JP2016183050A - 格納容器を輸送するためのシステム - Google Patents
格納容器を輸送するためのシステム Download PDFInfo
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Abstract
【解決手段】本発明は、3次元容器格納構造(15)と複数のロボット車両(1)とを備える容器格納システム(3)に関し、複数のロボット車両(1)は、構造から格納容器(2)を取り出すために、容器格納構造の上部上に移動可能である。構造は、内部距離を伴って位置付けられている支柱であって、容器を収容し、かつ容器に対する格納列(8,8a,8b)を規定する長方形の配置である、支柱と、支柱の上部上のマトリクスに配置され、ロボット車両に支持(14)を提供して、各ロボット車両が、第1の方向(X)および第2の方向(Y)に構造を横切って進むことを可能にする、支持レール(13)と、格納容器送達ステーション(60)と、容器をロボット車両から受け取り、構造の上部レベルから送達ステーションへと垂直方向に容器を輸送する、容器リフトデバイス(50)とを備える。
【選択図】図3
Description
断面積を覆う。より具体的な例では、車両本体は、第2の方向(Y)に面する両側で中央格納列の横断面積を越えて延び、すなわち、第2の方向(Y)に延びる隣接する格納列の
断面積のうちのいくつかも覆う。中央格納列からの延在の程度は、好ましくは、これらの両側において等しい。中央格納列は、格納ビンの取り上げを可能にする位置にロボットが到達したときにロボットの真下にある格納列として定義される。
例えば、本発明は以下の項目を提供する。
(項目1)
格納システム(3)から格納容器(2)を取り上げるための遠隔動作車両(1)であって、前記遠隔動作車両(1)は、
車両駆動手段(6)を格納するための第1のセクション(5、5a、5b)と、前記格納システム(3)内の格納列(8、8a、8b)に格納された任意の格納容器(2)を受け取るための第2のセクション(7)とを備える車両本体(4)と、
前記第2のセクション(7)の中へ前記格納容器(2)を持ち上げるために、前記車両本体(4)に少なくとも間接的に接続された車両リフティングデバイス(9)と、
使用中、前記格納システム(3)内で、第1の方向(X)に沿った前記車両(1)の移動を可能にする前記車両本体(4)に接続された車両回転手段の第1のセット(10)と、
使用中、前記格納システム(3)内で、第2の方向(Y)に沿った前記車両(1)の移動を可能にする前記車両本体(4)に接続された車両回転手段の第2のセット(11)とを備え、
前記第2の方向(Y)は、前記第1の方向(X)に対して垂直であり、
前記第2のセクション(7)が、前記車両本体(4)内で中心に配置された空洞(7)を備え、前記空洞(7)が、使用中に前記格納列(8、8a、8b)に向かって面する少なくとも1つの容器受け取り開放部(12)を有することと、
車両回転手段の前記セット(11)のうちの少なくとも1つが、前記車両本体(4)内に完全に配置されることと
を特徴とする、遠隔動作車両(1)。
(項目2)
前記車両が、前記第1の方向(X)と前記第2の方向(Y)との間における車両方向の変更中に、前記格納システム(3)内の、下にある車両支持部(14)から離れるように、前記車両回転手段の第1のセットまたは前記第2の車両回転手段のいずれかを可逆的かつ選択的に変位させるための手段をさらに備えることを特徴とする、項目1に記載の遠隔動作車両(1)。
(項目3)
前記車両本体(4)が、使用中に、最大で、前記第1の方向(X)に1つの中央格納列(8a)の横断面を覆い、前記第2の方向(Y)に1つよりも多くの中央格納列(8a、8
b)の横断面を覆うことを特徴とする、項目1または2に記載の遠隔動作車両(1)。
(項目4)
前記車両本体(4)が、前記第2の方向(Y)に両側で前記中央格納列(8a、8b)の
横断面を越えて延びることを特徴とする、項目3に記載の遠隔動作車両(1)。
(項目5)
前記中央格納列(8a、8b)の横断面を越える前記延在が、前記第2の方向(Y)に両
側において等しいことを特徴とする、項目4に記載の遠隔動作車両(1)。
(項目6)
車両回転手段(10、11)の両方のセットが、前記中心に配置された空洞(7)の周りに対称的に分散させられることを特徴とする、前記項目のうちの1つに記載の遠隔動作車両(1)。
(項目7)
車両回転手段(10、11)の少なくとも1つのセットが、少なくとも4つの車輪を備えることを特徴とする、前記項目のうちの1つに記載の遠隔動作車両(1)。
(項目8)
車両回転手段(10、11)の両方のセットが、相互接続されるときに増加させられた側方安定性を提供するために、前記車両支持部(14)を構成する支持レール(13)上の対応する外側設計に一致する外側設計を有することを特徴とし、
前記支持レール(13)が、容器格納構造(15)の上部上の2次元マトリクスに配置され、前記マトリクスおよび前記容器格納構造(15)の主方向が、前記車両(1)の前記第1の方向(X)および前記第2の方向(Y)と合致する、
前記項目のうちの1つに記載の遠隔動作車両(1)。
(項目9)
前記車両(1)が、使用中に前記格納システム(3)内の前記車両の位置の測定を可能にするための位置感知手段(16)を備えることを特徴とする、前記項目のうちの1つに記載の遠隔動作車両(1)。
(項目10)
前記位置感知手段(16)が、前記支持レール(13)が交差している前記車両支持部(14)の位置を使用中に横切る前記車両本体(4)上の位置のうちの少なくともいくつかに配置された複数のセンサを備えることを特徴とする、項目9に記載の遠隔動作車両(1)。
(項目11)
格納システム(3)であって、前記格納システム(3)は、
項目1〜10のうちの1つに記載の遠隔動作車両(1)と、
誘導メッシュの2次元マトリクスを形成する複数の支持レール(13)を備える車両支持部(14)であって、前記車両支持部(14)は、使用中、前記第1の方向(X)および前記第2の方向(Y)における前記車両(1)の移動を誘導するように構成される、車両支持部(14)と、
前記車両支持部(14)を支持する容器格納構造(15)であって、前記構造(15)が、複数の格納列(8、8a、8b)を備え、
各格納列(8、8a、8b)が、格納容器(2)の垂直スタックを収容するように配置され、
前記容器格納構造(15)の主要部分が、前記支持レール(13)が交差している前記車両支持部(14)上の位置と一致する、
構造(15)と、
前記車両支持部(14)と送達ステーション(60)との間で、前記車両支持部(14)の横平面に対して垂直方向に、車両送達された格納容器(2)を搬送するように配置された容器リフトデバイス(50)と
を備えることを特徴とする、格納システム(3)。
(項目12)
前記車両支持部(14)の外側側方境界エリア(17、18)に配置された前記支持レール(13)のうちの少なくともいくつかが、外側誘導メッシュを形成し、前記外側誘導メッシュは、前記車両支持部(14)における残りの誘導メッシュの平均断面積と比較して減少させられた平均断面積を有することを特徴とする、項目11に記載の格納システム(3)。
(項目13)
前記外側誘導メッシュの減少させられた平均断面積が、前記車両支持部(14)における前記残りの誘導メッシュの平均断面積の約半分であることを特徴とする、項目12に記載の格納システム(3)。
(項目14)
前記外側誘導メッシュのサイズが、前記車両支持部(14)の前記第2の方向(Y)に沿ってのみ減少させられることを特徴とする、項目12または13に記載の格納システム(3)。
1 遠隔動作車両/ロボット
2 格納容器
3 格納システム
4 車両本体/フレームワーク
5 (車両本体の)第1のセクション/構成要素セクション/側方部分
5a 第1のセクション、左
5b 第1のセクション、右
6 車両駆動手段/モータユニット
7 車両格納空間/第2の部分/空洞/中心に配置された空洞
8 格納列
8a 中央格納列
8b 隣接格納列
9 車両リフティングデバイス
10 車両回転手段の第1のセット/車輪の第1のセット
11 車両回転手段の第2のセット/車輪の第2のセット
12 容器受け取り開放部
13 支持レール
14 車両支持部
15 容器格納構造/グリッド
16 位置感知手段/位置センサ
17 車両支持部の左外側側方境界エリア/左側境界メッシュ
18 車両支持部の右外側側方境界エリア/右側境界メッシュ
50 容器リフトデバイス
60 送達ステーション/ポート
70 ヨーク/オーバーハング
72 上部蓋
73 包囲カバー
74 ハンドル
75 伝送手段/制御パネル/ワイヤレス通信手段
76 グリッド支持ベース
Claims (14)
- 3次元容器格納構造(15)と複数のロボット車両(1)とを備える容器格納システム(3)であって、前記複数のロボット車両(1)は、前記容器格納構造(15)から格納容器(2)を取り出すために、前記容器格納構造(15)の上部上に移動可能であり、前記容器格納構造(15)は、
複数の支柱であって、前記複数の支柱は、内部距離を伴って位置付けられて、前記格納容器(2)を収容するように適合された長方形の配置であり、前記支柱の長方形の配置は、前記格納容器(2)に対する格納列(8,8a,8b)を規定する、複数の支柱と、
支持レール(13)であって、前記支持レール(13)は、前記支柱の上部上の2次元マトリクスに配置され、前記複数のロボット車両(1)に車両支持(14)を提供して、各ロボット車両(1)が、第1の方向(X)および前記第1の方向(X)に垂直な第2の方向(Y)に前記容器格納構造(15)を横切って進むことを可能にする、支持レール(13)と、
格納容器送達ステーション(60)と、
容器リフトデバイス(50)であって、前記容器リフトデバイス(50)は、前記複数のロボット車両(1)から格納容器(2)を受け取り、前記容器格納構造(15)の上部レベルから前記送達ステーション(60)へと垂直方向に前記格納容器(2)を輸送するように配置されている、容器リフトデバイス(50)と
を備え、
前記複数のロボット車両(1)は、各々、車両本体(4)を備え、前記車両本体(4)は、
前記第1の方向(X)に前記支持レール(13)に沿って前記ロボット車両(1)を移動させるための第1のセットの回転手段(10)と、
前記第2の方向(Y)に前記支持レール(13)に沿って前記ロボット車両(1)を移動させるための第2のセットの回転手段(11)と、
格納容器(2)を受け取るための空洞(7)と、
格納列(8,8a,8b)から格納容器(2)を取り出し、かつ前記格納容器(2)を前記空洞(7)に格納するためのリフティングデバイス(9)と
を備え、
前記空洞(7)は、前記車両本体(4)内において中心に配置されている、容器格納システム(3)。 - 前記車両本体(4)は、前記空洞(7)の少なくとも一部を囲繞することを特徴とする、請求項1に記載の容器格納システム(3)。
- 前記車両本体(4)は、前記ロボット車両(1)の移動方向(X,Y)のうちの少なくとも1つに沿って前記空洞(7)の両側上に配置された側部分(5,5a,5b)を備えることを特徴とする、請求項2に記載の容器格納システム(3)。
- 前記ロボット車両(1)は、前記車両本体(4)の上部部分を覆う上部蓋(72)を備えることを特徴とする、請求項1〜3のうちのいずれか1項に記載の容器格納システム(3)。
- 前記空洞(7)は、前記格納容器(2)のための下向きに面する開口部を展示することを特徴とする、請求項1〜4のうちのいずれか1項に記載の容器格納システム(3)。
- 車両回転手段の両セット(10,11)は、前記ロボット車両(1)の下側コーナーの近くで、前記空洞(7)の周りに対称的に配置されていることを特徴とする、請求項1〜5のうちのいずれか1項に記載の容器格納システム(3)。
- 前記第1および第2のセットの回転手段(10,11)は、各々、少なくとも4つの車輪を備えることを特徴とする、請求項1〜6のうちのいずれか1項に記載の容器格納システム(3)。
- 3次元容器格納構造(15)と複数のロボット車両(1)とを備える容器格納システム(3)を動作させる方法であって、前記複数のロボット車両(1)は、前記容器格納構造(15)から格納容器(2)を取り出すために、前記容器格納構造(15)の上部上に移動可能であり、前記容器格納構造(15)は、
複数の支柱であって、前記複数の支柱は、内部距離を伴って位置付けられて、前記格納容器(2)を収容するように適合された長方形の配置であり、前記支柱の長方形の配置は、前記格納容器(2)に対する格納列(8,8a,8b)を規定する、複数の支柱と、
支持レール(13)であって、前記支持レール(13)は、前記支柱の上部上の2次元マトリクスに配置され、前記複数のロボット車両(1)に車両支持(14)を提供して、各ロボット車両(1)が、第1の方向(X)および前記第1の方向(X)に垂直な第2の方向(Y)に前記容器格納構造(15)を横切って進むことを可能にする、支持レール(13)と、
格納容器送達ステーション(60)と、
容器リフトデバイス(50)であって、前記容器リフトデバイス(50)は、前記容器格納構造(15)の上部レベルから前記送達ステーション(60)へと垂直方向に前記格納容器(2)を輸送するように配置されている、容器リフトデバイス(50)と
を備え、
前記複数のロボット車両(1)は、各々、車両本体(4)を備え、前記車両本体(4)は、
前記第1の方向(X)に前記支持レール(13)に沿って前記ロボット車両(1)を移動させるための第1のセットの回転手段(10)と、
前記第2の方向(Y)に前記支持レール(13)に沿って前記ロボット車両(1)を移動させるための第2のセットの回転手段(11)と、
格納容器(2)を受け取るための空洞(7)であって、前記空洞(7)は、前記車両本体(4)内において中心に配置されている、空洞(7)と、
格納列(8,8a,8b)から格納容器(2)を取り出し、かつ前記格納容器(2)を中心空洞(7)に格納するためのリフティングデバイス(9)と
を備え、
前記方法は、
前記車両本体(4)の前記中心空洞(7)が前記格納列(8a,8b)と整列させられるように、前記格納列(8a,8b)のうちの1つの上に前記複数のロボット車両(1)のうちの1つを位置付けるステップと、
前記車両本体(4)の前記リフティングデバイス(9)を使用して、前記格納列(8a,8b)から格納容器(2)を取り出し、前記格納容器(2)を前記中心空洞(7)の内側に格納するステップと、
前記第1および第2のセットの回転手段(10,11)を使用して、前記ロボット車両(1)を前記支持レール(13)に沿って前記容器リフトデバイス(50)へと移動させ、前記格納容器(2)を前記容器リフトデバイス(50)へと輸送するステップと、
前記容器リフトデバイス(50)を使用して、前記容器格納構造(15)の上部レベルから前記送達ステーション(60)へと垂直方向に前記格納容器(2)を下へ搬送するステップと
を含む、方法。 - 前記車両本体(4)は、前記中心空洞(7)の少なくとも一部を囲繞する、請求項8に記載の方法。
- 前記車両本体(4)は、前記ロボット車両(1)の移動方向(X,Y)のうちの少なくとも1つに沿って前記空洞(7)の両側上に配置された側部分(5,5a,5b)を備える、請求項9に記載の方法。
- 前記ロボット車両(1)は、前記車両本体(4)の上部部分を覆う上部蓋(72)を備える、請求項8〜10のうちのいずれか1項に記載の方法。
- 前記中心空洞(7)は、前記格納容器(2)のための下向きに面する開口部を展示する、請求項8〜11のうちのいずれか1項に記載の方法。
- 車両回転手段の両セット(10,11)は、前記ロボット車両(1)の下側コーナーの近くで、前記空洞(7)の周りに対称的に配置されている、請求項8〜12のうちのいずれか1項に記載の方法。
- 前記第1および第2のセットの回転手段(10,11)は、各々、少なくとも4つの車輪を備える、請求項8〜13のうちのいずれか1項に記載の方法。
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