Container transporter, storage and retrieval system comprising such container transporter, and method for transporting containers by means of such container transporter
By designing a container handler for rotating axis arm and arm shifter, the problem of large coverage areas and complex structure of container handling vehicles in the prior art is solved, and a compact, robust and economical container handling is achieved, suitable for automatic storage and withdrawal systems. two-way transfer.
Patent Information
- Application Number
- CN202380037570.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-05-03
- Filing Date
- 2023-04-24
- Publication Date
- 2024-12-20
AI Technical Summary
In the prior art, in the automatic storage and withdrawal system, the coverage area of the container handling vehicle is large and the structure is complex, which leads to high costs and insufficient stability, making it difficult to achieve efficient and resource-saving container handling.
A container handler is designed, using an arm and arm shifter with a rotation axis, and bidirectional transport of the container is achieved through rotating and vertically moving couplings, simplifying the structure and suitable for different types of ports and conveyors.
A compact container handling solution is realized, reducing costs, improving robustness and reliability, enabling efficient bidirectional transport of containers in automatic storage and withdrawal systems.
Smart Images
Figure CN119173456A_ABST
Abstract
Description
Technical Field
[0001] Generally speaking, the present invention relates to a container handling machine and a storage and retrieval system including the container handling machine. Background Art
[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100 , and FIGS. 2 , 3 a - 3 b disclose three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on such a system 1 .
[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 bins) are stacked one on top of another to form container stacks 107. The members 102 may 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 rail system 108 arranged across the top of the frame structure 100, and a plurality of container handling vehicles 301, 401 can run on the rail system 108 to lift and lower storage containers 106 from and into the storage rows 105, and also to transport storage containers 106 over the storage rows 105. The rail system 108 includes: a first set of parallel rails 110 arranged to guide the container handling vehicles 301, 401 to move across the top of the frame structure 100 in a first direction X; and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 can be accessed by the container handling vehicles 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 301 , 401 can be moved laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.
[0005] The upright members 102 of the frame structure 100 may be used to guide the storage containers during raising and lowering of the containers from the row 105. The stack 107 of containers 106 is generally self-supporting.
[0006] Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. In Figures 2 to 3b, the 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 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 304, 404 (visible in Figures 3a-3b) having a lifting frame portion 304a for vertically transporting storage containers 106, for example, lifting storage containers 106 from storage rows 105 and lowering storage containers 106 into storage rows. A lifting belt 404a and a guide pin 405 are also shown in Figure 3b. The lifting device 304, 404 includes one or more clamping / engaging devices suitable for engaging storage containers 106, and these clamping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the clamping / engaging device relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z (visible in Figure 1, for example) orthogonal to the first direction X and the second direction Y. Some parts of the clamping device of the container handling vehicle 301, 401 are shown in Figures 3a and 3b, indicated by reference numerals 304 and 404. The gripping device of the container transport device 201 is located in the vehicle body 201 a in FIG. 2 .
[0008] Conventionally, and also for the purposes of the present application, Z=1 identifies the uppermost level available for storage containers below the rails 110, 111, i.e., the level immediately below the rail system 108, Z=2 identifies the second level below the rail system 108, Z=3 identifies the third level, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the lowermost bottom level of the storage containers. 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 the Cartesian coordinate system X, Y, Z shown in FIG. 1, the storage container identified as 106' in FIG. 1 can be referred to as occupying storage position X=18, Y=1, Z=6. The container handling vehicles 201, 301, 401 can be referred to as traveling in level Z=0, and each storage column 105 can be identified by its X-coordinate and Y-coordinate. Thus, the storage containers shown in FIG. 1 extending above the rail system 108 are also referred to as being arranged in level Z=0.
[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 cells within a storage column. Each storage column can be identified by a position in the X-direction and the Y-direction, and each storage cell can be identified by a container number in the X-direction, the Y-direction, and the Z-direction.
[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading storage containers 106 when transporting the storage containers 106 across the track system 108. The storage space may include a cavity arranged internally within the vehicle body 201a, as shown in Figures 2 and 3b, and as described in, for example, WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.
[0011] Figure 3a shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail in, for example, NO 317366 (the contents of which are also incorporated herein by reference).
[0012] The chamber container handling vehicle 201 shown in Figure 2 can have a footprint covering an area in the X-direction and the Y-direction, the size of which is generally equal to the lateral extent of the storage row 105, for example as described in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".
[0013] Alternatively, the footprint of the cavity container handling vehicle 401 can be larger than the lateral area defined by the storage row 105, as shown in Figure 3b and as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.
[0014] The track system 108 typically includes a track with grooves in which the wheels of the vehicle travel. Alternatively, the track may include an upwardly extending element, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly extending 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 in one direction may include one guide rail, and each track in the other vertical direction may include two guide rails. The track system may also include a double-guide rail track in one direction of the X direction or the Y direction and a single-guide rail track in the other direction of the X direction or the Y direction. The double-guide rail track may include two track members fastened together, each track member having a guide rail.
[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a common construction of a track system 108 comprising tracks and parallel guides in both the X-direction and the Y-direction.
[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some columns 105 may have other purposes. In FIG. 1 , columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301, 401 to unload and / or pick up storage containers 106, so that the storage containers can be transported to access stations (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100, or moved out of or into the frame structure 100. In the art, such positions are generally referred to as "ports", and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access stations may be in any direction, i.e., horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in a random or dedicated row 105 within the frame structure 100 and then picked up and transported to a port row 119, 120 by any container handling vehicle for further transport to a storage and retrieval station. Transport from the port to the storage and retrieval station may require movement along a plurality of different directions by, for example, a delivery vehicle, a trolley or other transport line. Note that the term "inclined" means that the transport of the storage container 106 has a general transport orientation in a direction between horizontal and vertical.
[0017] In Figure 1, the first port column 119 can be, for example, a dedicated unloading port column, at which container handling vehicles 201, 301 can unload storage containers 106 to be transported to an access station or a transfer station, and the second port column 120 can be a dedicated picking port column, at which container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from the access station or the transfer station.
[0018] The access station may typically be a pick-up station or staging station where product items are removed from or positioned in the storage container 106. In the pick-up or staging station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but rather returned 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 a storage container 106 stored in one of the columns 105 disclosed in FIG. 1 is to be accessed, one container handling vehicle 201, 301, 401 is instructed to retrieve the target storage container from the location where the target storage container 106 is located and to transport the target storage container to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, using a lifting device of the container handling vehicle 201, 301, 401 (not shown in FIG. 2, but visible in FIG. 3a and FIG. 3b) to retrieve the storage container 106 from the storage column 105 and to transport 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 positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling 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 in addition, the automated storage and retrieval system 1 can 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 can then be relocated to the initial storage row 105. However, alternatively, the removed storage container 106 can be relocated to other storage rows 105.
[0023] When a storage container 106 is to be stored in a row 105, one container handling vehicle 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 in which it is to be stored. After the storage container 106 positioned at or above the target position within the stack 107 has been removed, 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 desired storage container 106 can be delivered to the desired location at the desired 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 (shown in Figure 1), which is typically computerized and typically includes a database for keeping track of the storage containers 106.
[0025] To facilitate handling of product items stored in storage container 106, the product items can be placed in a delivery container for subsequent placement in storage container 106. In this way, a delivery container containing product items can leave the automated storage and retrieval system 1 while storage container 106 remains in the system 1.
[0026] US2021229917A1 discloses a method for transporting a storage container containing product items. The system of US2021229917A1 includes a storage container transfer vehicle interacting with a storage container lifting assembly including at least one movable lifting member. The vertically movable lifting member of the assembly is arranged to receive the storage container from the transfer vehicle.
[0027] Another way of handling storage containers containing product items is disclosed in EP 3 205 606 A1, wherein there is a combined area for container handling and storage.
[0028] The object of the present invention is to provide a system and a method which allow handling of containers, such as delivery containers placed in storage containers or the storage containers themselves, in a time-efficient and resource-saving manner. Summary of the invention
[0029] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.
[0030] In a first aspect, the invention relates to a container handling machine for bidirectionally transferring containers between a port of a storage grid of an automated storage and retrieval system and a conveyor for transporting containers, the container handling machine comprising:
[0031] - an arm having an axis of rotation,
[0032] - Arm shifter,
[0033] - at least a first coupling, provided at a first end of the arm, the first coupling being adapted to releasably engage with the container,
[0034] - wherein the arm shifter is configured to:
[0035] o rotating the arm together with at least the first coupling in a horizontal plane about the axis of rotation between a first arm rotation position and a second arm rotation position, and
[0036] o displacing the arm together with at least the first coupler in a vertical direction between a first vertical position and a second vertical position.
[0037] By providing a container handler according to the first aspect of the invention, a compact container handling solution with a small footprint is achieved. In a relevant context, a structurally simple container handler is achieved with only a few moving parts. This also results in a robust and reliable solution that is much cheaper than prior art solutions such as robotic arms. The structural simplicity and robustness do not negatively impact the output capacity of the container handler.
[0038] Furthermore, the container handler is versatile and can be used in conjunction with different port types, such as conveyor ports, swing ports, and turntable ports, and different conveyor types, such as roller conveyors and belt conveyors.
[0039] Another aspect of the invention relates to a method for handling containers according to claim 24. For the sake of brevity, the advantages discussed above in connection with the container handling machine may even be associated with the corresponding method and are not discussed further.
[0040] For the purposes of this application, the term "container handling vehicle" used in the "Background Technology" section of this application and the term "remotely operated vehicle" used in the "Specifications" section are defined as robotic wheeled vehicles that run on a track system that is arranged across the top of a frame structure and is part of an automated storage and retrieval system.
[0041] The related terms "upper", "lower", "below", "above", "higher" and the like should be understood in their ordinary sense and as shown in a Cartesian coordinate system. When referring to a rail system, "upper" or "above" should be understood as a position closer to the surface rail system (relative to another component), while the term "lower" or "below" should conversely be understood as a position farther away from the rail system (relative to another component). BRIEF DESCRIPTION OF THE DRAWINGS
[0042] The following drawings depict exemplary embodiments of the present invention and are attached to facilitate understanding of the present invention. However, the features disclosed in the drawings are for illustrative purposes only and should not be interpreted in a limiting sense.
[0043] FIG. 1 is a perspective view of a frame structure of an automatic storage and retrieval system of the prior art.
[0044] 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for carrying a storage container therein.
[0045] 3a is a perspective view of a prior art container handling vehicle having a cantilever arm for carrying a storage container underneath.
[0046] 3b is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein, wherein the cavity is off-center relative to the primary direction.
[0047] Figure 4 is a perspective view of a portion of an exemplary automated storage and retrieval system according to the present invention, the automated storage and retrieval system including a container handler, a carousel port, and a conveyor for transporting containers.
[0048] Figure 5 yes Figure 4 A perspective view of a container handling machine.
[0049] 6A to 6F Shows Figure 4 and Figure 5 The operating sequence of the container handling machine in.
[0050] Figure 7 is a perspective view of a coupling of a container handling machine when engaged with a container.
[0051] Figure 8 is a perspective view of a container handling machine according to an alternative embodiment. DETAILED DESCRIPTION
[0052] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.
[0053] Figure 4 is a perspective view of a portion of an exemplary automatic storage and retrieval system according to the present invention, the automatic storage and retrieval system including a container handling machine 2, a carousel port 205, and a conveyor 210 for transporting containers.
[0054] Figure 4 The system 1 in FIG. 1 is the same or similar to the prior art system in FIG. 1 , i.e., it includes a frame structure, a plurality of container handling vehicles moving in the X direction and the Y direction on a track system constituting the topmost portion of the frame structure. Each container handling vehicle includes a lifting device configured to lift / lower a container from a stack in a storage column to a stack in a storage column, and configured to lower / lift a container through any one of the port columns 119, 120 into a turntable port 205.
[0055] Also shown is a container handler operator 3, a container handler 2 for bidirectionally transferring containers between ports 205 of the storage grid of the automated storage and retrieval system 1 and a conveyor 210 for transporting containers, which is also part of the system 1. Figure 5 Some parts of the container handling machine 2 are described in more detail.
[0056] Return to Figure 4 The container handling machine 2 is disposed at a junction between a port 205 of the storage grid 104 of the automatic storage and retrieval system 1 and a conveyor 210 for transporting containers.
[0057] Still reference Figure 4 The conveyor 210 for transporting containers is appropriately positioned relative to the carousel port 205 so that the arm 215 of the container handling machine 2 can be in contact with the container tray (at the port 205 of the storage grid 104 of the automatic storage and retrieval system 1) Figure 4 210) is aligned with the longitudinal axis of the conveyor 210 for transporting the containers.
[0058] In a preferred embodiment, the carousel port 205 rotates substantially simultaneously with the displaceable arm 215. In addition, the carousel port 205 and the displaceable arm 215 are arranged to rotate in opposite directions. This facilitates the container interface between the carousel port 205 and the displaceable arm 215 of the container handling machine 2.
[0059] In order to simplify the structure of the handling machine 2, the container tray and the conveyor 210 of the system 1 are usually arranged at the same level.
[0060] Still reference Figure 4 , the system 1 may include two types of containers: delivery containers (cargo boxes) and storage containers (silos), both of which are combined Figure 7 The relative sizes and designs of the totes and the bins allow for placement of at least one tote inside the bin. Each tote may contain one or more product items that may be handled by, for example, a human and / or robotic operator. In addition to handling totes, the container handler 2 may also handle (i.e., transfer) entire bins, hold totes, or individual product items.
[0061] When the container handling machine 2 and the conveyor 210 form a Figure 4 When part of a specifically configured system 1, an automated process can be implemented that allows for the retrieval and storage of containers in an efficient and resource-saving manner. The automated process performed by the container handler 2 can be controlled by a dedicated control system or by a general control system that also controls the operation of the container handling vehicle, the carousel port 205, and the conveyor belt 210.
[0062] Figure 5yes Figure 4 A perspective view of a container handling machine 2 in FIG. Figure 4 As discussed, the container handler 2 is used to transfer containers bidirectionally between the ports of the storage grid of the automated storage and retrieval system and the transport conveyor. The container handler 2 includes a frame 250. The frame has vertical, ground-supported columns 252a, 252b interconnected by a pair of parallel horizontal crossbars 254, thereby forming a bridge (e.g., a bridge) under which the conveyor can pass. Figure 4 25). The support 250 is placed across the port of the storage grid of the automatic storage and retrieval system. The columns 252a, 252b can be fixed to the floor by bolts. The control cabinet 253 is attached to one of the columns 252a. In addition, the container handling machine 2 includes: a horizontally extending arm 215 connected to the crossbar 254 and having a rotation axis AR; an arm shifter 220; a first connector 225a, which is provided at the first end of the arm 215, and the first connector 225a is used to connect with the container ( Figure 5 The arm 215 is provided with a first coupling 225a and a second coupling 225b, which are releasably engaged with the container; and a second coupling 225b, which is provided at a second opposite end of the arm 215 and is also used for releasably engaging with the container. The arm shifter 220 is configured to rotate the arm 215 together with the first coupling 225a and the second coupling 225b around the vertical rotation axis AR between the first arm rotation position and the second arm rotation position, and is configured to shift the arm 215 together with the first coupling 225a and the second coupling 225b along the vertical direction between the first vertical position and the second vertical position.
[0063] By providing such a container handling machine 2, a compact container handling solution with a relatively small footprint is achieved. Figure 5 , a structurally simple container handling machine 2 is achieved with only a few moving parts. This also results in a robust and reliable solution that is much cheaper than prior art solutions such as robotic container transfer arms. Here, structural simplicity and robustness do not have a negative impact on the output capacity of the container handling machine.
[0064] In one embodiment, the arm shifter 220 is configured to rotate the arm in a horizontal plane between a first arm rotation position and a second arm rotation position when the arm 215 along with the first coupler 225a and the second coupler 225b are in an upper vertical position.
[0065] The arm together with the first and second couplings 225a, 225b is arranged to reciprocate about the axis of rotation AR to avoid entanglement of the power and control cables. In a preferred embodiment, the angular travel of the reciprocating rotation is 180 degrees.
[0066] Still reference Figure 5The arm shifter 220 of the container handling machine 2 includes a vertical shifting mechanism 230. The vertical shifting mechanism 230 includes a vertical guide portion (232; Fig. 6A 2 and 3. The arm 215 is attached to the support 234 together with the first and second couplings 225a and 225b. A vertical displacement motor (e.g., a DC motor) (shown in Figure 5 The support member 234 together with the attached arm 215 is displaced along the vertical guide portion (not visible in FIG. 2 ).
[0067] In addition to the vertical displacement mechanism 230, the arm shifter 220 also includes a rotation displacement mechanism 240. The rotation displacement mechanism 240 includes a rotation displacement motor 242 attached to the vertically displaceable support 234. The motor 242 rotates the arm 215 together with the first coupling 225a and the second coupling 225b in a horizontal plane between a first arm rotation position and a second arm rotation position. 6A to 6F The arm shifter 220, its components and operation are discussed more thoroughly.
[0068] In one embodiment, the container handler 2 includes a movable counterweight (not shown) for balancing the vertical movement of the arm 215 together with the first coupler 225a and the second coupler 225b.
[0069] 6A to 6F Shows Figure 4 and Figure 5 The repeated operation sequence of the container handling machine 2 shown in FIG. 6A to 6F The reference numerals used in connection with the preceding drawings are used throughout the description of the 6A to 6F Not marked in the figure). 6A to 6F In the embodiment, when the arm 215 is vertically displaced or rotated, only one of the first coupler 225a and the second coupler 225b is engaged with the container 20, 106. However, it is conceivable to displace / rotate the arm 215 while the two couplers each engage one container 20, 106.
[0070] exist Fig. 6A 2, the arm 215, together with the first coupler 225a and the second coupler 225b, has been vertically lowered to a first lower vertical position. The first coupler 225a engages with a delivery container (tote) placed in a storage container (bin) delivered by the turntable port 205. At the same time, the second coupler 225b disengages from the delivery container. Typically, when the arm 215 is in the first lower vertical position, the engagement process of the first coupler 225a and the disengagement process of the second coupler 225b occur simultaneously.
[0071] exist Figure 6B2, the first coupler 225a is engaged with the delivery container 20, and the second coupler 225b has released the delivery container on the conveyor belt 210. The arm 215 together with the first coupler 225a and the second coupler 225b has been vertically lifted to the second upper vertical position. The arm 215 is in the first arm rotation position. Typically, when the arm 215 is in the second upper vertical position, the arm can only rotate between the first rotation position and the second rotation position.
[0072] exist Figure 6C In the embodiment, the arm 215 together with the first and second couplings 225a, 225b rotates in a horizontal plane between a first arm rotation position and a second arm rotation position. The first coupling 225a is still engaged with the container.
[0073] exist Fig.6D In the embodiment of the present invention, the rotational movement of the arm 215 is completed, and the arm 215 is in the second arm rotation position. The first coupling 225a is still engaged with the container. The arm 215 (particularly the second coupling 225b) is aligned with the container tray of the turntable port 205.
[0074] exist Fig. 6E , the arm 215 together with the first and second couplers 225a, 225b are being vertically lowered toward a first lower vertical position. The first coupler 225a is still engaged with the container.
[0075] exist Fig. 6F , the arm 215 together with the first coupler 225a and the second coupler 225b have reached the first lower vertical position and the container is disengaging from the first coupler 225a while the second coupler 225b is engaging to a container positioned in another storage bin dispensed by the carousel port 205.
[0076] In this case, the container handling machine 2 is universal and can be used with different port types other than turntable ports, conveyor ports and swing ports, and different conveyor types (such as belt conveyors or 6A to 6F Used in conjunction with the roller conveyor in the
[0077] Figure 7 2 is a perspective view of the couplings 225a, 225b of the container handling machine, which are attached to the rotatable and vertically displaceable arm 215 discussed previously. Also shown is a gear 216 mounted to the upper surface of the arm 215, which is used for the rotational movement of the arm 215, such as in conjunction with 6A to 6F As described.
[0078] The proximal coupler 225a is shown engaged with the delivery container 20 partially surrounded by the storage container 106. Still referring to the proximal coupler 225a, it includes a coupler arm 258 arranged perpendicular to the displaceable arm 215, a clamp assembly 260 disposed at the periphery of the coupler arm 258, and an actuator system (not shown) operatively connected to the clamp assembly 260 to allow the clamp assembly 260 to releasably engage with the delivery container 20.
[0079] The actuator system of the coupling includes a motor, an actuator control system configured to control the operation of the motor, and a linkage interconnecting the motor and the gripper assembly. The motor may be, for example, a DC motor.
[0080] In one embodiment of the actuator system, the linkage of the actuator of each coupling 225a, 225b includes: a first link connecting the motor and the first gripper paddle of the first gripper element 265a (being Figure 7 and a second link connecting the motor and the gripper paddle 270b of the second gripper element 265b. The motor is configured to displace the first link and the second link so that the horizontally displaceable gripper paddles 270a, 270b are releasably engaged with the container 20.
[0081] The clamp assembly 260 includes: two relatively arranged clamp elements 265a, 265b, each clamp element 265a, 265b includes a horizontally extending clamp rod 266a, 266b arranged parallel to the arm 215, each clamp rod 266a, 266b is fixedly attached to the end of the connector arm 258; abutment sensors 268a, 268b, 268c, 268d are arranged at each end of the clamp rods 266a, 266b; and a first clamp paddle 270a and a second clamp paddle 270b that can be horizontally displaced and are arranged near the clamp rods 266a, 266b, and the clamp paddles 270a, 270b are used to achieve releasable engagement with the container 20.
[0082] The purpose of the abutment sensors 268a, 268b, 268c, 268d is to register abutment with the edge 22 of the tote 20. The abutment sensors may be, for example, mechanical sensors such as pressure activated sensors or electronic proximity sensors. In the former case, the range of the tote abutment sensors should be such as to ensure that the tote abutment sensors exert pressure on the edge 22 upon contact.
[0083] The horizontally displaceable gripper paddles 270a, 270b each include a horizontally extending protrusion 272a (the corresponding portion of which is Figure 7The holder paddle 270b is shielded), a lug, rib or folded portion for external insertion into a corresponding recess or orifice 21 of the container 20.
[0084] The coupler 225a discussed is particularly configured to allow releasable engagement with a delivery container (tote) 20 placed in an arrangement of storage containers (bins) 106. However, alternative configurations are contemplated, such as a coupler adapted to allow releasable engagement with only a bin 106 and / or with both a tote 20 and an enclosed bin 106.
[0085] Figure 8 is a perspective view of a container handling machine 2 according to an alternative embodiment. Figure 8 The embodiment in FIG. 1 shows a container handling machine 2 for bidirectional transport of containers. Figure 4 When compared to the transporter in Figure 6, Figure 8 The only significant structural difference between the carrier 2 in FIG. 2 is that there is no second coupler, i.e., only the first coupler 225a is present. In addition, the arm 215 is adapted to function in a single coupler configuration. For the sake of brevity, the functions and advantages discussed above in conjunction with the dual coupler configuration may even be combined with Figure 8 The transporter shown is associated and will not be discussed further.
[0086] In the foregoing description, various aspects of a container handler for handling such as delivery containers (carriers) and storage containers (bins), an automatic storage and retrieval system including such a container handler, and associated methods have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations are set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be interpreted in a limiting sense. Various 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.
[0087] Reference numerals list
[0088] 1 Automatic storage and retrieval system
[0089] 2 Container Handlers
[0090] 3 Container Handler Operator
[0091] 20 Delivery Containers / Totes
[0092] 21 Port opening
[0093] 22 Shipping box edge
[0094] 100 Frame structure
[0095] 102 Vertical members of frame structure
[0096] 104 Storage Grid
[0097] 105 Storage Rows
[0098] 106 Storage containers / silos
[0099] 106' Specific location of storage container
[0100] 107 Stacking
[0101] 108 Track System
[0102] 110 Parallel tracks in the first direction (X)
[0103] 112 Access opening
[0104] 119 Delivery Port Column
[0105] 120 Receive port column
[0106] 200 Prior art central cavity container handling vehicle
[0107] 201 Vehicle body of container transport vehicle 200
[0108] 202a Drive device / wheel arrangement / first set of wheels in first direction (X)
[0109] 202b Drive device / wheel arrangement / second set of wheels in second direction (Y)
[0110] Port 205
[0111] 210 Teleporter
[0112] 215 Arm with rotation axis
[0113] 216 Gear
[0114] 220 Arm Shifter
[0115] 225a First connector
[0116] 225b Second connector
[0117] 230 Vertical shift mechanism
[0118] 232 vertical guide part
[0119] 234 Vertically displaceable support
[0120] 240 Rotational shift mechanism
[0121] 242 Rotary Shift Motor
[0122] 250 Bracket
[0123] 252a Support column
[0124] 252b Support column
[0125] 253 Control Cabinet
[0126] 254 Crossbar
[0127] 258 Connector Arm
[0128] 260 Clamp Assembly
[0129] 265a First clamp element
[0130] 265b Second gripper element
[0131] 266a First clamp rod
[0132] 266b Second clamp rod
[0133] 268a First contact sensor
[0134] 268b Second contact sensor
[0135] 268c Third contact sensor
[0136] 268d Fourth contact sensor
[0137] 270a First gripper paddle
[0138] 270b Second gripper paddle
[0139] 272a First paddle protrusion
[0140] 272b Second paddle protrusion
[0141] 300 Container handling vehicles of the prior art
[0142] 301 Vehicle body of container transport vehicle 300
[0143] 302a Driving device in first direction (X) / first set of wheels
[0144] 302b Drive device in the second direction (Y) / second set of wheels
[0145] 400 Container handling vehicles of the prior art
[0146] 401 Vehicle body of container transport vehicle 401
[0147] 402a Driving device in first direction (X) / first set of wheels
[0148] 402b Drive device in the second direction (Y) / second set of wheels
[0149] 403 Lifting device
[0150] 404 Gripper element / claw for storage container 106
[0151] 404a Lifting belt for storage container 106
[0152] 405 Guide pin for storage container 106
[0153] X first direction
[0154] Y Second direction
[0155] Z third direction
[0156] AR Rotation Axis
Claims
1. A container handling machine (2) for bidirectionally transferring containers (20, 106) between a port (205) of a storage grid (104) of an automatic storage and retrieval system (1) and a conveyor (210) for transporting containers, the container handling machine (2) include: - an arm (215) having an axis of rotation (AR), - an arm shifter (220), - at least a first coupling (225a) provided at a first end of said arm (215), said first coupling (225a) being adapted to releasably engage with a container (20, 106), -in, The arm shifter (220) is configured to: o rotating the arm (215) together with at least the first coupling (225a) in a horizontal plane about the axis of rotation (AR) between a first arm rotation position and a second arm rotation position, and o displacing the arm (215) together with at least the first coupler (225a) in a vertical direction between a first vertical position and a second vertical position.
2. The container handling machine (2) according to claim 1, in, The arm shifter (220) is configured to: o When the arm (215) and at least the first connector (225a) are in an upper vertical position, the arm (215) together with at least the first connector (225a) is rotated in the horizontal plane between the first arm rotation position and the second arm rotation position.
3. The container handling machine (2) according to any of the preceding claims, comprising a second coupling (225b) arranged at a second opposite end of the arm (215), the second coupling (225b) being used for releasably engaging with a container (20, 106).
4. The container handling machine (2) according to claim 3, in, When the arm (215) is configured to rotate or vertically displace, only one of the first and second couplers (225a, 225b) engages the container (20, 106).
5. The container handling machine (2) according to any one of claims 3 to 4, in, The arm (215) together with the first and second couplers (225a, 225b) are arranged to reciprocate about the axis of rotation (AR).
6. The container handling machine (2) according to claim 5, in, The angular travel of reciprocating rotation is 180 degrees.
7. The container handling machine (2) according to any one of the preceding claims, in, The arm shifter (220) comprises: - A vertical displacement mechanism (230), comprising: o vertical guide portion (232); o a vertically displaceable support member (234) slidably connected to the vertical guide portion (232), the arm (215) together with at least the first connector (225a, 225b) is fixedly attached to said support member (234); and o A vertical displacement motor configured to displace the support member (234) together with the attached arm (215) along the vertical guide portion (232).
8. The container handling machine (2) according to claim 7, in, The arm shifter (2) comprises: - A rotational displacement mechanism (240), comprising: o A rotational displacement motor (242) attached to the vertically displaceable support (234) and configured to rotate the arm (215) together with at least the first connector (225a, 225b) in the horizontal plane between the first arm rotation position and the second arm rotation position.
9. The container handling machine (2) according to any one of the preceding claims, in, The container handling machine (2) is arranged to be disposed at a junction between the port (205) of the storage grid of the automatic storage and retrieval system (1) and the conveyor (210) for transporting containers.
10. The container handling machine (2) according to any one of the preceding claims, in, The container handler (2) comprises a support (250) comprising two legs (252a, 252b) connected by a crossbar (254), wherein the arm shifter (220) is connected to the crossbar (254).
11. The container handling machine (2) according to claim 10, in, The support (250) is configured to straddle the port (205) of the storage grid of the automatic storage and retrieval system (1) and / or the conveyor (210) for transporting containers, so that the arm (215) of the container handler (2) is aligned with the container pallet of the port (205) of the storage grid of the automatic storage and retrieval system (1) and / or with the conveyor (210) for transporting containers.
12. The container handling machine (2) according to claim 11, in, The container tray associated with the port (205) of the automatic storage and retrieval system (1) and the conveyor (210) for transporting containers are arranged at the same level.
13. The container handling machine (2) according to any one of the preceding claims, in, The port (205) of the automated storage and retrieval system (1) is a carousel port arranged to rotate substantially simultaneously with the arm (215) together with at least the first coupler (225a, 225b).
14. The container handling machine (2) according to claim 13, in, The carousel port (205) and the arm (215) along with at least the first coupler (225a, 225b) are arranged to rotate in opposite directions.
15. The container handling machine (2) according to any one of the preceding claims, in, The container handling machine (2) comprises a movable counterweight for balancing the vertical movement of the arm (215) together with at least the first coupler (225a, 225b).
16. The container handling machine (2) according to any one of the preceding claims, in, A delivery container (20) is stored in the container (106).
17. The container handling machine (2) according to any one of the preceding claims, in, Each coupling (225a, 225b) includes - a coupling arm (258) arranged perpendicularly to said arm (215), - a clamp assembly (260) disposed at the periphery of the coupling arm (258), and - an actuator system operatively connected to the gripper assembly (260) to allow the gripper assembly (260) to releasably engage the container (20, 106).
18. The container handling machine (2) according to claim 17, in, Each connector (225a, 225b) The actuator system comprises - Rotary shift motor, - an actuator control system configured to control the operation of said rotary displacement motor, and - a linkage interconnecting the rotary displacement motor and the gripper assembly (260).
19. The container handling machine (2) according to any one of claims 17 or 18, in, Each gripper assembly (260) includes two gripper elements (265a, 265b) disposed at opposite ends of the coupling arm (258), each gripper element (265a, 265b) including: - horizontally extending gripper bars (266a, 266b), arranged parallel to the arm (215), the gripper bars (266a, 266b) being fixedly attached to the ends of the coupling arms (258), - an abutment sensor (268a, 268b) provided at each end of said gripper rod (266a, 266b), - a horizontally displaceable gripper paddle (270a, 270b) disposed proximate to the gripper rod (266a, 266b), the gripper paddle (270a, 270b) being adapted to releasably engage the container (20, 106).
20. The container handling machine (2) according to claim 19, in, The linkage of the actuator of each coupling (225a, 225b) comprises: - a first connecting rod connecting the motor and a first gripper paddle (270a) of a first gripper element (265a), and - a second link connecting the motor and a second gripper paddle (270b) of a second gripper element (265b), wherein the motor is configured to displace the first link and the second link so that the horizontally displaceable gripper paddle (270a, 270b) releasably engages the container (20, 106).
21. The container handling machine (2) according to claim 19 or 20, in, The horizontally displaceable gripper paddles (270a, 270b) include horizontally extending protrusions (272a, 272b) for external insertion into corresponding recesses or apertures (21) of the container (20, 106).
22. An automatic storage and retrieval system (1), include: - a storage grid (104) comprising a frame structure (100) having a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing stacks (107) of storage containers (106), wherein a rail system (108) is arranged on the frame structure (100), the rail system (108) comprising vertical rails (110, 111) whose intersection forms a grid of grid cells, the rails defining access openings (112) for the plurality of storage columns (105), a remotely operated vehicle (200, 300, 400) comprising a drive arrangement configured to travel along the track system (108) and a storage container lifting arrangement for storing and retrieving storage containers (106) through the grid openings (115), and - A container handling machine (2) for bidirectionally transferring containers between a port (205) of the storage grid (104) of the automatic storage and retrieval system (1) and a conveyor (210) for transporting containers according to any of the preceding claims.
23. The automatic storage and retrieval system (1) according to claim 22, in, A delivery container (20) is stored in at least one of the plurality of storage containers (106) within the frame structure (100).
24. A method of handling a container (20, 106) by a container handling machine (2), the container handling machine (2) comprising an arm (215) having a rotation axis (AR), an arm shifter (220), at least a first coupling (225a) arranged at a first end of the arm (215), in, The method comprises: - Bidirectionally transferring the container (20, 106) between a port (104) of an automatic storage and retrieval system (1) and a conveyor (210) for transporting the container by manipulating the container (20, 106) with the aid of at least the first connector (225a), the transfer comprising vertically shifting the arm (215) together with the first connector (225a) and rotating the arm (215) together with at least the first connector (225a) in a horizontal plane around the rotation axis (AR).
25. A method for handling a container (20, 106) by a container handling machine (2) according to claim 24, the container handling machine comprising an arm (215) having a rotation axis (AR), an arm shifter (220), a first coupling (225a) arranged at a first end of the arm (215) and a second coupling (225b) arranged at a second opposite end of the arm (215), in, The method comprises: - vertically lowering the arm (215) together with the first and second couplers (225a, 225b) to a first vertical position, - engaging a container (20, 106) by means of one of said first and said second couplings (225a, 225b), - vertically lifting the arm (215) together with the first and second couplers (225a, 225b) and the engaged container (20, 106) to a second vertical position, - rotating the arm (215) together with the first and second couplings (225a, 225b) and the engaged container (20, 106) about the rotation axis (AR) in a horizontal plane between a first arm rotation position and a second arm rotation position, - vertically lowering the arm (215) together with the first and second couplers (225a, 225b) and the engaged container (20, 106) to the first vertical position, and - Disconnecting the container (20, 106) from the one of the first and second couplers (225a, 225b).
26. The method according to claim 25, in, The steps of the method are performed sequentially.
27. The method according to claim 26, in, The method comprises: - disengaging the container (20, 106) from the one of the first and second couplers (225a, 225b) while engaging another container (20, 106) with the other of the first and second couplers (225a, 225b).
28. The method according to any one of claims 25 to 27, The following steps are involved: - Balancing the vertical movement of the arm (215) together with the first and second couplers (225a, 225b) by means of a movable counterweight.
29. The method according to any one of claims 24 to 28, in, The container to be transported is a delivery container (20) stored in a storage container (106) disposed in the port (205) of the automatic storage and retrieval system (1).
30. A computer-readable medium on which is stored a computer program for controlling a container handling machine (2) according to any one of claims 1 to 23, the computer program comprising instructions for executing the method steps according to any one of claims 24 to 29.
Citation Information
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