower (510) is configured to receive at least one cargo holder from above via an access opening (112).

17. The system according to any one of claims 13 to 15, in, The system also includes multiple stacks (107) of cargo holders arranged in storage columns (105), each of which is located below the access opening (112) of the first track system (108).

18. A method for storing and / or retrieving a cargo holder using an automated storage and retrieval system according to any one of the preceding claims, wherein, The storage section (130) is located below the track system (108); and wherein the automatic storage and retrieval system further includes: - Multiple cargo holders are arranged in the storage section (130); and - Container transport vehicle (201, 301, 401), comprising: a lifting device (304) for lifting a cargo holder; and a drive device (30lb, c) configured to drive the container transport vehicle (301) along the track system (108) in at least one of the first direction (X) and the second direction (Y). The method includes the following steps: - Move one or more storage towers (510) in a first direction (X) and / or a second direction (Y) to reposition the at least one column gap (522) to be vertically aligned with the first access opening (112) of the track system (108) and adjacent to the storage tower (510) where the target cargo holder is stored or where the target cargo holder will be stored. - Move the container transport vehicles (201, 301, 401) to the first access opening (112). - The lifting device (304) of the container transport vehicle (201, 301, 401) is lowered into the first column gap of the at least one column gap (522) via the first access opening (112); and -The target cargo holder is retrieved or stored from the side via the lifting device (304).

19. The method according to claim 18, in, The method further includes the following steps: - To move one or more storage towers (510) in a first direction (X) and / or a second direction (Y) to arrange the one or more storage towers (510) in the peripheral area of ​​the storage section (130); and - Collect one or more of the storage towers (510) to transport to another facility.

20. The method according to claim 18 or 19, wherein, The method further includes the following steps: - Move one or more storage towers (510) in a first direction (X) and / or a second direction (Y) to set the at least one column gap (522) in the peripheral area of ​​the storage section (130), thereby providing a passage from the outside of the storage section (130) to the storage section (130).

Images