Note: Descriptions are shown in the official language in which they were submitted.
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A DELIVERY SYSTEM WITH AN ACCESS POINT AND A METHOD OF
ACCESSING AN ACCESS POINT OF THE DELIVERY SYSTEM
The present invention relates to an automated storage and retrieval system
comprising a storage grid for storage of storage containers and a delivery
system for
delivery of said storage containers between the storage grid and an access
point of
the delivery system, and a method of operating a delivery vehicle into an out
of the
access point.
The invention is also directed to an access point of a delivery system,
wherein the
access point is arranged such that there is more than one path to and/or from
the
access point for a remotely operated delivery vehicle carrying a storage
container.
BACKGROUND AND PRIOR ART
Figs. lA and 1C disclose a typical prior art automated storage and retrieval
system
1 with a framework structure 100. Figs. 1B and 1D disclose a prior art
container
handling vehicle 101 operating the system 1 disclosed in Figs. lA and 1C,
respectively.
The framework structure 100 comprises a plurality of upright 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
aluminum profiles.
The framework structure 100 defines a storage grid 104 comprising storage
columns
105 arranged in rows, in which storage columns 105 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 storage
containers
106 in the stacks 107, and guides vertical movement of the storage containers
106,
but does normally not otherwise support the storage containers 106 when
stacked.
The automated storage and retrieval system 1 comprises a rail system 108
arranged
in a grid pattern across the top of the storage 104, on which rail system 108
a
plurality of container handling vehicles 200,300 (as exemplified in Figs. 1B
and
1D) 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
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above the storage columns 105. The horizontal extent of one of the grid cells
122
constituting the grid pattern is in Figs. lA and 1C 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.
The rail system 108 comprises a first set of parallel rails 110 arranged to
guide
movement of the container handling vehicles 200,300 in a first direction X
across
the top of the frame structure 100, 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 200,300 in a second direction Y which is perpendicular to
the first
direction X. In this way, the rail system 108 defines grid columns above which
the
container handling vehicles 200,300 can move laterally above the storage
columns
105, i.e. in a plane which is parallel to the horizontal X-Y plane.
Each prior art container handling vehicle 200,300 comprises a vehicle body and
a
wheel arrangement of eight wheels 201,301 where a first set of four wheels
enable
the lateral movement of the container handling vehicles 200,300 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 200,300 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 201,301 so that
the
position of the gripping / engaging devices with respect to the vehicle
201,301 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
exemplary prior art grid 104 disclosed in Figs. lA and 1C, 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. 1A and 1D, the
storage
container identified as 106' in Fig. 1A can be said to occupy grid location or
cell
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X=10, Y=2, Z=3. The container handling vehicles 101 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 200 comprises a storage compartment or space
(not
shown) for receiving and stowing a storage container 106 when transporting the
storage container 106 across the rail system 108. The storage space may
comprise a
cavity arranged centrally within the vehicle body, e.g. as is described in
W02014/090684A1, the contents of which are incorporated herein by reference.
Alternatively, the container handling vehicles 300 may have a cantilever
construction, as is described in N0317366, the contents of which are also
incorporated herein by reference.
The container handling vehicles 200 may have a footprint, i.e. an extent in
the X
and Y directions, which is generally equal to the lateral extent 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
W02015/193278A1, the contents of which are incorporated herein by reference.
The term "lateral" used herein may mean "horizontal".
Alternatively, the container handling vehicles 200 may have a footprint which
is
larger than the lateral extent of (lateral area defined by) a grid column 105,
e.g. as is
disclosed in W02014/090684A1.
The rail system 108 may be a single rail system, as is shown in Fig. 2A.
Alternatively, the rail system 108 may be a double rail system, as is shown in
Fig. 2B, thus allowing a container handling vehicle 201 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 200 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. 2B
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. 2C, each grid cell 122 has a width W, which is typically
within the
interval of 30 to 150 cm, and a length L, which is typically within the
interval of 50
to 200 cm. Each grid opening 115 has a width W, and a length L, which is
typically
2 to 10 cm less than the width K and the length L, of the grid cell 122.
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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 are storage columns 105,
i.e.
grid columns 105 where storage containers 106 are stored in stacks 107.
However, a
grid 104 normally has at least one grid column which is used not for storing
storage
containers 106, but which comprises a location where the container handling
vehicles 200,300 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 is normally referred to as a "port" and
the grid
column in which the port is located may be referred to as a "delivery column"
119,120. The drop-off and pick-up ports of the container handling vehicles are
referred to as the "upper ports of a delivery column" 119,120. While the
opposite
end of the delivery column is referred to as the "lower ports of a delivery
column".
The storage grids 104 in Figs. lA and 1C comprise two delivery columns 119 and
120. The first delivery column 119 may for example comprise a dedicated drop-
off
port where the container handling vehicles 200,300 can drop off storage
containers
106 to be transported through the delivery column 119 and further to an access
or a
transfer station, and the second delivery column 120 may comprise a dedicated
pick-up port where the container handling vehicles 200,300 can pick up storage
containers 106 that have been transported through the delivery column 120 from
an
access or a transfer station. Each of the ports of the first and second
delivery
column may comprise a port suitable for both pick up and drop of storage
containers.
The second location may typically be a picking or a stocking station where
product
items are removed from or positioned into the storage containers 106. In a
picking
or a stocking station, the storage containers 106 are normally never removed
from
the automated storage and retrieval system 1 but are returned into the storage
grid
104 once accessed. For transfer of storage containers out or into the storage
grid
104, there are also lower ports provided in a delivery column, such lower
ports are
e.g. for transferring storage containers 106 to another storage facility (e.g.
to
another storage grid), directly to a transport vehicle (e.g. a train or a
lorry), or to a
production facility.
For monitoring and controlling the automated storage and retrieval system 1
(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 200,300 so that a desired storage container
106
can be delivered to the desired location at the desired time without the
container
handling vehicles 200,300 colliding with each other), the automated storage
and
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retrieval system 1 comprises a control system (not shown) which typically is
computerized and which typically comprises a database for keeping track of the
storage containers 106.
A conveyor system comprising conveyors may be employed to transport the
storage
5 containers between the lower port of the delivery column and the access
station.
If the lower port of the delivery column and the access station are located at
different
levels, the conveyor system may comprise a lift device for transporting the
storage
containers vertically between the port and the access station.
The conveyor system may be arranged to transfer storage containers between
different
grids, e.g. as is described in W02014/075937A1, the contents of which are
incorporated
herein by reference.
Further, W02016/198467A1, the contents of which are incorporated herein by
reference,
disclose an example of a prior art access system having conveyor belts (Figs.
5a and 5b
in W02016/198467A1) and a frame mounted rail (Figs. 6a and 6b in
W02016/198467A1) for transporting storage containers between delivery columns
and
work stations where operators can access the storage containers.
When a storage container 106 stored in the grid 104 disclosed in Fig. lA is to
be
accessed, one of the container handling vehicles 200,300 is instructed to
retrieve the
target storage container 106 from its position in the grid 104 and to
transport it to or
through the delivery column 119. This operation involves moving the container
handling
vehicle 200,300 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 200,300 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 200,300. Alternatively, or in addition, the
automated storage
and retrieval system 1 may have container handling vehicles 200,300
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.
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When a storage container 106 is to be stored in the grid 104, one of the
container
handling vehicles 200,300 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 200,300 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 associated with known automated storage and retrieval systems 1 is
that the
area surrounding the pick-up and drop-off ports may become congested with
container
handling vehicles 200,300 instructed to drop off or pick up storage containers
106. This
may seriously impede the operation of the automated storage and retrieval
system 1. In
small systems this situation may possibly be alleviated by adding delivery
columns to the
grid, as this will allow the container handling vehicles 200,300 to be
distributed among a
larger number of ports of delivery columns in order to avoid congestion.
However, if
ports and columns are added, the conveyor system infrastructure must normally
be
increased. This requires space, which may not necessarily be available. Also,
adding
conveyor system infrastructure is costly.
Another problem with prior art automated storage and retrieval systems 1 is
that the
separate drop-off ports and pick-up ports of the delivery columns 119,120
require the
container handling vehicles 200,300 to move to a storage column 105 after drop-
off to
retrieve a new storage container 106. Likewise, the container handling
vehicles 200,300
have to be empty of a storage container 106 when they are sent to a pick-up
port 120 to
pick up a storage container. This results in an inefficiency and causes
increased
congestion around the ports, as container handling vehicles 200,300 are moving
around
on the grid without a storage container 106 as payload. In addition, the
delivery columns
119,120 may take up space on the grid 104 which could be used for other
purposes such
as the movement of container handling vehicles 200,300.
In view of the above, it is desirable to provide an automated storage and
retrieval system,
and a method for operating such a system, that solve or at least mitigate one
or more of
the aforementioned problem related to use of prior art storage and retrieval
systems.
An objective of the invention is to provide an automated storage and retrieval
system
which is more effective than prior art systems by avoiding or at least
reducing congestion
of storage containers around the delivery column.
Another objective is to provide an automated storage and retrieval system that
increases
the availability of a delivery column for container handling vehicles
operating on a rail
system.
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Another objective is to provide a high efficiency automated storage and
retrieval system
which are easy to install, and which delivery capacity can easily be increased
after
completed installation.
Yet another objective is to provide a dedicated area where storage containers
and items
held in the storage containers, effectively and easily can be handled and that
the storage
containers can be handled in right order.
SUMMARY OF THE INVENTION
The invention is set forth in the independent claims and the dependent claims
describe
alternatives of the invention.
In the following the term "remotely operated delivery vehicle" is referred to
as the
"delivery vehicle" and the term "automated storage and retrieval grid" is
referred to
as the "storage grid". The term "a storage container" is also known in prior
art as "a
bin". The term "picking and stocking station" is also referred to as an
"access
station" or "accessing station".
The present invention is related to an automated storage and retrieval system
comprising a storage grid for storage of storage containers and a delivery
system for
transport of said storage containers between a delivery port of the storage
grid and
an access point of the delivery system, the access point being adapted for
handling
of items held in the storage containers by a robotic operator or human
operator.
The delivery system comprises:
- a delivery rail system comprising at least a first set of parallel rails
arranged in a
horizontal plane (P1) and extending in a first direction (X), and at least a
second set
of parallel rails arranged in the 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 together defining a delivery grid of delivery grid cells,
- a remotely operated delivery vehicle comprising a motorized vehicle body
and a
container carrier provided above the motorized vehicle body for carrying a
storage
container of the storage containers, and wherein the delivery vehicle is
moveable on
the delivery grid of the delivery rail system.
Wherein the delivery grid provides one or more delivery grid cells for the
remotely
operated delivery vehicle at the access point as well as a plurality of
delivery grid
cells adjacent the one or more delivery grid cells of the access point, such
that there
is more than one path to and/or from the access point for the remotely
operated
delivery vehicle via the plurality of delivery grid cells, and wherein the
remotely
operated delivery vehicle is arranged to transport the storage container from
the
delivery port of the storage grid across the delivery grid to the access point
and
return it to the delivery port for storage within the storage grid.
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The storage grid for storage of storage containers comprises a storage grid
rail
system arranged in a grid pattern across the top of the storage grid, on which
rail
system a plurality of container handling vehicles are operated to raise
storage
containers from, and lower storage containers into, the storage columns, and
also to
transport the storage containers above the storage columns.
The storage grid has at least one grid column which is used not for storing
storage
containers, but which comprises a location where the container handling
vehicles
can drop off and/or pick up storage containers so that they can be transported
to an
access station of a delivery system where the storage containers can be
accessed.
The drop-off and pick-up ports of the container handling vehicles are referred
to as
the "upper ports" of a delivery column. While the opposite end of the delivery
column, the port towards the delivery system is referred to as the delivery
port.
Thus, the delivery port is defined as the port (grid cell) in which the
storage
container enters or exits the storage grid.
The delivery rail system extends between a location vertically below the
delivery
port of the storage grid to the access point adapted for handling of items
held in the
storage containers by a robotic operator or human operator. A remotely
operated
delivery vehicle is arranged for transport of storage containers between the
delivery
port and the access point.
To get the most storage space for storage containers in the storage and
retrieval
grid, it may be advantageous to arrange the delivery rails system such that it
extends
as little as possible into the storage grid. That means that the storage and
retrieval
grid may comprise a plurality of storage columns extending from the upper
level to
the base of the storage grid, thus allowing the greatest possible storage
capacity
since the entire storage column may be used for storage.
In order to maintain greatest possible storage capacity, the part of the
delivery rail
system extending into the storage grid may be kept as small (little extent) as
possible. Thus, the delivery rail system and the delivery vehicle may occupy
as little
space as possible of the storage and retrieval grid, the space which may be
used for
storage of storage containers.
Moreover, at least one, preferably each, of the plurality of delivery vehicle
grid
cells of the delivery rail system may be arranged directly below a container
handling vehicle grid cell of the container handling vehicle rail system. The
delivery rail system may extend within the framework structure of the storage
grid.
The second location would thus be located inside the framework structure of
the
storage grid.
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The delivery rail system may extend to the outside the framework structure of
the
storage grid, preferably to the access point. When the access point is located
outside
the storage grid, they do not take up storage capacity of the grid.
The delivery rail system may comprise a first rail system located within the
framework structure of the storage grid, and a second rail system located
outside the
framework structure of the storage grid, and wherein the first and second rail
system
are connected such that the delivery vehicle may operate between said rail
systems.
The access point may be connected to the second rail system.
The access point may comprise one single grid cell of the delivery grid
system, or
the access point may comprise two or more delivery grid cells. The delivery
vehicle
is operated such that when it is located at the access point, it allows the
human
and/or robotic operator to access the contents of the storage container.
According to the invention, the delivery vehicle has more than one path to
and/or
from the access point via the plurality of delivery grid cells. This allows
the
operator to coordinate the order in which delivery vehicles may enter or exit
the
access point.
In embodiments, the delivery vehicle may enter the access point at a first end
and
exits the access point at a second end, such that storage containers can enter
the
access point continuously one after another.
The access point comprises one or more delivery grid cells for the delivery
vehicle
at the access point. The delivery grid further provides a plurality of
delivery grid
cells adjacent the one or more delivery grid cells of the access point, such
that there
is more than one path to and/or from the access point. For example; each grid
cell of
the access point may comprise four entrances or exits for the delivery
vehicle; two
in the X-direction and two in the Y-direction. Since the human or robotic
operator
needs to stand next to the access point at one side in order to have easy
access to the
stored items, it may be preferable that the access point comprises three
entrances or
exits, for example; two in the X-direction and one in the Y-direction. Thus,
in this
embodiment, the delivery vehicle may enter or exit the access point from above
in
the Y-direction as well as the two ends in the X-direction. This means that
the
delivery vehicle has at least three paths to and from the access point, thus,
allowing
one delivery vehicle to pass another delivery vehicle in the order of arrival
at the
access station.
The access point may be defined as a predetermined location where the storage
container can be accessed and/or handled. The term "handling of storage
container"
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may include stocking or picking items to/from the containers, as well as
introducing
or removing containers to/from the storage grid. The access point may be any
predetermined location which allows storage containers to be accessed from a
location outside the storage grid.
5
The access point may be located in a container accessing station arranged for
separating the human operator from the delivery rail system and the delivery
vehicles.
10 The delivery grid may extend to or into the container accessing station.
The delivery
grid providing one or more delivery grid cells for the remotely operated
delivery
vehicle at the access point as well as a plurality of delivery grid cells
adjacent the
delivery grid cells of the access point, such that there is more than one path
to
and/or from the access point for the remotely operated delivery vehicle via
the
plurality of delivery grid cells. The remotely operated delivery vehicle is
arranged
to transport a storage container from the delivery port of the storage grid
across the
delivery grid to the access point of the container accessing station and
return it to
the delivery port for storage within the storage grid.
The container accessing station may comprise means for protecting the human
operator from components of the delivery system (rails and delivery vehicles)
and
for allowing easy handling of the storage container and its contents. Said
means
may be any one of a wall or a cabinet.
The container accessing station may comprise a wall and the access point may
be an
area corresponding to one or more delivery grid cells of the delivery grid
that are
arranged on a delivery grid side of the wall in a position where an item in a
storage
container carried by a remotely operated delivery vehicle can be reached by
the
robotic or human operator reaching over the wall.
In aspects, the container accessing station may be a cabinet having side walls
and a
top plate arranged such that it defines an internal volume of the cabinet. The
internal volume comprises an open end such that the delivery rail system
extends
into said internal volume of the cabinet. More specifically, at least one
delivery grid
cell of the delivery grid system extends into the internal volume of the
cabinet.
In an embodiment, the container accessing station comprises a cabinet
comprising
an opening provided above the access point, and wherein the items held in the
storage container are accessible at the access point, through said opening.
The
opening may be provided in the top plate of the cabinet such that the items
held in
storage containers are accessible from above.
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The delivery vehicle may be operated such that its container carrier and the
storage
container is in a tilted position while situated at the access point. In the
tilted
position of the storage container provides increased visibility of the
contents of the
storage container in addition to easier access to the contents and a better
working
position for the human operator. The last is directed to reducing strain on
back and
knees of the human operator.
In embodiments, the delivery rail system provides a delivery grid comprising
three
or more adjacent rows of delivery grid cells that extend to or into the
container
accessing station.
For example, the container accessing station may comprise a cabinet covering
at
least three grid cells; one left grid cell, one mid grid cell and one right
grid cell.
Wherein the access point may be located at the mid grid cell and the delivery
vehicles may be operated such that they enter into the cabinet at the left
grid cell,
move to the middle grid cell, where the delivery vehicles is stopped such that
its
storage containers may be accessed by at least one of a robotic or human
operator,
and then move further to the right grid cell before it exits the cabinet.
The container accessing station may be provided with an activation device such
as a
switch, push button or a lever, for re-starting the delivery vehicle after the
storage
container has been accessed at the mid grid cell position. In operation, the
at least
one of a robotic or human operator may access the content of a storage
container
while located at the access point. After the storage container has been
accessed, the
at least one of a robotic or human operator may push the activation device
such that
the delivery vehicle moves forward, allowing another delivery vehicle to enter
the
access point.
In embodiments, the container accessing station may be provided adjoining or
detached from a storage grid, where a delivery rail system is arranged between
the
delivery port of the storage grid and the container accessing station. Storage
containers may thus be transported across the delivery rail system between
said
delivery port and container accessing station.
The remotely operated delivery vehicle is adapted to be moveable on a delivery
rail
system. Furthermore, the delivery rail system may be a single rail system or a
double rail system. The delivery rail system defines grid pattern above which
the
delivery vehicle can move laterally.
In embodiment, the delivery system may benefit from many of the considerations
provided for the rail system and the container handling vehicles of the
storage grid
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To facilitate production and ensure low costs, it is preferable to use already
designed and tested components. It is therefore considered advantageous that
each
grid cell of the delivery rail system has a size which is equal or similar to
the size of
the grid cells of the rail system for the container handling vehicles.
More specifically, each grid cell of the delivery rail system may have 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 of the delivery rail
system
may have a width and a length which is typically 2 to 10 cm less than the
width and
the length of the grid cell.
The horizontal plane P1 of the delivery rail system is arranged below the
horizontal
plane P of the rail system of the storage grid.
The container accessing station may be located on a ground floor level such
that the
storage containers are accessible to human and/or robotic operators without
platforms or the like. Accordingly, the delivery rail system may be arranged
on
vertical support elements such that the horizontal plane (P1) of the delivery
rail
system may be located at any preferred vertical level above the ground floor
level.
In general, the delivery rail system is located at any level below the top
level of the
storage grid. Preferably, the delivery rail system is located at a level below
the
delivery port of the storage grid.
The delivery ports may be arranged on a mezzanine level of the storage grid,
such
that the delivery vehicle may operate on the delivery rail provided below the
mezzanine level for delivering or receiving storage containers to/from the
delivery
port. The mezzanine level is actually the raised base or floor of the storage
grid
providing a "roof" for the area worked by the delivery vehicles. The mezzanine
level is thus adapted to the overall height of the storage container when
positioned
on the delivery vehicle, and the height of the delivery rail system. This
means that
the upright members of the storage grid framework have to be finished short in
order to be suspended on the mezzanine level. The mezzanine may be supported
by
upright support posts stepped out from the delivery columns for support of the
mezzanine. The height of the upright support posts defines the height of the
mezzanine level (the rails of the delivery rail system may themselves be
suspended
above the floor of the warehouse building).
Further, the extent of the mezzanine in a horizontal plane depends, at least
in part,
on the total numbers of delivery columns arranged in the storage grid. Thus,
the
number of delivery columns and the size (extent) of the mezzanine in the X and
Y
direction may be customized according to the overall size of the storage
system and
the desired efficiency of the system. Consequently, the adoption of delivery
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13
columns means a loss of storage space in the storage grid. However, the
benefit is
increased delivery efficiency of storage containers in the automated storage
and
retrieval system, since the congestion of the storage containers at the
delivery
columns is avoided or at least reduced by means of the delivery system
according to
the present invention.
The present invention is also related to a delivery system for transport of
storage
containers between a pick-up/drop-off port of the delivery system and an
access
point adapted for handling of items held in the storage containers by a
robotic
operator or human operator.
The delivery system comprises:
- a delivery rail system comprising at least a first set of parallel rails
arranged in a
horizontal plane (P1) and extending in a first direction (X), and at least a
second set
of parallel rails arranged in the 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 together defining a delivery grid of delivery grid cells,
- a remotely operated delivery vehicle comprising a motorized vehicle body
and a
container carrier provided above the motorized vehicle body for carrying a
storage
container of the storage containers, and wherein the delivery vehicle is
moveable on
the delivery grid of the delivery rail system.
Wherein the delivery grid provides one or more delivery grid cells for the
remotely
operated delivery vehicle at the access point as well as a plurality of
delivery grid
cells adjacent the one or more delivery grid cells of the access point, such
that there
is more than one path to and/or from the access point for the remotely
operated
delivery vehicle via the plurality of delivery grid cells, and wherein the
remotely
operated delivery vehicle is arranged to transport the storage container from
the
pick-up/drop-off port of the delivery system across the delivery grid to the
access
point and return it to the pick-up/drop-off port of the delivery system.
The pick-up/drop-off port of the delivery system constitutes a delivery grid
cell,
situated below a delivery column of a storage grid and arranged such that the
delivery vehicle may receive a storage container from the storage grid,
through the
delivery column and onto the delivery vehicle, when the delivery vehicle is
positioned at the pick-up/drop-off port.
The delivery rail system may comprise at least one transfer zone for
temporarily
storing storage containers on delivery vehicles, when in transit between the
delivery
port of the storage grid and the container accessing station. This might be an
area
that delivery vehicles might queue on route to the access point. The transfer
zone
may constitute one or more delivery grid cells for the delivery vehicle at the
transfer
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zone. The transfer zone may be located inside or outside the container
accessing
station.
The invention is also directed to a method of operating a remotely operated
delivery
vehicle into and out of an access point of a delivery rail system, the access
point
being a location on the delivery rail system for a robotic or human operator
to
access an item held in a storage container that has been delivered to the
access
point.
The delivery system comprises:
- a delivery rail system comprising at least a first set of parallel rails
arranged in a
horizontal plane (P1) and extending in a first direction (X), and at least a
second set
of parallel rails arranged in the 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 together defining a delivery grid of delivery grid cells,
- a remotely operated delivery vehicle comprising a motorized vehicle body and
a
container carrier provided above the motorized vehicle body and adapted to
carry
the storage container, and wherein the delivery vehicle is moveable on the
delivery
grid of the delivery rail system,
wherein the delivery grid provides one or more delivery grid cells for the
remotely
operated delivery vehicle at the access point as well as a plurality of
delivery grid
cells adjacent the delivery grid cells of the access point, such that there is
more than
one path to and/or from the access point for the remotely operated delivery
vehicle
via the plurality of delivery grid cells.
The method comprises the step of:
a) operating the delivery vehicle to direct it to one of the plurality of
delivery
grid cells adjacent the one or more delivery grid cells of the access point,
b) operating the delivery vehicle to enter the delivery grid cell of the one
or
more grid cells at the access point from one of the plurality of delivery grid
cells adjacent the one or more delivery grid cells of the access point,
c) allowing the robotic or human operator access to the item held in the
storage
container at the access point,
d) operating the delivery vehicle to exit the one or more delivery grid cells
of
the access point to one of the plurality of delivery grid cells adjacent the
one
or more delivery grid cells of the access point.
The access point may be provided in a container accessing station arranged for
separating the robotic or human operator from the delivery rail system and the
remotely operated delivery vehicle. Thus, the delivery grid extends to or into
the
container accessing station.
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BRIEF DESCRIPTION OF THE DRAWINGS
Following drawings are appended to facilitate the understanding of the
invention.
Figs. 1 and 2 are perspectives view of a prior art automated storage
and
retrieval system, where Fig. 1 A and Fig. 2 A shows the
5 complete system and Fig. 1 B and Fig. 2 B shows examples
of
system operable prior art container handling vehicles.
Fig. 3 A-C is a side view of a remotely operated delivery vehicle
according to
an embodiment of the invention.
Fig. 4 A-B is a perspective view of a remotely operated delivery
vehicle
10 according to an embodiment of the present invention.
Fig. 5 A-B is a perspective view of a remotely operated delivery
vehicle of
Fig. 4 A, from the underside.
Fig. 6 A-B is a perspective view of another automated storage and
retrieval
grid and a delivery system according to an embodiment of this the
15 present invention.
Fig. 7. A-B is a perspective view of a set of exemplary container
accessing
stations.
Fig. 8 A-B is a perspective view of another exemplary automated
storage and
retrieval grid and delivery system comprising a container
accessing station.
Fig. 9 A-B is a perspective view of another exemplary automated
storage and
retrieval grid and delivery system comprising a container
accessing station.
Fig. 10 is a top view of another exemplary automated storage
and retrieval
grid and a delivery system according to the present invention.
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. Furthermore, even if some of the features are described in relation
to the
system only, it is apparent that they are valid for the delivery vehicles and
related
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methods as well, and vice versa. Hence, any features described in relation to
the
delivery vehicle only, and/or related methods, are also valid for the system.
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. Furthermore, even if some of the features are described in relation
to the
system only, it is apparent that they are valid for the delivery vehicles and
related
methods as well, and vice versa. Hence, any features described in relation to
the
delivery vehicle only, and/or related methods, are also valid for the system.
With reference to Figs. 1A-D the storage grid 104 of each storage structure 1
constitutes a framework 100 of in total 143 grid columns 112, where the width
and
length of the framework corresponds to the width and length of 13 and 11 grid
columns 112, respectively. The top layer of the framework 100 is a rail system
108
onto which a plurality of container handling vehicles 200,300 are operated.
The framework 100 of the storage system 1 is constructed in accordance with
the
above mentioned prior art framework 100 described above, i.e. a plurality of
upright
members 102 and a plurality of horizontal members 103 which are supported by
the
upright members 102, and further that the horizontal members 103 includes the
rail
system 108 of parallel rails 110,111 in the X direction and the Y direction,
respectively, arranged across the top of storage columns 105. The horizontal
area of
a single grid cell 122, i.e. along the X and Y directions, may be defined by
the
distance between adjacent rails 110 and 111, respectively (see also Fig. 3 and
4). In
Figs. 1A and 1C, such a grid cell 122 is marked on the rail system 108 by
thick
lines.
The rail system 108 allows the container handling vehicles 200,300 to move
horizontally between different grid locations, where each grid location is
associated
with a grid cell 122.
In Figs. lA and 1C the storage grid 104 is shown with a height of eight cells.
It is
understood, however, that the storage grid 104 can in principle be of any
size. In
particular it is understood that storage grid 104 can be considerably wider
and/or
longer than disclosed in Figs. lA and 1C. For example, the grid 104 may have a
horizontal extent of more than 700x700 grid cells 122. Also, the grid 104 can
be
considerably deeper than disclosed in Figs. lA and 1C. For example, the
storage
grid 104 may be more than twelve grid cells deep.
The storage container vehicles 200,300 may be of any type known in the art,
e.g.
any one of the automated container handling vehicles disclosed in
W02014/090684
Al, in NO317366 or in W02015/193278A1.
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The rail system 108 may be a single rail system, as is shown in Fig. 2A.
Alternatively, the rail system 108 may be a double rail system, as is shown in
Fig. 2B. Details of the single and double rail system are disclosed this
specification
under the section of background and prior art.
Fig 3 A-C shows an embodiment of a remotely operated delivery vehicle 30
according to the present invention, hereinafter referred to as a delivery
vehicle 30.
The delivery vehicle 30 is configured for transport of a storage container 106
(not
shown) between an automated storage and retrieval grid 104 (see fig 7 A and B)
configured to store a plurality of stacks 107 of storage containers 106,
hereinafter
referred to as a storage grid 104, and a access point 161 provided in a
container
accessing station 160 for handling of the storage container 106 by at least
one of a
robotic operator and human operator.
Said delivery vehicle 30 comprises; a vehicle body 31, a rolling device 32a,
32b
connected to the vehicle body 31, a rolling device motor for driving the
rolling
device 32a, 32b in a horizontal plane (P), and a power source 43 connected to
the
rolling device motor 33. The power source 43 should provide sufficient power
to the
rolling device motor (not shown) to propel the rolling device 32a, 32b over a
set
route from the storage grid 104, for example to an access point 65.
The delivery vehicle 30 may further comprise a container carrier 35 mounted
above
the vehicle body 31. The container carrier 35 should be configured to receive
the
storage container 106 onto or within the container carrier 35 such that the
storage
container 106 is prevented to slide along the horizontal plane (P 1).
The container carrier 35 may comprise a container supporting device supporting
the
storage container 106 from below.
In Fig. 3 A-B the container carrier 35 is disclosed in the form of a storage
container
receiving compartment having a bottom / base and side walls. The volume of the
compartment is in this exemplary configuration such that it may receive and
contain
the entire horizontal extent of the storage container and at least a part of
the vertical
extent of the storage container. Figs. 3 A-C shows examples of container
carriers 35
containing an entire storage container 106 and Fig. 4 A-B shows an alternative
container carrier 35 containing a part of the storage container 106.
The particular configuration of the container carrier 35 disclosed in 3 A-C
allows
the delivery vehicle 30 to transport of a storage container 106 having
different
heights.
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Note that the size of the compartment within the container carrier 35 may
easily be
adapted for receiving and supporting a multiple number of storage containers
106 in
one operation.
Fig. 3 B and 3 C shows a particular configuration of the delivery vehicle 30,
where
the container carrier 35 may be set in a tilted position relative to the
vehicle body
31 and the horizontal plane (P1). The container carrier 35 may be tilted by
means of
a dedicated displacement device. The tilting may be around a pivot axis
directed in
the principal moving direction of the delivery vehicle 30. If the delivery
vehicle 30
is moving on perpendicular rails (see below), these principal directions would
be in
either the X direction or the Y direction.
The tilting of the displacement device may for example be obtained by a
lifting arm
45 coupled to the vehicle body 31 and the container carrier 35. Further, the
lifting
arm 45 may be driven by a dedicated tilt motor 42 or the rolling device motor
or
both.
The displacement device is in Fig. 3 B and C shown with an L-shaped lifting
arm 45
connected at one side to the vehicle body 31 and the opposite side connected
to a
structure fixed to the container carrier 35. The latter end of the arm 45 may
be also
be connected directly to the container carrier 35.
The tilt motor 42 is seen arranged fully inside the vehicle body 31 and is
connected
to the lifting arm 45, directly or indirectly, for moving the lifting arm 45
between a
lower position in which the container carrier 35 is not tilted relative to the
horizontal plane (P) and an upper position in which the container carrier 35
is tilted
relative to the horizontal plane (P). Note that the horizontal plane (P) may
be
defined as the plane set up by the particular configurations of the wheels
32a,32b of
the rolling device 32.
Fig. 3 A-C and 4 A-C shows perspective views of the delivery vehicle 30. The
rolling device 32 comprises in this exemplary configuration:
-a first set of wheels 32a arranged at opposite portions of a vertical centre
plane
through the vehicle body 31 for moving delivery vehicle 30 along a first
direction,
for example along an X-direction on a delivery rail system; and
-a second set of wheels 32b arranged at opposite portions of a vertical centre
plane
through the vehicle body 31 for moving the delivery vehicle 30 along a second
direction, for example along a Y-direction on the delivery rail system
perpendicular
to the first direction X.
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Figure 4 C shows yet another exemplary configuration of the remotely operated
delivery vehicle 30. In this configuration the container carrier 35 comprises
a base
plate, a conveyor arranged on the base plate and two side walls protruding
upwards
from the base plate. The rolling device 32 and the vehicle body 31 are equal
or
similar to the rolling device 32 and the vehicle body 31 described above in
connection with Figs. 3-5.
The conveyor may be set up by inter alia a plurality of parallel oriented
rolls 36
having a common longitudinal direction perpendicular to the two side walls. In
this
way the rolls 36 allow one or more storage containers 106 to be shifted into
or off
the container carrier 35 while being guided by the side walls. The conveyor
may be
connected to a conveyor motor allowing rotation of one or more of the rolls.
Fig. 5 A and B shows the delivery vehicle 30 from below. As clearly seen in
Fig. 5
A the vehicle body 31 of the delivery vehicle 30 comprises an internal
component
receiving recess or compartment for containing components such as one or more
dedicated tilt motors 42, one or more track shift motors 41, one or more power
storage sources such as a battery 43 and one or more control cards such as CPU
and/or Power PCB 44. The above-mentioned components are thus located within
the
vehicle body 31, below the container carrier 35.
The storage container receiving compartment of the container carrier 35 has in
this
particular configuration a rectangular bottom plate or base plate with
vertical side
walls. The vertical side walls can be of any height as long as they ensure
that the
storage container 106 is restricted to move along the base plate of the
container
carrier.
For example, the size of the compartment 35 may correspond to the size of a
storage
container 106, thereby fully containing the storage container 106.
In case of a container carrier 35 being configured to support a multiple
number of
storage containers 106, the size of the vertical walls may in one example be
the
height of each storage container 106 and the size of the base plate may be the
sum
of the cross-sectional area of all storage containers 106 measured relative to
their
outer lateral extremities.
Fig. 5 B shows the delivery vehicle 30 as described above with the vehicle
body 31
and the rolling device 32 of eight wheels 32a,32b. As for the delivery vehicle
shown
in Figs. 3-5, the first set of four wheels 32a enable lateral or horizontal
movement
of the delivery vehicle 30 in a first direction and the second set of the
remaining
four wheels 32b enable the lateral or horizontal movement in the second
direction
which may be perpendicular to the first direction.
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If used on a delivery rail system 50 one or both sets of wheels 32a,32b of the
rolling
device 32 should be lifted and lowered so that the first set of wheels 32a
and/or the
second set of wheels 32b can be engaged with the respective set of rails
provided on
5 the delivery rail system 50 any one time.
Perspective views of an automated storage and retrieval system is shown in
Fig. 6-9.
The system comprises a storage grid 104 and a delivery system 140 comprising a
delivery rail system 50, a plurality of delivery vehicles 30 and an access
point 65
10 provided in a container accessing station 60.
The storage grid 104 is equal or similar to the prior art storage grid 104 as
described
above, i.e. a storage grid 104 comprising a rail system 108; a plurality of
stacks 107
of storage containers 106, a plurality of container handling vehicles 300 for
lifting
15 and moving storage containers 106 stacked in the stacks 107 and a
delivery column
119,120 configured to receive a storage container 106 from a container
handling
vehicle 300.
The rail system 108 comprises a first set of parallel tracks 110 arranged in a
20 horizontal plane (P) and extending in a first direction (X) and a second
set of
parallel tracks 111 arranged in the horizontal plane (P) and extending in a
second
direction (Y) which is orthogonal to the first direction (X). The first and
second sets
of tracks 110, 111 form a grid pattern in the horizontal plane (P) comprising
a
plurality of adjacent grid cells 122. Each grid cell 122 displays a grid
opening
defined by a pair of neighboring rails of the first set of rails 110 and a
pair of
neighboring rails of the second set of rails 111
The plurality of stacks 107 are arranged in storage columns 105 located
beneath the
rail system 108, wherein each storage column 105 is located vertically below a
grid
cell 122.
Each container handling vehicle 200,300 is configured to move on the rail
system
108 above the storage columns 105.
The delivery system 140 comprises one or more of the delivery vehicles 30 as
described above, i.e. delivery vehicles 30 configured to receive and support
storage
container 106 for transport between one or more delivery columns 119,120 and
one
or more container handling stations 160 located outside the storage grid 104.
The
container handling station 160 may be located any predetermined position
suitable
for handling containers.
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The delivery system 140 may further comprise a delivery rail system 50
situated
below a delivery port 150 of the one or more delivery columns 119,120.
As shown in Fig. 6 A-B, the delivery rail system 50 may be constructed in the
same
way or a similar way as the rail system 108 for the container handling
vehicles
200,300. The delivery rail 50 extends at least from the delivery port 150 of
one or
more delivery columns 119,120, and into the at least one container accessing
station
60 and further to the access point 65, such that each delivery vehicle 30 can
move
into the at least one container accessing station 60 and towards the access
point 65
of the container accessing station 60 where items held in the storage
container 106
may be accessed.
The container accessing station may comprise a cabinet 60 comprising walls and
a
top cover supported thereon. The items held in the storage containers 106
carried by
the delivery vehicle 30 at the access point 65 is reachable trough an opening
63 in
the top cover.
The cabinet 60 is arranged adjoining the storage grid 104, where the delivery
rail
system 50 extends from below the delivery ports 150 and to or into an internal
volume of the cabinet 60.
The delivery rail system may be a single rail system or a double rail system,
or a
combination of the two.
The delivery rail system 50 may comprise at least a first set of parallel
rails
arranged in a horizontal plane (P1) and extending in a first direction (X),
and at
least a second set of parallel tracks arranged in the 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 together defining a delivery grid 51 of
delivery grid
cells 52.
The delivery rail system 50 may be fully or partly integrated into the storage
grid
104. Figure 6 A and 6 B shows the delivery rail system 50 partly integrated
into the
storage grid, where the part of the delivery rail system 50 located outside
the
storage grid are covered by the cabinet 61. The cabinet 61 may be provided
with six
grid cells located in the internal volume the cabinet 61. The delivery grid 51
provides one or more delivery grid cells 52 for the remotely operated delivery
vehicle 30 at the access point 65 as well as a plurality of delivery grid
cells 52
adjacent the one or more delivery grid cells 52 of the access point 65, such
that
there is more than one path to and/or from the access point 65 for the
remotely
operated delivery vehicle 30 via the plurality of delivery grid cells 52.
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The access point 65 is related to a dedicated location in the container
accessing
station 60 where product items are removed from, or positioned into, the
storage
containers 106.
The cabinet may comprise walls and a top cover supported thereon. The items
held
in the storage containers 106 carried by the delivery vehicle 30 at the access
point
65 may be is reachable through an opening 63 in the top cover.
The delivery rail system 50 extends between a location vertically below the
delivery
port 150 to or into the container accessing station 60, and the remotely
operated
delivery vehicle 30 is arranged for transport of storage containers between
the
delivery port 150 and the access point 65 of the container handling station
60.
Figure 6 B show the delivery system of figure 6 A without the storage grid
104.
The container accessing station 60 may be located on a ground floor level as
shown
in figure 6 A and 6B, such that the storage containers 106 are accessible to
human
and/or robotic operators at the access point 65.
The delivery ports 150 may be arranged on a mezzanine level 151 of the storage
grid 104, such that the delivery vehicle may operate on the delivery rail 50
provided
below the mezzanine level 151 for delivering or receiving storage containers
106
to/from the delivery port 150. The mezzanine 155 is thus adapted to the
overall
height of the storage container 106 when positioned on the delivery vehicle
30, and
the delivery rail system 50.
Further, the extent of the mezzanine 155 in a horizontal plane, depends on the
total
numbers of delivery columns arranged in the storage grid. Thus, the number of
delivery columns 119, 120 and the extent of the mezzanine 155 in the X and Y
direction may be customized according to the size of the storage system and
the
desired efficiency of the system.
The container accessing station 160 may further be defined as any means for
protecting the human operator from components of the delivery system (rails
and
delivery vehicles) and for allowing easy handling of the storage container 106
and
its contents. In other words, it provides a barrier between the human operator
components of the delivery system.
It may be considered advantageous for ensuring an effective operation that the
delivery rail system 50 has a horizontal extent that cover a delivery port 150
below
at least one of the delivery columns 119,120 and extends to the outside of the
storage grid 104. This inventive configuration shown in figure 7 A and 7 B
allows a
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plurality of delivery vehicles 30 to operate on the delivery rail system 50,
while
avoiding congestion of storage containers around the delivery column 150.
Figure 7 and 8 shows three container accessing stations 60, each comprising a
cabinet 60 comprising walls and a top cover supported thereon, wherein the
items
held in the storage container 106 carried by a remotely operated delivery
vehicle
30 at the access point 65 is reachable through the opening 63 in the top
cover.
The opening 63 in the top cover is located directly over the delivery grid
cell 52
defining the access point 65.
The access point 65 may comprise one single grid cell of the delivery grid 50,
or the
access point 65 may comprise two or more delivery grid cells 52. The delivery
vehicle 30 is operated such that when it is located at the access point 65, it
allows
the human and/or robotic operator to access the contents of the storage
container
106.
As shown in figure 8 A-B, the delivery vehicle 30 has more than one path to
and/or
from the access point 65 via the plurality of delivery grid cells 52. This
allows the
operator to coordinate the order in which delivery vehicles 30 may enter or
exit the
access point 65.
The delivery vehicle 30 in figure 8 A and B, may enter the access point 65 at
a first
end and exits the access point 65 at a second end, such that storage
containers 106
may enter and exit the access point 65 continuously one after another.
To increase the visibility, easy access and a better working position for the
human
operator accessing the storage container 106 at the access point 65, the
delivery
vehicle 30 may be operated with the container in a tilted position towards the
human operator. Figure 8 A and B shows the container of the delivery vehicle
30 in
the tilted position at the access point 65.
Figure 9 A shows a perspective view of the automated storage and retrieval
system
in combination with a secondary delivery system comprising conveyors. The
conveyers are arranged for transport of goods between the automated storage
and
retrieval system and another storage facility, production facility, etc. The
goods
may be handled at the container accessing station 60 for further transport to
the
storage grid 104 in storage containers 106, or they can be collected from the
storage
containers 106 for transport to other facilities onto the conveyors.
The container accessing station 60 in figure 9 A and B comprises walls 62 for
separating the delivery grid 51 and delivery vehicle 30 from the human
operator.
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The access point 65 is an area corresponding to one or more delivery grid
cells 52
of the delivery grid 51 that are arranged on a delivery grid 51 side of the
wall 62 in
a position where the items held in the storage container 106 carried by a
remotely
operated delivery vehicle 30 can be reached by the robotic or human operator
leaning over the wall 62.
In figure 9 A and B the access point may comprise a plurality of separate
delivery
grid cells 52, thus allowing the human operator to access six different
storage
containers at the access point.
The delivery vehicles 30 may be operated such that they are tilting the
container
carrier 35 and the storage container 106 at a preferred location at the access
station
65.
Figure 10 shows a top view of the embodiment of figure 9 A and in a larger
scale.
The storage system comprises two storage grids 104 and the delivery rail
system 50
of the delivery system 140 is arranged such that it connects the two separated
storage grids 104. In this way, storage containers 106 can be transported
between
the two separated storage grids 104 and between the two storage grids 104 and
the
container accessing station 60.
30
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Reference numerals:
Delivery vehicle
31 Vehicle body
32 Rolling device
32a First set of wheels
32b Second set of wheels
Container carrier
36 Rolls of conveyor
41 Displacement device
42 Tilt motor
43 Power source
44 Controller
Lifting arm
Delivery rail system
51 Delivery grid
52 Delivery grid cell
Container accessing station
61 Cabinet
62 Wall
63 Opening top cover of cabinet
Access point
P1 Horizontal plane of delivery rail system
100 Framework structure
102 Upright members of framework structure
103 Horizontal members of framework structure
104 Storage grid / three-dimensional grid
105 Storage column
106 Storage container
107 Stack
108 Rail system
110 First set of parallel rails in first direction (X)
111 Second set of parallel rails in second direction (Y)
115 Grid opening
119 Delivery column
120 Delivery column
122 Grid cell
140 Delivery system
150 Delivery port
151 Mezzanine level
155 Mezzanine
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200 First container handling vehicle
201 Wheel arrangement
300 Second container handling vehicle
301 Wheel arrangement
X First direction
Y Second direction
P Horizontal plane of rail system
