Multi bin vehicle

Patent metadata

Field	Value
Publication number	US-11866259-B2
Application number	US-202318160487-A
Country	US
Kind code	B2
Filing date	Jan 27, 2023
Priority date	Nov 22, 2017
Publication date	Jan 9, 2024
Grant date	Jan 9, 2024

Abstract

A container-handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container-handling vehicle has a vehicle body and wheels for moving the vehicle in two perpendicular directions on the grid. The vehicle body surrounds a cavity within which at least a first lifting device and a second lifting device are positioned adjacent to each other. Each lifting device is independently controlled and arranged to lift a storage container from the grid and into the cavity. The vehicle includes at least one vertical frame guiding element arranged inside the cavity. The frame guiding element extends between the lifting devices.

First claim

What is claimed is:

1. A container-handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system, comprising:
a vehicle body and wheels for moving the vehicle in two perpendicular directions on the grid;
the vehicle body surrounds a cavity within which at least a first lifting device and a second lifting device are positioned adjacent to each other, each lifting device comprising a lifting frame, each lifting device is independently controlled and arranged to lift a storage container from the grid and into the cavity, and
the vehicle comprises at least one vertical frame guiding element arranged inside the cavity, the frame guiding element extending between the lifting devices,
wherein the at least one vertical frame guiding element defines at least portions of a vertically extending corner section providing guidance to an external corner of one of the lifting frames,
wherein the at least one vertical frame guiding element partitions the cavity into two or more storage areas where each storage area has an independent lifting device.

2. The container-handling vehicle according to claim 1 , wherein the first lifting device and the second lifting device are adjacent, such that the container-handling vehicle may accommodate two adjacent storage containers within the cavity.

3. The container-handling vehicle according to claim 1 , wherein each of the first lifting device and the second lifting device is connected to at least one first rotatable lifting shaft and at least one second rotatable lifting shaft, respectively.

4. The container-handling vehicle according to claim 1 , wherein the lifting frame of each of the first lifting device and the second lifting device is for releasably connecting to a container.

5. An automated storage and retrieval system comprising a three-dimensional grid and at least one container-handling vehicle according to claim 1 ,
wherein the grid comprises multiple storage columns, in which storage containers may be stored on top of one another in vertical stacks, and a port column for receiving and transporting a storage container to an access station;
wherein the container handling vehicle is operated on rails at a top level of the grid for retrieving storage containers from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the grid; and
wherein the first lifting device and the second lifting device are arranged such that they may enter two adjacent storage columns at the same time.

6. The automated storage and retrieval system according to claim 5 , wherein each of the lifting devices are arranged such that the respective lifting frames may enter two adjacent storage columns at the same time.

7. The automated storage and retrieval system according to claim 6 , wherein the lifting frames of the first lifting device and the second lifting device are horizontally separated by a distance being larger than the width of the rails separating two adjacent storage columns.

8. The automated storage and retrieval system according to claim 6 , wherein the container-handling vehicle has a horizontal periphery equal to, or less than, the horizontal periphery of a set of rails surrounding two adjacent storage columns.

9. The automated storage and retrieval system according to claim 6 , wherein each of the first and second lifting frames comprises container connecting elements for releasable connection to corresponding lifting frame connecting elements on the storage containers, and guiding pins for ensuring a correct positioning of the container connecting elements.

10. A method of retrieving at least one storage container from an automated storage and retrieval system comprising a three-dimensional grid and at least one container-handling vehicle,
wherein the grid comprises multiple storage columns, in which storage containers may be stored on top of one another in vertical stacks, and a port column for receiving and transporting a storage container to an access station;
wherein the container handling vehicle is operated on rails at a top level of the grid for retrieving storage containers from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the grid;
wherein the container-handling vehicle comprises at least a first lifting device and a second lifting device, each lifting device comprising a lifting frame, the lifting devices arranged such that they may retrieve and/or store a storage container from/in at least two adjacent storage columns at the same time, and at least one vertical frame guiding element extending between the first lifting device and the second lifting device;
wherein the at least one vertical frame guiding element defines at least portions of a vertically extending corner section providing guidance to an external corner of one of the lifting frames;
wherein the at least one vertical frame guiding element partitions the cavity into two or more storage areas where each storage area has an independent lifting device; and
the method comprising:
identifying a first storage container to be retrieved;
moving the container-handling vehicle, such that the first lifting device is centred relative a first storage column comprising the first storage container;
retrieving a second storage container by the first lifting device, the second storage container arranged in the first storage column at a level above the first storage container;
moving the container-handling vehicle, such that the second lifting device is centred relative the first storage column; and
retrieving the first storage container by the second lifting device.

11. The method according to claim 10 , further comprising:
moving the container-handling vehicle along a pathway to the port column.

12. The method according to claim 10 , further comprising:
storing the second storage container in a second storage column adjacent to the first storage column, simultaneously with the step of retrieving the first container; or
returning the second storage container to the first storage column when the first storage container has been retrieved; or
storing the second storage container in a third storage column when the first storage container has been retrieved, the third column preferably arranged along the pathway to the port column.

Assignees

• Autostore Tech As

Inventors

• Austrheim Trond
• Heggebø Jørgen Djuve

Classifications

• B65G1/137 Primary

  with arrangements or automatic control means for selecting which articles are to be removed · CPC title

• B65G1/0464 Primary

  with access from above · CPC title

• B65G1/0478

  for matrix-arrangements · CPC title

• B65G1/0492 Primary

  with cars adapted to travel in storage aisles · CPC title

• B66F9/186

  Container lifting frames · CPC title