HK1208660B - Robot for transporting storage bins - Google Patents

Description

Robot for transporting storage box

Technical Field

The present invention relates to a remotely controlled vehicle for picking up storage bins from a storage system according to the invention.

The invention also relates to a storage system for a vehicle using the invention.

Background

A remote-controlled vehicle for picking up a storage box from a storage system is known. A detailed description of a related prior art storage system is provided in WO 98/49075. Further details of a prior art vehicle suitable for such a storage system are disclosed in norwegian patent NO 317366. More specifically, prior art storage systems have three-dimensional storage grids comprising storage bins that are stacked on top of each other at a certain height. Storage grids are typically constructed as aluminum studs interconnected by top rails. A plurality of remotely controlled vehicles or robots are disposed on the overhead track. Each vehicle is equipped with a lift for picking up, carrying and placing the bins stored in the storage grid.

Such a prior art storage system and a prior art robot are shown in fig. 1 and 2, respectively. The storage system 3 comprises a robot 1 arranged to move on a dedicated support rail 13 and to receive storage bins 2 from storage posts 8 located within a bin storage grid 15. The storage system 3 comprises a plurality of robots 1 and a dedicated bin lift 50 arranged to receive a storage bin 2 from the robot 1 at the top level of the bin storage grid 15 and to transfer the storage bin 2 in a vertical direction down to a transfer station 60.

However, the prior art robot 1 shown in fig. 1 and 2 has some important drawbacks during its operation. First, the specific design of the robot prevents access to all available storage columns in the storage system. Furthermore, this particular design may cause undesirably high torques during lifting and transport of the storage box, creating potential instability problems and clearly limiting the maximum handling weight of the robot. Additional disadvantages arising from prior art robot designs are: each type of robot can only accept one specific box and one specific box height in order to ensure sufficient stability. Finally, the integral yokes (yoke)/overhangs (overhand) in the upper part of the portion receiving the storage box inevitably result in an undesirable reduction in the final phase of the lifting process performed by the vehicle lifting device suspended by the yokes.

Disclosure of Invention

The object of the present invention is to solve or at least substantially reduce the above mentioned drawbacks, i.e. to provide a vehicle/robot with greater stability performance, greater maximum handling weight, more efficient use of available space during operation and less time consuming lifting and transport process of the storage box.

In particular, the invention relates to a remotely controlled vehicle or robot for picking up storage bins from a storage system. The vehicle or robot of the present invention includes: a vehicle body further comprising a first portion for storing the vehicle drive device and a second portion for receiving any storage bin stored in a storage column within the storage system; a vehicle lifting device at least indirectly connected to the vehicle body for lifting the storage tank into the second portion; a first set of vehicle rolling devices connected to the vehicle body so as to allow the vehicle to move in a first direction (X) within the storage system during use; and a second set of vehicle rolling means connected to the vehicle body so as to allow the vehicle to move in a second direction (Y) within the storage system during use. The second direction (Y) is perpendicular to the first direction (X).

The vehicle of the invention is characterized in that the second portion comprises a cavity arranged centrally in the vehicle body. The cavity has at least one bin receiving opening that faces the underlying storage column during use. Furthermore, at least one of the two sets of vehicle rolling devices is disposed entirely within the vehicle body.

To allow the storage bin to easily enter the central cavity, the volume of the cavity should be greater than the largest storage bin intended to be picked up from the storage system. Also, at least one of the at least one bin receiving opening should have a cross-sectional area greater than the cross-sectional area of the wall of the storage bin parallel to the cavity opening(s).

The vehicle may further include a moving device for reversibly and selectively moving the first set of vehicle rolling devices or the second vehicle rolling devices away from an underlying vehicle support within the storage system as the vehicle changes direction between the first direction (X) and the second direction (Y).

Further, in one embodiment, the first portion may be arranged relative to the second portion in such a way that a cross-section of the vehicle parallel to the underlying vehicle bracket deviates from a quadratic square shape.

In a preferred embodiment, during use, the vehicle body covers less than or equal to the transverse cross-sectional area of one central storage pillar in the first direction (X) and the vehicle body covers the transverse cross-sectional areas of a plurality of central storage pillars in the second direction (Y). In a more specific example, the vehicle body extends beyond the transverse cross-sectional area of the central storage pillar on both sides towards the second direction (Y), i.e. also covers some of the transverse cross-sectional areas of the adjacent storage pillars that extend in the second direction (Y). Preferably, the extent of extension from the central storage column is equal on both sides. When the robot reaches a position that allows picking up the storage bin, the central storage column is defined as the storage column that is located directly below the robot.

In order to allow, in particular, a strong vehicle stability, the two sets of vehicle rolling means are preferably arranged symmetrically around the cavity, for example, in the vicinity of the lower corners of the vehicle. At least one set (and most preferably two sets) of vehicle rolling devices may comprise at least four wheels. Other embodiments are contemplated, such as the use of two vertically oriented tracks. Furthermore, the outer design of the two sets of vehicle rolling means is matched to the corresponding outer design on the support rails constituting the vehicle frame in order to provide a greater lateral stability when connected to each other. Such support rails are arranged in the form of a two-dimensional matrix on top of a box storage structure or grid, wherein the main directions of both the matrix and the grid coincide with a first direction (X) and a second direction (Y) of the vehicle.

The vehicle may also advantageously include position sensing means to allow the position of the vehicle within the storage system to be measured during use. This position sensing device may comprise a plurality of sensors arranged at least some locations on the vehicle body, which are transverse to the position traversed by said support rail of the vehicle bracket, for example under the vehicle, near the lower corners thereof.

The invention also relates to a storage system comprising: a remote-controlled vehicle according to the above feature; a vehicle mount comprising a plurality of support rails forming a two-dimensional matrix of a guide grid, wherein the vehicle mount is configured to guide movement of a vehicle in a first direction (X) and a second direction (Y) during use; a bin storage structure or grid supporting a vehicle rack, the bin storage structure comprising a plurality of storage posts, wherein each storage post is arranged to receive a vertical stack of storage bins and a major portion of the bin storage structure coincides with a location where the vehicle rack and the plurality of support rails intersect; and a bin lift device arranged to convey the storage bin transported by the vehicle between the vehicle rack and the transport station in a direction perpendicular to a transverse plane of the vehicle rack.

In a preferred embodiment, at least some of the support rails arranged at the outer edge region of the vehicle carrier form an outer guide grid, the average cross-sectional area of which is smaller than the average cross-sectional area of the remaining guide grids in the vehicle carrier. For example, the smaller average cross-sectional area of the outer guide mesh may be about half the average cross-sectional area of the remaining guide mesh within the vehicle cradle. In a particularly preferred embodiment, the cross-sectional area of the outer guide grid decreases only in the second direction (Y) of the vehicle frame.

The central arrangement of the cavity in the vehicle body with respect to the second direction (Y) effectively removes undesired torques, thereby improving the stability of the robot or vehicle. This arrangement also results in a lifting and transport process with weight distribution by high symmetry. Furthermore, the novel design allows the same vehicle to be used for lifting and transporting storage bins having a height (i.e. the height extending from the suspended portion of the lifting device to the lower edge of the vehicle) significantly less than the height of the cavity, since the frame/body enclosing at least a portion of the bin housing the cavity effectively prevents any undesired bin reeling/swinging. Having a cavity enclosing the body also allows to maintain a complete or nearly complete lifting speed almost up to its end position within the cavity and to start stable box transport towards the transport station before the box lifting is fully completed from the storage column. The protective body located around the cavity also offers the possibility of: the lowering of the lifting device is started before the vehicle finally stops above the storage column in question. This results in significantly greater stability and time efficiency.

By arranging at least one set of vehicle rolling means completely inside the vehicle or robot body, additional stability is obtained during the lifting process, since the rolling means are closer to the storage bin to be lifted. This arrangement reduces the overall load on the lifting device for the same reason. Furthermore, this arrangement is more space efficient relative to the prior art robot shown in fig. 2, since the rolling means do not provide any additional extension in at least one of the two robot movement directions (X and Y). It is also possible to produce smaller sized robots/vehicles.

Drawings

These and other features of the invention will become apparent from the following description of preferred embodiments, provided by way of non-limiting example, with reference to the accompanying drawings, in which:

FIG. 1 is a perspective view of a prior art storage system;

FIG. 2 is a cross-sectional view of a prior art robot or vehicle forming part of the storage system as shown in FIG. 1;

FIG. 3 is a bottom perspective view of a remotely controlled vehicle according to the present invention;

FIG. 4 is a top perspective view of a remotely controlled vehicle according to the present invention;

FIG. 5 is a perspective view of a robotic assembly including a storage bin, a fully enclosed cover, and a remotely controlled vehicle according to the present invention;

FIG. 6 is a top perspective view of the bin storage grid and vehicle rack according to the present invention;

FIG. 7 is a side perspective view of the bin storage grid and vehicle rack according to the present invention;

FIG. 8 is a side perspective view of a portion of a storage system according to the present invention including a bin storage grid, a vehicle rack and a remotely controlled vehicle; and

FIG. 9 is a schematic top view of a remotely controlled vehicle moving on a two-dimensional matrix of support rails.

Detailed Description

Fig. 1 is a schematic partially cut-away perspective view of a storage system according to the prior art, and fig. 2 is a cross-sectional view of a corresponding prior art robot. Both figures have been mentioned in the foregoing.

Fig. 3 and 4 provide perspective views of two different angles of the robot 1 of the invention comprising a rectangular vehicle body or frame 4 with: a cavity 7 centrally arranged within the body 4; a top cover 72 covering the top of the main body 4; a first set of four wheels 10 mounted inside the cavity 7 and parallel to the inner wall of the body 4; and a second set of four wheels 11 mounted parallel to the outer wall of the body 4. The first set of wheels 10 and the second set of wheels 11 are perpendicular to each other. Furthermore, the vehicle body 4 further comprises side portions 5, 5a, 5b arranged on both sides of the cavity 7 along at least one direction of movement of the robot 1. For clarity, a cartesian coordinate system is shown, the X, Y and Z axes of which are aligned along the main direction of the rectangular vehicle body 4. The cavity 7 is sized to contain the necessary components for the lifting device 9 and at least completely contains the largest storage bin 2 intended to be picked up by the robot 1.

Fig. 5 provides a perspective view of the robotic assembly, wherein the main body 4 is completely covered by a cover 73 comprising a handle 74 and a transport/control panel 75. The design of the cover 73 is adapted to the specific shape provided by the body 4 and the protruding wheel 10. Fig. 5 also shows a small portion of the storage box 2 and a small portion of the lifting device 9, arranged completely inside the cavity 7. The lifting device is preferably constituted in particular by four vertically movable metal strips, the upper ends of which are suspended on the cavity facing the side of the lid 72 and the lower ends of which are suspended on a steering rod which can be steered and fastened into a suitable cavity/area in the storage box 2 to be picked up.

The structural principle of the grid assembly is illustrated in fig. 6 and 7, which includes a box storage structure or grid 15, integral support rails 13 that make up the vehicle rack 14, and a grid support base 76. The grid 15 comprises a plurality of pillars (pilars) arranged with internal spacing adapted to accommodate storage bins 2 to be stored in stacks inside the grid 15. Thus, a rectangular arrangement of four adjacent pillars constitutes the storage column 8. Both the post and the track 13 may be made of aluminium. With respect to fig. 3 and 4, a cartesian coordinate system aligned along the main direction of the grid assembly is shown for ease of understanding. The support rails 13 form a two-dimensional matrix of rectangular cells, and the cross-sectional area of the majority of the cells corresponds to the cross-sectional area of each storage column 8 created by the bottom grid 15. The cross-sectional area of the meshes 17, 18 at the edge regions of the vehicle bracket 14 (at both sides in the direction Y) is smaller than that of the remaining meshes. The dimensions of the edge meshes 17, 18 should preferably be adapted to exceed the extension of the central storage post 8a directly below the cavity 7 of the robot 1 when the robot is in a position to start picking up a storage bin 2 contained within the central storage post 8a (see fig. 8 and 9). In this way, the robot 1 can reach all storage columns 8 in the storage system 3, i.e. independently of the robot orientation in the Y-direction. For example, if the robot 1 extends just above the cross-sectional area of one central storage column 8a in the X-direction and above 1/2 the cross-sectional area of the adjacent storage column 8b in the Y-direction, the cross-sectional area of the cells 17, 18 at the edge regions in the Y-direction should be approximately 1/2 of the cross-sectional area of the remaining cells. The main function of these edge meshes 17, 18 is therefore to allow sufficient space for the robot 1 with the novel design.

Fig. 8 shows the robot 1 in a lifted position over a central storage column 8a adjacent to the edge regions 17, 18 of the grid assembly. In this embodiment, the vehicle lifting device 9 is lowered a distance into the central storage column 8a to hook and lift the floor storage bin 2. As can be seen in the exemplary case in fig. 8, when the edge region is designed with additional edge meshes 17, 18 (where the Y-direction width is approximately 1/2 of the Y-direction width of the remaining meshes in the grid 15, the robot 1, which has a body 4 extending in the Y-direction compared to the X-direction, can be driven all the way to the edge of the grid 15.

To better illustrate the movement of the robot 1 on the support rails 13 constituting the vehicle frame 14, some exemplary positions of the robot 1 on the grid assembly are shown in fig. 9. The thick arrow drawn in the center of the robot 1 indicates the allowed direction of movement. The arrangement of the support rails 13 allows movement in the X and Y directions when the robot 1 is positioned with its cavity 7 directly above the central storage column 8a, as is the case with the upper left and middle robots 1. Any other location on the grid assembly restricts the movement of the robot 1 on the vehicle frame 14 in either the X direction (lower right corner robot 1) or the Y direction (top middle and lower left corner robot 1). In order to allow the determination of the robot position, it is advantageous to have each robot 1 fitted with one or more position sensors 16 (e.g. optical sensors). Such sensors 16 should preferably be mounted in one or more areas of the robot 1 which ensures that the sensors 16 do not obscure the underlying support rails 13 and pass the sensors directly over or at the locations on the vehicle frame 14 where the rails 13 pass. The reading of the sensor 16 may in particular determine the further movement of the robot 1 and/or the operation of the vehicle lifting device 9.

All operations of the robot 1 are controlled by the wireless communication device 75 and the remote control unit. It includes controlling robot movement, vehicle lifting device and position measuring device.

In the foregoing description, various aspects of an apparatus according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the equipment and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the device, which are apparent to persons skilled in the art to which the disclosed subject matter pertains are deemed to lie within the scope of the invention.

List of reference numerals/letters:

1. remote control vehicle/robot

2. Storage box

3. Storage system

4. Vehicle body/frame

5. First part/component part/side part (of the vehicle body)

5a, first part, left

5b, first part, right side

6. Vehicle drive device/motor unit

7. Vehicle storage space/second part/cavity/centrally arranged cavity

8. Storage column

8a, central storage column

8b, adjacent storage columns

9. Vehicle lifting device

10. First group vehicle rolling device/first group wheels

11. Second group vehicle rolling device/second group wheels

12. Receiving opening of box

13. Support rail

14. Vehicle support

15. Case storage structure/grid

16. Position sensing device/position sensor

17. Left outside edge area/left edge grid of vehicle support

18. Right outside edge area/right edge grid of vehicle support

50. Box lifting device

60. Transport station/port

70. Yoke/suspension

72. Top cover

73. Sealing cover

74. Handle (CN)

75. Transmission device, control panel, and wireless communication device

76. Grid support base

Claims (15)

1. A remotely controlled vehicle (1) for picking up storage bins (2) from a storage system (3), comprising:

a vehicle body (4) comprising a first portion (5, 5a, 5b) for storing vehicle drive means (6) and a second portion (7) for receiving any storage bin (2) stored in a storage column (8, 8a, 8b) within the storage system (3),

the second portion (7) comprising a cavity centrally arranged within the vehicle body (4), the cavity having at least one bin receiving opening (12) facing the storage pole (8, 8a, 8b) during use,

-a vehicle lifting device (9) connected at least indirectly to the vehicle body (4) for lifting the storage box (2) into the second portion (7),

a first set of vehicle rolling devices (10) connected to the vehicle body (4) to allow the remotely controlled vehicle (1) to move in a first direction (X) within the storage system (3) during use,

it is characterized in that the preparation method is characterized in that,

the remotely controlled vehicle (1) further comprising a second set of vehicle rolling means (11) connected to the vehicle body (4) to allow the remotely controlled vehicle (1) to move within the storage system (3) along a second direction (Y) perpendicular to the first direction (X) during use, wherein,

at least one vehicle rolling device (11) of the first and second sets of vehicle rolling devices is mounted to an inner wall of the cavity.

2. A remotely controlled vehicle (1) as claimed in claim 1, characterised in that the vehicle rolling means (11) are mounted parallel to the inner wall of the vehicle body (4).

3. A remotely controlled vehicle (1) as claimed in claim 1 or 2, characterized in that it further comprises moving means for reversibly and selectively moving the first or second set of vehicle rolling means away from an underlying vehicle support (14) within the storage system (3) when the remotely controlled vehicle changes direction between the first direction (X) and the second direction (Y).

4. Remote controlled vehicle (1) according to claim 1 or 2, characterized in that the vehicle body (4) covers in the first direction (X) at most the transverse cross section of one central storage pillar (8a) and in the second direction (Y) the transverse cross section of a plurality of central storage pillars (8a, 8b) when operating on a storage system (3) comprising a plurality of storage pillars (8, 8a, 8 b).

5. A remotely controlled vehicle (1) as claimed in claim 4, characterised in that the vehicle body (4) extends beyond the transverse cross section of the central storage pillar (8a, 8b) on both sides along the second direction (Y).

6. A remotely controlled vehicle (1) as claimed in claim 5, characterised in that the extension beyond the transverse cross section of the central storage column (8a, 8b) is equal on both sides along the second direction (Y).

7. A remotely controlled vehicle (1) as claimed in claim 1 or 2, characterised in that the first set of vehicle rolling means (10) and the second set of vehicle rolling means (11) are symmetrically distributed around the centrally arranged cavity.

8. A remotely controlled vehicle (1) as claimed in claim 1 or 2, characterized in that at least one of the first set of vehicle rolling means (10) and the second set of vehicle rolling means (11) comprises at least four wheels.

9. A remotely controlled vehicle (1) as in claim 3, characterized in that the external design of the first set of vehicle rolling means (10) aligned in the first direction (X) and the second set of vehicle rolling means (11) aligned in the second direction (Y) is adapted to the matrix and the box storage structure (15) when operated on the storage system (3) comprising a plurality of support rails (13) forming a two-dimensional matrix of guide grids arranged on top of the box storage structure (15) in order to provide greater lateral stability when interconnected.

10. A remotely controlled vehicle (1) as in claim 9, characterized in that the remotely controlled vehicle (1) comprises position sensing means (16) to allow measurement of the vehicle position within the storage system (3) during use.

11. A remotely controlled vehicle (1) as claimed in claim 10, characterised in that the position sensing device (16) comprises a plurality of sensors arranged in at least some locations on the vehicle body (4), which during use traverse the location traversed by the support rail (13) of the vehicle cradle (14).

12. A storage system (3), characterized in that it comprises:

-a remote controlled vehicle (1) according to any of claims 1 to 11,

-a vehicle stand (14) comprising a plurality of support rails (13) forming a two-dimensional matrix of a guiding grid, the vehicle stand (14) being configured to guide the movement of the remotely controlled vehicle (1) along a first direction (X) and a second direction (Y) during use,

-a box storage structure (15) supporting the vehicle rack (14), the box storage structure (15) comprising a plurality of storage columns (8, 8a, 8b), wherein,

each storage column (8, 8a, 8b) is arranged to accommodate a vertical stack of storage bins (2), and

a major portion of the box storage structure (15) coinciding with a location traversed by the plurality of support rails (13) on the vehicle rack (14), an

-a box lifting device (50) arranged to transfer a vehicle-transported storage box (2) between the vehicle bracket (14) and a transport station (60) in a direction perpendicular to a transverse plane of the vehicle bracket (14).

13. Storage system (3) according to claim 12, characterized in that at least some of the support rails (13) arranged at the outer edge regions (17, 18) of the vehicle rack (14) form an outer guide grid having an average cross section which is smaller than the average cross section of the remaining guide grids in the vehicle rack (14).

14. Storage system (3) according to claim 13, characterized in that the reduced average cross section of the outer guide grid is half the average cross section of the remaining guide grids in the vehicle rack (14).

15. Storage system (3) according to claim 13 or 14, characterized in that the size of the external guiding grid decreases only along the second direction (Y) of the vehicle stand (14).