Method and apparatus for retrieving units from a storage system

Patent metadata

Field	Value
Publication number	US-11738945-B2
Application number	US-202217733464-A
Country	US
Kind code	B2
Filing date	Apr 29, 2022
Priority date	Sep 30, 2016
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A load handling device is disclosed for retrieving, transporting, and delivering containers in a storage system having a grid structure formed of two substantially perpendicular sets of rails or tracks located above stacks of containers. An exemplary load handling device can include a wheel assembly, a container receiving space, and a plurality of vehicle modules. The wheel assembly can include a first set of wheels to guide movement of the load handing device in a first direction and a second set of wheels to guide movement of the load handing device in a second direction. Each of the vehicle modules can include a container lifting means arranged to lift a container into the container receiving space and each of the vehicle modules can be moveable to adjust the spacing of the containers in the load handling device.

First claim

The invention claimed is:

1. A load handling device for retrieving, transporting, and delivering containers in a storage system, the storage system having a grid structure formed of two substantially perpendicular sets of rails or tracks, the grid structure forming a plurality of grid spaces and located above a plurality of stacks of one or more containers, each stack arranged to occupy a footprint of a single grid space, the load handling device configured to move laterally on said rails or tracks above said stacks of containers, the load handling device including:
a wheel assembly, the wheel assembly comprising a first set of wheels for engaging with a first set of rails or tracks of said rails or tracks to guide movement of the load handing device in a first direction and a second set of wheels for engaging with a second set of rails or tracks of said rails or tracks to guide movement of the load handing device in a second direction;
a container receiving space;
a plurality of vehicle modules, each of the vehicle modules having a container lifting means arranged to lift a container such that the load handling device is arranged to lift a corresponding number of containers as vehicle modules into the container receiving space; and
wherein each of the vehicle modules are moveable to adjust the spacing of the containers in the load handling device.

2. A load handling device according to claim 1 , wherein each of the vehicle modules are moveable axially towards and/or away from each other so as to adjust the spacing of the containers in the load handling device.

3. A load handling device according to claim 1 , wherein the lifting means of two or more of the plurality of vehicle modules are arranged to lift a larger container, the larger container being of equivalent footprint to an integer number of containers.

4. A load handling device according to claim 1 , wherein said second set of wheels are mounted to fixed T-pieces disposed at either end of the load handling device.

5. A load handling device according to claim 1 , wherein at least the first or the second set of wheels have a toothed central channel that forms a pulley for cooperating with a drive belt.

6. A load handling device according to claim 5 , wherein the toothed central channel is bounded by two rubber tires configured to bear upon the rails or tracks so as to keep the drive belt in alignment.

7. A load handling device according to claim 6 , wherein said wheels having a toothed central channel are mounted to an arm by an axle that extends through an axial hole in each wheel of said sets of wheels.

8. A load handling device according to claim 7 , wherein said sets of wheels, the drive belt, the rubber tires, the arm, and the axle are arranged around the edges of the container receiving space so that an upper part of the load handling device is solidly supported, and the upper part houses power components, control components, drive components and/or lifting and lowering components, which are arranged directly above a lower part housing the container receiving space.

9. A load handling device according to claim 1 , including:
an upper part, the upper part housing power components, control components, drive components and/or lifting and lowering components; and
a lower part, the lower part including the container receiving space, and wherein the lower part is arranged directly below the upper part.

10. A storage system comprising:
a grid structure formed of two substantially perpendicular sets of rails or tracks, the grid structure forming a plurality of grid spaces;
a plurality of stacks of one or more containers located beneath said rails or tracks, each of the plurality of stacks arranged such that each stack occupies a footprint of a single grid space; and
a load handling device, the load handing device including:
a wheel assembly, the wheel assembly comprising a first set of wheels for engaging with a first set of rails or tracks of said rails or tracks to guide movement of the load handing device in a first direction and a second set of wheels for engaging with a second set of rails or tracks of said rails or tracks to guide movement of the load handing device in a second direction,
a container receiving space,
a plurality of vehicle modules, each of the vehicle modules having a container lifting means arranged to lift a container such that the load handling device is arranged to lift a corresponding number of containers as vehicle modules into the container receiving space, and
wherein each of the vehicle modules are moveable to adjust the spacing of the containers in the load handling device.

11. A storage system according to claim 10 , including:
a port location, the port location having container receiving means, the container receiving means including:
a container receiving platform;
a transferring means; and
wherein the container receiving platform and the transferring means together being adapted to receive a plurality of containers delivered by the load handing device and transfer the plurality of containers to a shipping trolley.

12. A storage system according to claim 11 , wherein each of the plurality of the vehicle modules are moveable to enable the containers to be delivered onto the container receiving platform in a position enabling the transfer means to relocate the delivered containers onto the shipping trolley.

13. A storage system according to claim 11 , wherein each of the plurality of the vehicle modules are moveable such that the spacing of the containers in the load handling device matches the spacing of container receiving shelves of the shipping trolley.

14. A storage system according to claim 10 , wherein the lifting means of two or more of the plurality of vehicle modules are arranged to lift a larger container, the larger container being of equivalent footprint to an integer number of containers.

15. A storage system according to claim 10 , wherein said second set of wheels of the load handling device are mounted to fixed T-pieces disposed at either end of the load handling device.

16. A storage system according to claim 10 , wherein at least the first or the second set of wheels of the load handling device have a toothed central channel that forms a pulley for cooperating with a drive belt.

17. A storage system according to claim 16 , wherein the toothed central channel is bounded by two rubber tires configured to bear upon the rails or tracks so as to keep the drive belt in alignment.

18. A storage system according to claim 16 , wherein said wheels comprising the toothed central channel are mounted to an arm by an axle that extends through an axial hole in each wheel of said set of the wheels.

19. A storage system according to claim 10 , wherein the load handling device includes:
an upper part, the upper part housing power components, control components, drive components and/or lifting and lowering components; and
a lower part, the lower part including the container receiving space, and wherein the lower part is arranged directly below the upper part.

20. A method of transferring a plurality of containers located within a plurality of adjacent stacks in a storage system from the storage system to a shipping trolley via a load handling device, the load handling device including:
a wheel assembly, the wheel assembly comprising a first set of wheels for engaging with a first set of rails or tracks of said rails or tracks to guide movement of the load handing device in a first direction and a second set of whe

Assignees

• Ocado Innovation Ltd

Inventors

• Lindbo Lars Sverker Ture
• Ingram-Tedd Andrew John
• Karolinczak Pawel

Classifications

• B65G2201/0235

  Containers · CPC title

• B65G1/0464 Primary

  with access from above · CPC title

• B25J15/0052

  multiple gripper units or multiple end effectors · CPC title

• B65G1/14

  Stack holders or separators · CPC title

• B65G67/44

  by passing the vehicles over a stretch of transversely-inclined rails · CPC title