System or method for stacking containers

Patent metadata

Field	Value
Publication number	US-9845208-B2
Application number	US-201414896606-A
Country	US
Kind code	B2
Filing date	Jun 5, 2014
Priority date	Jun 6, 2013
Publication date	Dec 19, 2017
Grant date	Dec 19, 2017

Abstract

Systems, methods, and machine-executable coded instruction sets are disclosed for fully- and/or partly automated handling of goods. For example, the disclosure provides improvements in storage and retrieval of containers in systems such as order processing systems.

First claim

What is claimed is:

1. A system for stacking containers in an automated storage and retrieval system, comprising:
two substantially perpendicular sets of rails forming a grid and having at least one robotic load handling device operable thereon, the load handling device including a body mounted on two sets of wheels, the first set of wheels being arranged to engage with at least two rails of the first set of rails, the second set of wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that only one set of wheels is engaged with the grid at any one time thereby enabling movement of the service device along the rails to any point on the grid by driving only the set of wheels engaged with the rails;
one or more clamps, each clamp defining a stack location and configured for clamping to a lowest container in a stack, the one or more clamps configured to support a weight of a plurality of containers in the stack; and
a lifter configured for enabling engagement by one of the clamps to a container which is disposed beneath the stack, wherein engagement and disengagement of the clamps enables containers to be added to or removed from a bottom of the stack,
the at least one overhead load handler configured for lifting one or more containers from a top of the stack, and for lowering one or more containers onto the top of the stack.

2. The system for stacking containers of claim 1 , wherein the lifter is configured to be positioned beneath one or more of the stack locations.

3. The system for stacking containers of claim 1 , wherein the lifter is configured to lift or support a stack of containers at a stack location when the clamp is in an unengaged condition.

4. The system for stacking containers of claim 1 , wherein the lifter is configured to engage a bottom or a side of the container.

5. The system for stacking containers of claim 1 , wherein the lifter comprises: one or more mechanisms for lowering a clamp to engage a container disposed beneath the stack and for lifting the clamp and an engaged container to form the bottom of the stack.

6. The system for stacking containers of claim 1 , comprising: a conveyor for conveying a container to or from a position beneath a stack location where it can be lifted by the lifter.

7. The system for stacking containers of claim 1 , wherein the lifter is configured for lifting two or more incoming stacked containers from beneath one of the stack locations, a bottom container of the incoming stacked containers to be clamped to form the bottom of the stack.

8. The system for stacking containers of claim 1 , comprising: a shuttle for moving the lifter to be positioned beneath different stack locations.

9. The system for stacking containers of claim 8 , wherein the lifter is configured to support one or more containers as the lifter is moved between different stack locations.

10. The system of claim 1 , comprising: at least one processor configured to manage movement of containers in the system wherein managing the movement of the containers in the system includes generating signals for controlling or instructing the one or more clamps, the lifter, and the at least one overhead load handler.

11. The system of claim 10 , wherein managing the movement of containers in the system comprises:
the processor being configured for generating signals for storing at least one of the containers in the system in a position in the stack designated to be part of a buffer region.

12. The system for stacking containers of claim 1 , comprising: a second clamp at a stack location, the second clamp being moveable along a height of the stack and configured to clamp and lift any container in the stack.

13. The system for stacking containers of claim 12 , wherein the second clamp is configured to support one or more containers as containers are removed or added to the top of the stack.

14. The system for stacking containers of claim 12 , wherein the second clamp is configured to support one or more containers as containers are removed or added to the bottom of the stack.

15. The system for stacking containers of claim 1 , wherein one or more of the clamps define freestanding stack locations or frame supported stack locations.

16. The system of claim 15 wherein the at least one processor is configured to:
generate signals for controlling or instructing the one or more clamps and the lifter to add containers to the bottom of the stack; and
generate signals for independently controlling or instructing the at least one overhead load handler to lift containers from the top of the stack.

17. The system of claim 15 wherein the at least one processor is configured to:
generate signals for controlling or instructing the at least one overhead load handler to lower containers onto the top of the stack; and
generate signals for independently controlling or instructing the one or more clamps and the lifter to remove containers from the bottom of the stack.

18. The system of claim 15 wherein the at least one processor is configured to:
generate signals for controlling or instructing the one or more clamps and the lifter to transfer a container from the bottom of the stack to a conveyor;
generate signals to cause the container to be transported below a second stack location; and
generate signals for controlling or instructing a second clamp and a second lifter to add the container to the bottom of the second stack.

19. The system of claim 15 wherein the generation of the signals for controlling or instructing the one or more clamps, the lifter, and the at least one overhead load handler are timed or include delays to avoid interference as containers are added or removed from the top or bottom of the stack.

20. A method for operating an automated storage and retrieval system including two substantially perpendicular sets of rails forming a grid and having at least one overhead load handler operable thereon, the at least one overhead load handler including a body mounted on two sets of wheels, the first set of wheels being arranged to engage with at least two rails of the first set of rails, the second set of wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that only one set of wheels is engaged with the grid at any one time thereby enabling movement of the service device alonq the rails to any point on the grid by drivinq only the set of wheels engaged with the rails, the method comprising:
generating, by at least one controller, signals for coordinating operation of a lifter and at least one clamp to add incoming containers to a bottom of a stack in the grid, the at least one clamp configured for clamping a lowest container in the stack; and
generating, by the at least one controller, signals for controlling or instructing the at least one overhead load handler to lift one or more containers from a top of the stack.

Assignees

• Ocado Innovation Ltd

Inventors

• Lindbo Lars Sverker Ture

Classifications

• B65G1/0485

  Check-in, check-out devices · CPC title

• B65G57/302 Primary

  added articles being lifted to substantially stationary grippers or holders · CPC title

• B65G1/0464 Primary

  with access from above · 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

• B65G59/02

  De-stacking from the top of the stack · CPC title