WO2014090684A1 - Robot for transporting storage bins - Google Patents

Robot for transporting storage bins Download PDF

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Publication number
WO2014090684A1
WO2014090684A1 PCT/EP2013/075671 EP2013075671W WO2014090684A1 WO 2014090684 A1 WO2014090684 A1 WO 2014090684A1 EP 2013075671 W EP2013075671 W EP 2013075671W WO 2014090684 A1 WO2014090684 A1 WO 2014090684A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
storage
section
storage system
bin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2013/075671
Other languages
English (en)
French (fr)
Inventor
Ingvar Hognaland
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jakob Hatteland Logistics AS
Original Assignee
Jakob Hatteland Logistics 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=49779863&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2014090684(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to KR1020247005316A priority Critical patent/KR102851201B1/ko
Priority to PL16166677T priority patent/PL3070027T3/pl
Priority to EP18163439.5A priority patent/EP3372534B1/en
Priority to EP21187560.4A priority patent/EP3922581B1/en
Priority to EP21189108.0A priority patent/EP3929109B1/en
Priority to EA201591065A priority patent/EA028798B1/ru
Priority to KR1020257028030A priority patent/KR20250133798A/ko
Priority to EP13807954.6A priority patent/EP2928794B2/en
Priority to EP19199865.7A priority patent/EP3617097B1/en
Priority to KR1020167018909A priority patent/KR102422134B1/ko
Priority to JP2015546014A priority patent/JP6454645B2/ja
Priority to CA2890843A priority patent/CA2890843C/en
Priority to EP21170319.4A priority patent/EP3875404A1/en
Priority to PL13807954.6T priority patent/PL2928794T5/pl
Priority to EP18163437.9A priority patent/EP3372533A1/en
Priority to CN201380064353.1A priority patent/CN104837747B/zh
Priority to DK13807954.6T priority patent/DK2928794T4/da
Priority to EP19199912.7A priority patent/EP3617098A1/en
Priority to US14/650,757 priority patent/US9422108B2/en
Priority to PL18163439T priority patent/PL3372534T3/pl
Priority to KR1020167024139A priority patent/KR102190138B1/ko
Priority to KR1020227024126A priority patent/KR102638712B1/ko
Application filed by Jakob Hatteland Logistics AS filed Critical Jakob Hatteland Logistics AS
Priority to HK15109344.7A priority patent/HK1208660B/xx
Priority to EP16166677.1A priority patent/EP3070027B1/en
Priority to AU2013357548A priority patent/AU2013357548B2/en
Priority to ES13807954T priority patent/ES2716310T5/es
Priority to KR1020157012766A priority patent/KR102269692B1/ko
Priority to EP24177814.1A priority patent/EP4418180A3/en
Publication of WO2014090684A1 publication Critical patent/WO2014090684A1/en
Anticipated expiration legal-status Critical
Priority to US15/197,391 priority patent/US9656802B2/en
Priority to AU2016204657A priority patent/AU2016204657B2/en
Priority to AU2016219545A priority patent/AU2016219545B2/en
Priority to US15/411,301 priority patent/US9856082B2/en
Priority to US15/632,441 priority patent/US9862579B2/en
Priority to US15/818,791 priority patent/US10093525B2/en
Priority to US16/122,969 priority patent/US10494239B2/en
Priority to US16/589,158 priority patent/US10696478B2/en
Priority to US16/865,443 priority patent/US11780673B2/en
Priority to US17/653,622 priority patent/US11794997B2/en
Priority to US18/462,102 priority patent/US12168571B2/en
Priority to US18/941,993 priority patent/US20250066119A1/en
Ceased legal-status Critical Current

Links

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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • 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
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/226—Communication links with the remote-control arrangements
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • 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
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management

Definitions

  • the present invention relates to a remotely operated vehicle for picking up storage bins from a storage system as defined in the preamble of claim 1.
  • the invention also relates to a storage system using the inventive vehicle.
  • a remotely operated vehicle for picking up storage bins from a storage system is known.
  • a detailed description of a relevant prior art storage system is given in WO 98/49075. Further, details of a prior art vehicle being suitable for such a storage system is disclosed in Norwegian patent N0317366. More specifically the prior art storage system comprises a three dimensional storage grid containing storage bins that are stacked on top of each other to a certain height.
  • the storage grid is normally constructed as aluminium columns interconnected by top rails.
  • a number of remotely operated vehicles, or robots are arranged on the top rails.
  • Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored inside the storage grid.
  • the storage system 3 comprises a robot 1 which is arranged to move on dedicated supporting rails 13 and to receive a storage bin 2 from a storage column 8 within a bin storing grid 15.
  • the storage system 3 includes a plurality of such robots 1 and a dedicated bin lift device 50, the latter being arranged to receive a storage bin 2 from the robot 1 at the top level of the bin storing grid 15 and to convey the storage bin 2 down in a vertical direction to a delivery station 60.
  • the prior art robot 1 shown in both fig. 1 and fig. 2 suffers from several important disadvantageous during their operation. Firstly, the particular design of the robot prevents access to all off the available storage columns in the storage system. Furthermore, this particular design may cause an undesirable high torque during lifting and transportation of storage bins, thereby creating potential instability problems, as well as a clear limitation of the robots maximum handling weight. An additional disadvantage caused by the prior art robot design is the fact that only one particular bin and one particular bin height may be accepted for each type of robot in order to ensure adequate stability. Finally, the presence of an integrated yoke / overhang in the upper part of the section receiving the storage bin necessitates an undesired speed reduction at the final stage of the lifting process performed by the yoke suspended vehicle lifting device.
  • the object of the present invention is to solve, or at least substantially alleviate, the above-described disadvantageous, that is to provide a vehicle / robot with higher stability properties, higher maximum handling weights, a more effective use of available space during operation and a less time consuming lifting and transporting process of storage bins.
  • the above-identified objects are achieved by a remotely operated vehicle as defined in claim 1 and storage system as defined in claim 11. Further beneficial features are defined in the dependent claims.
  • the present invention concerns a remotely operated vehicle or robot for picking up storage bins from a storage system.
  • the inventive vehicle or robot comprises a vehicle body, which vehicle body further comprises a first section for storing vehicle driving means and a second section for receiving any storage bin stored in a storage column within the storage system, a vehicle lifting device which is at least indirectly connected to the vehicle body in order to lift the storage bin into the second section, a first set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body in order to allow movement of the vehicle along a second direction (Y) in the storage system during use.
  • the second direction (Y) is oriented perpendicular to the first direction (X).
  • the inventive vehicle is characterized in that the second section comprises a cavity arranged centrally within the vehicle body. This cavity has at least one bin receiving opening facing towards the underlying storage columns during use. In addition, at least one of the two sets of vehicle rolling means is arranged fully within the vehicle body.
  • the storage bin In order to allow easy entrance of the storage bin into the central cavity, its volume should be larger than the largest storage bin intended to be picked from the storage system. Likewise, the cross sectional area of at least one of the at least one bin receiving opening should be larger than the cross sectional area of the storage bin walls oriented parallel to the cavity opening(s).
  • the vehicle may further comprise means for reversibly and selectively displacing either the first set of vehicle rolling means or the second vehicle rolling means away from an underlying vehicle support within the storage system during a change of vehicle direction between the first direction (X) and the second direction (Y).
  • the first section may be arranged relative to the second section in such a way that the cross section of the vehicle parallel to the underlying vehicle support deviates from a quadratic shape.
  • the vehicle body covers less or equal to the lateral cross sectional area of one central storage column in the first direction (X) and covers the lateral cross sectional area of more than one central storage column in the second direction (Y) during use.
  • the vehicle body extends beyond the lateral cross sectional area of the central storage column at both sides facing the second direction (Y), i.e. covering also some of the cross sectional areas of the adjacent storage columns extending in the second direction (Y).
  • the degree of extension from the central storage column is preferably equal on both of these sides.
  • Central storage column is defined as the storage column which is immediately below a robot when the latter has reached a position allowing pick-up of a storage bin.
  • both sets of vehicle rolling means is preferably arranged symmetrically around the cavity, for example near the lower corners of the vehicle.
  • At least one, and most preferably both, set(s) of vehicle rolling means may comprise at least four wheels.
  • Other embodiments such as the use two perpendicular oriented caterpillar belts may be envisaged.
  • both sets have an exterior design matching a corresponding exterior design on supporting rails constituting the vehicle support in order to provide increased lateral stability when interconnected.
  • Such supporting rails would be arranged in a two dimensional matrix on top of a bin storing structure or grid, where the principal directions of both the matrix and the grid are congruent with the vehicle's first direction (X) and second direction (Y).
  • the vehicle may advantageously also include position sensing means to allow measurements of the vehicle position within the storage system during use.
  • This position sensing means may comprise a plurality of position sensors arranged in at least some of the positions on the vehicle body which would transverse the locations of vehicle support where the supporting rails are crossing, for example underneath the vehicle, close to its lower corners.
  • the present invention also concerns a storage system which comprises a remotely operated vehicle in accordance with the above mentioned features, a vehicle support comprising a plurality of supporting rails forming a two dimensional matrix of guiding meshes, wherein the vehicle support is configured to guide the movements of the vehicle in the first direction (X) and the second direction (Y) during use, a bin storing structure or grid supporting the vehicle support comprising a plurality of storage columns, wherein each of the storage columns is arranged to accommodate a vertical stack of storage bins and wherein the main part of the bin storing structure coincides with positions on the vehicle support where the supporting rails are crossing, and a bin lift device arranged to convey a vehicle delivered storage bin in a direction perpendicular to the lateral plane of the vehicle support between the vehicle support and a delivery station.
  • the supporting rails arranged at the outer lateral border areas of the vehicle support form outer guiding meshes having reduced average cross sectional areas compared to the average cross sectional area of the remaining guiding meshes in the vehicle support.
  • the average reduced cross sectional areas of the outer guiding meshes may be about half of the average cross sectional area of the remaining guiding meshes in the vehicle support.
  • these cross sectional areas of the outer guiding meshes are reduced only along the second direction (Y) of the vehicle support.
  • the central arrangement of the cavity in the vehicle body relative to the second direction (Y) effectively remove the undesired torque, thereby improving the stability of the robot or vehicle.
  • This arrangement also results in a lifting and transporting process having a weight distribution with a high degree of symmetry.
  • the novel design allows the same vehicle to be used for lifting and transporting storage bins of heights significantly less than the cavity height (i.e. the height extending from the suspension points of the lifting device and to the lower edge of the vehicle) since the framework / body surrounding at least part of the bin receiving cavity effectively hinders any undesired bin reeling / wobbling.
  • the presence of the cavity surrounding body also allows maintaining full or nearly full lifting speed almost all the way to its end position within the cavity, as well as initiation of stable bin transportations towards the delivery station prior to a fully completed bin lifting from a storage column.
  • the protective body around the cavity also gives the possibility of starting a descent of the lifting device event prior to the time the vehicle has come to a final halt above the storage column in question. A significantly higher stability and time efficiency is thus achieved.
  • Fig. 1 is a perspective view of a prior art storage system
  • Fig. 2 is a sectional view of a prior art robot or vehicle forming part of a storage system as illustrated in fig. 1;
  • Fig. 3 is a perspective base view of a remotely operated vehicle according to the present invention
  • Fig. 4 is a perspective top view of a remotely operated vehicle according to the present invention
  • Fig. 5 is a perspective top view of a robot assembly comprising a remotely operated vehicle according to the present invention, a storage bin and a fully enclosing cover
  • Fig. 6 is a perspective top view of a bin storing grid and a vehicle support in accordance with the present invention
  • Fig. 7 is a perspective side view of a bin storing grid and a vehicle support in accordance with the present invention.
  • Fig. 8 is a perspective side view of part of a storage system in accordance with the present invention including a bin storing grid, a vehicle support and a remotely operated vehicle; and
  • Fig. 9 is a schematic top view of a remotely operated vehicle moving on a two dimensional matrix of supporting rails.
  • Fig. 1 is a schematic, partly cut perspective view of a storage system according to the prior art
  • fig. 2 is a sectional view of a corresponding prior art robot. Both figures have already been referred to earlier in the text.
  • Fig. 3 and 4 gives a perspective view in two different angles of the inventive robot 1 comprising a rectangular vehicle body or framework 4 with a cavity 7 centrally arranged within the body 4, a top lid 72 covering the top part of the body 4, a first set of four wheels 10 mounted inside the cavity 7 and in parallel to the interior walls of the body 4 and a second set of four wheels 11 mounted in parallel to the exterior walls of the body 4.
  • the first and second set of wheels 10,11 are oriented perpendicular to each other.
  • the vehicle body 4 also includes side parts 5,5a,5b arranged on both sides of the cavity 7 along at least one of the robots 1 direction of movements.
  • a Cartesian coordinate system is shown with its X, Y and Z axes aligned along the principal directions of the rectangular vehicle body 4.
  • the size of the cavity 7 is adapted to contain necessary component for a lifting device 9 and to at least completely contain the largest storage bin 2 intended to be picked up by the robot 1.
  • Fig. 5 gives a perspective view of a robot assembly where the body 4 is completely covered by an enclosing cover 73 comprising handles 74 and transmission means / control panel 75.
  • the design of the enclosing cover 73 is adapted to the particular shape given by the body 4 and the protruding wheels 10.
  • Fig. 5 also shows a small part of a storage bin 2 arranged fully inside the cavity 7 and a small part of the lifting device 9.
  • the latter is preferably composed of inter alia four vertically moveable metal bands suspended on the cavity facing side of the top lid 72 in their upper ends and steering rods at the lower ends capable of being steered and fastened into adapted cavities / areas in the storage bin 2 to be picked.
  • a grid assembly comprising a bin storing structure or grid 15, integrated supporting rails 13 constituting the vehicle support 14 and a grid supporting base 76 are illustrated in figs. 6 and 7.
  • the grid 15 comprises a plurality of pillars being arranged with internal distances adapted to accommodate storage bins 2 to be stored in stacks inside the grid 15.
  • the rectangular arrangements of four adjacent pillars therefore constitute a storage column 8.
  • Both the pillars and the rails 13 may be made of Aluminium.
  • fig. 3 and 4 a Cartesian coordinate system is shown aligned along the principal directions of the grid assembly to ease the understanding.
  • the supporting rails 13 form a two dimensional matrix of rectangular meshes, and the cross sectional area of most of these meshes coincide with the cross sectional area of each storage columns 8 set up by the underlying grid 15.
  • the meshes at the border area 17,18 of the vehicle support 14 (at both sides in direction Y) is illustrated with cross sectional areas smaller than the remaining meshes.
  • the size of the border meshes 17,18 should preferably be adapted to the degree of extension beyond a central storage column 8a situated immediately below the cavity 7 of the robot 1 when the latter is in a position for initiating pick up of a storage bin 2 contained in the central storage column 8a (see fig. 8 and 9). In this way the robot 1 may reach all the storage columns 8 in the storage system 3, i.e.
  • the robot 1 independently of the robot orientation in the Y direction.
  • the cross sectional area of the meshes 17,18 at the border area in the Y direction should be approximately 1 ⁇ 2 of the cross sectional area of the remaining meshes.
  • the primary function of these border meshes 17,18 is thus to allow sufficient space for the robot 1 having the novel design.
  • Fig. 8 shows the robot 1 in a lifting position above the central storage column 8a adjacent to the border area 17,18 of the grid assembly.
  • the vehicle lifting device 9 is in this embodiment lowered a distance into the central storage column 8a in order to hook onto and lift up the underlying storage bin 2.
  • the robot 1, having the body 4 extended in the Y direction compared to the X direction may be driven all the way to the edge of the grid 15 when the border area is designed with additional border meshes 17,18 with a Y directional width approximately 1 ⁇ 2 of the Y directional widths of the remaining meshes in the grid 15.
  • Such sensors should 16 preferably be mounted in one or more areas of the robot 1 which ensures that the sensors 16 have both non-obstructed view to the underlying supporting rails 13 and that they pass directly above or close to the positions on the vehicle support 14 in which the rails 13 are crossing.
  • the readings from the sensors 16 may inter alia dictate the further movement of the robot 1 and/or the operation of the vehicle lifting device 9. All operations of the robot 1 are controlled by wireless communication means 75 and remote control units. This includes control of the robot movement, the vehicle lifting device and the position measurements.

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PCT/EP2013/075671 2012-12-10 2013-12-05 Robot for transporting storage bins Ceased WO2014090684A1 (en)

Priority Applications (40)

Application Number Priority Date Filing Date Title
EP24177814.1A EP4418180A3 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
PL16166677T PL3070027T3 (pl) 2012-12-10 2013-12-05 Robot do transportowania pojemników do magazynowania
EP18163439.5A EP3372534B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP21187560.4A EP3922581B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP21189108.0A EP3929109B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EA201591065A EA028798B1 (ru) 2012-12-10 2013-12-05 Робот для транспортировки складских контейнеров
KR1020257028030A KR20250133798A (ko) 2012-12-10 2013-12-05 저장 상자 이송용 로봇
EP13807954.6A EP2928794B2 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP19199865.7A EP3617097B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
KR1020167018909A KR102422134B1 (ko) 2012-12-10 2013-12-05 저장 상자 이송용 로봇
JP2015546014A JP6454645B2 (ja) 2012-12-10 2013-12-05 格納容器を輸送するためのシステム
CA2890843A CA2890843C (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP21170319.4A EP3875404A1 (en) 2012-12-10 2013-12-05 Storage system with robot for transporting storage bins
PL13807954.6T PL2928794T5 (pl) 2012-12-10 2013-12-05 Robot do transportowania magazynowych skrzyń
EP18163437.9A EP3372533A1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
CN201380064353.1A CN104837747B (zh) 2012-12-10 2013-12-05 用于运输储存箱的机器人
DK13807954.6T DK2928794T4 (da) 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere
EP19199912.7A EP3617098A1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
US14/650,757 US9422108B2 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
PL18163439T PL3372534T3 (pl) 2012-12-10 2013-12-05 Robot do transportowania magazynowych skrzyń
KR1020227024126A KR102638712B1 (ko) 2012-12-10 2013-12-05 저장 상자 이송용 로봇
KR1020247005316A KR102851201B1 (ko) 2012-12-10 2013-12-05 저장 상자 이송용 로봇
KR1020167024139A KR102190138B1 (ko) 2012-12-10 2013-12-05 저장 시스템
HK15109344.7A HK1208660B (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
EP16166677.1A EP3070027B1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
AU2013357548A AU2013357548B2 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
ES13807954T ES2716310T5 (es) 2012-12-10 2013-12-05 Robot para el transporte de contenedores de almacenamiento.
KR1020157012766A KR102269692B1 (ko) 2012-12-10 2013-12-05 저장 상자 이송용 로봇
US15/197,391 US9656802B2 (en) 2012-12-10 2016-06-29 Robot for transporting storage bins
AU2016204657A AU2016204657B2 (en) 2012-12-10 2016-07-05 Robot for transporting storage bins
AU2016219545A AU2016219545B2 (en) 2012-12-10 2016-08-22 Storage system
US15/411,301 US9856082B2 (en) 2012-12-10 2017-01-20 Storage system
US15/632,441 US9862579B2 (en) 2012-12-10 2017-06-26 Automated storage system
US15/818,791 US10093525B2 (en) 2012-12-10 2017-11-21 Robot for transporting storage bins
US16/122,969 US10494239B2 (en) 2012-12-10 2018-09-06 Automated storage system and robot for transporting storage bins
US16/589,158 US10696478B2 (en) 2012-12-10 2019-10-01 Automated storage system
US16/865,443 US11780673B2 (en) 2012-12-10 2020-05-04 Method for operating a bin storage system and robot vehicle for transporting storage bins
US17/653,622 US11794997B2 (en) 2012-12-10 2022-03-04 Method for operating a bin storage system and robot vehicle
US18/462,102 US12168571B2 (en) 2012-12-10 2023-09-06 Method for operating a bin storage system and robot vehicle for transporting storage bins
US18/941,993 US20250066119A1 (en) 2012-12-10 2024-11-08 Method for operating a bin storage system and robot vehicle for transporting storage bins

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20121488 2012-12-10
NO20121488A NO335839B1 (no) 2012-12-10 2012-12-10 Robot for transport av lagringsbeholdere

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US14/650,757 A-371-Of-International US9422108B2 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins
US15/197,391 Continuation US9656802B2 (en) 2012-12-10 2016-06-29 Robot for transporting storage bins

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WO2014090684A1 true WO2014090684A1 (en) 2014-06-19

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US (11) US9422108B2 (https=)
EP (11) EP2928794B2 (https=)
JP (3) JP6454645B2 (https=)
KR (6) KR102190138B1 (https=)
CN (3) CN104837747B (https=)
AU (3) AU2013357548B2 (https=)
CA (1) CA2890843C (https=)
CZ (1) CZ37166U1 (https=)
DK (5) DK3070027T3 (https=)
EA (3) EA031514B1 (https=)
ES (6) ES2701327T3 (https=)
HK (1) HK1219260A1 (https=)
NO (1) NO335839B1 (https=)
PL (6) PL2928794T5 (https=)
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WO2024115179A1 (en) 2022-11-29 2024-06-06 Autostore Technology AS A service vehicle with center drive, method, and system thereof
WO2024120840A2 (en) 2022-12-05 2024-06-13 Autostore Technology AS Lift arrangement and method for moving a storage container in a multiframework storage system
WO2024120858A1 (en) 2022-12-09 2024-06-13 Autostore Technology AS Clamp for anchoring a safety harness to a rail system and a method of using same
WO2024126232A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS An automated storage and retrieval system comprising lockable barriers for safe transfer of persons into a transport vehicle on a live grid, and associated method
WO2024126230A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS An automated storage and retrieval system with logically operable barriers for safe enter and exit into a transport vehicle, and an associated method
WO2024125908A1 (en) 2022-12-16 2024-06-20 Autostore Technology AS A container transport vehicle, an automated storage and retrieval system and a method thereof
WO2024133118A1 (en) 2022-12-19 2024-06-27 Autostore Technology AS Container handling vehicle for handling of smaller-sized storage containers in an automated storage and retrieval system
WO2024133147A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and maintenance for condition based maintenance of port
WO2024132390A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS Container handling vehicle and storage system
WO2024132389A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS An automated storage and retrieval system comprising a service vehicle and a service sled
WO2024133111A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and method for weighing containers
WO2024133306A1 (en) 2022-12-20 2024-06-27 Autostore Technology AS System and method for condition based maintenance of a port of an automated storage and retrieval system
WO2024133494A1 (en) 2022-12-21 2024-06-27 Autostore Technology AS Robotic picking and conveyor system
WO2024132391A1 (en) 2022-12-21 2024-06-27 Autostore Technology AS A remotely operated picking vehicle, an automated storage and retrieval system, and a method of using same
WO2024133300A1 (en) 2022-12-23 2024-06-27 Autostore Technology AS Method, system and computer program product for moving a storage container
WO2024133389A1 (en) 2022-12-23 2024-06-27 Autostore Technology AS A service vehicle for an automated storage and retrieval system
WO2024141363A1 (en) 2022-12-27 2024-07-04 Autostore Technology AS A storage system for storage containers comprising a framework structure, stacker frames, storage containers, a stacker frame lifter and a container lifter
WO2024141364A1 (en) 2022-12-27 2024-07-04 Autostore Technology AS A storage system for storage containers comprising a framework structure, stacker frames, storage containers, a stacker frame lifter and a container lifter
WO2024180093A1 (en) 2023-02-27 2024-09-06 Autostore Technology AS Access station for an automated storage and retrieval system
WO2024180088A1 (en) 2023-02-27 2024-09-06 Autostore Technology AS Actuator for moving a storage container
WO2024184340A1 (en) 2023-03-06 2024-09-12 Autostore Technology AS An adapter for a goods holder
WO2024184409A1 (en) 2023-03-06 2024-09-12 Autostore Technology AS A method for adapting a goods holder and an adapter for a goods holder
WO2024189159A1 (en) 2023-03-14 2024-09-19 Autostore Technology AS Storage system
WO2024189232A1 (en) 2023-03-16 2024-09-19 Autostore Technology AS A vertically displaceable lifting frame for transporting a goods holder to/from a storage volume of an automated storage and retrieval system
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WO2024194481A1 (en) 2023-03-22 2024-09-26 Autostore Technology AS Container transfer system
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WO2024200304A1 (en) 2023-03-27 2024-10-03 Autostore Technology AS Charging station service/inspection tool
WO2024200791A1 (en) 2023-03-28 2024-10-03 Autostore Technology AS Storage system
WO2024200638A1 (en) 2023-03-31 2024-10-03 Autostore Technology AS Service device for fastening screws of a storage and retrieval system
WO2024223738A1 (en) 2023-04-28 2024-10-31 Autostore Technology AS A rail system, particularly for an automated storage and retrieval system for storage and retrieval of containers
WO2024227520A1 (en) 2023-04-28 2024-11-07 Autostore Technology AS A remotely operated vehicle for handling a storage container
WO2024223916A1 (en) 2023-04-28 2024-10-31 Autostore Technology AS Access station with stopper mechanism
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WO2024231194A1 (en) 2023-05-05 2024-11-14 Autostore Technology AS A method for securing two upright members and a joining device-and-connector assembly
WO2024231497A1 (en) 2023-05-09 2024-11-14 Autostore Technology AS A set of storage containers
WO2024231509A1 (en) 2023-05-09 2024-11-14 Autostore Technology AS Container handling vehicle
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US12564141B2 (en) 2023-05-12 2026-03-03 Autostore Technology AS Vertical farming system
WO2024235907A1 (en) 2023-05-12 2024-11-21 Autostore Technology AS A stackable module
WO2024235920A1 (en) 2023-05-12 2024-11-21 Autostore Technology AS A stackable lighting module
WO2024235841A1 (en) 2023-05-12 2024-11-21 Autostore Technology AS Vertical farming watering system
WO2024235900A1 (en) 2023-05-12 2024-11-21 Autostore Technology AS Vertical farming system
WO2024235901A1 (en) 2023-05-12 2024-11-21 Autostore Technology AS Vertical farming system
WO2024235912A1 (en) 2023-05-12 2024-11-21 Autostore Technology AS A stackable growth module
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WO2024245936A1 (en) 2023-05-30 2024-12-05 Autostore Technology AS Robotic picking and conveyor on top of grid
WO2024246206A1 (en) 2023-05-30 2024-12-05 Autostore Technology AS Access station with light guides for an automated storage and retrieval system having a storage grid
WO2024246204A1 (en) 2023-05-30 2024-12-05 Autostore Technology AS Product dispensing storage container
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WO2024251571A1 (en) 2023-06-06 2024-12-12 Autostore Technology AS Container handling vehicle and storage system
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WO2024256698A1 (en) 2023-06-15 2024-12-19 Autostore Technology AS Grid connector
WO2024256038A1 (en) 2023-06-15 2024-12-19 Autostore Technology AS Path planning for determining routes for container handling vehicles
WO2024260918A1 (en) 2023-06-19 2024-12-26 Autostore Technology AS Modular container handling vehicle
WO2025003127A1 (en) 2023-06-26 2025-01-02 Autostore Technology AS A safety system
WO2025003365A2 (en) 2023-06-27 2025-01-02 Autostore Technology AS Charging station
WO2025003259A1 (en) 2023-06-27 2025-01-02 Autostore Technology AS Container transfer device
WO2025031654A1 (en) 2023-08-09 2025-02-13 Autostore Technology AS Stacker frame system with a lid liftable by a lifting device
WO2025031615A1 (en) 2023-08-10 2025-02-13 Autostore Technology AS A transporter, an associated automated storage and retrieval system, methods and use thereof
WO2025040269A1 (en) 2023-08-10 2025-02-27 Autostore Technology AS A transporter for an automated storage and retrieval system
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WO2025036844A1 (en) 2023-08-11 2025-02-20 Autostore Technology AS Charging container handling vehicles operating on an automated storage and retrieval system
WO2025036851A1 (en) 2023-08-11 2025-02-20 Autostore Technology AS Temperature management in an automated storage and retrieval system
WO2025051991A1 (en) 2023-09-06 2025-03-13 Autostore Technology AS Fall arrest device
WO2025051986A1 (en) 2023-09-08 2025-03-13 Autostore Technology AS Storage system
WO2025051545A1 (en) 2023-09-08 2025-03-13 Autostore Technology AS Storage system, floor element, and method
WO2025056583A1 (en) 2023-09-12 2025-03-20 Autostore Technology AS A leveling device for a framework structure
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WO2025061671A1 (en) 2023-09-22 2025-03-27 Autostore Technology AS Column spacer for mounting between two adjacent upright members of a framework structure of an automated storage and retrieval system
WO2025061905A1 (en) 2023-09-22 2025-03-27 Autostore Technology AS Column spacer for mounting between two adjacent upright members of a framework structure of an automated storage and retrieval system
WO2025077992A1 (en) 2023-10-09 2025-04-17 Autostore Technology AS Method, system and computer readable storage medium of controlling movement of cantilever container handling vehicles
WO2025088171A1 (en) 2023-10-27 2025-05-01 Autostore Technology AS Side-accessible goods holder and method
EP4546070A1 (en) 2023-10-27 2025-04-30 Autostore Technology As A method and system for improving safety of a manned service vehicle
EP4545448A1 (en) 2023-10-27 2025-04-30 Autostore Technology As Side-accessible goods holder and method
WO2025088210A1 (en) 2023-10-27 2025-05-01 Autostore Technology AS A method and system for improving safety of a manned service vehicle
EP4553008A1 (en) 2023-11-10 2025-05-14 Autostore Technology As A wheel assembly for a container handling vehicle
EP4553007A1 (en) 2023-11-10 2025-05-14 Autostore Technology As A container handling vehicle with all wheel drive
WO2025098742A1 (en) 2023-11-10 2025-05-15 Autostore Technology AS A container handling vehicle
EP4552887A1 (en) 2023-11-10 2025-05-14 Autostore Technology As A wheel assembly
EP4552859A1 (en) 2023-11-10 2025-05-14 Autostore Technology As Wheel assembly
EP4553006A1 (en) 2023-11-10 2025-05-14 Autostore Technology As A container handling vehicle
WO2025099194A1 (en) 2023-11-10 2025-05-15 Autostore Technology AS A wheel assembly
WO2025099311A1 (en) 2023-11-10 2025-05-15 Autostore Technology AS A wheel assembly for a container handling vehicle
WO2025099204A1 (en) 2023-11-10 2025-05-15 Autostore Technology AS A container handling vehicle with all wheel drive
WO2025099200A1 (en) 2023-11-10 2025-05-15 Autostore Technology AS Wheel assembly
WO2025157372A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Tensioning device for a belt of an automated storage and retrieval system
WO2025157364A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS System and method of determining charging errors in an automated storage and retrieval system
EP4588842A1 (en) 2024-01-22 2025-07-23 Autostore Technology As Container handling vehicle for an automated storage and retrieval system
EP4588834A1 (en) 2024-01-22 2025-07-23 Autostore Technology As A method and system for employing stacker frames
EP4588817A1 (en) 2024-01-22 2025-07-23 Autostore Technology As Lid for a container
EP4589501A1 (en) 2024-01-22 2025-07-23 Autostore Technology As Method and system for scheduling orders in an automated storage and retrieval system
EP4588840A1 (en) 2024-01-22 2025-07-23 Autostore Technology As Storage system
EP4588836A1 (en) 2024-01-22 2025-07-23 Autostore Technology As A vehicle for handling stacker frames
EP4588841A1 (en) 2024-01-22 2025-07-23 Autostore Technology As Delivery vehicle
EP4588839A1 (en) 2024-01-22 2025-07-23 Autostore Technology As Storage system
EP4588621A1 (en) 2024-01-22 2025-07-23 Autostore Technology As Workstand
EP4588838A1 (en) 2024-01-22 2025-07-23 Autostore Technology As An automated storage and retrieval system
WO2025157503A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Lid for a container
WO2025157375A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Container handing vehicle, system and method
WO2025157500A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Delivery vehicle
WO2025157498A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Method and system for scheduling orders in an automated storage and retrieval system
WO2025157495A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Storage system
WO2025157501A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS An automated storage and retrieval system
WO2025157367A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS A lifting frame assembly, associated container handling vehicle and automated storage and retrieval system, and methods of use thereof
WO2025157374A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Robotic picking vehicle, and associated system and method
WO2025157496A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Storage system
WO2025157366A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS A lifting device for containers in an automated storage and retrieval system
WO2025157517A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS A vehicle for handling stacker frames
WO2025157373A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS A storage column for an automated storage and retrieval system, a storage and retrieval system and a method for managing temperature in a storage column
WO2025157378A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS A crop growth container, a crop growth container system, a vertical farming system and related method
WO2025157371A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Automated storage and retrieval system
WO2025157365A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Container handling vehicle
WO2025157504A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Workstand
EP4588822A1 (en) 2024-01-22 2025-07-23 Autostore Technology As Leveling foot
WO2025157497A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Leveling foot
WO2025157499A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Container handling vehicle for an automated storage and retrieval system
WO2025157363A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS A workstation for use with a storage and retrieval system, a storage and retrieval system and a related method
WO2025157369A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Stacker frame system
WO2025157370A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Stacker frame system
WO2025157505A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS A method and system for employing stacker frames
WO2025157376A1 (en) 2024-01-22 2025-07-31 Autostore Technology AS Container handling vehicle, storage systems and related method
WO2025172243A1 (en) 2024-02-12 2025-08-21 KAWALIER, Michael Container for an automated storage system
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