Cap storage device

Abstract

The present disclosure relates to a lid storage device for storing one or more storage bin lids at a storage grid having a support structure defining horizontal grid columns, each column being arranged for vertical passage and / or storage of one or more storage bins, the storage box further comprises a storage box cover device arranged to be positioned adjacent to the column of the storage grid and comprising one or more supports, each support being movable between an extended position in which at least a portion of the support is extended into the column such that the storage box cover can be lowered onto the support, and an extended position in which at least a portion of the support is extended into the column such that the storage box cover can be lowered onto the support. And a retracted position in which the support and any storage bin cover supported by the support do not occupy the space of the column.

Description

Technical Field

[0001] This disclosure relates to a magazine. More specifically, this disclosure relates to a magazine for supporting a container lid. Background Technology

[0002] Traditional storage solutions typically involve arranging goods on rows of shelves within a warehouse. The shelf location of each item is recorded in an inventory list, and pickers retrieve the goods from the shelves. As goods move in and out of the warehouse, the shelves are replenished and the inventory list is updated as needed.

[0003] Warehouse workers may be assisted by robotic picking machines and automated inventory management systems. Automated transport systems can also be implemented in traditional warehouse layouts to move goods from their storage locations to picking and / or packing stations.

[0004] An alternative to traditional warehouse setups is an automated storage and retrieval system (AS / RS), in which robots retrieve items from recorded storage locations within the warehouse and transport them to packing stations or ports. Such systems can reduce or eliminate the space required to navigate between rows of shelves for accessing goods, thus eliminating the need for wide aisles within the warehouse. One example of this system involves placing goods in boxes or containers configured to be stacked side-by-side within a three-dimensional grid. A track system with a track grid is arranged on top of the grid, along which robotic container handling vehicles configured to lift containers from the grid can travel / drive. The container handling vehicles are configured to transport containers from the grid to ports or stations at the perimeter of the grid, allowing the goods inside the containers to be picked up and packed.

[0005] Goods stored in the container may be susceptible to contamination—for example, when a second container containing food / medicine is stacked on top of an open container and the bottom of the second container was previously placed on the warehouse floor, or when dirt / debris / water from the warehouse environment falls into the open container.

[0006] One or more aspects of the invention described in this application are set forth in the claims. Attached Figure Description

[0007] The present disclosure will now be described in more detail with reference to several exemplary embodiments illustrated in the accompanying drawings, in which: Figure 1 A perspective view of a storage system is shown, which includes a grid and multiple robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid. Figure 2 It shows Figure 1 A top view of the system; Figure 3AIt shows what is suitable for use in Figure 1 A side view of the first robotic container handling vehicle in the system; Figure 3B It shows what is suitable for use in Figure 1 A side view of the second robotic container handling vehicle in the system; Figure 3C yes Figure 3B A three-dimensional side view of the robot; Figure 4 A computing device for implementing the operations described herein is shown; Figure 5 It is a three-dimensional diagram of a container with a lid; Figure 6 yes Figure 5 A three-dimensional cross-sectional view of the container and lid; Figure 7 It is a perspective view of at least a part of the clamping device; Figure 8 It is a cross-sectional perspective view of a robotic vehicle carrying a covered container in its first configuration; Figure 9 It is a cross-sectional perspective view of a robotic vehicle carrying a covered container in a second configuration; Figure 10 This is a 3D view of the robotic vehicle, showing its gripping and locking mechanisms from below; Figure 11 A flowchart illustrating the method steps that can be performed according to this disclosure is shown; Figure 12 A flowchart illustrating the method steps that can be performed according to this disclosure is shown; Figure 13 This is a perspective view of the storage cover device in its first configuration; Figure 14 yes Figure 13 The storage cover device is in the perspective view of the second configuration; Figure 15 yes Figure 13 The storage cover device is in Figure 14 The configuration and the three-dimensional view of the cover; Figure 16 It is a perspective view of the storage grid together with the port, the robot, and the storage cover device in the first configuration and carrying the container cover; Figure 17 It is a storage grid, port, robot and Figure 16 A perspective view of a storage cover device in another configuration; and Figure 18 A flowchart of the method steps that can be performed according to this disclosure is shown. Detailed Implementation

[0008] In general, this disclosure relates to a lid storage device for supporting one or more container lids, which can be lowered onto the lid storage device along a column of a storage grid and then removed from that column, allowing the column to be used for other purposes—such as allowing the storage container to descend through the lid storage device. This allows the lid to be removed and temporarily stored for later use. In cases where a particular storage container requires a particular lid—such as when storing food containing allergens, or when the interior of the container and its lid have been contaminated—the lid can then be re-paired with its storage container, thereby avoiding potentially hazardous cross-contamination.

[0009] Overview of Automated Storage and Retrieval Systems

[0010] refer to Figure 1 In the embodiment shown, the grid 100 comprises a frame formed by a plurality of generally straight and adjacent vertical columns 102, which are formed between vertical frame members 104 and extend in the X direction 108 and the Y direction 110. The grid elements can be made of any suitable material; for example, the frame members can be formed from extruded aluminum. Storage containers or boxes 112 are preferably stacked on top of each other in a self-supporting manner in the columns 102 along the Z direction 114, these columns forming storage volumes for storage units of corresponding boxes 112 extending in the X direction 108, Y direction 110, and Z direction 114. The grid can be described as a horizontal grid of columns.

[0011] A track system or network 116 is formed on top of the grid 100 and includes pairs of vehicle tracks or rails 118a, 118b and 120a, 120b extending in the X direction 108 and the Y direction 110, respectively. A robotic container handling vehicle or robot 122, which may vary in size, shape, and function, can be provided and configured to operate on the tracks 118, 120 (which may be a grid of tracks) and transport boxes 112 in both the X direction 108 and the Y direction 110. The robot 122 is further configured to lift boxes 112 from column 102 and lower them into the column in the Z direction 114 by means of one or more belts, lines, ropes, etc., optionally guided by a vertical frame member 104. The robot 122 accesses the boxes 112 via access openings 124 located above column 102 and formed between the tracks 118, 120.

[0012] Some columns 102 can be used for alternative purposes besides bin storage. For example, port columns 126, 128 include port columns or access columns that allow bins 112 to be moved into and / or out of grid 100. Port columns 126, 128 provide vertical channels for lifting bins 112 from one or more ports 130, 132 or lowering bins 112 to one or more ports. Ports 130, 132 in Figure 1The port is shown at the lowest horizontal height of the grid; however, the port can be located at any vertical position along the column. Corresponding port columns 126, 128 can be specified for removing (“unloading”) box 112 from grid 100 and / or moving the box back or delivering (“picking up”) it to the grid. Therefore, ports 130, 132 are configured to allow box 112 to be removed and to allow the box to be (horizontally) reintroduced into the associated port column. Therefore, ports 130, 132 can include a conveyor (…). Figure 1 (Not shown in the diagram), the box 112 can be lowered onto the conveyor and transported horizontally out of the port column. Port columns 126, 128 include openings or access points through which the box 112 can enter and leave the column.

[0013] Robot 122 can transport box 112 along the top of grid 100 to port columns 126, 128 and / or transport boxes from port columns, and transport boxes from ports 130, 132 to locations outside grid 100, which may be access stations (not shown) for handling box 112 or its contents, such as picking stations for adding or removing contents from box 112. In alternative instances (not shown), box 112 can be transported to a port of another grid at the same or another horizontal level, or to an external facility. Box 112 can be transported to ports 130, 132 and boxes from ports can be transported by any suitable means (not shown), including conveyors, transport vehicles, elevators, or robots.

[0014] refer to Figure 2 The embodiment shown provides a more detailed view of the XY configuration 200 of the track system 116 and the different types of robots 202, 204. The track system includes tracks 206, between which vertical column access openings 124 are defined for accessing the box 112. The tracks 206 can be any suitable type of track for allowing the robots 202, 204 to travel on them along the X direction 108 and the Y direction 110, including (not shown) recessed tracks for receiving the wheels of a vehicle or protruding tracks for engaging wheel recesses. Each track 206 may include a single guide rail or multiple parallel guide rails in each of the X direction 108 and the Y direction 110.

[0015] The first "cantilever" type robot 202 Figure 3AThe diagram shows and includes in more detail a main body (or main body portion) 300, a set of wheels 302, and a lifting device 304. The main body 300 contains operating devices (not shown) for the robot 202, including drives, a power system, and a control system. The wheels 302 allow the robot 202 to move in one of the X and Y directions, while another set of wheels (not visible in this view) allows movement in the other direction, both along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement with tracks, thereby enabling movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending in the XY plane from the top of the main body 300, and a gripping device 308 capable of being raised and lowered from the cantilever element 306—e.g., by means of one or more belts, lines, ropes, etc. The gripping device 308 is configured to releasably grip or engage a box 112; for example, by gripping a portion of the box 112, or by passively or actively engaging a suitably configured portion of the box 112.

[0016] The second "internal cavity" type robot 204 is in Figure 3B As shown in more detail below, and as an alternative to a cantilever lifting system, the second “cavity” type robot includes a cavity 310 located within the body 300, and a lifting device 312 including a gripping device (not shown) is located within this cavity. In this case, the body 300 includes the robot’s operating equipment and storage space for one or more boxes 112 for use, for example, when transporting the boxes 112.

[0017] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which, Figure 3B The first set of wheels, 302, is visible. (Mentioned above but not mentioned in...) Figure 3B A set of additional wheels shown in Figure 3C The additional wheels 303 are shown as wheels 303. This set of additional wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to roll in the X and Y directions using the first set of wheels 302 and the second set of wheels 303, respectively. Figure 3C The first set of wheels 302 and the second set of wheels 303 shown can be configured to independently lower into engagement with the track (and conversely raise into disengagement from the track) to allow the robot 202 to... Figure 2 The track arrangement shown moves along the X and Y directions. Although Figure 3C The 3D diagram shown is Figure 3B The image shows a 3D view of robot 204, but it should be understood that a similar vertical wheel arrangement can be applied. Figure 3A Robot 202.

[0018] Control and monitoring systems

[0019] The control and monitoring of the automated storage and retrieval system (including monitoring and storing the boxes, controlling the delivery, retrieval, and transport of the boxes, guiding the robot's route, and avoiding collisions) is handled by... Figure 4 The control system shown communicates with the robot and / or other controllable system components to perform the control. Control can be performed locally or remotely, and can be implemented by a processing system, for example, in the form of a computing device. Therefore, the methods described herein can form all or part of a computer-implemented method, or can form a system configured to perform the methods described herein.

[0020] refer to Figure 4 A processing system 400 suitable for performing the methods described herein will now be described. Figure 4 A block diagram illustrating one implementation of a processing system 400 in the form of a computing device is shown, wherein a set of instructions can be executed to cause the computing device to perform any or more of the methods described herein. In some embodiments, the computing device may be connected (e.g., networked) to other machines in a local area network (LAN), intranet, extranet, or the Internet. The computing device may operate as a server or client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), tablet computer, set-top box (STB), personal digital assistant (PDA), cellular phone, network device, server, network router, switch, or bridge, or any machine capable of executing (sequentially or otherwise) a set of instructions specifying the action to be taken by the machine. Furthermore, although only a single computing device is shown, the term "computing device" should also be considered as any collection of machines (e.g., computers) that individually or jointly execute a set (or more) of instructions to perform any or more of the methods described herein.

[0021] An exemplary processing system 400 includes a processor 402, a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM), such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 406 (e.g., flash memory, static random access memory (SRAM), etc.), and auxiliary memory (e.g., data storage device 418), which communicate with each other via a bus 430.

[0022] Processor 402 represents one or more general-purpose processors, such as microprocessors, central processing units, etc. More specifically, processor 402 may be a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing combinations of instruction sets. Processor 402 may also be one or more special-purpose processors, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), network processors, etc. Processor 402 is configured to execute processing logic (instructions 422) for performing the operations and steps described herein.

[0023] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any one of a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or a touch screen), a cursor control device 414 (e.g., a mouse or a touch screen), and an audio device 416 (e.g., a speaker).

[0024] It is obvious that Figure 4 Some features of the processing system 400 shown may be absent. For example, the processing system 400 may not require a display device 410 (or any associated adapter). This may be the case, for example, with a particular server-side computer device that is used solely for its processing capabilities and does not need to display information to a user. Similarly, a user input device 412 may not be required. In its simplest form, the processing system 400 includes a processor 402 and main memory 404.

[0025] Data storage device 418 may include one or more machine-readable storage media (or more specifically, one or more non-transitory computer-readable storage media) 428 on which one or more sets of instructions 422 embodying any one or more methods or functions described herein are stored. During the execution of instructions 422 by processing system 400, the instructions may also reside wholly or at least partially in main memory 404 and / or processor 402, which also constitute computer-readable storage media 428.

[0026] The various methods described herein can be implemented by a computer program. This computer program may include computer code configured to instruct a computer to perform one or more of the various methods described herein. The computer program and / or code for performing these methods may be provided on one or more computer-readable media or more generally on a computer program product to a device such as a computer. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, or propagation media for data transmission, such as for downloading code via the Internet. Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer floppy disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0027] A computer program may be executed by processor 402 to perform the functions of the systems and methods described herein.

[0028] In implementation, the modules, components and other features described herein can be implemented as discrete components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs or similar devices.

[0029] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing certain operations and which can be configured or arranged in a physical manner. A hardware component may include dedicated circuitry or logic permanently configured to perform certain operations. A hardware component may be or include dedicated processors, such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0030] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that can be physically constructed, permanently configured (e.g., hardwired) or temporarily configured (e.g., programmed) to operate or perform certain operations described herein.

[0031] Furthermore, modules and components can be implemented as firmware or functional circuitry within a hardware device. Additionally, modules and components can be implemented as any combination of hardware devices and software components, or as software alone (e.g., code stored or otherwise embodied in a machine-readable or transportable medium).

[0032] Operation of the automatic storage and retrieval system

[0033] In operation, each box 112 is assigned a unique identifier, which can be marked on the box 112 using a computer-readable identifier (e.g., a barcode, quick-response code, or RFID tag) to facilitate identification. The database of processing system 400 stores the location and optional contents of each box 112 in a manner associated with the unique identifier. When a box 112 is moved (e.g., when it is removed from grid 100), the database is updated to record the change in its location.

[0034] When it is desired to retrieve box 112 from grid 100, under the control of processing system 400, robots 202 and 204 are guided along a route via track system 116 to the vertical column 102 containing the storage unit (according to the database) where box 112 is located, and the lifting devices 304 and 312 are positioned (depending on the robot type) above the corresponding access opening 124, which is located next to or below the robots 202 and 204. Robots 202 and 204 lower gripping device 308, which engages, grips, and lifts box 112 onto the robots 202 and 204. Robots 202 and 204 then transport box 112 to, for example, unloading port columns 126 and 128 for delivery to ports 130 and 132 for subsequent processing outside grid 100. If the target or designated box 112 is located below other boxes in the stack, one or more robots 202, 204, or dedicated to this task can be controlled to perform a "digging" operation to sequentially lift boxes located above the target box 112 and temporarily or permanently reposition these boxes to remove the target box. It should be understood that other operations related to box 112 can be performed in a similar manner. For example, box 112 can be delivered to grid 100 for storage at ports 130, 132 of pick-up port columns 126, 128, gripped and lifted by robots 202, 204, and delivered to the desired storage unit, if necessary, repositioning boxes above the desired location as discussed above.

[0035] Containers and container lids

[0036] Figure 5 A perspective view of a container (or box) 510 with a container lid 512 is shown. In this case, the lid 512 has a plurality of recesses 514 for engaging with the locking mechanism of a gripping device of a robotic vehicle. Although in Figure 5The recess is shown, but any other one or more features that allow the locking mechanism to be releasably locked onto the lid 512 may also be employed. However, by employing the recess, the projection of the lid 512 in the z-direction is advantageously kept low, thereby avoiding the lid 510 unnecessarily increasing the height of any stacking of such containers 510 with the lid 512 and the associated storage system. The lid also has a plurality of cutouts 516 to allow one or more portions of the clamping device to pass through the lid 512 to clamp the container 510. The container 510 may have one or more guide portions 517 for guiding the clamping device when it is lowered to ensure its proper positioning to clamp the container 510. Figure 6 It shows Figure 5 A three-dimensional cross-sectional view of the container and lid. (e.g.) Figure 6 As shown, the recess 514 has a lip or protrusion 518 configured to engage with a corresponding feature of the locking mechanism. The cap 512 also has a peripheral lip 520 for engaging with a sidewall 522 on the container 510 to position the cap 512 on the container 510.

[0037] Robots and gripping devices

[0038] Figure 7 This is a perspective view of at least a portion of the clamping device 702, which may be... Figure 3A The clamping device 308. The clamping device 702 may include a plurality of guides 704 (guide pins in this case) for interacting with a guide portion 517 of the container when the clamping device 702 is lowered onto the container 510 to guide the clamping device 702 into position to clamp the container 510. The clamping device also includes one or more clamping portions 706 for releasably clamping the container. The clamping device 702 also includes a locking mechanism arranged to releasably lock onto a container lid, such as Figure 5 The container lid 512. In this case, the locking mechanism includes a pair of locking members 708 arranged to move from a respective extended position to a respective retracted position for: locking the lid 512 to the locking mechanism and thus also to the clamping device 702, and releasing the lid 512 from the locking mechanism and the clamping device. In this case, the locking members 708 can be moved between their respective extended and retracted positions by a rotating crank 712 driven by a motor 710, the rotating crank being mechanically coupled to the locking members 708 so that the locking members rotate about a respective rotation point (or axis) 714. The locking mechanism of the clamping device 702 is arranged to operate independently of the clamping part 706, so that the clamping and release of the container can be performed independently of the locking and release of the lid.

[0039] Figure 8 It is a robot 802 with a gripping device 804 (which can be) Figure 3ARobot 202 or Figure 3B A cross-sectional perspective view of robot 204, wherein the gripping device grips container 806 (which may be... Figure 5 Container 510). Figure 8 In the configuration, the container lid 808 (which can be...) Figure 5 The container lid 512 is located directly below the clamping device 604 and covers / supports the container 806—the lid 808 is located on the container 806. Additionally, the locking member 810 (which may be...) Figure 7 The locking member 708 is in its corresponding retracted position and does not lock the cover 808 to the locking mechanism / clamping device 804.

[0040] Figure 9 yes Figure 8 A cross-sectional perspective view of robot 802, but in a different configuration. Figure 9 In this configuration, the locking members 810 have been rotated to move to their respective extended positions, thereby locking the cover 808 to the locking mechanism / clamping device 804. For example... Figure 9 As shown, each locking member includes a lip or protrusion 812 configured to engage with a corresponding feature of the container cap 512, such as a lip or protrusion 518 of a recess.

[0041] although Figure 8 and Figure 9 The diagram illustrates the use of the gripping device and locking mechanism with a cantilever robot, which can also be used with a cavity robot. Figure 10 This is a perspective view of robot 1002, showing its gripping device 1004 and locking mechanism 1006 from below. These gripping and locking mechanisms can be combined with the above description. Figure 8 and Figure 9 The descriptions are the same. Figure 10 The diagram also shows a belt 108 for raising and lowering the gripper 1004 relative to the main body of the robot 1010.

[0042] Although the locking mechanism described above with reference to one or more locking members arranged for rotatable engagement with the cap has been described, other mechanisms suitable for locking the cap to the clamping device may also be employed, including but not limited to linear actuators—such as a solenoid arranged in one instance to move a pin into a hole in the cap, an electromagnetic lock arranged to magnetically hold the cap on the cap, and a suction mechanism that holds the cap at the clamping device by suction.

[0043] Operation of robots, gripping devices and locking mechanisms

[0044] Figure 11A flowchart illustrating the executable method steps according to this disclosure is shown. At step S1105, the robot grips a container covered by a lid; as an example, the container and lid may be referenced. Figure 5 The container and lid are described. To grip the container, the robot can first travel on the track grid to above the 'remove' position, such that the gripper is vertically above the container before lowering the gripper to the container. At step S1110, the robot raises the gripper and thus also raises the lid. At step S1115, the robot moves across the track to above the 'unload' (or 'port') position. At step S1120, and while the container supports and is covered by the container lid, the locking mechanism locks onto the container lid, such that the container lid is locked to the locking mechanism. This can be achieved by moving one or more locking members of the locking mechanism from their respective retracted positions to their respective extended positions. When the gripper holds the container, the lid carried by the container is positioned directly below the gripper, and the locking members can engage with the lid to perform a locking action. At step S1125, the gripper is lowered, and both the container and the lid are lowered because the gripper holds the container and the locking mechanism locks the lid to the gripper. At step S1130, the clamping device releases the container, but the lid is retained by the clamping device because the locking mechanism locks the lid to the clamping device—in effect, the lid has been "removed".

[0045] although Figure 11 The flowchart illustrates one method that can be employed using the device described in this article, but this is far from the only method, and within the bounds of common sense, it can be omitted. Figure 11 The method may include any or all of the steps other than step S1120, and / or these steps may be performed in a different order. For example, step S1120 may be performed alone before step S1105, or between or during the following steps: steps S1105 and S1110, steps S1110 and S1115, or steps S1125 and S1130.

[0046] Figure 12A flowchart illustrating the executable method steps according to this disclosure is shown. At step S1205, a robot with a gripper already locked to the lid but not holding the container lowers toward the container not covered by the lid. As a preparatory step, the robot may first travel on the track grid to above the 'retrieval' (or port) position, wherein, in step S1205, the gripper is positioned vertically above the container, and then the gripper is lowered to the container. At step S1210, the gripper grips the container, and then at step S1215, a locking mechanism releases the lid such that the lid covers and is supported by the container—effectively, the lid is "placed" on the container. This can be achieved by moving one or more locking members of the locking mechanism from a corresponding extended position to a corresponding retracted position. At step S1220, the robot raises the gripper and thus also raises the lid and container. At step S1225, the robot moves across the track to above the "storage" position. At step S1230, the gripper is lowered to place the now-capped container in the storage position, and then at step S1235, the gripper releases the container and thus also releases the cap.

[0047] although Figure 12 The flowchart illustrates one method that can be employed using the device described in this article, but this is far from the only method, and within the bounds of common sense, it can be omitted. Figure 12 The method may include any or all of the steps other than step S1215, and / or these steps may be performed in a different order. For example, step S1215 may be performed alone before step S1210, or between or during the following steps: steps S1220 and S1225, steps S1225 and S1230, or steps S1230 and S1235.

[0048] although Figure 11 and Figure 12 Both the lid and the container have been described with reference, but the container is not required to be present, and the methods described herein can be used to pick up, transport, and / or release the lid of a container in the absence of the container—as may happen when one or more such lids need to be transported / stored and / or retrieved individually.

[0049] Storage cover device

[0050] Figure 13 A perspective view of the reservoir lid device 1302 in a first configuration is shown. The reservoir lid device 1302 has a main body portion 1304, a support member 1306 for supporting the container lid, and a mechanism for positioning the support member 1306 relative to the main body portion 1304 in a retracted position (e.g., ...). Figure 13 (as shown in the configuration) and the extension position (as shown in the configuration) Figure 14The support member moving mechanism 1308 moves between the configuration shown in the diagram. The cap holder 1302 is positioned adjacent to a column of the storage grid (such as one of a plurality of vertical columns 102), and this column is served by ports arranged for the storage container to enter and exit the storage grid—allowing for the cap to be removed / added to the storage container immediately before / after it is processed at the port. When located near a column of the storage grid and in the extended position, the support member 1306 extends into the column, allowing a cap lowered along the column (e.g., by robot 802) to be released onto and subsequently supported by the support member. The support member 1306 then moves from the extended position to the retracted position to remove the support member 1306 and the supported container cap from the vertical column, such that neither occupies space in the column—that is, the robot's gripper, along with the cap and / or container it carries, is not obstructed by either the support member 1306 or the supported container cap as it lowers or raises in the column past the cap holder 1302.

[0051] As one possibility, the storage cap device 1302 can be arranged so that, when in the retracted position, it is completely located within the adjacent vertical column, which is adjacent to the vertical column in which the support member is arranged to extend when in the extended position. Alternatively, the storage cap device 1302 can be located at or towards the bottom of the adjacent vertical column, allowing the storage container to be stored above the storage cap device, thereby improving the utilization efficiency of the adjacent vertical column.

[0052] Figure 15 yes Figure 13 A perspective view of a container lid device 1302, wherein a support member 1306 is in an extended position and carries / supports a container lid, the container lid being... Figure 5 512. Figure 15 An embodiment of the support moving mechanism 1308 is also shown. In this embodiment, the support moving mechanism 1308 includes two pairs of cylindrical or tubular slide rails rigidly connected to each other. The bottom pair of slide rails 1504 are slidably connected to the base portion 1304 of the storage cover device 1302, and the top pair of slide rails 1506 (in...) Figure 15 (Only one is shown) slidably connected to the support member 1306. When the support member 1306 moves from the retracted position to the extended position, the base portion 1304 slides relative to the support member moving mechanism 1308 on a pair of slide rails 1504 at the bottom, and the support member 1306 slides relative to the support member moving mechanism 1308 on a pair of slide rails 1504 at the top. When the fixed base portion 1304 is taken as a reference, it can be observed that both the support member moving mechanism 1308 and the support member 1306 slide along... Figure 15Movement in the direction indicated by arrow A, and movement of these components in the opposite direction, will cause the support to move from the extended position to the retracted position. When both the base portion 1304 and the support 1306 move relative to the support moving mechanism 1308, a "double extension" effect similar to that that occurs when a three-section telescope is deployed is produced. Advantageously, this allows the storage cover device to fully extend the support 1306 into the vertical column and also retract it into the adjacent vertical column, so that it is completely surrounded by the adjacent vertical column in the retracted position. Movement between the retracted and extended positions can be achieved by a motor 1508 driving a belt 1510, to which the support 1306 is connected via a first clamp 1512 and the base portion 1304 is connected via a second clamp 1514.

[0053] although Figure 15 The description has referenced two pairs of cylindrical or tubular slide rails, but the slide rails need not be tubular / cylindrical; they can be linear slide rails of different shapes (such as rectangular). Furthermore, two pairs of slide rails are not required, and the support moving mechanism 1308 can instead be coupled to each of the base portion 1304 and the support member 1306 via a single top slide rail and a single bottom slide rail. Alternatively, the support moving mechanism 1308 can be fixedly coupled to one of the base portion 1304 or the support member 1306 and can move relative to the other of the base portion 1304 or the support member 1306 via one or more slide rails.

[0054] Alternative support movement mechanisms can be used, the only requirement being the ability to move the support between its retracted and extended positions. As one possibility, the support can rotate about a vertical axis, thereby rotating between its retracted and extended positions in a horizontal plane. Furthermore, instead of using a rotary motor to achieve the movement between the retracted and extended positions, other actuators such as linear motors or hydraulic devices can be employed.

[0055] Figure 13 , Figure 14 and Figure 15 The support 1306 shown is configured to resemble a tray, having a flat bottom 1310 and an upwardly projecting tab 1312. However, this form is unnecessary for the support as long as it can support the container lid. Examples of alternative forms include a pair of arms, forks, a mesh structure, etc.

[0056] Although a cap assembly with a single support for supporting a single container cap has been described above with reference to the illustrations, as an alternative possibility, the cap assembly may have multiple such supports, each of which is movable relative to one or more main body parts (which may or may not be coupled together) between a corresponding extended and retracted position in response to the action of a corresponding mechanism for moving the corresponding support. In the case of a cap assembly comprising multiple supports, the multiple supports may be stacked vertically such that the caps supported by the supports are stacked vertically when the cap assembly holds multiple caps and the supports are in one of their respective retracted or extended positions.

[0057] Figure 16 This is a perspective view of a portion of storage grid 1602 along with port 1604, through which storage containers can be inserted into / removed from storage grid 1602, robot 1606 (such as one of the robots described above), and in this case, a lid device 1608 having two vertically stacked main body portions 1610, 1612 and corresponding supports, such that lid device 1608 can handle two container lids simultaneously. Figure 16 In this configuration, the robot's gripper 1614 is lowered toward the lid device, neither gripping the storage container nor locking it to the lid. The supports of both main body sections 1610 and 1612 are in their retracted positions, and a tray is supported by the lid device (on the support of the bottom main body section 1610). When the supports are in their retracted positions, the gripper 1614 can be lowered past the lid device 1608 to retrieve the container from port 1604 and then raise it.

[0058] Figure 17 It is a storage grid, port, robot and Figure 16 The storage lid device is shown in a perspective view of another configuration, in which the support member of the bottom main body portion 1610, together with the lid 1702 it carries, has been moved to its extended position. In this configuration, the robot 1606 can further lower its gripper 1614, lock the lid 1702 onto the gripper 1614, and remove the lid 1702 from the storage lid device 1608.

[0059] Operation of storage cover device and robot

[0060] Figure 18 It shows that it can be, for example, by Figure 16The flowchart illustrates the steps of the method performed by the device. Starting from step S1805, the robot's gripper has been lowered into the vertical column served by the port (the support member of the cap device extends into this vertical column when in its extended position), and is holding a first container covered by a first cap in the gripper. Both the first and second supports of the cap device are in their retracted positions, with the first support empty and the second support supporting the second cap. During step S1805, the gripper's locking mechanism locks the first cap onto the gripper. Subsequently, the gripper places the first container (excluding the first cap) into the port, i.e., step S1810. At step S1815, the robot raises the gripper (and thus the first cap) above the cap device. At step S1820, the first support member of the cap device moves from its retracted position to its extended position, and at step S1825, the gripper releases the first cap to place it onto the first support member. To achieve this placement, the robot may need to lower the gripper slightly. Alternatively or concurrently, the robot may subsequently raise the gripping device in preparation for step S1830. At step S1830, the first support (and therefore the first cover) moves to its retracted position, and the second support carrying the second cover moves to its extended position. At step S1835, the gripping device removes the second cover by locking it to the gripping device using a locking mechanism. As a precondition for step S1835, the robot may lower the gripping device onto the second cover. After step S1835, the robot may slightly raise the gripping device to perform step S1840, at which point the second support moves from its extended position to its retracted position. At step S1840, the gripping device (and therefore the second cover) lowers past the cover storage device toward the port, where the first container has been exchanged for the second container, and then the gripping device clamps the second container and raises the gripper. The locking mechanism may also be released, allowing the second cover to be supported by and cover the second container.

[0061] Figure 18 The exemplary method of operation allows a (second) lid previously stored in the lid storage device to be recombined with its originally paired (second) container, and also allows a (first) lid to be stored in the lid storage device so that it can be recombined with the (first) container when the (first) container returns from the port. This is particularly beneficial in situations where cross-contamination between containers could be harmful—such as when containers are used to store food that may contain allergens or may be contaminated, or when different containers are stored in a storage grid—where some containers contain food and others contain items that should not be mixed with the food.

[0062] although Figure 18The flowchart illustrates one method that can be employed using the device described in this article, but this is far from the only method, and within the bounds of common sense, it can be omitted. Figure 18 The method may include any or all of the steps, and / or may be performed in different order and with different numbers of lids / containers. As an example, the method may include one or more of the following: moving a support member of the lid storage device between a retracted position and an extended position, while the support member may also carry the container lid; raising / lowering the container lid using a robot and being able to do so without raising / lowering the container; and / or using a robot to raise / lower the container lid onto or remove it from the support member of the lid storage device.

[0063] It will be understood that when a robot mounted on a track grid (such as the track grid described herein) is used to raise and / or lower a container lid relative to that grid, the container lid may initially be above the grid (this may happen when the gripper and lid are first lowered after the robot has traversed the grid to its current position), then the container lid will be below the track grid and within the storage grid, and the reverse may occur when the robot further traverses the grid after the lid has been raised from within the storage grid. In this case, it can be said that the container lid is at least temporarily below the track grid.

[0064] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. Although this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations but can be practiced with modifications and alterations within the spirit and scope of the appended claims. Therefore, the specification and drawings are to be regarded as illustrative and not restrictive. Thus, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

[0065] Examples are illustrated in the following list of numbered clauses: 1. A robot comprising: a main body portion; and a gripping device having a locking mechanism, the robot being arranged to travel on a track grid and to raise and lower the gripping device relative to the main body portion, the gripping device being arranged to releasably grip a container, and the locking mechanism being arranged to releasably lock onto a container lid.

[0066] 2. The robot according to Clause 1, wherein the locking mechanism is arranged to lock onto the container lid when the gripping device grips the container and the container supports and is covered by the container lid.

[0067] 3. The robot according to any of the foregoing provisions, wherein the locking mechanism is arranged to release the container lid when the gripping device grips the container such that the container lid covers the container and is supported by the container.

[0068] 4. The robot according to any of the foregoing provisions, wherein the locking mechanism includes one or more locking members, each locking member being arranged to move from a corresponding retracted position to a corresponding extended position, such that when the container lid is located directly below the gripper and the one or more locking members each move from their respective retracted positions to their respective extended positions, the container lid becomes locked to the locking mechanism.

[0069] 5. The robot according to Clause 4, wherein one or more locking members are each arranged to move from their respective extended positions to their respective retracted positions, such that when the container lid is locked to the locking mechanism and one or more locking members each move from their respective extended positions to their respective retracted positions, the container lid is released by the locking mechanism.

[0070] 6. The robot according to Clause 4 or 5, wherein each of one or more locking members is arranged to rotate about a respective axis to move between its respective retracted position and extended position.

[0071] 7. The robot according to any one of clauses 4 to 6 further includes one or more motors or actuators arranged to move one or more locking members between their respective retracted and extended positions.

[0072] 8. A robot according to any one of clauses 4 to 7, wherein each of one or more locking members includes a lip or protrusion configured to engage with a corresponding feature of the container lid.

[0073] 9. A method of operating a robot pursuant to any of the preceding provisions, the method comprising: using a locking mechanism to release a container lid that has been locked to a gripping device by the locking mechanism.

[0074] 10. The method according to Clause 9, wherein the locking mechanism is used to release the container when the clamping device clamps the container.

[0075] 11. A method of operating a robot according to any one of clauses 1 to 8, the method comprising: locking a container lid to a gripping device using a locking mechanism.

[0076] 12. The method according to Clause 11, wherein the locking mechanism is used to lock the container lid to the clamping device when the clamping device clamps the container.

[0077] 13. The method according to Clause 12 also includes: releasing the container when the container lid is locked to the clamping device.

[0078] 14. The method according to any one of clauses 9 to 12 further includes raising and / or lowering the clamping device relative to the main body.

Claims

1. A cap storage device for storing one or more container caps at a storage grid, the storage grid having a support structure defining horizontal grid columns, each of the columns being arranged for vertical passage and / or storage of one or more containers, the cap storage device being arranged to be positioned adjacent one column of the storage grid and comprising one or more supports, each of the supports being movable between: an extended position in which at least a portion of the support extends into the column to enable a container cap to be lowered onto the support, and a retracted position in which the support and any container cap supported thereby does not occupy space of the column.

2. The cap storage device of claim 1, wherein, The cap storage device comprises a plurality of supports arranged such that the cap storage device can accommodate a plurality of container caps in a vertical stack when the supports are in their retracted positions.

3. The cap storage device of claim 1 or 2, each of the supports being coupled to a main body of the cap storage device by a respective slide rail.

4. The cap storage device of claim 3, each of the slide rails being arranged to enable sliding movement between the main body of the cap storage device and the slide rail and between the slide rail and the respective support.

5. The cap storage device of any one of claims 1 to 4, wherein, The cap storage device is arranged to fit within one of a plurality of columns of the storage grid when the one or more supports are in their respective retracted positions.

6. The cap storage device and storage grid of any one of claims 1 to 5.

7. A method of using the cap storage device of any one of claims 1 to 5, the method comprising: moving one of the plurality of supports from its retracted position to its extended position, optionally wherein the support carries a container cap.

8. A method of using the cap storage device of any one of claims 1 to 5, the method comprising: moving one of the plurality of supports from its extended position to its retracted position, optionally wherein the support carries a container cap.

9. A method comprising: lifting and / or lowering a container cap relative to the grid using a robot mounted on the grid of tracks.

10. The method of claim 9, wherein, lifting and / or lowering the container cap without moving the container.

11. The method of claim 9 or 10, wherein, The container cap is at least temporarily located below the grid during lifting and / or lowering of the container cap.

12. The method of any one of claims 9-11, comprising: lowering the container cap onto and / or lifting the container cap from a support of a cap storage device for storing one or more container caps.

13. The method of claim 12, further comprising: moving the support from a retracted position to an extended position prior to lowering the container cap onto and / or lifting the container cap from the support of the cap storage device; and / or moving the support from the extended position to the retracted position after lowering the container cap onto and / or lifting the container cap from the support of the cap storage device.

14. An apparatus arranged to perform the method of any one of claims 9 to 13.

15. A computer readable medium carrying computer executable instructions which, when executed by one or more processors, cause performance of the method of any one of claims 7 to 13.

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