NO348038B1 - System for storing and transporting storage containers and method for operating the system - Google Patents

System for storing and transporting storage containers and method for operating the system Download PDF

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Publication number
NO348038B1
NO348038B1 NO20181657A NO20181657A NO348038B1 NO 348038 B1 NO348038 B1 NO 348038B1 NO 20181657 A NO20181657 A NO 20181657A NO 20181657 A NO20181657 A NO 20181657A NO 348038 B1 NO348038 B1 NO 348038B1
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NO
Norway
Prior art keywords
delivery
vehicle
location
storage
rail system
Prior art date
Application number
NO20181657A
Other languages
Norwegian (no)
Other versions
NO20181657A1 (en
Inventor
Trond Austrheim
Original Assignee
Autostore Tech As
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from NO20181005A external-priority patent/NO344662B1/en
Application filed by Autostore Tech As filed Critical Autostore Tech As
Priority to EP19730151.8A priority Critical patent/EP3807175A1/en
Priority to PCT/EP2019/065141 priority patent/WO2019238639A1/en
Priority to US17/055,051 priority patent/US11772685B2/en
Priority to JP2021534620A priority patent/JP2022515062A/en
Priority to KR1020217022412A priority patent/KR20210106499A/en
Priority to CA3118797A priority patent/CA3118797A1/en
Priority to US17/413,192 priority patent/US12098030B2/en
Priority to PCT/EP2019/084571 priority patent/WO2020126725A1/en
Priority to EP19824252.1A priority patent/EP3898456A1/en
Priority to CN201980084641.0A priority patent/CN113195380B/en
Publication of NO20181657A1 publication Critical patent/NO20181657A1/en
Priority to US18/455,420 priority patent/US20240025457A1/en
Publication of NO348038B1 publication Critical patent/NO348038B1/en

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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
    • B65G1/0464—Storage devices mechanical with access from above
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • 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
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • 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
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Warehouses Or Storage Devices (AREA)

Description

Technical Field
The present invention relates to a system for storing and transporting storage containers and a method for operating the system.
Background and prior art
Figs. 1(a) and 2(a) disclose a typical prior art automated storage and retrieval system 100 with a framework structure. Figs. 1(b) and 2(b) disclose prior art container handling vehicles 3a operating the automated storage and retrieval system 100 disclosed in Figs. 1(a) and 2(a), respectively.
The framework structure defines a storage grid 104 comprising a plurality of upright/vertical members 102 and optionally a plurality of horizontal members 103 supporting the upright members 102. The members 102, 103 may typically be made of metal, e.g. extruded aluminium profiles.
The storage grid 104 comprises multiple grid columns 112. A large majority of the grid columns are also termed storage columns 105, in which storage containers 106, also known as bins, are stacked one on top of another to form stacks 107.
Each storage container 106 may typically hold a plurality of product items (not shown), and the product items within a storage container 106 may be identical or may be of different product types depending on the application.
The storage grid 104 guards against horizontal movement of the of storage containers 106 in the stacks 107, and guides vertical movement of the containers 106, but does normally not otherwise support the storage containers 106 when stacked.
The automated storage and retrieval system 100 comprises a rail system 108 (or a top rail grid) arranged in a grid pattern across the top of the storage grid 104, on which rail system 108 a plurality of storage container handling vehicles 3a (as exemplified in Figs. 1(b) and 2(b)) are operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105.
The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the storage container handling vehicles 3a in a first direction X across the top of the rail system 108, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 3a in a second direction Y which is perpendicular to the first direction X. In this way, the rail system 108 defines the upper ends of the grid columns 112 above which the storage container handling vehicles 3a can move laterally, i.e. in a plane which is parallel to the horizontal X-Y plane. Commonly, at least one of the sets of rails 110, 111 is made up of dual-track rails allowing two container handling vehicles to pass each other on neighbouring grid cells 122. Dual-track rails are well-known and disclosed in for instance WO 2015/193278 A1 and WO 2015/140216 A1.
The horizontal extent of one of the grid cells 122 constituting the grid pattern is in Figs. 1(a) and 2(a) marked by thick lines.
Each grid cell 122 has a width which is typically within the interval of 30 to 150 cm, and a length which is typically within the interval of 50 to 200 cm. Each grid opening 115 has a width and a length which is typically 2 to 10 cm less than the width and the length of the grid cell 122 due to the horizontal extent of the rails 110, 111.
Each prior art container handling vehicle 3a comprises a vehicle body and a wheel arrangement of eight wheels 6, wherein a first set of four wheels enable the lateral movement of the container handling vehicles 3a in the X direction and a second set of the remaining four wheels enable the lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be lifted and lowered, so that the first set of wheels and/or the second set of wheels can be engaged with the respective set of rails 110, 111 at any one time.
Each prior art container handling vehicle 3a also comprises a lifting device (not shown) for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lifting device comprises one or more gripping/engaging devices (not shown) which are adapted to engage a storage container 106, and which gripping/engaging devices can be lowered from the vehicle 3a so that the position of the gripping/engaging devices with respect to the vehicle 3a can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y.
Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer of the grid 104, i.e. the layer immediately below the rail system 108, Z=2 the second layer below the rail system 108, Z=3 the third layer etc. In the prior art storage grid disclosed in Figs. 1A and 2A, Z=8 identifies the lowermost, bottom layer of the grid 104. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Figs. 1(a) and 2(a). The storage container identified as 106’ in Fig. 1(a) can be said to occupy grid location or cell X=10, Y=2, Z=3. The container handling vehicles 3a can be said to travel in layer Z=0 and each grid column can be identified by its X and Y coordinates.
Each container handling vehicle 3a comprises a storage compartment or space (not shown) for receiving and stowing a storage container 106 when transporting the storage container 106 across the top of the storage grid 104. The storage space may comprise a cavity arranged centrally within the vehicle body, e.g. as is described in WO2014/090684A1, the contents of which are incorporated herein by reference.
Alternatively, the container handling vehicles 3a may have a cantilever construction as described in NO317366, the contents of which are also incorporated herein by reference.
The container handling vehicles 3a may have a footprint, i.e. an extent in the X and Y directions, which is generally equal to the horizontal area of a grid cell 122, i.e. the extent of a grid cell 122 in the X and Y directions, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference.
Alternatively, the container handling vehicles 3a may have a footprint which is larger than the horizontal area of a grid cell 122, e.g. as is disclosed in WO2014/090684A1.
The rail system 108 may be a single rail system, as is shown in Fig. 3(a). Alternatively, the rail system 108 may be a double rail system, as is shown in Fig. 3(b), thus allowing a container handling vehicle 3a having a footprint generally corresponding to the lateral area defined by a grid column 112 to travel along a row of grid columns even if another container handling vehicle 3a is positioned above a grid column neighboring that row. Both the single and double rail system, or a combination comprising a single and double rail arrangement in a single rail system 108, forms a grid pattern in the horizontal plane P comprising a plurality of rectangular and uniform grid locations or grid cells 122, where each grid cell 122 comprises a grid opening 115 being delimited by a pair of rails 110a, 110b of the first rails 110 and a pair of rails 111a, 111b of the second set of rails 111. In Fig. 3(c) the grid cell 122 is indicated by a dashed box.
Consequently, rails 110a and 110b form pairs of rails defining parallel rows of grid cells running in the X direction, and rails 111a and 111b form pairs of rails defining parallel rows of grid cells running in the Y direction.
As shown in Fig.3(c), each grid cell 122 has a width Wc which is typically within the interval of 30 to 150 cm, and a length Lc which is typically within the interval of 50 to 200 cm. Each grid opening 115 has a width Wo and a length Lo which is typically 2 to 10 cm less than the width Wc and the length Lc of the grid cell 122.
In the X and Y directions, neighboring grid cells are arranged in contact with each other such that there is no space there-between.
In a storage grid 104, a majority of the grid columns 112 are storage columns 105, i.e. grid columns where storage containers 106 are stored in stacks 107. However, a grid 104 normally has at least one grid column 112 which is not used for storing storage containers 106, but is arranged at a location wherein the container handling vehicles 3a can drop off and/or pick up storage containers 106 so that they can be transported to a second location (not shown) where the storage containers 106 can be accessed from outside of the grid 104 or transferred out of or into the grid 104. Within the art, such a location wherein the container handling vehicles 3a can drop off and/or pick up storage containers 106 is normally referred to as a “port” and the grid column at which the port is located may be referred to as a “delivery” or “transfer column” 119, 120. The drop-off and pick-up ports are the upper ends/openings of a respective delivery/transfer column 119, 120.
The prior art storage grids 104 in Figs. 1(a) and 2(a) comprise two delivery columns 119 and 120. The delivery column 119 may for example comprise a dedicated dropoff port where the container handling vehicles 3a can drop off storage containers 106 to be transported through the delivery column 119 and further to e.g. a picking/stocking station, and the second delivery column 120 may comprise a dedicated pick-up port where the container handling vehicles 3a can pick up storage containers 106 that have been transported through the delivery column 120 from e.g. a picking/stocking station. Each of the ports of the first and second delivery column may be suitable for both pick-up and drop-off of storage containers.
The second location may typically be a picking/stocking station, wherein product items are removed from and/or positioned into the storage containers 106. In a picking/stocking station, the storage containers 106 are normally never removed from the automated storage and retrieval system 100, but are returned into the storage grid 104 once accessed.
For monitoring and controlling the automated storage and retrieval system 100, e.g. monitoring and controlling the location of respective storage containers 106 within the storage grid 104; the content of each storage container 106; and the movement of the container handling vehicles 3a so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 3a colliding with each other, the automated storage and retrieval system 100 comprises a computerized control system (not shown) which typically comprises a database for keeping track of the storage containers 106.
A conveyor system comprising conveyor belts or rollers is commonly employed to transport the storage containers from a lower end of the delivery/transfer columns 119,120 to e.g. a picking/stocking station.
A conveyor system may also be arranged to transfer storage containers between different storage grids, e.g. as is described in WO2014/075937A1, the contents o f which are incorporated herein by reference.
Further, WO2016/198467A1, the contents of which are incorporated herein by reference, discloses an example of a prior art access system having conveyor belts (Figs. 5a and 5b in WO2016/198467A1) and a frame mounted rail (Figs. 6a and 6b in WO2016/198467A1) for transporting storage containers between delivery/transfer columns and stations where operators can access the storage containers.
When a storage container 106 stored in the storage grid 104 disclosed in Fig. 1(a) is to be accessed, one of the container handling vehicles 3a is instructed to retrieve the target storage container 106 from its position in the grid 104 and transport it to and/or through the delivery column 119. This operation involves moving the container handling vehicle 3a to a grid location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s lifting device (not shown), and transporting the storage container 106 to the delivery column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle 3a that is subsequently used for transporting the target storage container 106 to the delivery column, or with one or a plurality of other cooperating container handling vehicles 3a. Alternatively, or in addition, the automated storage and retrieval system 100 may have container handling vehicles 3a specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers can be repositioned into the original storage column 105. However, the removed storage containers may alternatively be relocated to other storage columns 105.
When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 3a is instructed to pick up the storage container 106 from the delivery column 120 and to transport it to a grid location above the storage column 105 where it is to be stored. After any storage containers positioned at or above the target position within the storage column stack 107 have been removed, the container handling vehicle 3a positions the storage container 106 at the desired position. The removed storage containers may then be lowered back into the storage column 105, or relocated to other storage columns 105.
A problem related to prior art automated storage and retrieval systems is the utilization of storage facilities such as a warehouse for housing the automated storage and retrieval systems. The demand for larger sized automated storage and retrieval systems is increasing; a demand that may be challenged by the specific volumetric layout of certain warehouses when orienting the automated storage and retrieval systems in a suitable position to optimize the available storage space. The provision and working of the automated storage and retrieval systems limits the actual outlays and options when fitting the systems into the storage facility.
Each prior art automated storage and retrieval system has been arranged as a self -contained entity capable of storing and handling the storage containers, as well as delivery and retrieval of the storage containers. The vehicles handling the storage containers operate in the horizontal plane P on the top of the system, and to optimize the operation of the automated storage and retrieval system, the area of the horizontal plane and volume of the storage grid underneath the horizontal plane P are balanced to obtain an efficient working of the vehicles.
The housing of large scale automated storage and retrieval systems obviously demands a storage facility with a large volume and ideally a cubic or cuboid storage space offers the most suitable premises for optimizing the operation of the automated storage and retrieval system.
However, not all storing facilities display an efficient cubic or rectangular storage space. The housing may comprise spaces of different configurations and/or dimensions. The ceiling heights and/or floor level may for instance differ from one space to another, and the ceiling and/or floor may even be slanting.
Given these non-ideal premises, an optimized utilization of the available space is obtained with the prior art automated storage and retrieval systems being fitted into the space of the housing having the largest volume. Consequently, some of the smaller spaces may be left vacant and thus valuable storage space is wasted.
In order to optimize available storage space within a warehouse a prior art automated storage and retrieval systems introduces a container/bin lift for conveying a storage container from grids that are located at different vertical levels on top of each other and to a delivery station (see WO 2014/075937 A which is hereby incorporated by reference).
The operation of the prior art bin lift necessitates the presence of vehicles for delivering and receiving the bins for the transfer of storage containers to the delivery station and in between the grids. The solution is suitable for delivering and receiving storage containers to and from the delivery station and when using the bin lift for transferring storage in between grids. This prior art operation requires organizing available vehicles to be prepared for delivery and receiving the storage containers at their respective storage levels.
WO2005077789 describes an automated warehouse provided with several storage levels divided into access aisles and accumulation aisles. Autonomous vehicles pick up and transfer load units stored in the accumulation aisles.
US2014277693 describes a material handling system provided with racks that store articles. The system employs carts that travel under the storage areas and transfer items between the storage area and operator. The carts are also described to be provided with sortation facility.
DE 102011014394 A1 describes a shelf based storage system provided with several levels along which the vehicles travel. The system is also provided with two lifts to transport the vehicles with goods.
US 2016/272221 A1 is related to a transport mechanism that can transport a travel body that includes a motor, drive unit, a movement mechanism, gears mechanism and transport body that moves and transports the travel body.
DE 102009051800 A1 describes a storage system provided with aisles for storage and a vertical lift mechanism arranged between two sections of the storage system to transfer a free moving vehicle from one section of the system to another.
In view of the above, it is desirable to provide system for storing and transporting storage containers and a method for operating such a system, that solves or at least mitigates one or more of the aforementioned problems related to the use of prior art storage and retrieval systems allowing storage containers to be transported.
An object of the present invention is to optimize available storage space within a warehouse which may comprise spaces having different configurations and/or dimensions, such as e.g. several floor levels or may comprise a plurality of automated storage and retrieval grids which are horizontally displaced.
Summary of the invention
The present invention is set forth and characterized in the independent claims, while the dependent claims describe other optional characteristics of the invention.
In particular, the invention concerns a system for storing and transporting storage containers which comprises an automated storage and retrieval grid, a delivery system and a vehicle lift device.
The automated storage and retrieval grid comprises vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle.
The container handling vehicle is configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns.
The container handling vehicle rail system is arranged in a first horizontal plane and comprises a first set of parallel rails extending in a first direction X, and a second set of parallel rails and extending in a second direction Y which is orthogonal to the first direction X. The first and second sets of rails form a grid pattern in the first horizontal plane comprising a plurality of adjacent container handling vehicle grid cells . Each container handling vehicle grid cell comprises a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. Further, the automated storage and retrieval grid comprises a transfer column adapted for transport of a storage container between the container handling vehicle and a delivery space situated at a lower end of the transfer column.
The delivery system comprises a first delivery rail system having at least one set of parallel rails arranged in a second horizontal plane guiding at least one delivery vehicle thereon. The delivery vehicle is adapted to receive and/or deliver a storage container at a storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location. The first delivery rail system covers at least an area extending from the storage container delivery location to the second location.
The vehicle lift device is arranged to transfer at least one delivery vehicle between the second location and a third location arranged in a third horizontal plane being at a different vertical level than the second horizontal plane.
The vehicle lift device may have a lifting arrangement arranged to support the at least one delivery vehicle and a lift mechanism for moving the lifting arrangement between a first lift stop position to a second lift stop position.
The first lift stop position establishes access between the lifting arrangement and the second location for enabling relocation of the at least one delivery vehicle between a support position on the lifting arrangement and an operative position at the second location on the first delivery rail system, and the second lift stop position establishes access between the lifting arrangement and the third location for enabling relocation of the at least one delivery vehicle between the support position on the lifting arrangement and an operative position at the third location.
The second location arranged on the delivery rail system may be arranged outside the automated storage and retrieval grid such as outside an area defined by the vertical projection of the automated storage and retrieval grid. The part of the delivery rail system comprising the second location may be at least equal to the area of one grid cell of the delivery rail system to enable the vehicle lift device to lift the delivery vehicle in an upwards vertical direction along the automated storage and retrieval grid.
In another exemplary embodiment the automated storage and retrieval grid may be modified creating a space for the vehicle lift device to transfer the delivery vehicle between the first and second horizontal plane.
The lift mechanism may be configured to move the lifting arrangement in a substantially vertical or purely vertical direction between the first lift stop position and the second lift stop position.
However, if the first lift stop position is spaced so far away from the second lift stop position in the horizontal direction that a substantially vertical displacement of the lifting arrangement is not possible, the vertical lift device may have an inclined orientation i.e. have a substantial horizontal component, depending on the horizontal gap between the first and second lift stop position. The lifting arrangement would then make an inclined moving path covering the vertical and horizontal gap between the first and second lift stop position.
Further, the lifting arrangement may comprise a guiding and positioning structure for maintaining the at least one vehicle in a motionless or near motionless position on the lifting arrangement during transfer of the lifting arrangement between the first and second lift stop position.
The guiding and positioning structure may comprise a platform rail arrangement having at least a first set of parallel rails for placing the vehicle during transfer between the first and second lift stop position.
The platform rail arrangement may be level with the first delivery rail system when the lifting arrangement is placed in the first lift stop position thereby enabling the at least one delivery vehicle to move between the first delivery rail system and the platform rail arrangement, and the platform rail arrangement may be level with a second delivery rail system at the third location when the lifting arrangement is placed in the second lift stop position thereby enabling the at least one delivery vehicle to move between the second delivery rail system and the platform rail arrangement.
Thus, the first set of parallel rails of the platform rail arrangement may be compatible with and co-operate with the rails of the first delivery rail system such that the platform rail arrangement can be seen as an extension of the corresponding first set of parallel rails of the first delivery rail system when the platform rail arrangement is positioned in the first lift stop position. Then the at least one delivery vehicle having wheels engaged with the rails of the first delivery rail system can easily move on to the first set of parallel rails of the platform rail arrangement.
The first delivery rail system may comprise at least a first set of parallel rails extending in a third direction X’ and at least a second set of parallel rails extending in a fourth direction Y’ which is orthogonal with the third direction X’ . Further, the platform rail arrangement may comprise the at least one first set of parallel rails extending in the same third direction X’ and at least a second set of parallel rails extending in the same fourth direction Y’. The platform rail arrangement may then be compatible with the first delivery rail system such that the delivery vehicle can to or from the support position of the platform rail arrangement in the third and/or fourth direction.
Further, the horizontal extent/foot print of the platform rail arrangement may be equal to or larger than the horizontal extent/foot print of the at least one delivery vehicle to be transferred between the first lift stop position and the second lift stop position. If the horizontal extent of the platform rail arrangement is larger than the horizontal extent of the at least one delivery vehicle, it may extent further in either the third direction X’, fourth direction Y’ or in both third and fourth directions.
The platform rail arrangement may comprise multiple first and/or second sets of parallel rails allowing more than one delivery vehicle to be arranged on the platform rail arrangement.
In another exemplary embodiment, the guiding and positioning structure comprises a base plate structure for receiving the at least one delivery vehicle.
The lifting arrangement, especially if it is a base plate structure may further comprise at least two side walls for receiving the at least one delivery vehicle in the area defined by the at least two side walls and the guiding and positioning structure, to protect the delivery vehicle from moving off the support position during transportation between the first and second lift stop position.
The side walls may project vertically upwards from the base plate structure for maintaining the delivery vehicle in a motionless or near motionless position during transportation on the lifting arrangement. The delivery vehicle may be held securely on the vehicle lift device during its transport thereon.
The number of side walls may be chosen dependent on the specific need for support during transport, and may in one aspect comprise three side walls.
The side wall may be adjusted between an open and closed position for letting the vehicle on and off the lifting arrangement.
Further, the lift device may have a first safety barrier configured to restrict further horizontal movement of the at least one delivery vehicle when the at least one delivery vehicle is moving to or from the support position. The first safety barrier may be in the form of a safety loop preventing the vehicle from moving off the platform. Further, it may be arranged on the lift device at the highest lift stop position.
The vehicle lift device may further comprises a second safety barrier extending vertically for restricting horizontal displacement of the at least one delivery vehicle when the platform is moving between the first lift stop position and the second lift stop position. Thus, the second safety barrier may extend vertically from the first lift stop position to the second lift stop position.
The system may comprise a plurality of vehicle lift devices for transferring delivery vehicles between the second and third horizontal plane.
As mentioned above the third location may be a part of the second delivery rail system. The second delivery rail system may comprise at least one set of parallel rails arranged in the third horizontal plane for guiding at least one delivery vehicle thereon. The second delivery rail system may extend from the third location to a fourth location.
Thus, the first set of parallel rails of the platform rail arrangement of the guiding and positioning structure of the lifting arrangement can be compatible with the rails of the second delivery rail system such that the platform rail arrangement can be seen as an extension of the corresponding set of parallel rails of the second delivery rail system when the platform rail arrangement is positioned in the second lift stop position. Then the at least one delivery vehicle having wheels engaged with the rails of the platform rail arrangement can easily move on to the set of parallel rails of the second delivery rail system.
The second delivery rail system may comprise a first set of parallel rails arranged in the third horizontal plane and extending in a fifth direction X’’, and a second set of parallel rails arranged in the third horizontal plane and extending in a sixth direction Y’’ which is orthogonal to the fifth direction X’’, which first and second sets of rails form a grid pattern.
The third direction X’ of first set of parallel rails of the first delivery rail system may be the same as the fifth direction X’’ of the first set of parallel rails of the second delivery rail system.
The second delivery rail system may be an overpass rail system which may be in connection with a second vehicle lift device, or it may be a delivery rail system for a second storage grid, or it may be parking rail system for storing the delivery vehicle, or it may be an access rail system being in connection with at least one access station where the storage container can be accessed by a user or a robot.
Further, the first horizontal plane may be at the same level as the third horizontal plane.
The system may further comprise a second vehicle lift device for transfer of the at least one delivery vehicle between the fourth location on the second delivery rail system and a fifth location arranged in a fourth horizontal plane being at a different vertical level than the third horizontal plane.
The fourth horizontal plane may be at the same vertical level as the second horizontal plane.
The container handling vehicle rail system, the first and second delivery vehicle rail system and the platform arrangement may have a single rail system or a double rail system.
The delivery vehicle is as mentioned adapted to receive and/or deliver a storage container at a storage container delivery location and may comprises a storage container carrier provided above a chassis of the delivery vehicle for carrying the storage container in place above the delivery vehicle during transport.
The storage container carrier may be directly connected to the chassis of the delivery vehicle or it may be connected to said chassis via a structure. The structure may be able by turn and/or tilt the storage container.
The present invention further involves a building comprising said system mentioned above where the second and third horizontal planes represent floors at different levels within the building.
The present invention also involves a method of operating said system for storing and transporting storage containers where the system comprises
-the automated storage and retrieval grid having vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks, wherein the vertical members are interconnected at their upper ends by the container handling vehicle rail system arranged to guide the at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns, wherein the container handling vehicle rail system comprises the first set of parallel rail arranged in a first horizontal plane and extending in the first direction X, and the second set of parallel rails arranged in the first horizontal plane and extending in the second direction Y which is orthogonal to the first direction X, which first and second sets of rails form a grid pattern in the first horizontal plane comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising the container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails, the transfer column adapted for transport of a storage container between the container handling vehicle and a delivery space situated at the lower end of the transfer column;
- the delivery system comprising a first delivery rail system having at least one set of parallel rails arranged in a second horizontal plane guiding at least one delivery vehicle thereon, wherein the delivery vehicle is adapted to receive or deliver a storage container at the storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location, the first delivery rail system is at least covering an area extending from the storage container delivery location to the second location, - the vehicle lift device for transfer of the at least one delivery vehicle between the second location and a third location arranged in a third horizontal plane being at a different vertical level than the second horizontal plane.
The method comprises the steps of:
i) moving the delivery vehicle from the second location to a first lift position of the vehicle lift device,
ii) moving the delivery vehicle to a second lift stop position of the vehicle lift device enabling access between the vehicle lift device and the third location, and iii) moving the delivery vehicle to the third location.
The delivery vehicle may move onto the first lift stop position of the vehicle lift device in one direction and move from the second lift stop position of the vehicle lift device on to the third location in the opposite direction.
However, if the first and the second lift stop positions are at least partly overlapping in the horizontal plane, the delivery vehicle may move onto the first lift stop position and off from the second lift stop position in the same direction.
As mentioned, the vehicle lift device may comprise a lifting arrangement arranged to support the at least one delivery vehicle and a lift mechanism arranged to move the lifting arrangement between the first lift stop position and the second lift stop position. The first lift stop position may establish access between the lifting arrangement and the second location for enabling relocation of the at least one delivery vehicle between a support position on the lifting arrangement and an operative position on the second location on the first delivery rail system, and the second lift stop position may establish access between the lifting arrangement and the third location for enabling relocation of the at least one delivery vehicle between the support position on the lifting arrangement and an operative position on the third location.
Thus, steps i) to iii) above may involve:
i) moving the delivery vehicle from the second location on to the lifting arrangement placed at in the first lift position of the vehicle lift device,
ii) moving the lifting arrangement with the delivery vehicle to the second lift stop position of the vehicle lift device enabling access between the lifting arrangement and the third location, and
iii) moving the delivery vehicle to the third location.
Prior to step i) above the method may comprise the steps of:
a) moving the container handling vehicle to a location on the container handling vehicle rail system for transferring a storage container into the transfer column, b) moving the delivery vehicle to the storage container delivery location,
c) transferring the storage container from the container handling vehicle through the transfer column to the delivery space and on to the delivery vehicle,
d) moving the delivery vehicle from the storage container delivery location to the second location to thereby move the storage container.
After step iii) the method may comprise the step of
iv) moving the delivery vehicle to an access area for handling the storage container by a robotic operator and/or a human operator.
The invention may provide a storage and retrieval system comprising a plurality of separated automated storage and retrieval grids each substantially as described herein, which grids are interconnected by at least one delivery system as described herein and at least one vehicle lift device as described herein so that storage containers may be transported between the grids by use of delivery vehicles and the at least one vehicle lift device.
The invention may provide a method of transporting a storage container to a predetermined location using a system as described herein by lifting a delivery vehicle carrying the storage container. The invention may provide a method of transferring storage containers between automated storage and retrieval grids as described herein by lifting a delivery vehicle carrying the storage container. The delivery vehicle may carry the storage container above itself
Brief description of the drawings
Following drawings are appended to facilitate the understanding of the invention.
Fig. 1a is a perspective view of a grid of a prior art automated storage and retrieval system.
Fig. 1b is a perspective view of a prior art storage container handling vehicle.
Fig. 2a is a perspective view of a grid of a prior art automated storage and retrieval system.
Fig. 2b is a perspective view of a prior art storage container handling vehicle.
Fig. 3a is a top view of a prior art single rail grid.
Fig. 3b is a top view of a prior art double rail grid.
Fig. 3c is an illustration of the width and length of a grid cell.
Fig. 4 shows a perspective view of an exemplary automated storage and retrieval grid and a delivery vehicle system.
Figs. 5 is a perspective view of a system according to an exemplary embodiment of the present invention with a vehicle lift device in the second lift stop position.
Figs. 6 is a perspective view of a system according to an exemplary embodiment of the present invention with a vehicle lift device in the first lift stop position.
Figs. 7 is a perspective view of a system according to an exemplary embodiment of the present invention with a vehicle lift device in between the first and second lift stop position.
Fig. 8 is a side view of a system according to an exemplary embodiment of the present invention with the vehicle lift device in the second lift stop position.
Fig. 9 is a perspective view of a vehicle transport system according to an exemplary embodiment of the invention having two vehicle lift devices.
Fig. 10 is a detailed view of a delivery vehicle positioned on the lifting arrangement of the vehicle lift device located at a lift stop position.
Fig. 11 shows a perspective view of a system according to an exemplary embodiment of the present invention involving a first storage and retrieval grid having a first delivery rail system extending from below the first storage and retrieval grid to a second location and a second storage and retrieval grid having a second delivery rail system extending from below the second storage and retrieval grid to a third location, and a vehicle lift device transferring a delivery vehicle between the second and the third locations.
Fig. 12 shows a perspective view of a system according to an exemplary embodiment of the present invention involving a first storage and retrieval grid having a first delivery rail system extending from below the first storage and retrieval grid to a second location, and a second storage and retrieval grid having a second delivery rail system extending from below the second storage and retrieval grid to a third location, and an overpass rail, and two vehicle lift devices transferring a delivery vehicle between the first and second delivery vehicle rail systems.
In the drawings, like reference numerals have been used to indicate like parts, elements or features unless otherwise explicitly stated or implicitly understood from the context.
Detailed description of the invention
In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.
Exemplary embodiments of the system according to the present invention are shown in figs. 5 to 12.
Figs. 1 to 3 have already been described in the background section.
Fig. 4 shows an automated storage and retrieval grid 204. The automated storage and retrieval grid 204 has a plurality of vertical members/column profiles 202 defining multiple storage columns 205 for storing storage containers 106 in vertical stacks (not shown). The vertical members 202 are interconnected at their upper ends by top rails forming a container handling vehicle rail system 208. The container handling vehicle rail system 208 comprises a first set of parallel rails 210 arranged in a first horizontal plane P1 and extending in a first direction X, and a second set of parallel rails 211 arranged in the first horizontal plane P1 and extending in a second direction Y which is orthogonal to the first direction X. The first and second sets of rails 210, 211 form a grid pattern in the first horizontal plane P1 comprising a plurality of adjacent container handling vehicle grid cells 222, each container handling vehicle grid cell 222 comprising a container handling vehicle grid opening 215 defined by a pair of neighboring rails 210a, 210b of the first set of rails 210 and a pair of neighboring rails 211a, 211b of the second set of rails 211. See also fig. 12 for details.
A storage container handling vehicle 3a is shown on top of the container handling vehicle rail system 208 arranged in a first horizontal plane P1. The storage container handling vehicle 3a is shown lowering a storage container 106 into a transfer column 219 for transferring the storage container 106 to the delivery space 220 situated at the lower end of the transfer column 219. A delivery vehicle 3c having a storage container carrier 18 on top of its chassis is arranged at a storage container delivery location 360 situated below the delivery space 220. The storage container carrier 18 can receive the storage container 106 from the storage container handling vehicle 3a.
The first delivery rail system 308 is arranged at a level below the container handling vehicle rail system 208 and the delivery vehicle 3c is arranged on top of the first delivery rail system 308. The first delivery rail system 308 has a plurality of first sets of parallel rails 310 arranged in a second horizontal plane P2 extending in a third direction X’ and a plurality of second sets of parallel rails 311 extending in the fourth direction Y’ which is orthogonal to the third direction X’ . As can be seen, the first and second sets of rails of the first delivery rail system form a grid pattern.
A plurality of container handling vehicles 3a may be arranged on top of the container handling vehicle rail system 208, and a plurality of delivery vehicles can be arranged on the first delivery rail system 308. Further, the storage grid 204 has a plurality of transfer columns 219 such that the plurality of storage container handling vehicles 3a can transfer storage containers 106 to and from the delivery vehicles 3c arranged on the first delivery rail system 308.
The figure also illustrates the first delivery rail system 308 having a horizontal area/projection extending from below the transfer columns 219 to an external side of the storage grid 204.
Fig. 5 illustrates the automated storage and retrieval grid 204 and the delivery rail system 308 in Fig.4. Further, Fig. 5 illustrates two vehicle lift devices 4 in a side-byside arrangement for transferring delivery vehicles 3c between the second and third horizontal plane (P2, P3). As can be seen, a second delivery rail system 308’ is arranged in a third horizontal plane P3 having a delivery vehicle 3c arranged thereon. For simplicity only one of the two vehicle lifting devices 4 will be referred to in the following disclosure of Fig. 5. The other vehicle lifting device may be substantially the same as the one described.
The first and second delivery rail systems 308, 308’ are positioned so that a part of an outer perimeter of the first delivery rail system 308 is neighboring or is adjacent to at least a part of an outer circumference of the second delivery rail system 308’ when viewed from above. The horizontal distance between the outer perimeter of the first delivery rail system 308 which is neighboring the outer perimeter of the second delivery rail system 308’ is shown to be the size of one grid cell.
Since the delivery vehicle 3c that moves on the first delivery rail system 308 may be the same delivery vehicle 3c that moves on the second delivery rail system 308’ the size/area of the grid cells are the same for both the first and second delivery rail system 308, 308’.
The vehicle lift device 4 is positioned in the space between the first and second delivery rail systems 308, 308’ but may also be located in a shaft (not shown) of for example the first delivery rail system 308. If a vehicle lift device 4 is located in a shaft, the first and second delivery rail system 308, 308’ can be positioned so that a part of the outer perimeter of the first delivery rail system 308 coincides (when viewed from above) with at least a part of the outer perimeter of the second delivery rail system 308’.
The lifting device 4 has a lift mechanism 8 arranged to move a lifting arrangement 5 between the first lift stop position LS1, establishing access between the lifting arrangement 5 and the second location 370 of the first delivery rail system 308, and the second lift stop position LS2, establishing access between the lifting arrangement 5 and the third location 380 of the second delivery rail system 308’.
In Fig. 5 the lifting arrangement 5 is arranged in the second lift stop position LS2 enabling the vehicle to move from the lifting arrangement on to the second delivery rail system 308’.
As can be seen, the system 1 may comprise a plurality of vehicle lift devices 4. The vehicle lift devices 4 can be arranged next to each other as shown in Fig. 5, but may be arranged at any position within the system 1 allowing the vehicle lift device 4 to transfer a delivery vehicle 3c between the first and second delivery rail systems 308, 308’.
The second delivery rail system 308’ can be arranged such that the delivery vehicle 3c can move to for example a production facility or a picking/stocking station where the storage container 106 can be accessed, or it can be arranged at a level below a second automated storage and retrieval grid 204’ as shown in figure 11, or it can be arranged between a first and a second automated storage and retrieval grid 204, 204’ functioning as a bridge there between as shown in fig. 12.
The second automated storage and retrieval grid 201’ may have the same configuration as the first automated storage and retrieval grid 204.
Figs. 6 to 8 illustrate, similar to Fig. 5, a first and second delivery rail system 308, 308’ having a vehicle lift devices 4 positioned in the space between the first and second delivery rail systems 308, 308’. Figs. 6 to 8 is a close-up view of the vehicle lift device 4 not showing the first automated storage and retrieval grid in fig.4 and 5. Further, the first delivery rail system 308 in Figs. 6 to 8 is arranged in the second horizontal plane P2 which is in a higher vertical level than the second delivery rail system 308’ arranged in the third horizontal plane P3.
The first delivery rail system 308 has a first set of parallel rails 310 extending in a third direction X’, and a second set of parallel rails 311 extending in the fourth direction Y’ which is orthogonal to the third direction X’.
The second delivery rail system 308’ has a first set of third set of parallel rails 310’ extending in the fifth direction X’’ and a second set of parallel rails 111’’ extending in a sixth direction Y’’ which is orthogonal to the fifth direction X’’. The grid pattern of the first and second delivery rail system 308, 308’ comprises a plurality of adjacent grid cells 322, 322’. Each grid cell 322 of the first delivery rail system 308 is defined by a pair of neighboring rails 310a, 310b of the first set of rails 310 and a pair of neighboring rails 311a, 311b of the second set of rails 311, while each grid cell 322’ of the second delivery rail system 308’ is defined by a pair of neighboring rails 310’a, 310’b of the first set of rails 310’ of the second delivery rail system 308’ and a pair of neighboring rails 311’a, 311’b of the second set of rails 311’.
Figs. 6 illustrates the lifting arrangement 5 of vehicle lift device 4 positioned at the first lift stop position LS1 having the delivery vehicle 3c arranged on the lifting arrangement 5. The first lift stop position LS1 is at the same vertical level as the second lift stop position 370 and first delivery rail system 308. The first lift stop position has established access between the lifting arrangement 5 and the second location 370 allowing the delivery vehicle 3c to move between the first lift stop position LS1 and the second location 370.
Fig. 7 illustrates the same part of the system as illustrated in fig. 6, but where the lifting arrangement is positioned between the first and second lift stop position LS1, LS2.
Fig. 8 illustrates the same part of the system as illustrated in figs. 6 and 7, but where the lifting arrangement is positioned at lift stop position LS2. The second lift stop position LS2 is at the same vertical level as the third location 380 and the second delivery rail system 308’. The second lift stop position LS2 has established access between the lifting arrangement 5 and the third location 380 allowing the delivery vehicle 3c to move from the second lift stop position LS2 to the third location 380.
After the delivery vehicle 3c has been removed from the lifting arrangement 5, the lifting arrangement 5 may wait for a second delivery vehicle 3c to enter the lifting arrangement 5 to transfer the second delivery vehicle 3c to the first delivery rail system 308, or it may return empty to load a second delivery vehicle 3c from the first delivery rail system 308.
Fig. 9 illustrates a part of the system comprising a first, second and third delivery rail system 308, 308’, 308’’. The first automated storage and retrieval grid is not shown.
The first delivery rail system 308 is arranged in the second horizontal plane P2 at the same vertical level as the third delivery rail system 308’’ arranged in the fourth horizontal plane P4. The second delivery rail system 308’ arranged in the third horizontal plane P3 is vertically displaced from the first and third delivery rail system 308, 308’’ and arranged therebetween. The second delivery rail system may work as an overpass/bridge rail system within a storage house as shown.
The system 1 has two vehicle lift devices 4, 4’ for transferring delivery vehicles 3c. The first vehicle lift device 4 transfers delivery vehicles 3c between the first delivery rail system 308 and the second delivery rail system 308’, while the second vehicle lift device 4’ transfers delivery vehicles 3c between the second delivery rail system 308’ and the third delivery rail system 308’’.
The first and second delivery rail system 308, 308’ has the same configuration as shown in Figs. 5 to 8 comprising sets of parallel rails forming a grid pattern.
The third delivery rail system 308’’ also comprises a grid pattern. The grid pattern is formed by a first and a second set of parallel rails 310’’, 311’’ extending in the seventh direction X’’ and eights direction Y’’ respectively, where the seventh direction is orthogonal to the eights direction X’’. The first and second set of parallel rails 310’’, 311’’ have a plurality of adjacent grid cells 322’’ defined by a pair of neighboring rails 310’’a, 310’’b of the first set of parallel rails 310’’, and a pair of neighboring rails 311’’a, 311’’b of the second set of parallel rails 311’’.
The delivery vehicle 3c can be transferred between the first and second delivery rail systems 308, 308’ and between the second and third delivery rail system 308’, 308’’.
When moving the delivery vehicle 3c from for example the second location to a fifth location 400, the lifting arrangement 5 of the first vehicle lift device 4 will first be arranged at the first lift stop position LS1 establishing access between the lifting arrangement 5 and the second location 370 of the first delivery rail system 308, thereby enabling relocation of the delivery vehicle 3c between the operative position on the first delivery rail system 308 and the support position on the lifting arrangement 5. After the delivery vehicle 3c rests at the support position of the lifting arrangement, the vehicle lift device 4 will transfer the lifting arrangement 5 with the delivery vehicle 3c to the second lift stop position LS2 establishing access between the lifting arrangement 5 and the third location 380 of the second delivery rail system 308’, thereby enabling relocation of the delivery vehicle 3c between the support position on the lifting arrangement 5 and the operative position on the second delivery rail system 308’.
The delivery vehicle 3c may then move on the second delivery rail system 308’ to the fourth location 390 being adjacent the second lift stop position LS2’ of the second vehicle lift device 4’. When the lifting arrangement of the second vehicle lift device is arranged in the second lift stop position LS2’ access will be established between the lifting arrangement 5’ of the second vehicle lift device 4’ and the fourth location 390 of second delivery rail system 308’, thereby enabling relocation of the delivery vehicle 3c from the operative position on the second delivery rail system 308’ to the support position on the lifting arrangement 5’. Thereafter the lifting arrangement 5’ with the delivery vehicle 3c can be transferred to the first lift stop position LS1’ of the second vehicle lift device 4’ establishing access between the lifting arrangement 5’ and the fifth location of the third delivery rail system 308’’, thereby enabling relocation of the delivery vehicle 3c from the support position on the lifting arrangement 5’ and the operative position on the third delivery rail system 308’’.
The second lift stop position LS2 of the first vehicle lift device 4 and second lift stop position LS2’ of the second vehicle lift device 4’ are arranged at the outer perimeter of the second delivery rail system 308’. In fig. 9 the two lift stops positions LS2 and LS2’ are arranged at the opposite sides of the second delivery rail system 308’.
However, the two lift stop positions LS2 and LS2’ can be arranged at any position on the outer perimeter of the second delivery rail system 308’ depending on the position of the first and third delivery rail system 308,308’’ relative to the second delivery rail system 308’ for the vehicle lift devices 4,4’ to transfer a delivery vehicle 3c there between.
Fig. 10 is a detailed view of the delivery vehicle 3c arranged on the lifting arrangement 5 in the first lift stop position LS1 in Fig. 6. The lifting arrangement 5 has a guiding and positioning structure comprising a platform rail arrangement 9 having one first set of parallel rails 10. In this position access is established between the lifting arrangement 5 and the first delivery rail system 308 enabling relocation of the delivery vehicle 3c between the operative position on the first delivery rail system 308 and the support position on the lifting arrangement 5. The rails 10 of the lifting arrangement 5 are compatible with the rails 310 of the first delivery rail system 308. The rails 10 of the lifting arrangement 5 can be seen as an extension of the corresponding first set of parallel rails 310 of the first delivery rail system 308. The delivery vehicle 3c can therefore easily be moved by the wheels 6 being engaged with the parallel set of rails 310 from the first delivery rail system 308 on to the parallel set of rails 10 of the lifting arrangement 5.
A first safety barrier 17 is shown being in the form of a safety loop. When the delivery vehicle 3c moves from the first delivery rail system 308 on to the lifting arrangement 5 of the vehicle lift device 4, the safety barrier 17 prevents the delivery vehicle 3c from moving off the lifting arrangement 5.
The delivery vehicle 3c has a storage container carrier 18 on top of its chassis carrying the storage container 106.
The delivery vehicle 3c may be a remotely operating vehicle comprising a wheel arrangement of eight wheels 6, wherein a first set of four wheels enable the lateral movement of the delivery vehicle 3c along the rails of the first and second delivery rail system 308, 308’. One or both sets of wheels 6 in the wheel arrangement can be lifted and lowered, so that the first set of wheels and/or the second set of wheels can be engaged with the respective set of rails at any one time.
Fig. 11 shows the first automated storage and retrieval grid 204 and the first delivery rail system 308 shown in fig. 4 and 5. Further, fig. 11 shows the second delivery rail system 308’ arranged at a third level P3 below a second container handling vehicle rail system 208’ of a second automated storage and retrieval grid 204’. The second automated storage and retrieval grid 204’ has the same configuration as the first automated storage and retrieval grid 204 shown in Fig. 5 having a plurality of vertical members forming a plurality of storage columns 205’ for storing storage containers in stacks (not shown). The vertical members are interconnected at their upper ends by the container handling vehicle rail system 208’. The second transfer rail system further comprises a plurality of transfer columns 219 for transferring storage containers between the container handling vehicle 3a moving on the second container handling vehicle rail system 208’ and the delivery vehicle 3c moving on the second delivery rail system 308’.
The vehicle lift device 4 coincides with a part of the outer circumference of the first delivery rail system 308 and a part of the outer circumference of the second delivery rail system 308’, and is arranged to transfer the delivery vehicle 3c between the first and second delivery rail system 308, 308’.
The system 1 may further comprise an operator access station (not shown) adjacent to at least one side of first and/or second delivery rail systems 308, 308’.
Fig. 12 shows system 1 for storing and transporting storage containers having a first automated storage and retrieval grid 204 as shown in fig. 4 and 5 having the first delivery rail system 308 arranged below the container handling vehicle rail system 208. The first delivery rail system 308 comprises a delivery vehicle 3c to be transported by the vehicle lift device 4. The system 1 further comprises a second automated storage and retrieval grid 204’ having a third delivery rail system 308’’ arranged below the top rail grid 208’ in a fourth level P4. Between the first and the second container handling vehicle rail system 208, 208’, a second delivery rail system 308’ is arranged. In order to transport a delivery vehicle 3c between the first and third delivery rail systems 308,308’’, two vehicle lift devices 4,4’ are arranged within the system.
The first vehicle lift device 4 transfers delivery vehicles 3c between the first delivery rail system 308 and the second delivery rail system 308’, while the second vehicle lift device 4’ transfers delivery vehicles 3c between the second delivery rail system 308’ and the third delivery rail system 308’’.
When moving the delivery vehicle 3c from the first delivery rail system 308 to the second delivery rail system 308’, the lifting arrangement 5 of the first vehicle lift device 4 will be arranged at the first lift stop position LS1 establishing access between the lifting arrangement 5 and the first delivery rail system 308, thereby enabling relocation of the delivery vehicle 3c between the operative position on the first delivery rail system 308 the support position on the lifting arrangement 5. Then the vehicle lift device 4 will transfer the lifting arrangement 5 with the delivery vehicle 3c to the second lift stop position LS2 establishing access between the lifting arrangement 5 and the second delivery rail system 308’, thereby enabling relocation of the delivery vehicle 3c between the support position on the lifting arrangement 5 and the operative position on the second delivery rail system 308’.
The delivery vehicle 3c may then move on the second delivery rail system 308’ towards a second lift stop position LS2’ of the second vehicle lift device 4’ establishing access between the lifting arrangement 5’ of the second vehicle lift device 4’ and the second delivery rail system 308’, thereby enabling relocation of the delivery vehicle 3c from the operative position on the second delivery rail system 308’ to the support position on the lifting arrangement 5’. Thereafter the lifting arrangement 5’ with the delivery vehicle 3c can be transferred to the first lift stop position LS1’ of the second vehicle lift device 4’ establishing access between the lifting arrangement 5’ and the third delivery rail system 308’’, thereby enabling relocation of the delivery vehicle 3c from the support position on the lifting arrangement 5’ and the operative position on the third delivery rail system 308’’.
The second lift stop position LS2 of the first vehicle lift device 4 and second lift stop position LS2’ of the second vehicle lift device 4’ are arranged at the outer perimeter of the second delivery rail system 308’. The two lift stops positions LS2 and LS2’ are arranged at the opposite sides of the outer perimeter of the second delivery rail system 308’ being in the same level, P3 which is in the same level as the first horizontal plane P1.
However, the two lift stop positions LS2 and LS2’ can be arranged at any position on the outer perimeter of the second delivery rail system 308’ depending on the position of the first and third delivery rail system 308,308’’ relative to the second delivery rail system 308’ for the vehicle lift device 4 to transfer the delivery vehicle 3c there between.
Depending on the size and shape of the facility wherein the system 1 is arranged, a plurality of combinations of arrangements of delivery rail systems are possible. Figs.
11 and 12 are illustrating two of a multiple of possible arrangements and show the flexibility of a facility comprising a system according to the invention.
Reference numerals:

Claims (21)

1. A system for storing and transporting storage containers in a warehouse comprising - an automated storage and retrieval grid (204) comprising
vertical members (202) defining multiple storage columns (205) for storing storage containers (106) on top of each other in vertical stacks (107), wherein the vertical members (202) are interconnected at their upper ends by a container handling vehicle rail system (208) arranged to guide at least one container handling vehicle (3a) being configured to raise storage containers (106) from, and lower storage containers (106) into, the storage columns (205), and to transport the storage containers (106) above the storage columns (205), wherein the container handling vehicle rail system (208) comprises a first set of parallel rails (210) arranged in a first horizontal plane (P1) and extending in a first direction (X), and a second set of parallel rails (211) arranged in the first horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails (210, 211) form a grid pattern in the first horizontal plane (P1) comprising a plurality of adjacent container handling vehicle grid cells (222), each container handling vehicle grid cell (222) comprising a container handling vehicle grid opening (215) defined by a pair of neighboring rails (210a, 210b) of the first set of rails (210) and a pair of neighboring rails (211a, 211b) of the second set of rails (211),
a transfer column (219) adapted for transport of a storage container (106) between the container handling vehicle (3a) and a delivery space (220) situated at a lower end of the transfer column (219);
- a delivery system comprising a first delivery rail system (308) having at least one set of parallel rails (310, 311) arranged in a second horizontal plane (P2) guiding at least one delivery vehicle (3c) thereon, wherein the delivery vehicle (3c) is adapted to receive and/or deliver a storage container (106) at a storage container delivery location (360) arranged below the delivery space (220) of the transfer column (219) and to move between the storage container delivery location (360) and a second location (370),
the first delivery rail system (308) covers at least an area extending from the storage container delivery location (360) to the second location (370), - a vehicle lift device (4) for transfer of the at least one delivery vehicle (3c) between a first lift stop position (LS1) adjacent the second location (370) in the second horizontal plane (P2) and a second lift stop position (LS2) adjacent a third location (380) arranged in a third horizontal plane (P3) being at a different vertical level than the second horizontal plane (P2).
2. The system (1) according to claim 1, characterized in that the vehicle lift device (4) comprises a lifting arrangement (5) arranged to support the at least one delivery vehicle (3c) and a lift mechanism (8) arranged to move the lifting arrangement (5) between a first lift stop position (LS1) to a second lift stop position (LS2), wherein the first lift stop position (LS1) establishes access between the lifting arrangement (5) and the second location (370) for enabling relocation of the at least one delivery vehicle (3c) between a support position on the lifting arrangement (5) and an operative position at the second location (370) on the first delivery rail system (308), and the second lift stop position (LS2) establishes access between the lifting arrangement (5) and the third location (380) for enabling relocation of the at least one delivery vehicle (3c) between the support position on the lifting arrangement (5) and an operative position at the third location (380).
3. The system (1) according to claim 2, characterized in that the lift mechanism (8) is configured to move the lifting arrangement (5) in a purely vertical direction between the first lift stop position (LS1) and the second lift stop position (LS2).
4. The system (1) according to claim 2 or 3, characterized in that the lifting arrangement (5) comprises a guiding and positioning structure for maintaining the at least one vehicle (3) in a motionless or near motionless position on the lifting arrangement (5) during transfer of the lifting arrangement (5) between the first and second lift stop position (LS1, LS2).
5. The system (1) according to claim 4, characterized in that the guiding and positioning structure comprises
a platform rail arrangement (9) comprising
at least a first set of parallel rails (10) and/or
at least a second set of parallel rails being perpendicular to the first set of parallel rails (10),
wherein the platform rail arrangement (9) is level with the first delivery rail system (308) when the lifting arrangement (5) is placed in the first lift stop position (LS1) thereby enabling the at least one delivery vehicle (3c) to move between the first delivery rail system (308) and the platform rail arrangement (9), and the platform rail arrangement (9) is level with a second delivery rail system (308’) at the third location (380) when the lifting arrangement (5) is placed in the second lift stop position (LS2) thereby enabling the at least one delivery vehicle (3c) to move between the second delivery rail system (308’) and the platform rail arrangement (9).
6. The system (1) according to claim 5, characterized in that the horizontal extent of the platform rail arrangement (9) is equal to or larger than the horizontal extent of the at least one delivery vehicle (3c) to be transferred between the first lift stop position (LS1) and the second lift stop position (LS2).
7. The system (1) according to claim 4, characterized in that the guiding and positioning structure comprises a base plate structure for receiving the at least one delivery vehicle (3c).
8. The system (1) according to any one of claims 2 to 4, characterized in that lifting arrangement (5) comprises at least two side walls for receiving the at least one delivery vehicle (3c) in the area defined by the at least two side walls and the guiding and positioning structure.
9. The system (1) according to any one of the preceding claims, characterized in that the lift device (4) further comprises a first safety barrier (17) configured to restrict further horizontal movement of the at least one delivery vehicle (3c) when the at least one delivery vehicle (3c) is moving to or from the support position.
10. The system (1) according to any one of the preceding claims, characterized in that the vehicle lift device (4) further comprises a second safety barrier extending vertically for restricting horizontal displacement of the at least one delivery vehicle (3c) when the platform (5) is moving between the first lift stop position (LS1) and the second lift stop position (LS2).
11. The system (1) according to any one of the preceding claims, characterized in that the first delivery rail system (308) comprises a first set of parallel rails (310) arranged in the second horizontal plane (P2) and extending in a third direction (X’), and a second set of parallel rails (311) arranged in the second horizontal plane (P2) and extending in a fourth direction (Y’) which is orthogonal to the third direction (X’), which first and second sets of rails (310, 311) form a grid pattern.
12. The system (1) according to claim 5, characterized in that second delivery rail system (308’) comprises at least one set of parallel rails (310’, 311’) arranged in the third horizontal plane (P3) guiding at least one delivery vehicle (3c) thereon, the second delivery rail system (308’) extending from the third location (380) to a fourth location (390).
13. The system (1) according to claim 12, characterized in that second delivery rail system (308’) comprises a first set of parallel rails (310’) arranged in the third horizontal plane (P3) and extending in a fifth direction (X’’), and a second set of parallel rails (311’) arranged in the third horizontal plane (P3) and extending in a sixth direction (Y’’) which is orthogonal to the fifth direction (X’’), which first and second sets of rails (310’, 311’) form a grid pattern.
14. The system (1) according to claim 12 or 13, characterized in that it the first horizontal plane (P1) is at the same level as the third horizontal plane (P3).
15. The system (1) according to any one of claims 12 to 14, characterized in that the system (1) further comprises a second vehicle lift device (4’) for transfer of the at least one delivery vehicle (3c) between the fourth location (390) on the second delivery rail system (308’) and a fifth location (400) arranged in a fourth horizontal plane (P4) being at a different vertical level than the third horizontal plane (P3).
16. The system (1) according to claim 15, characterized in that the fourth horizontal plane (P4) is at the same level as the second horizontal plane (P2).
17. The system (1) according to any one of the preceding claims, characterized in that the delivery vehicle (3c) comprises a storage container carrier (18) provided above a chassis of the delivery vehicle (3c).
18. A building comprising a system (1) according to any one of claims 1-17, wherein the second and third horizontal plane (P2, P3) represent floors at different levels within the building.
19. A method of operating a system (1) for storing and transporting storage containers in a warehouse,
comprising
- an automated storage and retrieval grid (204) comprising
vertical members (202) defining multiple storage columns (205) for storing storage containers (106) on top of each other in vertical stacks (107), wherein the vertical members (202) are interconnected at their upper ends by a container handling vehicle rail system (208) arranged to guide at least one container handling vehicle (3a) being configured to raise storage containers (106) from, and lower storage containers (106) into, the storage columns (205), and to transport the storage containers (106) above the storage columns (205), wherein the container handling vehicle rail system (208) comprises a first set of parallel rails (210) arranged in a first horizontal plane (P1) and extending in a first direction (X), and a second set of parallel rails (211) arranged in the first horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails (210, 211) form a grid pattern in the first horizontal plane (P1) comprising a plurality of adjacent container handling vehicle grid cells (222), each container handling vehicle grid cell (222) comprising a container handling vehicle grid opening (215) defined by a pair of neighboring rails (210a, 210b) of the first set of rails (210) and a pair of neighboring rails (211a, 211b) of the second set of rails (211),
a transfer column (219) adapted for transport of a storage container (106) between the container handling vehicle (3a) and a delivery space (220) situated at a lower end of the transfer column (219);
- a delivery system comprising a first delivery rail system (308) having at least one set of parallel rails (310, 311) arranged in a second horizontal plane (P2) guiding at least one delivery vehicle (3c) thereon, wherein the delivery vehicle (3c) is adapted to receive or deliver a storage container (106) at a storage container delivery location (360) arranged below the delivery space (220) of the transfer column (219) and to move between the storage container delivery location (360) and a second location (370),
the first delivery rail system (308) is at least covering an area extending from the storage container delivery location (360) to the second location (370), - a vehicle lift device (4) for transfer of the at least one delivery vehicle (3c) between the second location (370) and a third location (380) arranged in a third horizontal plane (P3) being at a different vertical level than the second horizontal plane (P2),
which method comprises the steps of:
i) moving the delivery vehicle (3c) from the second location (370) onto a first lift position (LS1) of the vehicle lift device (4),
ii) moving the delivery vehicle (3c) to a second lift stop position (LS2) of the vehicle lift device (4) enabling access between the vehicle lift device (4) and the third location (380), and
iii) moving the delivery vehicle (3c) to the third location (380).
20. The method of operating a system (1) according to claim 19, the method prior to step i) comprises the steps of:
a) moving the container handling vehicle (3a) to a location on the container handling vehicle rail system (208) for transferring a storage container (106) into the transfer column (219),
b) moving the delivery vehicle (3c) to the storage container delivery location (360), c) transferring the storage container (106) from the container handling vehicle (3a) through the transfer column (219) to the delivery space (220) and on to the delivery vehicle (3c),
d) moving the delivery vehicle (3c) from the storage container delivery location (360) to the second location (370) to thereby move the storage container (106).
21. The method in accordance with claim 19 or 20, wherein the method further comprises
iv) moving the delivery vehicle (3c) to an access area for handling the storage container (106) by a robotic operator and/or a human operator.
NO20181657A 2018-06-12 2018-12-20 System for storing and transporting storage containers and method for operating the system NO348038B1 (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
EP19730151.8A EP3807175A1 (en) 2018-06-12 2019-06-11 System for storing and transporting storage containers
PCT/EP2019/065141 WO2019238639A1 (en) 2018-06-12 2019-06-11 System for storing and transporting storage containers
US17/055,051 US11772685B2 (en) 2018-06-12 2019-06-11 System for storing and transporting storage containers
CN201980084641.0A CN113195380B (en) 2018-12-20 2019-12-11 Container access station for an automated storage and retrieval system
KR1020217022412A KR20210106499A (en) 2018-12-20 2019-12-11 Vessel access station for automatic storage and retrieval systems
JP2021534620A JP2022515062A (en) 2018-12-20 2019-12-11 Container access station for automatic storage and collection systems
CA3118797A CA3118797A1 (en) 2018-12-20 2019-12-11 A container accessing station for an automated storage and retrieval system
US17/413,192 US12098030B2 (en) 2018-12-20 2019-12-11 Vehicle lift for an automated storage and retrieval system
PCT/EP2019/084571 WO2020126725A1 (en) 2018-12-20 2019-12-11 A container accessing station for an automated storage and retrieval system
EP19824252.1A EP3898456A1 (en) 2018-12-20 2019-12-11 A container accessing station for an automated storage and retrieval system
US18/455,420 US20240025457A1 (en) 2018-06-12 2023-08-24 System for storing and transporting storage containers

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NO20181005A NO344662B1 (en) 2018-06-12 2018-07-19 An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
NO20181039A NO346265B1 (en) 2018-06-12 2018-08-02 Storage system

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