System and applicable methods of collecting items from storage containers using robotic operator

Patent metadata

Field	Value
Publication number	US-12151894-B2
Application number	US-201915734431-A
Country	US
Kind code	B2
Filing date	Jun 11, 2019
Priority date	Jun 12, 2018
Publication date	Nov 26, 2024
Grant date	Nov 26, 2024

Abstract

An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system including a first set of parallel rails arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell including a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails, the container handling vehicles being operable to retrieve a storage container from a stack of storage containers beneath the container handling rail system; a plurality of container handling vehicles operable on the container handling vehicle rail system, the container handling vehicles being operable to retrieve a storage container from a stack of storage containers beneath the container handling rail system; and a delivery column adapted for transport of a storage container between a container handling vehicle and a delivery port situated at a lower end of the delivery column. The delivery system includes: a delivery rail system, the delivery rail system comprising a first set of parallel rails arranged in a horizontal plane (P 1 ) and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P 1 ) and extending in a second direction (Y) which is orthogonal to the first direction (X), and a remotely operated delivery vehicle configured to travel on the delivery rail system, the remotely operated delivery vehicle including a container carrier adapted to support the storage container; a second location on the delivery rail system including a robotic operator for handling of product items in the storage container. The delivery port is arranged at a level above the delivery rails system allowing the delivery vehicle to be positioned directly below the delivery column. The delivery vehicle is further adapted to transport the storage container between a first location represented by the delivery port and the second location. The robotic operator is able to reach multiple positions within the delivery system in order to access storage containers transported on remotely operated delivery vehicles and positioned at different location within the delivery system.

First claim

The invention claimed is:

1. An automated storage and retrieval system comprising an automated storage and retrieval grid and a delivery system, wherein the automated storage and retrieval grid comprises:
a container handling vehicle rail system comprising a first set of parallel rails arranged in a first horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the first horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the first horizontal plane comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of parallel rails and a pair of neighboring rails of the second set of parallel rails;
a plurality of container handling vehicles operable on the container handling vehicle rail system, the plurality of container handling vehicles being operable to retrieve a storage container from a stack of storage containers beneath the container handling vehicle rail system; and
a delivery column adapted for transport of a storage container between a container handling vehicle and a delivery port situated at a lower end of the delivery column;
wherein the delivery system comprises:
a delivery rail system, the delivery rail system comprising a third set of parallel rails arranged in a second horizontal plane and extending in the first direction, and a fourth set of parallel rails arranged in the second horizontal plane and extending in the second direction which is orthogonal to the first direction; and
a remotely operated delivery vehicle configured to travel on the delivery rail system, the remotely operated delivery vehicle comprising a container carrier adapted to support the storage container; and
a second location on the delivery rail system, wherein the second location comprises a robotic operator for handling of product items in the storage container;

wherein the delivery port is arranged at a level above the delivery rail system allowing the remotely operated delivery vehicle to be positioned directly below the delivery column,
wherein the remotely operated delivery vehicle is further adapted to transport the storage container between a first location represented by the delivery port and the second location, and
wherein the robotic operator is able to reach multiple positions within the delivery system in order to access storage containers transported on remotely operated delivery vehicles and positioned at different locations within the delivery system.

2. The automated storage and retrieval system according to claim 1 , wherein the system further comprises a gantry arrangement above the remotely operated delivery vehicle, and wherein the robotic operator comprises at least one robot arm and is suspended from the gantry arrangement.

3. The automated storage and retrieval system according to claim 2 , wherein the gantry arrangement spans over at least parts of the delivery rail system and wherein the at least one robot arm is configured to move in XYZ directions to access storage containers at different locations within the delivery rail system.

4. The automated storage and retrieval system according to claim 2 , wherein at least a part of the gantry arrangement is laterally offset from the delivery rail system and wherein the at least one robot arm is configured to travel laterally along the gantry arrangement in order to deliver at least one product item to, or retrieve at least one product item from, a third location outside the delivery rail system.

5. The automated storage and retrieval system according to claim 2 , wherein at least a part of the gantry arrangement is laterally offset from the delivery rail system and wherein the at least one robot arm is configured for product item insertion or removal from, a third location outside the delivery rail system by varying extension of robot arm length.

6. The automated storage and retrieval system according to claim 4 , wherein the third location is a temporary position for storing of a plurality of product items.

7. The automated storage and retrieval system according to claim 1 , wherein the robotic operator comprises at least one robot arm supported on one of a floor base, a base above the delivery rail system, and on the delivery rail system.

8. The automated storage and retrieval system according to claim 7 , wherein the at least one robot arm is configured to be moved in XYZ directions to access storage containers at different locations within the delivery rail system and transfer at least one product item between the storage container within the delivery rail system and a third location outside the delivery rail system.

9. A method of transporting a storage container between an automated storage and retrieval grid and a second location for handling product items in the storage container by a robotic operator, the automated storage and retrieval grid comprising:
a container handling vehicle rail system comprising a first set of parallel rails arranged in a first horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the first horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the first horizontal plane comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of parallel rails and a pair of neighboring rails of the second set of parallel rails;
a plurality of container handling vehicles guided on the container handling vehicle rail system, the plurality of container handling vehicles being operable to retrieve a storage container from a stack of storage containers beneath the container handling vehicle rail system;
a delivery column adapted for transport of a storage container between a container handling vehicle and a delivery port situated at a lower end of the delivery column;
a delivery rail system, the delivery rail system comprising a third set of parallel rails arranged in a second horizontal plane and extending in the first direction, and a fourth set of parallel rails arranged in the second horizontal plane and extending in the second direction which is orthogonal to the first direction; and
a remotely operated delivery vehicle configured to travel on the delivery rail system, the remotely operated delivery vehicle comprising a container carrier adapted to support the storage container;
wherein the delivery port is arranged at a level above the delivery rail system allowing the remotely operated delivery vehicle to be positioned directly below the delivery column; and
wherein the method comprises:
lowering the storage container through the delivery column to a first location represented by the delivery port;
positioning a remotely operated delivery vehicle below the delivery port for receiving a storage container onto a container carrier provided on the remotely operated delivery vehicle;
transporting the storage container to the second location using the remotely operated delivery vehicle; and
using at least one robotic operator to pick at least one product item from the storage container at the second location, wherein the robotic operator is able to reach multiple positions within the delivery rail system in order to access storage containers transported on remotely operated delivery vehicles and positioned at different locations within the de

Assignees

• Autostore Tech As

Inventors

• Austrheim Trond

Classifications

• B65G1/0414

  provided with satellite cars adapted to travel in storage racks · CPC title

• B65G1/0492

  with cars adapted to travel in storage aisles · CPC title

• B65G47/02

  Devices for feeding articles or materials to conveyors · CPC title

• B65G1/1375

  the orders being assembled on a commissioning stacker-crane or truck · CPC title

• B65G61/00

  Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for · CPC title