Lift device assembly for handling delivery containers stored inside storage containers

Abstract

The present invention relates to a lift device assembly for handling shipping containers stored within a storage container, a shipping container coupler for use in the lift device assembly, a container handling vehicle using the lift device assembly, a storage and retrieval system in which the container handling vehicle operates, a method for lifting shipping containers from a storage container using the shipping container coupler, and a computer readable medium having stored thereon a computer program including instructions for performing the method steps.

Description

Technical Field

[0001] The present invention relates to a coupler for releasably coupling to a container, an assembly including such a coupler, and a storage system. The present invention also relates to a method of handling containers using the assembly. Background Art

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

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

[0004] The framework 101 of the automated storage and retrieval system 100 includes a rail system 108 positioned across the top of the framework 101, on which multiple container handling vehicles 200, 300, 350 can also 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 positioned to guide the movement of container handling vehicles 200, 300, 350 in a first direction X traversing the top of the framework 101, and a second set of parallel rails 111 positioned perpendicular to the first set of rails 110 to guide the movement of container handling vehicles 200, 300, 350 in a second direction Y perpendicular to the first direction X. Containers 106 stored in storage column 105 are accessed by container handling vehicles 200, 300, and 350 through access openings 112 in rail system 108. Container handling vehicles 200, 300, and 350 can move laterally above storage column 105, i.e., in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame 101 are used to guide the storage containers 106 as they rise from the container column 105 and as they descend into the container column. The stack 107 of containers 106 is typically self-supporting.

[0006] Referring to Figures 2 to 4, each of the conventional container handling vehicles 200, 300, and 350 comprises a body 201, 301, and 351, and first and second sets of wheels 202a, 202b, 302a, 302b, 352a, and 352b, the first and second sets of wheels enabling lateral movement of the container handling vehicles 200, 300, and 350 in the X and Y directions, respectively. In Figures 2 and 3, two wheels from each set of four wheels are visible, while in Figure 4, three wheels from each set of four wheels are visible. The first set of wheels 202a, 302a, and 352a are arranged to engage with two adjacent rails of the first set of rails 110, and the second set of wheels 202b, 302b, and 352b are arranged to engage with two adjacent rails of the second set of rails 111. At least one set of wheels 202a, 302a, 352a, 202b, 302b, 352b can be lifted and lowered so that the wheels of the first set 202a, 302a, 352a and / or the wheels of the second set 202b, 302b, 352b can engage with the rails 110, 111 of each set at any given time.

[0007] Each of the conventional container handling vehicles 200, 300, and 350 also includes a lift device 210, 360 for vertically transporting a storage container 106, the lift device for, for example, raising the storage container 106 from a storage column and lowering the storage container 106 into a storage column 105. The lift device 210, 360 includes one or more gripper elements 362 adapted to engage with the storage container 106, the gripping elements 362 can be lowered from the vehicle 200, 300, and 350, thereby allowing the position of the gripping elements 362 relative to the vehicle body 201, 301, and 351 to be adjusted in a third direction Z perpendicular to a first direction X and a second direction Y. The lift devices 210, 360 of the container handling vehicles 200, 350 are shown in Figures 2 and 4. The lift device of the container handling vehicle 300 shown in Figure 3 is located within the vehicle body 301.

[0008] Conventionally, and for the purposes of this application, Z=1 identifies the top layer of the storage container, 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 bottom layer of the storage container. 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 storage positions X=19, Y=1 and Z=3. It can be said that the container handling vehicles 200, 300 are moving in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0009] Possible storage locations within the framework / storage grid 101 are called storage cells. Each storage column 105 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 conventional container handling vehicles 200, 300, and 350 is equipped with a storage compartment or space for receiving and accommodating the storage container 106 when transporting the storage container 106 across the rail system 108.

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

[0012] In an alternative configuration, the storage space may comprise a cavity located inside the vehicle body 301, 351, as shown in Figures 3 and 4 and described, for example, in International Publication No. 2015 / 193278 (Patent Document 1) and International Publication No. 2019 / 206487 (Patent Document 2), the contents of which are incorporated herein by reference.

[0013] The container handling vehicle 300 shown in Figure 3 may have a centrally located cavity and 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.

[0014] Alternatively, the hollow container handling vehicle 350 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 3), European Patent No. 2962962, or International Publication No. 2019 / 206487.

[0015] Please note that the term "lateral" as used herein may mean "horizontal."

[0016] Figure 1 shows container handling vehicles, with multiple cantilevered vehicles 200 (Figure 3) and multiple hollow vehicles 350 (Figure 4) extending beyond the footprint of a single storage column 105.

[0017] The rail system 108 typically comprises rails 110, 111 having grooves on which the wheels of a vehicle run. Alternatively, the rails 110, 111 may have upwardly projecting elements, and the wheels of the vehicle may have flanges to prevent derailment. These grooves and upwardly projecting elements are collectively known as the track. Each rail 110, 111 may have one track, or each rail 110, 111 may have two parallel tracks. Each rail 110, 111 may also have two track members fastened together, with each track member providing one of a pair of tracks provided by each rail.

[0018] International Publication No. 2018 / 146304, whose contents are incorporated herein by reference, shows a typical configuration of rail system 108 having rails and parallel tracks in both the X and Y directions.

[0019] In the frame 100, the majority of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the stack 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 200, 300, and 350 to drop off and / or pick up storage containers 106, thereby allowing the storage containers 106 to be transported to an access station (not shown) that can be accessed from outside the frame 100, or to be transported outside or inside the frame 100. In the art, such locations are usually referred to as “ports,” and the columns in which the ports are located may be referred to as “port columns” 119, 120. Transport to the access station may be in any direction, 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.

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

[0021] Access and distribution stations are typically picking or stocking stations where products are removed from or placed into storage containers 106. At picking or stocking stations, storage containers 106 are usually not removed from the automated storage and retrieval system 100, but are returned to the frame 100 once accessed. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame or another automated storage and retrieval system), to transport vehicles (e.g., trains or trucks), or to production facilities.

[0022] When a target storage container 106' stored in one of the columns 105 disclosed in Figure 1 needs to be accessed, one of the container handling vehicles 200, 300, or 350 is instructed to retrieve the target storage container 106' from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicles 200, 300, or 350 to a position above the storage column 105 where the target storage container 106' is located, using the lift devices 210, 360 of the container handling vehicles 200, 300, or 350 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 106 located above it before lifting the target storage container 106' from the storage column 105. This step, sometimes referred to in the art as “mining,” can be performed by the same container handling vehicle subsequently 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 100 may have a container handling vehicle dedicated to the task of temporarily removing storage containers from the storage column 105. Once the target storage container 106' is 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 can be moved to another storage column 105 instead.

[0023] If storage container 106' is to be stored in one of the columns 105, one of the container handling vehicles 200, 300, or 350 is instructed to pick up 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 in or above the target position in the storage column stack 107 has been removed, the container handling vehicles 200, 300, or 350 place the target 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.

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

[0025] To facilitate the storage and retrieval of inventory and / or other items stored with the storage container 106, items may be picked from the storage container and placed in a delivery container that is compatible with handling by the external system of the frame 101 described above.

[0026] Particularly in the case of large-scale storage systems, the number of storage containers retrieved per hour can reach tens of thousands, which typically corresponds to hundreds or thousands of customer orders, and each of these customer orders may include several different articles. To enable efficient handling and delivery of different articles in each customer order, while avoiding the installation of an excessive number of expensive conveyor belts and automated handling systems, articles must be continuously integrated into delivery containers and set aside until the moment of shipment.

[0027] One problem with current integration systems is the need for a large external area for storing integrated delivery containers. However, the availability of such temporary storage is often low, because this is important for operational and economic reasons that the space occupied by the storage system must be as large as possible.

[0028] Accordingly, it is an object of the present invention to enable effective integration of articles from storage containers into delivery containers with little or no need to store these integrated delivery containers before shipment using the area surrounding the framework / storage grid 101.

Prior Art Document

Patent Document

[0029]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Means for Solving the Problems

[0030] The present invention is defined in the independent claims, and the dependent claims define specific optional features of the present invention.

[0031] In a first embodiment, the present invention relates to a lift device assembly for handling delivery containers stored in a storage container.

[0032] The lift device assembly includes a shipping container coupler comprising a coupler frame having a lower coupler frame surface and a upper coupler frame surface, and a shipping container coupler mechanism fixed to the coupler frame and protruding from the lower coupler frame surface to enable a releasable coupling to a corresponding coupling structure within the internal volume of the shipping container.

[0033] The connecting structure may form part of the inner surface of the shipping container, such as a recess or hole. Alternatively or additionally, the connecting structure may constitute a specific structure having a profile configured to engage with a shipping container connecting mechanism, such as a wedge or plate, projecting inward from the inner surface. A shipping container connecting mechanism configured to grip the contour of the shipping container may also be conceivable.

[0034] The lift device assembly further includes a lift frame having a lower lift frame surface and a upper lift frame surface, a plurality of grippers connected to the lift frame to be releasably connected to at least a coupler, preferably a coupler frame, and mounting points / mounts / elements for attaching a lift band to the lift frame as needed.

[0035] The lift frame is configured such that its lower surface can be positioned adjacent to the upper surface of the coupler frame at one or more coupling positions.

[0036] It should be noted that a lift band can be any device that ensures the lift frame is suspended from the vehicle / crane and allows its / their lower ends to be raised / lowered by a lift motor that forms part of the vehicle / crane.

[0037] Since delivery containers can be stored inside storage containers, the maximum horizontal cross-sectional area of ​​the delivery container's outer contour must be smaller than the minimum horizontal cross-sectional area of ​​the storage container's inner contour. Furthermore, the vertical height of the delivery container must be less than or equal to the vertical height of the storage container.

[0038] Therefore, the structure of the lift device and the coupling is configured such that they can be guided to nest together when the lift device grips and the coupling controls it.

[0039] In an advantageous configuration of a first aspect of the present invention, the coupler frame further comprises a plurality of recesses and / or through-holes, the number of which is at least equal to the number of grippers of the lift device. Furthermore, the position of each recess and / or through-hole may be such that each gripper is aligned with the corresponding recess and / or through-hole when the lower surface of the lift frame is positioned at a coupling position above the upper surface of the coupler frame. The predetermined coupling position is preferably at a horizontal position above the coupler, and the vertical central axis of the lower surface of the lift frame is aligned with the vertical central axis of the upper surface of the coupler frame.

[0040] It should be noted that a gripper is defined as any mechanism capable of establishing a releasable connection to a corresponding recess / through-hole. The gripper may be, for example, a remotely operated claw designed to enter the recess / through-hole in a closed state and to be adjacent to the vertical wall of the recess / through-hole in an open state.

[0041] In another advantageous configuration, the lift device further includes sensors configured to detect when the lower surface of the lift frame is in contact with and / or close to the upper surface of the coupling frame.

[0042] The lift device may further include robotic sensors configured to detect when the top surface of the lift frame is in close proximity to a vehicle / crane during operation.

[0043] The sensor and / or robot sensor preferably includes a transmitter that enables the transmission of detection signals to a remote control system. Furthermore, the sensor / robot sensor may be in the form of a capacitive sensor (mutual capacitance and / or self-capacitance) to indicate direct contact or proximity with the coupling frame or vehicle / crane.

[0044] For example, the lift device may include four sensors located on or near the four edges of the underside of the lift frame.

[0045] Similarly, the lift device may be equipped with four robotic sensors located at or near the four corners of the upper surface of the lift frame.

[0046] In yet another advantageous configuration, multiple grippers, such as claws and / or hooks, protrude from the underside of the lift frame, and the lift device further comprises a gripper operating mechanism at least partially located within the lift frame. In this preferred example, the gripper operating mechanism is configured to operate at least one of the multiple grippers.

[0047] In yet another advantageous configuration, the lift device further comprises a plurality of guide pins, preferably located at the corners of the lift frame, the guide pins protruding from the underside of the lift frame for insertion of storage containers into receiving recesses. The guide pins are preferably located at the corners of the lift frame. Furthermore, the storage containers are arranged to store delivery containers within them. In this exemplary configuration, the coupling frame further comprises a plurality of guide pin receiving recesses and / or through-holes extending between the underside and upper surfaces of the coupling frame and oriented perpendicular to the surfaces of the coupling frame. The position of each guide pin receiving recess and / or through-hole is such that, when the underside of the lift frame is positioned above the coupling position above the upper surface of the coupling frame, each guide pin passes through the corresponding guide pin receiving recess and / or through-hole.

[0048] In yet another advantageous configuration, the horizontal cross-sectional area of ​​the lower surface of the lift frame is at least equal to the horizontal cross-sectional area of ​​the upper surface of the coupler frame.

[0049] In yet another advantageous configuration, the shipping container coupling mechanism is oriented perpendicular to the underside of the coupling frame and positioned equidistant and in the opposite direction from a vertical center plane (CP) that intersects the center point of the face, and comprises at least two gripper paddles / plates for gripping the shipping container.

[0050] Each gripper paddle in this exemplary configuration is provided with a projection positioned below the underside of the coupler frame for insertion into the corresponding coupling structure / forming portion of the shipping container. The coupling structure / forming portion may be a recess / opening / through hole within the internal volume of the shipping container, and / or an internal ledge in the contour of the shipping container where the projection may be located.

[0051] The opposite configuration, namely recesses in each gripper paddle and corresponding protrusions such as wedges or tabs from the inner wall of the shipping container, may also be realized.

[0052] Each gripper paddle may further include an upper end that is pivotably or elastically connected to the coupling frame.

[0053] The gripper paddle is positioned inside the gripper of the lift device, as the paddle is intended to pick up smaller delivery containers from larger storage containers. When in the coupling position, the gripper of the lift device is positioned around the perimeter / opening frame of the storage container, and the gripper paddle of the coupling device hinges to the coupling device frame from the inside of the gripper.

[0054] In yet another advantageous configuration, the delivery container coupling mechanism may further include a displacement system for displacing two gripper paddles in opposite directions from the vertical center plane CP until the projections engage with the respective coupling structures / forming parts of the delivery container. The displacement system is preferably also configured to allow the projections to disengage in order to release the delivery container.

[0055] The displacement system may further include a motor preferably located in or near the central plane CP, a control system configured to control the operation of the motor, a first link such as a first arm with at least one end indirectly connected to the motor and the other end indirectly connected to one of two gripper paddles, and a second link such as a second arm with at least one end connected to the motor and the other end indirectly connected to the other of two gripper paddles. The motor may be configured to displace the first and second links in opposite directions away from the vertical central plane CP. For example, the motor may have a swivel pivot connecting the first and second links to the rotating element of the motor.

[0056] Furthermore, the displacement system may include a rotating element, such as a disk, that connects the first and second links to the motor shaft, and the motor, rotating element, and links are configured such that opposite displacements of the first and second links are achieved by rotating the rotating element clockwise or counterclockwise from 0 to 180 degrees, for example, 90 degrees (±30 degrees if necessary). The ends of the links are connected to the motor such that the first and second links / arms are parallel to each other when in the extended position.

[0057] The control system may be divided into a lower section on the underside of the coupler frame and an upper section on the top surface of the coupler frame. The upper section may have one or more lift device connectors / electrical contacts that signal to the lower section. Furthermore, the lift frame may have one or more coupler connectors / electrical contacts that signal to one or more lift device connectors. In this particular configuration of the control system, the gripper paddles may be remotely controlled via the lift devices when connected.

[0058] In a second embodiment, the present invention relates to a delivery container coupling for use in a lift device assembly as described above.

[0059] The coupler comprises a coupler frame having a coupler frame lower surface and a coupler frame upper surface, and a delivery container coupling mechanism fixed to the coupler frame and protruding from the coupler frame lower surface to enable a releasable coupling to a corresponding coupling structure / forming part within the internal volume of the delivery container, for example, within or in the inner wall. In this second embodiment, the coupler is configured to be gripped from the coupler frame upper surface by a plurality of grippers of a lift device.

[0060] The coupler is located in a coupling position below the lift device and, when gripped by the lift device's grippers, may further be provided with connectors / electrical contacts on the top surface of the coupler frame to receive power and, if necessary, signals from the lift device. The power and signals are for operating the gripper members / paddles of the delivery container coupling mechanism to grip the inner surface formations and / or contour ledges of the delivery container. Alternatively, signal communication may be transmitted wirelessly between the coupler or a receiver within the coupler and one or more remote control systems. Further remote control systems may be within a central control system for container handling vehicles and / or storage systems.

[0061] The coupler should also be configured to allow switching of control signals when the coupler is picked up, so that vehicle signals instruct the gripper paddles to rotate inward and outward to grip the delivery container. Once the coupler is attached, the grippers of the lift device remain in a stationary gripping position.

[0062] In an advantageous configuration of a second aspect of the present invention, the delivery container coupling mechanism comprises a gripper paddle configured to pivot or elastically displace outward to contact the coupling structure / forming portion of the delivery container.

[0063] In another advantageous configuration, the coupler is configured so as not to extend any further laterally / horizontally than the periphery of the lift device to which it is intended to be coupled.

[0064] All other configurations of the coupler described in relation to the first embodiment also apply to the second embodiment.

[0065] In a third embodiment, the present invention relates to a container handling vehicle comprising: a drive means configured to move along a base such as a rail system; a lift device assembly as described above; a storage container space for receiving and housing storage containers; a lift motor for lifting storage containers into the storage container space; and a lift band having one end connected to a mounting point / mount for the lift device and the other end connected to the lift motor.

[0066] Alternatively, the container handling vehicle could be a crane suspended from the rail system.

[0067] In a fourth aspect, the present invention relates to a storage and retrieval system comprising a frame and a rail system. The frame comprises a plurality of vertical upright members defining a plurality of storage columns for storing stacks of storage containers. The rail system is positioned on top of the frame and comprises vertical rails, the intersections of which form a grid of grid cells. The rails define grid openings to the plurality of storage columns.

[0068] The storage and retrieval system further includes a container handling vehicle comprising a drive means such as electric wheels configured to move along a rail system, a lift device assembly as described above, a storage container space for receiving and housing storage containers, a lift motor for lifting storage containers into the storage container space, and a lift band having one end connected to a mounting point / mount and the other end connected to the lift motor. The lift motor may be located at least above the container space or to the side of the container space. The latter arrangement is typically the case for a cantilevered vehicle (see above). Vehicle configurations in which the lift motor is located closer to the rail system may also be considered.

[0069] In an advantageous configuration of a fourth aspect of the present invention, the storage and retrieval system further comprises a control system and a robotic picking device that signals and communicates with the control system. The robotic picking device comprises a robot base, a first robotic segment / arm rotatably connected to the robot base, and an operating end configured to allow a releasable connection to a delivery container. The robotic picking device is configured such that the operating end can be moved to a position at least within reach of the storage container to be delivered to an access and distribution station.

[0070] The robotic picking device is preferably positioned adjacent to the outside of the storage and retrieval system.

[0071] In a fifth embodiment, the present invention relates to a method for lifting a delivery container from a storage container by using a delivery container coupling when the delivery container is located within the internal volume of a storage container.

[0072] The lifting is performed by a container handling vehicle comprising a storage container space for receiving and housing storage containers, a drive means configured to move the vehicle along a base, a lift device for lifting and lowering storage containers, a lift motor for lifting storage containers into the storage container space, and a lift band, one end of which is connected to the mounting point / mount of the lift device and the other end of which is connected to the lift motor. The lift motor may be positioned at least partially above or to the side of the storage container space.

[0073] The lift device comprises a lift frame having a lower surface and an upper surface, and a plurality of grippers protruding from the lower surface of the lift frame.

[0074] Furthermore, the coupler comprises a coupler frame having a lower coupler frame surface and a upper coupler frame surface, and a delivery container coupling mechanism fixed to the coupler frame and protruding from the lower coupler frame surface to enable a releasable coupling to, for example, the inner wall and / or contour of the delivery container and the corresponding coupling structure / forming portion within the internal volume of the delivery container.

[0075] The method involves the following steps: - A step of lowering the lift device so that the lower surface of the lift frame contacts or is close to the upper surface of the coupling frame, - The steps of gripping the coupler by operating the gripper of the lift device to form the lift device assembly, - The step of raising the lift device with the coupler connected, - A step of moving the container handling vehicle to a position where the lift device assembly is above the storage container that houses the delivery container, - The step of lowering the lift device assembly to a position where the coupling can connect to the delivery container, - The step of connecting the coupler to the delivery container, - The steps include: lifting the delivery container out of the storage container by using a lift motor until the delivery container is at least partially inside the storage container space (thus separating the delivery container from the storage container); Includes.

[0076] In an advantageous example of a fifth aspect of the present invention, the storage containers containing the delivery containers to be lifted are stored in a storage and retrieval system comprising, in addition to the container handling vehicle described above, a frame having a plurality of vertical upright members and a rail system positioned on top of the frame corresponding to the base described above. The upright members define a plurality of storage columns for storing stacks of storage containers. The rail system comprises vertical rails, and the intersections of the rails form a grid of grid cells. Thus, the rails define grid openings to the plurality of storage columns. Thus, the movement of the vehicle is restricted to the direction of the rails within the rail system.

[0077] In this particular configuration, the delivery container coupling may first be supported on the rail system.

[0078] In another advantageous example of the fifth embodiment, the storage and retrieval system further comprises a port column installed by a vertical upright member, and an access and distribution station located at the lower end of the port column.

[0079] In this particular configuration, the method is: - The step of moving the container handling vehicle to a position where the delivery container is directly above the port column, - For example, the step of transporting delivery containers to access and distribution stations by using a vehicle lift device and It also includes.

[0080] Alternatively, the delivery containers can be transported to access and distribution stations using conveyor belts.

[0081] In yet another favorable example, the method is: - If necessary, the step of reconnecting the container handling vehicle to the coupler, - A step of moving the container handling vehicle to a position where the coupler is directly above the port column, - The step of lowering the coupler into the port column until the coupler is in a gripping position with the delivery container located at the lower end of the port column, - The step of connecting the delivery container to the coupling device, - The steps of raising the delivery container at least partially into the storage container space of a container handling vehicle. It also includes.

[0082] Alternatively, the vehicle may be moved to the end of a conveyor belt that transports delivery containers from an access and distribution station.

[0083] In a sixth embodiment, the present invention relates to a computer-readable medium storing a computer program including instructions for performing the method steps described above. The present invention provides, for example, the following: (Item 1) A lift device assembly (1, 210) for handling a delivery container (20) stored in a storage container (106), wherein the lift device assembly (1, 210) is A delivery container connector (1), wherein the delivery container connector (1) is A coupler frame (2) having a coupler frame lower surface (2') and a coupler frame upper surface (2''), A delivery container coupling mechanism (3) fixed to the coupling frame (2) and Equipped with, The delivery container coupling mechanism (3) includes a delivery container coupler protruding from the lower surface (2') of the coupler frame, in order to enable a releasable coupling to the corresponding coupling structure (21) within the internal volume of the delivery container (20), Lift device (210) and Equipped with, The aforementioned lift device (210) is A lift frame (211) having a lower surface (211') and an upper surface (211'') of the lift frame, Multiple grippers (212) connected to the lift frame (211) for detachable connection to the coupler (1) and Equipped with, The lift device assembly (1, 210) is configured such that the lower surface (211') of the lift frame (211) can be positioned adjacent to the upper surface (2'') of the coupler frame at the connection position. (Item 2) The coupler frame (2) further comprises a plurality of recesses and / or through holes (10), The number of recesses and / or through holes (10) is equal to at least the number of grippers (212), The position of each recess and / or through-hole (10) is such that each gripper (212) is aligned with the corresponding recess and / or through-hole (10) when the lower surface (211') of the lift frame is positioned above the upper surface (2'') of the coupler frame, as described in item 1, for the lift device assembly (1, 210). (Item 3) The lift device assembly (1, 210) according to item 1 or 2, further comprising a lift frame (210) and a mounting mount (213') for attaching a lift band (213). (Item 4) The lift device assembly (1, 210) according to any one of items 1-3, further comprising a sensor (217) configured to detect when the lower surface (211') of the lift frame is in contact with and / or close to the upper surface (2'') of the coupling frame. (Item 5) The plurality of grippers (212) protrude from the lower surface (211') of the lift frame, The lift device (210) further comprises a gripper operating mechanism (212') at least partially located within the lift frame (211). A lift device assembly as described in any one of items 1-4 (1, 210). (Item 6) The lift device (210) further comprises a plurality of guide pins (214) which protrude from the lower surface (211') of the lift frame for insertion of a storage container (106) into a receiving recess, and the storage container is positioned to hold the delivery container (20) therein. The coupler frame (2) further comprises a plurality of guide pin receiving recesses and / or through holes (11) extending between the lower surface and the upper surface (2', 2'') of the coupler frame, The lift device assembly (1, 210) according to any one of items 1-5, wherein the position of each guide pin receiving recess and / or through hole (11) is such that each guide pin (214) passes through the corresponding guide pin receiving recess and / or through hole (11) when the lower surface (211') of the lift frame is positioned above the upper surface (2'') of the coupler frame. (Item 7) A lift device assembly (1, 210) according to any one of items 1-6, wherein the cross-sectional area of ​​the lower surface (211') of the lift frame is at least equal to the cross-sectional area of ​​the upper surface (2'') of the coupler frame. (Item 8) The delivery container coupling mechanism (3) comprises two gripper paddles (3) for gripping the delivery container (20), The two gripper paddles (3) are positioned at equidistant and opposite distances from a vertical center plane (CP) that is oriented perpendicular to the lower surface (2') of the coupler frame. Each of the gripper paddles (3) is provided with a projection (3') located below the lower surface (2') of the coupling frame for insertion into the corresponding coupling structure (21) of the delivery container (20), as described in any one of items 1-7, of the lift device assembly (1, 210). (Item 9) The aforementioned delivery container coupling mechanism (3) further comprises a displacement system (5-9), The displacement system (5-9) displaces the two gripper paddles (3) in opposite directions from the vertical center plane until the projections (3') engage with the respective connecting structures (21), as described in item 8, for the lift device assembly (1, 210). (Item 10) The aforementioned displacement system (5-8) is Motor (5) and, A control system (7) configured to control the operation of the motor (5), A first link (9, 9a) has one end connected to the motor (5) and the other end connected to one of the two gripper paddles (3), A second link (9, 9b) has one end connected to the motor (5) and the other end connected to the other of the two gripper paddles (3), and Equipped with, The lift device assembly (1, 210) according to item 9, wherein the motor (5) is configured to displace the first and second links (5) in opposite directions so as to move away from the vertical center plane. (Item 11) The displacement system (5-8) further comprises a rotating element (6) that connects the first and second links (9, 9a, 9b) to the shaft of the motor (5), The lift device assembly (1, 210) according to item 10, wherein the motor (5), the rotating element (6), and the links (9, 9a, 9b) are configured such that the displacement of the first and second links (9, 9a, 9b) in opposite directions is achieved by rotating the rotating element (6) clockwise or counterclockwise between 0 and 180 degrees. (Item 12) The control system (7) is The lower part (7') of the lower surface (2') of the coupler frame, The upper part (7'') of the upper surface (2'') of the coupler frame and It was divided into, The upper part is provided with one or more lift device connectors (7'') that communicate with the lower part (7'), The lift device assembly (1, 210) according to item 10 or 11, wherein the lift frame (211) comprises one or more coupling connectors that signal communicate with one or more lift device connectors (7''). (Item 13) A shipping container coupler (1) for use in a lift device assembly (1, 210) as described in any of items 1-12, wherein the coupler (1) is A coupler frame (2) having a coupler frame lower surface (2') and a coupler frame upper surface (2''), A delivery container coupling mechanism (3) fixed to the coupling frame (2) and Equipped with, The delivery container coupling mechanism (3) protrudes from the lower surface (2') of the coupling frame in order to enable a releasable coupling to the corresponding coupling structure (21) within the internal volume of the delivery container (20), The coupler (1) is configured to be gripped from the upper surface (2'') of the coupler frame by a plurality of grippers (212) of the lift device (210), The coupler (1) further comprises an electrical contact (7'') on the upper surface (2'') of its coupler frame, and when the coupler (1) is in a lower coupling position to the lift device (210) and is gripped by the gripper (212) of the lift device (210), it receives power from the lift device (210). The power is for operating the delivery container coupling mechanism (3) to releasably connect to the inner surface of the delivery container (20), the delivery container coupling device. (Item 14) The delivery container coupling mechanism (3) comprises a gripper paddle positioned to rotate outward so as to contact the coupling structure (21) of the delivery container (20), as described in item 13, the delivery container coupling device (1). (Item 15) The shipping container coupler (1) as described in item 13 or 14, wherein the coupler (1) is configured not to extend any further laterally than the periphery of the lift device (210) to which it is intended to be coupled. (Item 16) A storage and recovery system (100), wherein the storage and recovery system (100) is A frame (101) having multiple vertical upright members (102) that define multiple storage columns (105) for storing stacks (107) of storage containers (106), A rail system (108) is arranged on the frame (101), the rail system (108) comprising vertical rails (110, 111), the intersections of the vertical rails forming a grid of grid cells (112), and the rails defining grid openings (115) into the plurality of storage columns (105), Container handling vehicles (200, 300, 350) and Equipped with, The aforementioned container handling vehicles (200, 300, 350) Drive means (202a, 202b, 302a, 302b) configured to move along the rail system (108), A lift device assembly (1,210) as described in any one of items 1 to 12, Storage container space for receiving and accommodating storage containers (106), A lift motor for lifting the storage container (106) into the storage container space, A lift band (213) has one end connected to a mounting bracket (213') and the other end connected to the lift motor. A storage and recovery system equipped with these features. (Item 17) The storage and recovery system (100) is Control system (600), A robot picking device (400) that communicates with the control system (600) and Furthermore, The robot picking device (400) comprises a robot base (401), a first robot segment (402) rotatably connected to the robot base (401), and operating ends (405, 406) configured to enable a releasable connection to the delivery container (20), The storage retrieval system (100) according to item 16, wherein the robot picking device (400) is configured such that the operating ends (405, 406) are movable to a location at least within reach of the storage container (106) to be delivered to the access and distribution station (500). (Item 18) A method for lifting a delivery container (20) placed inside a storage container (106) using a container handling vehicle (200, 300, 350) and a delivery container coupler (1), The vehicle (200, 300, 350) has a storage container space for receiving and storing a storage container (106), a drive means (202a, 202b, 302a, 302b) configured to move the vehicle (200, 300, 350) along a rail system (108), a lift device (210) for lifting and lowering the storage container (106), a lift motor for lifting the storage container (106) into the storage container space, and one end of which is connected to the lift device (210) The lift device (210) comprises a lift band (213) with the other end connected to the lift motor, the lift device (210) comprises a lift frame (211) and a plurality of grippers (212) protruding from the lower surface (211') of the lift frame, the coupler (1) comprises a coupler frame (2) and a delivery container coupling mechanism (3) fixed to the coupler frame (2), the delivery container coupling mechanism (3) enables a releasable coupling to a corresponding coupling structure (21) within the internal volume of the delivery container (20) or within the contour of the delivery container (20), The aforementioned method, The steps include lowering the lift device (210) so that it contacts or is in close proximity to the coupler frame (2) of the coupler (1), The steps include: gripping the coupler (1) by operating the gripper (212) to form a lift device assembly (1, 210); The steps include raising the lift device (210) while the coupling (1) is connected to the lift device (210), The steps include moving the container handling vehicles (200, 300, 350) along the rail system (108) to a position above the storage container (106) in which the lift device assembly (1, 210) contains the delivery container (20), The steps include lowering the lift device assembly (1, 210) to a position where the connector (1) can be connected to the delivery container (20), The steps include: connecting the connector (1) to the delivery container (20) by operating the delivery container coupling mechanism (3); The steps include using the lift motor to raise the delivery container (20) out of the storage container (106) until the delivery container (20) is at least partially inside the storage container space, and Methods that include... (Item 19) The storage container (106) is stored in a storage and recovery system (100), and the storage and recovery system (100) is The aforementioned container handling vehicles (200, 300, 350) and A frame (101) having multiple vertical upright members (102) that define multiple storage columns (105) for storing stacks (107) of storage containers (106), The rail system (108) is arranged on the frame (101) and Equipped with, The rail system (108) comprises vertical rails (110, 111), the intersections of the vertical rails form a grid of grid cells (112), and the rails define grid openings (115) into the plurality of storage columns (105). The method according to item 18, wherein the step of moving the container handling vehicle (200, 300, 350) to a position where the lift device assembly (1, 210) is above the storage container (106) containing the delivery container (20) is limited to the orientation of the rails (110, 111). (Item 20) The storage and recovery system (100) is Port columns (119, 120) and An access and distribution station (500) located at the lower end of the port column (119, 120) and Furthermore, The aforementioned method, The steps include moving the container handling vehicles (200, 300, 350) to a position where the delivery container (20) is above the port columns (119, 120), The steps include transporting the delivery container (20) to the access and distribution station (500) and The method described in item 19, further including the method described in item 19. (Item 21) The aforementioned method, The steps include: reconnecting the container handling vehicles (200, 300, 350) to the coupler (1); The steps include moving the container handling vehicles (200, 300, 350) to a position such that the coupling device (1) is above one of the at least one port columns (119, 120), The steps include lowering the connector (1) into the port column (119) until the connector (1) is in a gripping position with the delivery container (20) located at the lower end of the port column (119), The steps include connecting the delivery container (20) to the connector (1), The steps include raising the delivery container (20) at least partially into the storage container space of the container handling vehicle (200, 300), and The method described in item 20, further including the method described in item 20. (Item 22) A computer-readable medium storing a computer program that contains instructions for performing the steps described in any one of items 18-21. [Brief explanation of the drawing]

[0084] The following drawings illustrate alternative embodiments of the present invention and are attached to facilitate understanding of the invention. However, the features disclosed in the drawings are for illustrative purposes only and should not be construed as limiting.

[0085] [Figure 1]Figure 1 is a perspective view of a conventional automated storage and retrieval system.

[0086] [Figure 2] Figure 2 is a perspective view of a conventional container handling vehicle having a cantilever beam for transporting storage containers downwards.

[0087] [Figure 3] Figure 3 is a perspective view of a conventional container handling vehicle having a centrally located cavity for transporting storage containers inside.

[0088] [Figure 4] Figure 4 is a perspective view of a conventional container handling vehicle having an internal cavity for transporting storage containers, where the cavity is offset from the center with respect to the X direction.

[0089] [Figure 5] Figure 5 is a perspective side view of the conventional container handling vehicle shown in Figure 2, in which the lift device is positioned above the coupling frame of the delivery container coupling to allow for releasable connection to the delivery container stored inside the storage container.

[0090] [Figure 6] Figure 6 is a perspective side view of the conventional container handling vehicle shown in Figure 2, in which the lift device is connected to a coupling frame, and the resulting assembly is positioned in contact with the storage container, which includes the delivery container.

[0091] [Figure 7] Figure 7 is a top-to-bottom cross-sectional view of the lift frame of the lift device, the coupling frame of the delivery container coupling, the delivery container, and the storage container, with the frame and container positioned perpendicular to each other.

[0092] [Figure 8]Figure 8 is a cross-sectional view of a lift device assembly according to an embodiment of the present invention, in which the lift device is releasably connected to a coupling, and the coupling is releasably connected to a delivery container.

[0093] [Figure 9] Figure 9 is a cross-sectional view of a lift device assembly according to an embodiment of the present invention, which is connected to a delivery container and raised so that the delivery container is above a storage container.

[0094] [Figure 10] Figure 10 is a perspective side view of a lift device assembly according to an embodiment of the present invention, in which the coupler is connected to a delivery container.

[0095] [Figure 11] Figure 11 is a perspective view of part of a storage retrieval system according to another embodiment of the present invention, which includes a first type of robotic picking device for picking delivery containers within a storage container.

[0096] [Figure 12] Figure 12 is another perspective view of a part of the storage and recovery system shown in Figure 11.

[0097] [Figure 13] Figure 13 is a perspective view of a portion of a storage retrieval system according to a further embodiment of the present invention, which includes a second type of robotic picking device for picking delivery containers within a storage container. [Modes for carrying out the invention]

[0098] Different embodiments will be described in more detail below with reference to the attached drawings. However, it should be understood that the drawings are not intended to limit the scope of the present invention to the subject matter shown in the drawings. Furthermore, even if some features are described in relation only to the system, it is clear that they are also valid for the method, and vice versa.

[0099] Figure 5 is a perspective view of a cantilever-type container handling vehicle 200, which comprises a vehicle body 201, a first set of wheels 202a for movement in the X direction, a second set of wheels 202b for movement in the Y direction, a cantilever beam 203 extending from the top of the vehicle body 201, and a lift device 210 suspended below the cantilever beam 203, configured to releasely grip and lift both the storage container 106 and the coupler 1, as will be described later.

[0100] The lift device 210 includes a lift frame 211 having a lower surface 211' and an upper surface 211'' oriented in the X, Y planes; a gripper 212 such as a claw or hook protruding from the lower surface 211'; lift bands 213 (at their lower ends attached to mounting points 213' on the upper surface 211'' and at their upper ends attached to a lift mechanism (not shown) at least partially located within a cantilever beam 203); and guide pins 215 oriented in the Z direction and attached to the four lateral corners of the lift frame 211.

[0101] A coupling device 1, configured to be releasably connected to the delivery container 20, is shown below the lift device 210, and the size of the delivery container 20 is such that it can fit inside the storage container 106. As seen in Figure 5, the height of the delivery container 20 may also be lower than the height of the storage container 106.

[0102] Hereinafter, storage container 106 and delivery container 20 will be referred to as bins and totes, respectively.

[0103] Referring further to Figures 7 to 9, the coupler 1 comprises a coupler frame 2 having a lower surface 2' and an upper surface 2'', a delivery container coupler mechanism 3 for releasably connecting to a gripping structure / forming part 21 on the inner wall or rim of the tote 20, a rotating disk 6 rotatably connected to a motor 5, and links / arms 9, 9a, 9b connecting the gripper paddle 3 to the rotating disk 6.

[0104] In Figures 7 to 9, these gripping structures 21 are recesses / openings located within the inner wall of the tote, below the opening rim 22 of the tote.

[0105] The shipping container coupling mechanism 3 may include two container gripper paddles 3 (a first paddle 3a and a second paddle 3b), hereafter referred to as tote paddles, each tote paddle 3a, 3b having a projection 3' at its lower end, such as a ledge, rib, or fold, and the upper end 3'' of the paddle 3 is pivotably and / or elastically attached to the coupling frame 2. Furthermore, the length and design of each tote paddle 3 are such that when the coupling frame 2 is adjacent to the opening frame / upper rim 22 of the tote 20, the projection 3' is aligned perpendicularly (at the same height) with the recess / opening 21 in the inner wall of the tote 20.

[0106] The actuator systems 5-9, which also form part of the coupler 1, are positioned together with the coupler frame 2 and / or below the lower surface 2'. The actuator systems 5-9 are configured to be able to remotely displace the first and second tote paddles 3a and 3b in opposite directions.

[0107] In the specific embodiments shown in Figures 6 to 9, the actuator systems 5 to 9 include a motor 5, a control system 7 that enables control of the operation of the motor 5 and signal communication with a control system 600, a rotating disk 6 connected to the motor 5, and two link / displacement arms 9a and 9b that connect the rotating disk 6 to toe paddles 3a and 3b, respectively.

[0108] The motor 5, rotating disk 6, and control system 7 are fixed to the coupler frame 2a by motor support 8 in the form of angle brackets. The motor 5 may be, for example, a DC motor.

[0109] The two link / displacement arms 9a and 9b are configured and sized in the following way, as shown in Figures 6 to 9:

[0110] The first end of the first link 9a and the first end of the second link 9b are pivotably connected to the rotating disk 6 on both sides of the disk 6's axis of rotation, and the second end of the first link 9a and the second end of the second link 9b are pivotably connected to the first tote paddle 3a and the second tote paddle 3b.

[0111] A particular configuration having first ends of links 9a and 9b positioned opposite each other on the rotating disk 6 results in equal displacement of links 9a and 9b toward opposite sides, and thus results in equal rotation of the tote gripper paddles 3a and 3b.

[0112] By adjusting the position, angle, and length of the tote paddle 3 so that the projection 3' is aligned to the same vertical level (same height) as the recess / opening 21 of the tote 20, and by ensuring the rotation of the rotating disk 6 by the motor 5 which causes the tote paddle 3 to tilt horizontally, the actuator systems 5-9 enable switching between a locked position where the projection 3' is inside each recess / opening 21 and a released position where the projection 3' is removed from each recess / opening 21.

[0113] The degree of rotation of the rotating disk 6 by the motor 5 must be sufficient to ensure that the projection 3' is inserted into the recess / opening 12. The rotation is preferably in the range of 70 to 100°, for example, 90°.

[0114] The motor 5 can be remotely controlled via a coupler control system 7 located on or within the coupler frame 2. The coupler system 7 includes a lift device connector 7'' in the form of electrical pins for transmitting power and any control signals from the lift device 210 when it is in a coupling position below the lift device 210 and gripped by the gripper 212. The power and signals transmitted via the lift device 210 enable the motor 5 to be driven and adjusted, and the motor causes the gripper paddle to operate again to connect to the gripping structure 21 of the tote 20 via the rotating disk 6 and link 9. The coupler control system 7 may also include a separate transmission system 7' configured for wireless transmission of signals to and from one or more remote control systems 600.

[0115] Figures 7 to 9 show a claw-shaped gripper 212 connected to the coupler frame 2 via a recess 10 positioned horizontally aligned with the claw on the upper surface 2''. The gripping action of the claw 212 is achieved by a gripper operating mechanism 212' located within the lift frame 211.

[0116] In Figure 7, the connecting assembly 1, 210 of the lift device 210 and the connector 1 is positioned on top of the opening frame of the bin 106. Guide pins 215 of the lift device 210 protruding from the corners of the lift frame 211 contribute to aligning with the bin 106 and guiding the assembly.

[0117] Furthermore, the lift device 210 may include one or more vehicle sensors 216 and one or more coupler sensors 217, which protrude from the corners of the upper surface 211'' and the lower surface 211', respectively. The vehicle sensors 216 may indicate proximity and / or contact with the vehicles 200, 300, 350 to which the lift device 210 is connected. Similarly, the coupler sensors 217 may indicate proximity and / or contact with the coupler frame 2. Both types of sensors 216, 217 may include transmitters that enable the transmission of detection signals to the remote control system 600. Furthermore, the coupler sensors 217 / vehicle sensors 216 may be in the form of capacitive sensors (mutual capacitance and / or self-capacitance) to indicate direct contact or proximity with the coupler frame 211 or the vehicles / cranes 200, 300, 350.

[0118] The coupler 1 may also include additional tote guide plates 4 protruding from the lower surface 2' to ensure precise alignment with the opening frame of the tote 20. Therefore, the lower ends of the tote guide plates 4 should be positioned so that they correspond to the size of the opening frame 22 of the tote 20. The guide plates 4 may be elastically connected to the coupler frame 2.

[0119] In particular cases where the tote 20 is to be picked up from or inserted into a storage container 106 (hereinafter referred to as a bin) that is taller and slightly wider than the tote 20, it may be advantageous for the coupling frame 2 to be angled inward from the upper surface 2'' to the lower surface 2' in order to avoid undesirable jamming between the coupling frame 2 and the opening frame of the bin 106.

[0120] One specific example of the operation using the connector 1 in the storage and retrieval system 100 as described above and shown in Figures 1 to 10 is a method for consolidating totes 20 in bin 106, where totes 20 contain goods / products to be delivered to the end customer.

[0121] Such an operation may include the following steps:

[0122] 1. Container handling vehicles 200, 300, and 350 are instructed by the control system 600 to pick up available couplings 1 located on, within, or above the rail system 108 and within the reach of vehicles 200, 300, and 350.

[0123] 2. Once the coupler 1 is successfully coupled below the lift device 210 of the vehicles 200, 300, and 350, the vehicles 200, 300, and 350 are instructed to move the lift device assemblies 1 and 210 (including the lift device 210 and coupler 1) to a position on the rail system 108 aligned directly above the storage column 105 where the bin 106 containing the target tote 20 is located at the top of the stack 107.

[0124] 3. Vehicles 200, 300, and 350 lower assemblies 1 and 210 into tote-in-bin arrangements 20 and 106 until the projections 3' of the tote paddles 3 align with the respective gripping structures 12 of the tote 20. The assemblies 1 and 210 are preferably designed so that this alignment is achieved when the bottom of assembly 1 and 210 is adjacent to the perimeter / opening frame of the bin 106.

[0125] 4. The coupler control system 7 instructs the motor 5 to rotate the rotating element 6, thereby moving the links 9a and 9b outward in opposite directions (see Figure 8), thereby connecting the projection 3' with the gripping structure 12. The command can be transmitted from a transmitter in the vehicles 200, 300, and 350 via an electrical connector between the lift device 210 and the coupler 1 (see, for example, Figure 7), or directly from the control system 600 to a receiver on the coupler control system 7. Such a receiver may form an integral part of the motor 5.

[0126] 5. Vehicles 200, 300, and 350 lift assemblies 1 and 210 together with the tote 20 so that the bottom of the tote 20 is positioned at a certain distance above the rail system 108.

[0127] 6. Vehicles 200, 300, and 350 move to a position where assemblies 1 and 210, which have target totes 20, are directly above storage columns 105 in the integrated area of ​​rail system 108, which have empty bins 106 on top of stack 107.

[0128] 7. Place the target tote 20 inside the empty bottle 106. Lower the assembly 1, 210 so that the target tote 20 is at least partially, preferably completely, inside the bin 106. This is achieved by rotating the rotating element 6 in the opposite direction, as shown in point 4, thereby separating the projection 3' from the gripping structure 21.

[0129] 8. When one or more of the products stored in the target tote 20 should be recovered from the storage and recovery system 100, the same procedure as in points 1-5 is used (or, if the vehicles 200, 300, 350 already have couplings 1 connected to the lift device 210, then as in points 2-5), at point 7, the vehicles 200, 300, 350 are moved to the storage column 105 and the target tote 20 is picked up from the bin 106.

[0130] 9. Vehicles 200, 300, and 350 are moved to a position where assemblies 1 and 210, which have a target tote 20, are positioned directly above a dedicated drop-off port column 119 (see Figure 1), and the target tote 20 is lowered through the port column 119 to an access and distribution station 500 located at the lower end of the port column.

[0131] 10. The target tote 20 is picked up by a human operator and / or a robotic picking device 400 and placed on a suitable transport mechanism such as a conveyor system 503 for further transport to the end customer.

[0132] 11. The empty tote bag 20 is transported by the transport mechanism at point 10 to a position within reach of a human operator and / or a robotic picking device 400.

[0133] 12. Through the pickup port column 120, the empty tote 20 is raised to a position a certain distance above the rail system 108 by the use of vehicles 200, 300, and 350, and placed in the storage column 105 by running one of points 1 to 9 in the opposite direction.

[0134] The target tote 20 can be transported directly from the storage column 105 at point 2 to the drop-off port column 119 (thus omitting steps 6-8).

[0135] Furthermore, throughout steps 1-12 of the operation, only one port column, 119 or 120, may be used.

[0136] Other mechanisms (including separate bin transport devices such as vertical bin lifts and / or inclined conveyor belts) may be envisioned for transporting target totes 20 from vehicles 200, 300, and 350 to access and distribution station 500.

[0137] In the alternative integration method according to the present invention, the robotic picking device 400 is positioned at or above the height of the rail system 108, thereby enabling the integration of the totes 20 in the bin 106 to be performed at least partially by the robotic picking device 400. Such an alternative configuration may also allow for the direct transfer of products between the totes 20 and / or the bin 106.

[0138] In another alternative integration method according to the present invention, instead of picking up the coupling before performing steps 8 and 9, the vehicles 200, 300, and 350 use the vehicle's lift device 210 to pick up the bin 106 containing the target tote 20 and deliver this tote-in-bin configuration 20, 106 to the drop-off port column 119 for further transport to the access and distribution station 500.

[0139] Figures 11 to 13 show two different embodiments of product handling systems 400 and 500 positioned adjacent to the drop-off port column 119 of the automated storage and retrieval system 100. The product handling systems 400 and 500 include a robotic picking device 400 and an access and distribution station 500.

[0140] The robot picking device 400 comprises a robot base 401, two or more robot segments 402-404, and an operating end 405, the operating end 405 being configured to grip and release the tote 20 using, for example, a second coupling 406 similar to the coupling 1 described above.

[0141] In the first embodiment shown in Figures 11 and 12, the access and distribution station 500 includes a container basket 501 configured to temporarily store / hold bins 106, and a storage system access opening 502 through which the container basket 501 may be guided, for example, by the use of a dedicated container basket displacement mechanism (not shown). The container basket 501 may also be configured to allow temporary storage of only totes 20. A configuration in which the container basket 501 can store either bins 106 or smaller totes 20 is also conceivable.

[0142] The station 500 in Figures 11 and 12 further includes a conveyor system 503 located at least partially outside the framework 101 of the storage and retrieval system 100. The conveyor system 503 may comprise a first conveyor belt 503a and a second conveyor belt 503b arranged parallel to each other. As shown in Figure 11, by positioning the respective ends of the conveyor belts 503a and 503b next to the access opening 502, simultaneous transport of totes 20 into and from the container baskets 501 is enabled, thereby improving the overall efficiency of the product handling systems 400 and 500.

[0143] Referring particularly to Figure 12, in this first embodiment, the robot picking device 400 is, - A robot base 401 fixed on platform / floor 700, -A first robot segment 402, the first robot segment 402 is connected perpendicularly to the robot base 401, thereby controlling the displacement of the first robot segment 402 parallel to the platform / floor 700 in the inward and outward directions of the storage system 100, -A second robot segment 403 is horizontally connected to the first robot segment 402 so as to enable controlled vertical displacement, - It comprises an operating end 405 that is at least indirectly connected to the second robot segment 403.

[0144] The second coupler 406 on the operating end 405 includes a handle 15 positioned on the upper part of the coupler frame 2.

[0145] Hereinafter, the vertical / horizontal orientation is measured relative to the platform / floor 700 of the robot base 401. It should also be noted that the storage volume framework 101 of the conveyor system 503 and / or storage and retrieval system 100 may be supported on the same platform / floor 700 or on other platforms located at different vertical levels.

[0146] Controlled horizontal and vertical displacements can be achieved by known displacement devices such as electric linear actuators and / or hydraulic cylinders. The connecting end of the second robot segment 403 can be guided, for example, along a vertical rod that forms part of the first robot segment 402.

[0147] The robot picking device 400 is further positioned so that its operating end 405 can be operated to be centered on the container basket 501.

[0148] With the specific configuration described above, and by the second coupler 406 connected to the operating end 405 of the robot picking device 400, any tote 20 stored in each bin 106 can be stored again in the container basket 501 and, when the container basket 501 is positioned in a pickup position outside the access opening 502, can be picked up via remote operation between the second coupler 406 and at least one of the first and second robot segments 402, 403.

[0149] It should be noted that the bin 106, designed to hold the tote 20, may remain inside the container basket 501 at any time during operation. Alternatively, the container basket 501 may be designed to temporarily store the target tote 20, as described above.

[0150] Figure 13 shows a second embodiment of the product handling systems 400, 500 using the second coupler 406 described above. The second embodiment is substantially identical in structure and operation to the first embodiment, except for the use of a different type of robot picking device 400, namely an articulated robot picking device.

[0151] The articulated robot picking device 400 includes a robot base 401 connected to a fixed platform / floor 700 and a vertical rotation axis C preferably oriented perpendicular to the platform / floor 700. RB The robot comprises a first robot segment 402 rotatably connected to a robot base 401 using a horizontal pivot axis preferably oriented parallel to a platform / floor 700, a second robot segment 403 rotatably connected to the first robot segment 402 using a horizontal pivot axis preferably oriented parallel to a platform / floor 700, a third robot segment 404 rotatably connected to the second robot segment 403, and an operating end 405, the operating end 405 forming part of the third robot segment 403 and the second coupling 406 as described above, or being rotatably connected thereto, the second coupling 406 being preferably detachably connected to the operating end 405.

[0152] All joints, i.e., the rotatable connection points described above, are equipped with remotely and / or autonomously operating rotational mechanisms, thereby enabling the articulated robot picking device 400 to pick up totes 20 containing product items from within bins 106 located inside the container basket 501, or directly from the container basket 501, and to place the totes 20 on a conveyor belt 503a that transports the totes 20 away from the frame 101. Similarly, the articulated configuration enables the robot picking device 400 to pick up empty totes 20 from a conveyor belt 503b that transports the totes 20 toward the frame 101, and to place the empty totes 20 directly into bins 106 located inside the container basket 501, or directly into the container basket 501.

[0153] In the preceding description, various aspects of couplers for releasably connecting to containers, lift device assemblies including such couplers, product handling systems for handling totes, automated storage and retrieval systems, and related methods have been described with reference to exemplary embodiments. For the purposes of the description, specific numbers, systems, and configurations have been described to provide a complete understanding of the systems and their operation. However, this description is not intended to be constrained. Various modifications and variations of the exemplary embodiments, and other embodiments of systems that are obvious to those skilled in the art with respect to the disclosed subject matter, are considered to be within the scope of the invention.

[0154] (Reference number:) 1. Shipping container coupler / coupler 2. Coupler frame 2' Bottom side of coupler frame 2'' Coupler frame top surface 3. Delivery container coupling mechanism / Gripper paddle / Tote paddle 3' protrusion 3'' Upper end of gripper element 3 4. Delivery Container Guide Plate / Tote Guide Plate 5. Motor (for displacing gripper element 3) 6. Rotating element / rotating disk (rotatably connected to motor 5) 7. Coupler control system 7' Lift Device Connector / Electrical Pins 8 Motor support / angle bracket 9. Gripper element displacement means 9a First displacement link 9b Second displacement link 10 Gripper receiving recess or through hole 11 Guide pin receiving recess 15 connected devices 20 Shipping Containers / Totes 20' Arriving delivery containers / arriving totes 21. Gripping structures / recesses / openings inside shipping containers 22 Opening frame / upper rim 100 Storage and Recovery Systems 101 Framework / Storage Grid 102 Upright members of a frame structure 105 Storage column 106 Storage Containers 106' Specific location of storage container / Target storage container 107 stacks 108 Rail System 110 Parallel rails in the first direction (X) 111 Parallel rail in the second direction (Y) 112 grid cells 115 grid openings 119 First port column / drop-off port column 120 Second port column / pickup port column 200 Container handling vehicle with cantilever beam 201 Vehicle 200 Body 202a Drive means / wheel configuration, first direction (X) 202b Drive mechanism / wheel configuration, second direction (Y) 203 Cantilever beam 210 Storage Container Lift Device / Lift Device 211 Lift Frame 211' Lift frame underside 211'' Lift frame top surface 212 Gripper / Claw / Hook 212' Gripper operating mechanism / claw or hook operating mechanism 213 Lift mechanism / lift band 213' Mounting point / mounting element / mounting mount 215 Guide pins 216 Vehicle Sensors 217 Coupler sensor Container handling vehicle with a central cavity occupying a single cell (300 units) 301 Vehicle 300 body 302a Drive means / wheel configuration, first direction (X) 302b Drive mechanism / wheel configuration, second direction (Y) 350 Container handling vehicles with internal cavities occupying multiple cells 400 Robot Picking Devices 401 Robot Base 402 First Robot Segment 403 Second Robot Segment 404 Third Robot Segment 405 Operation end 406 Second coupler 500 access and distribution stations 501 Container support / Container basket 502 Storage system access opening 503 Conveyor System 503a First conveyor belt 503b Second conveyor belt 600 Control System 700 floors X First direction Y Second direction Z Third direction C RB Rotary robot base axis

Claims

1. A lift device assembly (1, 210) for handling a delivery container (20) stored in a storage container (106), wherein the lift device assembly (1, 210) is A delivery container connector (1), wherein the delivery container connector (1) is A coupler frame (2) having a coupler frame lower surface (2') and a coupler frame upper surface (2''), A delivery container coupling mechanism (3) fixed to the coupling frame (2), wherein the delivery container coupling mechanism (3) protrudes from the lower surface (2') of the coupling frame to enable a releasable coupling to a corresponding coupling structure (21) within the internal volume of the delivery container (20), and A delivery container connector (1) is provided, Lift device (210) and Equipped with, The aforementioned lift device (210) is A lift frame (211) having a lower surface (211') and an upper surface (211'') of the lift frame, Multiple grippers (212) connected to the lift frame (211) for detachable connection to the delivery container connector (1) and Equipped with, The lift device assembly (1, 210) is configured such that the lower surface (211') of the lift frame can be positioned adjacent to the upper surface (2'') of the coupler frame at the connection position.

2. The coupler frame (2) further comprises a plurality of recesses and / or through holes (10), The number of recesses and / or through holes (10) is equal to at least the number of grippers (212), The position of each recess and / or through-hole (10) is such that each gripper (212) is aligned with the corresponding recess and / or through-hole (10) when the lower surface (211') of the lift frame is positioned above the upper surface (2'') of the coupler frame. (1, 210)

3. The lift device assembly (1, 210) according to claim 1, wherein the lift frame (210) further comprises a mounting mount (213') for attaching a lift band (213).

4. The lift device assembly (1, 210) according to claim 1, further comprising a sensor (217) configured to detect when the lower surface (211') of the lift frame is in contact with and / or close to the upper surface (2'') of the coupling frame.

5. The plurality of grippers (212) protrude from the lower surface (211') of the lift frame, The lift device assembly (1, 210) according to claim 1, further comprising a gripper operating mechanism (212') at least partially disposed within the lift frame (211).

6. The lift device (210) further comprises a plurality of guide pins (214) which protrude from the lower surface (211') of the lift frame for insertion of a storage container (106) into a receiving recess, and the storage container is positioned to hold the delivery container (20) therein. The coupler frame (2) further comprises a plurality of guide pin receiving recesses and / or through holes (11) extending between the lower surface and the upper surface (2', 2'') of the coupler frame, The lift device assembly (1, 210) according to claim 1, wherein the position of each guide pin receiving recess and / or through hole (11) is such that each guide pin (214) passes through the corresponding guide pin receiving recess and / or through hole (11) when the lower surface (211') of the lift frame is positioned above the coupling position above the upper surface (2'') of the coupling frame.

7. The lift device assembly (1, 210) according to claim 1, wherein the cross-sectional area of ​​the lower surface (211') of the lift frame is at least equal to the cross-sectional area of ​​the upper surface (2'') of the coupler frame.

8. The delivery container coupling mechanism (3) comprises two gripper paddles (3) for gripping the delivery container (20), The two gripper paddles (3) are positioned at equidistant and opposite distances from a vertical center plane (CP) that is oriented perpendicular to the lower surface (2') of the coupler frame. Each of the gripper paddles (3) is provided with a projection (3') located below the lower surface (2') of the coupling frame for insertion of the delivery container (20) into the corresponding coupling structure (21), the lift device assembly (1, 210) according to claim 1.

9. The aforementioned delivery container coupling mechanism (3) further comprises a displacement system (5-9), The lift device assembly (1, 210) according to claim 8, wherein the displacement systems (5-9) are for displacing the two gripper paddles (3) in opposite directions from the vertical central plane until the projections (3') engage with the respective connecting structures (21).

10. The displacement systems (5-8) are as follows: Motor (5) and A control system (7) configured to control the operation of the motor (5), A first link (9, 9a) has one end connected to the motor (5) and the other end connected to one of the two gripper paddles (3), A second link (9, 9b) has one end connected to the motor (5) and the other end connected to the other of the two gripper paddles (3), and Equipped with, The lift device assembly (1, 210) according to claim 9, wherein the motor (5) is configured to displace the first and second links (5) in opposite directions so as to move away from the vertical central plane.

11. The displacement system (5-8) further comprises a rotating element (6) that connects the first and second links (9, 9a, 9b) to the shaft of the motor (5), The lift device assembly (1, 210) according to claim 10, wherein the motor (5), the rotating element (6), and the links (9, 9a, 9b) are configured such that the displacement of the first and second links (9, 9a, 9b) in opposite directions is achieved by rotating the rotating element (6) clockwise or counterclockwise between 0 and 180 degrees.

12. The control system (7) is The lower part (7') of the lower surface (2') of the coupler frame, The upper part (7'') of the upper surface (2'') of the coupler frame and It was divided into, The upper part is provided with one or more lift device connectors (7'') that communicate with the lower part (7'), The lift device assembly (1, 210) according to claim 10, wherein the lift frame (211) is provided with one or more connectors that signal communicate with one or more lift device connectors (7'').

13. A delivery container coupler (1) for use in a lift device assembly (1, 210) according to any one of claims 1 to 12, wherein the delivery container coupler (1) is A coupler frame (2) having a coupler frame lower surface (2') and a coupler frame upper surface (2''), A delivery container coupling mechanism (3) fixed to the coupling frame (2) and Equipped with, The delivery container coupling mechanism (3) protrudes from the lower surface (2') of the coupling frame in order to enable a releasable coupling to the corresponding coupling structure (21) within the internal volume of the delivery container (20), The delivery container coupler (1) is configured to be gripped from the upper surface (2'') of the coupler frame by a plurality of grippers (212) of the lift device (210), The delivery container coupler (1) further comprises an electrical contact (7'') on the upper surface (2'') of its coupler frame, and when the delivery container coupler (1) is in a coupling position below the lift device (210) and is gripped by the gripper (212) of the lift device (210), it receives power from the lift device (210), The power is used to operate the delivery container coupling mechanism (3) to releasably connect to the inner surface of the delivery container (20), the delivery container coupling device (1).

14. The delivery container coupling mechanism (3) is provided with a gripper paddle that is arranged to rotate outward so as to contact the coupling structure (21) of the delivery container (20), as described in claim 13.

15. The delivery container coupler (1) according to claim 13, wherein the delivery container coupler (1) is configured not to extend laterally beyond the vicinity of the lift device (210) to which the delivery container coupler (1) is intended to be connected.

16. A storage and recovery system (100), wherein the storage and recovery system (100) is A frame (101) having multiple vertical upright members (102) that define multiple storage columns (105) for storing stacks (107) of storage containers (106), A rail system (108) arranged on the frame (101), wherein the rail system (108) comprises vertical rails (110, 111), the intersections of the vertical rails form a grid of grid cells (112), and the vertical rails define grid openings (115) into the plurality of storage columns (105), and the rail system Container handling vehicles (200, 300, 350) and Equipped with, The aforementioned container handling vehicles (200, 300, 350) Drive means (202a, 202b, 302a, 302b) configured to move along the rail system (108), A lift device assembly (1, 210) according to any one of claims 1 to 12, A storage container space for receiving and accommodating storage containers (106), A lift motor for lifting the storage container (106) into the storage container space, A lift band (213) has one end connected to a mounting bracket (213') and the other end connected to the lift motor. A storage and recovery system (100) equipped with the following.

17. The storage and recovery system (100) is Control system (600), A robot picking device (400) that communicates with the control system (600) and Furthermore, The robot picking device (400) comprises a robot base (401), a first robot segment (402) rotatably connected to the robot base (401), and operating ends (405, 406) configured to enable a releasable connection to the delivery container (20), The storage and retrieval system (100) according to claim 16, wherein the robot picking device (400) is configured such that the operating ends (405, 406) are movable to a position at least within reach of the storage container (106) to be delivered to the access and distribution station (500).

18. A method for lifting a delivery container (20) placed inside a storage container (106) using a container handling vehicle (200, 300, 350) and a delivery container coupler (1), The vehicles (200, 300, 350) include a storage container space for receiving and storing storage containers (106), drive means (202a, 202b, 302a, 302b) configured to move the vehicles (200, 300, 350) along a rail system (108), a lift device (210) for lifting and lowering the storage containers (106), a lift motor for lifting the storage containers (106) into the storage container space, and a lift motor with one end connected to the lift device (210) and the other end connected to the lift The lift device (210) comprises a lift band (213) connected to a tomotor, a lift frame (211), and a plurality of grippers (212) protruding from the lower surface (211') of the lift frame, the delivery container coupler (1) comprises a coupler frame (2), and a delivery container coupler mechanism (3) fixed to the coupler frame (2), the delivery container coupler mechanism (3) is for enabling a detachable coupling to a corresponding coupling structure (21) within the internal volume of the delivery container (20) or within the contour of the delivery container (20), The aforementioned method, The steps include lowering the lift device (210) so that it contacts or is in close proximity to the connector frame (2) of the delivery container connector (1), The steps include: gripping the delivery container coupler (1) by operating the gripper (212) to form a lift device assembly (1, 210); The steps include raising the lift device (210) while the delivery container connector (1) is connected to the lift device (210), The steps include moving the container handling vehicles (200, 300, 350) along the rail system (108) to a position above the storage container (106) in which the lift device assembly (1, 210) contains the delivery container (20), The steps include lowering the lift device assembly (1, 210) to a position where the delivery container connector (1) can be connected to the delivery container (20), The steps include: connecting the delivery container connector (1) to the delivery container (20) by operating the delivery container coupling mechanism (3); The steps include: using the lift motor to raise the delivery container (20) out of the storage container (106) until the delivery container (20) is at least partially inside the storage container space; Methods that include...

19. The storage container (106) is stored in a storage and recovery system (100), and the storage and recovery system (100) is The aforementioned container handling vehicles (200, 300, 350) and A frame (101) having multiple vertical upright members (102) that define multiple storage columns (105) for storing stacks (107) of storage containers (106), The rail system (108) is arranged on the frame (101) and Equipped with, The rail system (108) comprises vertical rails (110, 111), the intersections of the vertical rails form a grid of grid cells (112), and the vertical rails define grid openings (115) into the plurality of storage columns (105). The method according to claim 18, wherein the step of moving the container handling vehicles (200, 300, 350) to a position where the lift device assembly (1, 210) is above the storage container (106) containing the delivery container (20) is limited to the orientation of the vertical rails (110, 111).

20. The storage and recovery system (100) is Port columns (119, 120) and An access and distribution station (500) located at the lower end of the port column (119, 120) and Furthermore, The aforementioned method, The steps include moving the container handling vehicles (200, 300, 350) to a position where the delivery container (20) is above the port columns (119, 120), The steps include transporting the delivery container (20) to the access and distribution station (500) and The method according to claim 19, further comprising:

21. The aforementioned method, The steps include: reconnecting the container handling vehicles (200, 300, 350) to the delivery container coupler (1); The steps include moving the container handling vehicles (200, 300, 350) to a position such that the delivery container coupler (1) is above one of the at least one port columns (119, 120), The steps include lowering the delivery container connector (1) into the port column (119) until the delivery container connector (1) is in a gripping position with the delivery container (20) positioned at the lower end of the port column (119), The steps include connecting the delivery container (20) to the delivery container connector (1), The steps include raising the delivery container (20) at least partially into the storage container space of the container handling vehicle (200, 300), and The method according to claim 20, further comprising:

22. A computer-readable medium storing a computer program comprising instructions for performing the steps according to any one of claims 18 to 21.

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