Supply line management system for robotic picking stations

Abstract

This disclosure relates to a robotic picking station for a storage system having a framework structure. The robotic picking station comprises a robotic manipulator that can be attached to the framework structure, a supply line arranged to route through the framework structure to the robotic manipulator, and a supply line management system configured to serve the robotic manipulator. The supply line management system comprises a spool element that defines the bending radius of the supply line around the robotic manipulator.

Description

Technical Field

[0001] The present disclosure relates generally to the field of robotic picking stations for use in warehouses or fulfillment centers. Aspects relate to end effectors for use on robotic manipulators assigned to such picking stations, robotic manipulators and picking stations, as well as grid-based storage and retrieval systems comprising the picking stations.

Background Art

[0002] Online retail businesses selling multiple product lines, such as online grocers and supermarkets, require systems capable of storing tens, hundreds, or even thousands of different product lines. The use of single product stacks in such cases is impractical, as a very large floor area is required to accommodate all the required stacks. Furthermore, it may only be desirable to store small quantities of some items, such as perishables or items that are not ordered very frequently, making single product stacks an inefficient solution.

[0003] PCT Publication No. WO2015 / 185628A (Ocado) describes a known storage and fulfillment system, in which stacks of bins or containers are arranged within a framework structure. The bins or containers are accessed by load handling devices operable on tracks positioned at the top of the frame structure. The load handling devices are configured to lift bins or containers from the stacks, and a plurality of load handling devices cooperate to access bins or containers positioned at the lowest position of the stack. This type of system is schematically illustrated in Figures 1 to 5 of the accompanying drawings.

[0004] Figure 1 illustrates a grid-based storage and retrieval system framework structure 1. Structure 1 comprises a plurality of upright members 3 supporting two sets of horizontal members 5 and 7 arranged laterally. The upright members 3 extend parallel to each other and to the illustrated z-axis and stand perpendicular to the horizontal members 5 and 7. The first set of horizontal members 7 extends in the direction of the illustrated x-axis, and the second set of horizontal members 5 extends in the direction of the illustrated y-axis. The two sets of horizontal members 5 and 7 form a grid pattern that defines a plurality of grid cells. In the illustrated example, storage containers 9 are arranged in stacks 11, with each stack 11 positioned below its respective grid cell.

[0005] Figure 2 shows an enlarged plan view of a section of a transverse track structure 13 that forms part of the framework structure 1 illustrated in Figure 1. The track structure 13 is located at the top of a set of horizontal members 5, 7. The track structure 13 may be provided by the horizontal members 5, 7 themselves (for example, formed within or on the surface of the horizontal members 5, 7) or by one or more additional components attached to the top of the horizontal members 5, 7. The illustrated track structure 13 comprises x-direction track 17 and y-direction track 19, i.e., a first set of track 17 extending in the direction of the illustrated x-axis and a second set of track 19 extending in the direction of the illustrated y-axis. The track 17, 19 define an aperture 15 in the center of the grid cell. The aperture 15 is sized to allow storage containers 9 located below the grid cell to be lifted and lowered through the aperture 15. The x-direction track 17 is provided in pairs separated by channels 21, and the y-direction track 19 is provided in pairs separated by channels 23. Other configurations of orbital structure 13 are also possible.

[0006] Figure 3 shows a plurality of load handling devices 31 moving along the top of the framework structure 1 illustrated in Figure 1. The load handling devices 31, which may also be called robots 31 or bots 31, are provided with a set of wheels for engaging with corresponding x-direction tracks 17 or y-direction tracks 19, enabling the bots 31 to move across the track structure 13 and reach specific grid cells. The illustrated pairs of tracks 17, 19, separated by channels 21, 23, allow the bots 31 to occupy or pass each other in neighboring grid cells without collision.

[0007] As illustrated in Figure 4, the bot 31 comprises a body 33 to which one or more components are attached, enabling the bot 31 to perform its intended functions. These functions may include moving across the framework structure 1 on the track structure 13 and raising or lowering storage containers 9 (e.g., from or to stack 11), thereby enabling the bot 31 to retrieve or place storage containers 9 at specific locations defined by the grid pattern. The bot 31 further comprises a first set of wheels 35 and a second set of wheels 37, which are attached to the body 33, enabling the bot 31 to move along the tracks 17 and 19 in the x and y directions, respectively. In particular, two wheels 35 are provided on the shorter side of the bot 31 as seen in Figure 4, and two further wheels 35 are provided on the opposite shorter side of the bot 31 (the side and the two further wheels 35 are not seen in Figure 4). Wheels 35 engage with the track 17 and are rotatably mounted on the body 33 of the bot 31, allowing the bot 31 to move along the track 17. Similarly, two wheels 37 are provided on the longer side of the bot 31 as seen in Figure 4, and two more wheels 37 are provided on the opposite long side of the bot 31 (the side and the two more wheels 37 are not seen in Figure 4). Wheels 37 engage with the track 19 and are rotatably mounted on the body 33 of the bot 31, allowing the bot 31 to move along the track 19. The bot 31 also includes a container lifting means 39, generally designated 39, configured to raise and lower the container 9. The container lifting means 39 comprises four tapes or reels 41, which are connected at their lower ends to a container gripping assembly 43. The container engagement assembly 43 comprises engaging means configured to engage with corresponding features of the container 9 (these may be provided, for example, at the corners of the assembly 43 near the tapes 41). For example, the container 9 may have one or more apertures on its upper side that can be engaged with engaging means.Alternatively or additionally, the container engaging means may be configured to hook under the rim or lip of the container 9 and / or clamp or grip the container 9. The tape 41 may be wound up or wound down as needed to raise or lower the container engaging assembly. One or more motors or other means may be provided to wind up or wind down or control the tape 41.

[0008] As can be seen in Figure 5, the body 33 of the bot 31 has an upper part 45 and a lower part 47. The upper part 45 is configured to house one or more working components (not shown) that enable the bot 31 to perform its intended function, and the lower part 47 is located below the upper part 45. The lower part 47 has a container receiving space or cavity for housing at least a portion of the container 9 lifted by the container lifting means 39. The container receiving space is sized so that the container 9 fits sufficiently inside the cavity, enabling the bot 31 to move across the track structure 13 located on top of the framework structure 1 without the lower side of the container 9 getting caught on the track structure 13 or another part of the storage structure 1. When the bot 31 reaches its intended destination, the container lifting means 39 controls the tape 41 to lower the container gripping assembly 43 and the corresponding container 9 out of the cavity in the lower part 47 to the intended position. The intended location could be the stack 11 of containers 9 or the exit point of structure 1 (or, if bot 31 has moved to collect containers 9 for storage within storage structure 1, the entry point of structure 1). In the illustrated example, the upper portion 45 and the lower portion 47 are separated by a physical partition, but in other embodiments, the upper portion 45 and the lower portion 47 may not be physically separated by certain components or parts of the body 33 of bot 31.

[0009] In some embodiments, the container receiving space does not have to be within the body 33 of the bot 31. For example, in some embodiments, the container receiving space may be adjacent to the body 33 of the bot 31 in a cantilever arrangement, for example, having a weight of the body 33 of the bot 31 that balances the weight of the container being lifted. In such embodiments, the frame or arm of the container lifting means 39 may project horizontally from the body 33, and the tape / reel 41 may be positioned at each of the projecting frame / arms and configured to be raised and lowered from those positions to raise and lower the container into the container receiving space adjacent to the body 33. The height to which the frame / arm is attached to the body 33 of the bot 31 and projects from the body 33 can be selected to provide a desired effect. For example, it may be preferable for the frame / arm to project at a high level on the body 33 of the bot 31 to allow larger containers (or multiple containers) to be lifted into the container receiving space below the frame / arm. Alternatively, the frame / arm may be positioned to protrude below the body 33 in order to keep the center of gravity of Bot 31 lower when a container is loaded into Bot 31 (but still be tall enough to accommodate at least one container between the frame / arm and the track structure 13).

[0010] To enable the bot 31 to move in first and second directions over different wheels 35, 37, the bot 31 includes a wheel positioning mechanism for selectively engaging a first set of wheels 35 with a first set of tracks 17, or a second set of wheels 37 with a second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 35 or the second set of wheels 37 relative to the body 33, thereby enabling the load handling device 31 to selectively move across the tracks 17, 19 of the framework structure 1 in either a first or second direction.

[0011] The wheel positioning mechanism may include one or more linear actuators, rotating components, or other means for raising and lowering at least one set of wheels 35, 37 relative to the body 33, thereby moving at least one set of wheels 35, 37 away from and into contact with the tracks 17, 19. In some examples, only one set of wheels 35, 37 is configured to raise and lower, and the operation of lowering one set of wheels 35, 37 can effectively lift the other set of wheels 35, 37 away from the corresponding tracks 17, 19, while the operation of raising one set of wheels 35, 37 can effectively lower the other set of wheels 35, 37 into contact with the corresponding tracks 17, 19. In other examples, both sets of wheels 35, 37 may be capable of raising and lowering, which advantageously means that the body 33 of the bot 31 remains at substantially the same height, and therefore the weight of the body 33 and any components mounted thereon does not need to be raised and lowered by the wheel positioning mechanism.

[0012] As shown in Figure 3, multiple identical cargo handling devices 31 are provided, and as a result, each cargo handling device 31 can operate simultaneously to increase the system's processing capacity. The system illustrated in Figure 3 may include specific locations known as ports, where containers can be transported into or out of the system. Each port is associated with an additional conveyor system (not shown), so that containers 9 transported to a port by a cargo handling device 31 can be transported by the conveyor system to another location, for example, a picking station (not shown). Similarly, containers 9 can be moved to a port by a conveyor system from an external location, for example, a container filling station (not shown), and transported to a stack 12 by a cargo handling device 30 to replenish the stock in the system.

[0013] Each cargo handling device 31 can lift and move one container 9 at a time. If it is necessary to remove a container 9 that is not positioned on top of the stack ("target container 9"), the containers lying on top of it ("non-target containers 9") must first be moved to allow access to the target container. This is achieved in an operation referred to below as "digging". During the digging operation, one of the cargo handling devices 31 sequentially lifts each non-target container from the stack 11 containing the target container and places them in an empty position in another stack 11. The target container can then be accessed by the cargo handling device 31 and moved to a port for further transport.

[0014] Each of the cargo handling devices 31 is under the control of a central computer. Each individual container 9 in the system is tracked, and containers can be retrieved, transported, and replaced as needed. For example, the location of each non-target container is logged so that non-target containers can be tracked during digging operations.

[0015] The system described with reference to Figures 1 through 5 has many advantages and is suitable for a wide range of storage and retrieval operations. In particular, it allows for very dense storage of products and provides a very economical way to store a large range of different items in a container, while also allowing rational and economical access to everything in the container when needed for picking.

[0016] Referring to Figure 6, the system may further comprise a robotic picking station, collectively denoted as 50, mounted on top of Structure 1, alongside a load handling device 31 (not shown). The robotic picking station 50 comprises a robotic manipulator 52, which includes a robotic arm 54 and an end effector 56 for releasably engaging with the product being manipulated, along with several designated grid cells 60, 62. The robotic manipulator 52 is mounted on a base 58 that forms part of the framework structure 1. The base 58 is mounted on a single grid cell 60 and, depending on its position on Structure 1, may be surrounded by up to eight other grid cells 62. Generally, the robotic manipulator 52 is configured to pick an item or product from any one of the containers located in one of the designated grid cells 62 and place it in a container located in another of the cells 62. The load handling device 31 collects containers from the designated grid cells 62 and delivers the containers to the designated grid cells 62, if necessary. In this way, the robot picking station 50 and the load handling device 31 work together to fulfill customer orders or to redistribute products throughout structure 1. The end effector 56 comprises a suction device 64 and an integrated vacuum generator, both of which form part of the suction assembly. The vacuum generator is supplied by a pressurized fluid, which is used to generate vacuum or suction pressure to releasably engage an object or item with the suction device 64. A pressure line 66 is used to route the pressurized fluid along the robot arm 54, possibly from a pressure source located on the ground surface at the bottom of the framework structure 1, through the framework structure 1 to the end effector 56. Although not shown, the end effector 56 may include parallel jaw grippers for manipulating objects. Parallel jaw grippers may be present in addition to, or instead of, the suction device 64. Furthermore, the robot manipulator 52 may include one or more cameras to facilitate its control.Therefore, other power supply lines, such as hydraulic, pneumatic, and / or power supply lines, may route through the framework structure 1 to service the robot manipulator 52 as needed. Multiple or single power supply lines (such as pressure lines 66) may be brought together in the trunking 68 for their protection and to facilitate their collective route through the structure 1. Nevertheless, as the robot manipulator 52 moves, the trunking and / or power supply lines are pulled and pushed through the framework structure 1, so there is a risk of friction between the trunking and / or power supply lines and the framework structure 1. This can lead to the generation of fine particles and also cause the trunking and / or power supply lines to get caught in the framework structure 1, hindering the movement of the robot manipulator 52 and posing a risk of damage to the trunking and / or power supply lines. [Overview of the Initiative]

[0017] Therefore, a robotic picking station for a storage system having a framework structure is provided in a first embodiment, and the robotic picking station is A robotic manipulator that can be mounted on a framework structure, A supply line is positioned to route through the framework structure to the robot manipulator, and the supply line is configured to serve the robot manipulator. The system includes a supply line management system configured to facilitate the movement of the supply line as the robot manipulator moves, the supply line management system comprising a spool element that defines the bending radius of the supply line around the robot manipulator, thereby relatively increasing the bending radius of the supply line around the robot manipulator.

[0018] Optionally, the spool element comprises a cylindrical collar positioned around the base of the robotic manipulator.

[0019] Alternatively, the spool element comprises a cylindrical base to which a robotic manipulator is mounted. Optionally, the supply line management system further comprises a limiter for restricting the vertical movement of the supply line on the base.

[0020] Optionally, the supply line management system further comprises a first guide element attached to the framework structure and positioned to hold the supply line away from the framework structure.

[0021] Optionally, the first guide element is elongated to facilitate the lateral movement of the supply line across the first guide element as the robot manipulator moves.

[0022] Optionally, the first guide element has a curved surface, which is oriented to define the contact point between the first guide element and the supply line during its movement. The curved surface or arched contour reduces the contact area between the supply line and the first guide element, and the bending radius of the supply line around the first guide element.

[0023] Optionally, the first guide element is positioned such that its contact point is higher than the top surface of the framework structure. This configuration allows the supply line to reach the robotic manipulator with relatively few bends.

[0024] Optionally, the curved surface is movable to reduce relative motion between the contact surface and the supply line.

[0025] Optionally, the first guide element comprises a cylindrical surface that is rotatable about its longitudinal axis.

[0026] Optionally, the supply line management system further comprises a second guide element attached to the framework structure, the second guide element being positioned to hold the supply line away from the framework structure.

[0027] Optionally, the second guide element is substantially perpendicular to the first guide element.

[0028] Optionally, the second guide element is arranged at a lower position on the framework structure relative to the first guide element, facilitating the drawing-in of the supply line through the framework structure.

[0029] Optionally, the second guide element extends below the first guide element to prevent a gap between the first guide element and the second guide element through which the supply line may fall.

[0030] Optionally, the second guide element comprises a curved surface, which is oriented so as to define a contact point between the second guide element and the supply line during movement thereof.

[0031] Optionally, the curved surface of the second guide element is movable.

[0032] Optionally, the second guide element comprises a cylindrical surface rotatable about its longitudinal axis.

[0033] Optionally, the supply line management system further comprises a clamping mechanism for securing a section of the supply line to the framework structure.

[0034] Optionally, the clamping mechanism is positioned substantially opposite the second guide element.

[0035] In another aspect, there is provided a grid-based storage and retrieval system comprising the robotic picking station according to the first aspect. Brief Description of the Drawings

[0036] These and other aspects are described by way of example only with reference to the accompanying drawings. [Figure 1] Figure 1 shows a schematic diagram of an automated storage and retrieval structure. [Figure 2]Figure 2 shows a schematic plan view of a section of the track structure that forms part of the storage structure shown in Figure 1. [Figure 3] Figure 3 shows a schematic diagram of multiple cargo handling devices moving over the storage structure shown in Figure 1. [Figure 4] Figure 4 shows a schematic diagram of a cargo handling device that interacts with a container. [Figure 5] Figure 5 shows a schematic diagram of a cargo handling device that interacts with a container. [Figure 6] Figure 6 shows a schematic diagram of a known robotic picking station for use in the automated storage and retrieval structure of Figure 1. [Figure 7] Figure 7 shows a schematic diagram of a robot picking station according to one embodiment. [Figure 8a] Figure 8a is a plan view of an example of a supply line management system for use in the robot picking station shown in Figure 7. [Figure 8b] Figure 8b is a plan view of an example of a supply line management system for use in the robot picking station shown in Figure 7. [Figure 8c] Figure 8c is a plan view of an example of a supply line management system for use in the robot picking station shown in Figure 7. [Figure 8d] Figure 8d is a plan view of an example of a supply line management system for use in the robot picking station shown in Figure 7. [Figure 8e] Figure 8e is a plan view of an example of a supply line management system for use in the robot picking station shown in Figure 7. [Figure 8f] Figure 8f is a plan view of an example of a supply line management system for use in the robot picking station shown in Figure 7. [Figure 9] Figure 9 shows a schematic diagram of a robot picking station featuring another example of a supply line management system according to one embodiment. [Figure 10] Figure 10 shows a schematic diagram of a robot picking station comprising yet another example of a supply line management system according to one embodiment.

[0037] In the drawings, similar features are indicated by the same reference numerals as appropriate. [Modes for carrying out the invention]

[0038] In the following description, certain details are given to provide a full understanding of the disclosed examples. However, those skilled in the art will recognize that other examples can be implemented without using one or more of these specific details, or using other components, materials, etc., and that structural modifications can be made without departing from the scope defined in the appended claims. Furthermore, in the following description, any reference to any term having an implicit orientation is not intended to be limiting, but refers only to the orientation of features as shown in the appended drawings. In some examples, well-known features or systems such as processors, sensors, storage devices, network interfaces, fasteners, and electrical connectors are not illustrated or described in detail to avoid unnecessarily obscuring the description of the disclosed embodiments.

[0039] Unless the context requires otherwise, throughout this specification and the appended claims, the word “comprise,” and its variations such as “comprises” and “comprising,” should be interpreted in an open and comprehensive sense, including, but not limited to.

[0040] Throughout this specification, any reference to “one,” “an,” or “another” in the “embodiments” or “examples” means that a particular indicated feature, structure, or characteristic described in relation to an embodiment, example, or implementation is included in at least one embodiment, example, or implementation. Therefore, occurrences of the phrase “in one embodiment” or similar phrases in various places throughout this specification do not necessarily all refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any suitable manner in one or more embodiments, examples, or implementations.

[0041] It should be noted that, as used herein and in the accompanying claims, the forms “a,” “an,” and “the” include plural nouns unless explicitly stated otherwise. Furthermore, it should be noted that the term “or” is generally used to include “and / or” unless explicitly stated otherwise.

[0042] Furthermore, for the purposes of this disclosure, the terms “trunking” and “power supply line” will hereafter be collectively referred to as “supply line,” and the term “supply line” may refer to a combination of trunking and one or more power supply lines, or to one or more power supply lines alone.

[0043] Figure 7 shows a schematic diagram of a robot picking station 100 according to an embodiment. The robot picking station 100 is substantially the same as that shown in Figure 6; that is, it is mounted on a framework structure 1 similar to that described above and forms part of a grid-based storage and retrieval system. The framework structure 1 includes a base 102 on which a robot manipulator 104 is mounted. The base 102 is sized and shaped so that it can be largely accommodated within the space located above a single grid cell 106, while providing sufficient clearance to allow a load handling device 107 to traverse adjacent grid cells 108. The framework structure 1 defines an opening 109 through which a supply line 110 routes to provide services (e.g., hydraulic, pneumatic, and / or power) to the robot manipulator 104. The supply line 110 is mounted to the robot manipulator 104 such that it is pulled and pushed through the opening 109 as the robot manipulator 104 moves. The robot picking station 100 of this embodiment differs from the station 50 shown earlier (in Figure 6) in that it further comprises a supply line management system, which is shown in whole as 112. The all-encompassing role of the embodiment of the supply line management system 112 disclosed herein is to facilitate the movement of the supply line 112 through the framework structure 1 as a robot manipulator 104. This is achieved by the supply line management system 112 holding the supply line 112 away from the framework structure 1. By doing so, the interaction between the supply line 110 and the framework structure 1 is reduced compared to known settings, thus reducing wear or abrasion of the supply line 110 when moving against the framework structure 1 and reducing the possibility of the supply line 110 getting caught on the framework structure 1. In this embodiment, the supply line management system 112 comprises a guide element 114 attached to the framework structure 1 to hold the supply line 110 away from the framework structure 1.The guide element 114 is elongated to facilitate the lateral movement of the supply line 110 along the length of the guide element 114 as the robot manipulator 104 moves. The guide element 114 includes a curved surface 116, which is oriented to define the contact area between the guide element 114 and the supply line 110 during its movement. The curved surface 116 provides an arched contact area that functions to facilitate the movement of the supply line 110 across and along the guide element 114, as opposed to an angled contact area, and also reduces the bending radius of the supply line 110 as it extends across the guide element 114 to the robot manipulator 104. Preferably, the guide element 114 is positioned such that its contact area is higher than the uppermost surface of the framework structure 1 (in this case, the upper surface of the base 102), which means that the supply line 110 is supported above the uppermost surface of the framework structure 1, thereby allowing the supply line 110 to enter the robot manipulator 104 with a relatively small bending radius.

[0044] These advantages and additional benefits are also realized in further examples of the supply line management system 112.

[0045] Figure 8a shows one embodiment of a supply line management system 212 for use in the robot picking station 100 of Figure 7. Other features of the robot picking station 100, including the robot manipulator 104 and the supply line 110, are not shown for clarity. This embodiment is characterized by including an elongated guide element 214 having a movable curved surface 216. This configuration reduces the relative motion between the supply line 110 and the contact area defined by the movable curved surface 216 when the supply line 110 is pushed through the framework structure 1 by the movement of the robot manipulator 104. By facilitating the relative motion between the contact area of ​​the curved surface 216 and the supply line 110, friction between them and any associated damage to the supply line 110 are reduced. In this embodiment, specifically, the curved surface 216 has a cylindrical surface, and the guide element 214 is rotatably supported on the framework structure 1 (specifically the base 102) by a bracket 218 so as to be rotatable about its longitudinal axis 220.

[0046] The supply line 110 may be naturally biased toward other parts of the framework structure 1 due to its route, at least partially through the framework structure 1, resulting in undesirable interactions between the supply line 110 and multiple parts of the framework structure 1. To avoid this, further embodiments may include a supply line management system comprising a second guide element attached to the framework structure 1, positioned to hold the supply line 110 away from the framework structure 1. One such embodiment is shown in Figure 8b, which shows a supply line management system 312 comprising two guide elements 314, 315 fixed to the framework structure 1. The first guide element 314 is the same as shown in Figure 7 and described with reference to Figure 7, and is fixed to the base 102, while the second guide element 315 is fixed substantially perpendicular to the first guide element 314 to one of the horizontal members 5, 7 of the framework structure 1. Since the base 102 is positioned higher or above the horizontal members 5 and 7, the second guide element 315 is positioned lower on the framework structure 1 compared to the first guide element 314. That is, the guide elements 314 and 315 are displaced perpendicular to each other. Thus, in this configuration, the first guide element 314 provides support to hold the supply line 110 above the framework structure 1, while the second guide element 315 facilitates the retraction of the supply line 110 when excess length of the supply line 110 is unwound from the robot manipulator 104 into the framework structure 1 during the movement of the robot manipulator 104. To prevent a horizontal gap between the guide elements 314 and 315 from which the supply line 110 could get caught, one of the guide elements 314 and 315 is positioned to overhang or extend beyond at least a portion of the other guide 314 and 315. In this particular embodiment, the first guide element 314 protrudes over a portion of the second guide element 315, thereby avoiding the possibility of the supply line 110 being caught between the guide elements 314 and 315.

[0047] In another embodiment, as shown in Figure 8c, both the first guide element 414 and the second guide element 415 of the supply line management system 412 are movable. In this embodiment, the first guide element 414 is substantially the same as that shown in Figure 8a, and the second guide element 415 is also rotatably mounted to the framework structure 1 to reduce relative motion between the supply line 110 and the contact area defined by the second guide element 415. Specifically, the second guide element 415 is mounted by a bracket 420 to one of the horizontal members 5, 7 of the framework structure 1 so as to be rotatable about its longitudinal axis 421. Similar to the first guide element 414, the second guide element 415 is cylindrical and provides a continuously curved or arc-shaped contact surface for interacting with or interfaceing with the supply line 110. Both the first guide element 414 and the second guide element 415 are cylindrical in this embodiment and in other embodiments, but may have different shapes as long as they provide a substantially curved contact surface with respect to the supply line 110. Similar to the previous embodiment, the guide elements 414, 415 in this embodiment are displaced perpendicular to each other. Thus, the first guide element 414 provides a support role in holding the supply line 110 above the framework structure 1, while the second guide element 415 functions to facilitate the retraction of the supply line 110 when the excess length of the supply line 110 is unwound from the robot manipulator 104 into the framework structure 1 during the movement of the robot manipulator 104. To prevent a horizontal gap between the guide elements 414, 415 into which the supply line 110 could get caught, one of the guide elements 414, 415 is positioned to overhang or extend over at least a portion of the other guide 414, 415. In this particular embodiment, the first guide element 414 protrudes over a portion of the second guide element 415 to avoid the possibility of the supply line 110 being caught between the guide elements 414, 415.

[0048] To ensure that the supply line 110 is biased toward a specific part of the framework structure 1, any one of the aforementioned supply line management systems may further include a clamping mechanism for securing a section of the supply line 110 to the framework structure 1. In the embodiment shown in Figure 8d, the clamping mechanism 502 is fixed to or mounted on one of the horizontal members 5, 7 of the framework structure 1, but it is assumed that the clamping mechanism 502 may be fixed to other parts of the framework structure 1. The clamping mechanism 502 performs two general functions. First, it functions to clamp the length of the supply line 110, so that the length of the supply line 104 remains substantially fixed relative to the framework structure 1, while ensuring that any excess length of the supply line 110 is provided to be wound up by the robot manipulator 104 and unwound from the robot manipulator 102 as the robot manipulator 104 moves. In this example, the section of the supply line 110 below the clamping mechanism 502 is substantially fixed in place, while the excess amount of the supply line 110 is provided above the clamping mechanism 502 to accommodate the movement of the robot manipulator 104. In this way, the movement of the supply line 110 around the framework structure 1 is limited to relatively short sections, avoiding the need to move the entire supply line 110 through the framework structure and reducing the possibility of stress-induced failures in the supply line 110. This configuration also means that the robot manipulator 104 does not need to pull the entire supply line 110 during its movement, but only the amount provided after the clamping mechanism 502, thus reducing the load on the robot manipulator 104. Secondly, the supply line 110 can be held in a pre-positioned location toward a selected section of the framework structure 1. In the given example, the clamping mechanism 502 is positioned opposite the second guide element 515 of the supply line management system 512.In this configuration, the supply line 110 may be held by a clamping mechanism 502 so as to be inclined toward a second guide element 515, which functions to facilitate the retraction of the supply line 110 when the excess length of the supply line 110 is unwound from the robot manipulator 104 into the framework structure 1 during the movement of the robot manipulator 104.

[0049] In other examples, the supply line management system 612 may include three or more guide elements 614, 616, 618, 620, which provide complete coverage of a portion of the framework structure 1 that can interact with the supply line 110 in a different manner, as shown in Figure 8e. In this example, the guide elements 614, 616, 618, 620 are fixed, but other embodiments are conceivable in which one or more or all of the guide elements 614, 616, 618, 620 are rotatably mounted to the framework structure 1, providing all of the aforementioned associated advantages.

[0050] In a further example, the supply line management system 712 includes a ring 714 through which the supply line 110 passes. The ring 714 is movably mounted to the framework structure 1 and rotatable around an axis 716, providing some compliance as the supply line 110 is pulled and pushed through the ring as the robot manipulator 104 moves. The inner surface of the ring 714 is arched, providing a curved contact surface for the supply line 110. In this example, the ring 714 is mounted to the highest part of the framework structure 1 (i.e., the base 102), ensuring that the ring 714 functions to lift the supply line 110 above the framework structure 1 when it is supplied to the robot manipulator 104, in addition to other functions that guide the movement of the supply line 110 as the robot manipulator 104 moves.

[0051] In another embodiment of the robot picking station 100, the supply line management system further includes a spool element that defines the bending radius of the supply line around the robot manipulator 104. In the absence of the spool element, the supply line 110 would wrap around the robot manipulator 104 as the robot manipulator 104 moves. The spool element functions to make the bending radius of the supply line 110 relatively large when the supply line 110 is wrapped around the robot manipulator 104, thereby reducing the possibility of stress-induced failures within the supply line 110.

[0052] Referring to Figure 9, in one embodiment, the spool element 816 of the supply line management system 812 includes a cylindrical collar 818 positioned around the base of the robot manipulator 104. The cylindrical collar 818 is sized to allow the robot manipulator 104 to move over its entire range, while also allowing for a relatively large bending radius of the supply line 110.

[0053] In a further embodiment, as shown in Figure 10, the spool element 916 of the supply line management system 912 comprises a cylindrical base 918 to which a robot manipulator 104 is mounted. In this case as well, the base 918 functions to make the bending radius of the supply line 110 relatively large, thereby reducing the frequency of stress-induced failures in the supply line 110. In this configuration, the supply line management system further comprises a limiter 920 that restricts the vertical movement of the supply line 110 on the base 918, thereby preventing the supply line from being pulled onto the base 918 by the robot manipulator 104.

[0054] Numerous embodiments of the robot picking station 100 are shown, each having a supply line management system with different elements. However, it should be noted that other embodiments are envisioned that may incorporate one or more elements from one or more of the different examples of supply line management systems described herein. Furthermore, although the present invention is described within the context of a grid-based storage and retrieval system framework structure, it should be noted that the robot picking station may also be applicable to other systems having a framework structure.

Claims

1. A robotic picking station for a storage system having a framework structure, A robotic manipulator that can be mounted on the aforementioned framework structure, A supply line is arranged to route to the robot manipulator through the aforementioned framework structure, and the supply line is configured to provide services to the robot manipulator. A robot picking station comprising a supply line management system configured to facilitate the movement of the supply line as the robot manipulator moves, the supply line management system comprising a spool element that defines the bending radius of the supply line around the robot manipulator.

2. The robot picking station according to claim 1, wherein the spool element comprises a cylindrical collar positioned around the base of the robot manipulator.

3. The robot picking station according to claim 1, wherein the spool element comprises a cylindrical base to which the robot manipulator is attached.

4. The robot picking station according to claim 3, wherein the supply line management system further comprises a limiter for restricting the vertical movement of the supply line on the base.

5. The robot picking station according to any one of claims 1 to 4, wherein the supply line management system further comprises a first guide element attached to the framework structure and positioned to hold the supply line away from the framework structure.

6. The robot picking station according to claim 5, wherein the first guide element is elongated to facilitate the lateral movement of the supply line across the first guide element when the robot manipulator moves.

7. The robot picking station according to claim 5 or 6, wherein the first guide element comprises a curved surface, the curved surface being oriented to define a contact point between the first guide element and the supply line during its movement.

8. The robot picking station according to claim 7, wherein the first guide element is positioned such that the contact point is higher than the uppermost surface of the framework structure.

9. The robot picking station according to claim 7 or 8, wherein the curved surface is movable.

10. The robot picking station according to claim 9, wherein the first guide element comprises a cylindrical surface rotatable about its longitudinal axis.

11. The robot picking station according to any one of claims 1 to 10, further comprising a second guide element attached to the framework structure, the second guide element being positioned to hold the supply line away from the framework structure.

12. The robot picking station according to claim 11, wherein the second guide element is substantially perpendicular to the first guide element.

13. The robot picking station according to claim 11 or 12, wherein the second guide element is positioned lower on the framework structure relative to the first guide element.

14. The robot picking station according to claim 13, wherein the second guide element extends below the first guide element.

15. The robot picking station according to any one of claims 11 to 14, wherein the second guide element comprises a curved surface, the curved surface being oriented to define a contact point between the second guide element and the supply line during its movement.

16. The robot picking station according to claim 15, wherein the curved surface of the second guide element is movable.

17. The robot picking station according to claim 16, wherein the second guide element comprises a cylindrical surface rotatable about its longitudinal axis.

18. The robot picking station according to any one of claims 1 to 17, wherein the supply line management system further comprises a clamping mechanism for fixing a section of the supply line to the framework structure.

19. The robot picking station according to claim 18, when dependent on any one of claims 11 to 17, wherein the clamping mechanism is positioned substantially opposite to the second guide element.

20. A grid-based storage and retrieval system comprising a robot picking station according to any one of claims 1 to 19.

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