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WO2025061671A1 - Entretoise de colonne destinée à être montée entre deux éléments verticaux adjacents d'une structure d'ossature d'un système de stockage et de récupération automatisé - Google Patents

Entretoise de colonne destinée à être montée entre deux éléments verticaux adjacents d'une structure d'ossature d'un système de stockage et de récupération automatisé Download PDF

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Publication number
WO2025061671A1
WO2025061671A1 PCT/EP2024/075885 EP2024075885W WO2025061671A1 WO 2025061671 A1 WO2025061671 A1 WO 2025061671A1 EP 2024075885 W EP2024075885 W EP 2024075885W WO 2025061671 A1 WO2025061671 A1 WO 2025061671A1
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WO
WIPO (PCT)
Prior art keywords
column spacer
framework structure
column
channel
storage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/075885
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English (en)
Inventor
Trond Austrheim
Ansgar GRINDHEIM
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autostore Technology AS
Original Assignee
Autostore Technology AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Publication of WO2025061671A1 publication Critical patent/WO2025061671A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Definitions

  • the present disclosure relates to an automated storage and retrieval system for storage and retrieval of containers.
  • the present disclosure relates to a column spacer for mounting between two adjacent upright members of a framework structure of an automated storage and retrieval system, a framework structure comprising a plurality of column spacers, and to a method of manufacturing the column spacer.
  • Fig.1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs.2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.
  • the framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102.
  • storage containers 106 also known as bins, are stacked one on top of one another to form stacks 107.
  • the members 102 may typically be made of metal, e.g. extruded aluminum profiles.
  • the framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105.
  • the rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X.
  • Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108.
  • the container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.
  • Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a,301a,401a and first and second sets of wheels 201b, 201c, 301b, 301c,401b,401c which enable the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively.
  • Figs.2, 3 and 4 two wheels in each set are fully visible.
  • the first set of wheels 201b,301b,401b is arranged to engage with two adjacent rails of the first set 110 of rails
  • the second set of wheels 201c,301c,401c is arranged to engage with two adjacent rails of the second set 111 of rails.
  • At least one of the sets of wheels 201b, 201c, 301b,301c,401b,401c can be lifted and lowered, so that the first set of wheels 201b,301b,401b and/or the second set of wheels 201c,301c,401c can be engaged with the respective set of rails 110, 111 at any one time.
  • Each prior art container handling vehicle 201,301,401 also comprises a lifting device for vertical transportation of storage containers 106, e.g.
  • the lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201,301,401 so that the position of the gripping / engaging devices with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y.
  • Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs.3 and 4 indicated with reference number 304,404.
  • the gripping device of the container handling device 201 is located within the vehicle body 201a in Fig.2 and is thus not shown.
  • the storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells.
  • Each storage column may be identified by a position in an X- and Y-direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.
  • Each prior art container handling vehicle 201,301,401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108.
  • the storage space may comprise a cavity arranged internally within the vehicle body 201a,401a as shown in Figs.2 and 4 and as described in e.g. WO2015/193278A1 and WO2019/206487A1, the contents of which are incorporated herein by reference.
  • Fig.3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.
  • the cavity container handling vehicle 201 shown in Fig.2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference.
  • the term ‘lateral’ used herein may mean ‘horizontal’.
  • the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig.1 and 4, e.g. as is disclosed in WO2014/090684A1 or WO2019/206487A1.
  • the rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run.
  • the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks.
  • Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g.
  • an X direction may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks.
  • Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.
  • WO2018/146304A1 illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.
  • a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. In addition to storage columns 105, there are special-purpose columns within the framework structure.
  • columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100.
  • an access station not shown
  • such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120.
  • the transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical.
  • the storage containers 106 may be placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station.
  • the transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines.
  • tilt means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.
  • the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station
  • the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.
  • the access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are returned into the framework structure 100 again once accessed.
  • a port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.
  • a conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.
  • the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.
  • the conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g.
  • the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105.
  • This step which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles.
  • the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105.
  • the temporarily removed storage containers 106 can be repositioned into the original storage column 105.
  • the removed storage containers 106 may alternatively be relocated to other storage columns 105.
  • one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored.
  • the container handling vehicle 201,301,401 positions the storage container 106 at the desired position.
  • the removed storage containers 106 may then be lowered back into the storage column 105, or relocated to other storage columns 105.
  • the automated storage and retrieval system 1 For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • the framework structure of automated storage and retrieval systems may include horizontal struts or spacers mounted between adjacent upright members.
  • the spacers may, amongst others, be used to ensure correct spacing between the upright members and/or for stability of the framework structure.
  • the spacers are typically metal struts fastened to the upright members using bolts, rivets or other similar fastening devices.
  • the framework structure comprises parallel upright members that support rail tracks for the container handling vehicles.
  • the upright members also have the function to guide the vertically moving lifting frame part of the vehicle. Accordingly, the upright members must maintain mutual alignment while the framework structure is being assembled and once the structure is in use.
  • WO 2021/175872 discloses a grid framework structure with upright columns held in spaced relation by one or more spacers or struts connected between adjacent upright columns.
  • the spacers extend transversely to the longitudinal direction of the upright column and are bolted or riveted to opposing walls of two adjacent upright columns by one or more bolts or rivets.
  • the spacers are typically fabricated from sheet metal, e.g. steel.
  • An aim of at least embodiments of the present disclosure is to provide a solution for easier, faster and/or safer installation of the framework structure of the system. A further aim is to reduce manufacturing cost.
  • the present disclosure relates to a column spacer for mounting between two adjacent upright members of a framework structure of an automated storage and retrieval system, wherein the column spacer has a length along its longitudinal axis, the length corresponding to a distance between the two adjacent upright members in the framework structure, and wherein the column spacer is made of plastic.
  • the column spacer may thus be an elongated strut with two ends and having a length corresponding to a distance between the two adjacent upright members in the framework structure. [0034] The column spacer may be used to achieve correct spacing and/or alignment of the upright members in the framework structure. [0035] The column spacer may comprise an end surface at each end for placement against a support surface of the upright member. The length of the column spacer may thus be equal to the distance between the support surfaces of the upright members in the framework structure. [0036] The column spacer may comprise an end section at each end, the end section being configured for locking in a channel of the upright member with the end surface placed against a support surface in the channel of the upright member.
  • the support surface may be a surface at the back of the channel, which surface may be parallel to the longitudinal axis of the upright member.
  • the column spacer is typically provided in two lengths for each framework structure, as the storage columns typically comprise a rectangular cross-section in the X- Y-plane. Thus, one length corresponds approximately to the shorth side of the storage column, and the other length corresponds approximately to the long side of the storage column.
  • the short length column spacer may for example have a length of 200 – 1500mm, preferably 300-600mm, and the long column spacer may for example have a length of 300 – 2000mm, preferably 500-800mm.
  • the column spacer may be manufactured by additive manufacturing or by molding. [0041] The column spacer may thus be manufactured as one single piece. [0042] In some embodiments, the column spacer is manufactured by injection molding.
  • the column spacer may be made of a non-reinforced plastic, preferably polyamid or polypropylene. [0044] Polyamid and polypropylene are both suitable for injection moulding. [0045] The column spacer may be made of a reinforced plastic, preferably a fibreglass reinforced plastic or a carbon fibre reinforced plastic. [0046] The column spacer is preferably made of a fibre-reinforced polymer, also designated as fibre-reinforced plastic “FRP”. The material used for forming the column spacer needs to fulfill different requirements, as there are stiffness, wear resistance and high or low temperature resistance in particular. The reinforcing material in the fibre- reinforced plastic provides the main influence on the stiffness.
  • FRP fibre-reinforced plastic
  • the column spacer is made of fibreglass reinforced plastic.
  • the benefits of carbon fibres may be utilized.
  • the column spacer is made of a carbon fibre-reinforced plastic.
  • the fibre-reinforced polymer makes use of a matrix comprising or consisting of a polymer.
  • the polymer of the fibre-reinforced polymer a variety of polymeric materials are applicable, as there are polymers based on epoxy, vinyl ester, polyester, polyamide, acetal, or phenol formaldehyde.
  • the column spacer is made of a fibre-reinforced polymer, wherein the polymer is an epoxy polymer, a vinyl ester polymer, a polyamide, or a phenol formaldehyde polymer.
  • the polymer used as the matrix material for the fibre-reinforced polymer also has an influence on the wear resistance. Wear resistance is an important parameter as the column spacer should be suitable for being engaged and disengaged with the upright members of framework structure.
  • the column spacer may be made of a material having a tensile modulus of above 2.000 MPa, more preferred 5.000 to 20.000 MPa, most preferred 8.000 to 12.000 MPa, as measured by ISO 527-1-2 under condition 1mm/min.
  • the mechanical constraints for the column spacer to be met primarily concern the stiffness of the material, in particular to ensure that the column spacer is rigid enough not to droop when mounted between two upright members, i.e. when in use.
  • a cross section of the column spacer comprises a contact interface on each side for contact against an interface of a gap of the channel of the upright member, wherein the contact interface comprises two contact points or a contact length.
  • the contact interfaces are on opposite sides of the cross section and will be located on the sides of the cross section when the column spacer is installed between the upright members.
  • the cross section may be uniform or non-uniform along the length of the column spacer.
  • a cross section of at least a section of the column spacer may comprise an X-shape, H-shape, or I-shape. As plastic materials are generally not as stiff as aluminum or other metals, these structural shapes are suitable for providing added overall stiffness to the column spacer.
  • a cross section of at least a section of the column spacer may comprise a channel-shape, preferably an inverted U-shape.
  • the U-shape may here include an inverted V- shape with straight, parallel lines extending from the free ends of the V. As stated for the cross-sections above, these structural shapes are suitable for providing added overall stiffness to the column spacer.
  • the channel shape comprises a first, straight line and a second, straight line, the first and second lines being parallel and where an upper end of the first line is connected to an upper end of the second line to form a channel shape.
  • the first and second lines may for example be connected by an inverted V-shape or U-shape, or an arch or half circle.
  • the V, U, arch or half circle may thus provide a closed top or cover of the column spacer.
  • the size of the cross section may vary along the length.
  • the present disclosure relates to a column spacer for mounting between two adjacent upright members of a framework structure of an automated storage and retrieval system, wherein the column spacer has a length along its longitudinal axis, the length corresponding to a distance between the two adjacent upright members in the framework structure.
  • the column spacer comprises two end sections, each end section configured for being locked in position in a channel of one of the upright members.
  • Each of the end sections comprises a first dimension in a first plane perpendicular to the longitudinal axis of the column spacer, the first dimension being larger than a gap of the channel, and each end section comprises an end surface for placement against a support surface in the channel of the upright member.
  • the column spacer is thus to be installed transversally between the upright members, i.e. perpendicularly to the upright members, and parallel to the above lying rails of the framework structure.
  • the column spacer may be mounted between two upright members at a position partway up the upright.
  • the length of the column spacer may be equal to the distance between the support surfaces of the upright members in the framework structure.
  • the distance between the outermost points of the upright members may be equal to the length of the column spacer minus two times the length of the end sections.
  • the end sections may be locked in the channel by a press-fit connection in the gap.
  • the end sections may be locked in the channel by a press-fit connection.
  • An advantage of using a press-fit connection for installing the column spacer in the channel of the upright member is that other fastening devices, such as screws, bolts or rivets are not needed, thus reducing time for installation, reduced cost and less complexity in installation due to reduced number of components.
  • the connection is not as affected by vibrations in the system arising from moving container handling vehicles on the overlying rail system and lifting/lowering of bins into the storage columns, as the press-fit ensures that the parts are firmly and tightly attached to each other avoiding any loose fit connections.
  • it is the first dimension which is press-fitted in the gap.
  • the first dimension may be only slightly larger than the gap in the undeformed condition such that it can be fitted in the gap by elastic deformation, causing a pre-tensioning that exerts a pressure against the sides of the gap which is maintained as long as the end section is mounted in the channel.
  • This pre-tensioning may be a result of the resilience of the material and the shape of the column spacer.
  • the column spacer may be prevented from moving horizontally and vertically, due to the friction caused by this pre-tensioning.
  • the length of the column spacer may be equal to the distance from the support surface of the channel of one upright member to the support surface of the channel of the adjacent upright member, so that the column spacer can be installed horizontally to the vertically arranged upright members with its end surfaces against the support surfaces.
  • the first plane may coincide with the gap when the column spacer is mounted in the channel with its end surface placed against the support surface of the upright member.
  • the end surface may be perpendicular to the longitudinal axis of the column spacer.
  • the end surface may have a radial extension which is larger than the cross-sectional thickness of the end section adjacent to the end surface.
  • the cross-sectional area of the end surface may be larger than the cross- sectional area of the end section adjacent to the end surface.
  • the cross-sectional area of the end surface may be at least two times the cross-sectional area of the end section adjacent to the end surface, optionally, at least three times, or more than five times the size.
  • the column spacer is for use in the context of a SDG- based rail system.
  • SDG stands for Single/Double Grid. This design provides a single rail track along one axis and a double rail track along the other axis. Utilizing a single rail in one direction requires the meeting robots to have a cell between them.
  • the column spacer is for use in the context of a DDG- based rail system.
  • DDG stands for Double/Double Grid.
  • the width of the channel may depend on whether the rail system is an SDG-based system, or a DDG-based system.
  • the channels below the double rails will typically be twice the width of the channels below the single rails.
  • one upright member may have channels of two different sizes, typically two channels being twice the width of the two other channels.
  • the column spacer may be used in the context of the framework structure comprising elongate upright members. The column spacer is installed when the upright member is vertically oriented. Furthermore, the column spacer may be used in the context of a rail system arranged across and forming part of the framework structure.
  • the upright members spaced apart and connected by the column spacer, support the above lying rail system.
  • a plurality of container handling vehicles travel on the rail system and raise containers from, and lower containers into, the storage columns, and are also used to transport the containers above the storage columns. During this transport, the container handling vehicles move in a plane which is parallel to a horizontal plane.
  • the column spacer is important for obtaining correct distance and alignment between two upright members of a framework structure.
  • the upright members are arranged in rows to form the storage columns of the framework structure. Thus, it is important to ensure that each upright member is correctly spaced apart and aligned with the other upright members in the same row in both the X- and Y-directions of the framework structure.
  • a first end section of a column spacer may be installed in the channel of an upright member already installed in a row of upright members of a framework structure.
  • the length of the column spacer determines the distance to the next upright member to be installed in this row.
  • the end surface when placed against the support surface at the back of the channel of the upright member, also ensures that the column spacer is correctly aligned in the X-Y-plane, which again ensures that the upright member is correctly aligned with the other upright members in the row.
  • the second end section may then be installed in the channel of this next upright member.
  • the column spacer may provide added stiffness and/or stability to the framework structure when mounted between two upright members of the framework structure.
  • the column spacer may be compatible with the existing design of the storage and retrieval system, such that it is possible to retrofit the existing systems with the column spacer.
  • the channel may be formed by two channel flanges. The flanges may be parallel and arranged perpendicularly to the support surface. The gap may be the narrowest opening between the channel flanges.
  • the column spacer may have a uniform or a non-uniform cross-sectional shape along the length. For example, it may have a one cross-sectional shape at the end sections and a different cross-sectional shape along the rest of the length between the end sections.
  • the size of the cross section may be uniform or non-uniform along the length, for example, the end section may have a tapered profile.
  • the first dimension is the undeformed width of the cross section of the column spacer at the location coinciding with the gap when installed, i.e. when the column spacer is placed in the orientation it is to be locked in the channel, the first dimension may be an undeformed width of the cross-section in a horizontal direction.
  • the first dimension is the maximum extension of the cross-section of the end section at the location coinciding with the gap when installed.
  • the column spacer is manufactured by additive manufacturing or by molding. The molding is preferably of the type injection molding.
  • the column spacer may be manufactured as one single piece, i.e. not requiring attaching or fastening of components to each other, like welding, bolting, or gluing parts together.
  • Each of the end sections may comprise a second dimension in a second plane perpendicular to the longitudinal axis, wherein the second dimension may be larger than the first dimension, such that the end section can be positively locked (e.g. snapped) into place in the channel by a forced movement of the second dimension past the gap.
  • the first and second planes may be coinciding or parallel.
  • the end section may be installed in the channel by forcing the second dimension past the gap, e.g.
  • the first and second planes are parallel, and the first plane with the first dimension is shifted away from the end surface relative to the second plane such that when moving the column spacer towards the back of the channel, upon forcing the second dimension past the gap, the first dimension will be fitted in the gap.
  • the first and second planes are coinciding, and the first dimension is oriented with an angle relative to the second dimension such that when rotating the column spacer about its longitudinal axis, upon forcing the second dimension past the gap, the first dimension will be fitted in the gap.
  • the second dimension may be only slightly larger than the gap, however still larger than the first dimension, e.g.2-4mm larger than the gap, such that only a small elastic deformation is needed to allow the end section to be snapped into place.
  • it is the cross section of the end section which is deformed during mounting of the end section into the channel.
  • it is the channel flanges that are deformed during mounting of the end section into the channel.
  • it is both the cross section of the end section and the gap of the channel that is deformed during mounting of the end section into the channel.
  • the column spacer may be made of a material with inherent flexibility and/or resilience allowing it to be deformed and later regain its shape.
  • the shape of the column spacer and the thickness also influence the flexibility.
  • Plastics such as polyamids, polypropylene or various reinforced plastics, may be suitable materials which provides a combination of flexibility and stiffness.
  • the column spacer may be installed by hand such that no special tools are needed. Thus, forcing the second dimension past the gap, either by twisting or by pushing the column spacer so that a deformation occurs, should be possible by the force of a hand. Tolerances, material properties, and geometrical shape are all factors that need to be considered in this regard, while still maintaining the overall required strength and stiffness.
  • Each of the end sections may comprise a third dimension in a third plane perpendicular to the longitudinal axis, the third dimension being smaller than the gap.
  • the third plane may be coinciding with or parallel to the first plane and or the second plane.
  • the first, second and third dimensions are all in coinciding planes.
  • the third dimension may oriented with an angle relative to the first and the second dimension such that the end section may be oriented with the third dimension across the gap and be twisted to force the second dimension past the gap, and such that the end section is snapped into place with the first dimension fitted in the gap.
  • the column spacer is locked in the channel of the upright member.
  • the elastic deformation may take place in the column spacer and/or in the channel.
  • the first, second and third dimensions are in parallel, spaced apart planes.
  • the third dimension is arranged nearer the end surface than the first dimension, e.g. at or adjacent the end surface, and the second dimension is arranged between the third dimension and the first dimension.
  • the end section can thus be placed in correct orientation in front of the channel and be moved longitudinally towards the support surface of the upright member such that first the third dimension passes the gap, then the second dimension needs to be forced past the gap whereupon the first dimension is snapped into place in the gap.
  • the column spacer is locked in the channel of the upright member. The deformation may take place in the column spacer and/or in the channel.
  • Each of the end sections may comprise a contact interface on each side for supporting against the channel of the upright member, wherein the contact interface comprises two or more spaced apart contact points and/or a contact length.
  • the contact interfaces may be in the first plane.
  • the contact interfaces may be the interfaces that provide the pre- tensioning of the press-fit against the gap.
  • the contact interfaces are on opposite sides of the cross section and will be located on the sides of the end section when the column spacer is installed between the upright members. [0109] If the contact interface on each side comprises two contact points, there is thus an upper and a lower contact point on each side of the column spacer cross section, i.e. on opposite sides of the gap of the channel in the upright member.
  • the contact interfaces may each comprise more than two contact points.
  • the contact points shall not be construed to mean that they have no geometrical extension, but rather that it may be a very small contact area resulting from the thickness of the column spacer against the sides of the gap.
  • the contact interface on each side comprises a contact length, there is a line of contact supported by the sides of the gap.
  • the line of contact is a result of the geometrical shape of the column spacer, and shall not be understood as a contact line due to the thickness of the spacer.
  • the cross section has an X-shape, H-shape or I- shape.
  • cross-sectional shapes are embodiments of the column spacer with a cross- sectional shape with a contact interface comprising two contact points on each side.
  • the cross section comprises a first, straight line and a second, straight line, the first and second lines being parallel and forming the contact lengths on each side towards the gap, where an upper end of the first line is connected to an upper end of the second line to form a channel shape.
  • the first and second lines may for example be connected to the tips of a V-shape, arch or a half circle.
  • the locked position may be when the channel is inverted, e.g. having the inverted V, arch or half circle on the top.
  • an advantage of the inverted channel shape is that it forms a cover that prevents dirt and dust collecting in the column spacer. This is especially advantageous if the storage and retrieval system is to be used for storage of food products for example, considering hygiene requirements. Such systems may even be used to store cold items, and the cover will prevent condense to collect on the column spacer.
  • This is thus an example of a cross sectional shape with a contact interface comprising a contact length.
  • the contact interface is pressed against channel flanges at opposite sides of the gap when installed.
  • the first dimension is the distance between the upper contact points or the distance between the lower contact points on opposite sides of the cross section.
  • the second dimension is the distance between the lower contact point on one side and the upper contact point on the opposite side.
  • the second dimension may in one embodiment be equal to the length of an arm.
  • the X-shape may be said to have a width “w” and a height “h”, each extending from an end point of one arm to an endpoint of the other arm, but in different orthogonal directions.
  • the first dimension may be equal to the width or the height of the X-shape, whichever one is largest.
  • the third dimension may be equal to the width or the height of the X-shape, whichever one is smallest.
  • the first dimension may be the distance between the contact lengths.
  • the second dimension is the distance between the lower end of one of the contact lengths and the upper end of the other contact length.
  • the end sections may each comprise a step for engaging with an inwards protruding lip at the gap of the channel when mounted, preventing outwards movement of the column spacer away from the support surface. [0123] This ensures that the end surface of the column spacer is not moved away from the support surface of the upright member. This is especially important as the column spacer may be used to position the upright members correctly relative to each other to form the predetermined storage columns for accommodating the storage containers.
  • the step should be located at a distance away from the end surface which corresponds to the internal depth of the channel, i.e. the distance from the support surface of the upright member to the lip of the gap. This will ensure that the end surface is not moved away from the support surface.
  • the height of the step may be substantially equal to the protruding lip at the gap. With the end surface against the support surface at the back of the channel, and the step engaging with the lip of the gap, the end section is locked in the channel, perpendicular and square to the upright member. [0124] There may be one or more steps for engaging with the inwards protruding lip.
  • the steps may be formed by an abrupt or gradual increase of the cross section, so that two steps are provided at each side.
  • the contact interface on each side comprises a contact length
  • the end sections may each comprise a tapered profile having a gradually increasing cross section from the end surface towards the step and wherein only a part of the tapered profile has a cross section with a dimension that may be larger than gap of the channel.
  • the step may be formed by an abrupt decrease in the cross section, or part of the cross section, next to the larger end of the tapered profile.
  • the first plane with the first dimension may be located at the location of the step, on the smaller side of the step.
  • the second plane with the second dimension may be located on the tapered profile. The second plane may be located closer to the end surface than the first plane with the first dimension.
  • the third plane with the third dimension may be located on the tapered profile. The third plane may be located closer to the end surface than the second plane with the second dimension.
  • the end surface may be a planar end surface, preferably perpendicular to the longitudinal axis of the column spacer.
  • the flange is a flanged head portion of the column spacer.
  • the column spacer may thus comprise an end flange at the extreme end of each end section, wherein the outer surface of the end flange, i.e. on the extreme side of the end flange, is the end surface.
  • the end flange is preferably perpendicular to the longitudinal axis of the column spacer.
  • the planar end surface ensures that the spacer is perpendicular to the upright members.
  • planar end surface should have a cross sectional extension that is smaller than the gap of the channel so that it can pass through with the end section in any orientation.
  • the present disclosure relates to a framework structure for an automated storage and retrieval system, the framework structure comprising: - a plurality of vertically aligned upright members having an elongate body with a longitudinal axis, - a storage volume with storage columns for storing storage containers, - a rail system overlying said vertically aligned upright members, and - a plurality of column spacers according to any of the preceding paragraphs, wherein the column spacers are mounted between adjacent upright members of the framework structure.
  • the upright members may comprise one or more longitudinally extending channels, the channels comprising a support surface for supporting an end surface of the column spacer and a gap.
  • the channel may be configured to receive and hold an end section of the column spacer.
  • the channel may have a channel opening for inserting the column spacer into the channel.
  • the gap may be the narrowest part of the channel.
  • the gap may be located at the channel opening.
  • the elongate upright members may comprise a hollow profile.
  • the elongate upright members may have four flat sides arranged in a rectangular manner. Four corner portions of the elongate upright members may be concave.
  • the channel may be formed by two channel flanges and the gap is a distance between the flanges.
  • the support surface may be a surface in the back of the channel, parallel to the longitudinal axis of the upright member.
  • the flanges may extend longitudinally along the length of the upright member.
  • the gap may be the narrowest opening between the channel flanges.
  • Each corner portion of the upright member may be associated with two, mutually perpendicular flanges.
  • the flanges may act as guides for the storage containers being vertically transported by container handling vehicles.
  • two sets of column spacers may be needed; a first set of short column spacers, and a second set of long column spacers.
  • the first spacer design may thus have a first dimension for being fitted in the gap which is twice the size of the first dimension of the second design.
  • Each of the designs may be provided in different lengths, such as a short and a long column spacer for a framework structure with rectangular storage columns, as mentioned above.
  • a framework structure with rectangular storage columns and comprising an SDG rail system may have four different sets of column spacers; two different designs, each design provided in two different lengths.
  • the upright member may be made of aluminum.
  • the upright member may be an extruded profile.
  • Two or more column spacers may be mounted at different heights between the same upright members.
  • the channel may comprise a lip at the gap for preventing horizontal outwards movement of the column spacer away from the support surface.
  • the lip may be an inwards protruding edge or rim at one or both sides of the gap.
  • the gap may be the distance between the two sides of the channel at the location of the lip. For example, in one embodiment, there are two inwardly protruding lips and the gap is the distance between the tips of the lips.
  • the lip may be an inwards protruding edge or rim on each of the two channel flanges, the lip protruding inwards towards the other flange, such that the distance between the flanges is smaller at the lip.
  • Each upright member may comprise a plurality of channels, each channel arranged at different sides of the upright member, preferably at orthogonal sides of the rectangular- or square-profiled upright member.
  • two of the channels may be arranged at opposite sides of the upright member, aligned in a first direction and having parallel support surfaces, and the other two channels may be aligned in a second direction, which preferably is orthogonal to the first direction, and having parallel support surfaces. This ensures that the upright members will be aligned in two directions, forming rectangular or square storage columns of the framework structure.
  • One upright member can thus have column spacers mounted towards adjacent upright members in different directions.
  • the upright members comprise four channels.
  • the present disclosure relates to an automated storage and retrieval system comprising a framework structure according to any of the preceding paragraphs.
  • the automated storage and retrieval system may also comprise storage containers in one or more of the storage columns and/or one or more container handling vehicles on the rail system. The container handling vehicles may be as described above.
  • the upright member comprises four channels, most of the upright members will be connected to four adjacent upright members, the adjacent upright members being arranged at four different sides of the upright member.
  • Fig.1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.
  • Fig.2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
  • Fig.3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.
  • Fig.4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
  • Fig.5 is a perspective view of a part of a framework structure having four column spacers according to an embodiment of the present disclosure installed between four upright members.
  • Fig.6 is a perspective view of an embodiment of a column spacer according to the present disclosure.
  • Fig.7 is a side view of the column spacer of Figure 6.
  • Fig.8 is a perspective view of a part of a column spacer according to an embodiment of the present disclosure, where the end section has an X-shaped cross section.
  • Fig.9 is a cross-sectional view of an upright member with four channels arranged at four orthogonal sides of the upright member, wherein a column spacer according to an embodiment of the present disclosure is installed in two of the channels.
  • Fig.10 is a cross-sectional view along the plane B-B of Figure.7.
  • Fig.11 is a perspective view of another embodiment of a column spacer according to an embodiment of the present disclosure.
  • Fig.12 is a side view of the column spacer of Figure 11.
  • Fig.13 is a perspective view of a part of an upright member having four channels, wherein a column spacer according to an embodiment of the present disclosure is shown during installation in an upper part of a channel of the upright member, and a column spacer according to the present disclosure is shown finally installed in a lower part of the same channel of the upright member.
  • Fig.14 is a perspective view of a part of a column spacer according to Figure 11.
  • Fig.15 is a cross-sectional view along the plane A-A of Figure 12.
  • the present disclosure relates to a column spacer of a length corresponding to the distance between two adjacent upright members of a framework structure of an automated storage and retrieval system.
  • the column spacer is made of plastic allowing it to deform elastically to give a tight fit when it is installed in a channel of an upright member.
  • the use of plastic also makes the installation safer by reducing the risk of cuts and reducing the amount of force needed for installation.
  • the column spacer can be an X-shape, H-shape, or I-shape, with this space enabling the column spacer to be mounted in a channel of an upright member without twisting.
  • the column spacer can further comprise an end flange with a planar end surface for supporting against a support surface of the upright member.
  • the flat planar end surface helps lock the column spacer in the channel of the upright member in a position perpendicular to the upright member.
  • the framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs.1-3. That is, the framework structure 100 comprises a number of upright members 102, and comprises a first, upper rail system 108 extending in the X direction and Y direction. [0183] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105. [0184] The framework structure 100 can be of any size.
  • Fig.5 is a perspective view of a part of a framework structure 100 where four upright members 102 are shown, arranged in two rows such that a rectangular storage column 105 is formed, wherein a stack of storage containers 106 can be stored.
  • Four column spacers 130 according to an embodiment of the present disclosure are mounted between the four upright members 102.
  • the structure shown in Fig.5 is a part of a larger framework structure 100, which may be a framework structure similar to that of Fig.1, comprising several upright members arranged in rows to form rows of storage columns 105, in a storage volume 104.
  • the column spacer 130 may be mounted at any height (in the z-direction, ref. Fig.1).
  • the column spacers 130 may be used during installation of the framework structure 100 to ensure correct positioning of the upright members 102 so that the storage columns 105, rail system 108, and/or other parts of the system 1 obtains a correct alignment and/or position.
  • each upright member 102 comprises a hollow profile with four perpendicular sides, each side comprising a channel 102c.
  • Each column spacer 130 is mounted with one end section 131 in a channel 102c of one upright member 102, and with the opposite end section 131 in a channel 102c of an adjacent upright member 102.
  • Figs.6 to 8 shows an embodiment of a column spacer according to the present disclosure, wherein the column spacer comprises an X-shape.
  • Fig.6 is a perspective view of the column spacer 130
  • Fig.7 is a side view of the column spacer 130 of Figure 6.
  • Fig.8 is a detail view of an end part of the column spacer 130, showing an end section 131 and part of the elongated body of the column spacer 130.
  • the column spacer 130 is to be used in the context of a framework structure 100, e.g.
  • the column spacer 130 is to be mounted between two adjacent upright members 102 of the framework structure 100 of an automated storage and retrieval system, which system may be equal to the prior art system 1.
  • the column spacer 130 is to be mounted transversally between the upright members 102 (i.e. with its longitudinal axis 130z transverse to the longitudinal axis 102z of the upright members102, ref. Fig.5).
  • the column spacer 130 has a length L along its longitudinal axis 130z which adapted to fit between the two adjacent upright members 102 in the framework structure 100.
  • the column spacer 130 comprises an elongate body with two end sections 131. At each end, the column spacer 130 comprises an end flange 132 having a planar end surface 133, which is the distal face of the end flange 132, and which is to be placed against a support surface 102s in a channel 102c of the upright member 102, ref. Fig.5.
  • the support surface 102s is a planar surface parallel to the longitudinal axis 102z of the upright member, ref. Fig.9.
  • the column spacer 130 may be sized to fit below the footprint of the rails of the rail track system 108 shown in Fig.1.
  • Fig.9 is a cross-sectional view of an upright member 102 with four channels 102c arranged at four orthogonal flat sides 102s of the upright member 102.
  • two of the channels 102c are arranged with the depth in a first direction (which may be the X-direction according to Fig.5), and the two other channels 102c are arranged with the depth in a second direction (which may be the Y-direction according to Fig.5), the second direction being perpendicular to the first direction.
  • Two of the channels 102c have an end section 131 of a column spacer 130 according to an embodiment of the present disclosure and of the type shown in Fig.6 installed.
  • Four corner positions of the upright member 102 are concave.
  • the upright members 102 are generally vertically arranged, elongated poles or posts, for example with a hollow profile (as in Fig.9), typically made of a metal, such as aluminum.
  • the upright member 102 here comprises four channels 102c orthogonally arranged around the cross section, it can receive four column spacer 130 end sections 131, i.e. it can be connected via column spacers 130 to four adjacent upright members 102 in four orthogonal directions.
  • the channel 102c has a length along an axis parallel to the longitudinal axis 102z of the upright member 102, which length may in embodiments be equal to the length of the upright member 102.
  • the channels 102c may be an integral part of an extruded profile forming the upright member 102.
  • the channel 102c has a width and a depth in a plane perpendicular to the longitudinal axis 102z of the upright member 102.
  • the channel 102c is formed by two parallel and spaced apart longitudinal flanges 102f along the upright members 102.
  • the support surfaces 102s of the channels 102c arranged in the first direction are parallel, such that column spacers 130 arranged in these channels 102c will be aligned with each other, thus ensuring correct alignment of the upright members 102 of a row in the framework structure 100.
  • the support surfaces 102s of the channels 102c arranged in the second direction are parallel.
  • the height of the flanges 102f may thus be said to be equal to the length of the upright member 102, when the upright member 102 is vertically arranged, ref. Fig.5.
  • the flanges 102f are arranged perpendicularly to support surface 102s of the upright member 102.
  • the width of the channel 102c is thus the distance between the two flanges 102f.
  • the flanges 102f, and/or the concave corners of the upright members 102 may be used as guides for the storage containers 106 being vertically transported by container handling vehicles 201, 301, 401. At the free ends of the flanges 102f, i.e.
  • each flange 102f comprises an inwards protruding lip 102l, which may also extend along the length of the channel 102c, thus forming a narrower space, or opening, between the flanges 102f at the location of the lips 102l.
  • This space at the location of the lip 102l is referred to as gap G and may be the narrowest opening between the two flanges 102f.
  • the depth of the channel C is defined as the distance from the support surface 102s to the lip 102l.
  • the end sections 131 comprise a tapered profile 137, where the cross section increases going from the end flange 132 until it reaches a step 138, where there is an abrupt decrease of the cross section.
  • the step 138 provides an edge which may be placed against a surface of the lips 102l of the channel flanges 102f.
  • the cross section is constant along the elongate body of the spacer between the step 138 at one end section 131 and the step 138 at the opposite end section 131.
  • the end section 131 is the part of the column spacer 130 which is intended to be placed in the channel 102c of the upright member 102, and thus can be said to comprise the end flange 132 with the end surface 133, and the part of the elongate body extending from the end flange 132 until a portion on the central side of the step 138.
  • This is indicated by the dashed line D in Fig.7, where all features on the right side of the line D is part of the end section 131.
  • Fig.10 is a cross-sectional view along the plane B-B of Fig.7.
  • the X- shaped cross section along the elongate body is shown in thick, black lines, as it is in the undeformed condition.
  • the parts extending outwards of the tips of the thick, black X- shape shows the portion of the tapered profile 137 with a larger cross-section than the cross section of the rest of the elongate body, and thus illustrates the step 138, seen from plane B-B.
  • Fig.10 shows the column spacer in the orientation it is to be placed in the channel 102c of the upright member 102, in an embodiment similar to that of Fig.5.
  • the height h is thus to be oriented in the z-direction in the framework structure of Fig.5, and the width w is arranged in the x-y-plane (e.g.
  • the cross-section of the spacer 130 is here uniform between the steps 138 at each end of the spacer 130.
  • the thickness of arms of the column spacer may for example be only a few mm, such as 1-5mm or 2-3mm.
  • the end sections 131 of the embodiment of Fig.10 are to be press-fitted in the gap G of the channels 102c.
  • the end section 131 of the column spacer 130 is configured to position the column spacer 130, as far as possible, so that it extends out from the upright member 102 not only perpendicular in the sense of being horizontal, but also perpendicular in the sense of being square to the upright member 102. In that way, the alignment of the upright members 102 as well as their relative positions can be aided by using the column spacers 130.
  • the tapered part 137 is arranged within the channel 102c, i.e. between the two channel flanges 102f, and the lips 102l prevents the column spacer 130 to be moved away from the support surface 102s due to the edge provided by step 138, which has a larger cross section than the gap G between the lips 102l.
  • the end section 131 of the column spacer 130 becomes locked in place in the channel 102 of the upright member 102.
  • the cross section is the cross section at approximately the line D of Fig.7 which is fitted in the gap G.
  • This cross section is equal to the thick, black X-shape of Fig.10, where it is shown in the undeformed condition.
  • the cross section comprises a contact interface 135i on each side towards the gap G, the contact interface 135i comprising two contact points 135p.
  • W1 in Fig.10 represents a first dimension, which is slightly larger than the gap G of the channel 102c of the upright member 102 that the spacer 130 is to be mounted in.
  • W1 is here the distance between the upper contact points 135p, or the lower contact points 135p, which distances are equal.
  • W1 (undeformed) may for example be between 1-5% larger than gap G, preferably 1-3% larger, or more preferably 2-3% larger.
  • the gap G is approximately 40-45mm wide, and W1 in undeformed condition is approximately 41-46 mm, however always slightly larger than gap G, for example 1-2mm larger. Because W1 is slightly larger than gap G, a press-fit is achieved when the cross section with dimension W1 is fitted in the gap G, and a small elastic deformation occurs. This elastic deformation may occur in the cross section, e.g.
  • the column spacer of Fig.6-10 may be mounted in the channel 102c by two different methods. Both methods rely on fitting a first dimension W1 in gap G, W1 being slightly larger than the gap G. In order to fit the first dimension W1 in the gap G, a forced movement of a second dimension W2, W2’, which is larger than the first dimension W1, past the gap G, is needed.
  • Both methods may involve a first movement of the end section 131 into the channel by a dimension W3, W3’ which is smaller than gap G.
  • the dimension W1 is the same dimension of the end section 131, which is the undeformed width of the X-shape coinciding with the gap G when installed.
  • the second and third dimensions W2, W2’ and W3, W3’ are not the same dimensions in the two methods although the end section 131 has the same configuration, hence the denotation W2 and W2’, and W3 and W3’.
  • W1, W2, W2’, W3, and W3’ are thus to be seen as functional dimensions and are not linked to a specific location or distance on the end section 131.
  • the first method relies on moving or pushing the column spacer in its longitudinal direction such that the end section 131 is inserted into the channel 102c and until the end surface 133 is placed against the support surface 102s of the upright member 102.
  • the end surface 133 has a width with a dimension W3, ref.
  • Fig, 10 which is smaller than the gap G, such that it is allowed to enter sideways into the channel 102c in the orientation it is shown in Fig.7 and Fig.10.
  • the tapered part 137 has a portion where the cross section is larger than gap G.
  • This portion includes a cross section with a width W2 which is larger than gap G, ref. Fig.10, and which is located at or closer to the end surface 133 than the step 138.
  • a forced movement of the end section 131 is needed to allow this portion to pass the gap G until the lips 102l of the channel flanges 102f snaps in at the step 138 and grips the contact interface 135i (i.e. the contact points 135p) just behind (i.e. on the central side of) the step 138, i.e. approximately at a location of the line D.
  • the end section 131 of the column spacer 130 comprises dimensions W1, W2, and W3 arranged in different planes P1, P2, P3 along the longitudinal axis 130z of the spacer 130, but in the same orientation, i.e. all representing a width w of the column spacer 130 of that plane.
  • the second method relies on moving the column spacer 130 into the channel 102c in an orientation where dimension W3’ is allowed to enter sideways (i.e. moving the spacer in its longitudinal direction) into the channel 102c (W3’ being smaller than gap G) and until the end surface 133 is placed against the support surface 102s.
  • W3’ may in this regard be defined as the height of the X-shape, as shown in Fig.10, and the column spacer 130 may thus be oriented with W3’ in the X-Y-plane (horizontally). Then, the spacer 130 is twisted around its longitudinal axis 130z until one of the arms of the X- shape, which in this regard may be defined as W2’, reaches the lips of the gap G, and a forced movement (twisting) is needed to rotate W2’ past the gap G until the lips 102l of the channel flanges 102f snap in to grip the contact interface 135i (i.e. the contact points 135p).
  • an elastic deformation of the gap G and/or the end section 130 occurs.
  • the elastic deformation may e.g. be through the arms of the X- shape being splayed or distorted about the central spine of the spacer 130. Due to the shape of the cross section, it will be easy for an operator to visually recognize that the spacer 130 is in the correct orientation, e.g. that X-shape is lying with the wider dimension across the gap G.
  • the end section 131 of the column spacer 130 comprises dimensions W1, W2’, and W3’ arranged in coinciding planes P1, P2, P3, located on the central side of the step 138, approximately at the line D of Fig.7, but the dimensions W1, W2’, W3’ are taken in different orientations in that plane, i.e W1 is the width w of the X-shape, W3’ is the height h of the X-shape, and W2’ is the arm of the X in a plane having an angle between W1 and W3’.
  • W1 is the width w of the X-shape
  • W3’ is the height h of the X-shape
  • W2’ is the arm of the X in a plane having an angle between W1 and W3’.
  • Figs.11 to 15 shows another embodiment of a column spacer 130 according to the present disclosure, wherein the column spacer 130 has a channel-shaped cross section.
  • Fig.11 and Fig.12 are a perspective and side view, respectively, of the column spacer 130.
  • Fig.15 is a cross sectional view taken along the plane A-A of Fig, 12.
  • Fig.14 is a detail view of an end part of the column spacer 130, showing an end section 131 and a part of the elongate body of the column spacer 130.
  • Fig.13 shows the column spacer 130 during mounting and when mounted in a channel 102c of an upright member 102.
  • the column spacer 130 has the same purpose as the column spacer 130 of Fig.6-8 and Fig.10, and also shares the same working principle, in terms of how it is locked in the gap G, and in terms of the method of installation between the upright members.
  • the column spacer 130 of this embodiment is also to be locked at each end in a channel 102c of an upright member 102 having the end surfaces 133 placed against a support surface 102s in the back of the channels 102c and having a first dimension W1’’ which is larger than gap G. It may be positively locked in the gap G by a forced movement of a second dimension W2’’, W2’’’ ,which is larger than the first dimension W1’’, past the gap G, and may be press-fitted in the gap G.
  • the column spacer 130 is to be mounted between two adjacent upright members 102 of the framework structure 100 of an automated storage and retrieval system, which system may be equal to the prior art system 1.
  • the column spacer 130 is to be mounted transversally between the upright members 102 (i.e. with its longitudinal axis 130z transverse to the longitudinal axis 102z of the upright members102, ref. Fig.5 and extending squarely from the channel 102c of the upright member 102, i.e., extending parallel to the plane of the channel flanges 102f). This ensures not only that the distance between the upright members is correct, but also that they are correctly aligned in the framework structure.
  • the column spacer 130 has a length L along its longitudinal axis 130z which adapted to fit between the two adjacent upright members 102 in the framework structure 100.
  • the column spacer 130 has an elongate body comprising two end sections 131. At each end, the column spacer 130 comprises an end flange 132 having a planar end surface 133, which is the distal face of the end flange 132, and which is to be placed against a support surface 102s in a channel 102c of the upright member 102, ref. Fig.5.
  • Fig.5 shows the column spacer 130 with a X-shaped cross section, the channel- shaped column spacer 130 may be installed in the same manner in the framework structure, as shown in Fig.5.
  • the end flange 132 has a cut-out in the center for weight reduction and/or materials saving purposes. In some embodiments, the end flange 132 does not comprise such cut-out. To further increase the contact area towards the support surface 102s, the end flange 132 may have two downwards extending wings or lobes, which extends outwards of the cross section of the end section 131 adjacent to the end flange 132. [0211]
  • the column spacer 130 may be sized to fit below the footprint of the rails of the rail track system 108 shown in Fig.1. Accordingly, its length L corresponds approximately to the length of a side of a grid access opening 112; shown in Fig.1).
  • the column spacer 130 may be installed in the channels 102c of an upright member 102 as described in relation to Fig.9.
  • the elongate body including the end sections 131 of the column spacer 130 comprises a channel-shaped cross-section.
  • the end sections 131 comprise a tapered profile 137, where the cross section increases going from the end flange 132 towards a step 138 on each side of the spacer 130.
  • the step 138 is here formed by two wedges arranged on opposite sides of the cross section, on a straight section of the channel- shape, ref. Fig.14 showing only one of the wedges of an end section 131.
  • the wedge provides an abrupt decrease of the cross section.
  • the step 138 thus provides an edge on the central side of the step 138 (i.e. at or proximate line E on Fig.12), which may be placed against a surface of the lips 102l of the channel flanges 102f.
  • the end section 131 is the part of the column spacer 130 which is intended to be placed in the channel 102c of the upright member 102, and thus can be said to comprise the end flange 132 with the end surface 133, and the part of the elongate body extending from the end flange 132 until a portion on the central side of the step 138.
  • This is indicated by the dashed line E in Fig.12, where all features on the right side of the line E is part of the end section 131.
  • a similar situation applies on the opposite side for the other end section 131 of the column spacer 131 where a step 138 is provided for engagement against the lip of the opposite channel 102c.
  • Fig.15 is a cross-sectional view along the plane A-A of Fig.12.
  • the channel-chaped cross section along the elongate body is shown in thick, black lines, in the undeformed condition.
  • Fig.15 shows the column spacer 130 in the orientation it is to be placed in the channel 102c of the upright member 102, in an embodiment similar to that of Fig.13.
  • the height is thus to be oriented in the z-direction in the channel 102c of the upright member 102 of Fig.13, and the width w is to be oriented in the X-Y-plane (horizontally) in channel 102c.
  • the cross section of the column spacer 130 is here uniform between the steps 138 at each end of the spacer 130.
  • the channel-shape between the steps 138 comprises two planar side-surfaces 136, and two inclined top surfaces 139, the two inclined top surfaces 139 adjoined at their respective upper edges to form the closed upper part of the channel-shape and wherein the lower edge of the inclined surfaces 139 each are adjoined with an upper edge of one of the planar side surfaces 136 (ref. Fig.11).
  • the cross section of Fig.15 shown in thick, black lines thus comprises a first, straight line and a second, straight line (the first and second lines representing a cross section of the planar side surfaces 136 in undeformed condition), the first and second lines being parallel and forming the contact lengths 135l on each side towards the gap G.
  • An upper end of the first line is connected to an upper end of the second line by an inverted V-shape (the V-shape representing a cross section of the inclined side surfaces 139) to form a channel shape.
  • the end sections 131 of the embodiment of Fig.11 are to be press-fitted in the gaps G of the channels 102c.
  • the tapered part 137 is arranged within the channel 102c, i.e. between the two channel flanges 102f, and the lips 102l prevent the column spacer 130 from being moved away from the support surface 102s due to the edge provided by step 138, which has a larger cross section than the gap G between the lips 102l.
  • the end section 131 is mounted in the channel 102c, it is the cross section at approximately the line E of Fig.12 which is fitted in the gap G. This cross section is equal to the thick, black channel-shape of Fig.15.
  • the cross section comprises a contact interface 135i comprising a contact length 135l, i.e.
  • W1’’ in Fig.15 represents the first dimension, which is slightly larger than the gap G of the channel 102c of the upright member 102 that the spacer 130 is to be mounted in.
  • W1’’ is here the distance between the contact lines 135l.
  • W1’’ may for example be between 1-5% larger than gap G, preferably 1-3% larger, or more preferably 2-3% larger.
  • the gap G is approximately 40-45mm wide, and W1’’ in undeformed condition is approximately 41-46 mm, however always slightly larger than gap G, for example 1-2mm larger.
  • W1’’ (when the spacer 130 is undeformed and still to be fitted) is slightly larger than gap G, a press-fit is achieved when the cross section with dimension W1’’ is fitted in the gap G, and an elastic deformation occurs.
  • This deformation may occur in the cross section, or by the channel flanges 102f bending slightly outwards creating a larger gap G. It may also be a combination of elastic deformation of the channel flanges 102f and the cross-section with the dimension W1’’.
  • the snap fit locks the spacer 130 in place in the channel 102c with a perpendicular alignment (e.g., horizontal and square to the upright member 102)
  • the column spacer of Fig.11-15 may be mounted in the channel 102c by the first or second method described above for the X-shaped column spacer.
  • W1’’, W2’’, W2’’’, and W3’’, W3’’ are functional dimensions, these may refer to different locations and/or positions for the two methods for the channel-shaped column spacer.
  • the third dimension W3’’ may be the width of the end surface, ref.
  • the second dimension W2’’ may be the width at a cross section of the spacer including the wedged part with the step 138
  • the first dimension W1’’ may be the width of the cross section on the central side of the step 138, at approximately line E of Fig.12 (and similarly on the opposite end section).
  • the third dimension W3’’ is smaller than gap G
  • the first dimension W1’’ is slightly larger than gap G
  • the second dimension W2’’ is larger than the first dimension W1’’.
  • the end section 131 of the column spacer 130 comprises dimensions W1’’, W2’’, and W3’’ arranged in different planes P1, P2, P3 along the longitudinal axis 130z of the spacer 130, but in the same orientation, i.e. all representing a width w of the column spacer 130 of that plane.
  • the third dimension W3’’’ may be the height h shown in Fig.15
  • the second dimension W2’’ may be the distance from the lower end of one contact length 135l to the upper end of the other contact length 135l
  • the first dimension W1’’ may be the width of the cross section on the central side of the step 138, at approximately line E of Fig.12 (and accordingly on the opposite end section).
  • the upper column spacer 130 in the channel 102c of the upright member 102c is in the process of being twisted around its longitudinal axis 130z in order to lock it in position with the planar side surfaces 136 parallel to the channel flanges 102f and the inverted V-shape at the top.
  • the end section 131 was inserted with W3’’’ in the X-Y-plane (at 90° to its final, locked position) and such that the end surface 133 was against the support surface 102s.
  • W2’’’ may be the distance from the lower end of one contact length 135l to the upper end of the other contact length 135l ) is forced past the gap G during the twisting movement, it snaps into place with W1’’ in and across the gap G.
  • the end section 131 of the column spacer 130 comprises dimensions W1’’, W2’’’, and W3’’’ arranged in coinciding planes P1, P2, P3, located approximately at the line E of Fig.12 (and accordingly on the opposite end section 131 of Fig.12), but the dimensions W1’’, W2’’’, W3’’’ are taken in different orientations in that plane, i.e. W1’’ is the width w of the channel-shape, W3’’’ is the height h of the channel-shape, and W2’’’ is a diagonal across the contact lengths 135l in a plane having an angle between W1’’ and W3’’’’.
  • Both the X-shaped column spacer 130 (as in Fig.6- Fig.10) and the channel-shaped column spacer 130 (as in Fig.11- Fig.15) may generally be made by the same materials, preferably plastic. The production method may also be similar for these embodiments.
  • the column spacer 130 may generally be made of plastic, such as a non- reinforced or a reinforced plastic.
  • the plastic column spacer 130 may for example be made by additive manufacturing or moulding, particularly injection moulding.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Assembled Shelves (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

La présente divulgation concerne une entretoise de colonne (130) destinée à être montée entre deux éléments verticaux adjacents (102) d'une structure d'ossature (100) d'un système de stockage et de récupération automatisé, l'entretoise de colonne (130) possédant une longueur (L) le long de son axe longitudinal (130z), la longueur (L) correspondant à une distance entre les deux éléments verticaux adjacents (102) dans la structure d'ossature (100), l'entretoise de colonne (130) étant constituée de plastique. La présente divulgation concerne en outre une structure d'ossature (100) et un système de stockage et de récupération automatisé comprenant une telle entretoise de colonne (130), ainsi qu'un procédé de fabrication de l'entretoise de colonne (130).
PCT/EP2024/075885 2023-09-22 2024-09-17 Entretoise de colonne destinée à être montée entre deux éléments verticaux adjacents d'une structure d'ossature d'un système de stockage et de récupération automatisé Pending WO2025061671A1 (fr)

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NO20231018 2023-09-22

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100163506A1 (en) * 2005-08-08 2010-07-01 Dematic Pty Ltd Storage rack beam
WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
WO2021175872A1 (fr) 2020-03-03 2021-09-10 Ocado Innovation Limited Structure de cadre de grille pour un système de stockage
US20220041374A1 (en) * 2018-12-07 2022-02-10 Tgw Mechanics Gmbh Rack storage system comprising an improved load manipulation unit
CA3189619A1 (fr) * 2020-08-19 2022-02-24 David John STOKOWSKI Systeme de stockage dynamique et procedes associes

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100163506A1 (en) * 2005-08-08 2010-07-01 Dematic Pty Ltd Storage rack beam
WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
US20220041374A1 (en) * 2018-12-07 2022-02-10 Tgw Mechanics Gmbh Rack storage system comprising an improved load manipulation unit
WO2021175872A1 (fr) 2020-03-03 2021-09-10 Ocado Innovation Limited Structure de cadre de grille pour un système de stockage
CA3189619A1 (fr) * 2020-08-19 2022-02-24 David John STOKOWSKI Systeme de stockage dynamique et procedes associes

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