Rail systems, particularly automated storage and retrieval systems for container storage and retrieval.

Abstract

The rail system comprises a first beam and a second beam, each having an upper surface configured to provide a track; a pair of side walls extending downward from each upper surface and defining the lateral range of each beam; and a pair of notches extending through each pair of side walls and defining the notch volume extending through the lateral range of each beam, wherein the first beam and the second beam are positioned perpendicular to each other, with the first beam at the top and the second beam below it, and the notches of both beams are aligned, thereby the first beam and the second beam interlock, with the first upper surface and the second upper surface in a single plane, and the rail system comprises a locking arrangement configured to lock the beams together.

Description

Technical Field

[0001] Technical Field The present disclosure relates to a rail system, for example, a rail system for an automated storage and retrieval system for the storage and retrieval of containers.

Background Art

[0002] Background FIG. 1 discloses a prior art automated storage and retrieval system 1 together with a framework structure 100, and FIGS. 2, 3, and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.

[0003] The framework structure 100 includes upright members 102 and a storage volume formed by storage columns 105 arranged in columns between the upright members 102. In these storage columns 105, storage containers 106, also known as bins, are stacked to form a stack 107. The members 102 may typically be made of metal, for example, extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a preferably horizontal rail system 108 positioned across the upper end of the framework structure 100, on which a plurality of container handling vehicles 201, 301, 401 can be operated to raise storage containers 106 from storage columns 105 and lower storage containers 106 into storage columns 105, and to transport storage containers 106 above storage columns 105. The rail system 108 comprises a first set of parallel rails 110 positioned to guide the movement of container handling vehicles 201, 301, 401 in a first direction X across the upper end of the frame structure 100, and a second set of parallel rails 111 positioned perpendicular to the first set of rails 110 to guide the movement of container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. Containers 106 stored in column 105 are accessed by container handling vehicles 201, 301, and 401 through access openings 112 in the rail system 108. Container handling vehicles 201, 301, and 401 can move laterally above the storage column 105, i.e., in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the framework structure 100 may be used to guide the storage containers while raising them from the column 105 and lowering them into the column 105. The stack 107 of containers 106 is typically freestanding.

[0006] Each of the prior art container handling vehicles 201, 301, and 401 comprises a vehicle body 201a, 301a, and 401a, and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, and 401c, respectively, which enable lateral movement of the container handling vehicles 201, 301, and 401 in the X and Y directions. Figures 2, 3, and 4 show all two wheels of each set. The first set of wheels 201b, 301b, and 401b is arranged to engage with two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c, and 401c is arranged to engage with two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered so that the first set of wheels 201b, 301b, and 401b, and / or the second set of wheels 201c, 301c, and 401c can be engaged with the respective sets of rails 110 and 111 at any time.

[0007] Each of the prior art container handling vehicles 201, 301, and 401 also includes a lift device for vertical transport of storage containers 106, for example, to raise the storage containers 106 from the storage column 105 and lower the storage containers 106 into the storage column 105. The lift device includes one or more gripping / engaging devices configured to engage with the storage containers 106, and the gripping / engaging devices can be lowered from the vehicles 201, 301, and 401 so that the position of the gripping / engaging devices relative to the vehicles 201, 301, and 401 can be adjusted in a third direction Z perpendicular to a first direction X and a second direction Y. Some of the gripping devices of container handling vehicles 301 and 401 are shown in Figures 3 and 4, represented by reference numbers 304 and 404. The gripping devices of container handling device 201 are not shown in Figure 2 because they are located within the vehicle body 201a.

[0008] Conventionally, for the purposes of this application, Z=1 identifies the uppermost layer available for storage containers below rails 110, 111, i.e., the layer directly below rail system 108; Z=2 identifies the second layer below rail system 108; Z=3 identifies the third layer, and so on. In the typical prior art disclosed in Figure 1, Z=8 identifies the lowest layer of storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. As a result, for example, using the Cartesian coordinate system X, Y, Z shown in Figure 1, it can be said that the storage container identified as 106' in Figure 1 occupies storage positions X=17, Y=1, Z=6. Container handling vehicles 201, 301, and 401 can be said to travel within layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, the storage container shown in Figure 1, which extends above the rail system 108, is also said to be located at layer Z=0.

[0009] The storage volume of the framework structure 100 may be referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column may be identified by its position in the X and Y directions, and each storage cell may be identified by its container number in the X, Y, and Z directions.

[0010] Each of the prior art container handling vehicles 201, 301, and 401 is equipped with a storage compartment or storage space for receiving and storing storage containers 106 when transporting the storage containers 106 across the rail system 108. This storage space may comprise a cavity located inside the vehicle body 201a, 401a, as shown in Figures 2 and 4, and as described in, for example, International Patent Application Publication 2015 / 193278 and International Patent Application Publication 2019 / 206487, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, Norwegian Patent No. 317366, the details of which are incorporated herein by reference.

[0012] The cavity container handling vehicle 201 shown in Figure 2 may have a footprint that covers an area with dimensions in the X and Y directions that are approximately equal to the lateral range of the storage column 105, as described, for example, in International Patent Application Publication No. 2015 / 193278, the contents of which are incorporated herein by reference. As used herein, the term “lateral” may mean “horizontal.”

[0013] Alternatively, the cavity container handling vehicle 401 may have a larger footprint than the lateral area defined by the storage column 105 as shown in Figures 1 and 4, as disclosed, for example, in International Patent Application Publication No. 2014 / 090684 or International Patent Application Publication No. 2019 / 206487.

[0014] The rail system 108 typically comprises rails with grooves on which the wheels of a vehicle run. Alternatively, the rails may have upward-projecting elements, and the wheels of the vehicle may have flanges to prevent derailment. These grooves and upward-projecting elements are collectively known as tracks. Each rail may have one track, or each rail 110, 111 may have two parallel tracks. In other rail systems 108, each rail in one direction (e.g., the X direction) may have one track, and each rail in the other perpendicular direction (e.g., the Y direction) may have two tracks. Also, each rail 110, 111 may have two track members fastened together, with each track member having one of a pair of tracks provided by each rail.

[0015] International Patent Application Publication No. 2018 / 146304, the contents of which are incorporated herein by reference, illustrates a typical configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0016] In the framework structure 100, the majority of the columns are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in stacks 107. In addition to the storage columns 105, there are dedicated columns within the framework structure. In Figure 1, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to drop off and / or pick up storage containers 106, thereby allowing the storage containers 106 to be transported to access stations (not shown) that can be accessed from outside the framework structure 100, or to be transported from or into the framework structure 100. In the art, such locations are usually referred to as “ports,” and the columns in which these ports are located may be referred to as “port columns” 119, 120. Transport to the access stations may be in any direction: horizontal, inclined, and / or vertical. For example, a storage container 106 is placed in a random or dedicated column 105 within the framework structure 100, and is then picked up by one of the container handling vehicles and transported to port columns 119, 120 for further transport to an access station. Transport from the port to the access station may require movement along various different directions by means such as delivery vehicles, trolleys, or other transport lines. Note that the term "inclined" refers to the transport of the storage container 106 having an overall transport direction that is intermediate between horizontal and vertical.

[0017] In Figure 1, the first port column 119 can be a dedicated drop-off port column from which container handling vehicles 201, 301, and 401 can drop off storage containers 106 being transported to an access station or transfer station, and the second port column 120 can be a dedicated pickup port column from which container handling vehicles 201, 301, and 401 can pick up storage containers 106 transported from an access station or transfer station.

[0018] The access station can typically be a picking station or a stocking station where product items are taken out of or positioned into the storage container 106. At the picking station or stocking station, the storage container 106 is not typically retrieved from the automated storage and retrieval system 1, but is returned to the framework structure 100 once accessed. A single port can also be used to transfer the storage container to another storage facility (e.g., another framework structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] A conveyor system with multiple conveyors is typically employed to transport storage containers between port columns 119 and 120 and the access station.

[0020] If the port columns 119, 120 and the access stations are located on different levels, the conveyor system may include a lifting device with a vertical component for vertically transporting the storage containers 106 between the port columns 119, 120 and the access stations.

[0021] The conveyor system may be configured to transport the storage container 106 between different framework structures, for example, as described in International Patent Application Publication No. 2014 / 075937, the contents of which are incorporated herein by reference.

[0022] When accessing a storage container 106 stored in one of the columns 105 disclosed in Figure 1, one of the container handling vehicles 201, 301, or 401 is instructed to retrieve the storage container 106 from its location and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201, 301, or 401 to a location above the storage column 105 where the storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the lift device (not shown) of the container handling vehicle 201, 301, or 401, and transporting the storage container 106 to the drop-off port column 119. If the storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the storage container 106, this operation also involves temporarily moving the storage containers positioned above before lifting the storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed in the same container handling vehicle that will later be used to transport the storage container in question to the drop-off port column 119, or in one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 dedicated to the task of temporarily retrieving the storage container 106 from the storage column 105. Once the storage container 106 in question has been removed from the storage column 105, the temporarily removed storage container 106 may be returned to its original position in the storage column 105. However, the removed storage container 106 may, alternatively, be reinstalled in 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 201, 301, or 401 is instructed 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 it should be stored. After the storage container 106 has been removed from its designated position in the stack 107, or positioned above it, the container handling vehicles 201, 301, or 401 position the storage container 106 in the desired location. The removed storage container 106 is then returned to the storage column 105 or reinstalled in another storage column 105.

[0024] For monitoring and controlling the automated storage and retrieval system 1, for example, by monitoring and controlling the location of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, and 401, so that the container handling vehicles 201, 301, and 401 can deliver the desired storage containers 106 to the desired location at the desired time without colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for continuously tracking the storage containers 106.

[0025] The rail system 108 is known to be made from beams, which are extruded hollow chamber profiles formed from an aluminum alloy. To form the grid-like rail system 108, a first plurality of such beams extend the entire length of the rail grid of the rail system 108 in one of two mutually perpendicular horizontal directions. Each beam is a single piece. To form rails in the other of the two mutually perpendicular horizontal directions, a plurality of beam sections are fitted so as to span the gaps between each adjacent pair of the first plurality of beams. The multi-section beams then extend the entire length of the rail grid of the rail system 108. A plurality of such multi-section beams are configured to form a plurality of rails in the other of the two mutually perpendicular horizontal directions.

[0026] As described above, each beam section must be attached to adjacent pairs of the first plurality of beams. The attachment must be geometrically accurately aligned to properly form a second set of straight rails 111. Current attachment methods are troublesome with respect to structure, amount of parts, mounting time and labor, safety and maintenance, and as a result price. Threaded flanges are widely used to connect beam sections between the first integral beam 110, and the screw connections of each threaded flange need to be accurately mounted by installing screws with a specific torque. Many screw connections are required to install rail sections in the rail grid 108, and thus this is a very time-consuming process. Further, in order to ensure the mechanical stability of the framework, it is necessary to check the torque applied to each screw at specific time intervals.

[0027] The present disclosure relates to a technical problem of providing, for example, a grid rail system having easier or simpler, improved assembly and / or maintenance.

Prior Art Documents

Patent Documents

[0028]

Patent Document 1

Patent Document 2

Summary of the Invention

Means for Solving the Problems

[0029] Summary This summary is provided to introduce in a simplified form a selection of concepts further described herein. The summary is not intended to identify key or essential features of the invention.

[0030] This disclosure is characterized by the independent claims, while the dependent claims describe other features of this disclosure. In one embodiment, this disclosure relates to a rail system, the rail system is The first beam, A first upper surface configured to provide a first track, A pair of first side walls extending downward from the first upper surface and defining the lateral range of the first beam, A first notch defining a first notch volume that extends through a pair of first side walls and through the lateral range of the first beam, wherein the first notch volume extends upward from the lowest edge of the first beam. A first beam comprising, The second beam, A second top surface configured to provide a second track, A pair of second side walls extending downward from the second upper surface and defining the lateral range of the second beam, A second notch defining a second notch volume that extends through a pair of second side walls and through the lateral range of the second beam, wherein the second notch volume extends downward from the uppermost edge of the second beam. A second beam and Equipped with, The first beam and the second beam are positioned perpendicular to each other, with the first beam at its highest point and the second beam below it. When these beams intersect, the first and second notches are aligned so that a portion of the second beam is received below the first beam within the first notch volume, and a portion of the first beam is received above the second beam within the second notch volume. As a result, the first and second beams interlock, and the first and second upper surfaces lie in a single plane, which is most preferably horizontal. The rail system includes a locking arrangement configured to fix both the first and second beams together against relative movement, at least in the vertical direction.

[0031] The rail system of the present disclosure is preferably intended for use in an automated storage and retrieval system for the storage and retrieval of containers. Such an automated storage and retrieval system may comprise the rail system described above, the beam providing a first set of straight, parallel rails arranged to guide the movement of a container handling vehicle in a first direction traversing the upper end of a frame structure, and a second set of straight, parallel rails arranged perpendicular to the first set of rails and to guide the movement of a container handling vehicle in a second direction perpendicular to the first direction, so that the first and second sets of rails intersect each other at their respective notches and thus form a rail grid.

[0032] The rail is formed by beams. Each beam may be formed as a continuous, single unit.

[0033] Preferably, the first and second upper surfaces of the beam are configured to provide two parallel tracks, one on each side of the lateral range of the upper surface, i.e., one on the left and one on the right. For example, each upper surface preferably has three vertical edges extending along the entire length of each beam, preferably one in the center separating the left and right rails, and one on each side of the lateral range of the upper surface laterally restricting the left and right rails to their respective sides. Preferably, at least one of these three vertical edges forms the uppermost edge.

[0034] The first and second side walls may optionally be referred to as the first and second sides or the first and second vertically extending sides.

[0035] As described above, the first and second beams are positioned perpendicular to each other, and at their respective intersections, both beams are provided with notches, the notches of the first beam extending upward from the bottom and the notches of the second beam extending downward from the top. The presence of the notches allows the first and second beams to interlock when the two notches of the intersecting beams are shifted relative to each other by a vertical mounting movement. Thus, each notch of the intersecting beams forms a volume that receives at least a portion of the other beam, and this portion of the other beam aligns with its own notch in the height (vertical) direction.

[0036] All expressions relating to location and direction, such as "vertical," "top," and "highest," relate to the optional intended use and optional intended orientation of the system. In such optional orientations, the rail grid is most preferably horizontal, and the first and second tracks lie within a single horizontal plane.

[0037] As mentioned above, optionally, all beams forming the rail grid in both vertical directions may be single components. Compared to the prior art, embodiments of the disclosure in which all beams are integral components result in a simplified structure, a reduction in the number of required parts, improved safety of the rail grid, and a reduction in the amount of maintenance required for the operation of the rail grid. As a result, such rail grids can be constructed and maintained at a lower cost compared to rail grids of the prior art.

[0038] The notches in the two intersecting beams provide the shape fit described above, preferably a gap fit between the two beams.

[0039] Optionally, the height of the first beam and the height of the second beam are equal. The “height” of the beam referred to herein is the total height of the beam, not the area in which the notch is made. Preferably, the cross-sections of the first and second beams are identical except for the cross-section along the notch, and more preferably, this applies to all cross-sections of the first and second beams except for cross-sections having laterally oriented structures such as drill holes or notches.

[0040] Preferably, the first notch extends upward to the first surface, and the second notch extends downward to the second surface, and the respective first and second surfaces are complementary to each other (most preferably horizontal) and in contact with each other when the first and second beams interlock. The latter allows forces to be transmitted through these contact surfaces.

[0041] Most preferably, the first notch extends upward, and the second notch extends downward to the same level, approximately half the height of each beam or 40% to 60% of the height.

[0042] The beam preferably comprises an extruded hollow chamber profile. More preferably, the extruded hollow chamber profile comprises two hollow chambers, which are located above and below each other and are confined to each other by at least one wall bridging the lateral range of each beam that extends between a pair of side walls of each beam. Preferably, the wall is located at a level of about half the height of each beam, or at a level of 40% to 60% of the height. Most preferably, the wall is located at the level over which the first and second notches extend.

[0043] The beam may optionally be formed from an alloy containing aluminum, or an alloy containing another “light metal” such as magnesium and / or titanium. “Light metal” is defined herein as having a density of less than 5 g / cm³.

[0044] The outer contour of the beam's cross-section follows an arbitrary rectangular shape.

[0045] In particular, if the outer contour of the beam cross-section follows a rectangular shape, it is preferable that the outer contour of the notch also follows a rectangular shape when viewed from the side of each beam. Preferably, the notch width (i.e., the dimension of the notch in the extending direction of each beam) is the same as the lateral range of each intersecting beam.

[0046] As described above, the rail system includes a locking arrangement configured to fix the first and second beams together against relative movement, at least in the vertical direction. The locking arrangement preferably includes a shape-fitting locking member configured to partially seat in a first shape-fitting structure of the first beam and partially seat in a second shape-fitting structure of the second beam in order to shape-fit the first and second beams together. The locking member is preferably made of a plastic material such as a thermoplastic resin (e.g., PP, HDPE, etc.).

[0047] Preferably, at least one first shape-fit structure is a first groove provided in at least one of a pair of first sidewalls of a first intersecting beam, and at least one second shape-fit structure is a second groove provided in at least one of a pair of second sidewalls of the other intersecting beam. The first groove and / or second groove are optionally grooves in the sidewalls that extend in the longitudinal direction of the beam, and the grooves are formed as part of the beam's extrusion profile.

[0048] The first groove and the second groove are, arbitrarily, located in a plane parallel to a single plane.

[0049] Optionally, the beam and locking member are provided with a locking structure configured such that the locking member is locked against horizontal movement in its locked position by a snap-fitting connection and / or a shape-fitting connection.

[0050] The shape-fitting connection portion of the locking structure may be a mounting hole located in the first or second groove, and a pin of a locking member configured to extend through the mounting hole. Therefore, the locking member is a pin configured to seat partially in the first groove and partially in the second groove, and extending through the mounting hole.

[0051] The shape-fitting connection portion of the locking structure may also be an upper and / or lower non-snap latch positioned on the locking member and configured to shape-lock behind the edge of the groove in which the locking member seats in its locked position, with the non-snap latch positioned behind the edge through the gap above and below the edge.

[0052] The snap-fitting connection portion of the locking structure may include upper and / or lower snap-lock latches that are located on the locking member and are configured to snap-engage behind the edge of the groove in which the locking member sits in its locked position.

[0053] Preferably, the locking member is L-shaped, and each described locking structure is located on one of the two legs of the locking member.

[0054] Therefore, the locking member can be easily attached, preferably by hand without tools. The locking structure may include a snap engagement structure and form a fitting structure that holds the member in the first and / or second grooves.

[0055] The locking member preferably comprises a first leg and a second leg, which, as described above, extend perpendicularly to each other, i.e., the locking member has an L-shaped structure. The first leg and / or the second leg may have a width corresponding to the depth of the groove into which the member is fitted and seated, so as to be seated flush or substantially flush with the side wall of the beam when the leg is set in the groove (for example, may be embedded in the groove). In this way, the first leg and / or the second leg do not cause an obstruction to the storage container rising or falling within the column defined by the rail grid. The first leg may be a height that extends the height of the groove, while the second leg may have a different structure, for example, having an extension that can be flicked out of the other groove to facilitate the removal of the member. The locking member may be made of an elastic material, for example, a plastic or rubber material that is flexible enough to allow the legs of the member to be pressed into their respective grooves.

[0056] In these or the embodiments described above, the first and / or second beams may be formed with a single-track profile or a double-track profile (for example, to allow the wheels of different vehicles to pass each other on the same rail). Optionally, both the first and second beams may be provided with a double-track profile to allow the wheels of different vehicles to pass each other on all four sides of the grid space of the rail grid.

[0057] In a further embodiment, the Disclosure provides an automated storage and retrieval system for the storage and retrieval of containers, the automated storage and retrieval system is Frame structure and, A rail system of the first embodiment, which optionally includes the optional features thereof, Multiple container handling vehicles and Equipped with, A first set of parallel rails is positioned to guide the movement of a container handling vehicle in a first direction across the top of the frame structure, and a second set of parallel rails is positioned to guide the movement of a container handling vehicle in a second direction.

[0058] Preferably, in this storage and retrieval system, the second beams are provided with mounting means for attaching each second beam to a frame structure.

[0059] In another embodiment, the present disclosure provides a method for assembling a rail grid for an automated storage and retrieval system by mounting first and second beams. The first beam was, A first upper surface configured to provide a first track, A pair of first side walls extending downward from the first upper surface and defining the lateral range of the first beam, A first notch defining a first notch volume that extends through a pair of first side walls and through the lateral range of the first beam, wherein the first notch volume extends upward from the lowest edge of the first beam and Equipped with, The second beam is A second top surface configured to provide a second track, A pair of second side walls extending downward from the second upper surface and defining the lateral range of the second beam, A second notch defining a second notch volume that extends through a pair of second side walls and through the lateral range of the second beam, wherein the second notch volume extends downward from the uppermost edge of the second beam and Equipped with, With the first beam at the top and the second beam below it, the first and second beams are positioned perpendicular to each other so that when these beams intersect, the first and second notches are aligned, a portion of the second beam is received in the first notch volume below the first beam, and a portion of the first beam is received in the second notch volume above the second beam, thereby interlocking the first and second beams, aligning the first and second upper surfaces in a single plane, and positioning the single plane to be horizontal, most preferably. The correspondingly configured locking arrangement fixes both the first and second beams against relative movement, at least in the vertical direction.

[0060] The method may be further specified by steps and devices, particularly those described herein. [Brief explanation of the drawing]

[0061] The following drawings are provided to facilitate understanding of the present disclosure. The drawings illustrate two embodiments of the present disclosure, which are described herein by example only. Each feature of these embodiments should be understood as an embodiment of the disclosure, whether in combination with the subject matter of the present disclosure disclosed in the independent claims or in combination with the features disclosed herein. In other words, whether in combination with the subject matter of the independent claims or in combination with other features disclosed herein, without any other features of the respective embodiments shown in the drawings, or in addition with only a limited amount of other features of the respective embodiments shown in the drawings, the embodiments should be understood as an embodiment of the disclosure.

[0062] [Figure 1] Figure 1 is a perspective view of the framework structure of an automated storage and retrieval system of prior art.

[0063] [Figure 2] Figure 2 is a perspective view of a prior art container handling vehicle having an internally positioned cavity for transporting storage containers.

[0064] [Figure 3] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever at the bottom for transporting storage containers.

[0065] [Figure 4] Figure 4 is a perspective view from below of a prior art container handling vehicle having an internally positioned cavity for transporting storage containers.

[0066] [Figure 5] Figure 5 is a perspective view showing the mounting step for intersecting beams for the automated storage and retrieval system according to this disclosure. [Figure 6] Figure 6 is a perspective view showing the mounting step for intersecting beams for the automated storage and retrieval system according to this disclosure. [Figure 7] Figure 7 is a perspective view showing the mounting step of intersecting beams for the automated storage and retrieval system according to this disclosure. [Figure 8] Figure 8 is a perspective view showing the mounting step for intersecting beams for the automated storage and retrieval system according to this disclosure. [Figure 9] Figure 9 is a perspective view showing the mounting step for intersecting beams for the automated storage and retrieval system according to this disclosure.

[0067] [Figure 10] Figure 10 is a perspective view of a preferred framework structure for an automated storage and retrieval system.

[0068] [Figure 11] Figure 11 is a perspective view showing the mounting step of intersecting beams for an automated storage and retrieval system according to an alternative embodiment of the present disclosure. [Figure 12] Figure 12 is a perspective view showing the mounting step for intersecting beams for an automated storage and retrieval system according to an alternative embodiment of the present disclosure. [Figure 13] Figure 13 is a perspective view showing the mounting step for intersecting beams for an automated storage and retrieval system according to an alternative embodiment of the present disclosure.

[0069] [Figure 14] Figure 14 is a perspective view showing the beams from Figures 11 to 13 when they are not mounted together. [Modes for carrying out the invention]

[0070] Detailed explanation Two embodiments of this disclosure will be described in more detail below with reference to the attached drawings. However, it should be understood that the drawings are not intended to limit this disclosure to the subject matter depicted therein.

[0071] The framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in relation to Figures 1 to 3. That is, the framework structure 100 comprises several upright members 102 and a first upper rail system 108 extending in the X and Y directions.

[0072] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between members 102, and the storage containers 106 can be stacked in stacks 107 within the storage columns 105.

[0073] The framework structure 100 can be of any dimensions. In particular, it is understood that the framework structure can be considerably wider and / or longer and / or deeper than disclosed in Figure 1. For example, the framework structure 100 may have a horizontal spread of more than 700 × 700 columns and a storage depth of more than 12 containers.

[0074] Here, one embodiment of the rail system in the automated storage and retrieval system will be described in more detail with reference to Figures 5 to 10, and an alternative embodiment will be described with reference to Figures 11 to 13.

[0075] Figures 5 to 9 and 11 to 13 show the intersection of two beams 110' and 111' as a cross section of the rail system 108' in Figure 10.

[0076] The sequence in Figures 5 to 9 illustrates the step-by-step process of connecting and securing the beams to each other. The beams extend throughout the rail grid 108' of the rail system, and therefore all intersections of the beams 110', 111' of each of the two sets of parallel beams forming the rail grid 108' in Figure 10 are fitted together as shown in the sequence in Figures 5 to 9. The intersecting beams are secured by grooves 32, 34 and locking members 30.

[0077] The first beam 110' of each of the two beams that intersect each other is, A first top surface 2 configured to provide at least a first track 4 (or, since the embodiments shown in Figures 5 to 9 feature two parallel tracks 4, 4', a first set of tracks), A pair of first side walls 6 extending downward from the first upper surface 2 and defining the lateral range of the first beam 110', wherein at least one uppermost edge 8 and at least one lowermost edge 10 of the first beam define the height of the first beam, and the first side walls 6 A first notch 12 defines a first notch volume 12 that extends through a pair of first side walls 6 and extends laterally through the entire lateral range of the first beam 110', wherein the first notch volume 12 extends upward from at least one lower edge 10 of the first beam and Equipped with, The second beam 111' is, A second top surface 14 configured to provide at least a second track 16 (or, since the embodiments shown in Figures 5 to 9 feature two parallel tracks 16, 16', a second set of tracks), A pair of second side walls 18 extending downward from the second upper surface 14 and defining the lateral range of the second beam 111', wherein at least one uppermost edge 15 and at least one lowermost edge 19 of the second beam define the height of the second beam, and the second side walls 18 A second notch 20 defines a second notch volume 20 that extends through a pair of second side walls 18 and extends laterally through the entire lateral range of the second beam 111', wherein the second notch volume 20 extends downward from at least one uppermost edge 15 of the second beam and Equipped with, The first and second beams 110' and 111' are positioned perpendicular to each other, with the first beam 110' at the top and the second beam 111' below it, and the first and second notches 12 and 20 are aligned, so that a portion of the second beam 111' is received within the first notch volume 12 and a portion of the first beam 110' is received within the second notch volume 20, so that the first and second beams interlock, and the first upper surface 2 and the second upper surface 14 are in a single plane. The rail system 108' includes locking arrangements 30-38 configured to fix the first beam and the second beam together in order to prevent relative movement at least in the vertical direction, i.e., vertical movement of the first beam relative to the second beam at least.

[0078] The rail system 108' is intended for use in an automated storage and retrieval system for the storage and retrieval of containers and comprises a first set of straight parallel rails (beams 110') providing a track 4 arranged to guide the movement of a container handling vehicle in a first direction across the upper end of a frame structure, and a second set of straight parallel rails (beams 111') providing a track 16 arranged perpendicular to the first set of rails and arranged to guide the movement of a container handling vehicle in a second direction perpendicular to the first direction, so that the first and second sets of rails intersect each other to form a rail grid 108'. Such a system 1 from the latest technology has been described above as an introduction to this application, and its features are also applicable to this disclosure.

[0079] The rail is formed by beams 110' and 111', where each of the two beams intersects with the other at their respective intersections, forming each beam as a continuous, integral component. This is because, at their respective intersections, both beams have notches 12 and 20, extending upward from the lower end 10 of the first beam and downward from the upper end edge 15 of the second beam, so that the first and second beams interlock when the two notches of the intersecting beams are shifted relative to each other by a vertical relative mounting movement (Figures 5 and 6). Thus, each notch of the intersecting beam forms a volume along the notch of the other beam that includes at least a portion of the volume of the other beam.

[0080] The rails of this disclosure are formed by beams 110', 111', where each of the two beams intersects with each other at their respective intersections, and each beam is formed as a continuous, integral part. Thus, each rail can be formed by an integral beam extending across the entire rail grid of the rail system in both of the rail's vertical directions. This already reduces the effort required for construction, the number of parts, installation time, safety, and maintenance, and as a result, the cost can be lowered.

[0081] When viewed in the extending direction of each other intersecting beam, the outer contour 24 of the cross-section of the notches 12, 20 of each intersecting beam 110', 111' is identical (or rather, slightly outward and parallel for clearance fitting) to at least a portion of the shape of the outer contour 26 of the cross-section of each other intersecting beam 111', 110' along its notches 20, 12. In other words, the notches of each of the two beams intersecting each other thus form a shape lock between these two beams in clearance fitting.

[0082] To enable safe, easy, and intuitive installation, the height of the first beam 110' and the height of the second beam 111' are approximately equal, the first notch 12 and the second notch 20 each extend to approximately half the height up to approximately the center of the height, the first notch 12 extends upward from at least one lower edge 10, and the second notch 20 extends downward from at least one upper edge 15.

[0083] Beams 110', 111' made from extruded hollow chamber profiles of an aluminum-containing alloy exhibit an outer cross-sectional contour of the beams that broadly follows a rectangular shape. The cross-sectional contours of the notches 12, 20 also follow a rectangular shape when viewed from the side of each beam, and are the same width as the lateral extensions of the intersecting beams (in the direction of extension of each beam), extending up or down by half the height from the lowest edge 10 or uppermost edge 15 of each first or second intersecting beam, respectively, to the middle of the height of the intersecting beams.

[0084] As described above, in order to fix the interlocking notches 12, 20 of the first and second beams 110', 111' and to prevent vertical mounting movement (Figures 5-6) so as not to come apart in both vertical directions, the rail system 108' includes locking arrangements 30-38, which are configured to connect the first and second beams by including a shape-fitting locking member 30 formed from a thermoplastic material, configured to partially seat in one first shape-fitting structure 32 of the first beam and partially seat in at least one second shape-fitting structure 34 of the second beam, in order to fix the first and second beams in a shape-fitting state perpendicular to each other.

[0085] The first shape-fitting structure 32 is a first groove 32 provided on both of the pair of first side walls 6 of the first intersecting beam 110', and the second shape-fitting structure 34 is a second groove 34 provided on both of the pair of second side walls 18 of the other second intersecting beam 111'. The first groove 32 and the second groove 34 are located in a single plane (not shown) parallel to a single plane (not shown) of the first upper surface 2 and the second upper surface 14 that provide the first track 4 and the second track 16.

[0086] Finally, the locking member 30 is configured to seat partially in the first groove 32 and partially in the second groove 34, and according to the first example, includes a pin 36 configured to extend through a mounting hole 38 located in either the first groove 32 or the second groove 34. In this embodiment, since mounting holes are provided in both the first groove 32 and the second groove 34, the degree of freedom in positioning the locking member 30 is increased.

[0087] The holes 38 and pins 36 in Figures 5 to 9 represent a first example of a locking structure (configured to lock the locking member in its locked position by a snap-fitting connector and / or shape-fitting connector to prevent it from coming loose due to horizontal movement). Both holes 38 and pins 36 serve to hold the member 30 within the first and second grooves 32, 34. Another example of the locking structure will be discussed later with reference to Figures 11 to 13.

[0088] The side walls 6, 18 of both the first and second beams 110', 111' are provided with the following locking arrangements 30-38. That is, this locking arrangement is A first upper groove 32 provided on both sides of the first side wall 6 (in this embodiment, as opposed to a first lower groove 40 which does not function as part of the locking arrangement 30-38), and a second upper groove 34 provided on both sides of the second side wall 18 (in this embodiment, as opposed to a second lower groove 42 which does not function as part of the locking arrangement 30-38), wherein the upper grooves 32, 34 (of the locking arrangement) have the same cross-section, the first and second upper grooves 32, 34 are on one upper plane (not shown) parallel to a single plane (not shown), and the first lower groove 40 and the second lower groove 42 are on a lower plane (not shown) parallel to a single plane, Within the first upper groove 32 and the second upper groove 34, there are left mounting holes 38 located to the left of each notch, and right mounting holes 38 located to the right of each notch, each of which is equally spaced horizontally from each notch, and all mounting holes 38 are of the same diameter, drilling direction and vertical location within the respective grooves 32 and 34. Equipped with, The locking member 30 is configured to partially seat in one of the first upper grooves 32 and partially seat in one of the second upper grooves 34, and to extend through the left or right mounting hole 38 of either the first or second upper groove.

[0089] This allows the beams 110', 111' that intersect each other and interlock at their respective notches to be secured by a very simple final mounting step (Figures 7-9 – in contrast to the vast number of screws that are mounted and monitored with considerable effort in modern technology), the pin 36 of the locking member 30 to be positioned to extend through either of the mounting holes 38 near (left or right) each of the notches 12, 20, and the locking member 30 to be positioned in the respective adjacent portions of the first and second upper grooves 32, 34. The number of mounting holes 38 can be in proportion to the number of possible locations for mounting the locking member 30, preferably two of which are mounted at the intersections of beams that are preferably diagonally opposite to each other when viewed from above (not shown). The number of mounting holes 38 and the number of locations for placing the locking member make it very easy to find a preferred number of two such locations for placing the locking member 30.

[0090] The installation of such a locking member 30 can be easily done by hand without the use of tools. First, the pin 36 of the locking member 30 is clicked into one of the holes 38, then clicked again in the same direction to click into one of the long legs 44 of the locking member 30 that supports the pin 36 along the grooves 32, 34 having the hole 38, and finally, the other long leg 46 of the locking member 30 (which is rectangular relative to the other leg 44 and has no pin 36) is clicked perpendicular to the side along the grooves 34, 32 of the other intersecting beams 111', 110'. The other long leg 46 has an elastic portion characterized by a latch element 46a (i.e., an element that cooperates with one of the first upper groove and the second upper groove to provide a snap-fit ​​connection). The latch element has a rim that interacts with the inner portion or rim of the grooves 34, 32 into which the locking member 30 is inserted to fix its position.

[0091] In the embodiments shown in Figures 5 to 9, the locking member is positioned in the upper grooves 32 and 34 of the beams 110' and 111'. In other embodiments, the locking member and corresponding mounting holes may be arbitrarily positioned in the lower grooves 40 and 42.

[0092] Alternative examples of the holes 36 and pins 38 in Figures 5 to 9 are the upper and lower non-snap latches 56 in Figures 11 to 13, which are located on one of the two legs of the L-shaped locking member 30 and are configured to lock in shape behind the edge 58 of the groove, in which case the locking member 30 is seated in its locked position and the non-snap latches 56 are positioned behind the edge 58 so that they are placed through the upper and lower gaps 60 of the edge.

[0093] According to the sequence in Figures 11 to 13, the locking member 30 in this example is fitted into the first and second grooves 32 and 34 by horizontal translational movement. The locking member 30 is then fixed to its final locked position (Figure 13) by the locking structure, namely, firstly by the shape-fitting connections of the upper and lower non-snap latches 56, and secondly by the snap-fitting connections formed by the snap latch 62, which is configured to snap-engage and shape-lock behind the edge 58 of the groove. In this case, the locking member 30 is seated in the locked position and positioned so that the snap latch 62 snap-engages behind the edge 58.

[0094] It should be noted that the beams 110' and 111' in Figures 11 to 13 have a slightly different design from the beams disclosed in Figures 5 to 9, in that they have only a single groove 30, 32 on each side. However, the solution of the present invention is compatible with any type of beam, as long as the beam has grooves on each of its sides as described above and below.

[0095] Referring further to Figures 11-13 and 5-9, the first notch 12 extends upward and the second notch 20 extends downward, reaching the same level at approximately half the height, from there to the first surface 64 and the second surface 66, respectively. The first surface 64 and the second surface 66 are parts of the first and second beams 110' and 111', respectively. The first surface 64 and the second surface 66 are complementary and horizontal to each other and come into contact when the first and second beams interlock. This allows forces to be transmitted through these contact surfaces 64 and 66.

[0096] Furthermore, referring to Figures 11 to 13 in relation to Figures 5 to 9, the extruded hollow chamber profiles of the first and second beams 110' and 111' comprise two hollow chambers 68 and 70 located above and below each other, and these chambers are confined to one another by walls 72 that bridge the lateral range of each beam and extend between a pair of side walls 6 and 18 of each beam.

[0097] In each of the beams 110' and 111', the wall 72 forms a first surface 64 and a second surface 66 along the respective notches 12 and 20 (Figure 14).

[0098] In the preceding description, various aspects of the rail systems and automated storage and retrieval systems relating to this disclosure have been described with reference to exemplary embodiments. For explanatory purposes, specific numbers, systems, and configurations have been described to provide a complete understanding of the systems and how they work. However, this description is not intended to be constrained. Various modifications and variations of the exemplary embodiments, as well as other embodiments of systems that are obvious to those skilled in the art to which the disclosed subject matter relates, are considered to be within the scope of the invention. In particular, features of embodiments in the drawings are disclosed not only in the context of the embodiments as a whole, but also as individual features that can be freely combined with other features disclosed in this application. [Explanation of symbols]

[0099] List of reference symbols Prior art (Figures 1-4): 1. Prior Art Automated Storage and Retrieval Systems 100 Framework Structures 102 Upright members of a framework structure 104 Storage Grid 105 Storage Column 106 Storage Containers 106' Specific location of the storage container 107 stacks 108 Rail System 110 Parallel rails in the first direction (X) 111 Parallel rail in the second direction (Y) 112 Access opening 119 First port column 120 Second port column 201 Container handling vehicles using advanced technology 201a Vehicle body of container handling vehicle 201 201b Drive mechanism / Wheel arrangement / First set of wheels in first direction (X) 201c Drive mechanism / Wheel arrangement / Second set of wheels in second direction (Y) 301 Cantilever container handling vehicle using advanced technology 301a Vehicle body of container handling vehicle 301 301b Driven means / First set of wheels in the first direction (X) 301c Drive mechanism / Second set of wheels in the second direction (Y) 304 Gripping device 401 Container handling vehicle with advanced technology 401a Vehicle body of container handling vehicle 401 401b Driven means / First set of wheels in the first direction (X) 401c Drive mechanism / Second set of wheels in second direction (Y) 404 Gripping device 404a Liftband 404b Grip 404c Guide pin 404d Lift Frame 500 Control Systems X First direction Y Second direction Z Third direction This disclosure (Figures 5-14): 108' Rail System 110' First beam 111' Second beam 2. First upper surface 4. Track 1 6. First side wall 8. Uppermost edge 10. Bottom edge 12. First notch 14. Second upper surface 15 Uppermost edge 16. Track 2 18. Second side wall 19. Bottom edge 20 Second notch 24 Cross-section of the outer contour of the notch 26 Beam along the notch 30 Locking member 32 Shape fitting structure, first groove 34 Shape fitting structure, second groove 36 pins 38 mounting holes 40. First lower drainage ditch 42 Second lower drainage ditch 44 One leg of the locking member 46 The other leg of the locking member 56 Non-snap latch 58 Edge 60 Gap at the edge 62 Snap Latch 64 The first surface of the beam 66 The second surface of the beam 68 Upper hollow chamber 70 Lower hollow chamber 72 horizontal wall

Claims

1. Rail system (108'), The first beam (110') A first upper surface (2) configured to provide a first track (4, 4'), A pair of first side walls (6) extending downward from the first upper surface and defining the lateral range of the first beam, A first notch (12) that extends through the pair of first side walls and defines a first notch volume that extends through the lateral range of the first beam, wherein the first notch volume extends upward from the lowest edge (10) of the first beam and A first beam (110') and, The second beam (111') A second upper surface (14) configured to provide a second track (16, 16'), A pair of second side walls (18) extending downward from the second upper surface and defining the lateral range of the second beam, A second notch (20) that extends through the pair of second side walls and defines a second notch volume that extends through the lateral range of the second beam, wherein the second notch volume extends downward from the uppermost edge (15) of the second beam and A second beam (111') and Equipped with, The first beam and the second beam are positioned perpendicular to each other with the first beam at the highest point and the second beam below it, and with the first and second notches aligned, so that a portion of the second beam is received within the volume of the first notch, and a portion of the first beam is received within the volume of the second notch, so that the first beam and the second beam interlock, and the upper surfaces of the first and second beams are in a single plane. The rail system comprises a locking arrangement (30-38) configured to lock the first beam and the second beam together in order to prevent relative movement between the first beam and the second beam in at least the vertical direction.

2. The rail system according to claim 1, wherein the single plane is a horizontal plane.

3. The rail system according to claim 1 or 2, wherein the uppermost and lowermost edges of the first beam define the height of the first beam, the uppermost and lowermost edges of the second beam define the height of the second beam, the height of the first beam and the height of the second beam are equal, and the first notch extends upward to the same level of 40% to 60% of the height, and the second notch extends downward.

4. The rail system according to any of the preceding claims, wherein the locking arrangement comprises a shape-fitting locking member (30) configured to partially fit into a first shape-fitting structure (32) of the first beam and partially fit into a second shape-fitting structure (34) of the second beam in order to fix the first and second beams together.

5. The at least one first shape-fitting structure of the first beam comprises a first groove (32) provided in at least one of the pair of first side walls (6), The at least one second shape-fitting structure of the second beam comprises a second groove (34) provided in at least one of the pair of second side walls (18), The first groove and the second groove are located in a plane parallel to the single plane, The rail system according to claim 4, wherein the locking member (30) is configured to partially fit into the first groove and partially fit into the second groove in order to prevent relative movement between the first beam and the second beam in the vertical direction, and the locking member and the beams are configured to lock the locking member against horizontal movement in its locked position by a snap-fitting connection and / or a shape-fitting connection.

6. The rail system according to claim 5, wherein the shape-fitting connection portion of the locking structure comprises a mounting hole located in the first or second groove and a pin located on the locking member configured to extend through the mounting hole in the locked position, or the shape-fitting connection portion comprises an upper and lower non-snap latch located on one of the two legs of an L-shaped locking member configured to shape-lock behind the edge of the groove on which the locking member sits in the locked position, and the non-snap latch is positioned behind the edge so as to be placed through the upper and lower gap of the edge.

7. The rail system according to claim 5 or 6, wherein the snap-fitting connection portion of the locking structure comprises upper and lower snap-lock latches located on one of the two legs of the L-shaped locking member, which are configured to snap-engage behind the edge of the groove on which the locking member sits in its locked position.

8. The rail system according to claim 7, wherein the cross-sections of the first groove and the second groove are identical.

9. The rail system according to any of the preceding claims, wherein the cross-sections of the first beam and the second beam are identical except for the cross-section along the notch.

10. The rail system according to one of the preceding claims, wherein the beam is made from an extruded hollow chamber profile.

11. The rail system according to claim 10, wherein the extruded hollow chamber profile comprises two hollow chambers, the two hollow chambers being located above and below each other and constrained from each other by at least one wall bridging the lateral range of each beam that extends between the pair of side walls of each beam.

12. The rail system according to claim 11, in combination with claim 3, wherein the wall is located at the level over which the first and second notches extend.

13. The rail system according to one of the preceding claims, wherein the first notch extends upward to a first surface, and the second notch extends downward to a second surface, and the respective first and second surfaces are horizontal and complementary to each other, and contact each other when the first and second beams interlock.

14. The rail system according to one of the preceding claims, wherein the beam is made of an alloy containing aluminum or an alloy containing another light metal.

15. The rail system according to any of the preceding claims, wherein the first upper surface and / or the second upper surface are configured to provide two parallel tracks.

16. A rail system according to any of the preceding claims, comprising a plurality of first beams forming a first set of parallel rails and a plurality of second beams forming a second set of parallel rails, wherein the first set of parallel rails and the second set of parallel rails intersect each other to form a rail grid.

17. The rail system according to claim 16, wherein each of the plurality of first beams extends over the entire rail grid of the rail system, and each of the plurality of second beams extends over the entire rail grid of the rail system.

18. An automated storage and retrieval system for the storage and retrieval of containers, Frame structure and, The rail system according to claim 16 or 17, Multiple container handling vehicles (201, 301, 401) and Equipped with, An automated storage and retrieval system wherein a first set of parallel rails is arranged to guide the movement of the container handling vehicles (201, 301, 401) in a first direction (X) that crosses the upper end of the frame structure (100), and a second set of parallel rails (111) is arranged to guide the movement of the container handling vehicles (201, 301, 401) in a second direction (Y).

19. The automatic storage and retrieval system according to claim 18, wherein the second beams are provided with mounting means for attaching each second beam to the frame structure.

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