Lifting device, transport apparatus and storage system

Abstract

A device 100 for lifting a side-stored cylindrical load 10 comprising a body with a movement mechanism and a lift 103 connected to the body wherein the lift has two horizontally spaced supports with a

Description

Technical Field The present disclosure relates to a devices for moving side-stored cylindrical loads, particularly, but not exclusively, casks. Background Casks are often stored for a period of time to age the contents in order to improve the properties of the contents. For example, whisky is often stored for multiple years. Cask storage warehouses also require several safety measures to be in place due to the flammable nature of the cask contents. Safety requirements vary by region, for example, in the European Union and the UK, the safety requirements are set out in the ATEX Directives. The casks are monitored and rearranged while stored and eventually removed from the storage system for filling or emptying. Moving and monitoring the casks is done manually by an operator who requires access to each individual cask from the racking system in order to remove the cask from its stored position. This means that a large portion of the storage area is required for operator access and the areas are inefficiently utilised. Further, existing devices for moving pallet stored items within a racking system are not well suited to transporting cylindrical loads which are prone to rolling from the flat surfaces used presenting a potential for waste and safety breaches. Summary There is provided a lifting device for moving a side-stored cylindrical load, the lifting device comprising: a body, a movement mechanism for moving the body, and a lift mechanism connected to the body, the lift mechanism comprising at least two horizontally-spaced supports having a gap therebetween, and the lift mechanism being operable to contact the load with the supports to lift the load away from the body when the lifting device is beneath the load. Optionally, the lifting device is a robot, which may be referred to as a lifting robot. In this way, two of the horizontally-spaced supports can each contact the side-stored cylindrical load at respective positions on a circumference of the cylindrical load, the positions being on opposing sides of a lowest point of the circumference, such that when the supports contact the cylindrical load, the lowest part of the cylindrical load is positioned lower than the supports. When the supports contact the cylindrical load in this way, a portion of the side stored cylindrical load is located in the gap between the horizontallyspaced supports. This is a more stable way of lifting, holding and moving a cylindrical load as it reduces the risk of the load rolling when lifted from beneath. Optionally, the supports are adapted to stably support a side-stored cylinder. Optionally, the lift mechanism is operable to contact the load with the supports via a contact surface that partially forms the curved surface of a cylinder. Optionally, the lift mechanism is operable to contact the load with the supports via a contact surface that is non-planar. In this specification, side-stored cylindrical load refers to a substantially cylindrical load such as a cask or barrel, stored resting on its curved side, as opposed to being stored on one of its planar sides. Optionally, the lift mechanism comprises at least two legs, each leg providing a respective one of the supports, each support being provided at an end of its respective leg furthest from the body, the legs being movable to move the supports away from the body. Optionally, the lift mechanism is a scissor lift mechanism comprising the legs arranged as two opposing sets of legs, the sets of legs being connected to one another at a pivot axis. Each set of legs may comprise two legs. Optionally, the supports may be unconnected to each other, except via the attachment of the legs. Optionally, each of the supports comprises a wheel. Optionally, the wheels are rotatable. Optionally, the wheels are rotatable to rotate the load when the load is supported by the wheels. Optionally, the lifting device comprises a wheel control module operable to control the rotation of the wheels. The wheel control module may comprise a powered mechanism, such as a motor. The wheels may be replaced by another rotatable mechanism such as a track or band. Optionally, the lifting device further comprises a weight detection sensor, the weight sensor configured to determine a weight of a load lifted by the lift mechanism. A height of the lifting device may be less than the height between a surface on which the lifting device is movable and a lowest point of the stored load. Optionally, the weight detection sensor is configured to determine the weight of a load in its stowed location. The lifting device may be operable to move beneath the load to be weighed, lift the load using the lift mechanism, weigh the load using the weight detection sensor and lower the load back into its stored location. Optionally, the wheels may be operable to rotate the load in its stowed location. The lifting device may be operable to move beneath the load to be weighed, lift the load using the lift mechanism, weigh the load using the weight detection sensor and lower the load back into its stored location. Optionally, the lifting device is configured to communicate with a control system. For example, wirelessly or via a cable or dock. The lifting device may be configured to send determined weight, rotations performed and may be configured to receive instructions. Optionally, the load is a cask, for example, a whisky cask. Optionally, the movement mechanism comprises wheels protruding from the body, the wheels being for contacting storage rails of a racking system and / or a transport apparatus cradle. Optionally, the wheels of the movement mechanism may comprise vertical wheels underneath the body and / or horizontal wheels at sides of the body. Optionally, the body is a cuboid and the wheels of the movement mechanism are located at two opposing sides of the body for moving the lifting device in a first direction. The direction is set relative to the lifting device. The lifting device may be movable via the wheels of the movement mechanism forwards and backwards along the first direction. There is further provided a transport apparatus for transporting a lifting device in a racking system, the transport apparatus comprising: a housing comprising a cradle for the lifting device, and a transport mechanism for moving the housing. Optionally, the transport apparatus is a robot, which may be referred to as a transport robot. Optionally, the transport apparatus may be integral with the lifting device. Optionally, the transport mechanism comprises vertical wheels protruding beneath the housing. Optionally, the transport mechanism comprises vertical wheels protruding on opposing side walls of the housing. Optionally, the cradle comprises a planar floor and opposing side walls and provides two opposing entrances to the cradle, each entrance being between the side walls. There is further provided a transport system for moving a side-stored cylindrical load, the system comprising: a lifting device as described above, and a transport apparatus as described above, wherein the lifting device is operable, via the movement mechanism of the lifting device to enter and exit the cradle of the transport apparatus. Optionally, the transport mechanism is operable to move the housing in a second direction, the second direction being perpendicular to the first direction. The housing may be movable via the transport mechanism forwards and backwards along the second direction. There is further provided a storage system for side-stored cylindrical loads, the storage system comprising: a racking system comprising a series of pairs of storage rails for supporting side-stored cylindrical loads, and a lifting device as described above, wherein the lifting device is movable along each pair of storage rails, by engagement between the movement mechanism and said pair of storage rails. Each rail may have a C shaped cross-section. The cross-section may have an upper external surface for supporting loads. The cross-section may have an internal lower surface for supporting the lifting device. The cross-section may have an internal upper surface. Advantageously, when the lifting device moves between the storage rails, the lifting device moves beneath the stored loads. A height of the lifting device and / or body may be less than the height difference of a surface of the storage rails configured to support the lifting device and a highest surface of the storage rails. A height of the lifting device and / or the body may be less than a height between the internal lower and internal upper surface of the storage rails, such that the device and / or body can move along the storage rail between the internal lower and internal upper surface. Optionally, the storage system further comprises: a transport apparatus as described above, wherein the racking system further comprises: a transport guide along which the transport apparatus is movable, the transport guide being perpendicular to the storage rails and adjacent an end of the storage rails. Optionally, the storage system further comprises: a plurality of stacked transport guides, along which the transport apparatus is movable, the transport guides being perpendicular to the storage rails and adjacent an end of the storage rails, and a lift operable to receive the transport apparatus from one of the guides and raise or lower the transport apparatus such that the transport apparatus can exit the lift onto another of the guides. The transport guide(s) may each comprise a pair of transport rails. Optionally, one or more of the transport guides may further comprise a walkway, for example a grating walkway. This enables personnel to access the stored loads when required, for example, to allow inspection of the racking, loads and / or lifting device or in the event of a device / apparatus fault. Optionally, the storage system further comprises: a lifting device charging dock, the lifting device charging dock operable to provide power to a battery of the lifting device, when the lifting device is connected to the lifting device charging dock, a storage area housing the racking system, and a charging area, the storage area and the charging areas being separated by a wall, wherein, the lifting device charging dock is located in the charging area and the lifting device is movable between the charging area and the storage area. Optionally, the lifting device is movable between the charging area and the storage area by virtue of the transport apparatus and / or the movement mechanism. Optionally, the storage system further comprises: a transport apparatus charging dock, the transport apparatus charging dock operable to provide power to a battery of the transport apparatus, when the transport apparatus is connected to the transport apparatus charging dock, wherein the transport apparatus charging dock is located in the charging area and the transport apparatus is movable between the charging area and the storage area. Optionally, the transport apparatus is movable between the charging area and the storage area by virtue of the transport mechanism. Optionally, the storage area may comprise a restricted zone. The restricted zone may be contain hazardous, for example, flammable or explosive substances and the restricted zone may be an ATEX compliant zone. Optionally, the charging area is outside of the restricted zone. The lifting device may be configured to communicate with the control system, and / or the transport apparatus wirelessly and / or via a physical connection such as a cable, plug and / or dock. The transport apparatus may be configured to communicate with the lifting device and / or the control system wirelessly, and / or via a physical connection such as a cable, plug and / or dock. There is further provided a kit of parts for a storage system, the kit of parts comprising: a transport system as described above, a racking system comprising a series of pairs of storage rails for supporting side-stored cylindrical loads, and a plurality of stacked pairs of transport rails, along which the transport apparatus is movable, and a lift for receiving the transport apparatus and raising or lowering the transport apparatus, a transport apparatus charging dock, and a lifting device charging dock. Further features and advantages of the aspects of the present disclosure will become apparent from the claims and the following description. Brief Description of Drawings Embodiments of the present disclosure will now be described by way of example only, with reference to the following diagrams, in which:- Fig. 1 shows a perspective view of a lifting robot supporting a load; Fig. 2 shows a perspective view of the lifting robot of Fig. 1; Fig. 3 shows a perspective view of the lifting robot of Fig. 1 in the cradle of a transport robot; Fig. 4 shows a perspective view of the transport robot of Fig. 3; Fig. 5 shows a perspective view of a storage system including the transport robot and lifting robot of Fig. 3. Detailed Description A number of different embodiments of the disclosure are described subsequently. Figs. 1 and 2 show a lifting robot 100 for moving a side-stored cask 10. The lifting robot 100 comprises: a body 101, a movement mechanism for moving the body, and a lift mechanism 103 connected to the body 101. The lift mechanism 103 comprises 4 horizontally-spaced supports 105 having a gap 106 therebetween, and the lift mechanism is operable to contact the cask 10 with the supports 105 to lift the cask 10 away from the body 101 when the lifting robot 100 is beneath the cask 10. The horizontally-spaced supports 105 can contact the cask 10 on both opposing sides of a lowest point of a circumference of the cylindrical load, allowing the central part of the cask 10 to sit in the gap 106 between the supports 105 as shown in Fig. 1. Supports 105 provide a contact surface that partially forms the curved surface of a cylinder and is non-planar. This is a more stable way of lifting, holding and moving a cylindrical load. The lift mechanism 103 is a scissor lift mechanism comprising two opposing sets 107a, 107b of legs, the sets of legs being connected to one another at a pivot axis 108. Each leg provides a respective one of the supports 105, each support being provided at an end of its respective leg furthest from the body. Each of the supports 105 comprises a rotatable wheel. The rotatable wheels can be controlled by a wheel control module to rotate simultaneously to thereby rotate the cask 10. The lifting robot 100 further comprises a weight detection sensor, the weight sensor configured to determine a weight of a load lifted by the lift mechanism. The weight detection sensor can be configured to determine the weight of the cask 10 in its stowed location. The support wheels 105 can be used to rotate the cask 10 in its stowed location. The movement mechanism comprises vertical wheels 102 protruding underneath the body 101. The movement mechanism also includes horizontal wheels 109 at sides of the body 101. The body 101 is a cuboid and the vertical wheels 102 are located at two opposing sides of the body 101 for moving the lifting robot 100 in a first direction DI. The lifting robot 100 is movable forwards and backwards along the first direction as shown by the arrow DI in Fig. 1. A transport system for moving a side-stored cylindrical load is shown in Fig. 3. The transport system comprises the lifting robot 100, and transport robot 150. The lifting robot 100 is operable, via the movement mechanism of the lifting robot 100 to enter and exit the cradle 152 of the transport robot. Transport robot 150 for transporting lifting robot 100 in a racking system is shown in Fig. 3 and Fig. 4. The transport robot 150 comprises a housing 151 comprising a cradle 152 for the lifting robot 100, and a transport mechanism for moving the housing 151. The transport mechanism comprises vertical wheels protruding beneath the housing. The cradle 152 comprises a planar floor and opposing side walls and provides two opposing entrances to the cradle, each entrance being between the side walls. The transport mechanism is operable to move the housing 151 in a second direction D2. The second direction D2 is perpendicular to the first direction DI, when the lifting robot 100 is within cradle 152. The housing 151 is movable forwards and backwards along the second direction as shown by arrow D2. A storage system 170 for side-stored cylindrical loads is shown in Fig. 5. The storage system 170 comprises a racking system 171 comprising a series of pairs of storage rails 172a, 172b for supporting side-stored cylindrical loads such as cask 10. The storage system further comprises lifting robot 100. The lifting robot 100 is movable along each pair of storage rails 172 a, 172b, by engagement between the vertical wheels 102 and said pair of storage rails 172a, 172b. The storage rails 172a, 172b each comprise a respective lower internal surface along which the lifting robot 100 is movable by engagement between the wheels 102 and the lower internal surface of the rails. Advantageously, when the lifting robot 100 moves along the storage rails between the rails 172a, 172b, the lifting robot 100 moves beneath the stored loads 10. The height of the lifting robot 100 is less than the height difference of the rails and a highest surface of the storage rails 172a, 172b. The storage system 170 further comprises the transport robot 150. The racking system 171 further comprises a plurality of stacked pairs of transport rails 173a, 173b along which the transport robot 150 is movable. The transport rails 173a, 173b are perpendicular to the storage rails 172a, 172b and the transport rails are adjacent an end of the storage rails 172a, 172b. Lift 174 is operable to receive the transport robot 150 from one of the pairs of transport rails 173a, 173b and raise or lower the transport robot 151 such that the transport robot 151 can exit the lift 174 onto another of the pairs of transport railsl73a, 173b. The storage system 170 further comprises a lifting robot charging dock 175, the lifting robot charging dock 175 operable to provide power to a battery of the lifting robot 100, when the lifting robot 100 is connected to the lifting robot charging dock 175. The storage system 170 further comprises a transport apparatus charging dock, the transport apparatus charging dock operable to provide power to a battery of the transport apparatus, when the transport apparatus is connected to the transport apparatus charging dock. The lifting robot 100 is configured to communicate with a control system wirelessly or via the lifting robot charging dock 175. The lifting robot 100 is configured to send determined weight, rotations performed and to receive instructions. The storage system 170 further includes a storage area housing the racking system 171 and a charging area, the storage area and the charging area being separated by a wall 176 (wall 176 partially shown in Fig. 5). The lifting robot charging dock 175 and the transport robot charging dock 177 are located in the charging area and the lifting robot 100 and the transport robot 150 are movable between the charging area and the storage area by virtue of wheels beneath the transport robot and / or the wheels 102. The storage area may be an ATEX compliant zone and the charging area is outside of the ATEX compliant zone, thereby allowing for charging to take place outside of the controlled environment. This is especially advantageous where the loads to be transported are required to be stored in ATEX compliant zones, for example where the loads 10 are whisky casks containing whisky. The storage system and parts thereof may be supplied as a kit of parts. In use, the lifting robot 100 may begin in the charging dock 175 and the transport robot 150 may begin in the transport robot charging dock 177. The lifting robot 100 moves into the cradle 152 of the transport robot 150 using the wheels 102. The transport robot 150 then moves out of the transport robot charging dock 177 and through an opening in wall 176, into the ATEX compliant storage area. The transport robot 150 is then moved to the desired transport rails 173a, 173b by lift 174. The transport robot then moves onto transport rails 173a, 173b using its wheels. Once the transport robot 150 reaches the desired storage rails 172a, 172b, lifting robot 100 exits the cradle 152 onto the storage rails 172a, 172b. Once the lifting robot reaches the desired cask 10, the lift mechanism 103 lifts the cask by contacting the cask with the support wheels 105. The lifting robot can then weigh the cask using the weight sensor, rotate the cask using the support wheels 105, and / or move along the storage rails 172a, 172b, carrying the cask 10. The lifting robot 100 can then enter the cradle 152 of the transport robot 150. The transport robot 150 and the lifting robot 100 can therefore be used to transport the cask 10 to another position in the racking system 171. 5 Although particular embodiments of the disclosure have been disclosed herein in detail, this has been done by way of example and for the purposes of illustration only. The aforementioned embodiments are not intended to be limiting with respect to the scope of the appended claims. 10 It is contemplated by the inventors that various substitutions, alterations, and modifications may be made to the invention without departing from the scope of the invention as defined by the claims. For example: the transport robot may be integral with the lifting robot.

Claims

1. A lifting device for moving a side-stored cylindrical load, the lifting device comprising: a body,a movement mechanism for moving the body, anda lift mechanism connected to the body,the lift mechanism comprising at least two horizontally-spaced supports having a gap therebetween, andthe lift mechanism being operable to contact the load with the supports to lift the load away from the body when the lifting device is beneath the load.

2. A lifting device according to claim 1, wherein the lift mechanism comprises at least two legs, each leg providing a respective one of the supports, each support being provided at an end of its respective leg furthest from the body, the legs being movable to move the supports away from the body.

3. A lifting device according to claim 2, wherein the lift mechanism is a scissor lift mechanism comprising the legs arranged as two opposing sets of legs, the sets of legs being connected to one another at a pivot axis.

4. A lifting device according to claim 2 or 3, wherein each of the supports comprises a wheel.

5. A lifting device according to claim 4, wherein the wheels are rotatable to rotate the load when the load is supported by the wheels.

6. A lifting device according to any preceding claim, further comprising:a weight detection sensor, the weight sensor configured to determine a weight of a load lifted by the lift mechanism.

7. A lifting device according to any preceding claim, wherein the device is configured to communicate with a control system8. A lifting device according to any preceding claim, wherein the load is a cask.

9. A lifting device according to any preceding claim, wherein the movement mechanism comprises wheels protruding from the body, the wheels being for contacting rails of a racking system and / or a transport apparatus cradle.

10. A lifting device according to claim 9, wherein the body is a cuboid and the wheels are located at two opposing sides of the body for moving the lifting device in a first direction.

11. A transport apparatus for transporting a lifting device in a racking system, the transport apparatus comprising:a housing comprising a cradle for the lifting device, and a transport mechanism for moving the housing.

12. A transport apparatus according to claim 11, wherein the transport mechanism comprises vertical wheels protruding beneath the housing.

13. A transport apparatus according to claim 11 or 12, wherein the cradle comprises a planar floor and opposing side walls and provides two opposing entrances to the cradle, each entrance being between the side walls.

14. A transport system for moving a side-stored cylindrical load, the system comprising: the lifting device of any of claims 1 to 10, and the transport apparatus of any of claims 11 to 13, wherein the lifting device is operable, via the movement mechanism of the lifting device to enter and exit the cradle of the transport apparatus.

15. A transport system according to claim 14, when dependent on claim 10, wherein the transport mechanism is operable to move the housing in a second direction, the second direction being perpendicular to the first direction.

16. A storage system for side-stored cylindrical loads, the storage system comprising:a racking system comprising a series of pairs of storage rails for supporting side-stored cylindrical loads, anda lifting device according to any of claims 1 to 10, wherein the lifting device is movable along each pair of storage rails, by engagement between the movement mechanism and said pair of storage rails.

17. A storage system according to claim 16, wherein the storage rails each have a C-shaped cross-section.

18. A storage system according to claim 16 or 17, further comprising:a transport apparatus according to any of claims 11 to 13,wherein the racking system further comprises:a pair of transport rails along which the transport apparatus is movable, the transport rails being perpendicular to the storage rails and adjacent an end of the storage rails.

19. A storage system according to claim 18, further comprising:a plurality of stacked pairs of transport rails, along which the transport apparatus is movable, the transport rails being perpendicular to the storage rails and adjacent an end of the storage rails, anda lift operable to receive the transport apparatus from one of the pairs of transport rails and raise or lower the transport apparatus such that the transport apparatus can exit the lift onto another of the pairs of transport rails.

20. A storage system according to any of claims 16 to 19, the system further comprising:a lifting device charging dock, the lifting device charging dock operable to provide power to a battery of the lifting device, when the lifting device is connected to the lifting device charging dock,a storage area housing the racking system, anda charging area, the storage area and the charging areas being separated by a wall, wherein, the lifting device charging dock is located in the charging area and the lifting device is movable between the charging area and the storage area.

21. A storage system according to claim 20, when dependent on claim 18 or 19, the system further comprising:a transport apparatus charging dock, the transport apparatus charging dock operable to provide power to a battery of the transport apparatus, when the transport apparatus is connected to the transport apparatus charging dock,wherein the transport apparatus charging dock is located in the charging area and the transport apparatus is movable between the charging area and the storage area.

22. A kit of parts for a storage system, the kit of parts comprising:a transport system according to claim 14 or 15,a racking system comprising a series of pairs of storage rails for supporting side-stored cylindrical loads, and a plurality of stacked pairs of transport rails, along which the transport apparatus is movable, anda lift for receiving the transport apparatus and raising or lowering the transport apparatus,a transport apparatus charging dock, anda lifting device charging dock.

Images