Expansion joint for connecting the first and second regions of a rail system.

Abstract

The present invention provides a storage system comprising a first region and a second region of a rail system, each of the first region and the second region having a rail with a contoured upper surface defining one or more tracks for supporting a container handling vehicle, each rail of at least a pair of parallel rails in the first region being connected to a corresponding rail of a pair of rails in the second region via an expansion joint, the expansion joint comprising a first rail element and a second rail element, the rail elements being elongated and configured at their first ends to permit first ends of the first rail element and the second rail element to move longitudinally relative to one another at a junction region where they overlap, the first rail element and the second rail element having a contoured upper surface defining one or more tracks, the tracks extending from the first rail element through the junction region to the second rail element.

Description

Technical Field

[0001] The present invention relates to an expansion joint for connecting a first set of rails, such as rails in an automatic storage system, and a second set of rails.

Background Art

[0002] FIG. 1 discloses a prior art automatic storage and retrieval system 1 having 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 having storage columns 105 arranged side by side between the upright members 102. In these storage columns 105, storage containers 106, also known as bins, are stacked on top of each other to form a stack 107. The members 102 can typically be made from metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a rail system 108 (i.e., a rail grid) arranged across the top of the frame structure 100, on which multiple container handling vehicles 201, 301, and 401 can be operated to raise storage containers 106 from storage columns 105, lower storage containers 106 into storage columns, and transport storage containers 106 above storage columns 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 201, 301, and 401 in a first direction X traversing the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 201, 301, and 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 frame structure 100 can be used to guide the storage containers as they rise out of the column 105 and descend into the column. The stack 107 of containers 106 is typically freestanding.

[0006] Each of the conventional container handling vehicles 201, 301, and 401 comprises a body 201a, 301a, and 401a, and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, and 401c, respectively, the first and second sets of wheels enabling lateral movement of the container handling vehicles 201, 301, and 401 in the X and Y directions, respectively. In Figures 2, 3, and 4, the two wheels of each set are fully visible. The wheels of the first set 201b, 301b, and 401b are positioned to engage with two adjacent rails of the first set 110 of rails, and the wheels of the second set 201c, 301c, and 401c are positioned to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised or lowered, so that the wheels 201b, 301b, 401b of the first set and / or the wheels 201c, 301c, 401c of the second set can engage with the rails 110, 111 of each set at any given time.

[0007] Each of the conventional container handling vehicles 201, 301, and 401 also includes a lift device for vertical transport of the storage container 106, for example, to raise the storage container 106 from the storage column and lower the storage container 106 into the storage column 105. The lift device includes one or more gripping / engaging devices adapted to engage with the storage container 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 the container handling vehicles 301 and 401 are shown in Figures 3 and 4, indicated by reference numerals 304 and 404. The gripping devices of the container handling device 201 are located within the vehicle body 201a in Figure 2.

[0008] Conventionally, and for the purposes of this application, Z=1 identifies the uppermost layer for storing storage containers below the rail system 108, i.e., the layer directly below the rail system 108; Z=2 identifies the second layer below the rail system 108; and Z=3 identifies the third layer. In the exemplary prior art disclosed in 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. Thus, using the Cartesian coordinate system X, Y, Z shown in Figure 1 as an example, it can be said that the storage container identified as 106' in Figure 1 occupies the storage position X=17, Y=1, Z=6. The container handling vehicles 201, 301, and 401 can be said to be moving in 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 in layer Z=0.

[0009] The storage volume of the framework structure 100 is often referred to as the grid 104, and the possible storage locations within this grid are called 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 space for receiving and housing the storage container 106 when transporting it across the rail system 108. The storage space may comprise a cavity located inside the vehicle body 201a, as shown in Figures 2 and 4 and described, for example, in International Publication No. 2015 / 193278 (Patent Document 1) and International Publication No. 2019 / 206487, the contents of which are incorporated herein by reference.

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

[0012] The hollow container handling vehicle 201 shown in Figure 2 may have a footprint that covers an area having dimensions in the X and Y directions that are approximately equal to the lateral range of the storage column 105, for example, as described in International 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 hollow container handling vehicle 401 may have a footprint larger than the lateral region defined by the storage column 105 as shown in Figures 1 and 4, as disclosed, for example, in International Publication No. 2014 / 090684 (Patent Document 2) or International Publication No. 2019 / 206487.

[0014] The rail system 108 typically comprises rails having 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 the track. Each rail may have one track, or each rail may have two parallel tracks.

[0015] International Publication No. 2018 / 146304 (Patent Document 3), whose contents are incorporated herein by reference, shows a typical configuration of a rail system 108 having rails in both the X and Y directions that form a rail grid, and tracks parallel to the rails.

[0016] In the frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Figure 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301, and 401 to drop off and / or pick up storage containers 106 so that they can be accessed from outside the frame structure 100 or transported to an access station (not shown) to be transported outside or inside the frame structure 100. In the art, such locations are usually referred to as “ports,” and the columns in which ports are located may be referred to as “port columns” 119, 120. Transport to the access station may be in any direction, i.e., horizontal, inclined, and / or vertical. For example, the storage container 106 may be placed in a random or dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term “inclined” refers to the transport of the storage container 106 having a general transport direction somewhere between horizontal and vertical.

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

[0018] An access station may typically be a picking or stocking station where products are taken out of or placed into a storage container 106. At a picking or stocking station, the storage container 106 is usually not taken out of the automated storage and retrieval system 1, but is returned to the frame structure 100 once accessed. The port may also be used to transfer the storage container to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] Conveyor systems equipped with conveyors are typically used to transport storage containers between port columns 119 and 120 and access stations.

[0020] If the port columns 119, 120 and the access station are located at different levels, the conveyor system may include a lift device having a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

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

[0022] When a storage container 106 stored in one of the columns 105 disclosed in Figure 1 is to be accessed, one of the container handling vehicles 201, 301, or 401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation includes moving the container handling vehicle 201, 301, or 401 to a position above the storage column 105 where the target storage container 106 is located, using the lift device (not shown) of the container handling vehicle 201, 301, or 401 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within the stack 107, i.e., if one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to as "mining" in the art, may be performed by the same container handling vehicle that will subsequently be used to transport the target storage container to the drop-off port column 119, or by one or more other cooperating container handling vehicles. Alternatively, or additionally, the automated storage 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 target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be repositioned in its original storage column 105. However, the removed storage container 106 may, alternatively, be transferred to another storage column 105.

[0023] If a 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 position above the storage column 105 where the storage container is to be stored. After any storage container 106 located at or above the target position in the stack 107 has been removed, the container handling vehicles 201, 301, or 401 place the storage container 106 in the desired position. The removed storage container 106 can then be returned to the storage column 105 or transferred to another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1, for example, to monitor and control the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, and 401, the automated storage and retrieval system 1 typically includes a computerized control system 500 that typically has a database for tracking the storage containers 106, so that the desired storage containers 106 can be delivered to the desired location at the desired time without the container handling vehicles 201, 301, and 401 colliding with each other.

[0025] In situations where two rail systems 108 are to be connected or constructed simultaneously for later connection, only the minimum tolerance for misalignment between rail systems is permitted. Significant misalignment may result in derailed vehicles.

[0026] The ambient temperature or temperature difference within the building or area where the rail system is located can also pose problems for the automatic storage and retrieval system. The rails can expand and contract significantly, resulting in buckling or excessive tension in the rails, potentially causing movement in the rails and ultimately risking derailment of the container handling vehicle. The problem of expansion and contraction depends partly on the length of the rails. Therefore, for rail systems of any significant length in either the X direction and / or the Y direction, there is an increased risk of movement in the rail system, accompanied by such buckling and / or excessive tension. A rail joint suitable for minimizing such buckling and / or excessive tension is described in International Publication No. 2020 / 074257.

[0027] However, conventional rail joints do not alleviate all potential problems that can occur when connecting two rail systems, particularly a rail system characterized by two horizontally oriented rails forming a right angle. The expansion and / or contraction of the rails can also cause lateral movement of the two rail systems relative to each other. Lateral movement can cause the rail joint to be subjected to buckling and / or excessive tension. The buckling and / or excessive tension of the rail joint caused by the lateral movement of the rail system can not only lead to derailment of the container handling vehicle moving between the two rail systems but also cause excessive wear of the rail joint.

[0028] An object of the present invention is to provide an improved rail joint for connecting two rail systems that alleviates or minimizes the problems of the prior art.

Prior Art Documents

Patent Documents

[0029]

Patent Document 1

Patent Document 2

Patent Document 3

[0030] The present invention is defined by the appended claims and the following:

[0031] In a first aspect, the present invention relates to a storage system comprising a first region and a second region of a rail system, each of which has rails having a contoured upper surface defining one or more tracks for supporting container handling vehicles, and each rail of at least a pair of parallel rails in the first region is connected to a corresponding rail of a pair of rails in the second region via an expansion joint, the expansion joint is -A first rail element and a second rail element, wherein the rail elements are elongated, and the first ends of the first rail element and the second rail element are configured such that they can move longitudinally relative to each other in a joint region where their first ends overlap, - A contoured upper surface defining one or more tracks, wherein the tracks extend from a first rail element through a joint region to a second rail element, and Equipped with, A storage system is provided in which the second end of a first rail element is pivotably connected to a first region of the rail system around a first vertical axis, and the second end of a second rail element is pivotably connected to a second region of the rail system around a second vertical axis.

[0032] The second end of the rail element is connected in a swivel manner so that the first and second regions can move laterally relative to each other, that is, so that they can move laterally relative to each other without distorting or twisting the expansion joint.

[0033] The first rail element is connected to the first region in a swivel manner such that the first rail element may not move longitudinally relative to the first region.

[0034] The second rail element is connected to the second region in a swivel manner such that the second rail element may not move longitudinally relative to the second region.

[0035] The first rail element and the second rail element are swivelably connected to the first and second regions, respectively, so that the first and second rail elements can pivot laterally with respect to their longitudinal direction.

[0036] The longitudinal direction in which the first rail element and the second rail element can move relative to each other is the same as the longitudinal direction of the rail connected by the expansion joint.

[0037] Each rail in at least one pair of parallel rails extends in the same direction as the corresponding rail to which it is connected.

[0038] A container handling vehicle that can be supported by rails may have at least one set of wheels guided by the track. The track of the expansion joint extends over a distance sufficient to guide the container handling vehicle from a first area to a second area.

[0039] In an embodiment of the storage system, the rail system may comprise two perpendicularly extending rails forming a rail grid, the rail system may be supported on vertical column profiles defining a plurality of storage columns on which storage containers can be stacked, each storage column being defined by four of the vertical column profiles. The rail system may define an access opening above each storage column.

[0040] In embodiments of the storage system, the expansion joint has a length substantially equal to the length or width of the access opening or storage container.

[0041] In an embodiment of the storage system, the first end of the first rail element is provided with a male part, and the first end of the second rail element is provided with a cooperating female part, and the male and female parts are configured to engage with each other within a joint area.

[0042] In an embodiment of the storage system, the longitudinal movement of the first rail element relative to the second rail element is guided by a support profile.

[0043] The support profile may be a longitudinal support profile. The support profile may be positioned to prevent lateral movement between the first and second rail elements so that the first and second rail elements pivot in the same direction around their respective first and second vertical axes during lateral movement of the expansion joint. The support profile may be configured to allow the first end of the rail element to slide within the support profile.

[0044] In an embodiment of the storage system, the support profile may include a first end configured to pivot around a first vertical axis and a second end configured to pivot around a second vertical axis.

[0045] In an embodiment of the storage system, at least one of the first and second ends of the support profile may be slidably connected to the first region or the second region, respectively, such that at least one of the first and second regions can move longitudinally relative to the support profile.

[0046] In embodiments of the storage system, the support profile comprises a longitudinally extending vertical surface, which is positioned to prevent lateral movement of the first rail element relative to the second rail element. The support profile, preferably by means of the vertical surface, can ensure that during lateral movement between the first and second regions, the first and second rail elements pivot in the same direction around their respective first and second vertical axes.

[0047] In an embodiment of the storage system, the support profile may include an upper horizontal plane positioned to support the first rail element and the second rail element from below.

[0048] In embodiments of the storage system, the support profile may have a U-shaped cross-section.

[0049] In an embodiment of the storage system, each of the first rail element and the second rail element is pivotably connected to the first and second regions, respectively, by a bracket. The bracket may include a vertically extending connecting element for rigid connection to the first or second region by fasteners such as bolts, and a horizontally extending connecting element for pivotably connecting to the second end of the first or second rail element.

[0050] In an embodiment of the storage system, a first rail element and a second rail element may be pivotably connected to corresponding brackets by fasteners. The fasteners are configured to secure the second end of the rail element to the respective bracket, allowing the rail element to pivot relative to the first and second regions. The fasteners may be, for example, bolts or pins having a centerline collinear with the first or second vertical axis.

[0051] In an embodiment of the storage system, at least one of the first and second ends of the support profile is slidably connected to a corresponding bracket.

[0052] In an embodiment of the storage system, the support profile is supported by at least one of the brackets.

[0053] In an embodiment of the storage system, each of the first and second regions has rails that can extend in two perpendicular directions, forming a rail grid on which a container handling vehicle can move in two perpendicular directions.

[0054] In an embodiment of the storage system, each of the first ends of a rail element may be positioned at a certain distance from the connected rail such that a gap is formed between the first end and the opposite end of the rail to which it is connected. The gap allows for the rotational movement of the rail element relative to the connected rail.

[0055] In an embodiment of the storage system, the bracket may have a contoured upper surface that defines one or more tracks that form an extension of one or more tracks of a first or second rail element to which the bracket is connected.

[0056] In an embodiment of the storage system, each of the first ends of the rail elements may have a convex perimeter, and the brackets may have corresponding concave perimeters adjacent to the concave perimeters, and both the first and second rail elements may pivot relative to their respective brackets without forming a gap between the rail element and the bracket.

[0057] In an embodiment of the storage system, each of the first rail element and the second rail element provides a contoured upper surface track or portion of each track such that a track or transition section for each track exists in the joint region extending along the expansion joint from the first rail element to the second rail element.

[0058] In a second aspect, the present invention provides an expansion joint for connecting a first region and a second region of a rail system, the expansion joint comprising a first rail element, a second rail element, and two brackets, Each of the first rail element and the second rail element is elongated and comprises a first end, a second end, and a portion of a contoured upper surface that defines one or more tracks. The first rail element and the first end of the second rail element are configured to move longitudinally relative to each other in the joint region where they overlap. The contoured upper portion extends from the first rail element through the joint region to the second rail element. The second end of the first rail element is pivotably connected to one bracket around a first vertical axis, and the second end of the second rail element is pivotably connected to the other bracket around a second vertical axis, with each bracket being connectable to either the first or second region.

[0059] In one embodiment, the expansion joint may comprise a support profile having a first end configured to pivot around a first vertical axis and a second end configured to pivot around a second vertical axis, wherein at least one of the first and second ends is slidably connected to one of the brackets.

[0060] In further embodiments, the expansion joint with a second side may have any of the features disclosed with respect to the expansion joint used in a storage system with a first side.

[0061] In a third aspect, the present invention provides a method for enabling rail expansion / contraction between a first region and a second region of a rail system, each of which has a rail having a contoured upper surface defining one or more tracks for supporting a container handling vehicle, and the method, -Includes the step of connecting each rail of at least one pair of parallel rails in a first region to the corresponding rail of a pair of rails in a second region via an expansion joint, The expansion joint comprises a first rail element and a second rail element, wherein the rail elements are elongated, and the first ends of the first rail element and the second rail element are configured such that they can move longitudinally relative to each other in the joint area where they overlap. A contoured upper surface defining one or more tracks, wherein the tracks extend from a first rail element through a joint region to a second rail element, and Equipped with, The second end of the first rail element is pivotably connected to a first region of the rail system around a first vertical axis, and the second end of the second rail element is pivotably connected to a second region of the rail system around a second vertical axis.

[0062] In further embodiments, the method according to the third aspect may comprise any of the features disclosed with respect to the expansion joint used in the storage system according to the first aspect.

[0063] Alternatively, the method may be called a method that enables lateral and longitudinal movement between a first region and a second region of the rail system. The present invention provides, for example, the following: (Item 1) A storage system comprising a rail system (108) having a first region (50) and a second region (50'), wherein each of the first region and the second region has rails (110, 111) having contoured upper surfaces defining one or more tracks (27', 27'') for supporting container handling vehicles (201, 301, 401), and each rail of at least one pair of parallel rails (110) of the first region (50) is connected to the corresponding rail of one of the pair of rails (110') of the second region (50') via expansion joints (10, 10'), The aforementioned expansion joint is, -A first rail element (12) and a second rail element (11), wherein the rail elements (12, 11) are elongated, and the first ends (22, 23) of the first rail element and the second rail element are configured at the first ends to allow them to move longitudinally relative to each other in a joint region (14) where they overlap, - A contoured upper surface defining one or more orbits (27', 27'') Equipped with, The track (27', 27'') extends from the first rail element (12) through the joint region (14) to the second rail element (11), The second end (24) of the first rail element (12) is pivotably connected to the first region (50) of the rail system (108) around a first vertical axis (V1), A storage system in which the second end (25) of the second rail element (11) is connected to the second region (50') of the rail system (108) so as to be rotatable around a second vertical axis (V2). (Item 2) The storage system according to item 1, wherein the movement of the first rail element (12) in the longitudinal direction relative to the second rail element (11) is guided by a support profile (15). (Item 3) The storage system according to item 2, wherein the support profile (15) comprises a first end (16') configured to be rotatable about a first vertical axis and a second end (16'') configured to be rotatable about a second vertical axis. (Item 4) The storage system according to item 3, wherein at least one of the first end (16') and the second end (16'') of the support profile (15) is slidably connected to the first region (50) or the second region (50'), respectively. (Item 5) The storage system according to any one of items 2 to 4, wherein the support profile comprises a longitudinally extending vertical surface (17), the vertical surface being positioned to prevent lateral movement of the first rail element (12) relative to the second rail element (11). (Item 6) The storage system according to any one of items 2 to 5, wherein the support profile (15) comprises an upper horizontal plane (21) positioned to support the first rail element (12) and the second rail element (11) from below. (Item 7) The support profile has a U-shaped cross-section, as described in any of items 2 to 6 of the storage system. (Item 8) The storage system according to any one of items 1-7, wherein each of the first rail element and the second rail element is pivotably connected to the first area and the second area, respectively, by a bracket (20). (Item 9) The storage system according to item 8, wherein the first rail element (12) and the second rail element (11) are swivelably connected to the corresponding bracket (20) by fasteners (18, 19). (Item 10) The storage system according to items 3 and 8, wherein at least one of the first end (16') and the second end (16'') of the support profile (15) is slidably connected to one of the brackets (20). (Item 11) The storage system according to items 8 to 10, as opposed to item 2, wherein the support profile (15) is supported by at least one of the brackets (20). (Item 12) The storage system according to any one of items 1-11, wherein each of the first area (50) and the second area (50') has two rails (110, 111) extending in two perpendicular directions, forming a rail grid on which the container handling vehicles (201, 301, 401) can move in two perpendicular directions. (Item 13) An expansion joint for connecting a first region (50) and a second region (50') of a rail system (108), wherein the expansion joint (10) comprises a first rail element (12), a second rail element (11), and two brackets (20), Each of the first rail element and the second rail element is elongated and comprises a first end (22, 23), a second end (24, 25), and a portion of a contoured upper surface that defines one or more tracks (27', 27''). The first rail element and the first ends (22, 23) of the second rail element are configured to move longitudinally relative to each other in the joint region (14) where they overlap. The portion of the contoured upper surface extends from the first rail element (12) through the joining region (14) to the second rail element (11), An expansion joint wherein the second end (24) of the first rail element (12) is pivotably connected to one of the brackets (20) around a first vertical axis (V1), and the second end (25) of the second rail element (11) is pivotably connected to the other bracket (20) around a second vertical axis (V2), and each bracket (20) is connectable to the first region (50) or the second region (50'). (Item 14) An expansion joint according to item 13, comprising a support profile (15) having a first end (16') configured to pivot around a first vertical axis and a second end (16'') configured to pivot around a second vertical axis, wherein at least one of the first end (16') and the second end (16'') is slidably connected to one of the brackets (20). (Item 15) A method for enabling rail expansion / contraction between a first region (50) and a second region (50') of a rail system (108), wherein each of the first region and the second region has rails (110, 111) having contoured upper surfaces defining one or more tracks (27', 27'') for supporting container handling vehicles (201, 301, 401), The aforementioned method, -Includes the step of connecting each rail of at least one pair of parallel rails (110) in the first region (50) to the corresponding rail of one pair of rails (110') in the second region (50') via expansion joints (10, 10'), The aforementioned expansion joint is, A first rail element (12) and a second rail element (11), wherein the rail elements (12, 11) are elongated, and the first ends (22, 23) of the first rail element and the second rail element are configured such that they can move longitudinally relative to each other in a joint region (14) where they overlap, A contoured upper surface defining one or more orbits (27', 27'') Equipped with, The track (27', 27'') extends from the first rail element (12) through the joint region (14) to the second rail element (11), The second end (24) of the first rail element (12) is pivotably connected to the first region (50) of the rail system (108) around a first vertical axis (V1), The second end (25) of the second rail element (11) is connected to the second region (50') of the rail system (108) so as to be rotatable around a second vertical axis (V2), in this manner. [Brief explanation of the drawing]

[0064] Embodiments of the present invention will be described in detail with reference to the following drawings.

[0065] [Figure 1] Figure 1 is a perspective view of the framework structure of a conventional automated storage and retrieval system.

[0066] [Figure 2] Figure 2 is a perspective view of a conventional container handling vehicle having a centrally located cavity for transporting storage containers inside.

[0067] [Figure 3] Figure 3 is a perspective view of a conventional container handling vehicle having a cantilevered beam section for transporting storage containers downwards.

[0068] [Figure 4] Figure 4 is a perspective view from below of a conventional container handling vehicle, showing the lifting device.

[0069] [Figure 5] Figure 5 is a top perspective view of a first exemplary storage system according to the present invention.

[0070] [Figure 6] Figure 6 is a top perspective view of a second exemplary storage system according to the present invention.

[0071] [Figure 7] Figure 7 is a detailed view of a part of the storage system shown in Figure 6.

[0072] [Figure 8] Figures 8 to 13 are diagrams of a first exemplary expansion joint according to the present invention. [Figure 9] Figures 8 to 13 are diagrams of a first exemplary expansion joint according to the present invention. [Figure 10] Figures 8 to 13 are diagrams of a first exemplary expansion joint according to the present invention. [Figure 11] Figures 8 to 13 are diagrams of a first exemplary expansion joint according to the present invention. [Figure 12] Figures 8 to 13 are diagrams of a first exemplary expansion joint according to the present invention. [Figure 13] Figures 8 to 13 are diagrams of a first exemplary expansion joint according to the present invention.

[0073] [Figure 14] Figures 14 to 21 are diagrams of a second exemplary expansion joint according to the present invention. [Figure 15] Figures 14 to 21 are diagrams of a second exemplary expansion joint according to the present invention. [Figure 16] Figures 14 to 21 are diagrams of a second exemplary expansion joint according to the present invention. [Figure 17] Figures 14 to 21 are diagrams of a second exemplary expansion joint according to the present invention. [Figure 18] Figures 14 to 21 are diagrams of a second exemplary expansion joint according to the present invention. [Figure 19] Figures 14 to 21 are diagrams of a second exemplary expansion joint according to the present invention. [Figure 20] Figures 14 to 21 are diagrams of a second exemplary expansion joint according to the present invention. [Figure 21] Figures 14 to 21 are diagrams of a second exemplary expansion joint according to the present invention.

[0074] [Figure 22] Figures 21 and 22 are top views of a third exemplary expansion joint according to the present invention. [Figure 23] Same as above [Modes for carrying out the invention]

[0075] Embodiments of the present invention will be described in more detail below with reference to the attached drawings. The drawings are not intended to limit the present invention to the illustrated subject matter.

[0076] When interconnecting separate regions of a rail system characterized by rails in two right-angle horizontal directions, expansion and / or contraction of the rails due to temperature differences, for example, can cause lateral and longitudinal movement of the regions relative to each other. These movement can result in rail joints interconnecting regions that are subjected to buckling, excessive tension, and / or torsion.

[0077] Exemplary embodiments of the frame structure 100' for a storage system according to the present invention are shown in Figures 5 and 6.

[0078] The frame structure 100' in Figure 5 comprises rail systems 108, 108', and 108'', each featuring three regions 50, 50', and 50'' interconnected by a rail coupling assembly 10. The regions include two perpendicularly oriented rails 110 and 111, on which container handling vehicles 201, 301, and 401 can operate. The rail coupling assembly 10 is capable of accommodating longitudinal and lateral movement between the two connecting regions 50, 50', and 50'' so as to prevent buckling, twisting, and distortion of the rail coupling assembly 10.

[0079] The rail joint assembly 10 will be referred to as the expansion joint 10 below.

[0080] The frame structure 100' in Figure 6 comprises two regions 50, 50', namely a first region 50 and a second region 50', interconnected by expansion joints 10. Each of the first and second regions comprises rails 110, 111 having contoured upper surfaces that define one or more tracks 27', 27'' for supporting container handling vehicles 201, 301, 401. Each rail 110 of at least one pair of parallel rails in the first region 50 is connected to the corresponding rail 110' of a pair of rails in the second region (50') via expansion joints 10.

[0081] Referring to Figures 7 to 13, the expansion joint comprises a first rail element 12 and a second rail element 11. The rail elements 12 and 11 are elongated and configured at their first ends 22 and 23 to allow the first ends 22 and 23 of the first and second rail elements to move longitudinally relative to each other in a joint region 14 where they overlap. The longitudinal direction is the direction in which the rails 110 interconnected by the expansion joint extend. The joint region 14 is defined by a male part 26 located at the first end 22 of the first rail element 12 and a cooperating female part 28 located at the first end 23 of the second rail element 11.

[0082] The expansion joint, referring to Figure 11, features a contoured upper surface defining one or more tracks 27', 27'' extending from the first rail element 12 through the joint region 14 to the second rail element 11. The tracks of the expansion joint are similar to those of the rails 110, 111.

[0083] The possibility of relative movement between the first rail element 12 and the second rail element 11 within the joint region 14 ensures that the expansion joint 10 provides a continuous track 27, 27' between the two regions, even if the distance between the first region 50 and the second region 50' changes due to, for example, a temperature difference causing the rail 110 to contract / expand.

[0084] In addition to creating a difference in distance between the first region 50 and the second region 50', a temperature difference can also cause lateral displacement between the two regions. Such lateral displacement can cause buckling / torsion of the joint connecting the two regions.

[0085] To avoid buckling / torsion of the expansion joint caused by lateral movement between two interconnected regions, the first rail element 12 has a second end 24 pivotably connected to the first region 50 around a first vertical axis V1, and the second rail element has a second end 25 pivotably connected to the second region 50' around a second vertical axis V2 (see Figure 10).

[0086] Each of the first rail element 12 and the second rail element 11 is pivotably connected to the first region 50 and the second region 50', respectively, via a bracket 20 using bolts 18. The bracket 20 features a vertically extending connecting element 30 for a rigid connection to the first or second region by fasteners 29 (e.g., bolts for connecting the bracket to a recess 34 in the first or second region) and a horizontally extending connecting element 31 for a pivotable connection to the first or second rail element. The bracket 20 is positioned around the rail systems 108, 108' in the regions 50, 50' to which it is connected, with the first vertical axis V1 and the second vertical axis V2 lying in the outer vertical plane of the perimeter. Each bracket 20 may be connected to the respective regions 50, 50' via recesses 34 in the side walls of the rails 111 positioned around the rail systems 108, 108'.

[0087] In the exemplary expansion joints shown in Figures 7 to 13, each of the second ends 24, 25 of the rail elements has a convex perimeter, and the bracket 20 has a corresponding concave perimeter adjacent to the concave perimeter. This configuration allows both the first rail element 12 and the second rail element 11 to pivot relative to the bracket 20 without forming a gap between the respective rail elements 12, 11 and the bracket 20. In this particular embodiment, the pivot connection between the rail elements 12, 11 and the bracket 20 allows for a wide range of pivotal motion around vertical axes V1, V2.

[0088] It should be noted that the pivotal connection of rail elements 12 and 11 to regions 50 and 50' does not need to allow for larger pivotal movements, such as small pivotal movements in the range of 0.5 to 3.0 degrees, in order to provide the necessary effect to avoid buckling / torsion of the expansion joint caused by lateral movement between the two interconnected regions 50 and 50'.

[0089] The bracket 20 in Figures 7 to 13 includes a contoured top surface 32 which defines one or more tracks 27', 27'' that form an extension of one or more tracks 27', 27'' of the first rail element 12 or the second element 11 to which the bracket 20 is connected. The contoured top surface blocks unused tracks 27'''' around the first or second area. The contoured top surface may, but is not required, provide improved guidance for container handling vehicles traversing the expansion joint.

[0090] The longitudinal movement of the first rail element 12 relative to the second rail element 11 is guided by a support profile 15. The support profile 15 is supported by a bracket 20 and may be configured so that the first rail element 12 and the second rail element 11 can slide relative to each other within the support profile 15.

[0091] The support profile 15 has a first end 16' configured to pivot around a first vertical axis V1 and a second end 16'' configured to pivot around a second vertical axis V2. In the illustrated embodiment, the first end 16' of the support profile 15 is slidably connected to a second region 50' via a bracket 20. In other exemplary embodiments, both ends 16', 16'' of the support profile 15 may be slidably connected to their respective regions (see, for example, Figures 15 to 17). The slidable connection of the support profile 15 to at least one of the regions 50, 50' connected by an expansion joint is necessary to allow for changes in the distance between the two regions 50, 50'.

[0092] The support profile has a substantially U-shaped cross-section and features a vertical surface 17 extending longitudinally along the first and second rail elements, and an upper horizontal surface 21. The vertical surface 17 is positioned to prevent lateral movement of the first rail element 12 relative to the second rail element 11. The upper horizontal surface 21 is positioned to support the first rail element 11 and the second rail element 12 from below. The support profile 15 ensures that the first and second rail elements 12, 11 pivot in the same direction around their respective first and second vertical axes during lateral movement between the two regions 50, 50'.

[0093] A portion of the storage system featuring a second exemplary embodiment of the expansion joint 10' is shown in Figure 14, and details of the expansion joint 10' are shown in Figures 15 to 21.

[0094] The function and effect of the expansion joint 10' are the same as those of the expansion joints in Figures 7 to 13.

[0095] Considering the first exemplary expansion joint 10, the main differentiating feature of the second exemplary expansion joint 10' is the way in which the first rail element 12 and the second rail element 11 are swivelably connected to two regions 50, 50' of the rail system 108, 108'. Furthermore, the bracket 20' does not provide an upper contour-forming surface that forms an extension between the rail elements 12, 11 and the rails 110, 110' interconnected by the expansion joint 10'. Instead, the rail elements 12, 11 themselves are extended to provide the required upper surface.

[0096] The first and second rail elements 12 and 11 are pivotably connected to their respective regions 50 and 50' at the second ends 24 and 25 via pins 19 located on the bracket 20' (see Figure 15).

[0097] The first end 16' and second end 16'' of the support profile 15' are provided with elongated through holes 28 and are slidably connected to the bracket 20' via bolts 26a and sleeves 26b. Furthermore, bolts 26a fasten the rail elements 12, 11 to the bracket 20' via through holes 27.

[0098] To enable the required swivel motion of the rail elements 12, 11 relative to the bracket 20' or connection areas 50, 50', the diameter of the through-holes 27 in the rail elements 12, 11 and the width of the elongated through-holes 28 in the support profile 15' are greater than the diameter of the sleeve 26b. In this particular embodiment, the diameter and width of the through-holes 27, 28 are 11 mm, and the diameter of the sleeve is 9.5 mm, enabling a swivel motion of about 2 degrees around the first and second vertical axes V1, V2.

[0099] Furthermore, due to the straight or flat edges of the second ends 24, 25 of the rail elements 12, 11, the pivoting motion requires that the second ends 24, 25 of the rail elements be positioned at a small distance from the connected rails 110, 110', forming a gap 33. In this particular embodiment, the gap 33 between the second ends 24, 25 and the corresponding rails 110, 110' is approximately 5 mm.

[0100] A third exemplary expansion joint 10'' is shown in Figures 22 and 23. Expansion joint 10'' has most of the same features as the expansion joints in Figures 15 to 21, differing only in that it is suited to a slightly different rail system configuration. In the third exemplary expansion joint 10'', the second ends 24 and 25 of the rail elements 12 and 11 do not intersect with the periphery of the rail systems 108 and 108' to which the expansion joint 10'' is connected. [Explanation of Symbols]

[0101] List of reference numbers 1. Conventional automated storage and recovery system 10,10',10'' Expansion joint 11. Second rail element 12 Fist Rail Elements 14 Joint area 15 Support Profile 16' (First end of the support profile) 16'' (Second end of the support profile) 17 Vertical plane (of the support profile) 18 Fasteners, bolts 19 Fasteners, pins 20 brackets 21 Upper horizontal plane (of the support profile) 22 First end (of the first rail element) 23 First end (of the second rail element) 24 (Second end of the first rail element) 25 (Second end of the second rail element) 26 Male 27',27'' orbit 28 Female part 29 Fasteners (for connecting brackets to the rail system area) 30 Vertically extending connecting element (of the bracket) 31 Horizontally extending connecting element (of the bracket) 32 Contoured upper surface (of the bracket) 33 Gap 34 recess 100 Frame structure 102 Upright members of a frame structure 104 Storage Grid 105 Storage column 106 Storage Containers 106' Specific location of storage container 107 stacks 108 Rail System 110 Parallel rails in the first direction (X) 110a First rail in the first direction (X) 110b Second rail in the first direction (X) 111 Parallel rail in the second direction (Y) 111a First rail in the second direction (Y) 111b Second rail in the second direction (Y) 112 Access openings 119 First port column 120 Second port column 201 Conventional Container Handling Vehicles 201a Body of container handling vehicle 201 201b Drive mechanism / wheel configuration, first direction (X) 201c Drive mechanism / wheel configuration, second direction (Y) 301 Conventional cantilevered container handling vehicle 301a Body of container handling vehicle 301 301b Driving means for the first direction (X) 301c Second direction (Y) driving means 401 Conventional container handling vehicles 401a Body of container handling vehicle 401 401b Driving means for the first direction (X) 401c Second direction (Y) driving means Y Second direction Z Third direction

Claims

1. A storage system comprising a rail system (108) having a first region (50) and a second region (50'), wherein each of the first region and the second region has rails (110, 111) having contoured upper surfaces defining one or more tracks (27', 27'') for supporting container handling vehicles (201, 301, 401), and each rail of at least a pair of parallel rails (110) of the first region (50) is connected to the corresponding rail of a pair of rails (110') of the second region (50') via expansion joints (10, 10'), The aforementioned expansion joint is, - A first rail element (12) and a second rail element (11), wherein the rail elements (12, 11) are elongated, and the first ends (22, 23) of the first rail element and the second rail element are configured such that they can move longitudinally relative to each other in the joint region (14) where they overlap, - A contoured upper surface defining one or more orbitals (27', 27'') Equipped with, The track (27', 27'') extends from the first rail element (12) through the joint region (14) to the second rail element (11), The second end (24) of the first rail element (12) is pivotably connected to the first region (50) of the rail system (108) around a first vertical axis (V1), A storage system in which the second end (25) of the second rail element (11) is connected to the second region (50') of the rail system (108) so as to be rotatable around a second vertical axis (V2).

2. The storage system according to claim 1, wherein the movement of the first rail element (12) in the longitudinal direction relative to the second rail element (11) is guided by a support profile (15).

3. The storage system according to claim 2, wherein the support profile (15) comprises a first end (16') configured to be rotatable about a first vertical axis and a second end (16'') configured to be rotatable about a second vertical axis.

4. The storage system according to claim 3, wherein at least one of the first end (16') and the second end (16'') of the support profile (15) is slidably connected to the first region (50) or the second region (50'), respectively.

5. The storage system according to any one of claims 2 to 4, wherein the support profile comprises a longitudinally extending vertical surface (17), the vertical surface being positioned to prevent lateral movement of the first rail element (12) relative to the second rail element (11).

6. The storage system according to any one of claims 2 to 4, wherein the support profile (15) comprises an upper horizontal plane (21) positioned to support the first rail element (12) and the second rail element (11) from below.

7. The storage system according to any one of claims 2 to 4, wherein the support profile has a U-shaped cross-section.

8. The storage system according to any one of claims 1 to 4, wherein each of the first rail element and the second rail element is pivotably connected to the first region and the second region, respectively, by a bracket (20).

9. The storage system according to claim 8, wherein the first rail element (12) and the second rail element (11) are pivotably connected to the corresponding bracket (20) by fasteners (18, 19).

10. The storage system according to claim 3, wherein each of the first rail element and the second rail element is pivotably connected to the first and second regions, respectively, by brackets (20), and at least one of the first end (16') and the second end (16'') of the support profile (15) is slidably connected to one of the brackets (20).

11. The storage system according to claim 8, wherein the movement of the first rail element (12) in the longitudinal direction relative to the second rail element (11) is guided by a support profile (15), the support profile (15) is supported by at least one of the brackets (20).

12. The storage system according to any one of claims 1 to 4, wherein each of the first region (50) and the second region (50') has two perpendicularly extending rails (110, 111) forming a rail grid, and the container handling vehicles (201, 301, 401) can move on the rail grid in two perpendicular directions.

13. An expansion joint for connecting a first region (50) and a second region (50') of a rail system (108), wherein the expansion joint (10) comprises a first rail element (12), a second rail element (11), and two brackets (20), Each of the first rail element and the second rail element is elongated and comprises a first end (22, 23), a second end (24, 25), and a portion of a contoured upper surface that defines one or more tracks (27', 27''). The first rail element and the first ends (22, 23) of the second rail element are configured to move longitudinally relative to each other in the joint region (14) where they overlap. The contoured upper surface portion extends from the first rail element (12) through the joining region (14) to the second rail element (11), An expansion joint wherein the second end (24) of the first rail element (12) is pivotably connected to one of the brackets (20) around a first vertical axis (V1), and the second end (25) of the second rail element (11) is pivotably connected to the other bracket (20) around a second vertical axis (V2), and each bracket (20) is connectable to the first region (50) or the second region (50').

14. The expansion joint according to claim 13, comprising a support profile (15) having a first end (16') configured to pivot around a first vertical axis and a second end (16'') configured to pivot around a second vertical axis, wherein at least one of the first end (16') and the second end (16'') is slidably connected to one of the brackets (20).

15. A method for enabling rail expansion / contraction between a first region (50) and a second region (50') of a rail system (108), wherein each of the first region and the second region has rails (110, 111) having contoured upper surfaces defining one or more tracks (27', 27'') for supporting container handling vehicles (201, 301, 401), The aforementioned method, - The step of connecting each rail of at least one pair of parallel rails (110) in the first region (50) to the corresponding rail of one pair of rails (110') in the second region (50') via expansion joints (10, 10'). Includes, The aforementioned expansion joint is, A first rail element (12) and a second rail element (11), wherein the rail elements (12, 11) are elongated, and the first ends (22, 23) of the first rail element and the second rail element are configured such that they can move longitudinally relative to each other in a joint region (14) where they overlap, A contoured upper surface defining one or more orbits (27', 27'') Equipped with, The track (27', 27'') extends from the first rail element (12) through the joint region (14) to the second rail element (11), The method wherein the second end (24) of the first rail element (12) is pivotably connected to the first region (50) of the rail system (108) around a first vertical axis (V1), and the second end (25) of the second rail element (11) is pivotably connected to the second region (50') of the rail system (108) around a second vertical axis (V2).

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