Product Handling Systems

Abstract

The present invention relates to a coupler adapted for releasable connection to a container. In one embodiment, the coupler comprises a coupler frame having a lower coupler frame surface and an upper coupler frame surface, a handle protruding from the upper coupler frame surface for releasable connection to a handling end of a robotic picking device, and a gripping mechanism for releasable connection to a container. The present invention also relates to a product handling system and method using such a coupler.

Description

[Technical field]

[0001] The present invention relates to a connector for releasably coupling to a container, and to a product handling system using such a connector. The present invention also relates to a method of handling such a container. [Background technology]

[0002] FIG. 1 discloses an automated storage and retrieval system 100 having a framework / storage grid 101 supported on a floor / platform 700, and FIGS. 2, 3 and 4 disclose three different prior art container handling vehicles 200, 300, 350 suitable for operating on such a storage grid 101.

[0003] The framework 101 comprises upright members 102 and a storage volume comprising storage columns 105 arranged side by side between the upright members 102. In these storage columns 105, storage containers 106, also known as bins, are stacked on top of each other to form stacks 107. The members 102 may typically be made of metal, for example extruded aluminum profiles.

[0004] The framework 101 of the automated storage and retrieval system 100 comprises a rail system 108 disposed across the top of the framework 101 on which a plurality of container handling vehicles 200, 300, 350 may be operated to raise storage containers 106 from, lower storage containers 106 into, and transport storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 disposed to guide movement of the container handling vehicles 200, 300, 350 in a first direction X across the top of the framework 101, and a second set of parallel rails 111 disposed perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 200, 300, 350 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the storage columns 105 are accessed by the container handling vehicles 200, 300, 350 through access openings 112 in the rail system 108. The container handling vehicles 200, 300, 350 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal XY plane.

[0005] The uprights 102 of the framework 101 may be used to guide the storage containers 106 during ascent from and descent into the column of containers 105. The stack 107 of containers 106 is typically freestanding.

[0006] 2-4, each prior art container handling vehicle 200, 300, 350 comprises a car body 201, 301, 351 and first and second sets of wheels 202a, 202b, 302a, 302b, 352a, 352b that allow lateral movement of the container handling vehicle 200, 300, 350 in the X and Y directions, respectively. In Figs. 2 and 3, two wheels in each set of four wheels are visible, while in Fig. 4, three wheels in each set of four wheels are visible. The first set of wheels 202a, 302a, 352a are arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 202b, 302b, 352b are arranged to engage two adjacent rails of the second set of rails 111. At least one set of wheels 202a, 302a, 352a, 202b, 302b, 352b can be raised and lowered so that the first set of wheels 202a, 302a, 352a and / or the second set of wheels 202b, 302b, 352b can be engaged with the respective set of rails 110, 111 at any time.

[0007] Each prior art container handling vehicle 200, 300, 350 also comprises a lifting device 210, 360 for vertical transport of the storage container 106 (e.g. raising the storage container 106 from the storage column, lowering the storage container 106 into the storage column 105). The lifting device 210, 360 comprises one or more gripper elements 362 adapted to engage with the storage container 106, which can be lowered from the vehicle 200, 300, 350, whereby the position of the gripping element 362 relative to the vehicle body 201, 301, 351 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. The lifting devices 210, 360 of the container handling vehicle 200, 350 are shown in Fig. 2 and Fig. 4. The lifting device of the container handling vehicle 300 shown in Fig. 3 is located in the vehicle body 301.

[0008] By convention, and for purposes of this application, Z=1 identifies the top layer 210 of storage containers, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, and Z=3 identifies the third layer. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the bottom layer of storage containers. Similarly, X=1···n and Y=1···n identify the location of each storage column 105 in the horizontal plane. Thus, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, the storage container identified as 106' in FIG. 1 can be said to occupy storage positions X=19, Y=1 and Z=3. The container handling vehicles 200, 300 can be said to be moving in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The possible storage locations within the framework / storage grid 101 are referred to as storage cells. Each storage column 105 may be identified by a location in the X and Y directions, and each storage cell may be identified by a container number in the X, Y and Z directions.

[0010] Each prior art container handling vehicle 200 , 300 , 350 includes a storage bay or space for receiving and housing the storage container 106 as it is transported across the rail system 108 .

[0011] The storage space may be beneath the cantilever structure of the container handling vehicle 200, as shown in Figure 2. Such a vehicle is described in detail, for example, in Norwegian Patent No. 317366, the contents of which are also incorporated herein by reference.

[0012] In another configuration, the storage space may comprise a cavity disposed internally within the vehicle body 301, 351, as shown in Figures 3 and 4 and described, for example, in International Publication No. WO 2015 / 193278 (Patent Document 1) and International Publication No. WO 2019 / 206487, the contents of which are incorporated herein by reference.

[0013] The container handling vehicle 300 shown in FIG. 3 may have a centrally located cavity and a footprint covering an area having dimensions in the X and Y directions approximately equal to the lateral extent of the storage column 105, for example, as described in WO 2015 / 193278, the contents of which are incorporated herein by reference.

[0014] Alternatively, the cavity container handling vehicle 350 may have a footprint larger than the lateral area defined by the storage column 105 as shown in Figures 1 and 4, as disclosed, for example, in WO 2014 / 090684, EP 2962962 or WO 2019 / 206487.

[0015] It should be noted that the term "lateral" as used herein can mean "horizontal."

[0016] FIG. 1 illustrates a container handling vehicle having multiple cantilever vehicles 200 (FIG. 3) and multiple cavity vehicles 350 (FIG. 4), which extend beyond the footprint of a single storage column 105.

[0017] The rail system 108 typically includes rails 110, 111 having grooves along which the vehicle wheels run. Alternatively, the rails 110, 111 may include upwardly protruding elements, and the vehicle wheels may include flanges to prevent them from disengaging. These grooves and upwardly protruding elements are collectively known as tracks. Each rail 110, 111 may include one track, or each rail 110, 111 may include two parallel tracks.

[0018] WO 2018 / 146304, the contents of which are incorporated herein by reference, shows an exemplary configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0019] In the framework 100, the majority of the columns 105 are storage columns 105, i.e. columns 105 where the storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 200, 300, 350 to drop off and / or pick up the storage containers 106 so that they can be transported to an access station (not shown), where they can be accessed from outside the framework 100 or transferred to the outside or inside of the framework 100. In the art, such locations are usually called "ports" and the columns where the ports are located may be called "port columns" 119, 120. The transport to the access station may be in any direction, i.e. horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within the framework structure 100 and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "inclined" refers to the transportation of storage containers 106 having a general transport direction somewhere between horizontal and vertical.

[0020] In FIG. 1 , the first port column 119 may be, for example, a drop-off port column where the container handling vehicles 200, 300 can drop off storage containers 106 to be transported to the access and distribution station 500, and the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 200, 300, 350 can pick up storage containers 106 transported from the access and distribution station.

[0021] The access and distribution stations may typically be picking or stock stations where products are removed from or placed into the storage containers 106. At picking or stock stations, the storage containers 106 are typically not removed from the automated storage and retrieval system 100, but are returned to the framework 100 again once accessed. Ports can also be used to transfer storage containers to another storage facility (e.g., to another framework or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0022] When a target storage container 106' stored in one of the columns 105 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 200, 300 is instructed to retrieve the target storage container 106' from its location and transport it to the drop-off port column 119. This operation includes moving the container handling vehicle 200, 300, 350 to a position above the storage column 105 where the target storage container 106' is located, retrieving the storage container 106 from the storage column 105 using the lift device 210, 360 of the container handling vehicle 200, 300, 350, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106' is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106', the operation also includes temporarily moving the storage container 106 located above it before lifting the target storage container 106' out of the storage column 105. This step, sometimes referred to in the art as "mining," may be performed by the same container handling vehicle that is subsequently used to transport the target storage container to the drop-off port column 119, or one or more other cooperating container handling vehicles. Alternatively or in addition, the automated storage retrieval system 100 may have a container handling vehicle dedicated to the task of temporarily removing the storage container from the storage column 105. Once the target storage container 106' has been removed from the storage column 105, the temporarily removed storage container 106 may be relocated to the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column 105.

[0023] If the storage container 106' is to be stored in one of the columns 105, one of the container handling vehicles 200, 300, 350 is directed to pick up the storage container 106' from the pickup port column 120 and transport it to a location above the storage column 105 where the storage container is to be stored. After any storage container 106 located at or above the target location in the storage column stack 107 has been removed, the container handling vehicle 200, 300, 350 places the target storage container 106' in the desired location. The removed storage container 106 may then be placed back into the storage column 105 or relocated to another storage column.

[0024] To monitor and control the automated storage and retrieval system 100, for example, the location of each storage container 106 within the framework 101, the contents of each storage container 106, and the movements of the container handling vehicles 200, 300, 350 so that the desired storage containers 106' can be delivered to the desired locations at the desired times without the container handling vehicles 200, 300, 350 colliding with each other, the automated storage and retrieval system 100 includes a control system 600 that is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] To facilitate storage and retrieval of inventory and / or other product items 80 stored with the storage containers 106, the product items 80 may be placed into dedicated shipping containers 20 for handling by systems external to the framework 101 described above.

[0026] 1 typically implements consolidation of product items 80 from storage containers 106 into shipping containers 20 outside the framework, which also requires a large external area for temporary storage of the consolidated shipping containers. Furthermore, each customer order may contain several different product items. The availability of such temporary storage is often low, since it is important for operational and economic reasons that the space occupied by the storage system be as large as possible.

[0027] It is therefore an object of the present invention to provide a system and method that allows for efficient handling of consolidated shipping containers stored in a storage container.

[0028] Another object of the present invention, at least in some embodiments, is to minimize the need for dedicated exterior areas for temporary storage of shipping containers. [Prior art documents] [Patent documents]

[0029] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0030] The invention is set out in the independent claims, with the dependent claims describing particular optional features of the invention.

[0031] In a first aspect, the present invention relates to a coupler adapted for releasable connection to a container, the coupler comprising a coupler frame having a lower coupler frame face and an upper coupler frame face, a handle / connection device protruding from the upper coupler frame face for releasable connection to a manipulation end / portion of a robotic picking device, and a gripping mechanism for releasable connection to the container.

[0032] The gripping mechanism may comprise first and second container gripper paddles / elements connected to the connector frame, the paddles being oriented perpendicular to the lower connector frame face and disposed on either side of a central plane CP intersecting a midpoint of the lower connector frame face, and the paddles may be disposed equidistant from the central plane CP.

[0033] Each of the container gripper paddles may include a gripper protrusion, such as a ledge, rib and / or crease located below the lower connector frame face, for insertion into a corresponding accessible recess or opening in the interior volume of the container.

[0034] The coupler preferably also includes an actuator system for displacing the first and second container gripper paddles in opposite directions from the central plane CP until the gripper projections are removably inserted into corresponding recesses or openings.

[0035] In an advantageous exemplary configuration, the actuator system comprises a motor, a control system configured to control the operation of the motor, and a displacement mechanism interconnecting the motor and the container gripper paddle. The motor is preferably located at or near the center plane CP, e.g., at or near the center point of the frame. However, the motor can be located anywhere on the coupler as long as it can provide the required displacement. Another possible location could be above the upper coupler frame plane, e.g., to avoid possible interference with items in the container.

[0036] The displacement mechanism may, for example, comprise a first link / arm having one end at least indirectly connected to the motor and the other end connected to one of the first and second container gripper paddles, and a second link / arm having one end at least indirectly connected to the motor and the other end connected to the other of the first and second container gripper paddles, the motor being configured to displace the first and second links. In a particular arrangement of the links, the vector components of the links projected onto the lower connector frame plane are directed in opposite directions. It is noted that the link can be interpreted as any link between the motor and the paddle / gripping mechanism that can cause the protrusion to enter a corresponding recess / hole in the container.

[0037] The actuator system may include a rotating element, such as a disk, connecting the link to a rotating shaft of the motor. Further, the motor, rotating element, and link may be arranged such that a desired opposing displacement of the first and second links is achieved by rotating the rotating element clockwise or counterclockwise from 0 to 180 degrees, more preferably from 70 to 100 degrees, such as 90 degrees, in this exemplary configuration.

[0038] In another advantageous exemplary configuration, the coupler further comprises a container abutment surface for abutting a top edge of the container, and in this configuration the actuator system may be positioned such that at least a portion of the actuator system, preferably the entire actuator system, remains above the container abutment surface during operation.

[0039] In yet another advantageous exemplary configuration, each of the container gripper paddles comprises an upper end pivotally connected to the connector frame, although other retractable displacement means may be envisaged, such as a resilient coupling system.

[0040] In yet another advantageous exemplary configuration, the lower connector frame surface has a width W C and length L C The gripper protrusion is a rectangle having a central axis C parallel to the lower connector frame surface. HAligned to the top, width W of the face C or length L C It is centered along the

[0041] In yet another exemplary configuration, the coupler further comprises a plurality of container guide plates connected to a coupler frame, which is preferably resilient to prevent movement of the coupler in a direction parallel to the lower coupler frame face when at least a portion of the container guide plates are inserted into the interior volume of the container during use. An upper end of each of the container guide plates may be fixed to the lower coupler frame face, for example.

[0042] Additionally, the plurality of container guide plates may be distributed and spaced on each of the four sides of the rectangular region such that an outer rectangular boundary across the container guide plates defines a cross-sectional area parallel to the lower lift frame face that is equal to or approximately equal to the cross-sectional area of ​​the opening of the container. If the particular application involving this container is a shipping container intended to be stored within a storage container, then the cross-sectional area defined by the plurality of container guide plates should be approximately the cross-sectional area of ​​the opening of the shipping container, but less than the corresponding cross-sectional area of ​​the storage container.

[0043] In yet another advantageous exemplary configuration, the coupler further comprises one or more container sensors configured to sense when the lower coupler frame surface is in contact with and / or in close proximity to the container opening frame. The ends of the container sensors may be located at the same vertical position and / or may serve as the container abutment surfaces as mentioned above, preferably distributed at the outer boundaries of the coupler frame, such as its four corners. Furthermore, the container sensors may also include transmitters enabling transmission of the sensing signals to a remote control system.

[0044] The container sensor may be in the form of a capacitance sensor (mutual capacitance and / or self-capacitance) for registering direct contact or proximity with the frame of the container.

[0045] In yet another advantageous exemplary configuration, the handle includes a resilient mechanism, such as a spring, to allow for damped movement between the manipulation end of the robotic picking device and the coupler after connection.

[0046] In a second aspect, the present invention relates to a product handling system comprising a storage and retrieval system suitable for storing storage containers, for example in stacks, a control system, a robotic picking device in signal communication with the control system, a coupler having container gripping means for releasable connection to a shipping container having a size and configuration allowing storage within the storage container, and an access and dispensing station configured to deliver one or more storage containers from within the storage and retrieval system.

[0047] The coupler may follow any one of the configurations described above.

[0048] Additionally, the robotic picking device may include a robot base, a first robot segment connected to the robot base, and a manipulation end connected to the coupler and at least indirectly connected to the first robot segment.

[0049] The robot base may be mounted, for example, to the floor on which the storage system is supported.

[0050] In this second embodiment, the manipulation end is arranged at an adjustable gripper distance R from the robot base. G The robot base is positioned to allow the manipulation end to be moved to a position that is at least within reach of a storage container to be delivered to the access and dispensing station.

[0051] The robotic picking device is preferably positioned adjacent to the exterior of the storage volume of the storage and retrieval system.

[0052] In an advantageous configuration of the second aspect, the manipulation end comprises a robotic gripper configured to releasably grip the connector, preferably via the handle.

[0053] In another advantageous configuration of the second aspect, the first robot segment comprises: - a rotational robot base axis C, preferably perpendicular to the picking device platform or storage retrieval system floor RV or - the storage retrieval system is movably connected to the robot base along at least one direction parallel to a floor and / or a robotic picking device platform on which the storage retrieval system is supported; or -It's a combination of those.

[0054] In yet another advantageous configuration of the second aspect, the access and dispensing station comprises a storage system access opening through which the storage containers may be transported between storage locations within the storage retrieval system and an area external to the storage retrieval system. The station may further comprise a conveyor having one end disposed adjacent the storage system access opening. For this configuration, the robotic picking device may be configured such that a coupling connected to the robotic gripper / manipulation end may be positioned and oriented to enable retrieval of a shipping container from within the storage system access opening or from within a storage container disposed therein, for example using an articulated robotic picking device, and the retrieved shipping container may be placed on the conveyor.

[0055] The conveyor may include two conveyor belts for transporting shipping containers to and from the storage system access opening.

[0056] In yet another advantageous configuration of the second aspect, the storage and recovery system comprises: - a framework structure comprising a plurality of vertical upright members defining a plurality of storage columns suitable for storing stacks of storage containers and at least one port column suitable for transporting the storage containers to an access and distribution station; a rail system arranged on a framework structure, the rail system comprising orthogonal tracks, the intersections of the orthogonal tracks forming a grid having grid cells defining grid openings to a plurality of storage columns, preferably at least one port column; a remote operated vehicle comprising a drive means configured to move along the rail system and a storage container lift device for storing and retrieving storage containers through the grid openings.

[0057] In a third aspect, the present invention relates to a method of handling shipping containers by use of a product handling system according to any of the configurations described above.

[0058] The method is: A. With the coupler connected to the handling end, moving the handling end of the robotic picking device to a position where the coupler can be connected to a shipping container; B. releasably connecting a coupler to a shipping container; C. Raising the coupler with the shipping container by raising the operating end of the robotic picking device; Includes.

[0059] In an advantageous operation, the method further comprises, before step A, - Releasably connecting the robot gripper / manipulation end to the coupler, preferably via a handle / connection device.

[0060] In another advantageous operation, if the shipping container to be connected is stored in a storage container, the method further comprises: - before step A, a shipping container transports the storage containers stored therein from the storage and retrieval system to an exterior area through the storage system access opening; - during step C, raising the handling end / robot gripper so that the bottom of the shipping container is higher than the top of the storage container; Includes.

[0061] In yet another advantageous operation, the method further comprises: - after step C, placing the shipping container on a conveyor having one end positioned adjacent the storage system access opening; - transporting the shipping container away from the storage system access opening by use of a conveyor; Includes.

[0062] In yet another advantageous operation, the method further comprises: - transporting incoming shipping containers to a storage system access opening, for example by use of a conveyor; - moving the handling end / robot gripper with the connected coupler to a position where the coupler can connect to an incoming shipping container; - releasably connecting a coupler to an incoming shipping container; - moving an incoming shipping container into a position above a storage container to be stored in the storage and retrieval system; - placing an incoming shipping container in a storage container; Further includes:

[0063] In a fourth aspect, the invention relates to a computer readable medium having stored thereon a computer program comprising instructions for performing the method steps as described above. [Brief description of the drawings]

[0064] The following drawings illustrate exemplary embodiments of the present invention and are included to facilitate an understanding of the present invention. However, the features disclosed in the drawings are for illustrative purposes only and should not be construed in a limiting sense.

[0065] [Figure 1] FIG. 1 is a perspective view of an automated storage and retrieval system.

[0066] [Diagram 2]FIG. 2 is a perspective view of a prior art container handling vehicle having a cantilever beam for carrying storage containers downward.

[0067] [Diagram 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0068] [Figure 4] FIG. 4 is a perspective view of a prior art container handling vehicle having a cavity disposed therein for carrying a storage container therein, the cavity being offset from center relative to the X direction.

[0069] [Diagram 5] FIG. 5 is a side view of a coupler with a shipping container, the coupler being connected to the shipping container in accordance with a first embodiment of the present invention; FIGS. 5A and 5B show the coupler in the released and connected positions, respectively.

[0070] [Figure 6] FIG. 6 is a perspective side view of the coupler shown in FIG.

[0071] [Figure 7] FIG. 7 is a perspective view of a product handling system for handling shipping containers using couplers in accordance with a first embodiment of the present invention.

[0072] [Figure 8] 8 is another perspective view of the product handling system of the present invention of FIG.

[0073] [Figure 9] FIG. 9 is a perspective view of the operating end of a robotic picking device forming part of the inventive product handling system of FIGS. 7 and 8 to which the inventive coupler is connected.

[0074] [Figure 10] FIG. 10 is a perspective view of a second example product handling system for handling shipping containers, with FIGS. 10A and 10B showing the shipping containers in a storage position and a lifting position, respectively.

[0075] [Figure 11] FIG. 11 is a perspective view of the operating end of a robotic picking device that is part of the product handling system of FIG. 10 and is connected to a coupler. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0076] Different embodiments will now be described in more detail with reference to the attached drawings. It should be understood, however, that the drawings are not intended to limit the scope of the invention to the subject matter shown in the drawings. Moreover, even if some of the features are described only in relation to the system, it is clear that they are also valid for the method and vice versa.

[0077] 5 and 6 show an embodiment in which the tote contact surface 17 of the coupler 1 is adjacent to an opening frame / rim 22 of a shipping container 20 (hereafter referred to as a tote). In the particular embodiment shown in the figures, the coupler 1 includes a coupler frame 2 comprising a rectangular horizontal coupler plate 2a having a lower coupler frame face 2' and an upper coupler frame face 2'', tote adjacent sensors 16 extending downwardly from the corners of the coupler plate 2a, and a tilted coupler plate 2b disposed between the corners of the coupler plate, the tilted coupler plate 2b extending downwardly from the rim / border of the coupler plate 2a.

[0078] The purpose of the adjacency sensor 16 is to record the adjacency of the tote 20 with the rim 22 and may be, for example, a mechanical sensor such as a pressure activated sensor or an electronic proximity sensor. If a pressure activated sensor, the range of the tote adjacency sensor 16 must be equal to or greater than the range of the tilt connector plate 2b, thereby ensuring that the tote adjacency sensor 16 exerts pressure on the rim 22 when it detects contact and / or proximity.

[0079] Furthermore, the coupler frame 2 comprises two upper blocks 2''' fixed on either side on the coupler plate 2a.

[0080] In certain cases where a tote 20 is to be picked up from or inserted into a storage container 106 (hereinafter referred to as a bin) that is taller and slightly wider than the tote 20, it may be advantageous for at least a portion of the tilted connector plate 2b to be tilted inwardly to avoid undesirable abutment between the rim of plate 2b and the upper rim of the bin 106 that defines the opening of the bin 106.

[0081] The connector 1 further comprises two container gripper paddles 3 (first paddle 3a and second paddle 3b) (hereinafter referred to as tote paddles), each tote paddle 3a, 3b having a gripper protrusion 3' (such as a ledge, rib or crease) at its lower end, and an upper end 3'' of each paddle 3 pivotably and / or resiliently attached to a respective top block 2'''. When the top block 2''' is placed on the top surface 2'' as shown in Figures 5 and 6, the connector plate 2a should be designed to have a through opening with a position and size that allows sufficient horizontal movement of the tote paddle 3. Furthermore, the tote paddle 3 is positioned such that the protrusion 3' is located at the vertical height of the recess / opening 21 in the inner wall of the tote 20 when the connector frame 2 is adjacent the opening frame / upper rim 22 of the tote 20.

[0082] An actuator system 5-9 forming part of the coupler 1 is at least partially disposed within a volume defined by the lower surface 2'' of the horizontal coupler plate 2a and the inclined coupler plate 2b. The actuator system 5-9 is configured such that it can remotely displace the first and second tote paddles 3a, 3b in opposite directions. Alternatively, the actuator system 5-9 may protrude partially or completely from said volume.

[0083] In the particular embodiment shown in Figures 5 and 6, the actuator system 5-9 includes a motor 5, a control system 7 that enables control of operation of the motor 5 and signal communication with the control system 600, a rotating disk 6 connected to the motor 5, and two links / displacement arms 9a, 9b that connect the rotating disk 6 to each of the tote paddles 3a, 3b.

[0084] The motor 5, rotating disc 6 and control system 7 are fixed to the underside 2' of the coupler plate 2a by a motor support 8 in the form of an angle bracket. The motor 5 may be, for example, a DC motor. The two links / displacement arms 9a, 9b are configured and sized in the following manner in Figures 5 and 6:

[0085] A first end of the first link 9a and a first end of the second link 9b are pivotally connected to the rotating disk 6 on either side of the horizontal axis of rotation of the disk 6, and a second end of the first link 9a and a second end of the second link 9b are pivotally connected to the first tote paddle 3a and the second tote paddle 3b, respectively.

[0086] The position, angle and length of tote paddle 3 are adjusted so that projection 3' is aligned at the same vertical level as gripping structure (recess / opening) 21 of tote 20 when projection 3' is in the position shown in FIG.

[0087] Additionally, actuator systems 5-9 are configured such that horizontal displacement of tote paddle 3 is sufficient to switch tote paddle 3 between a locked position, in which protrusions 3' are inside their respective recesses / openings 21, and a released position, in which protrusions 3' are outside their respective recesses / openings 21. In this manner, controllable grip / release movement of tote 20 is achieved.

[0088] As best seen in Figures 5A and 5B, the particular configuration having first ends positioned oppositely on rotating disk 6 results in equal displacement of links 9a, 9b, and equal pivoting of corresponding tote gripper paddles 3a, 3b, when motor 5 rotates rotating disk 6 through the angle necessary to achieve the desired grip of tote 20, preferably within the range of 70 to 100 degrees, such as within the range of 90 degrees.

[0089] The coupler 1 further comprises a handle 15 disposed on the top of the coupler frame 2. In the particular embodiment shown in Figures 5-6, the handle 15 comprises a vertical suspension 15' attached at one end to the coupler frame 2 and a horizontal handle plate 15'' attached at the opposite end.

[0090] 7-8 show an example of practical use of the above-described coupler 1 according to a first embodiment of a product handling system positioned adjacent a drop-off port column 119 of an automated storage and retrieval system 100. In FIG.

[0091] Alternatively or additionally, such a product handling system may be located on top of the automated storage and retrieval system 100, i.e., adjacent to or within the rail system shown in FIG.

[0092] The product handling system of this first embodiment includes a robotic picking device 400 capable of picking up totes 20 in bins 106 through the use of a coupler 1, an access and distribution station 500, and a control system 600 that allows remote operation of the product handling system via appropriate transmitters and sensors (not shown).

[0093] The station 500 shown in Figures 7, 8 and 10 includes a container basket 501 configured to temporarily store / hold bins 106 and a storage system access opening 502, through which the container basket 501 can be guided, for example, by use of a dedicated container basket displacement mechanism (not shown).

[0094] The station 500 may further include a conveyor system 503 disposed at least partially outside the framework 101 of the storage and retrieval system 100. The conveyor system 503 may comprise a first conveyor belt 503a and a second conveyor belt 503b disposed parallel to one another. As shown in FIG. 7, by locating the ends of each of the conveyor belts 503a, 503b next to the access opening 502, simultaneous transport of totes 20 into and out of the container basket 501 is enabled, thereby improving the overall efficiency of the product handling system. In FIG. 7, the incoming totes are marked by the reference character 20′.

[0095] In an alternative configuration in which the robotic picking device 400 is located at the level of the rail system 108, no such container baskets 501 and access openings 502 are present, as the robotic picking device 400 handles the totes 20 directly from within their respective bins 106. In such a configuration, an optional conveyor belt 503 may extend between the rail system 108 and a tote delivery area, such as the floor of the storage and retrieval system 100.

[0096] With particular reference to FIG. 8, the robotic picking device 400 in this first embodiment includes: a robot base 401 fixed on a platform / floor 700 or on / to a rail system 108; a first robot segment 402 connected in a vertical orientation to a robot base 401 such that a controlled horizontal displacement is achieved in the direction to / from the storage system 100 or along one of the directions of the rail system 108; a second robot segment 403 connected in a horizontal orientation to the first robot segment 402 so as to allow for controlled vertical displacement (i.e. perpendicular to the floor 700 / rail system 108); a manipulation end 405 at least indirectly connected to the second robot segment 403.

[0097] The manipulation end / robot gripper 405 is further configured to enable connection of the coupler 1 to a handle 15 .

[0098] Hereinafter, vertical / horizontal orientation is measured relative to the platform / floor 700 of the robot base 401 when the robotic picking device 400 is located at the lower end of the drop-off port column 119, or relative to the rail system 108 when the robotic picking device 400 is located on the rail system 108. It should be noted that the conveyor system 503 and / or the storage volume framework 101 of the storage and retrieval system 100 may be supported on the same platform / floor 700 or on other platforms located at different vertical levels. It should also be noted that the rail system 108 and the platform / floor 700 are typically oriented parallel to one another.

[0099] The controlled horizontal and vertical displacement may be achieved by known displacement devices such as electric linear actuators and / or hydraulic cylinders. The connecting end of the second robot segment 403 may be guided, for example, along a vertical rod forming part of the first robot segment 402.

[0100] The robotic picking device 400 is further positioned so that the handling end 405 can be manipulated to a position centered above a container basket 501, or alternatively, above a tote including the upper bin 106 of a stack 107 within a storage column within the reach of the handling end 405.

[0101] With the particular configuration described above and the coupler 1 connected to the manipulation end 405 of the robotic picking device 400, any tote 20 stored in a respective bin 106 that may be stored in the container basket 501 can be picked up via remote manipulation of the coupler 1 and at least one of the first and second robot segments 402, 403. In the illustrated embodiment, this occurs when the container basket 501 is positioned in a pick-up position outside the access opening 502.

[0102] It should be noted that the bins 106 designed to accommodate the totes 20 may remain in a topmost position within the container basket 501 or alternatively within the storage column 105 at any time during operation.

[0103] 9 shows in further detail the handling end 405 of the robotic picking device 400 according to the first embodiment, which is secured to the handle 15 of the coupler 1. Due to the vertical suspension 15', the abutment of the coupler 1 with the upper rim 33 of the tote 20 does not cause excessive force on the handling end 405 and / or the tote 20.

[0104] With regard to vertical displacement between the first and second robot segments 402, 403, the coupling structure at the end of the second robot segment 403 remote from the manipulation end 405 is shown by a vertically oriented track 403' to ensure stable and accurate vertical guidance along the vertical rod of the first robot segment 402.

[0105] 10-11 show a second embodiment of a product handling system using the above-described coupler 1. The second embodiment is substantially identical in structure and operation to the first embodiment, except for the use of a different type of robotic picking device 400, i.e., an articulated type robotic picking device.

[0106] The articulated robotic picking device 400 comprises a robot base 401 connected to a fixed platform / floor 700 and a vertical rotation axis C oriented preferably perpendicular to the platform / floor 700. RB The robot comprises a first robot segment 402 rotatably connected to a robot base 401 having a horizontal axis of rotation, preferably oriented parallel to the platform / floor 700, a second robot segment 403 rotatably connected to the first robot segment 402, preferably having a horizontal axis of rotation oriented parallel to the platform / floor 700, a third robot segment 404 rotatably connected to the second robot segment 403, and a manipulating end / robot gripper 405, which forms part of or is rotatably coupled to the third robot segment 403, and a coupling 1 as described above, preferably removably connected to the manipulating end / robot gripper 405.

[0107] All of the joints, i.e., rotatable connection points described above, are equipped with a rotation mechanism that operates remotely and / or autonomously, thereby enabling the articulated robotic picking device 400 to pick up a tote 20 with product articles 80 from within a bin 106 and place the tote 20 on a first conveyor belt 503a that transports the tote 20 away from the framework 101 of the storage and retrieval system 100. Similarly, the articulated configuration enables the robotic picking device 400 to pick an empty tote 20 from a second conveyor belt 503b that transports the tote 20 towards the framework 101 and place the empty tote 20 within a bin 106. In the configuration shown, the particular bin 106 is positioned inside the container basket 501.

[0108] FIG. 11 shows the connection between the coupler 1 and the handling end / robot gripper 405 in more detail.

[0109] In the preceding description, various aspects of a coupler for releasably coupling to a container, a product handling system using such a coupler, an automated storage and retrieval system, and related methods have been described with reference to exemplary embodiments. For purposes of explanation, specific numbers, systems and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the exemplary embodiments, as well as other embodiments of the system that are apparent to those skilled in the art to which the disclosed subject matter pertains, are deemed to be within the scope of the present invention.

[0110] (Reference Number:) 1 coupler 2 Coupler frame 2a Horizontal coupler plate 2b Inclined coupler plate 2' Lower coupler frame side / bottom side 2'' Upper Coupler Frame Surface / Top Surface 2'' Top Gripper Block / Upper Block 3 Container gripper paddles / Tote gripper paddles 3a 1st container gripper paddle / 1st paddle 3b Second container gripper paddle / second paddle 3' Gripper protrusion 3'' Top of gripper paddle / Top of tote paddle 5 Motor (for displacing gripper paddle 3) 6 Rotating disk (rotatably connected to the motor 5) 7. Control System 8 Motor Support / Angle Bracket 9 Gripper displacement means 9a First link 9b Second Link 15 Handle / Connecting Device 15' Elastic Mechanism / Vertical Suspension 15'' Handle Plate 16 Shipping Container Sensor / Tote Adjacent Sensor 17 Container Contact Surface / Tote Contact Surface 20 Shipping Containers / Totes 20' Incoming Shipping Container / Incoming Tote 21 Gripping structures / formations within shipping containers, recesses / openings 22 Shipping container / rim / top edge opening frame 80 Product Articles 100 Storage and Recovery System 101 Framework / Storage Grid 102 Upright members of frame structures 105 Storage Column 106 Storage Containers / Bins 106' Specific Location of Storage Container / Target Storage Container 107 Stack 108 Rail System 110 Parallel rail in the first direction (X) 111 Parallel rail in the second direction (Y) 112 Access opening 119 1st Port Column / Drop-off Port Column 120 Second Port Column / Pickup Port Column 200 Container handling vehicle with cantilever beam 201 Body of vehicle 200 202a Drive means / wheel arrangement, first direction (X) 202b Drive means / wheel arrangement, second direction (Y) 210 Storage container lift device 300 Container handling vehicle having an interior cavity occupying a single cell 301 Body of vehicle 300 302a Drive means / wheel arrangement, first direction (X) 302b Drive means / wheel arrangement, second direction (Y) 350 Container handling vehicle having an interior cavity occupying multiple cells 351 Vehicle 350 body 352a Drive means / wheel arrangement, first direction (X) 352b Drive means / wheel arrangement, second direction (Y) 360 Storage Container Lift Device 362 Gripper elements / jaws 400 Robot Picking Device 401 Robot Base 402 First Robot Segment 403 Second Robot Segment 403' Right-angled orbits 404 3rd Robot Segment 405 Robot Gripper / Manipulation End 500 Access and Distribution Stations 501 Container Support / Container Basket 502 Storage System Access Opening 503 Conveyor System 503a First conveyor belt 503b Second Conveyor Belt 600 Control System 700 Platforms / Floors X First Direction Y Second Direction Z third direction C RB Base axis / vertical rotation axis of the rotating robot

Claims

1. A coupler (1), comprising: a coupler frame (2) having a lower coupler frame surface (2') and an upper coupler frame surface (2''); a handle (15) protruding from said upper connector frame face (2'') for releasable connection to a manipulation end (405) of a robotic picking device (400); a first container gripper paddle (3a, 3) and a second container gripper paddle (3b, 3), said first and second container gripper paddles (3) being connected to said connector frame (2) for releasable connection to a container (20), and arranged on either side of a central plane (CP) oriented perpendicularly to said lower connector frame face (2'), each of said container gripper paddles (3) being provided with a gripper protrusion (3') located below said lower connector frame face (2') for insertion into a corresponding accessible recess or opening (21) in an interior volume of said container (20); an actuator system (5-9) for displacing the first and second container gripper paddles (3) in opposite directions from the central plane (CP) until the gripper projections (3') are removably inserted into the corresponding recesses or openings (21); Equipped with The connector (1) further comprises a container abutment surface (17) for abutting an upper edge (22) of the container (20); The actuator system (5-9) is disposed above the container abutment surface (17).

2. The actuator system (5 to 9) comprises: A motor (5); a control system (7) configured to control the operation of said motor (5); a displacement mechanism (9) interconnecting said motor (5) and said container gripper paddle (3); The connector (1) according to claim 1, comprising:

3. The displacement mechanism (9) a first link (9, 9a) connected at one end to said motor (5) and at the other end to one of said first and second container gripper paddles (3a); a second link (9, 9b) having one end connected to the motor (5) and the other end connected to the other of the first and second container gripper paddles (3b); The motor (5) is configured to displace the first and second links (9, 9a, 9b); Optionally, said actuator system (5-9) further comprises a rotating element (6) connecting said first and second links (9, 9a, 9b) to a rotating shaft of said motor (5); 3. The coupling (1) of claim 2, wherein the motor (5), the rotating element (6) and the first and second links (9, 9a, 9b) are configured such that displacement in opposite directions is achieved by rotating the rotating element (6) clockwise or counterclockwise between 0 and 180 degrees.

4. The coupler (1) of claim 1, wherein each of the container gripper paddles (3) has an upper end (3'') pivotally connected to the coupler frame (2) and / or the handle (15) has a resilient mechanism that allows damped movement between the operating end (1, 405) of the robotic picking device (400) and the coupler (1) after connection.

5. The lower connector frame surface (2') has a width (W Ｃ ) and length (L Ｃ ) The gripper protrusion (3') has a central axis (C Ｈ ) on the width (W Ｃ ) or length (L Ｃ 2. The connector (1) according to claim 1, which is centered along the

6. 2. The connector (1) of claim 1, further comprising a container sensor (16) configured to sense when the lower connector frame surface (2') is in contact with and / or proximity to an opening frame of the container (20).

7. 1. A product handling system comprising: a storage and retrieval system (100) for storing storage containers (106); A control system (600); A robotic picking device (400) in signal communication with the control system (600), the robotic picking device (400) comprising: A robot base (401); a first robot segment (402) connected to the robot base (401); Operation end portion (405) A robotic picking device (400) comprising: A coupler (1) connected to the operating end (405), the coupler (1) being as claimed in any one of claims 1 to 6; an access and distribution station (500) configured to deliver storage containers (106) from within said storage and retrieval system (100); Equipped with A product handling system, wherein the robot base (401) is positioned at a distance that enables the operating end (405) to be moved to a position within reach of at least the storage container (106) to be delivered to the access and distribution station (500).

8. The first robot segment (402) comprises: Rotating robot base axis (C ＲＶ rotatably connected to the robot base (401) having a the storage and retrieval system (100) is movably connected to the robot base (401) along at least one direction parallel to a floor (700) on which the storage and retrieval system (100) is supported; or 8. The product handling system of claim 7, or a combination thereof.

9. The access and dispensing station (500) comprises: a storage system access opening (502) through which storage containers (106) can be transported between storage locations within the storage and retrieval system (100) and areas external to the storage and retrieval system (100); a conveyor (503) having one end disposed adjacent the storage system access opening (502); Equipped with The robotic picking device (400) 8. The product handling system of claim 7, wherein the operating end (405) is configured to be capable of being positioned in a position and orientation that enables the coupler (1) to retrieve a shipping container (20) from within the storage container (106) through the storage system access opening (502) and to allow the retrieved shipping container (20) to be placed onto the conveyor (503).

10. The storage and recovery system (100) comprises: a framework structure (101) comprising a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing stacks (107) of storage containers (106) and at least one port column (119, 120) for transporting the storage containers (106) to said access and distribution station (500); a rail system (108) disposed on said framework structure (101), said rail system (108) comprising orthogonal tracks (110, 111) whose intersections form a grid having grid cells (112) defining grid openings (115) to said plurality of storage columns (105); A remotely operated vehicle (200) Equipped with 8. The product handling system of claim 7, wherein the remotely operated vehicle (200) comprises a drive means (202a, 202b) configured to move along the rail system (108) and a storage container lift device (212) for storing and retrieving storage containers (106) through the grid openings (115).

11. 10. A method for handling a shipping container (20) by use of a product handling system as recited in claim 7, the method comprising: A. moving the handling end (405) of the robotic picking device (400) with the coupler (1) to a position where the coupler (1) can connect to the shipping container (20); B. Connecting the coupler (1) to the shipping container (20); C. Raising the coupler (1) while the shipping container (20) is connected to the coupler (1); A method comprising:

12. The shipping container (20) to be connected is stored in a storage container (106); The method comprises: Prior to step A, the shipping container (20) transports the storage container (106) stored therein from the storage and retrieval system (100) through a storage system access opening (502) to an exterior area; During step C, raising the handling end (405) so that the bottom of the shipping container (20) is higher than the top of the storage container (106); The method of claim 11 further comprising:

13. The method comprises: After step C, placing the shipping container (20) on a conveyor (503a, 503) having one end positioned adjacent to the storage system access opening (502); transporting the shipping container (20) away from the storage system access opening (502) by use of the conveyors (503a, 503); The method of claim 12 further comprising:

14. The method comprises: transporting an incoming shipping container (20) to said storage system access opening (502); moving the handling end (405) of the robotic picking device (400) with the coupler (1) to a position where the coupler (1) can connect to the incoming delivery container (20'); connecting said coupler (1) to said incoming shipping container (20'); moving the incoming shipping container (20') to a position above a storage container (106) to be stored within the storage and retrieval system (100); placing the incoming shipping container (20') in the storage container (106); The method of claim 11 further comprising:

15. A computer readable medium storing a computer program comprising instructions for performing the method steps of claim 11.

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