Storage system with container and access frame
The storage system allows direct access to container contents through alternating stacks of containers and frames with side and bottom openings, improving user interaction and operational efficiency.
Patent Information
- Application Number
- CN202380032101.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-03-30
- Filing Date
- 2023-03-24
- Publication Date
- 2024-12-13
AI Technical Summary
Existing storage systems do not allow direct access to the contents of storage containers by personnel, limiting user interaction with stored items.
A storage system design featuring alternating stacks of storage containers and access frames with side and bottom openings, enabling direct access to items within the containers through these openings, facilitated by container handling vehicles that manage the arrangement and rearrangement of these stacks.
Enables direct access to storage container contents, enhancing user interaction and efficiency in accessing stored items without disrupting the overall system operation.
Smart Images
Figure CN119137052A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a storage system for making product items stored in a storage container accessible to a person. The present invention also relates to a method for making product items stored in a storage container accessible to a person. Background Art
[0002] Figure 1 A prior art automatic storage and retrieval system 1 having a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on such a system 1 are disclosed.
[0003] The frame structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also called boxes) are stacked one on top of the other to form stacks 107. The members 102 may typically be made of metal, such as extruded aluminum profiles.
[0004] The frame structure 100 of the automatic storage and retrieval system 1 includes a rail system 108 arranged across the top of the frame structure 100, and a plurality of container handling vehicles 201, 301, 401 can run on the rail system 108 to lift storage containers 106 from the storage row 105 and lower the storage containers 106 into the storage row, and also transport the storage containers 106 over the storage row 105. The rail system 108 includes a first set of parallel rails 110 and a second set of parallel rails 111, wherein the first set of parallel rails is arranged to guide the container handling vehicles 201, 301, 401 to move in a first direction X across the top of the frame structure 100, and the second set of parallel rails is arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. Containers 106 stored in the row 105 are accessed by a container handling vehicle 201, 301, 401 through an access opening 112 in the rail system 108. The container handling vehicle 201, 301, 401 can move laterally over the storage row 105, ie in a plane parallel to the horizontal XY plane.
[0005] Upright members 102 of frame structure 100 may be used to guide storage containers during lifting and lowering of containers from and into row 105. Stack 107 of containers 106 is generally self-supporting.
[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c that enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. Figure 2 , Figure 3 and Figure 4 , both wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails in the first set of rails 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails in the second set of rails 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the corresponding set of rails 110, 111 at any time.
[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertical transportation of storage containers 106, for example, lifting storage containers 106 from storage columns 105 and lowering storage containers 106 into storage columns. The lifting device includes one or more clamping / engaging devices adapted to engage with storage containers 106, and the clamping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the clamping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Figure 3 and Figure 4 In FIG. 3 , parts of the gripping device of the container handling vehicles 301 , 401 are shown with reference numerals 304 , 404 . Figure 2 In FIG. 2 , the gripping device of the container handling device 201 is located within the vehicle body 201 a and is therefore not shown.
[0008] Conventionally and for the purposes of this application, Z=1 identifies the uppermost level below rails 110, 111 that is available for storage of containers, i.e., the level immediately below rail system 108, Z=2 identifies the second level below rail system 108, Z=3 identifies the third level, etc. Figure 1 In the exemplary prior art disclosed in , Z=8 identifies the bottommost layer of the storage container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using Figure 1 The Cartesian coordinate system X, Y, Z shown in Figure 1The storage container identified as 106' in FIG. 1 occupies the storage position at X=17, Y=1, Z=6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer at Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, Figure 1 The storage containers shown in FIG. 1 extending above the rail system 108 are also referred to as being arranged in the Z=0 layer.
[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage positions within the grid are referred to as storage units. Each storage column can be identified by a position in the X-direction and the Y-direction, and each storage unit can be identified by a container number in the X-direction, the Y-direction, and the Z-direction.
[0010] Each of the prior art container handling vehicles 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 when transporting the storage container 106 on the rail system 108. The storage space may include a cavity arranged inside the vehicle body 201a, 401a, such as Figure 2 and Figure 4 As shown in and described, for example, in WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.
[0011] Figure 3 An alternative configuration of a container handling vehicle 301 having a cantilever structure is shown. Such a vehicle is described in detail in, for example, NO 317,366, the contents of which are also incorporated herein by reference.
[0012] Figure 2 The footprint of the chamber container handling vehicle 201 shown in the figure may cover an area having dimensions in the X-direction and the Y-direction substantially equal to the lateral extent of the storage column 105, for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".
[0013] Alternatively, the footprint of the cavity container handling vehicle 401 may be larger than the lateral area defined by the storage row 105, such as Figure 1 and Figure 4 As shown in, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.
[0014] The guide rail system 108 generally includes a guide rail with a groove, wherein the wheels of the vehicle travel in the groove. Alternatively, the guide rail may include an element extending upward, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and the elements extending upward are collectively referred to as tracks. Each guide rail may include one track, or each guide rail 110, 111 may include two parallel tracks. In other guide rail systems 108, each guide rail in one direction (e.g., X direction) may include one track, and each guide rail in another vertical direction (e.g., Y direction) may include two tracks. Each guide rail 110, 111 may also include two track members fastened together, each track member providing one track in a pair of tracks provided by each guide rail.
[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a guide rail system 108 comprising guide rails and parallel rails in both the X-direction and the Y-direction.
[0016] In the frame structure 100, most of the rows 105 are storage rows 105, i.e. rows 105 in which storage containers 106 are stored in the form of stacks 107. However, some of the rows 105 may have other purposes. Figure 1 In the embodiment of the present invention, the columns 119 and 120 are such special columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, so that the storage containers can be transported to the access station (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100, or the storage containers can be moved out of or into the frame structure 100. In the art, such a position is generally referred to as a "port", and the column where the port is located can be referred to as a "port column" 119, 120. The transportation to the access station can be in any direction, that is, horizontal, inclined and / or vertical. For example, the storage container 106 can be placed in a random or special column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port column 119, 120 for further transportation to the access station. The transportation from the port to the access station may need to move along multiple different directions by means such as a delivery vehicle, a trolley or other transportation route. Note that the term "inclined" refers to the transport of storage container 106 with a general transport orientation somewhere between horizontal and vertical.
[0017] exist Figure 1 In the embodiment, the first port column 119 can be, for example, a dedicated unloading port column, wherein the container handling vehicles 201, 301, 401 can unload the transported storage containers 106 to the access station or transfer station, and the second port column 120 can be a dedicated picking port column, wherein the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or transfer station.
[0018] The access station may typically be a pick-up station or a staging station at which the product items are removed from or positioned in the storage container 106. In the pick-up station or staging station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned again to the frame structure 100 after access. The port may also be used to transfer the storage container 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] A conveyor system including conveyors is typically employed to transport storage containers between the port rows 119, 120 and the access station.
[0020] If the port rows 119, 120 and the access station are located at different heights, the conveyor system may include a lifting device with a vertical component for vertically transporting the storage containers 106 between the port rows 119, 120 and the access station.
[0021] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.
[0022] When accessing data stored in Figure 1When a storage container 106 in one of the columns 105 disclosed in the embodiment of the present invention is removed, one of the plurality of container handling vehicles 201, 301, 401 is instructed to take out the target storage container from the position of the target storage container 106 and to transport the target storage container to the unloading port column 119. The operation involves moving the container handling vehicle 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, taking out the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep in the stack 107, that is, one or more other storage containers 106 are located above the target storage container 106, the operation also involves 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") may be performed using the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port row 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 that are dedicated to the task of temporarily removing storage containers 106 from the storage row 105. After the target storage container 106 has been removed from the storage row 105, the temporarily removed storage container 106 may be relocated to the original storage row 105. However, the removed storage container 106 may alternatively be relocated to other storage rows 105.
[0023] When a storage container 106 is to be stored in one row 105, one of the plurality of container handling vehicles 201, 301, 401 is instructed to pick up a storage container 106 from the pick-up port row 120 and transport the storage container to a position above the storage row 105 where the storage container is stored. After removing any storage container 106 located at or above the target position within the stack 107, the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired position. The removed storage container 106 can then be lowered back into the storage row 105 or repositioned to another storage row 105.
[0024] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401 so that the required storage containers 106 can be delivered to the required locations at the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.
[0025] NO344898 describes a storage system comprising a pick-up station and / or a supply station having a drawer arrangement, wherein the drawer arrangement comprises a storage container having compartments for temporarily storing product items picked up from or to be supplied to the storage system. The drawer arrangement is configured to be in a closed state or an open state; wherein in the closed state, a person is prevented from accessing the compartment, and wherein in the open state, a person is allowed to access the compartment. Confirmation of the identity of the person may be required to open the drawer.
[0026] It is an object of the present invention to enable a person to access the contents of one or more storage containers.
[0027] More specifically, it is an object of the present invention to enable a person to directly access the contents of one or more storage containers. Summary of the invention
[0028] The present invention relates to a storage system, comprising:
[0029] - a first structure comprising upright members defining volumes of columns disposed between the upright members;
[0030] - a rail system disposed on top of the upright members; and
[0031] - a plurality of storage containers arranged in a row in a stacked manner, each storage container having a top opening;
[0032] wherein one or more stacks include a plurality of access frames, each access frame being located between storage containers within the stack, wherein the bottom of each access frame rests on a lower storage container and the top of the access frame supports an upper storage container, each access frame being configured to have a side opening and a bottom opening so that a person can reach items stored in a lower storage container by reaching through the side opening, through the bottom opening of the access frame and through the top opening of the lower storage container, wherein the plurality of access frames are arranged in an alternating manner with successive storage containers, each storage container being separated from an upper storage container by an access frame to provide a group of accessible storage containers in the stack to which each lower storage container is accessible.
[0033] Thus, a person can pass his / her hands through the side openings, bottom opening, and top opening and pick up product items directly from the storage container.
[0034] In one aspect, the storage system includes a container handling vehicle operating on a rail system, wherein the container handling vehicle includes a lifting device configured to vertically transport storage containers and access frames within a storage row, and the container handling vehicle is used to horizontally transport storage containers and access frames above the rail system.
[0035] Thus, storage containers that are granted access can be automatically arranged and rearranged by the container handling vehicle.
[0036] In one aspect, the storage container and the frame each include a connecting joint on an upper surface, and wherein a lifting device of the container handling vehicle includes a clamp configured to engage with the connecting joint so that the container handling vehicle can use the lifting device to lift either the storage container and the frame.
[0037] In one aspect, the access frame includes a rectangular top portion and legs extending downwardly from the rectangular top portion, wherein the top portion defines an upper stacking interface to enable storage containers to be stacked over the access frame.
[0038] In one aspect, the frame includes four legs, each leg extending downwardly from a corner of a rectangular top portion.
[0039] In one aspect, the side opening is defined by an area between two of the plurality of downwardly extending legs and one side of the rectangular top portion.
[0040] In one aspect, the bottom opening is defined by the area between the lower ends of the downwardly extending legs.
[0041] In one aspect, the access frame includes a cross member connected between lower ends of at least some of the plurality of downwardly extending legs, wherein the bottom opening is defined by the lower ends of the downwardly extending legs and the cross member together.
[0042] In one aspect, the access frame includes three cross members arranged in a U-shaped configuration with an open end of the U facing the side opening.
[0043] Therefore, since there is no cross member at the side opening, the upper edge of the storage container forms the lower part of the side opening. This will increase the area of the side opening without increasing the height of the access frame.
[0044] In one aspect, the lower ends of the downwardly extending legs together with the cross member form a rectangular bottom portion.
[0045] In one aspect, the lower ends of the downwardly extending legs define a lower stacking engagement to enable the access frame to be stacked over a storage container or other access frame.
[0046] In one aspect, the access frames and storage containers are stacked alternately in one or more stacks (optionally in all stacks) along one side of the volume defined by the structure.
[0047] In one aspect, the side openings of the access frames in the first row of stacks are aligned with each other in the horizontal direction.
[0048] In one aspect, the side openings of the access frames in the first row of the stack are also vertically aligned with each other when the access frames and containers are stacked on top of each other.
[0049] In one aspect, the side openings of the access frames in the first row of stacks face the access area accessible to personnel.
[0050] In one aspect, each storage container includes a base and four side portions extending upward from the base, wherein the top opening is defined by upper edges of the four side portions.
[0051] In one aspect, one side of the storage container has a lower height than the other sides, and wherein the one side of the storage container is aligned with the side opening when the access frame is stacked over the storage container.
[0052] Therefore, the area of the side opening can be further increased without increasing the height of the access frame.
[0053] In one aspect, the one side of the storage container faces the access area.
[0054] In one aspect, the one side may be referred to as a front side, a personnel-facing side, or a public-area-facing side.
[0055] In one aspect, the side openings of the access frames in the second row of the stack are parallel to the side openings of the access frames in the first row of the stack, wherein the first row is adjacent to the second row, and wherein the side openings of the access frames in the first row are opposite to the side openings of the access frames in the second row.
[0056] In one aspect, the side openings of the access frames in the second row of stacks face the access area to allow access by personnel.
[0057] The storage containers in the first and second rows and the access frames thus form a shelf, from which product items can be picked directly from the corresponding storage containers via the access frames.
[0058] In one aspect, the access frame includes at least one lighting element to illuminate the interior of the storage container.
[0059] In one aspect, the storage system includes a barrier for covering one stack of storage containers and access frames during raising a storage container or an access frame from at least one stack of storage containers and access frames and / or during lowering a storage container or an access frame into at least one stack of storage containers and access frames.
[0060] Thus, during the vertical movement of the storage containers and the access frame, the barrier protects personnel from accessing the storage containers and the access frame.Preferably, the barrier extends over an area larger than the one stack.
[0061] In one aspect, a storage system includes a control system for controlling a container handling vehicle.
[0062] In one aspect, a storage system comprises:
[0063] - a second structure comprising upright members defining volumes of columns disposed between the upright members;
[0064] - multiple storage containers, stacked directly on top of each other in a row;
[0065] wherein the second structure is arranged adjacent to the first structure;
[0066] Therein, the guide rail system is arranged on the top of the upright member.
[0067] The second structure may be a frame structure of a storage system of the prior art. In this frame structure, storage containers are stacked directly on top of each other in the form of a stack, and therefore, personnel cannot approach the contents of the storage containers stacked in the form of a stack.
[0068] In one aspect, the control system of the storage system is integrated with or is part of the control system of the automated storage and retrieval system.
[0069] The invention also relates to a method for making product items stored in a storage container accessible to a person, wherein the method comprises the following steps:
[0070] - stacking first storage containers in columns defined by upright members of the first structure;
[0071] - stacking the first access frame directly above the first storage container;
[0072] - stacking a second storage container directly on top of the first access frame;
[0073] - stacking the second access frame directly on top of the second storage container;
[0074] - Enables a person to access items stored in a lower storage container by reaching through the side opening, through the bottom opening of the access frame and through the top opening of the lower storage container.
[0075] In one aspect, the stacking step comprises the following steps:
[0076] - Control the horizontal movement of container handling vehicles on the rail system fixed above the uprights;
[0077] - Control the lifting device of the container handling vehicle to stack the storage containers and access frames into the first column.
[0078] In one aspect, the method further comprises the steps of:
[0079] - Controlling the container handling vehicles to remove storage containers and / or storage and retrieval frames which are stored in the form of stacks in the rows of the second structure located below the rail system.
[0080] In one aspect, a group of storage containers in a stack may include 2 to 12 storage containers, preferably 3 to 8 storage containers, and more preferably 3 to 6 storage containers.
[0081] In accordance with the foregoing, a storage system is implemented in which access to the contents of a storage container is achieved by moving personnel along a stack of storage containers and access frames. The stacks and access frames can be automatically arranged and rearranged by container handling vehicles. A first structure of the storage system can be part of a micro-distribution center or a warehouse. A second structure of the storage system can be a storage location from which containers containing product items are moved to the first structure. When a storage container in the first structure is empty or nearly empty, the storage container is returned to the second structure or a supply station. Personnel generally cannot access containers stacked in the second structure. BRIEF DESCRIPTION OF THE DRAWINGS
[0082] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention which will now be described by way of example only, in which:
[0083] Figure 1 It is a stereogram of the framework structure of the automatic storage and retrieval system of the prior art.
[0084] Figure 2 is a perspective view of a prior art container handling vehicle having an interiorly disposed cavity for carrying storage containers therein.
[0085] Figure 3is a perspective view of a prior art container handling vehicle having a cantilever arm for carrying a storage container underneath.
[0086] Figure 4 is a perspective view of a prior art container handling vehicle seen from below, the container handling vehicle having an internally arranged cavity for carrying storage containers therein.
[0087] Figure 5 A storage and retrieval system adjacent to an automated storage and retrieval system is shown, wherein a guide rail system of the storage and retrieval system is integral with or is a part of a guide rail system of the automated storage and retrieval system.
[0088] Figure 6 A perspective view of a prior art storage container is shown adjacent to an access frame.
[0089] Figure 7 A side perspective view of a person standing next to the access system is shown.
[0090] Figure 8a A top perspective view of a person standing next to the access system is shown.
[0091] Figure 8b yes Figure 8a Enlarged view of the dashed box A in FIG.
[0092] Figures 9a to 9c An alternative implementation of an access framework is shown.
[0093] Fig.10 An alternative embodiment of the storage container is shown. Fig.9c The access frames in the storage container can be stacked on the storage container.
[0094] Fig.11 Shown is the manner in which a person uses their hands to pick up product items from a storage container through an access frame.
[0095] Fig.12 A storage and retrieval station is shown, wherein a row containing storage containers and storage and retrieval frames stacked in the form of stacks is located next to the storage and retrieval station. DETAILED DESCRIPTION
[0096] In the following, embodiments of the present invention will be discussed in more detail with reference to the attached drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.
[0097] Reference now Figure 5 In this figure, Figure 5The leftmost side of the figure shows an automatic storage and retrieval system 1. The automatic storage and retrieval system 1 can be an automatic storage and retrieval system of the prior art type described above, that is, the automatic storage and retrieval system includes a frame structure 100, the frame structure having a plurality of upright members 102 and storage compartments arranged between the members 102 in the form of storage columns 105, wherein storage containers 106 can be stacked in the form of stacks 107 in the storage columns 105.
[0098] The frame structure 100 may be of any size. In particular, it should be understood that the frame structure may be larger than Figure 1 The frame structures disclosed in are wider and / or longer and / or deeper. For example, the frame structure 100 can have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.
[0099] exist Figure 5 On the right side of FIG. 1 , a storage system 2 is shown, which is represented by a dotted rectangle. Figure 7 and Figure 8a is shown in more detail in Figure 5 In FIG. 1 , storage system 2 is shown as including a first structure 10 including upright members 12 defining volumes of columns 15 disposed between upright members 12. Within columns 15, storage containers may be stacked, as will be described in more detail below.
[0100] The storage system 2 also includes a rail system 18 disposed on top of the upright members 12. Figure 5 As shown in , the rail system 18 is also provided on top of the frame structure 100. The storage system 2 also includes one or more container handling vehicles 201 running on the rail system 18. The container handling vehicle 201 can be a container handling vehicle of the prior art type, i.e., vehicles 201, 301, and / or 401.
[0101] The first structure 10 is similar in many respects to the prior art frame structure 100, wherein the type of upright members 12 may be the same as the type of upright members 102, and wherein the dimensions of the columns 15 are the same as the dimensions of the storage columns 105. However, there are some differences, which will be described in more detail below.
[0102] Reference now Figure 6 and Fig.10 , two embodiments of storage containers 6, 106 are shown in these two figures. Both containers 6, 106 are shown to include a base 6b, 106b and four side portions 6s, 106s extending upward from the base 6b, 106b, wherein the top opening 6a, 106a is defined by the upper edges of the four side portions. Figure 6 Indicated by a dotted rectangle.
[0103] Figure 6 The storage container 106 and Fig.10 The main difference between the storage containers 6 is that Fig.10 A height H6sf of one side portion 6sf of the storage container 6 is lower than a height H6s of the other side portion 6s.
[0104] exist Figure 6 , an access frame 20.4 is also shown. The access frame 20 comprises a rectangular top portion 21 and legs 22 extending downwardly from the rectangular top portion 21. In addition, the access frame 20 comprises a cross member 23 connected between the lower ends of the legs 22 extending downwardly. Figure 6 In the embodiment in FIG. 2 , there are four cross members 23 .
[0105] The access frame 20 includes a side opening 20a (at Figure 6 The side opening 20a is defined by the space between the top frame 21, two legs 22 and a cross member 23. The access frame 20 also includes a bottom opening 20b (indicated by a dashed rectangle in FIG. 1 ). Figure 6 The bottom opening 20 b is defined by the space between the lower ends of the legs 22 extending downward and the cross member 23 .
[0106] The storage container 6, the storage container 106 and the access frame 20 include a connecting joint CI arranged on their respective upper surfaces, wherein the lifting device 403 of the container handling vehicle 201, 301, 401 includes a clamping member 304, 404 configured to engage with the connecting joint CI, so that the container handling vehicle 201, 301, 401 can use the lifting device 403 to lift the storage container 6, the storage container 106 or the access frame 20.
[0107] The top portion 21 of the access frame 20 defines an upper stacking interface USI so that a storage container 6, 106 or other access frames 20 can be stacked above the access frame 20. The lower ends of the downwardly extending legs 22 and the cross member 23 together define a lower stacking interface LSI so that the access frame 20 can be stacked above the storage container 6, 106 or other access frame 20.
[0108] It should be noted that the storage container 6, 106 also comprises such an upper stacking joint USI and a lower stacking joint LSI. Therefore, the container 6, 106 and the access frame 20 can be stacked on top of each other in any desired order.
[0109] Reference now Figure 7. The figure shows that the storage containers 106 and the access frames 20 are stacked in the form of a stack 17, wherein, in each stack, each access frame 20 is located between two storage containers 106. Therefore, the bottom of each access frame 20 (such as the lower stacking joint LSI above) rests on the storage containers of the lower layer, and the top of the access frame 20 (such as the upper stacking joint USI) supports the storage containers 106 of the upper layer. In addition, the side opening 20a of each access frame 20 faces the access area AA where the person P is located. It should be noted that when one access frame 20 is stacked above one container 106 as described above, the bottom opening 20b of each access frame 20 is aligned with the top opening 106a of each container, respectively. Therefore, as Fig.11 As schematically shown in FIG. 1 , a person P can access the items 80 stored in the lower container 106 by extending his / her hand through the bottom opening 20 b of the access frame 20 through the side opening 20 a and through the top opening 106 a of the lower storage container 106 .
[0110] A plurality of access frames 20 are arranged in an alternating manner with successive storage containers 106, each storage container 106 being separated from the storage container above by an access frame 20. Thus, the accessible storage containers in each stack are realized as a group S (in Figure 7 ), that is, being able to access each lower storage container in the group.
[0111] exist Figure 7 , the group S of accessible storage containers in each stack comprises eight storage containers (i.e., there are eight storage containers, each of which has an access frame 20 stacked on top of itself). Figure 7 In the example above, person P may need a platform (stepladder, ladder, etc.) to be able to access the uppermost storage container.
[0112] Therefore, depending on the height H106 of the storage containers and the height H20 of the storage and access frame 20 , the group S of storage containers 106 in a stack may include 2 to 12 storage containers, preferably 3 to 8 storage containers.
[0113] exist Figure 8a and Figure 8b In the embodiment shown in FIG. 1 , a group S of storage containers 106 in a stack comprises 12 storage containers.
[0114] Thus, person P may pass his / her hands through side opening 20 a , bottom opening 20 b , and top opening 106 a and pick up product item 80 directly from storage container 106 .
[0115] It should also be noted that Figure 7In the embodiment, the side openings 20a of the access frames 20 in each stack are aligned with each other in the vertical direction (ie, the Z direction). It should also be noted that the side openings 20a of the access frames 20 face the access area AA.
[0116] Reference now Figure 8a and Figure 8b . These two figures show two rows R1, R2 of stacks 17. The side openings 20a of the access frames 20 in the first row R1 stacks 17 are aligned with each other in the horizontal direction X. The side openings 20a of the access frames 20 in the second row R2 stacks 17 are also aligned with each other in the horizontal direction X. Therefore, the side openings 20a of the access frames 20 in the second row R2 stacks 17 are parallel to the side openings 20a of the access frames 20 in the first row R1 stacks 17. In addition, the first row R2 is adjacent to the second row R2, and the side openings 20a of the access frames 20 in the first row R1 are opposite to the side openings 20a of the access frames 20 in the second row R2.
[0117] The first row R1 of stacks 17 and the second row R2 of stacks 17 form a shelf-like structure from which the person P can remove the desired product items 80 .
[0118] Thus, a person P can approach the storage containers 106 in the first row R1 stack 17 from one side of the rack structure, while a person P can approach the storage containers in the second row R2 stack 17 from the other side of the rack structure. Figure 8b As shown in FIG, the access area AA extends to both sides of the two rows R1 and R2 of stacks 17. Preferably, as Figure 8a As shown in FIG. , there are a plurality of such rack-like structures, each having two rows R1, R2 of stacks 17 arranged parallel to each other. Figure 8a In FIG. 1 , the width of the access area WPA is shown to correspond to the width of three columns. Figure 8a In , the width is measured in the Y direction (that is, perpendicular to the X direction).
[0119] Storage system 2 Figure 8a and Figure 8b It is shown that it can also include multiple floors (such as represented by floor F), which are also represented as access areas AA.
[0120] Reference now Figure 7 The system 2 is shown in this figure as comprising electronic tags LBL fixed to the upright members 12. These electronic tags LBL can display information about the products in the storage containers adjacent thereto.
[0121] Reference now Figure 7. In this figure the storage system 2 comprises a barrier B for covering one stack 17 during the raising of a storage container 6, 106 or an access frame 20 from at least one of the stacks 17 of storage containers 6, 106 and access frames 20 and / or during the lowering of a storage container 6, 106 or an access frame 20 into at least one of the stacks 17 of storage containers and access frames. Thus, during the vertical movement of the storage containers and access frames, the barrier protects personnel from access to the storage containers and access frames. The barrier can be a rolling grille or other type of barrier. The barrier B is typically fixed below the rail system 18 or to the upright member 12.
[0122] Storage system operation
[0123] The operation of the storage system 2 will now be described. Figure 5 In FIG. 1 , the storage system 2 is shown to include a control system 50 for controlling a container handling vehicle to control the movement of a desired storage container from the structure 100 to the structure 10 and to control the movement of the access frame 20 to the corresponding storage container in the structure 10. The control system 50 can also be configured to control the barrier B when the storage container and the access frame are taken out of the structure 10 and / or delivered to the structure. The control system 50 can also be configured to update the label LBL according to the contents of the storage container at different locations within the structure 10. In general, the control system 50 is similar to the control system 100 of the prior art system 1 (in FIG. 1 ). Figure 1 ) is integrated or configured to communicate with a control system of a prior art system.
[0124] In the present example, a storage container 106 of a prior art type may be used. However, a storage container 106 of a prior art type may also be used. Fig.10 The storage container 6 shown in FIG.
[0125] In an embodiment of the invention, the access area AA is a warehouse accessible to customers. Customers can then walk between the rows R1, R2 and take out products 80 from storage containers via the access frame 20. However, the access area AA can also be a restricted area that can only be accessed by personnel employed to perform the picking operation.
[0126] Initially, it is assumed that the first structure 10 is empty, ie no storage containers or access frames are stored in the rows 15 of the first structure 10. This may be necessary for cleaning purposes etc. Preferably, the first structure is empty at night after the access area AA is closed.
[0127] The control system 50 is then configured to control the container handling vehicle to move the first storage container 106 out of the second structure 100 and to stack (i.e., insert) the first storage container in one of the storage columns 15 in the first structure 10. The container handling vehicle or another container handling vehicle is then controlled to stack the first access frame 20 directly above the first storage container 106. In the next step, the container handling vehicle or another container handling vehicle is controlled to stack the second storage container 106 directly above the first access frame 20. In the next step, the container handling vehicle or another container handling vehicle is controlled to stack the second access frame 20 directly above the second storage container 106.
[0128] The above actions are repeated for this stack until the storage containers and access frames reach the desired height, and the above actions are repeated for other stacks in the first structure 10 .
[0129] Because the control system 500 and / or control system 50 is aware of the contents of each storage container, containers containing the same category of products can be stacked on top of each other or in stacks adjacent to each other in the same row of stacks.
[0130] like Fig.11 As schematically shown in FIG. 1 , the person P can now reach the items 80 stored in the lower storage container 106 by reaching through the side opening 20 a through the bottom opening 20 b of the access frame 20 and through the top opening 106 a of the lower storage container 106 .
[0131] By monitoring the quantity of product items taken out from the corresponding storage container, it can be determined whether some storage containers are empty or nearly empty. In this case, it can be determined that the empty or nearly empty storage container should be replaced with a full or nearly full storage container. If the storage container is empty, it is preferably replaced by removing the empty storage container and moving the full or nearly full storage container from the frame structure 100 to the first structure 10 (or moving to the same position as the empty or nearly empty storage container, or moving to another position in the first structure 10). If the storage container is nearly empty, the storage container can be moved to the supply station for replenishment.
[0132] This can be done during the warehouse's opening hours. In this case, barrier B should be applied to the structure 10 to prevent injuries caused by the movement of containers and access frames within the storage row 15. Alternatively, this can be done after the warehouse's opening hours. Since no personnel are present in this case, barrier B is not required.
[0133] Alternative Implementation
[0134] Some other alternative embodiments will now be described.
[0135] First, it should be noted that the access frame 20 can be considered to have two or four side openings, depending on how the columns and stacks are arranged in the first structure 10. Figure 6 The access frame shown in FIG. 4 can be used for both rows R1 and R2 without the access frame needing to be pivoted 180°.
[0136] Reference now Figure 9a , an alternative embodiment of the access frame 20 is disclosed in this figure. In this figure, the access frame 20 includes a top portion 21 and four legs 22, each leg 22 extending downwardly from a corner of the rectangular top portion 21. In this figure, only three cross members 23 are arranged in a U-shaped configuration, the open end of the U-shaped configuration facing the side opening 20a. Therefore, due to the absence of cross members 23 at the side opening 20a, the upper edge of the storage container forms the lower part of the side opening 20a. This will increase the area of the side opening 20a without increasing the height H20 of the access frame 20.
[0137] Reference now Figure 9b In this figure, the access frame 20 comprises a top portion 21 and four legs 22, each leg 22 protruding downwardly from a corner of the rectangular top portion 21. In this figure, there are only two cross members 23. It should be noted that this embodiment has the same advantages when used for the first row R1 as when used for the second row R2 in terms of the size of the side openings.
[0138] Reference now Fig.9c In this figure, the access frame 20 includes four legs 22, each leg 22 extending downwardly from a corner of a rectangular top portion 21. In this figure, the cross member 23 is absent.
[0139] It should be noted that Figure 6 In the embodiment of FIG. 1 , the lower portion of the access frame 20 may include a rectangular bottom portion secured to a rectangular top portion by legs 22. Similarly, in Fig.9c In the embodiment, the bottom opening 20b is considered to be defined by the lower ends of the downwardly extending legs 22 and the cross member 23, because the side openings 20a and the bottom opening 20b of the access frame 20 are similar to those of the access frame 20. Figure 6 The side openings and bottom openings of the embodiment in are the same.
[0140] Therefore, the area of the side opening 20 a can be further increased without increasing the height H20 of the access frame 20 .
[0141] Reference now Fig.10 In this figure, the storage container 6 is shown as having side 6sf lower than the other side 6s as described above. The storage container is preferably Figure 9a , Figure 9b or Fig.9c The storage container 6 may be used together with the access frame in the row (ie without the lower part of the side opening 20a defined by the cross member 23) to increase the height of the side opening. The side portion 6sf preferably faces the access area AA. In order to be used for both rows R1 and R2, the storage container 6 may include two such lower side portions 6sf.
[0142] exist Figure 9b In the embodiment shown in , the storage container includes at least one lighting element 25 to illuminate the interior of the storage container. All embodiments of the storage container can include such a lighting element 25. The lighting element is preferably battery powered.
[0143] Reference now Fig.12 . The figure shows two access stations 60 and personnel operating each access station 60. In this example, the personnel perform a picking operation. A plurality of storage containers 106 and access frames 20 stacked in the form of stacks 17 in columns 15 within the first structure 10 face the access stations 60. Thus, product items 80 that are frequently picked up can be located in storage containers 106 in the stacks 17, while other product items 80 are picked up from storage containers that are transported to and from the access stations. Fig.12 As shown in FIG. 1 , four stacks 17 are located on each side of the access station 60 , ie eight stacks in two rows R1 , R2 facing the access station 60 .
[0144] In the foregoing description, various aspects of the storage system according to the present invention have been described with reference to illustrative embodiments. For illustrative purposes, specific numbers, systems, and configurations are set forth in order to provide a comprehensive understanding of the system and its operating principles. However, this description is not intended to be interpreted in a limiting sense. Multiple modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art to which the disclosed subject matter belongs are considered to be within the scope of the present invention.
[0145] Reference number list
[0146] 1. Automatic storage and retrieval system of the prior art
[0147] 6 Storage Containers
[0148] 6a Top opening
[0149] 6b Base
[0150] 6s side
[0151] 6sf front side
[0152] 10. First Structure
[0153] 12 Upright members
[0154] 15 columns
[0155] 17 Stacking
[0156] 18 Rail system
[0157] 20 Access Framework
[0158] 20a Side opening
[0159] 20b Bottom opening
[0160] 21 Top section
[0161] 22 Legs
[0162] 23 Transverse member
[0163] 25 Lighting
[0164] 50 Control System
[0165] 60 Access Station
[0166] 80 Product Items
[0167] 100 Frame structure
[0168] 102 Vertical members of frame structure
[0169] 104 Storage Grid
[0170] 105 Storage Rows
[0171] 106 Storage Container
[0172] 106' Specific location of storage container
[0173] 107 Stacking
[0174] 108 Rail System
[0175] 110 Parallel guides in the first direction (x)
[0176] 112 Access opening
[0177] 119 First port column
[0178] 120 Second port column
[0179] 201 Container handling vehicle of the prior art
[0180] 201a Body of container transport vehicle 201
[0181] 201b Driving device / wheel arrangement / first set of wheels in first direction (x)
[0182] 201c Drive device / wheel arrangement / second set of wheels in second direction (y)
[0183] 301 Prior art cantilever container handling vehicle
[0184] 301a Body of the container transport vehicle 301
[0185] 301b Driving device in first direction (x) / first set of wheels
[0186] 301c Driving device in the second direction (y) / second set of wheels
[0187] 304 Clamping device
[0188] 401 Container handling vehicle of the prior art
[0189] 401a Body of container transport vehicle 401
[0190] 401b Driving device in first direction (x) / first set of wheels
[0191] 401c Driving device in the second direction (y) / second set of wheels
[0192] 404 Clamping device
[0193] 404a Lifting belt
[0194] 404b Clamp
[0195] 404c Guide pin
[0196] 404d lifting frame
[0197] 500 Control System
[0198] AA Access Area
[0199] CI connection joint
[0200] LBL electronic label
[0201] LSI lower stacking joint
[0202] R1 First Row
[0203] R2 2nd row
[0204] USI upper stacking joint
[0205] WPA Width
[0206] X first direction
[0207] Y Second direction
[0208] Z third direction
Claims
1. A storage system (2), comprising: - a first structure (10) comprising upright members (12) defining volumes of columns (15) arranged between the upright members (12); - a rail system (18) disposed on top of the upright member (12); and - a plurality of storage containers (6; 106) arranged in the row (15) in the form of a stack (17), each storage container (6; 106) having a top opening (6a, 106a); One or more of the stacks (17) include a plurality of access frames (20), each access frame (20) being located between storage containers (6; 106) within the stack, wherein the bottom of each access frame (20) rests on the storage containers (6; 106) of the lower layer and the top of the access frame supports the storage containers (6; 106) of the upper layer, and each access frame (20) is configured to be provided with a side opening (20a) and a bottom opening (20b) so that a person (P) can pass through the access frame by passing through the side opening (20a). The bottom opening (20b) of the frame (20) is accessible through the top opening (6a, 106a) of the lower storage container (6; 106) to the items (80) stored in the lower storage container (6; 106), wherein a plurality of the access frames (20) are arranged in an alternating manner with successive storage containers (6; 106), and each storage container (6; 106) is separated from the storage container above by the access frame (20) to provide a group of accessible storage containers in the stack that are accessible to each lower storage container.
2. The storage system (2) according to claim 1, wherein: The storage system (2) comprises a container handling vehicle (201; 301; 401) running on the rail system (18), wherein the container handling vehicle (201; 301; 401) comprises a lifting device (403) configured to vertically transport the storage container (6; 106) and one of the access frames (20) within the storage column (15), and the container handling vehicle is used to horizontally transport the storage container (6; 106) and one of the access frames (20) on the rail system (18).
3. The storage system (2) according to claim 2, wherein: The storage container (6; 106) and the frame (20) both include a connecting joint (CI) on the upper surface, and wherein the lifting device (403) of the container handling vehicle (201; 301; 401) includes a clamping member (304, 404) configured to engage with the connecting joint (CI), so that the container handling vehicle (201; 301; 401) can use the lifting device (403) to lift and lower any one of the storage container (6; 106) and the frame (20).
4. Storage system (2) according to any one of the preceding claims, wherein: The access frame (20) comprises a rectangular top portion (21) and legs (22) extending downwardly from the rectangular top portion (21), wherein the top portion (21) defines an upper stacking interface (USI) to enable storage containers (6; 106) to be stacked on the access frame (20).
5. The storage system (2) according to claim 4, wherein: The side opening (20a) is defined by an area between two of the plurality of legs (22) extending downward and a side of the rectangular top portion (21).
6. The storage system (2) according to claim 4 or 5, wherein: The bottom opening (20b) is defined by the area between the lower ends of the legs (22) extending downward.
7. The storage system (2) according to any one of claims 4 to 6, wherein: The access frame (20) includes a cross member (23) connected between the lower ends of at least some of the plurality of legs (22) extending downward, wherein the bottom opening (20b) is defined by the lower ends of the legs (22) extending downward and the cross member (23).
8. The storage system (2) according to claim 7, wherein: The access frame (20) comprises three cross members (23) arranged in a U-shaped configuration, the open end of the U-shaped configuration facing the side opening (20a).
9. The storage system (2) according to any one of claims 4 to 12, wherein: The lower ends of the downwardly extending legs (22) define a lower stacking interface (LSI) to enable the access frame (20) to be stacked on a storage container (6; 106) or other access frames (20).
10. Storage system (2) according to any one of the preceding claims, wherein In one or more of the stacks (17), the plurality of storage and access frames (20) and the plurality of storage containers are stacked alternately along one side of the volume portion defined by the structure. Optionally, in all of the stacks, the plurality of storage and access frames and the plurality of storage containers are stacked alternately along one side of the volume portion defined by the structure.
11. Storage system (2) according to any one of the preceding claims, wherein: The side openings (20a) of the access frames (20) in the first row (R1) of stacks (17) are aligned with each other in the horizontal direction (X).
12. The storage system (2) according to claim 11, wherein: The side opening (20a) of the access frame (20) in the first row (R1) of stacks (17) faces an access area (AA) accessible to a person (P).
13. Storage system (2) according to any one of the preceding claims, wherein: Each storage container (6; 106) comprises a base (6s; 106s) and four side portions (6s; 106s) extending upward from the base (6b, 106b), wherein the top opening (6a; 106a) is defined by upper edges of the four side portions.
14. Storage system (2) according to claims 12 and 13, wherein The height (H6sf) of one side portion (6sf) of the storage container (6) is lower than the height (H6s) of the other side portions (6s), and when the access frame (20) is stacked on the storage container (6), the one side portion (6sf) of the storage container (6) is aligned with the side opening (20a).
15. The storage system (2) according to claim 14, wherein: The one side portion (6sf) of the storage container (6) faces the access area (AA).
16. The storage system (2) according to any one of claims 11 to 15, wherein: The side openings (20a) of the access frames (20) in the second row (R2) of stacks (17) are parallel to the side openings of the access frames in the first row (R1) of stacks (17), wherein the first row (R1) is adjacent to the second row (R2), and wherein the side openings (20a) of the access frames (20) in the first row (R1) are opposite to the side openings (20a) of the access frames (20) in the second row (R2).
17. The storage system (2) according to claim 16, wherein: The side opening (20a) of the access frame (20) in the second row (R2) of stacks (17) faces the access area (AA) to enable access by a person (P).
18. Storage system (2) according to any one of the preceding claims, wherein The access frame (20) comprises at least one lighting element (25) for illuminating the interior of the storage container (6, 106).
19. Storage system (2) according to any one of the preceding claims, wherein: The storage system (2) comprises a barrier (B) for covering the stack (17) of storage containers (6, 106) and access frames (20) during the raising of a storage container (6, 106) or an access frame (20) from at least one of the stacks (17) of storage containers and access frames and / or during the lowering of a storage container (6, 106) or an access frame (20) into at least one of the stacks (17) of storage containers and access frames.
20. Storage system (2) according to any one of the preceding claims, wherein The storage system (2) comprises: - a second structure (100) comprising upright members (102) defining volumes of columns (105) disposed between the upright members (102); - a plurality of storage containers (6; 106) stacked directly on top of each other in the row (105) in the form of a stack (107); Wherein, the second structure (100) is arranged adjacent to the first structure (10); Wherein, the guide rail system (18) is arranged on the top of the upright member (102).
21. A method for making product items (80) stored in a storage container (6; 106) accessible to a person (P), wherein: The method comprises the following steps: - stacking the first storage containers (6; 106) in rows (15) defined by the upright members (12) of the first structure (10); - stacking a first access frame (20) directly on the first storage container (6; 106); - stacking a second storage container (6; 106) directly on the first access frame (20); - stacking a second access frame (20) directly onto the second storage container (6; 106); - enabling a person (P) to access items (80) stored in a lower storage container (6; 106) by passing through the bottom opening (20b) of the access frame (20) via the side opening (20a) and through the top opening (6a, 106a) of the lower storage container (6; 106).
22. The method according to claim 21, wherein: The stacking step includes the following steps: - controlling the container handling vehicle (201, 301, 401) to move horizontally on a rail system (18) fixed above the upright member (12); - controlling the lifting device (304, 404) of the container handling vehicle (201, 301, 401) to stack the storage container (6, 106) and the access frame (20) into a first row (15).
23. The method according to claim 22, wherein: The method further comprises the following steps: - controlling the container handling vehicle to retrieve storage containers and / or storage and retrieval frames stored in the form of stacks (17) in a row (105) of a second structure (100) located below the rail system (18).