A lifting device

Abstract

The present disclosure relates to a lifting device for lifting a multi-container frame and for lifting storage containers arranged in an interior space of the multi-container frame, the multi-container frame being configured to be stored in a storage column of an automated storage and retrieval system, the multi-container frame being configured to accommodate a plurality of storage containers stored in the interior space of each multi-container frame, the lifting device comprising: a first lifting frame configured to engage with the multi-container frame; and a second lifting frame configured to engage with a storage container arranged within the multi-container frame.

Description

Technical Field

[0001] This disclosure relates to a lifting device. More specifically, it relates to a lifting device for lifting a multi-container frame and for lifting storage containers in an automated storage and retrieval system. Background Technology

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

[0003] Warehouse workers can be assisted by robotic pickers and automated inventory management systems. Automated transportation systems can also be implemented in traditional warehouse settings 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 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 storing and retrieving goods, thus eliminating the need for wide aisles within the warehouse. An example of such a system involves placing goods in bins or containers configured to be stacked side-by-side within a three-dimensional grid. A guide rail system is positioned at the top of the grid, along which robotic container handling vehicles, configured to lift containers from the grid, can travel. The container handling vehicles are configured to transport containers from the grid to ports or stations outside the grid, allowing the goods inside the containers to be picked and packed.

[0005] Robotic container handling vehicles are crucial for the efficient operation of automated storage and retrieval systems. Advances in the design and operation of such robots can significantly improve the performance of automated storage and retrieval systems. To handle containers, robotic container handling vehicles must be able to lift containers from a grid and return them to the grid using lifting devices configured to engage the containers. Improving the design of such robots will be beneficial. Summary of the Invention

[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 shown 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 Top view of the system; Figure 3A It shows that it is suitable for use in Figure 1 A side view of the first robotic container handling vehicle used in the system; Figure 3B It shows that it is suitable for use in Figure 1 A side view of the second robotic container handling vehicle used in the system; Figure 3C yes Figure 3B A side-view 3D view of the robot; Figure 4 A computing device for implementing the operation described herein is shown; Figure 5 It shows Figure 1 A portion of a mesh containing a multi-container frame; Figure 6A A perspective view of two exemplary multi-container frames is shown; Figure 6B A side view of an exemplary multi-container frame is shown; Figure 6C A top view of an exemplary multi-container frame is shown; Figure 7A A cross-sectional view of an exemplary multi-container frame is shown, in which a first arrangement of containers stored within the multi-container frame can be seen; Figure 7B A cross-sectional view of an exemplary multi-container frame is shown, in which a second arrangement of containers stored within the multi-container frame can be seen; Figure 8A An exemplary lifting device for a container transport vehicle is shown, which is configured to be coupled to a multi-container frame so that the multi-container frame can be lifted or lowered by the container transport vehicle. Figure 8B It shows Figure 8A Side view of the arrangement in the middle; Figure 8C It shows Figure 8A and Figure 8B The lifting device in the middle is connected to the multi-container frame; Figure 8D It shows Figure 8C Side view of the arrangement in the middle; Figure 9 It shows Figures 8A to 8D An exemplary lifting device is being lowered to contact the multi-container frame; Figure 10 It shows Figures 8A to 8D The exemplary lifting device in the example engages with a multi-container frame; Figure 11An exemplary lifting device for a container transport vehicle is shown, which is configured to be coupled to a container held within a multi-container frame so that the container can be lifted or lowered by the container transport vehicle. Figure 12 A robotic container handling vehicle is shown that lifts and lowers containers from a multi-container frame. Figure 13A An exemplary lifting device is shown, comprising a first lifting frame and a second lifting frame and configured to be connected to a single lifting frame displacement device via the second lifting frame; Figure 13B It shows Figure 13A The lifting device is located above the multi-container frame containing the storage containers; Figure 13C It shows Figure 13A The lifting device in the middle lifts the storage containers from within the multi-container frame; Figure 14A An exemplary lifting device is shown engaging with a recess in a multi-container frame; Figure 14B It shows Figure 14A The lifting device in the middle is connected to the multi-container frame and the storage containers within the multi-container frame; Figure 14C It shows Figure 14A The lifting device in the middle lifts the storage containers from within the multi-container frame; Figure 15A An exemplary lifting device including an actuator mounted on a second lifting frame is shown as viewed from below; Figure 15B Shown from above Figure 15A The lifting device in the middle; Figure 15C This shows what happens when the actuator is not actuated. Figure 15A The actuator of the second lifting frame in the middle and Figure 15A The mechanical connection between the latches of the first lifting frame; Figure 15D It shows what happens when the actuator is actuated. Figure 15A The actuator of the second lifting frame in the middle and Figure 15A The mechanical connection between the latches of the first lifting frame; Figure 16A An exemplary lifting device is shown, configured to connect to two lifting frame displacement devices and engage with a multi-container frame; Figure 16B It shows Figure 16A The lifting device in the middle is connected to the multi-container frame and storage containers; Figure 16C It shows Figure 16A The lifting device in the middle lifts the storage containers from within the multi-container frame; Figure 17 An exemplary lifting device is shown, including a lifting frame displacement device disposed on a first lifting frame and connected to a second lifting frame; Figure 18A An exemplary lifting device is shown, including a first lifting frame, a second lifting frame, and a third lifting frame, wherein the second and third lifting frames are positioned side by side to access storage containers within a multi-container frame; Figure 18B It shows Figure 18A The lifting device in the middle is connected to the storage containers in the multi-container frame; Figure 18C It shows Figure 18A The lifting device in the middle lifts the storage containers from within the multi-container frame; Figure 19A An exemplary lifting device located above a multi-container frame is shown; Figure 19B It shows Figure 19A The lifting device in the middle is connected to the multi-container frame; Figure 19C It shows Figure 19A The lifting device in the middle lifts the multi-container frame; Figure 20A The demonstration included robotic container handling vehicles and Figure 13A An exemplary system of a lifting device is provided, which is located above a storage column to lower the lifting device into the storage column to retrieve the storage container; Figure 20B It shows Figure 20A The system lowers the lifting device into the storage column; Figure 20C It shows Figure 20A The system in Figure 13A The lifting device in the middle is connected to the storage container; Figure 21A The image shows cranes and Figure 13A An exemplary system of lifting devices is provided, which is located above the storage column to lower the lifting devices into the storage column; Figure 21B It shows Figure 21A The system lowers the lifting device into the storage column to retrieve the storage container; Figure 21C It shows Figure 21A The system in Figure 13A The lifting device in the middle is connected to the storage container; Figure 22A It shows Figure 21A The system is located above the storage column and engages with the multi-container frame within the storage column, with the telescopic arm in the extended position; and Figure 22BIt shows Figure 22A The system's telescopic arms retract to lift the multi-container frame out of the storage column.

[0008] Throughout the specification and drawings, the same reference numerals refer to the same features. Detailed Implementation

[0009] In summary, this disclosure relates to a lifting device comprising a first lifting frame configured to engage a multi-container frame (such as a stacking frame), a clamping device, and a second lifting frame or clamping device configured to engage storage containers (such as boxes) located within the stacking frame. Advantageously, such a lifting device is capable of handling both the multi-container frame and the storage containers, meaning that devices (such as robots or cranes) attached to the lifting frames can have the capability to lift both the multi-container frame and the storage containers.

[0010] Overview of Automated Storage and Retrieval Systems

[0011] refer to Figure 1 In the illustrated embodiment, the grid 100 includes a frame formed by a plurality of generally linear adjacent vertical columns 102 formed between vertical frame members 104 and extending in the X and Y directions 108, 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 bins 112 are stacked on top of each other in the columns 102 along the Z direction 114, preferably in a self-supporting manner, forming storage volumes for the storage cells of the respective bins 112, which extend in the X, Y, and Z directions 108, 110, 114.

[0012] A guide rail system or network 116 is formed on top of grid 100, and includes pairs of vehicle guide rails or tracks 118a, 118b and 120a, 120b extending in the X and Y directions 108, 110 respectively. A robotic container handling vehicle or robot 122 is provided and configured to run on the guide rails 118, 120 and transport bins 112 in both the X and Y directions 108, 110. This robot can have various sizes, shapes, and functions. Robot 122 is further configured to lift bins 112 from column 102 and lower bins 112 into column 102 along the Z direction 114. The bins 112 are optionally guided by vertical frame members 104. Robot 122 accesses bins 112 via access openings 124 located above column 102 and formed between the guide rails 118, 120.

[0013] Some columns 102 can be used for alternative purposes besides bin storage. For example, port columns 126, 128 include ports or access columns that allow bins 112 to move into and / or out of grid 100. Port columns 126, 128 provide vertical channels for lifting bins 112 from ports 130, 132 or lowering bins 112 into ports 130, 132. Ports 130, 132 are located in... Figure 1 The middle section is shown as the lowest layer of the grid; however, the ports can be located at any vertical position along the column. Corresponding port columns 126, 128 can be assigned for removing (“unloading”) hopper 112 from grid 100 and / or returning or transporting (“removing”) hopper 112 to grid 100. Ports 130, 132 are therefore configured to allow hopper 112 to be removed and (horizontally) reintroduced into the associated port column. Thus, ports 130, 132 may include conveyors ( Figure 1 (Not shown in the image) The bin 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 bin 112 can enter and leave the column.

[0014] Tote bin 112 can be transported by robot 122 along the top of grid 100 to and / or from port columns 126, 128, and from ports 130, 132 to a location outside grid 100, which may be an access station (not shown) for handling tote bin 112 or its contents, such as a picking station for adding or removing contents from tote bin 112. In an alternative example (not shown), tote bin 112 may be transported to a port of another grid on the same or another level, or to an external facility. The transport of tote bin 112 into and out of ports 130, 132 can be by any suitable means (not shown), including conveyors, transport vehicles, elevators, or robots.

[0015] refer to Figure 2 The illustrated embodiment provides a more detailed view of the XY configuration 200 of the guide rail system 116 along with different types of robots 202, 204. The guide rail system includes guide rails 206, between which vertical rows of access openings 124 are defined for accessing the hopper 112. The guide rails 206 can be of any suitable type for allowing the robots 202, 204 to travel along the X and Y directions 108, 110, including (not shown) recessed guide rails for receiving vehicle wheels, or protruding guide rails for engaging wheel recesses. Each guide rail 206 may include a single track or multiple parallel tracks in each of the X and Y directions 108, 110.

[0016] The first "cantilever" type robot 202 Figure 3AThe diagram is shown in more detail and includes a body 300, a set of wheels 302, and a lifting device 304. The body 300 houses operating equipment (not shown) for the robot 202, including a drive system, a power system, and a control system. The wheels 302 allow the robot 202 to move in one of the X and Y directions, and an additional set of wheels (not visible in this view) allows movement in the other direction, in both cases along corresponding guide rails or tracks 206. One or both sets of wheels can be raised or lowered to allow selective engagement of guide rails for movement in a desired direction. The lifting device 304 includes a cantilever element 306 and a gripping device 308, the cantilever element 306 extending from the top of the body 300 in the XY plane, and the gripping device 308 being able to rise and fall from the cantilever element 306. The gripping device 308 is configured to grip or engage a hopper 112; for example, by gripping a portion of the hopper 112, or by passively or actively engaging a suitably constructed portion of the hopper 112.

[0017] 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, it includes an inner cavity 310 within the main body 300, and a lifting device 312 including a clamping device (not shown) is located in the inner cavity 310. In this case, the main body 300 includes the robot's operating equipment and storage space for one or more bins 112 for use, for example, when transporting the bins 112.

[0018] Figure 3C It shows Figure 3B A side-view stereoscopic view of the robot, from which Figure 3B The first set of wheels 302 is visible. (The above reference is incomplete.) Figure 3B Additional wheels not shown in the diagram Figure 3C The figure shows wheels 303. The additional set of wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to travel in the X and Y directions by means of the first set and the second set of wheels 302 and 303, respectively. Figure 3C The first and second sets of wheels 302, 303 shown can be configured to independently lower into engagement with the guide rail (and conversely raise out of engagement with the guide rail) to allow robot 202 to traverse... Figure 2 The guide rails shown move in 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 arrangement of mutually perpendicular wheels can be applied. Figure 3A Robot 202 in the middle.

[0019] Control and monitoring system

[0020] The control and monitoring of the automated storage and retrieval system includes monitoring and storing bin positions, controlling bin transport, retrieval, and delivery, as well as robot path planning and collision avoidance. Figure 4 The control system shown communicates with the robot and / or other controllable system components. Control can be performed locally or remotely and can be implemented by a processing system, such as a computing device. Therefore, the methods described herein can form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0021] refer to Figure 4 The 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, within which a set of instructions can be executed to cause the computing device to perform any one or more methods described herein. In some implementations, 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-to-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 a set of instructions (sequential or non-sequential) to specify the actions to be taken by the machine. Further, although only a single computing device is shown, the term "computing device" should also be understood to include any collection of machines (e.g., computers) that individually or collectively execute a set (or more) of instructions to perform any one or more methods described herein.

[0022] 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.

[0023] 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.

[0024] The processing system 400 may further 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).

[0025] Obviously, 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 might be the case, for example, for a specific server-side computer device used solely for its processing capabilities and not required to display information to a user. Similarly, a user input device 412 may not be necessary. In its simplest form, the processing system 400 includes a processor 402 and main memory 404.

[0026] 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 thereon storing one or more sets of instructions 422 embodying any one or more methods or functions described herein. The instructions 422 may also reside wholly or at least partially in main memory 404 and / or processor 402 during execution by processing system 400, which also constitute computer-readable storage media 428.

[0027] The various methods described herein can be implemented by a computer program. This computer program may include computer code arranged to instruct a computer to perform one or more of the various methods described herein. The computer program and / or code for performing such methods may be provided to a device such as a computer on one or more computer-readable media, or more generally, as a computer program product. The computer-readable media may be transient or non-transient. The one or more computer-readable media may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or a propagation medium for data transmission, such as for downloading code via the Internet. Alternatively, the 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), hard disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0028] A computer program may be executed by processor 402 to perform the functions of the systems and methods described herein.

[0029] In one implementation, the modules, components, and other features described herein can be implemented as separate components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs, or similar devices.

[0030] A “hardware component” is a tangible (e.g., non-transitory) physical component (e.g., a group or one or more processors) capable of performing certain operations and which can be configured or arranged in some 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 temporarily configured by software to perform certain operations.

[0031] 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 in a certain way or perform certain operations described herein.

[0032] Furthermore, modules and components can be implemented as firmware or functional circuitry within a hardware device. Moreover, modules and components can be implemented as any combination of hardware devices and software components, or solely as software (e.g., code stored in a machine-readable medium or otherwise embodied in a transmission medium).

[0033] Operation of the automatic storage and retrieval system

[0034] During operation, each bin 112 is assigned a unique identifier, which can be marked on the bin 112 using a computer-readable identifier (e.g., a barcode, quick-response code, or RFID tag) for easy identification. The database of the processing system 400 stores the location of each bin 112 in association with the unique identifier, and optionally stores the contents of each bin. When a bin 112 is moved (e.g., when it is removed from grid 100), the database is updated to record its position change.

[0035] When it is desired to retrieve bin 112 from grid 100, under the control of processing system 400, robots 202 and 204 are path-planned via guide system 116 to the vertical column 102 of the storage cell containing bin 112 (according to the database), and lifting devices 304 and 312 (depending on robot type) are positioned above, adjacent to, or below the corresponding access opening 124. Robots 202 and 204 lower gripping device 308, which engages, grasps bin 112, and lifts it onto robots 202 and 204. Robots 202 and 204 then transport bin 112, for example, to unloading port columns 126 and 128 for delivery to ports 130 and 132 and subsequently processed outside grid 100. When the target or designated bin 112 is located below other bins in the stack, robots 202, 204, or multiple robots (which may be dedicated to this task) are controlled in a "digging" operation to sequentially lift and reposition (temporarily or permanently) the bins above the target bin 112 so that it can be retrieved. It should be understood that other operations concerning bin 112 can be performed in a similar manner. For example, bin 112 may be transported to ports 130, 132 of picking port columns 126, 128 for storage in grid 100, grasped and lifted by robots 202, 204, and transported to the desired storage cell, where bins above the desired location are repositioned as discussed above if necessary.

[0036] Specific description of improvements

[0037] This disclosure relates to multi-container frames, in other words, to frames or containers configured to accommodate multiple other containers. These multi-container frames can be used with bins or containers 112 (see above) in the automated storage and retrieval system of this disclosure. Figures 1 to 4 Storage and processing are performed in the same manner as described above. Therefore, a multi-container framework represents the above-described and Figure 1 , Figure 2 , Figure 3A and Figure 3BThe container or box 112 shown is an exemplary implementation. In a typical implementation, while the multi-container framework can be configured to accommodate two to six containers, larger multi-container frameworks are also possible.

[0038] In the primary implementation of this disclosure, a multi-container frame is configured to house multiple boxes or containers, which are stacked one on top of another. In this case, the multi-container frame may be referred to as a "stacking frame" because the containers housed therein are stacked one on top of another. For simplicity, the remainder of this disclosure will focus on this form of multi-container frame. However, it should be understood that in other implementations (not shown in the figures), the multi-container frame may house multiple containers side-by-side or in other arrangements, and these containers may not be stacked one on top of another within the multi-container frame. Therefore, while the remainder of this disclosure focuses on stacking frames, this should not be considered limiting; the present invention relates to any form of multi-container frame configured to house multiple containers.

[0039] Now go to Figure 5 The figure shows Figure 1 The diagram shows a sub-section of the automated storage and retrieval system. A portion of grid 100 and robotic container handling vehicles, robotic vehicles, or robots 202 and 204 operating on the guide rail system 116 can be seen. Figure 5 In the system shown, container or bin 112 is a multi-container frame 500. As mentioned above, in this implementation, the multi-container frames 500 are all stacking frames 500, where one container is stored on top of another. Therefore, for simplicity, the phrase "stacking frame" will be used below. However, the following description applies to any form of multi-container frame.

[0040] from Figure 5 It can be seen that one of the stacking frames 500 is being lifted by robot 204. This is consistent with the above... Figure 1 The same method is used for container 112. More details about how the stacking frame 500 is lifted will be described below.

[0041] Exemplary stacking frame 500 in Figures 6A to 6CThis is shown in more detail below. Each stacking frame 500 has an open top 502 for allowing storage containers 504 to enter the stacking frame 500. As already described, each stacking frame 500 is configured to accommodate a plurality of storage containers 504, which are stored one on top of another in a vertically stacked manner within the stacking frame 500. Thus, each stacking frame 500 is configured to support the lowermost storage container 504 within the stacking frame 500. Then, one or more other storage containers 504 are placed on top of the lowermost storage container 504, each container 504 supporting the container placed above it. The storage containers 504 stored within the stacking frame 500 can correspond to Figure 1 The container 112 in the container may be a container specifically designed for storage within the stacking frame 500.

[0042] Each stacking frame 500 includes a bottom end 506 for supporting the lowest storage container 504. In this example, a side wall 508 extends between the bottom end 506 and the top end 502, although in other examples, the stacking frame 500 may consist only of a frame structure defining the frame within which the container 504 is held, and thus the side wall 508 may be substantially omitted.

[0043] In this implementation, connecting recesses 510 are arranged within the opposite sidewall 508 at the top 502. The connecting recesses 510 are arranged such that they are accessible and protrude above the top of the uppermost storage container 504 in the stack of storage containers 504 within each stacking frame 500 when the storage containers 504 in each stacking frame 500 are stacked to full capacity. These recesses allow the stacking frame 500 to be placed into and lifted out of the grid of storage columns, as will be described in further detail below.

[0044] To facilitate efficient storage and enable the stacking frames 500 to be stacked, the bottom end 506 of each stacking frame 500 may have a recessed portion 512, the outer perimeter of which is smaller than the inner perimeter of the top end 502 of another stacking frame 500 (i.e., the outer perimeter is configured to fit within the inner perimeter of the top end 502 of another stacking frame 500). In this way, the stacking frames 500 can be stacked one on top of another while horizontal movement between them is restricted to improve stability.

[0045] from Figure 6C As can be seen from the top view of the stacking frame 500, in this implementation, each storage container 504 housed within the stacking frame 500 includes a connecting recess 514. These recesses 514 are arranged on the upper surface or upper edge of the sidewall of the storage container 504. These recesses allow the container 504 to be placed into and lifted out of the stacking frame 500, as will be described in further detail below.

[0046] Figure 7A and Figure 7B A stacking frame 500 with a cut section is shown to better illustrate the stacking of storage containers 504 within the stacking frame 500. Figure 7A The stacking frame 500 shown has three uniformly sized storage containers 504, while... Figure 7B In the stacking frame 500 shown, the lowermost storage container 504 is taller than the other storage containers 504. The number, shape, and size of the storage containers 504 that can be accommodated within any given stacking frame 500 can vary. As mentioned above, when the stacking frame 500 is full, there are typically two to six storage containers 504 within it.

[0047] As described above, the stacking frame 500 can be stored in the grid 100 and moved by container handling vehicles 202, 204 in a manner similar to that of ordinary boxes or containers 112. Various modifications can be made to the container handling vehicles 202, 204 to better interact with the stacking frame 500 and the containers 504 stored within it. Some exemplary implementations of such modifications will now be described in detail; however, it should be understood that other mechanisms may be additionally or alternatively provided.

[0048] Figure 8A , Figure 8B , Figure 8C , Figure 8D , Figure 9 and Figure 10 An exemplary lifting device 800 is shown that enables container handling vehicles 202, 204 to raise and lower a stacking frame 500. The lifting device 800 can be configured as a lifting device 304 for container handling vehicle 202 or a lifting device 312 for container handling vehicle 204. It can also be used in the lifting devices of any of the robots 1300, 1800, and 1900 described below. The lifting device 800 is configured to engage with the stacking frame 500 such that the stacking frame 500 can be raised out of column 102 of grid 100 or lowered into a column of the grid.

[0049] The lifting device 800 in this example includes a lifting frame 802 connected to a lifting belt 804, which can be wound / wound from at least one lifting shaft (not shown) of container transport vehicles 202, 204 to raise or lower the lifting frame 802. The lifting frame 802 includes a horizontal element as shown and a latch 806 arranged on the lifting frame 802. The latch 806 is an exemplary embodiment of a clamping device (such as the clamping device 308 described above). The latch 806 is configured to be in a released position (e.g., Figure 8A , Figure 8B and Figure 9 (as shown) and connection position (such as) Figure 8C, Figure 8D and Figure 10 The latch 806 moves between the release position and the connection position. In the release position, the latch 806 is closer to the vertical centerline C of the lifting frame 802 than in the connection position. When moving from the release position to the connection position, the latch 806 moves away from the vertical centerline C and is configured to extend through the connection recess 510 in the side wall 508 of the stacking frame 500.

[0050] The latch 806 is located within the interior space of the stacking frame 500 when engaged with the connecting recess 510. This is particularly advantageous because, since the lifting device 800 does not require clearance outside the stacking frame 500, the space between adjacent columns 102 of the grid 100 can be reduced.

[0051] Figure 11 and Figure 12 A lifting device 1100 is shown for lifting storage container 504 from stacking frame 500. Lifting device 1100 can be configured as lifting device 304 of container handling vehicle 202 or lifting device 312 of container handling vehicle 204. It can also be used in the lifting devices of any of the robots 1300, 1800, and 1900 described below. Lifting device 1100 is configured to engage storage container 504 to raise or lower the storage container 504 relative to the stacking frame 500 in which it is stored.

[0052] The lifting device 1100 may include a lifting frame 1102 connected to a lifting belt 1104, which can be wound / wound from at least one lifting shaft (not shown) of the container transport vehicles 202, 204 to raise or lower the lifting frame 1102. The lifting frame 1102 includes a horizontal element as shown and a clamp 1106 arranged on the lifting frame 1102. The clamp 1106 is configured to releasably engage a connection recess 514 arranged in the upper edge of the storage container 504, such as... Figure 6A , Figure 6C , Figure 7A and Figure 7B As shown. The gripper 1106 includes two or more elements that can move relative to each other to provide a clamping force.

[0053] Container handling vehicles 202 and 204 can be configured to retrieve storage containers 504 via the open top 502 of the stacking frame 500, for example... Figure 12 As shown in the figure. Figure 12 The uppermost stacking frame 500 has a cutout to better show the stacking of storage containers 504 within the stacking frame 500. The uppermost container 504 has been lifted from the uppermost stacking frame 500 by the container handling vehicle 202.

[0054] In order to remove the storage container 504 from the stacking frame 500 in this manner, the lifting frame 1102 has an outer periphery configured to fit within the inner periphery of the sidewall of the stacking frame 500. The inner periphery of the sidewall of the stacking frame 500 can be configured to guide the lifting frame 1102 when it is located within the stacking frame 500.

[0055] Reference Figures 8A to 12 Exemplary lifting mechanisms are described for raising or lowering a container handling vehicle from or from a stacking frame 500 to a container 504. However, it should be understood that these mechanisms are merely exemplary. Other mechanisms may be used, and both the stacking frame 500 and the container 504 may be appropriately modified to accommodate alternative forms of lifting mechanisms.

[0056] Lifting device

[0057] Figure 13A An exemplary lifting device 1300 is shown, comprising two lifting frames (first lifting frame 1302 and second lifting frame 1304). The first lifting frame includes a horizontal element with a latch 806 arranged around its periphery to releasably engage a connecting recess 510 on the inner surface of the stacking frame 500. Figure 13A (Not shown in the image). In this example, the first lifting frame 1302 is not connected to the lifting frame displacement device, but is instead placed on the second lifting frame 1304, which is itself connected to the lifting frame displacement device via the lifting belt 804. Figure 13A (Not shown in the image). The second lifting frame includes other horizontal elements and a plurality of grippers 1106, each gripper 1106 projecting downward from its edge as a gripping element and arranged to releasably engage a connecting recess 514 disposed in the upper edge of the storage container 504, as shown in the image. Figure 6A , Figure 6C , Figure 7A and Figure 7B As shown. The second lifting frame 1304 has a smaller cross-section than the first lifting frame 1302 and is shaped to enter the stacking frame 500 to access the storage container 504 within the stacking frame 500. The first lifting frame 1302 is shaped to abut the top 502 of the stacking frame 504 when lowered. A lifting belt 804 is arranged to pass through the first lifting frame 1302 to reach the lifting frame displacement device. The first lifting frame 1302, which engages with the multi-container frame or stacking frame 500, allows for better alignment of the second lifting frame 1304 with the storage containers within the stacking frame 500.

[0058] Figure 13B and Figure 13C It shows Figure 13AThe lifting device 1300 lifts the storage container 504 from the stacking frame 500 in sequence. The lifting device 1300 is positioned above the stacking frame 500 that houses the storage container 504. The lifting device 1300 is lowered onto the stacking frame 500. A first lifting frame 1302 abuts against the stacking frame 500 at its top surface 502, and a second lifting frame 1304 continues to lower into the stacking frame 500 toward the storage container 504. Before the lifting device 1300 is removed, the second lifting frame 1304 engages with the storage container 504 within the stacking frame 500, thereby lifting the storage container 504.

[0059] Figure 14A An exemplary lifting device 1400 is shown, comprising a first lifting frame 1402 and a second lifting frame 1404. The second lifting frame 1404 of the lifting device 1400 is shown engaging with the top end 502 of the stacking frame 500 via a latch 806 and a connecting recess 510. Engaging the latch 806 in this manner enables the lifting device 1400 to raise the stacking frame 500. The stacking frame 500 is shown having a cutout portion, thereby exposing a plurality of storage containers 1406 within the stacking frame.

[0060] Figure 14A An exemplary storage container 1406 is also shown, which includes a connection recess 1408 configured to be engaged by a latch 806. The connection recesses 1408 of the storage container 1406 are configured such that they can be engaged by the same latch 806 as the stacking frame 500.

[0061] Figure 14B and Figure 14C The sequence of lifting device 1400 lifting storage container 1406 from stacking frame 500 is shown. First lifting frame 1402 includes a horizontal element and does not include a latch or clamp, in contrast, second lifting frame 1404 includes a horizontal element and a latch 806 configured to engage both storage container 1406 and stacking frame 500 via a connecting recess 510 in the stacking frame or a connecting recess 1408 in the storage container 1406. Lifting belt 804 is arranged from the lifting frame displacement device ( Figures 14A to 14B (Not shown in the image) Passes through the first lifting frame 1402 to reach the second lifting frame 1404.

[0062] exist Figure 14BIn this configuration, the second lifting frame 1404 has been lowered into the stacking frame 500, and the first lifting frame 1402 has been engaged with the stacking frame 500 by abutting against its top 502. The engagement of the first lifting frame 1402 with the stacking frame 500 facilitates the alignment of the second lifting frame 1404 with the storage container 1406 within the stacking frame 500. The latch 806 of the second lifting frame 1404 engages with the connecting recess 1408 in the storage container 1406, enabling the second lifting frame 1404 to lift the storage container 1406.

[0063] exist Figure 14C The diagram shows a lifting frame 1400 lifting a storage container 1406 from a stacking frame 500. A second lifting frame 1404 is retracted by a retracting lifting belt 804 to abut against a first lifting frame 1402, lifting both the storage container 1406 and the first lifting frame 1402 out of the stacking frame 500. A connecting recess 1408 in the storage container 1406 aligns with both a connecting recess 510 in the stacking frame 500 and a latch 806 in the second lifting frame 1404, allowing the second lifting frame 1404 to engage with either the stacking frame 500 or the storage container 1406 using the latch 806.

[0064] Figure 15A An exemplary lifting device 1500 is shown, including a first lifting frame 1502 and a second lifting frame 1504. (Compared to...) Figure 13A Similar to the lifting mechanism in the first lifting frame 1502, the first lifting frame 1502 includes a horizontal element and a latch arranged to engage with a connecting recess 510. The first lifting frame 1502 has a recess 1506 on its lower surface configured to receive an actuator 1508 arranged on the top of the second lifting frame 1504. The second lifting frame includes a horizontal element and a gripper 1106 projecting from its bottom surface, arranged to engage with a connecting recess 514 in the upper edge of the storage container 504. The second lifting frame is provided with an actuator 1508 arranged to actuate the gripper 1106, and further arranged such that when the actuator 1508 is located within the recess 1506 of the first lifting frame 1502, the actuator also actuates the latch 806 in the first lifting frame. The second lifting frame is connected to the lifting frame displacement device via a lifting belt 804. Figure 15A (Not shown in the image).

[0065] Figure 15C and Figure 15D They are shown respectively Figure 15A The actuator 1508 in the second lifting frame and the latch 806 in the first lifting frame 1502 are ( Figures 15C to 15D An exemplary mechanical connection 1510 between the first lifting frame 1502 (not shown) and the other two is in an unengaged position. Figure 15C) and joint position ( Figure 15D In the unengaged position, latch 806 is biased inward relative to the center of lifting device 1500, so that it does not engage with any connecting recess. Mechanical connection 1510 is biased toward the center of lifting device 1500 by a biasing device 1512, such as a spring, to abut against actuator 1508. In some implementations, latch 806 may be coupled to mechanical connection 1510 and biased inward by biasing device 1512. In this implementation, latch 806 is not biased alone toward the center of lifting device. The gripper 1106 of second lifting frame 1504 is in Figure 15C The middle is in the unengaged position. The second lifting frame 1504 is shown as being supported by the lifting belt 804.

[0066] Figure 15D It is shown that when actuator 1508 is engaged, gripper 1106 extends to the engaged position and pushes mechanical coupling 1510 against latch 806, thereby placing latch 806 in the engaged position. Therefore, when the first lifting frame 1502 and the second lifting frame 1504 abut against each other, both latch 806 and gripper 1106 can be engaged by a single actuator 1508. Figure 15D As shown, when latch 806 is pushed away from the center of lifting device 1500, latch 806 is in the engaged position. When the frames are not abutting each other, latch 806 cannot be actuated by actuator 1508, while gripper 1106 remains actuable. In some exemplary implementations, actuator 1508 disposed on the third lifting frame may be similarly configured to actuate latches or other gripping elements of the first lifting frame.

[0067] Figure 16A , Figure 16B and Figure 16C The sequence of lifting a storage container 504 from within a stacking frame 500 by an exemplary lifting frame 1600 is illustrated, with the stacking frame shown in cross-section to expose the operation of the second lifting frame 1604. The exemplary lifting device 1600 is configured to connect to two lifting frame displacement devices (…). Figures 16A to 16C (Not shown in the image). The first lifting frame 1602 is connected to the first lifting frame displacement device via the lifting belt 1606, and the second lifting frame 1604 is connected to the second lifting frame displacement device via the lifting belt 1608. The two lifting frames are connected to different lifting frame displacement devices, allowing the two lifting frames to be raised and lowered independently.

[0068] Figure 16B The second lifting frame 1604 is shown lowered into the stacking frame 500 to engage with the storage container 504. The gripper 1106 on the second lifting frame is arranged to engage with the storage container 504 via a connecting recess 514 in the upper edge of the storage container 504. Figure 16C The image shows a storage container 504 being lifted by a second lifting frame 1604 before being lifted away from the stacking frame 500 by the lifting device 1600 via two sets of lifting belts 1606 and 1608.

[0069] Figure 17 An exemplary lifting device 1700 is shown, comprising a first lifting frame 1702 and a second lifting frame 1704, the second lifting frame 1704 being connected to a second lifting frame displacement device 1706 via a second lifting belt 1708. The lifting frame displacement device 1706 includes two parallel lifting shafts 1710 spaced apart from each other. The lifting shafts 1710 are configured to wind up or unwind the second lifting belt 1708, and each is connected to a lifting motor 1712 via a belt 1714. Rotating the lifting motor 1712 drives the belt 1714. The belt 1714 drives the lifting shafts 1710 to wind up or unwind the second lifting belt 1708. In this way, the second lifting frame 1704 and any stacking frames 500 connected thereto are raised or lowered.

[0070] The second lifting frame 1704 is shown engaging with a storage container 504 within a stacking frame 500, wherein the stacking frame 500 is shown in cross-section to expose the second lifting frame 1704 and the storage container 504. The first lifting frame 1702 is connected to a first lifting frame displacement device (not shown) via a lifting belt 804. A second lifting frame displacement device 1706 is provided on the first lifting frame 1702 such that the second lifting belt 1708 can have a shorter length than the lifting belt 804 because the second lifting frame displacement device 1706 is closer to the second lifting frame 1704. The shortened length of the second lifting belt 1708 reduces the weight and storage capacity required when the second lifting belt 1708 is retracted.

[0071] Figure 18A , Figure 18B and Figure 18CThe sequence of an exemplary lifting device 1800 is shown, comprising a first lifting frame 1802, a second lifting frame 1804, and a third lifting frame 1806, for lifting an exemplary storage container 1814 from an exemplary stacking frame 1812. The stacking frame 1812 is shown in cross-section to expose the storage container 1814 and the lifting device 1800. The stacking frame 1812 is configured to store the storage container 1814 side-by-side, allowing the lifting device 1800 to access either container from above. The storage container 1814 is configured to be stored side-by-side within the stacking frame 1812. The stacking frame 1812 includes a connecting recess 1816 located at its apex. The first lifting frame 1802 includes a horizontal element as shown and is shaped to abut against the upper surface of the stacking frame 1812. The second lifting frame 1804 is positioned below the first lifting frame 1802 and side-by-side with the third lifting frame 1806. This arrangement ensures that each of the second lifting frames 1804 and the third lifting frame 1806 does not interfere with each other when the frames are raised or lowered. Therefore, the second lifting frame 1804 and the third lifting frame 1806 can engage independently and raise and lower individual storage containers 1814 without obstruction, thus allowing for a wider range of combinations of storage containers 1814 and / or stacking frames 1812 that can be raised and lowered simultaneously by the lifting device. Both the second lifting frame 1804 and the third lifting frame 1806 include a horizontal element as shown, and a clamp 1106 arranged to engage with the storage container 504. The second lifting frame 1804 and the third lifting frame 1806 are respectively connected to a first lifting frame displacement device and a second lifting frame displacement device (not shown) via a first lifting belt 1808 and a second lifting belt 1810.

[0072] Figure 18B The lifting device 1800 is shown engaging with the stacking frame 500 and the storage container 504. The first lifting frame 1802 abuts against the stacking frame 500 while the second lifting frame lowers into the storage container 504 within the stacking frame 500. Figure 18CThe diagram illustrates lifting device 1800 lifting storage container 504 from stacking frame 500. Second lifting frame 1804 is lifted by first lifting frame displacement device until it is alongside third lifting frame 1806, and both second and third lifting frames 1804 and 1806 abut against first lifting frame 1802. First and second lifting frame displacement devices then lift second and third lifting frames 1804 and 1806, so that first lifting frame 1802 is supported by second and third lifting frames during lifting from stacking frame 500. In some exemplary implementations, first lifting frame 1802, second lifting frame 1804, and / or third lifting frame 1806 include latches 806 configured to engage with connecting recesses 1816 in stacking frame 1812. In some exemplary implementations, grippers 1106 may be provided instead of latches 806.

[0073] Figure 19A , Figure 19B and Figure 19C The sequence of an exemplary lifting device 1900 lifting a stacking frame 1812 is shown. The lifting device 1900 is supported by lifting belts 1902 and 1904 and lowered onto the stacking frame 1812. The lifting device... Figure 19B The middle part engages with the stacking frame, and when the lifting device is lifted by the lifting belts 1902 and 1904, the stacking frame is lifted, as shown. Figure 19C As shown. In some exemplary implementations, the lifting device 1900 includes a latch 806 for engaging with a connection recess 1816 of the stacking frame 1812. In some exemplary implementations, a gripper 1106 may be provided instead of the latch 806.

[0074] Figure 20A , Figure 20B and Figure 20C The above will be described in detail. Figure 14A The system combines the lifting device 1400 with the robotic container handling vehicle 202. In some exemplary implementations, the lifting device 1400 may be combined with the robotic container handling vehicle 204 or any container handling device suitable for use with the automated storage and retrieval system grid 100. In some exemplary implementations, any of the above-described lifting devices may be combined with any container handling device suitable for use with the automated storage and retrieval system grid 100. The system is... Figures 20A to 20C The sequence shows the engagement with storage container 504. The stacking frame 500 is shown in cross-section to expose the storage container 504 therein.

[0075] like Figure 20B As shown, the lifting device 1400 is lowered toward the stacking frame 500 or the storage container 504. Figure 20CIn the process, the first lifting frame 1402 abuts against the upper surface of the stacking frame 504, and the second lifting frame 1406 descends within the stacking frame 500 to engage with the storage container 504.

[0076] Figure 21A , Figure 21B and Figure 21C The image shows cranes and Figure 14A The lifting device 1400 is part of a system. The crane 2100 includes a movable platform 2102 slidably mounted on a gantry 2104, a telescopic boom 2106, and... Figure 14A The lifting device 1400 is located within the system. In some exemplary implementations, any of the lifting devices described above can be combined with any crane suitable for use with the automated storage and retrieval system grid 100. The stacking frame 500 is shown in cross-section to expose the storage container 504 therein.

[0077] like Figure 21B As shown, the lifting device lowers toward the stacking frame 500 or the storage container 504. Figure 21C In the process, the first lifting frame 1402 abuts against the upper surface of the stacking frame 504, and the second lifting frame 1406 descends within the stacking frame 500 to engage with the storage container 504.

[0078] Figure 22A This illustrates the effect when the telescopic arm 2106 extends to lower the lifting device 1400 toward the storage column. Figure 21A The crane system 2100 is used in the storage. The lifting device 1400 engages with the stacking frame 500 to lift the stacking frame 500 from the storage column. Figure 22B In the middle, the telescopic arm 2106 retracts, allowing the stacking frame 500 to be lifted away from the storage column.

[0079] Further explanation

[0080] In some exemplary implementations, the second lifting frame may be arranged below the first lifting frame. This arrangement allows the second lifting frame to access and engage storage containers within the multi-container frame when the first lifting frame is engaged with the multi-container frame, advantageously improving the stability of the lifting device when raising storage containers from within the stacking frame.

[0081] In some exemplary implementations, the second lifting frame is movable relative to the first lifting frame and can be lowered into the stacking frame independently of the first lifting frame. This relative movement allows the second lifting frame to lift storage containers stacked at various heights within the multi-container frame while maintaining the engagement of the first lifting frame with the stacking frame.

[0082] In some exemplary implementations, the engagement of the first lifting frame with the multi-container frame is achieved by the first lifting frame abutting against the multi-container frame. When the second lifting frame is lowered into the stacking frame, the engagement of the first lifting frame with the stacking frame allows the second lifting frame to be better aligned with the storage containers within the multi-container frame.

[0083] In some exemplary implementations, the first lifting frame includes a first clamping element configured to engage with a surface of the multi-container frame, providing a stable and reversible connection between the first lifting frame and the multi-container frame. In some exemplary implementations, the first lifting frame includes two or more first clamping elements to further provide a stable and reversible connection between the first lifting frame and the multi-container frame.

[0084] In some exemplary implementations, the first clamping element may include a latch configured to engage a recess in the surface of a multi-container frame, such as a stacking frame. The latch disposed in the recess is capable of applying force to the sides of the recess, thereby limiting undesired relative movement between the latch and the recess, and thus limiting relative movement between the first lifting frame and the multi-container frame. This achieves better stability during lifting of the multi-container frame. In some exemplary implementations, the first lifting frame includes two or more latches, thereby further reducing undesired relative movement between the first lifting frame and the multi-container frame.

[0085] In some exemplary implementations, the first clamping element may include a first gripper configured to engage with a recess in a surface of the multi-container frame facing the first lifting frame. Thus, the gripper can engage with the multi-container frame even when there is no free space for latching on either side of the walls of the multi-container frame or storage container. In some exemplary implementations, the first lifting frame includes two or more grippers. Two or more grippers can better distribute the load of the multi-container frame on the first lifting frame, thereby reducing any undesirable relative movement between the first lifting frame and the multi-container frame.

[0086] In some exemplary implementations, the first clamping element is actuable to engage with the multi-container frame. Actuable clamping elements, such as actuable latches or actuable grippers, enable reversible engagement between the first lifting frame and the multi-container frame, and also enable reversible engagement when the lifting device is in use and away from the user.

[0087] In some exemplary implementations, the second lifting frame includes a second clamping element configured to engage with the surface of the storage container and / or multi-container frame. Such a second clamping element thus provides a stable and reversible connection between the second lifting frame and the storage container and / or multi-container frame. In some exemplary implementations, the second lifting frame includes two or more second clamping elements to further provide a stable and reversible connection between the second lifting frame and the storage container and / or multi-container frame.

[0088] In some exemplary implementations, the second clamping element includes a latch configured to engage a recess in the surface of the storage container and / or multi-container frame. The latch disposed in the recess is capable of applying force to the sides of the recess, thereby limiting undesired relative movement between the latch and the recess, and thus limiting relative movement between the second lifting frame and the storage container and / or multi-container frame. By engaging the recess, the second clamping element can achieve better stability during lifting of the storage container and / or multi-container frame. In some exemplary implementations, the second lifting frame includes two or more latches, thereby further reducing undesired relative movement between the second lifting frame and the storage container and / or multi-container frame.

[0089] In some exemplary implementations, the second clamping element includes a second clamp configured to engage with a recess in the surface of the storage container facing the second lifting frame. Thus, such a second clamp can engage with the storage container even when there is no free space on either side of the storage container's walls for latching. In some exemplary implementations, the second lifting frame includes two or more clamps. Two or more clamps can better distribute the load of the storage container on the second lifting frame, thereby reducing any undesirable relative movement between the second lifting frame and the storage container.

[0090] In some exemplary implementations, the second clamping element is actuable to engage with the storage container and / or multi-container frame. Actuable clamping elements, such as actuable latches or actuable grippers, enable reversible engagement between the second lifting frame and the storage container and / or multi-container frame, and also enable reversible engagement when the lifting device is in use and away from the user.

[0091] In some exemplary implementations, at least one actuator is configured to actuate a first clamping element and / or a second clamping element. In some exemplary implementations, a single actuator can simultaneously actuate the first clamping element of the first lifting frame and the second clamping element of the second lifting frame, reducing the complexity of the device and the number of required components, thereby reducing manufacturing costs. In some exemplary implementations, the first actuator is configured to actuate the first clamping element, and the second actuator is configured to actuate the second clamping element, thereby allowing individual control of the first and second clamping elements. This arrangement of the first and second actuators enables the lifting device to simultaneously engage the storage container and the multi-container frame when the first lifting frame engages with the multi-container frame, without requiring a mechanical connection between the first and second lifting frames.

[0092] In some exemplary implementations, the actuator is disposed on the second lifting frame and configured to actuate the first and second clamping elements when the first and second lifting frames abut against each other. In some exemplary implementations, the abutment of the first and second lifting frames forms a mechanical connection between the actuator and the first clamping element of the first lifting frame, thereby simplifying the mechanical connection.

[0093] In some exemplary implementations, the lifting device further includes a first lifting frame displacement device and a first connecting member, such as a lifting belt, between the first lifting frame displacement device and the first lifting frame and / or the second lifting frame. In some exemplary implementations, the first connecting member is located between the first lifting frame and the first lifting frame displacement device, and the first lifting frame is connected to the second lifting frame to support the second lifting frame. In some exemplary implementations, the first connecting member is located between the second lifting frame and the first lifting frame displacement device, and the first lifting frame displacement device is supported by the upper surface of the second lifting frame when the second lifting frame is lifted away from the multi-container frame. Using only one lifting frame displacement device reduces the weight of the lifting device, especially when the lifting frame displacement device is connected to the second lifting frame that supports the first lifting frame.

[0094] In some exemplary implementations, the first lifting frame displacement device is configured to be mounted on either a robotic container handling vehicle or a crane. The lifting frame can then be moved over the automated storage and retrieval system to facilitate the movement of storage containers and / or multiple container frames.

[0095] In some exemplary implementations, the lifting device further includes a second lifting frame displacement device and a second connector, such as a lifting belt, wherein the first connector is located between the first lifting frame and the first lifting frame displacement device, and the second connector is located between the second lifting frame displacement device and the second lifting frame. Each lifting frame can be displaced independently of the other lifting frame by means of a corresponding lifting device, thereby enabling the lifting device to lift storage containers and different combinations of multi-container frames. If the connector is a lifting belt, the lifting belt can be wound up when retracted, thereby saving storage capacity.

[0096] In some exemplary implementations, the second lifting frame displacement device is configured to be mounted on either a robotic container handling vehicle or a crane. In other exemplary implementations, the first and second lifting frame displacement devices may be mounted on the same robotic container handling vehicle or crane. Stabilization is achieved by attaching the lifting frame to the same robotic container handling vehicle or crane, making it easier to guide the lifting frame to multi-container frames or storage containers. This exemplary implementation also allows for easier translation of the lifting device over automated storage and retrieval systems.

[0097] In some exemplary implementations, a second lifting frame displacement device is disposed on a first lifting frame. In some exemplary implementations, the second lifting frame is configured to access storage containers within a multi-container frame, thus reducing the minimum length of the connection between the second and first displacement devices to the maximum depth of only one multi-container frame, thereby reducing the weight of the device. This advantage is particularly evident compared to other implementations listed above that have multiple lifting frame displacement devices (all mounted on robotic container handling vehicles or cranes).

[0098] In some exemplary implementations, the connector between the second lifting frame, the first lifting frame displacement device, and / or the second lifting frame displacement device is arranged to pass through the first lifting frame. By allowing the connector between the second lifting frame and the second lifting frame displacement device to pass through the first lifting frame, in implementations where the first lifting frame is larger than the second lifting frame, the second lifting frame can be located below the first lifting frame.

[0099] In some exemplary implementations, the lifting device further includes a third lifting frame configured to engage with storage containers arranged within a multi-container frame. The third lifting frame enables the device to lift two storage containers from the same multi-container frame.

[0100] In some exemplary implementations, the third lifting frame is arranged side-by-side with the second lifting frame. In some exemplary implementations, the third lifting frame is arranged side-by-side with the second lifting frame such that the frames do not interfere with each other when each frame is raised or lowered. The second and third lifting frames can thus be independently engaged with separate storage containers and raised without obstruction, thereby allowing for a wider range of combinations of containers and / or multiple container frames that can be raised and lowered simultaneously by the lifting device.

[0101] In some exemplary implementations, a third lifting frame is arranged below the first lifting frame. This arrangement allows the third lifting frame to access and engage storage containers within the multi-container frame while the first lifting frame is engaged with the multi-container frame, advantageously improving the stability of the lifting device when lifting storage containers from within the stacking frame.

[0102] In some exemplary implementations, the third lifting frame is movable relative to the first and / or second lifting frames. Either or both of the second or third lifting frames are movable relative to the first lifting frame, and can also be independent of each other, thereby allowing the lifting device to elevate different combinations of storage containers and multi-container frames.

[0103] In some exemplary implementations, the third lifting frame includes a third clamping element configured to engage with the surface of the storage container. The third clamping element provides a stable and reversible connection between the third lifting frame and the storage container. In some exemplary implementations, the third lifting frame includes two or more third clamping elements to further provide a stable and reversible connection between the third lifting frame and the storage container and / or a multi-container frame.

[0104] In some exemplary implementations, the third clamping element includes a latch configured to engage a recess disposed on the surface of the storage container. The latch disposed in the recess is capable of applying force to the sides of the recess, thereby limiting undesirable relative movement between the latch and the recess, and thus between the third lifting frame and the storage container. When engaging the recess, the third clamping element can achieve better stability during lifting of the storage container. In some exemplary implementations, the third lifting frame includes two or more latches, thereby further reducing undesirable relative movement between the third lifting frame and the storage container.

[0105] In some exemplary implementations, the third clamping element includes a third gripper configured to engage with a recess in a surface of the storage container facing the third lifting frame. This third gripper can engage with the storage container even when there is no available space for latches on either side of the storage container wall. In some exemplary implementations, the third lifting frame includes two or more grippers. Two or more grippers can better distribute the load of the storage container onto the third lifting frame, thereby reducing any undesirable relative movement between the third lifting frame and the storage container.

[0106] In some exemplary implementations, a third clamping element is actuable to engage with a storage container. The actuable clamping element (such as an actuable latch or an actuable gripper) enables reversible engagement between the third lifting frame and the storage container, and also enables reversible engagement when the lifting device is in use and away from the user.

[0107] In some exemplary implementations, the third lifting frame further includes at least one actuator configured to actuate the first clamping element and / or the third clamping element. In some exemplary implementations, a single actuator can simultaneously actuate the first clamping element of the first lifting frame and the second clamping element of the second lifting frame, thereby reducing the complexity of the device and the number of required parts, thus reducing manufacturing costs. In some exemplary implementations, the first actuator is configured to actuate the first clamping element, and the third actuator is configured to actuate the third clamping element, thereby allowing individual control of the first and third clamping elements. This arrangement of the first and third actuators allows the lifting device to simultaneously engage the storage container and the multi-container frame when the first lifting frame engages with the multi-container frame, without requiring a mechanical connection between the first and second lifting frames.

[0108] In some exemplary implementations, the actuator is disposed on the third lifting frame and configured to simultaneously actuate both the first and third clamping elements when the first and third lifting frames abut against each other. In some exemplary implementations, the abutment of the first and second lifting frames forms a mechanical connection between the actuator and the first clamping element of the first lifting frame, thereby simplifying the mechanical connection.

[0109] In some exemplary implementations, the lifting device further includes a third lifting frame displacement device and a third connecting member, such as a lifting belt, between the third lifting frame displacement device and the third lifting frame. In some exemplary implementations, when the first lifting frame or the second lifting frame is connected to the first lifting frame displacement device via the first connecting member, the third lifting frame can be displaced independently of both the first and second lifting frames, thereby allowing the lifting of different storage containers within a multi-container frame that may be at different heights. If the connecting member is a lifting belt, the lifting belt can be wound up when retracted, thereby saving storage capacity.

[0110] In some exemplary implementations, the third lifting frame displacement device is configured to be mounted on either a robotic container handling vehicle or a crane. In exemplary implementations, the first and third lifting frame displacement devices may be mounted on the same robotic container handling vehicle or crane. At least the first and / or third displacement devices are stabilized by being attached to the same container handling vehicle, making it easier to guide the third lifting frame to multi-container frames or storage containers.

[0111] In some exemplary implementations, a third lifting frame displacement device is disposed on the second lifting frame. In some exemplary implementations, the third lifting frame is configured to access storage containers within a multi-container frame, thus reducing the minimum length of the connection between the third displacement device and the first displacement device to the maximum depth of only one multi-container frame, thereby reducing the weight of the device. This advantage is particularly evident compared to other implementations listed above that have multiple lifting frame displacement devices (all mounted on a robotic container handling vehicle or crane).

[0112] In some exemplary implementations, the connector, such as the lifting belt, is arranged to pass through the first lifting frame. In implementations where the first lifting frame is larger than the third lifting frame, the third lifting frame may be located below the first lifting frame, by allowing the connector between the third lifting frame and the third lifting frame displacement device to pass through the first lifting frame.

[0113] In some exemplary implementations, the robotic vehicle for handling multi-container frames and / or storage containers includes the lifting device described above. In some exemplary implementations, the multi-container frames are configured to be stored in storage columns of an automated storage and retrieval system and configured to accommodate multiple storage containers stored within the internal space of each multi-container frame. In some exemplary implementations, the robotic vehicle includes a drive system for moving the robotic vehicle along rails of a guide rail system above the storage column. In some exemplary implementations, the robotic vehicle is configured to operate the lifting device to lift the multi-container frames and / or storage containers from the storage column, such that the bottom of the multi-container frames and / or storage containers is raised above the rails of the guide rail system, allowing the robotic vehicle to move freely along the rails of the guide rail system while carrying one or more multi-container frames and / or storage containers. In some exemplary implementations, the lifting device can be used with a robotic vehicle capable of navigating within the storage and retrieval system to lift and transport multi-container frames and / or storage containers. The ability of a single vehicle to handle containers of two sizes provides greater system flexibility, and a vehicle equipped with the aforementioned lifting device can be used to retrieve any type of container as needed without the need for digging, thereby optimizing the utilization of available resources. In addition, the system allows low-throughput systems to use only one type of container handling vehicle.

[0114] In some exemplary implementations, the crane assembly for handling multi-container frames and / or storage containers includes a lifting frame as described above. In some exemplary implementations, the multi-container frames are configured to be stored in a storage column of an automated storage and retrieval system and configured to accommodate multiple storage containers stored within the internal space of each multi-container frame. In some exemplary implementations, the crane assembly is configured to operate a lifting device to lift the multi-container frames and / or storage containers from the storage column, such that the bottom of the multi-container frames and / or storage containers is raised above the storage column, allowing free movement above the storage column carrying one or more multi-container frames and / or storage containers. This crane assembly can be used as an alternative to or in conjunction with a robotic container handling vehicle, and the lifting device can work with the crane assembly to lift and transport multi-container frames and / or storage containers above the automated storage and retrieval system.

[0115] In some exemplary implementations of the crane system, the crane further includes a first gantry beam and a movable platform slidably mounted to the first gantry beam for movement in a first direction, wherein a lifting device is coupled to the movable platform. The slidably mounted platform allows the lifting device to traverse the storage and retrieval system to access multi-container frames and / or storage containers.

[0116] In some exemplary implementations of the crane system, the crane further includes a second gantry beam, wherein the first gantry beam is slidably mounted on the second gantry beam for movement in a second direction. This second gantry, movable in the second direction, allows the crane to move in both the X and Y directions, thereby traversing a greater range of the storage and retrieval system.

[0117] In some exemplary implementations of the crane system, the crane also includes a telescopic boom mounted between the movable platform and the lifting device, the telescopic boom being configured to lower the lifting device toward the storage column of the automated storage and retrieval system. Equipping the crane with a telescopic boom gives the lifting device an additional range of motion and allows it to be raised and lowered above the storage column without interfering with the operation of other container handling vehicles.

[0118] It should be understood that the above description is intended to be illustrative rather than 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 implemented with modifications and variations within the spirit and scope of the appended claims. Therefore, the specification and drawings should be viewed in an illustrative rather than restrictive sense. Consequently, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A lifting device for lifting a multi-container frame and for lifting storage containers arranged in the internal space of the multi-container frame, the multi-container frame being configured to be stored in a storage column of an automated storage and retrieval system, the multi-container frame being configured to accommodate a plurality of storage containers stored in the internal space of each multi-container frame, the lifting device comprising: A first lifting frame is configured to engage with the multi-container frame; as well as The second lifting frame is configured to engage with the storage containers arranged within the multi-container frame.

2. The lifting device according to claim 1, in, The second lifting frame is arranged below the first lifting frame.

3. The lifting device according to any of the preceding claims, in, The first lifting frame includes a first clamping element configured to engage with the surface of the multi-container frame.

4. The lifting device according to any of the preceding claims, in, The second lifting frame includes a second clamping element configured to engage with the surface of the storage container and / or the multi-container frame.

5. The lifting device according to claim 4, in, The second clamping element includes a latch configured to engage with a recess in the surface of the storage container and / or the multi-container frame.

6. The lifting device according to claim 4 or claim 5, in, The second clamping element includes a clamp configured to engage with a recess in the surface of the storage container facing the second lifting frame.

7. The lifting device according to any of the preceding claims, Also includes: First lifting frame displacement device; as well as Optionally, the first connecting member between the first lifting frame displacement device and the first lifting frame and / or the second lifting frame is a lifting belt.

8. The lifting device according to claim 7, Also includes: Second lifting frame displacement device; as well as Optionally, the second connecting member between the second lifting frame displacement device and the second lifting frame is a lifting belt.

9. The lifting device according to claim 8, in, The second lifting frame displacement device is installed on the first lifting frame.

10. The lifting device according to any of the preceding claims, It also includes a third lifting frame configured to engage with storage containers arranged within the multi-container frame.

11. The lifting device according to claim 10, in, The third lifting frame is arranged side by side with the second lifting frame.

12. The lifting device according to any one of claims 10 to 11, in, The third lifting frame includes a third clamping element configured to engage with the surface of the storage container.

13. The lifting device according to any one of claims 10 to 12, Also includes: Third lifting frame displacement device; as well as Optionally, the third connecting member between the third lifting frame displacement device and the third lifting frame is a lifting belt.

14. A robotic vehicle for transporting multi-container frames and / or storage containers, the multi-container frames being configured to be stored in a storage column of an automated storage and retrieval system, the multi-container frames being configured to accommodate a plurality of storage containers stored in the internal space of each multi-container frame. The robotic vehicle includes: A drive system for enabling the robotic vehicle to move on the guide rails of the guide rail system above the storage column; as well as The lifting device according to any of the preceding claims; The robotic vehicle is configured to operate the lifting device to lift the multi-container frame and / or the storage container from the storage column, such that the bottom of the multi-container frame and / or the storage container is lifted above the rails of the guide rail system, allowing the robotic vehicle to move freely on the rails of the guide rail system while carrying one or more multi-container frames and / or storage containers.

15. A crane assembly for transporting multi-container frames and / or storage containers, the multi-container frames being configured to be stored in a storage column of an automated storage and retrieval system, the multi-container frames being configured to accommodate a plurality of storage containers stored in the internal space of each multi-container frame. The crane includes a lifting device according to any one of claims 1 to 13; in, The crane assembly is configured to operate the lifting device to lift the multi-container frame and / or the storage container from the storage column, such that the bottom of the multi-container frame and / or the storage container is lifted above the storage column, and the crane assembly is allowed to travel freely above the storage column while carrying one or more multi-container frames and / or storage containers.

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