EP3402732A1 - Method of retrieving an article from a storage bin - Google Patents
Method of retrieving an article from a storage binInfo
- Publication number
- EP3402732A1 EP3402732A1 EP16819912.3A EP16819912A EP3402732A1 EP 3402732 A1 EP3402732 A1 EP 3402732A1 EP 16819912 A EP16819912 A EP 16819912A EP 3402732 A1 EP3402732 A1 EP 3402732A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- compartment
- storage bin
- selected article
- opening
- lid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/23—Devices for tilting and emptying of containers
Definitions
- the storage bin comprises corresponding attachment means (e.g. openings 26 for accommodating the lifting grips 12) for interacting with the attachment means on the lifting frame.
- the disclosed prior art storage bin comprises a single compartment 16, however storage bins comprising multiple compartments are also known.
- a schematic drawing of a multi-compartment storage bin for use in a method or system according to the invention is shown in fig. 3.
- the multi-compartment storage bin comprises a bottom plate 15, multiple walls defining multiple compartments 16, and an open face, i.e. each compartment is delimited by the walls and features an opening opposite the bottom plate.
- This particular storage bin comprises twelve separate compartments, i.e. a compartment grid comprising three times four rows.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Packaging Of Annular Or Rod-Shaped Articles, Wearing Apparel, Cassettes, Or The Like (AREA)
Abstract
The present invention provides a method of retrieving at least one selected article (13) from at least one compartment in a multi-compartment storage bin (4) comprising a bottom plate (15), multiple walls defining multiple compartments (16), and an open face, such that each compartment has a compartment opening (25) opposite the bottom plate, the method comprises the steps of: retrieving the multi-compartment storage bin (4) from a storage column (7) in a storage system (1); covering a part of the open face by a selecting element (17), such that only the compartment opening of the at least one compartment containing the at least one selected article (13) is open; rotating the multi-compartment storage bin (4) following step b), such that the open face is arranged in a downwards direction; and allowing the at least one selected article (13) to exit the at least one compartment in which it was contained; and a system suitable for the method.
Description
METHOD OF RETRIEVING AN ARTICLE FROM A STORAGE BIN
Technical field of the invention The present invention concerns a method and a system for emptying a selected compartment from a multi-compartment storage bin in a storage system.
Background Multi-compartment storage bins for use in a storage system is known. A detailed description of a relevant prior art storage system is given in WO 98/49075. More specifically the prior art storage system comprises a three dimensional storage grid containing storage bins that are stacked on top of each other to a certain height. The storage grid is normally constructed as aluminium columns interconnected by top rails. A number of remotely operated vehicles, or robots, are arranged on the top rails. Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored inside the storage grid.
In case of a multi-compartment storage bin, the specific storage bin containing a selected article is retrieved by a robot. After being delivered to a delivery station, a person operating the delivery station, or a subsequent picking station, will locate the specific compartment in which the selected article is located and retrieve it by hand. The multi-compartment storage bin is then returned to the storage system. A multicompartment storage bin may comprise a large number of separate compartments and the manual locating and picking procedure will introduce a risk of error, i.e. picking the wrong article, and further, is quite labour intensive.
The goal of the present invention is to provide an improved and/or simplified method and system for selecting and picking a selected article from a multi- compartment storage bin.
Summary of the invention
The present invention is defined by the appended claims and in the following:
In a first aspect, the present invention provides a method of retrieving at least one selected article from at least one compartment in a multi-compartment storage bin comprising a bottom plate, multiple walls defining multiple compartments, and an open face, such that each compartment has a compartment opening opposite the bottom plate, the method comprises the steps of:
a. retrieving the multi-compartment storage bin from a storage column in a storage system;
b. covering a part of the open face by a selecting element, such that only the compartment opening of the at least one compartment containing the at least one selected article is open;
c. rotating the multi-compartment storage bin following step b), such that the open face is arranged in a downwards direction; and
d. allowing the at least one selected article to exit the at least one
compartment in which it was contained.
Alternatively, step c) and d) may be defined as a single step, i.e. rotating the multicompartment storage bin following step b), such that the open face is arranged in a downwards direction that allows the at least one selected article to exit the at least one compartment in which it was contained. The at least one selected article is understood to exit the at least one compartment due to gravity.
The method may be used for retrieving one selected article, from a single compartment, multiple selected articles, wherein the multiple selected articles are contained in a single compartment, or multiple selected articles, wherein each of the multiple selected articles is contained in a separate corresponding compartment.
By rotating the multi-compartment storage bin, the at least one selected article may exit the at least one compartment due to gravity, i.e. fall or slide out of the compartment, subsequent to step b), while any non-selected articles will remain in their corresponding compartments.
In a further embodiment of the method according to the invention, the selecting element is a lid comprising at least one opening arrangeable over the compartment containing the at least one selected article.
In one embodiment of the method according to the invention, the position of the at least one opening in the lid is set, and the method comprises a step of selecting a lid having an opening with a size and position corresponding to the compartment containing the at least one selected article.
In yet an embodiment of the method according to the invention, the position and size of the at least one opening in the lid is controllable, and the method comprises a step of selecting a position and size for the opening corresponding to the at least one compartment containing the at least one selected article.
In a second aspect, the present invention provides a system for retrieving at least one selected article from at least one compartment in a multi-compartment storage
bin having a bottom plate, multiple walls defining multiple compartments, and an open face, such that each compartment has a compartment opening opposite the bottom plate, comprising a selecting element for covering a part of the open face, such that only the compartment opening of the at least one compartment containing the at least one selected article is open, such that the at least one selected article may be allowed to exit the at least one compartment in which it was contained, wherein the selecting element is a lid comprising at least one opening having a set position at the position of the at least one compartment containing the selected article.
In one embodiment of the system, the multi-compartment storage bin comprises means for attaching the storage bin to a lifting frame of a robot, and the lid is provided with attaching means allowing the lid to be attached to the multicompartment storage bin via said means for attaching the storage bin to the lifting frame.
The method or system according to the invention may comprise a step of, or means for, transferring the at least one selected article to a delivery or picking station in case the selected article exits the multi-compartment storage bin at a position remote from said delivery or picking station. Such means may include any suitable manual or automatic means, preferably automatic means such as a conveyor belt, robot arm etc.
Short description of the drawings
The present invention is described in detail by reference to the following drawings:
Fig. 1 is a perspective view of a prior art storage system. Fig. 2 is a perspective view of a prior art single-compartment storage bin and a cooperating lifting frame.
Fig. 3 is a schematic drawing of a multi-compartment storage bin. Fig. 4 is a schematic drawing of a lid for covering the open face of the multicompartment storage bin in fig. 3. The lid has a set position for an opening corresponding to one of the compartments in a multi-compartment storage bin.
Fig. 5 is a schematic drawing of the multi-compartment storage bin in fig. 1, wherein a part of the open face is covered by the lid in fig. 4.
Fig. 6 is a schematic drawing of the multi-compartment storage bin and lid in fig. 5, turned upside down. The sequence of figs. 4-6 shows one embodiment of the method according to the invention. Fig. 7 is a schematic drawing of a lid for covering the open face of the multicompartment storage bin in fig. 3. The lid has a mechanism able to control the position of the opening corresponding to one of the compartments in a multicompartment storage bin.
Detailed description of the invention
The present invention is particularly suitable for use in combination with prior art storage systems, such as the one disclosed in WO 98/49075. Such a prior art storage system comprises a three dimensional storage grid containing storage bins that are stacked on top of each other up to a certain height. The storage grid is normally constructed as aluminium columns interconnected by top rails, and a number of remotely operated vehicles, or robots, are arranged to move laterally on these rails. Each robot is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid, and a rechargeable battery in order to supply electrical power to a robot incorporated motor. The robot typically communicates with a control system via a wireless link and is recharged at a charging station when needed, typically at night. An example of a prior art storage system is illustrated in figure 1. The storage system 1 includes a plurality of vehicles or robots 2 configured to move on dedicated supporting rails 3 and to receive a storage bin 4 from a storage column 7 within a bin storing grid 8. The prior art storage system 1 may also include a dedicated bin lift device 9, the latter being arranged to receive a storage bin 4 from the robot 2 at the top level of the storage system 1 and to convey the storage bin 4 down in a vertical direction to a delivery station 10, or port. The robot retrieves the storage bin by use of a lifting frame 11 connected to the robot by a wire or belt. The lifting frame comprises attachment means (e.g. lifting grips 12) for connection to the storage bin, see fig. 2. Commonly, the storage bin comprises corresponding attachment means (e.g. openings 26 for accommodating the lifting grips 12) for interacting with the attachment means on the lifting frame. The disclosed prior art storage bin comprises a single compartment 16, however storage bins comprising multiple compartments are also known. A schematic drawing of a multi-compartment storage bin for use in a method or system according to the invention is shown in fig. 3. The multi-compartment storage bin comprises a bottom plate 15, multiple walls defining multiple compartments 16,
and an open face, i.e. each compartment is delimited by the walls and features an opening opposite the bottom plate. This particular storage bin comprises twelve separate compartments, i.e. a compartment grid comprising three times four rows. However, the described method and system is equally suitable for any other compartment configuration having fewer or more compartments, i.e. three times three rows, four times five rows, etc. Only the features relevant for the present invention are shown and multi-compartment storage bins for use in prior art storage systems/grids will for instance also comprise means for attaching the storage bin to cooperating attaching means on a lifting frame of a robot as described above.
In use, an operator will provide input to a storage system 1 (i.e. a control system of the storage system) for retrieving a selected article 13. When the selected article 13 is stored in a multi-compartment storage bin 4, a robot will retrieve the multicompartment storage bin comprising the compartment 16' within which a selected article is contained. The multi-compartment storage bin is then delivered to a delivery station 10 and commonly transferred to a picking station thereafter.
Presently, the selected article 13 is manually retrieved from the compartment after being transferred to the picking station. To avoid the manual procedure of picking out the selected article, the present method is intended to be performed after the robot has finished retrieving the multi-compartment storage bin. In one embodiment of the method, a lid 17 (i.e. a selecting element), see fig. 4, is first arranged on top of the multi-compartment storage bin, see fig. 5. The lid comprises an opening 18 at a position corresponding to the open face of the compartment 16' containing the selected article 13. The correct type of lid, i.e. a lid having the opening at the required position, is automatically selected by the storage system based on the previous input from the operator. In this manner, all compartments 16, except the compartment 16' containing the selected article 13, are closed off. The multicompartment storage bin 4 with the lid is then rotated, such that the selected article may exit, i.e. slide or fall out of, the open compartment, see fig. 4. Depending on the design of the system, the selected article may be delivered to a picking station, or similar, directly upon exit from the storage bin, or transferred to the picking station or packing station by any suitable means after exit.
An alternative embodiment of a lid 17 for use in the present method/system is shown in fig. 7. The lid 17 comprises a rectangular frame 21 on which four roller blinds/panels 22a-d are arranged, one on each side of the frame. Each of the roller blinds/panels 22a-d extends along substantially the whole length of the side on which they are arranged, and each may be rolled out, for instance by a suitable electric drive(s) 23a-d, to cover a desired part of the framed space. By controlling the extent of the roller blind coverage for each of the roller blinds, an opening 18 having a desired size and position may be obtained. The size and position of the opening is thus controlled by the outer edges 24a-d of the four roller blinds. A
control system communicating with the electric drives 23a-d of the lid 17 and the storage system may control the separate roller blinds 22a-d to provide a required opening in the lid 17 based on the input from the operator. In this manner a single type of lid may be used in combination with any type of multi-compartment storage bin, i.e. may be used to select any compartment in any type of compartment configuration.
The method/system described by reference to figs. 3-7 shows the retrieval of a selected article 13 contained in a single compartment of the multi-compartment storage bin. However, both the method and the system are equally suitable for retrieving more than one selected article 13. For instance, if a single compartment 16' in a multi-compartment storage bin contains more than one of the selected article 13, all the selected articles may be retrieved at the same time. Further, multiple selected articles 13 in a single multi-compartment storage bin, being different or identical, may be retrieved from multiple corresponding compartments by providing the selecting element with multiple openings (or a single variable opening), such that multiple compartments are emptied simultaneously or sequentially. As mentioned above, the storage bins 4 for use in a storage system 1 as described above comprise means 26 for attaching the storage bin to a lifting frame 11 of a robot 2 and/or vice versa. In some embodiments of the present method/system, the lid 17 may be provided with attaching means (similar to lifting grips 12 arranged on the lifting frame) allowing the lid/covering element to be attached to the storage bin 4 via said means for attaching the storage bin to the lifting frame. Alternatively, the lid/covering element may be attached to the multi-compartment storage bin by any suitable attaching means independent of the type of attaching means used on the lifting frame 11.
Claims
1. A method of retrieving at least one selected article (13) from at least one compartment in a multi-compartment storage bin (4) comprising a bottom plate (15), multiple walls defining multiple compartments (16), and an open face, such that each compartment has a compartment opening (25) opposite the bottom plate, the method comprises the steps of: a. retrieving the multi-compartment storage bin (4) from a storage column (7) in a storage system (1);
b. covering a part of the open face by a selecting element (17), such that only the compartment opening of the at least one compartment containing the at least one selected article (13) is open;
c. rotating the multi-compartment storage bin (4) following step b), such that the open face is arranged in a downwards direction; and
d. allowing the at least one selected article (13) to exit the at least one
compartment in which it was contained.
The method according to claim 1, wherein the selecting element is a lid (17), the lid (17) comprises at least one opening (18) arrangeable over the compartment (16') containing the at least one selected article (13).
The method according to claim 2, wherein the position of the at least one opening (18) in the lid (17) is set, and the method comprises a step of selecting a lid having an opening with a size and position corresponding to the compartment containing the at least one selected article.
The method according to claim 2, wherein the position and size of the at least one opening in the lid (17) is controllable, and the method comprises a step of selecting a position and size for the opening corresponding to the compartment containing the at least one selected article.
A system for retrieving at least one selected article (13) from at least one compartment (16) in a multi-compartment storage bin (4) having a bottom plate (15), multiple walls defining multiple compartments (16), and an open face, such that each compartment has a compartment opening (25) opposite the bottom plate, comprising a selecting element (17) for covering a part of the open face, such that only the compartment opening (25) of the at least one compartment containing the at least one selected article is open, such that the at least one selected article may be allowed to exit the at least one compartment in which it was contained, wherein the selecting element is a
lid (17) comprising at least one opening (18) having a set position at the position of the at least one compartment containing the selected article.
The system according to claim 5, wherein the multi-compartment storage bin comprises means (26) for attaching the storage bin to a lifting frame (11) of a robot (2), and the lid (17) is provided with attaching means (12) allowing the lid to be attached to the multi-compartment storage bin (4) via said means for attaching the storage bin to the lifting frame.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20160069A NO341502B1 (en) | 2016-01-14 | 2016-01-14 | Method and system for retrieving an article from a storage bin |
| PCT/EP2016/082148 WO2017121593A1 (en) | 2016-01-14 | 2016-12-21 | Method of retrieving an article from a storage bin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP3402732A1 true EP3402732A1 (en) | 2018-11-21 |
Family
ID=57681588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP16819912.3A Withdrawn EP3402732A1 (en) | 2016-01-14 | 2016-12-21 | Method of retrieving an article from a storage bin |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3402732A1 (en) |
| NO (1) | NO341502B1 (en) |
| TW (1) | TW201730066A (en) |
| WO (1) | WO2017121593A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021170227A1 (en) * | 2020-02-26 | 2021-09-02 | Sergey Razumov | Terminal station for issuing objects in compartments of containers |
| WO2025051376A1 (en) * | 2023-09-08 | 2025-03-13 | Stow Robotics Gmbh | A dispenser unit |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61287637A (en) * | 1985-06-12 | 1986-12-18 | Canon Inc | Wafer loading/unloading device |
| JPH0699010B2 (en) * | 1989-09-28 | 1994-12-07 | 西部電機株式会社 | Transfer device |
| US5724764A (en) * | 1995-10-10 | 1998-03-10 | Alsup; Charles Kent | Storage box |
| US6011999A (en) * | 1997-12-05 | 2000-01-04 | Omnicell Technologies, Inc. | Apparatus for controlled dispensing of pharmaceutical and medical supplies |
| IT1315679B1 (en) * | 2000-10-05 | 2003-03-14 | Nuova C G A Sistemi Srl | DEFINED AREA CLOSING WALL |
| US8103379B2 (en) * | 2009-01-09 | 2012-01-24 | Automed Technologies, Inc. | Medication cabinetry |
| WO2015164264A1 (en) * | 2014-04-21 | 2015-10-29 | Grabit, Inc. | Automated item handling with reconfigurable totes |
-
2016
- 2016-01-14 NO NO20160069A patent/NO341502B1/en unknown
- 2016-12-21 WO PCT/EP2016/082148 patent/WO2017121593A1/en not_active Ceased
- 2016-12-21 EP EP16819912.3A patent/EP3402732A1/en not_active Withdrawn
- 2016-12-28 TW TW105143476A patent/TW201730066A/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| NO341502B1 (en) | 2017-11-27 |
| WO2017121593A1 (en) | 2017-07-20 |
| NO20160069A1 (en) | 2017-07-17 |
| TW201730066A (en) | 2017-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12103776B2 (en) | Robotic picking systems and devices | |
| CN111096578A (en) | Automatic delivery locker and assembly | |
| NO344308B1 (en) | Storage system comprising a charging station assembly and method of replacing the power source of a remotely operated vehicle | |
| AU2013347061B2 (en) | Storage system | |
| US20160194152A1 (en) | Automatic warehouse | |
| WO2017121593A1 (en) | Method of retrieving an article from a storage bin | |
| NO343383B1 (en) | Single cell robot with control unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
| STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
| PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
| STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
| 17P | Request for examination filed |
Effective date: 20180606 |
|
| AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
| AX | Request for extension of the european patent |
Extension state: BA ME |
|
| RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: HOGNALAND, INGVAR Inventor name: GJERDEVIK, OEYSTEIN Inventor name: AUSTRHEIM, TROND Inventor name: FJELDHEIM, IVAR |
|
| DAV | Request for validation of the european patent (deleted) | ||
| DAX | Request for extension of the european patent (deleted) | ||
| STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
| 18D | Application deemed to be withdrawn |
Effective date: 20190308 |