System and method for weighing containers

Abstract

System for weighing containers in a rotatable container carousel rotating about a central axis (C) and comprising a central hub having at least one carousel arm attached at one end to the central hub and at the other end to a container handling mechanism, the invention relates to a rotatable container carousel comprising a carousel arm and a container handling mechanism, a radial distance (R) from a central axis (C) of the rotatable container carousel allowing the carousel arm to rotate at least from a container loading position to a container access position, where the container handling mechanism comprises a container holding tray mounted on top of a support structure attached to at least one wheel on a base, and wherein the carousel arm is rotatable about an axis passing through the center of each attachment point of the carousel arm with the central hub and the container handling mechanism, and the container handling mechanism comprises a container holding tray mounted on top of a support structure attached to the at least one wheel, the container holding tray being movable relative to the carousel arm when the carousel arm is in the container access position. The at least one wheel is on the load sensor unit.

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly, to a system and method for weighing containers in a turntable port of a storage and retrieval system. Background Art

[0002] Figure 1 There is disclosed a prior art automated storage and retrieval system 1 having a frame structure 100, and Figure 2 、 Figure 3 and Figure 4 there are disclosed three different prior art container handling vehicles 201, 301, 401 adapted to operate on the system 1.

[0003] The frame structure 100 includes upright members 102 and a storage volume including storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as bins) are stacked one on top of another to form stacks 107. The members 102 can typically be made of metal (e.g., extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 disposed across the top of the frame structure 100 on which a plurality of container handling vehicles 201, 301, 401 can operate to raise storage containers 106 from the storage rows 105 and lower storage containers 106 into the storage rows, and also to transport the storage containers 106 above the storage rows 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage rows 105, i.e., move laterally in a plane parallel to the horizontal X-Y plane.

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

[0006] Each of the prior art container handling vehicles 201, 301, 401 includes a vehicle body 201a, 301a, 401a and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, and these two sets of wheels enable the container handling vehicles 201, 301, 401 to move laterally in the X direction and the Y direction respectively. In Figure 2 , Figure 3 and Figure 4 , two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c, 401c are arranged to engage with two adjacent tracks in the second set of tracks 111. At least one set of the 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 tracks 110, 111 at any time.

[0007] Each of the prior art container handling vehicles 201, 301, 401 further includes a lifting device for the vertical transportation of the storage containers 106, for example, raising the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting device includes one or more clamping / engaging devices adapted to engage with the storage container 106, and the clamping / engaging device can be lowered from the vehicles 201, 301, 401 so that the position of the clamping / engaging device relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the clamping devices of the container handling vehicles 301, 401 are shown in Figure 3 and Figure 4 and are denoted by reference numerals 304, 404. In Figure 2 , the clamping device of the container handling device 201 is located within the vehicle body 201a and is thus not shown.

[0008] Conventionally and also for the purposes of the present application, Z = 1 identifies the uppermost layer available for storing containers below the tracks 110, 111, i.e., the layer immediately below the track system 108, Z = 2 identifies the second layer below the track system 108, Z = 3 identifies the third layer, etc. In the exemplary prior art disclosed in Figure 1 , Z = 8 identifies the bottom layer at the lowermost side of the storage containers. Similarly, X = 1...n and Y = 1...n identify the positions of each storage row 105 in the horizontal plane. Thus, by way of example and using the Cartesian coordinate system X, Y, Z shown in Figure 1 , it can be said that in Figure 1The storage container identified as 106’ occupies the storage position of X = 17, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer where Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Therefore, Figure 1 The storage container extending above the rail system 108 shown in is also said to be arranged in the layer where Z = 0.

[0009] The storage volume part of the frame structure 100 is generally called the grid 104, where the possible storage positions within the grid are called storage units. Each storage column can be identified by the positions in the X direction and Y direction, and each storage unit can be identified by the container number in the X direction, Y direction, and Z direction.

[0010] Each of the prior art container handling vehicles 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the rail system 108. The storage space can include a cavity arranged inside the vehicle bodies 201a, 401a, as Figure 2 and Figure 4 shown in and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of these applications are incorporated herein by reference.

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

[0012] Figure 2 The occupied area of the cavity-type container handling vehicle 201 shown in can cover an area whose dimensions in the X direction and Y direction are approximately equal to the lateral range of the storage column 105, as described, for example, in WO2015 / 193278A1, and the content of this application is incorporated herein by reference. The term "lateral" used herein may mean "horizontal".

[0013] Alternatively, the occupied area of the cavity-type container handling vehicle 401 can be larger than the lateral area defined by the storage column 105, as Figure 1 and Figure 4 shown in and disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The track system 108 generally includes tracks having grooves in which the wheels of the vehicle travel. Alternatively, the tracks can include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track can include one guide rail, or each of the tracks 110, 111 can include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) can include one guide rail, and each track in another perpendicular direction (e.g., the Y direction) can include two guide rails. Each of the tracks 110, 111 can also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.

[0015] WO2018 / 146304A1 (the content of which is incorporated herein by reference) shows a typical configuration of a track system 108 that includes tracks and parallel guide rails in both the X and Y directions.

[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 of the columns 105 can have other purposes. In Figure 1 this case, columns 119 and 120 are such dedicated 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 an access station (not shown) where the storage containers 106 can be accessed from outside the frame structure 100 or removed from or moved into the frame structure 100. In the art, such locations are generally referred to as "ports", and the columns in which the ports are located can be referred to as "port columns" 119, 120. The transportation to the access station can be in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 106 can be placed in a random column or a dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may need to move along various different directions by means of, for example, a conveying vehicle, a trolley, or other transportation lines. Note that the term "inclined" refers to the transportation of the storage container 106 having a generally transportation orientation in a direction between horizontal and vertical.

[0017] In Figure 1In this case, the first port column 119 can be, for example, a dedicated offloading port column where the container handling vehicles 201, 301, 401 can offload the storage containers 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated pickup port column where 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 can generally be a pickup station or a stocking station where product items are removed from or positioned into the storage container 106. In the pickup station or stocking station, the storage container 106 is generally not removed from the automated storage and retrieval system 1 but is returned to the frame structure 100 again after access. The ports can 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 a truck), or to a production facility.

[0019] A conveyor system including conveyors is generally used to transport the storage containers between the port columns 119, 120 and the access station.

[0020] When the port columns 119, 120 and the access station are at different levels, the conveyor system can include a lifting device having vertical components for vertically transporting the storage containers 106 between the port columns 119, 120 and the access station.

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

[0022] When it is necessary to access the storage in Figure 1When storing container 106 in one of the multiple columns 105 disclosed in the present disclosure, it is indicated that one of the multiple container handling vehicles 201, 301, 401 picks up the target storage container from the position of the target storage container 106 and transports the target storage container to the unloading port column 119. This operation involves: moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located; using the lifting device (not shown) of the container handling vehicles 201, 301, 401 to pick up the storage container 106 from the storage column 105; and transporting the storage container 106 to the unloading port column 119. When the target storage container 106 is deep within the stack 107, that is, there is one or more other storage containers 106 above the target storage container 106, this operation also involves: temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to as "digging" in the art) can be performed using the same container handling vehicle that will subsequently transport the target storage container to the unloading port column 119, or using one or more other collaborative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing the storage container 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back to the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to other storage columns 105.

[0023] When storing container 106 in a column 105, it is indicated that one of the container handling vehicles 201, 301, 401 picks up the storage container 106 from the pick-up port column 120 and transports the storage container to a position above the storage column 105 where the storage container will be stored. After removing any storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired position. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to other storage columns 105.

[0024] To monitor and control an automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within a frame structure 100, the contents of each storage container 106, and the movement of container handling vehicles 201, 301, 401, such that a desired storage container 106 can be transported to a desired location at a desired time point without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] In the prior art, the containers in the turntable ports of storage and retrieval systems include a switch assembly with a pressure spring. This solution is installed in each tray for carrying storage containers. Since there are three arms in the turntable port, there are three weighing points, with each weighing point corresponding to one arm.

[0026] The problem with these solutions is that they can sometimes be unreliable due to lack of precision, especially when the container is not properly positioned in the tray, such as when the box is loaded in the tray at an angle. Summary of the Invention

[0027] The present invention relates to a turntable port that includes a rotatable container turntable for transferring a container between a container loading position and a container access position. The container turntable is rotatable about a central axis and includes a hub having at least one turntable arm. The at least one turntable arm is attached to the hub at one end and to a support structure at the other end. The support structure carries a container tray that is supported on top of the support structure at a central point of the support structure at a radial distance from the central axis of the container turntable. Wherein, at least one wheel is mounted to the support structure of each turntable arm, and when the at least one wheel rotates on the surface of the base of the turntable port, the load from the support structure, the container tray, and any container carried on the container tray is borne by the at least one wheel. It is characterized in that each turntable arm is pivotable about a horizontal axis extending through the center of the attachment point of the turntable arm and the hub, and it is characterized in that the base is provided with a load sensor unit that is positioned such that when the turntable arm is in the container access position, the at least one wheel is on the load sensor unit to record the weight applied by the at least one wheel.

[0028] In one aspect, the at least one turntable arm includes an upper arm and a lower arm that extend parallel to each other.

[0029] In one aspect, each attachment point of the turntable arm has a bearing to allow the distal end of the arm to move freely up and down in the vertical direction.

[0030] In one aspect, the upper arm and the lower arm are attached to each other via vertical members at each end.

[0031] In one aspect, the upper arm, lower arm, and vertical member can rotate about a horizontal axis passing through the center of each attachment point.

[0032] In one aspect, the support structure of each turntable arm is carried by two wheels spaced apart on either side of the center point of the support structure, wherein each wheel is on a separate load sensor unit when the turntable arm is in the container access position.

[0033] In one aspect, the turntable ports include three arms each having its own tray.

[0034] In one aspect, the wheels can be driven wheels.

[0035] In one aspect, adjustable legs are provided at each corner of the turntable port for support and assisting in leveling.

[0036] The present invention also relates to: loading a container onto a tray supported by an arm of the turntable port; rotating the arm together with the tray loaded with the container to the container access position; placing each wheel attached to the rotating arm on a load sensor unit; recording the weight measurement output from the load sensor unit; subtracting the weight measurement measured by the load sensor unit when the container tray is in the unloaded state.

[0037] The present invention also relates to a system for weighing containers in the turntable ports of an automated storage and retrieval system, the system comprising a plurality of container handling vehicles and a frame structure that forms a three-dimensional storage grid structure for storing storage containers for storing articles, and wherein the frame structure includes a track system that provides available routes for the container handling vehicles to move storage containers into and out of storage columns, and wherein the turntable ports are capable of receiving containers lowered by container handling vehicles operating on a grid-based track system in the storage volume of the automated storage and retrieval system, the automated storage including a rotatable container turntable for transferring containers between a container loading position and a container access position, the container turntable being rotatable about a central axis and including a hub having at least one turntable arm, the at least one turntable arm being attached to the hub at one end and to a support structure at the other end, the support structure carrying a container tray supported on top of the support structure at a central point thereof at a radial distance from the central axis of the container turntable, wherein at least one wheel is mounted to the support structure of each turntable arm, and when the at least one wheel rotates on the surface of the base of the turntable port, the load from the support structure, the container tray, and any containers carried on the container tray is borne by the at least one wheel, characterized in that each turntable arm is pivotable about a horizontal axis extending through the center of the attachment point of the turntable arm to the hub, and characterized in that the base is provided with a load sensor unit positioned such that when the turntable arm is in the container access position, the at least one wheel is on the load sensor unit to record the weight applied by the at least one wheel.

[0038] With this solution, the weight of the container can be accurately measured even if the container is not correctly loaded on the tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, and the embodiments of the present invention will now be described only by way of example, in which:

[0040] Figure 1 is a perspective view of the frame structure of a prior art automated storage and retrieval system.

[0041] Figure 2 is a perspective view of a prior art container handling vehicle having an interior cavity for carrying a storage container therein.

[0042] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container therebelow.

[0043] Figure 4A perspective view of a prior art container handling vehicle as viewed from below, the container handling vehicle having an internal cavity arranged therein for carrying a storage container.

[0044] Figure 5 A side view of a prior art solution, in which a container placed in a tray is measured using a switch assembly with a compression spring.

[0045] Figure 6 A side view of an embodiment of the present invention, in which parts of a turntable port are shown.

[0046] Figure 7 Is Figure 6 A perspective view of the same embodiment shown in

[0047] Figure 8 A perspective view showing a load cell from below.

[0048] Figure 9 An enlarged side view of an arm. Detailed Description of the Invention

[0049] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein.

[0050] The frame structure 100 of the automated storage and retrieval system 1 can be constructed in a manner similar to the prior art frame structure 100 described above in connection with Figures 1 to 4 That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper rail system 108 extending in the X and Y directions.

[0051] The frame structure 100 further includes a storage compartment in the form of storage columns 105 disposed between the members 102, wherein storage containers 106 can be stacked in piles 107 within the storage columns 105.

[0052] The frame structure 100 can be of any size. Specifically, it should be understood that the frame structure can be much wider and / or much longer and / or much deeper than the Figure 1 frame structure disclosed in

[0053] Now will refer to Figures 5 to 9 A more detailed discussion of an embodiment of an automated storage and retrieval system according to the present invention.

[0054] Figure 5A side view of an existing - technology solution, in which a switch assembly with a compression spring is used to measure a container placed in a tray.

[0055] The container turntable includes: a turntable support 506; a circular turntable base 701 connected to the turntable support 506; a hub 507 that contains a motor and is fixed at the center point of the circular turntable base 701; three turntable arms that extend between the hub and a structure at the radial boundary / periphery of the circular turntable base; one or more turntable motors that cause the turntable arms to rotate around the hub; and three trays on which storage containers 106 can be supported or are supported.

[0056] In order to enable the storage containers 106 to maintain their orientation during rotation, or in order to select a desired orientation other than the initial orientation, one or more belts can be arranged around the axis that fixes the hub to the turntable base and the connection points of each storage - container support. The latter configuration requires that the connection between the support and the corresponding turntable arm is rotatable.

[0057] When the container handling vehicle transports a container to an empty tray at the turntable port, the operator will, through the control device, rotate the turntable port around the central axis so as to bring the tray containing the container to the opening of the workstation.

[0058] When the operator picks one or more goods items from a container, other container handling vehicles may find other containers in the storage system and transport that container to an empty tray at the turntable port.

[0059] When the operator has picked one or more goods items from the first container, he or she will again rotate the turntable port so that the new container transported in the tray rotates towards the opening of the workstation. When the operator takes one or more goods items from the second container, the container handling vehicle will be able to retrieve the first container so that the container can be stored again in the storage and retrieval system, while other container handling vehicles will be able to find a third container in the storage system. Then, the third container is transported to an empty tray of the device. Then, when the operator picks one or more goods items from the second container, he or she will again rotate the turntable port so as to bring the third container to the operator for the operator to pick up. The process of retrieving and transporting the trays at the turntable port and the containers in the storage system is repeated until one or more goods items in the customer order are selected and packed.

[0060] Figure 6 and Figure 7 A side view and a perspective view of an embodiment of the present invention, in which parts of the turntable port are shown.

[0061] In this embodiment, the arm extends between the hub and the structure located at the radial boundary / periphery of the circular turntable base. The arm is attached at each end, and each attachment point of the arm is rotatable. Rotation can be achieved using bearings. The reason for rotation at the attachment points is to prevent the arm from affecting the measurement of the weight sensor unit.

[0062] There are three arm positions in the turntable. There is a picking position in which an operator picks the required items from the container. This is also the position where the container is weighed. In addition, there is a transfer position in which the container is lowered from the container handling vehicle onto the pallet. And there is a pickup position in which the container handling vehicle picks up the container from which items have been picked from the turntable and transports it back to the storage and retrieval system or other ports.

[0063] Furthermore, this embodiment of the present invention includes: a turntable support 506; a circular turntable base 701 connected to the turntable support 506; a hub 507 containing a motor and fixed at the center point of the circular turntable base 701; three turntable arms extending between the hub and the structure located at the radial boundary / periphery of the circular turntable base; one or more turntable motors for rotating the turntable arms around the hub; and three pallets on which the storage container 106 can be supported or is supported.

[0064] The container turntable can rotate about a central axis C passing through the center of the hub 507. At least one turntable arm 602, 603 is attached to the hub 507 at one end and to a support structure at the other end. The support structure is for carrying a container pallet supported on top of the support structure 605 at a radial distance R from the central axis C of the container turntable 501. At least one wheel 604 is mounted to the support structure of each turntable arm. When at least one wheel rotates on the surface of the base of the turntable port, the load from the support structure, the container pallet, and any container carried on the container pallet is borne by at least one wheel.

[0065] When at least one wheel 604 mounted to the support structure of each turntable arm rotates on the surface of the base of the turntable port, the load from the support structure, the container pallet, and any container carried on the container pallet is borne by at least one wheel. Each turntable arm 602, 603 is pivotable about a horizontal axis extending through the center of the attachment point of the turntable arm 602, 603 to the hub 507, and the base is provided with a load sensor unit positioned such that when the turntable arms 602, 603 are in the container access position, at least one wheel is on the load sensor unit to record the weight applied by at least one wheel.

[0066] Figure 8Is a perspective view showing the weight sensor from below. Each arm has two wheels, and the wheels are on the base of the turntable port. When the arm is in the picking position, the wheels are on the weight sensor unit. The weights measured by the two sensor units are added together to obtain an accurate weight. After the measured weights are added, the weight of the arm without any container on top is subtracted, and the weight of the standard container is subtracted. The formula is as follows:

[0067] Item weight = (W1 + W2) - (W A + W C )

[0068] [Formula 1]

[0069] Where, W1 = the weight measured by the first weight sensor unit, W2 = the weight measured by the second weight sensor unit, W A = the weight of the arm without a container, W C = the weight of the standard container.

[0070] Figure 9 Is an enlarged side view of one of the multiple arms. A position reading system is shown. The position of the arm is detected by a circular ring, and the perimeter of the circular ring surrounds the hub of the turntable. The ring can have multiple sensors arranged along its perimeter, and these sensors allow the detection of the position of these arms. This can be achieved by detecting the magnetic field.

[0071] The arm can include a single rod that is attached to the hub at one end and to the support system of the tray at the other end. The attachment points can rotate to ensure that the recording of the weight of the container is not affected by the arm.

[0072] The arm can be, for example, a parallelogram linkage where the upper arm and the lower arm are connected by a vertical member, and the attachment points can rotate to ensure that the recording of the weight of the container is not affected by the arm. Compared with a simple pivoting linkage arrangement, this design provides an additional technical effect that regardless of the amplitude of movement at the pivot point (when the wheel is just traveling around the flat base, the amplitude of movement of the pivot point of the turntable port may not be large), the tray always maintains the same (horizontal) orientation. This allows the weight to be transferred to the load sensor unit, and the parallel arm arrangement will also provide additional torsional stiffness without relying on a larger cross-section.

[0073] In the foregoing description, various aspects of the transport vehicle and the automatic storage and retrieval movement according to the present invention have been described with reference to illustrative embodiments. For purposes of illustration, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and how it works. However, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments that are obvious to those skilled in the art to which the disclosed subject matter pertains, as well as other embodiments of the system, are considered to fall within the scope of the present invention.

[0074] List of reference numerals

[0075] Prior art ( Figures 1 to 4 )

[0076] 1 Automatic storage and retrieval system of the prior art

[0077] 100 Frame structure

[0078] 102 Upright member of the frame structure

[0079] 104 Storage grid

[0080] 105 Storage column

[0081] 106 Container

[0082] 106’ Specific position of the storage container

[0083] 107 Stack

[0084] 108 Track system

[0085] 110 Parallel tracks in the first direction (X)

[0086] 112 Access opening

[0087] 119 First port column

[0088] 120 Second port column

[0089] 201 Container handling vehicle of the prior art

[0090] 201a Body of the container handling vehicle 201

[0091] 201b Driving device / wheel arrangement / first set of wheels in the first direction (X)

[0092] 201c Driving device / wheel arrangement / second set of wheels in the second direction (Y)

[0093] 301 Cantilever type container handling vehicle of the prior art

[0094] 301a Body of the container handling vehicle 301

[0095] 301b Driving device / first set of wheels in the first direction (X)

[0096] 301c Driving device / second set of wheels in the second direction (Y)

[0097] 304 Gripping device

[0098] 401 Container handling vehicle of the prior art

[0099] The body of the container handling vehicle 401

[0100] 401b Drive device / first set of wheels in the first direction (X)

[0101] 401c Drive device / second set of wheels in the second direction (Y)

[0102] 404 Gripping device

[0103] 404a Lifting belt

[0104] 404b Gripping member

[0105] 404c Guide pin

[0106] 404d Lifting frame

[0107] 500 Control system

[0108] 501 Rotatable container turntable

[0109] 502 Pallet

[0110] 503 Weight sensor

[0111] 504 Position sensor

[0112] 505 Arm

[0113] 506 Turntable support

[0114] 507 Central hub containing a motor

[0115] 601 Vertical member

[0116] 602 Upper parallel arm

[0117] 603 Lower parallel arm

[0118] 604 Wheel

[0119] 605 Support structure

[0120] 606 Attachment point of the turntable arm

[0121] 801 Load sensor unit

[0122] 901 Sensor for reading the position of the arm

[0123] 1001 Belt for rotating the pallet and the arm around the central hub

[0124] C Central axis

[0125] R Radius between the central axis and the center point of the support structure

[0126] X First direction

[0127] Y second direction

[0128] Z third direction

Claims

1. A turntable port includes a rotatable container turntable (501) for conveying containers between a container loading position and a container access position. The container turntable is rotatable about a central axis (C) and includes a hub (507) having at least one turntable arm (602, 603). The at least one turntable arm is attached to the hub (507) at one end and to a support structure at the other end. The support structure carries a container tray supported on top of the support structure (605) at a radial distance (R) from the central axis (C) of the container turntable (501), wherein, At least one wheel (604) is mounted to the support structure of each of the turntable arms, and when the at least one wheel rotates on the surface of the base of the turntable port, the load from the support structure, the container tray, and any containers carried on the container tray is carried by the at least one wheel. It is characterized in that each of the turntable arms (602, 603) is pivotable about a horizontal axis extending through the center of the attachment point of the turntable arm (602, 603) to the hub (507), and it is characterized in that the base is provided with a load sensor unit positioned such that when the turntable arm (602, 603) is in the container access position, the at least one wheel is on the load sensor unit to record the weight applied by the at least one wheel.

2. The turntable port according to claim 1, wherein The at least one turntable arm (602, 603) includes an upper arm (602) and a lower arm (603) extending parallel to each other.

3. The turntable port according to any one of the preceding claims, wherein, Each attachment point of the turntable arm has a bearing to allow the distal end of the arm to move freely up and down in the vertical direction.

4. The turntable port according to any one of the preceding claims, wherein The upper arm (602) and the lower arm (603) are attached to each other via a vertical member (601) at each end.

5. The turntable port according to claim 4, wherein, The upper arm (602), the lower arm (603), and the vertical member (601) are rotatable about a horizontal axis passing through the center of each attachment point.

6. The turntable port according to any one of the preceding claims, wherein, The support structure of each turntable arm is carried by two wheels spaced apart on either side of the center point of the support structure, wherein when the turntable arm (602, 603) is in the container access position, each of the wheels is on a separate load sensor unit.

7. The turntable port according to any one of the preceding claims, wherein, The turntable port includes three arms each having its own tray.

8. The turntable port according to any one of the preceding claims, wherein, The wheels are driven wheels.

9. The turntable port according to any one of the preceding claims, wherein, Adjustable legs are provided at each corner of the turntable port for support and auxiliary leveling.

10. A method for weighing a container in a turntable port, the turntable port including a rotatable container turntable (501) for conveying a container between a container loading position and a container access position, the container turntable being rotatable about a central axis (C) and including a hub (507) having at least one turntable arm (602, 603), the at least one turntable arm being attached to the hub (507) at one end and to a support structure at the other end, the support structure carrying a container tray supported on top of the support structure (605) at a radial distance (R) from the central axis (C) of the container turntable (501), wherein, At least one wheel (604) is mounted to the support structure of each turntable arm, and when the at least one wheel rotates on the surface of the base of the turntable port, the load from the support structure, the container tray, and any containers carried on the container tray is carried by the at least one wheel. The method includes the following steps: - Loading a container onto the tray supported by the arm of the turntable port, - Rotating the arm together with the tray loaded with the container to the container access position, - Placing each of the wheels attached to the rotating arm on the load sensor unit, - Recording the weight measurement output from the load sensor unit, - Subtracting the weight measurement value measured by the load sensor unit when the container tray is in the unloaded state.

11. A system for weighing containers in a turntable port of an automated storage and retrieval system, the system comprising a plurality of container handling vehicles (201, 301, 401) and a frame structure (100), the frame structure forming a three-dimensional storage grid structure (104) for storing storage containers (106) for storing articles, and wherein, The frame structure (100) includes an orbital system (108) that provides an available path for the container handling vehicles (201, 301, 401) to move the storage containers (106) into and out of the storage rows (105). And wherein, the turntable port is capable of receiving a container lowered by a container handling vehicle running on a grid-based orbital system in the storage volume of the automated storage and retrieval system. The automated storage includes a rotatable container turntable (501) for transferring the container between a container loading position and a container access position. The container turntable is rotatable about a central axis (C) and includes a hub (507) having at least one turntable arm (602, 603). The at least one turntable arm is attached to the hub (507) at one end and to a support structure at the other end. The support structure carries a container tray supported on top of the support structure (605) at a radial distance (R) from the central axis (C) of the container turntable (501). Wherein, at least one wheel (604) is mounted to the support structure of each of the turntable arms. When the at least one wheel rotates on the surface of the base of the turntable port, the load from the support structure, the container tray, and any container carried on the container tray is borne by the at least one wheel. It is characterized in that each of the turntable arms (602, 603) is pivotable about a horizontal axis extending through the center of the attachment point of the turntable arm (602, 603) to the hub (507). And it is characterized in that the base is provided with a load sensor unit positioned such that when the turntable arm (602, 603) is in the container access position, the at least one wheel is on the load sensor unit to record the weight applied by the at least one wheel.

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