TWI583612B - 用於運送儲存倉的機器人 - Google Patents

用於運送儲存倉的機器人 Download PDF

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TWI583612B
TWI583612B TW102145390A TW102145390A TWI583612B TW I583612 B TWI583612 B TW I583612B TW 102145390 A TW102145390 A TW 102145390A TW 102145390 A TW102145390 A TW 102145390A TW I583612 B TWI583612 B TW I583612B
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侯那藍德英格瓦
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傑科布哈特蘭德邏輯股份有限公司
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Description

用於運送儲存倉的機器人
本發明關於如請求項第1項之前言所定義的，用於自一儲存系統拾取儲存倉之一遠端操作的載具。
本發明亦關於使用該發明載具的一儲存系統。
一種用於自一儲存系統拾取儲存倉的遠端操作的載具為周知的。一相關先前技術之儲存系統之一詳細說明提供於WO 98/49075中。此外，適於此一儲存系統的一先前技術之載具的詳細說明係揭露於挪威專利NO317366中。更特定而言之，該先前技術之儲存系統包含一三維度的儲存網格，該網格容納了儲存倉，該等儲存倉彼此堆疊於上至某一高度。該儲存網格一般建成由頂部軌道相互連接的鋁柱。若干遠端操作的載具、或機器人被配置於該頂部軌道上。各載具裝配有一升降機，該升降機用於拾取、攜帶、及放置儲存於該儲存網格中的倉。
此一先前技術之儲存系統及先前技術之機器人已分別繪示於第1圖及第2圖。該儲存系統3包含一機器人1，該機器人係被配置以在專用支撐軌道13上移動並自一倉儲存網 格15中之一儲存柱8接收一儲存倉2。該儲存系統3包含複數個此等機器人1以及一專用的倉升降裝置50，後者被配置以自位於該倉儲存網格15之該頂層的該機器人1接收一儲存倉2，並以一垂直方向將該儲存倉2下送至一傳送站60。
然而，示於第1圖及第2圖兩者之先前技術之機器 人1在他們操作時，卻有一些重要缺點的困擾。首先，該機器人的該特定設計阻礙了在該儲存系統中對所有該可利用的儲存柱的使用。此外，此特定設計在升降及傳送儲存倉時，會造成一不良的高力矩，從而產生潛在的不穩定性的問題，以及該等機器人最大處理重量的一清楚的限制。由該先前技術之機器人設計所造成之一額外缺點是為了確保合適的穩定性，僅有一特定倉及一特定的倉高度可被接受以用於各個種類的機器人。最後，在接收該儲存倉之該部分的該上部的一整合的軛/突出物的存在，迫使由該軛懸吊載具升降裝置執行的該升降程序在該最後的階段有一不良的減速。
本發明之目標在於解決，或者至少實質上減輕該前 述之缺點，亦即提供一載具/機器人，其具有較高穩定屬性、較高最大處理重量、在操作時可用空間之一更有效的利用、以及較少時間花費的儲存倉升降及輸送程序。
該上述認定之目標係由如請求項第1項所定義之一 遠端操作的載具及如請求項第11項所定義之儲存系統來達成。進一步有利的特徵在請求項之附屬項中定義。
特定而言，本發明涉及一種用於自一儲存系統拾取 儲存倉之遠端操作的載具或機器人。本發明載具或機器人包含一載具機身，該載具機身進一步包含用於儲存載具驅動手段的一第一部分及用於接收儲存於該儲存系統中之一儲存柱中的任意儲存倉的一第二部分、為了將該儲存倉升降入該第二部分中而至少間接地連接至該載具機身的一載具升降裝置、在使用時為了提供該載具在該儲存系統中沿著一第一方向(X)移動而連接至該載具機身的一第一組載具滾動手段、及在使用時為了提供該載具在該儲存系統中沿著一第二方向(Y)移動而連接至該載具機身的一第二組載具滾動手段。該第二方向(Y)是與該第一方向(X)垂直之方向。
該發明載具之特徵在於該第二部分包含有在該載具 機身內以中央配置的一凹槽。此凹槽具有至少一個倉接收開口，該倉接收開口在使用時面向該在下方的儲存柱。此外，該等二組載具滾動手段中之至少一組是完全配置於該載具機身中。
為了提供該儲存倉易於進入該中央凹槽，該凹槽之 空間應大於意圖自該儲存系統中被拾取之最大的儲存倉。同樣地，該至少一倉接收開口之至少一者的該橫截面區域應大於與該(等)凹槽開口平行方向之該等儲存倉壁之該橫截面區域。
該載具可進一步包含構件以用於在該第一方向(X) 及該第二方向(Y)間載具方向之一改變時，可相反地及選擇性地迫使該第一組載具滾動手段或該第二組載具滾動手段遠離在該儲存系統中一在下方的載具支撐。
此外，在一實施例中，該第一部分可被以相對於該 第二部分，以平行於該在下方之載具支撐的該載具之該橫截面自一正方形狀偏移的一種方式來配置。
在一較佳的實施例中，該載具機身在使用時涵蓋少 於或等於在該第一方向(X)中之一中央儲存柱之該側橫截面區域，並涵蓋在該第二方向(Y)中之多於一個中央儲存柱之該側橫截面區域。在一更特定之範例中，該載具機身延伸出在面向該第二方向(Y)兩側之該中央儲存柱的該側橫截面區域，即，亦涵蓋延伸於該第二方向(Y)之該相鄰儲存柱的部分該等橫截面區域。自該中央儲存柱延伸之該程度較佳地係為在此兩側相同。中央儲存柱係定義為當一機器人已觸及允許拾取一儲存倉之一位置時直接位於該機器人下之該儲存柱。
為了特別是提供高載具穩定度，兩組載具滾動手段 均係較佳地對該凹槽對稱地配置，例如靠近該載具之該較低角落。至少一組，且較佳為二組之載具滾動手段可包含至少四個輪子。其他實施例，如使用二垂直方向的履帶可被設想到。此外，為了在互相連接時提供增加的側穩定度，兩組皆有一外部設計，該外部設計匹配於在組成該載具支撐之支撐軌道上的一相對應外部設計。此支撐軌道將被配置於在一倉儲存結構或網格頂端之一二維矩陣中，其中該矩陣及該網格兩者之該等主要方向係與該載具之第一方向(X)和第二方向(Y)完全相同。
該載具亦可有利地包含位置感測手段以提供在使用 時，在該倉儲系統中該載具位置的測量。此位置感測手段可包含複數個位置感測器，該等感測器配置於該載具機身上的該等位置的至少一部分，該載具機身將會橫越該等支撐軌道所穿過之載具支撐的該等位置，例如在該載具之下，靠近其較低角落。
本發明亦涉及一儲存系統，該儲存系統包含與該等 上述特徵一致的一遠端操作的載具、一載具支撐，該載具支撐包含複數個形成一二維引導網孔矩陣之支撐軌道，其中該載具支撐係設置以引導該載具在使用時沿著該第一方向(X)與該第二方向(Y)的該等移動、支撐該載具支撐之一倉儲存結構或網格，該倉儲存結構或網格包含複數個儲存柱，其中各儲存柱係配置以容納一垂直儲存倉的堆疊且其中該倉儲存結構之該主要部分與該載具支撐上該等支撐軌道穿過的位置一致、以及一倉升降裝置，該倉升降裝置被配置以沿著一垂直於該載具支撐和一傳送站間的該載具支撐之該側平面的方向運送一載具輸送的儲存倉。
在一較佳實施例中，配置於該載具支撐之該外部側 邊界區域之該等支撐軌道的至少一部分形成外部引導網孔，該等引導網孔具有相較於在該載具支撐中該等剩餘引導網孔的該平均橫截面區域為減少的平均橫截面區域。例如，該等外部引導網孔之該等平均減少的橫截面區域可以大約是在該載具支撐中之該等剩餘引導網孔的該平均橫截面區域的一半。在一特定之較佳實施例中，該等外部引導網孔的這些橫截面區域係僅沿著該載具支撐之該第二方向(Y)而減少。
在該載具機身中該中央配置之該凹槽相對於該第二方向(Y)有效地去除該不良力矩，從而改進該機器人或載具之該穩定度。此配置亦導致一升降及輸送程序具有高對稱性的一重量分布。此外，由於圍繞著至少部分之該倉接收凹槽的該框架/機身有效地阻礙了任意不良的倉旋轉/搖晃，該新穎的設計提供該相同載具被用於升降及運輸高度顯著地低於該凹槽高度的儲存倉(亦即，自該升降裝置的該懸掛點所延伸至該載具之該下緣之該高度)。該圍繞機身的該凹槽的該存在亦提供幾乎一路至該凹槽內之其結束位置均維持完全或接近全速的升降速度，以及在自一儲存柱之一完全完成的倉升降前向該傳送站發起穩定的倉傳送。在該凹槽四周的該保護性機身亦給予在該載具已到達在該所討論之該儲存柱上方的一最後停止前而開始該升降裝置的一下降之事件的可能性。一顯著的較高穩定度及時間效率因而達成。
藉由配置完全位於該載具或機器人機身中之至少一組載具滾動手段，在該升降程序時因為該滾動手段是位於更靠近將被升降的該儲存倉，而可獲得額外的穩定度。由於相同理由此配置降低在該升降裝置上之該總負擔。此外，該配置相對於繪示於第2圖之先前技術的機器人是更有空間上效率的，此係由於該滾動手段並不給予任何額外的延伸於該等二機器人移動方向(X與Y)中之至少一者。較小尺寸機器人/載具的生產亦可能呈現。
1‧‧‧遠端操作的載具/機器人
2‧‧‧儲存倉
3‧‧‧倉儲系統
4‧‧‧載具機身/框架
5‧‧‧第一部分(載具機身)/元件部分/側部件
5a‧‧‧第一部分，左
5b‧‧‧第一部分，右
6‧‧‧載具驅動手段/馬達單元
7‧‧‧載具儲存空間/第二部分/凹槽/中央配置凹槽
8‧‧‧儲存柱
8a‧‧‧中央儲存柱
8b‧‧‧相鄰儲存柱
9‧‧‧載具升降裝置
10‧‧‧第一組載具滾動手段/第一組輪子
11‧‧‧第二組載具滾動手段/第二組輪子
12‧‧‧倉接收開口
13‧‧‧支撐軌道
14‧‧‧載具支撐
15‧‧‧倉儲存結構/網格
16‧‧‧位置感測手段/位置感測器
17‧‧‧載具支撐之左外部側邊界區域/左邊界網孔
18‧‧‧載具支撐之右外部側邊界區域/右邊界網孔
50‧‧‧倉升降裝置
60‧‧‧傳送站/埠
70‧‧‧軛/突出物
72‧‧‧頂蓋
73‧‧‧封閉遮蓋
74‧‧‧把手
75‧‧‧傳輸手段/控制面板/無線通訊手段
76‧‧‧網格支撐基座
本發明的這些及其他特徵由以下較佳形式的實施例 之實施方式而明確，該實施例之實施方式係以一非限制性範例而提供，並參照至隨附圖式，其中：第1圖為一先前技術之儲存系統之一透視圖；第2圖為形成如圖1所繪示之一儲存系統的部分的一先前技術之機器人或載具的一剖視圖；第3圖為根據本發明之一遠端操作的載具之一透視基底視圖；第4圖為根據本發明之一遠端操作的載具之一透視頂視圖；第5圖為一機器人組件之一透視頂視圖，該機器人組件包含根據本發明之一遠端操作的載具、一儲存倉及一完全封閉遮蓋；第6圖為與本發明一致之一倉儲存網格及一載具支撐的一透視頂視圖；第7圖為與本發明一致之一倉儲存網格及一載具支撐的一透視側視圖；第8圖為包含一倉儲存網格、一載具支撐及一遠端操作的載具之與本發明一致之一倉儲系統的部分之一透視側視圖；及第9圖為一遠端操作的載具在一二維支撐軌道的矩陣上移動之一示意頂視圖。
第1圖為根據先前技術之一儲存系統之一示意性、部分剖面透視圖，且第2圖為一相對應先前技術之機器人的 一剖視圖。此二圖已於前文被參照。
第3圖及第4圖提供本發明機器人1之二種不同角 度之透視圖，該機器人1包含一矩形載具機身或框架4其具有中央配置於該機身4中的一凹槽7、一頂蓋72覆蓋該機身4之該頂部、一第一組之四個輪子10安裝於該凹槽7內且與該機身4之內壁平行、及一第二組之四個輪子11與該機身4之外壁平行地安裝。該第一組及第二組輪子10、11係彼此方向上互相垂直。此外，該載具機身4亦包含配置於沿著該機器人1之至少一移動方向的該凹槽7的兩側之側部件5、5a、5b。為了清晰之目的，一笛卡兒坐標系係以其X、Y、及Z軸沿著該矩形載具機身4之該等主要方向對齊而展示。該凹槽7之該尺寸適於容納用於一升降裝置9之必要元件且適於至少完全地容納欲被該機器人1拾取之該最大的儲存倉2。
第5圖提供一機器人組件之一透視圖其中該機身4 係完全地被一封閉遮蓋73所覆蓋，該封閉遮蓋73包含把手74及傳輸手段/控制面板75。該封閉遮蓋73之該設計係適於由該機身4及該突出的輪子10所給定之該特定形狀。第5圖亦展示完全配置於該凹槽7之內的一儲存倉2之一小部分以及該升降裝置9之一小部分。後者係較佳地具有其中包括四個可垂直移動的金屬帶其上端懸於該頂蓋72之該凹槽面側及在該等較低端之轉向桿其能夠被操縱並固定於將被拾取之該儲存倉2中之適應凹槽/區域。
一網格組件之該結構構造包含一倉儲存結構或網格 15、整合性支撐軌道13組成該載具支撐14、及一網格支撐基 座76，係繪示於第6圖及第7圖中。該網格15包含複數個支柱，該等支柱被配置以內距離適於容納將被儲存於該網格15中之堆疊的儲存倉2。四個相鄰支柱的該等矩形配置因此組成一儲存柱8。該等支柱及該等軌道13兩者皆可由鋁製成。至於第3圖及第4圖，一笛卡兒坐標系係沿著該網格組件之該主要方向對齊展示以簡化易於瞭解。該支撐軌道13形成一矩形網孔之二維矩陣，且大部分的這些網孔之該橫截面區域與由該下方網格15所設置之各儲存柱8之該橫截面區域一致。 位於該載具支撐14之該邊界區域17、18的該等網孔(在Y軸方向的兩側)係繪示為橫截面區域小於該等其他剩餘網孔。該等邊界網孔17、18之該尺寸應較佳地適於當該機器人1位在發起拾取被容納於該中央儲存柱8a中之一儲存倉2的位置時在一中央儲存柱8a外的延伸程度，該儲存柱8a直接位於該機器人1之該凹槽7之下(見第8圖及第9圖)。如此，該機器人1可觸及在該儲存系統3內之所有該等儲存柱8，亦即該機器人獨立於該Y方向上之方向。例如，若該機器人1在該X方向正好延伸於一中央儲存柱8a之該橫截面區域且在該Y方向上超過½的該相鄰儲存柱8b的該橫截面區域，在該Y方向上之該邊界區域的該等網孔17、18之該橫截面區域應大約為該等剩餘網孔之該橫截面區域的½。這些邊界網孔17、18的該主要功能為因而提供充足的空間給具有該新穎設計的該機器人1。
第8圖展示該機器人1位於相鄰於該網格組件之該 邊界區域17、18的該中央儲存柱8a上方之一升降位置。該 載具升降裝置9於本實施例係下降一距離進入該中央儲存柱8a以為了勾住並舉起該下方之儲存倉2。如第8圖內之該示例性狀況可見，當該邊界區域係設計為具有額外邊界網孔17、18，該等額外邊界網孔17、18具有一Y方向寬度大約為該網格15中之該等剩餘網孔在該Y方向之寬度的½時，該機器人1，具有該機身4於該Y方向相較於該X方向延伸，可被一路驅動至該網格15的該邊緣。
為了更佳的繪示在組成該載具支撐14的該等支撐 軌道13上之該機器人1的該動作，在一網格組件上之機器人1的某些示例性位置係繪示於第9圖。標示於該等機器人1之該中心的該等粗箭頭指示可允許移動的方向。當該機器人1係位於其凹槽7正好在一中央儲存柱8a的上方時，如該左上角及中間中心之機器人1的案例，該等支撐軌道13之該配置提供在X與Y方向移動。在該網格組件上之任意其他位置限制了該機器人1在該載具支撐14上的移動，限制於X方向(右下方機器人1)或限制於Y方向(中上方及左下方機器人1)。 為了能夠決定該機器人的位置，將各機器人1裝配一或更多個位置感測器16被認為是有利的，例如光感測器。此等感測器16應較佳地安裝於該機器人1之一或更多個區域，該區域確保該等感測器16具有兩者都對該等下方之支撐軌道13無視線受阻且該等感測器直接通過其上或靠近該等軌道13穿越之該載具支撐14上之該等位置。來自該等感測器16之該等讀數可特別包括支配該機器人1之該進一步動作及/或該載具升降裝置9之該操作。
該機器人1的所有操作由該無線通訊手段75及遠端 控制單元控制。這包括控制該機器人之移動、該載具升降裝置及該位置測量。
在前實施方式中，根據本發明之該等設備的諸多態 樣已參照繪示性實施例而描述。為了解釋的目的，特定數字、系統及設置係為了提供一對該等設備及其作用方式的透徹瞭解而闡述。然而，此描述並非意欲被理解為一限制性。該繪示性實施例之諸多修改及變形，以及對所屬技術領域具有通常知識者明顯為屬於本發明主張標的指涉之該等設備之其他實施例，係視為屬於本發明之範疇內。
1‧‧‧遠端操作的載具/機器人
3‧‧‧倉儲系統
4‧‧‧載具機身/框架
8a‧‧‧中央儲存柱
8b‧‧‧相鄰儲存柱
9‧‧‧載具升降裝置
11‧‧‧第二組載具滾動手段/第二組輪子
14‧‧‧載具支撐
15‧‧‧倉儲存結構/網格

Claims (14)

  1. 一種用於自一儲存系統(3)拾取儲存倉(2)之遠端操作的載具(1)，包括：一載具機身(4)，包含用於儲存載具驅動手段(6)之一第一部分(5,5a,5b)及用於接收儲存於該儲存系統(3)內之一儲存柱(8,8a,8b)內中的任意儲存倉(2)之一第二部分(7)，該第二部分(7)包含在該載具機身(4)內之一中央配置凹槽(7)，該凹槽(7)具有至少一倉接收開口(12)，該倉接收開口在使用時面向該等儲存柱(8,8a,8b)，一載具升降裝置(9)，其至少間接地連接於該載具機身(4)以升降該儲存倉(2)入該第二部分(7)，及一第一組載具滾動手段(10)，其連接於該載具機身(4)提供該載具(1)在使用時在該儲存系統(3)內沿著一第一方向(X)移動，其特徵在於該載具(1)進一步包括一第二組載具滾動手段(11)，其連接於該載具機身(4)提供該載具(1)在使用時在該儲存系統(3)內沿著一第二方向(Y)移動，該第二方向(Y)與該第一方向(X)垂直，其中至少一組之該等載具滾動手段(11)是安裝於該凹槽(7)的內壁上。
  2. 如請求項1所述之遠端操作的載具(1)，其特徵在於該載具進一步包含用於在該第一方向(X)及該第二方向(Y)間載 具方向之一改變時，可相反地及選擇性地迫使該第一組載具滾動手段或該第二組載具滾動手段遠離在該儲存系統(3)中一在下方的載具支撐(14)之手段。
  3. 如請求項1或請求項2所述之遠端操作的載具(1)，其特徵在於在使用時該載具機身(4)涵蓋至多在該第一方向(X)中之一中央儲存柱(8a)之該側橫截面，並涵蓋在該第二方向(Y)中之多於一個中央儲存柱(8a,8b)之該側橫截面。
  4. 如請求項3所述之遠端操作的載具(1)，其特徵在於該載具機身(4)延伸出在該第二方向(Y)兩側之該中央儲存柱(8a,8b)的該側橫截面。
  5. 如請求項4所述之遠端操作的載具(1)，其特徵在於該延伸出該中央儲存柱(8a,8b)的該側橫截面係在該第二方向(Y)之兩側上相等。
  6. 如請求項1所述之遠端操作的載具(1)，其特徵在於兩組載具滾動手段(10,11)係對該中央配置凹槽(7)對稱地分佈。
  7. 如請求項1所述之遠端操作的載具(1)，其特徵在於至少一組載具滾動手段(10,11)包含至少四個輪子。
  8. 如請求項1所述之遠端操作的載具(1)，其特徵在於為了 在互相連接時提供增加的側穩定度，兩組載具滾動手段(10,11)皆有一外部設計，該外部設計匹配於在組成該載具支撐(14)之支撐軌道(13)上的一相對應外部設計，其中該等支撐軌道(13)係被配置於在一倉儲存結構(15)頂端之一二維矩陣中，該矩陣及該倉儲存結構(15)之該等主要方向係與該載具(1)之該第一方向(X)和第二方向(Y)完全相同。
  9. 如請求項1所述之遠端操作的載具(1)，其特徵在於該載具(1)包含位置感測手段(16)以在使用時提供該載具於該倉儲系統(3)中的位置之測量。
  10. 如請求項9所述之遠端操作的載具(1)，其特徵在於該位置感測手段(16)包含複數個配置於該載具機身(4)上之至少一些位置的感測器，該載具機身在使用時橫越該等支撐軌道(13)所穿越之載具支撐(14)的該等位置。
  11. 一種儲存系統(3)，其特徵在於包括：根據請求項第1項到第10項之一者的一遠端操作的載具(1)，一載具支撐(14)，其包含複數個形成一二維引導網孔矩陣之支撐軌道(13)，該載具支撐(14)係設置以引導該載具(1)在使用時沿著該第一方向(X)與該第二方向(Y)的該等動作，一倉儲存結構(15)，其支撐該載具支撐(14)，該結構(15) 包含複數個儲存柱(8,8a,8b)，其中各儲存柱(8,8a,8b)係配置以容納一垂直儲存倉(2)的堆疊，且該倉儲存結構(15)之該主要部分與該載具支撐(14)上該等支撐軌道(13)穿過的位置一致，及一倉升降裝置(50)，其被配置以沿著一垂直於該載具支撐(14)和一傳送站(60)間的該載具支撐(14)之該側平面的方向運送一載具輸送的儲存倉(2)。
  12. 如請求項11所述之儲存系統(3)，其特徵在於配置於該載具支撐(14)之該外部側邊界區域(17,18)之該等支撐軌道(13)的至少一部分形成外部引導網孔，該等引導網孔具有相較於在該載具支撐(14)中該等剩餘引導網孔的該平均橫截面為減少的平均橫截面。
  13. 如請求項12所述之儲存系統(3)，其特徵在於該等外部引導網孔之該等平均減少的橫截面大約是在該載具支撐(14)中之該等剩餘引導網孔的該等平均橫截面的一半。
  14. 如請求項第12項或第13項所述之儲存系統(3)，其特徵在於該等外部引導網孔的該大小僅沿著該載具支撐(14)之該第二方向(Y)而減少。
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