TW201811635A - Multiposition lift - Google Patents

Abstract

An automated storage and retrieval system includes a first independently operable section having a first number of predetermined storage and retrieval transactions, and a second independently operable section in communication with the first independently operable section and having a second number of predetermined storage and retrieval transactions. The first and second independently operable sections are configured to provide a respective number of predetermined storage and retrieval transactions so that the first number of predetermined storage and retrieval transactions substantially matches the second number of predetermined storage and retrieval transactions.

Description

 Multi-position lift    [Reciprocal reference of related applications]  

The present application is a non-provisional and claims benefit of U.S. Provisional Patent Application Serial No. 61/791,251, filed on March 15, 2013, the disclosure of which is incorporated herein by reference.

The illustrative embodiments relate generally to material handling systems, and more particularly to conveying articles in a material handling system.

A multi-height storage and pick-and-place system can be used in warehouses to store and retrieve goods. In general, the transport of goods into and out of the storage structure is carried out by means of an elevator for transfer to a carrier at a storage height, a vehicle that is tilted upwardly to a predetermined storage height, or by inclusion along the guide The path moves the lift of the vehicle to complete. The throughput of these storage and handling systems may be limited by the picking up of one or more items at a storage height and the transfer of goods between storage heights.

It would be advantageous to balance this throughput so that the storage and pick-and-place transfer rates of one or more heights are substantially matched to the cargo transfer rate between the heights of the storage and pick-and-place systems.

In accordance with one or more aspects of the disclosed embodiments, an automated storage and handling system includes: a first independently operable section having a first predetermined number of storage and pick-and-place handling; and a second independently operable a section in communication with the first independently operable section and having a second predetermined number of storage and handling operations; wherein the first and second independently operable sections are grouped to provide respective predetermined amounts of storage And handling the dispensing such that the first predetermined number of storage and handling operations substantially match the second predetermined number of storage and handling operations.

In accordance with one or more aspects of the disclosed embodiments, the first predetermined number of storage and pick-and-place handling includes a vertical treatment rate and the second predetermined number of storage and handling treatments includes a horizontal treatment rate. In another aspect, the vertical treatment rate includes a payload transfer rate for a predetermined vertical storage height of the automated storage and pick and place system and the horizontal treatment rate includes a payload transfer rate of the predetermined vertical storage height and a pallet loading One or more of the payload handling rates of the machine or pallet unloader.

In accordance with one or more aspects of the disclosed embodiments, the automated storage and access system further includes: at least one vertical elevator module; a transfer floor section in communication with the at least one vertical elevator module; at least one storage a section that is in communication with the transfer floor; and at least one independently operable vehicle that is configured to pass through the transfer floor section and interface with the at least one storage section and the at least one vertical elevator module; Wherein the one of the at least one vertical elevator module, the transfer floor section, the at least one storage section, and the at least one independently operable carrier form one or more of the first or second independently operable sections By. In another aspect, the automated storage and handling system further includes at least one charging section configured to interface with the at least one independently operable vehicle, wherein the at least one charging station forms the first Or one or more of the second independently operable sections. In still another aspect, the automated storage and pick-and-place system further includes at least one pallet loading section and at least one pallet unloading section, wherein the at least one pallet loading section and the at least one pallet unloading zone One or more of the segments form one or more of the first or second independently operable segments. In still another aspect, the at least one vertical elevator module includes two side-by-side vertical elevators and the transfer floor includes a vehicle moving walkway shared by the two side-by-side vertical elevators. In still another aspect, the at least one vertical elevator module includes two side-by-side vertical elevators and the transfer floor includes an open floor that is configured to allow the carrier to be unaffected along the open floor Limited movement so that the carrier can access the two side-by-side vertical lifts. In another aspect, the transfer floor includes a carrier moving struts extending between adjacent load racks of the at least one vertical elevator module and shared by the adjacent payload shelves. In still another aspect, the transfer floor includes one or more of a carriage moving walkway and a path for accessing the payload shelf of the at least one multi-height vertical conveyor section.

In accordance with one or more aspects of the disclosed embodiments, one of the first or second independently operable sections includes a vertical elevator having a payload shelf, wherein each payload shelf includes a variable fabric The payload holding position.

In accordance with one or more aspects of the disclosed embodiments, one of the first or second independently operable sections includes a vertical lift that is configured to input a payload item to the automated storage and access system And removing the payload item from the automated storage and handling system.

In accordance with one or more aspects of the disclosed embodiments, the automated storage and handling system further includes a vertically stacked storage height, wherein one of the first or second independently operable sections includes a payload shelf A vertical elevator that is positioned in the automated storage and handling system such that each payload shelf can be accessed from each of the storage heights from opposite sides of the respective shelf.

In accordance with one or more aspects of the disclosed embodiments, the automated storage and access system further includes: at least one vertical elevator module; at least one storage section in communication with the at least one vertical elevator module; and at least An independently operable vehicle configured to pass through the transfer floor section and interface with the at least one storage section and the at least one vertical elevator module; wherein the at least one vertical elevator module, the at least one The storage section and one of the at least one independently operable vehicle form one or more of the first or second independently operable sections.

In accordance with one or more aspects of the disclosed embodiments, a method for delivering a payload in an automated storage and handling system includes providing a first independently operable section having a first predetermined number of storage and Pick and place handling; and providing a second independently operable section in communication with the first independently operable section and having a second predetermined number of storage and handling operations; wherein the first and second independently operable sections Each of the predetermined number of storage and handling operations is provided such that the first predetermined number of storage and handling operations substantially match the second predetermined number of storage and handling operations.

In accordance with one or more aspects of the disclosed embodiments, the first predetermined number of storage and pick-and-place handling includes a vertical treatment rate and the second predetermined number of storage and handling treatments includes a horizontal treatment rate. In accordance with one or more aspects of the disclosed embodiments, the vertical treatment rate includes a payload transfer rate for a predetermined vertical storage height of the automated storage and handling system and the horizontal treatment rate includes the predetermined vertical storage height One or more of the load transfer rate and the payload handling rate of the pallet loader or pallet unloader.

100‧‧‧Automatic storage and handling system

110‧‧‧Autonomous carrier

120‧‧‧Control server

130‧‧‧Storage structure

130A‧‧‧ Picking up the aisle

130B‧‧‧Transfer bottom plate

130B1‧‧‧ Storage height

130B2‧‧‧ Storage height

130BA‧‧‧ Path

130BA1‧‧ path

130BA2‧‧ path

130BAS1‧‧‧ side

130BAS2‧‧‧ side

130BS‧‧‧ walkway

130BS1‧‧‧ walkway

130BS4‧‧‧ walkway

130BSS1‧‧‧ side

130C‧‧‧Charging station

130D‧‧‧Transfer bottom plate

130L‧‧‧ Storage height

130P‧‧‧ pillar

130P1‧‧‧ pillar

130P2‧‧‧ pillar

130P3‧‧‧ pillar

130PS1‧‧‧ lateral side

130PS2‧‧‧ lateral side

130PT‧‧‧ linkage pillar

130S‧‧‧ Storage space

150‧‧‧ Lift module

150A‧‧‧ Vertical Lift Module

150B‧‧‧ Vertical Lift Module

150N‧‧‧ first side

150S‧‧‧ shelves

150S1‧‧‧ Shelving

150S2‧‧‧ Shelving

150S3‧‧‧ Shelving

150S4‧‧‧ Shelving

150S4N‧‧‧ Shelving

150S4U‧‧‧ Shelving

150U‧‧‧ second side

160‧‧‧Transfer station

160P‧‧‧Shipping loader

170‧‧‧Transfer station

170P‧‧‧Board Unloader

180‧‧‧Network

200‧‧‧ payload position

200C‧‧‧Central load position

200C1‧‧‧Central load position

200C2‧‧‧Central load position

200E1‧‧‧End load position

200E2‧‧‧End load position

200N‧‧‧load position

200NP‧‧‧ picking surface

200P‧‧‧ picking surface

200U‧‧‧load position

200UP‧‧‧ picking surface

210‧‧‧ Track

210M‧‧‧ Track members

301‧‧‧Transporter

302‧‧‧Transporter

501‧‧‧Transporter

601‧‧‧Transporter

701‧‧‧Transporter

702‧‧‧Transporter

901‧‧‧Transporter

902‧‧‧Transporter

2500‧‧‧Warehouse Management System

S1‧‧‧ side

S2‧‧‧ side

W‧‧‧Extended width

L‧‧‧ length

IP‧‧‧ inside position

OP‧‧‧Outside position

V1‧‧‧ aisle

V2‧‧‧ aisle

V3‧‧‧Aisle

V4‧‧‧ aisle

The above-described aspects and other features of the disclosed embodiments will be described in the following description in conjunction with the accompanying drawings in which: FIG. 1 is a schematic diagram of an automated storage and pick-and-place system in accordance with the disclosed embodiments; 19 is a schematic diagram of a portion of an automated storage and handling system in accordance with aspects of the disclosed embodiments.

1 is a schematic diagram of an automated storage and handling system 100 in accordance with one aspect of the disclosed embodiment. The aspects of the disclosed embodiments will be described with reference to the drawings, but it should be understood that the aspects of the disclosed embodiments may be embodied in alternative forms. In addition, any suitable size, shape or type of elements or materials may be used.

In accordance with an aspect of the disclosed embodiment, the automated storage and handling system 100 can operate in a retail distribution center or warehouse to, for example, implement an order to receive a tank unit from a retail store (such as applying on December 15, 2011). The disclosure is described in the U.S. Patent Application Serial No. 13/326,674, the entire disclosure of which is incorporated herein by reference.

The automated storage and handling system 100 can include feed and discharge transfer stations 170, 160 (which can include pallet loader 160P and/or pallet unloader 170P), input and output vertical lifts 150A, 150B (commonly known as The elevator module 150; it should be understood that although the input and output elevator modules have been shown, a single elevator module can be used to input and remove objects from the storage structure), a storage structure 130 and a number of autonomous vehicles 110. It will be appreciated that the pallet unloader 170P can be configured to remove items from the pallet such that the feed transfer station 170 can transport the items to the elevator module 150 and into the storage structure 130. The pallet loader 160P can be configured to place items removed from the storage structure 130 on a pallet for shipping. The storage structure 130 can include a plurality of heights 130L of the storage rack module. Each storage height 130L includes a storage space 130S and a storage or picking walkway 130A that provides, for example, a storage storage space 130S and a transfer floor 130B above which the carrier vehicle 110 is at a respective storage height 130L. Move to transfer the tank unit between any of the storage spaces 130S of the storage structure 130 and any of the shelves of the elevator module 150. Each storage height 130L may also include a charging station 130C for charging one of the onboard power supplies of the carrier 110 at a storage height 130L.

In the entire storage and handling system 100, the carrier 110 can be any suitable independently operable autonomous vehicle capable of carrying and transferring the tank unit. In one aspect, the carrier 110 can be an automated, self-contained (e.g., free-riding) carrier. A suitable example of a carrier can be filed on December 15, 2011, U.S. Patent Application Serial No. 13/326,674, filed on Dec. US Patent Application No. 13/326,423; U.S. Patent Application Serial No. 13/326, 447, filed on Dec. 15, 2011; and U.S. Patent Application Serial No. 13/326,505, filed on Dec. 15, 2011; U.S. Patent Application Serial No. 13/327, 040, filed on Dec. 15, 2011, the disclosure of The full text is incorporated by reference into this case. The carts 110 can be grouped to place a tank unit (such as the retail item described above) in a pick-up bank at one or more of the heights of the storage structure 130, and then selectively pick and place the tank units for shipment. There are sequential tank units to, for example, a store or other suitable location.

The carrier 110, elevator module 150 and other suitable features of the storage and handling system 100 can be controlled by, for example, one or more central system control computers (e.g., control servers) 120 via, for example, any suitable network 180. The network 180 using any suitable type and/or number of protocols may be a wired network, a wireless network, or a combination of wireless and wired networks. In one aspect, control server 120 can include a set of generally concurrently running programs (e.g., system management software) for substantially automated control of automated storage and handling system 100. The set of substantially simultaneously running programs can be grouped to manage the storage and handling system 100, which includes (for illustrative purposes only) control, scheduling, and monitoring of all active system components, managing inventory (eg, where the tank is The unit is input and removed, and the tank unit is stored therein) and a picking surface (eg, one or more tank units that can be moved in one unit) and activities interfaced with the warehouse management system 2500.

One or more elevator modules 150, transfer floor 130B, picking walkway 130A, storage space 130S, transfer stations 160, 170 and carrier vehicle 110 may form one or more of a first independently operable section and a second independently operable section . The first independently operable section can have a first predetermined number of storage and handling operations, and the second independently operable section in communication with the first independently operable section can have a second predetermined number of storage and handling Dispose of. The first and second independently operable sections may be configured to provide respective predetermined amounts of storage and handling treatment such that the first predetermined number of storage and handling operations are substantially associated with a second predetermined number of storage and handling match. In one aspect, the one or more elevator modules 150 can form a first independently operable section such that the first predetermined number of storage and handling operations can include a vertical disposal rate. One or more of the storage heights (which may include at least the cart 110, the pick-up aisle 130A, the transfer floor 130B, and the storage space 130S at their respective storage heights) may form a second independently operable section such that a second predetermined number of storages And pick and place disposal may include a horizontal or high treatment rate. The vertical treatment rate may be a predetermined storage height of the automated storage and pick-and-place system of a pick-up surface (eg, payload) transfer rate, and the horizontal treatment rate may be a pick-up surface transfer rate of a predetermined storage height of 130 L and/or a pallet One or more of the pick-up surface disposal rates of the loader or pallet unloader.

In one aspect, the horizontal treatment rate can be resolved in an efficient manner or in any other suitable manner through the optimization plan and control software dispatched to the controller 120 of the vehicle 110. This level of treatment rate can also be increased by increasing the average speed of the cart 110 in any suitable manner. The vertical treatment rate may depend on the number of seconds between, for example, the output of the elevator module 150 on the output of the pick-up surface or the continuous shelf 150S of the input of the elevator module 150 on the input of the pick-up surface. The vertical treatment rate can be solved by increasing the amount of pick-up surface holding or load position 200 (FIG. 2) and/or increasing the amount of elevator module 150 on each elevator module 150, shelf 150S, which will be further described below. describe in detail. It will be appreciated that as will also be seen hereinafter, increasing the vertical disposal rate may reduce the amount of elevator modules 150, reduce the area of the transfer floor 130B, and/or permit bi-directional operation of the elevator module 150, wherein the single elevator module 150 may simultaneously process Pick up the input and output of the face. In other aspects, throughput (eg, horizontal and/or vertical disposal rate) may be increased by reducing the transfer floor channel and/or path or repositioning the elevator module 150 to facilitate an optimized carrier 110 passing through Time, which will be explained below.

Referring now to Figures 2 and 3, a portion of the vertical elevator section 150 is shown. The vertical elevator module 150 can include one or more shelves 150S that rotate substantially continuously about a track 210 formed by one or more track members 210M. In other aspects, the vertical elevator module 150 can have any suitable configuration to transport the pick surface 200P (eg, one or more tank units moving in a unit) to and from different storage heights 130L. Each shelf 150S can have a longitudinal axis LON and a lateral axis LAT. In this aspect, the longitudinal axis LON of the shelf spans substantially between the track members 210M such that the lateral sides of the shelf are opposite the first side 150N and a second side of the vertical elevator module 150. The sides 150U (it will be understood that this will be explained below, the two sides can be used for pick-up face input/output, pick-up face output/output or pick-up face input/input) are adjacent to each other. In other aspects, the longitudinal sides of the shelf may be adjacent to each other with respect to the first side 150N and the second side 150U of the vertical elevator module 150. The shelves 150S can be grouped to hold one or more picking faces 200P, with one or more picking faces 200P having any suitable spatial configuration on the shelf 150S, as will be described in more detail below. For example, each shelf 150S shown in Figure 2 has two side-by-side load locations 200, but in other aspects, the shelves have any suitable number of load locations 200 that are disposed in any suitable spatial relationship.

The picking surface can be transferred to the shelf 150S and transferred out of the shelf in any suitable manner. In one aspect, the carrier 110 can transfer the pick surface to the shelf 150S and out of the shelf as the shelf moves substantially continuously about the track 210M. In another aspect, as shown in FIG. 3, one or more of the input/output conveyors 301, 302 (generally referred to as a "conveyor" or a plurality of "transporters") can also transfer the pickup surface to the shelf. 150S and transfer out of the shelf. The conveyors 301, 302 can transport the pick-up surface between one or more of the vertical elevator module 150 and the transfer stations 160, 170. It will be appreciated that the conveyors 301, 302 can be disposed on any suitable side 150N, 150U of the vertical elevator module 150 (e.g., depending on whether it will be loaded or unloaded from the pick surface).

Reference is now made to Fig. 4, which shows several examples of shelf configurations in accordance with aspects of the disclosed embodiments. Shelves 150S1 through 150S3 shown here are adjacent transfer bottom plates 130B. The transfer floor 130B includes a path 130BA and a walkway 130BS that provide access shelves 150S1 through 150S3. In these examples, the shelf is generally disposed in parallel with the path 130BA of the transfer floor. Shelf 150S1 can be substantially similar to that described above with respect to Figures 2 and 3. Shelf 150S2 includes two end load locations 200E1, 200E2 and an intermediate or central load location 200C. Here, the shelf 150S has a length L1 such that only two carriers 110 (which are positioned side by side or end to end) can reach the end load position 200E1, 200E2 or the single carrier 110 can reach the central load position. 200C. Here, in order to use the three load positions 200E1, 200E2, 200C, the two end load positions 200E1, 200E2 can be accessed from one storage height 130L and the central load position 200C can be accessed from another different storage height 130L. For example, the planning and control software of the controller 120 can dispatch the vehicle tasks such that some of the storage heights 130L can have the carrier access end load locations 200E1, 200E2 and the other storage heights 130L can have the carrier access to the central load location 200C. It should be appreciated that the assigned storage height 130L access end or central load location may not be fixed and may be dynamically scheduled (eg, in one example, the predetermined storage height may be accessed to the end load location, and in another example, the same The predetermined height can be reached to the central load position). Shelf 150S3 also includes three load locations, such as end load locations 200E1, 200E2 and central load location 200C. However, the shelf 150S3 has a length L2 such that the three carriers 110 can be positioned side by side or end to end without interfering with each other to substantially simultaneously access all three load positions 200E1, 200E2 from the storage height 130L. 200C. It will be appreciated that the payload position 200 on each shelf 150S is a variable configuration such that the payload location 200 can be positioned at any suitable predetermined location on the shelf 150S. In one aspect, controller 120 can dispatch vehicle tasks such that any load locations 200, 200E1, 200E2, 200C on any one of shelves 150S1, 150S2, 150S3 can be dynamically at any suitable predetermined storage height. Access. In other aspects, the access to a predetermined load position can be fixed to a predetermined storage height 130L.

Referring to FIG. 5, in one aspect, a top view of a shelf 150S having a load configuration substantially similar to one of the shelves 150S2 is shown. As shown, the two carts 110 on the storage height 130B1 are connected to the end load locations 200E1, 200E2 without interfering with each other. Correspondingly, the conveyors 301, 302 are positioned at different vertical heights relative to the storage height 130B1 to load the pick-up surface to the end load locations 200E1, 200E2 of the shelf 150S and/or the end load locations 200E1, 200E2 from the shelf 150S. Unload the pickup surface. FIG. 5 also illustrates a carrier 110 that is positioned at a different storage height 130B2 and that is coupled to a central load location 200C. It will be appreciated that the central load location 200C can have a corresponding conveyor 501 (generally similar to the conveyors 301, 302) that can be positioned at a different vertical height than the conveyors 301, 302 to load the pickup surface The pick-up surface is unloaded from the central load location 200C of the shelf 150S and/or from the central load location 200C of the shelf 150S. It will be appreciated that the vertical heights of the conveyors 301, 302, 501 and other conveyors used to load the pick-up surface to the shelf 150S and/or the pick-up surface from the shelf 150S are flexible, such that Or a plurality of conveyors are positioned at different vertical heights than other conveyors that access the same or different shelves 150S.

In one aspect, FIG. 6 illustrates a shelf 150S having four load locations, such as two end load locations 200E1, 200E2 and two central load locations 200C1, 200C2. Here, the carriers arranged side by side or head-to-tail can be connected to the agreed load position (eg every other load position) without interfering with each other. For example, at a storage height 130B1, the cart 110 can access the load locations 200E1, 200C2 without interfering with each other. At a different storage height 130B2, the cart 110 can access the load locations 200C1 and 200E2 without interfering with each other. It will be appreciated that each pair of load locations 200E1, 200C2 and 200C1, 200E2 may have a corresponding conveyor disposed at a different vertical height. For example, the conveyors 302, 501 can be positioned, for example, at a first vertical height to transfer the pickup surface to and from the load locations 200E1, 200C2. The conveyors 301, 601 can be positioned, for example, at a second vertical height that is different than the first vertical height to transfer the pickup surface to and from the load locations 200C1, 200E2. In other aspects, each conveyor 301, 302, 501, 604 can be positioned at a different vertical height.

According to another aspect, FIGS. 7A and 7B illustrate a shelf 150S4 having an expanded width W and any suitable length L for holding, for example, two rows of pick-up faces (eg, on each side of the shelf S1, S2) Each has a row) in which the carrier 110 accesses the picking surface from the sides S1, S2 of the shelf 150S4. The conveyors 301, 302, 701, 702 can be positioned relative to the shelf 150S4 to transfer the pick-up surface to and from the load position substantially in a manner similar to that described above. In one aspect, all of the load positions 200N of the shelf can be used to load the pick-up surface to the elevator module 150 relative to the illustrated shelf 150S4N. In other aspects, all of the load positions 200U of the shelf can be used to unload the picking surface from the elevator module 150 relative to the shelf 150S4U shown. In still other aspects, as will be explained below, some of the load locations 200 of the shelves 150S4 can be used to load the pick-up surface to the elevator module 150 and some of the load locations can be used to unload the pick-up surface from the elevator module 150. It should be appreciated that the shelves 150S4 can also be configured to hold the picking surface such that each of the sides S1, S2 of the shelf 150S4 can have a load position that is substantially similar to that described for FIG. . It will be appreciated that the load position for load or unloading can be determined by the direction of movement of the shelf relative to one of the transfer stations (either storage height 130L or one of the conveyors) from its access load position.

Referring now to Figures 7C through 7F, in order for the vehicle to reach the sides S1, S2 of the shelf 150S4, one or more of the elevator modules 150 can be positioned relative to, for example, the transfer floor 130D such that one or more walkways 130BS and / or path 130BA runs along respective sides S1, S2 of shelf 150S4. For example, as shown in Figures 7C and 7D, the elevator module 150 is configured such that the respective sides S1, S2 of the access shelf 150S4 are provided by the path 130BA of the transfer floor 130B, which causes the elevator module 150 to be substantially It is surrounded by aisle 130BS and path 130BA. It will be appreciated that the area of the transfer backplane 130B can be reduced by removing, for example, the path 130BA from the transfer backplane. As an example, the transfer floor area is reduced by removing one or more paths 130BA on one side of the elevator module 150 that is placed opposite the picking aisle 130A from FIGS. 7C through 7D. In other aspects, the path 130BA between the elevator module 150 and the picking walkway 130A can be removed to reduce the area of the transfer floor 130B. In accordance with the disclosed embodiment, as shown in Figures 7E and 7F, one or more elevator modules 150 can be positioned relative to the transfer floor 130B such that access is to the sides S1, S2 of the shelf 150S4. The load position is provided by the aisle 130BS of the transfer floor 130B. It will be appreciated that an area of the transfer floor provided by the walkway 130BS to access the load position can be eliminated and/or borrowed by eliminating the amount of walkway 130BS between the shelves 150S4 (as shown in Figures 8A and 8B). Reduced by eliminating the path 130BA on either side of the elevator module 150. It should be appreciated that the wires of the shelf 150S4 shown in Figures 7E and 7F can be replaced between having a load station 200N and a load station 200U (e.g., an input elevator module placed next to an output elevator module), such that The distance traveled by the carrier between the transfer of a pick-up surface to a load location 200N and then from a load location 200U to a pick-up surface may be shorter than the distance provided by the path 130BA to the access sides S1, S2. In other aspects, the shelves shown in Figures 7C and 7D can be configured such that each line side S1 of the shelf accessed by a common path 130BA can be at load location 200N and load location 200U ( For example, an input elevator module is placed next to the output elevator module) so that the distance moved by the carrier 110 between the load and the unloading pick-up surface to the shelf is substantially the same as when the walkway 130BS is used. The distance moved when accessing the side. It should be appreciated that in other aspects, the region of the transfer floor 130B can remove the walkway 130BS between adjacent elevator modules 150 (FIG. 7G), which can be placed directly adjacent to the picking walkway 130A. (FIG. 7H), the transfer floor may be configured to substantially lack one of the walkway 130BS and the open path of the path 130BA (FIG. 7I), and/or the transfer floor or the pick-up of the storage structure may form a post (eg, having a walkway 130BS), The walkway 130BS can extend from the path 130BA of the transfer floor, as will be explained below. In still other aspects, the area of the transfer floor can be reduced in any suitable manner.

As described above, the shelf 150S4 can also be used to pick up surface loads and pick-up surface unloading operations. For example, the side S1 of the shelf 150S4 can be used to load the pick surface onto the shelf, while the side S2 of the same or shared shelf 150S4 can be used to unload the picking surface from the shelf, as in Figures 9A through 9C, 10 and Shown. This allows a pick-up surface to be input to and output from the storage structure using a common or identical elevator module 150. For example, the side S1 of the shelf 150S4 may have a load location 200N for the load pick-up surface to the shelf 150S4, while the side S2 may have a load location 200U for unloading the pick-up surface from the shelf 150S4. As shown in Figures 9A and 9B, the transfer floor 130B can be accessed from the outboard position OP of one of the elevator modules to the load locations 200N, 200U, and at the same time from the inside position IP by the conveyors 301, 302, 901, 902 (e.g. Access to the load position in the area between the vertical stacks of shelves. In other aspects, the transfer floor 130B can be accessed from the inner side of the elevator module IP to the load locations 200N, 200U, and at the same time from the outer position OP by the conveyors 301, 302, 901, 902 (eg, the shelf The area between the vertical stacks) is connected to the load position. It should be appreciated that while each side S1, S2 of a shelf 150S4 has been shown to have two load positions, in other aspects there may be any suitable number of load positions having any suitable configuration (such as This article is for Figure 4). Figure 9B may be referred to as (for illustrative purposes) as shown in one of the shared shelves 150S4 having load locations 200N, 200U, which may be used for both loading and unloading of the picking surface. The pick-up surface 200NP having a hatched pattern indicates the pick-up surface at the load position 200N (for example, from the storage load to the elevator module), and the shaded pick-up surface 200UP indicates the pick-up surface at a load position 200U. (eg unloading from the lift module to the storage). When loaded on the elevator module 150, the picking surface 200NP from the input conveyor 901 (which may be included in the input transfer station 170 of FIG. 1) is from the inside of one of the elevator modules 150, for example, in any suitable manner. The position IP is loaded on the shelf 150S4 such that the picking surface 200NP is disposed toward the inside of the elevator module 150. When the shelf 150S4 moves beyond the top of the elevator module 150 to the pair of sides, the pickup surface becomes disposed on the outer side of the elevator module 150, and is accessed by the carrier 110 disposed at each storage height 130L. The picking surface is unloaded from the elevator module 150. At the same time, the pickup surface 200UP is loaded by the carrier 110 from the outside of the elevator platform 150S4 to the shelf 150S4. When the picking surface 200UP moves past the top of the elevator module 150S4, the picking surface 200UP becomes disposed inside the elevator module 150, which moves down to the conveyor 902 (which may be included in the output transfer station 160 of FIG. 1) Used to unload the pickup surface from the elevator module 150 to the conveyor 902. The two-way elevator module shown in Figures 9A through 9B allows for the simultaneous use of shelves 150S4 that move up and down as compared to elevator modules that have only input or only output. As shown in Figures 10 and 11, the sides S1, S2 of the access shelf 150S4 can be provided generally similar to that described above such that the aisle 130BS or path 130BA of the transfer floor 130B substantially surrounds the elevator module 150 such that One or more walkways 130BS or paths 130BA may provide access shelves 150S4, for example depending on the orientation of the shelves 150S4 relative to the transfer floor (as mentioned above). It should also be appreciated that in one aspect, the storage structure 130 can be configured such that the picking walkway 130A and the storage space 130S are disposed only on one side of the elevator module 150 (Fig. 10), while in other aspects, picking up The walkway 130A and the storage space 130S may be disposed on two or more sides of the elevator module 150 (Fig. 11).

While a multi-position elevator module has been described above, in accordance with an embodiment of the disclosed embodiment, the elevator module 150 can include a shelf having only a single load location 200. For example, referring to FIG. 12A, a storage structure 130 is shown having a transfer floor 130B having, for example, twenty-four single elevator modules 150, each elevator module 150 having a single load location 200. Compared with a storage structure having a similar transfer floor but having two input elevator modules and two output elevator modules, for example, having two load positions on each shelf, the number of load positions 200 and FIG. 12A The vertical treatment that occurs in the composition shown may be higher. The controller 120 can adjust the operation of the vehicle accordingly such that the horizontal transfer rate of each storage height 130L substantially matches the vertical transfer rate of the elevator module 150. In other aspects, the controller can adjust the transfer rate of the transfer stations 160, 170 to substantially match the vertical transfer rate of the elevator module. It should be understood that the configuration of the storage structure 130 and the elevator module 150 shown in FIG. 12A is merely exemplary, and in other aspects, the storage structure and the elevator module may have any suitable configuration. The fabric has any suitable number of elevator modules (which may have one or more load locations on each shelf).

As shown in FIG. 12A, in one aspect, one or more of the transfer floor 130BS can extend from the transfer floor 130B to form a respective post 130P (eg, an extension of the transfer floor). Each post may include a path 130BA that provides a load location 200 for each shelf 150S for positioning the elevator module 150 at one or more lateral sides 130PS1, 130PS2 of the respective strut 130P. It will be appreciated that the post 130P can have any suitable length to accommodate any suitable number of elevator modules 150. As shown in FIG. 13, the load position for each elevator module 150 disposed along the path 130BA of a post 130P can be positioned along one or more of the sides 130BAS1, 130BAS2 of the path 130BA. Figure 12B is a partial schematic view of a portion of the storage structure 130 shown in Figure 12A. As shown in Figure 12B, the load location 200 of each elevator module 150 is disposed on one of the common sides 130BAS2 of each of the various paths 130BA of the post 130P. In another aspect, as shown in Figure 13, the load location 200 is on opposite sides 130BAS1, 130BAS2 of path 130BA.

In another aspect, as shown in Figures 14 and 15, the aisle 130BS of the strut 130P can provide a load location 200 for accessing an elevator module such that the load location is disposed at one end of the strut 130P. As shown in FIG. 14, the immediately adjacent walkway 130BS can form the struts 130P, 130P1 such that the load locations are configured to be side by side. In other aspects, there are one or more walkways 130BS between the struts (see Figures 12A and 15). As shown in Fig. 15, four pillars are formed by walkways 130BS1 to 130BS4, wherein the pillars 130P1 and 130P2 are in close proximity to each other, and the pillars 130P and 130P1 and the pillars 130P2 and 130P3 have walkways separating the pillars. As shown in Figure 15, the load location 200 is arranged as the end of each strut in a manner substantially similar to that described with respect to Figure 14. As also shown in FIG. 15, any suitable number of load locations 200 can be disposed along one or more of the sides 130SBS1, 130BSS2 of each of the struts 130P through 130P3.

In accordance with another aspect of the disclosed embodiment, Figures 16 and 17 are examples of post configurations in which load station 200 is disposed on the sides 130PS1, 130PS2 and ends of the strut. As shown in Figure 16, the struts can be a single struts (also seen in struts 130PS) or linkage struts 130PT (Fig. 17). The linkage struts 130PT can include two or more struts that are connected to one another by, for example, one or more of the struts 130BA.

Figures 18 and 19 illustrate a single load position 200 elevator module 150 configured substantially similar to that described with respect to Figures 4, 7C through 7I, 8A, 8B, 9C, 10 and 11, which allows access to each load Station 300 is provided by a path 130BA along one of the transfer backplanes 130B. The area providing the transfer floor 130B to the load position may be referred to as an aisle. Figure 18 illustrates two aisles V1, V2, each having two rows of elevator modules, each elevator module having one or more load locations 200, wherein the path 130BA1 provides access to a row of elevator modules, and Path 130BA2 provides access to another row of elevator modules. It should be understood that the aisles V1, V2 may include more or less than two rows of elevator modules. It should be appreciated that each of the aisles V1, V2 may include one or more side-by-side elevator modules 150. For exemplary purposes only, each path 130BA1, 130BA2 of the aisle V1 provides access to one elevator module 150, and each path 130BA1, 130BA2 of the aisle V2 provides access to two side-by-side elevator modules 150. Similarly, FIG. 19 illustrates a transfer floor assembly having four aisles V1 to V4, wherein the aisle V1 provides access to a single load location 200, and the aisle V2 provides access to two load locations 200, aisles V3 provides access to three load locations 200 and aisle V4 provides access to four load locations 200. It will be appreciated that the load location in each aisle may be provided by a single elevator module (e.g., having multiple load locations) or multiple elevator modules (e.g., having a single load location).

It should be understood that the above description is only illustrative of the aspects of the disclosed embodiments. Various changes and modifications can be made by those skilled in the art without departing from the scope of the disclosed embodiments. Accordingly, the scope of the disclosed embodiments is intended to cover all such modifications, modifications and In addition, the fact that the different features mentioned in the dependent claims or the independent items in the claims are not intended to be used in an advantageous manner, and the combination remains within the scope of the invention. .

Claims (20)

 An automated storage and handling system comprising: at least one vertical elevator module having an elevator platform; a transfer floor section in communication with the at least one vertical elevator module; at least one storage section connected to the transfer floor And at least one independently operable vehicle configured to pass through the transfer floor section and interface with the at least one storage section and the at least one vertical elevator module; wherein the transfer floor comprises a carriage moving path And the vehicle moving the walkway, and the at least one vertical lift module is substantially surrounded by the transport path of the vehicle and the moving walkway of the vehicle to provide access to the opposite side of the at least one vertical lift module to The lift platform.    The automated storage and pick-and-place system of claim 1, wherein the at least one vertical elevator module, the transfer floor section, and the at least one storage section and one of the at least one independently operable carrier are One or more of the first or second independently operable sections are formed.    The automated storage and handling system of claim 2, further comprising at least one charging section configured to interface with the at least one independently operable vehicle, wherein the at least one charging station forms the first One or more of the one or second independently operable sections.    The automated storage and pick-and-place system of claim 2, further comprising at least one pallet loading section and at least one pallet unloading section, wherein the at least one pallet loading section and the at least one pallet unloading zone One or more of the segments form one or more of the first or second independently operable segments.    The automated storage and handling system of claim 1, wherein the at least one vertical elevator module comprises two side-by-side vertical elevators and the vehicle moving walkway shared by the two side-by-side vertical elevators.    The automated storage and pick-and-place system of claim 1, wherein the at least one vertical elevator module comprises two side-by-side vertical elevators and the transfer floor comprises an open floor, the open floor being configured to enable the vehicle to be Unrestricted movement along the open floor so that the carrier can access the two side-by-side vertical lifts.    The automated storage and handling system of claim 1, wherein the vehicle moving walkway extends between adjacent vertical lift modules.    An automated storage and handling system as claimed in claim 1 wherein the vehicle moving walkway extends between adjacent elevator platforms of a common vertical lift module.    For example, the automated storage and pick-and-place system of claim 1 wherein each vertical elevator module includes a variable-stack payload holding position.    The automated storage and handling system of claim 1, wherein the vertical elevator module is configured to input payload items to the automated storage and access system and to remove effective removal from the automated storage and access system Load object.    The automated storage and handling system of claim 1, further comprising a vertically stacked storage height, wherein the elevator platforms are located within the automated storage and access system such that each elevator platform is accessible from a respective elevator platform Set the side to each storage height.    An automated storage and handling method comprising: providing at least one vertical elevator module; providing a transfer floor section in communication with the at least one vertical elevator module, the transfer floor comprising a carrier moving path and a carrier moving walkway, Substantially surrounding the at least one vertical elevator module to provide access to the elevator platform on opposite sides of the at least one vertical elevator module; providing at least one storage section communicating with the transfer floor; and interfacing The at least one storage section and the at least one vertical elevator module and at least one independently operable vehicle passing the transfer floor section.    The method of claim 12, further comprising at least one charging section configured to interface with the at least one independently operable vehicle.    The method of claim 12, further comprising providing at least one pallet loading section and at least one pallet unloading section.    The method of claim 12, further comprising providing two side-by-side vertical lifts and moving the walkways to each of the two side-by-side vertical lifts.    The method of claim 12, further comprising extending the carriage moving walkway between adjacent vertical elevator modules.    The method of claim 12, further comprising extending the carriage moving walkway between adjacent elevator platforms of the shared vertical elevator module.    The method of claim 12, further comprising inputting the payload item to the automated storage and pick-and-place system with the vertical elevator module and removing the payload item from the automated storage and handling system.    The method of claim 12, further comprising providing a vertical stack storage height and positioning the vertical elevator module in the automated storage and handling system such that each elevator platform is contiguous from the respective elevator platform The side accesses each storage height.    The method of claim 12, further comprising providing two side-by-side vertical elevators on the at least one vertical elevator module, providing an open floor assembly on the transfer floor such that the carrier can be opened along the The bottom plate is unrestricted for movement, and the two side-by-side vertical elevators are accessed by the vehicles via the open floor assembly.