REMOTELY OPERATED VEHICLE FOR A STORAGE SYSTEM
A remotely-operated vehicle assembly for picking up storage bins from a storage system and a method for changing vehicle direction includes a body displaying a cavity, a lifting device connected to the body for lifting the bin into the cavity, a displacement arrangement including a displacement motor which provides power to displace one or both of first and second sets of vehicle wheels between a displaced state where the relevant vehicle wheels are displaced away from the underlying system during use, and a non-displaced state where the relevant vehicle wheels are in contact with the underlying system during use, and driving wheels coupled to the displacement arrangement. The driving wheels further includes first and second sets of vehicle wheels connected to the body allowing movement of the vehicle along first and second directions, respectively, within the system. The first and second directions are perpendicular.
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This is a Continuation application under 35 U.S.C. § 120 of application U.S. Ser. No. 17/106,209 filed 30 Nov. 2020, which is a Continuation of application U.S. Ser. No. 15/978,219 filed 14 May 2018, now U.S. Pat. No. 10,882,694 issued 5 Jan. 2021, which is a Continuation of application U.S. Ser. No. 15/319,103 filed 15 Dec. 2016, now U.S. Pat. No. 10,294,025 issued 21 May 2019, which is a US National Stage application of PCT/EP2015/063415 filed 16 Jun. 2015.
BACKGROUND/SUMMARY Field of the InventionThe present invention relates to automated storage systems of the type comprising a storage facility having a plurality of storage columns arranged in a grid, with a plurality of storage bins arranged in vertical stacks in the storage columns. In particular the invention relates to a remotely operated vehicle assembly for picking up storage bins from a storage system.
Background of the InventionA remotely operated vehicle for picking up storage bins from a storage system is known. A detailed description of a relevant prior art storage system is presented in WO 98/49075, and details of a prior art vehicle being suitable for such a storage system is disclosed in Norwegian patent NO317366. Such a prior art storage system comprises a three dimensional storage grid containing storage bins that are stacked on top of each other up to a certain height. The storage grid is normally constructed as aluminium columns interconnected by top rails, and a number of remotely operated vehicles, or robots, are arranged to move laterally on these rails. Each robot is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid, and a rechargeable battery in order to supply electrical power to a robot incorporated motor. The robot typically communicates with a control system via a wireless link and is recharged at a charging station when needed, typically at night.
An example of a prior art storage system is illustrated in
However, with this known system each vehicle assembly is covering a cross section of the underlying storage system that corresponds to two storage columns, thereby limiting the maximum number of simultaneously operating vehicles.
One or more embodiments of the present invention provide a vehicle assembly, a storage system and a method for operating such a vehicle assembly that allows a significant increase in the number of simultaneously operating vehicles during successful handling of storage bins.
BRIEF SUMMARY OF THE INVENTIONOne or more embodiments of the present invention is set forth and characterized in the main claims, while the dependent claims describe other characteristics of one or more embodiments of the invention.
In particular, one or more embodiments of the invention concern a remotely operated vehicle assembly being suitable for picking up storage bins from a storage system. The vehicle assembly comprising a vehicle body displaying a cavity being suitable for receiving a storage bin stored within the storage system, a vehicle lifting device being connected at least indirectly to the vehicle body and suitable for lifting the storage bin into the cavity, a displacement arrangement comprising inter alia a displacement motor which is configured to at least provide the power that is necessary in order to displace one or both of the first set of vehicle rolling means and the second set of vehicle rolling means between a displaced state where the relevant vehicle rolling means is displaced away from the underlying storage system during use, and a non-displaced state where the relevant vehicle rolling means is in contact with the underlying storage system during use, and driving means coupled to the displacement arrangement. The driving means further comprises a first set of vehicle rolling means connected to the vehicle body allowing movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body allowing movement of the vehicle along a second direction (Y) in the storage system during use, wherein the second direction (Y) is perpendicular to the first direction (X). The motor providing the necessary power to drive the vehicle assembly in the X or Y direction may be one or more dedicated motors and/or the displacement motor. The vehicle assembly is further characterized in that the displacement motor is situated in a lateral plane above the cavity, and further configured to generate a power that is converted by the remaining components of the displacement arrangement to a vertically directed pressure force acting on the first or second set of vehicle rolling means. The lateral plane is hereinafter defined as any planes which are arranged parallel to the plane set up by the first (X) and second (Y) direction. Furthermore, the vertical direction, or Z-direction, is defined as the direction perpendicular to the lateral plane. The delimitation of the cavity may be set by dedicated plates and/or by the surrounding components constituting the displacement arrangement and the driving means.
In an advantageous embodiment the transfer of power or force from the displacement motor to the corresponding vehicle rolling means is performed by means of at least one lever arm configured to allow mechanical alternation between the displaced state and the non-displaced state.
In another advantageous embodiment at least one of the vehicle rolling means comprises a first part and a second part being arranged at opposite facing side walls of the vehicle body and a vertically displaceable bar rigidly interconnecting the first part and the second part above the cavity, or at least at an upper half of the vehicle body. The bar may advantageously be arranged parallel to the before mentioned lateral plane.
In another advantageous embodiment the displacement arrangement comprises at least one lever arm configured to abut the vertically displaceable bar during operation of the displacement motor. Said at least one lever arm may be arranged at least partly below the vertically displaceable bar, at the side or above the cavity. The area where the lever arm abuts the bar is preferably at or near the arms' longitudinal midpoint. The term ‘at least partly below’ signifies an arrangement of the level arm that results in an abutment point positioned below the bar relative to any underlying storage system. The at least one lever arm may advantageously be arranged at an upper half of the vehicle body. Furthermore, they may be arranged either above or along the sides of the cavity, or both.
In another advantageous embodiment the two ends of each lever arm are arranged on each lateral side of an impact area of the lever arm from which the vertically directed pressure force on the vehicle rolling means forms during the operation of the displacement motor, and thereby achieving controlled displacement of the vehicle rolling means.
In another advantageous embodiment a first end of each lever arm is connected to a first rotatable device within an upper part of the vehicle body, for example a rotatable bolt, thus defining a lever arm fulcrum, and a second end of each lever arm is at least indirectly connected to the displacement motor allowing the rotation of the lever arm around its fulcrum at the first end. This rotation causes the desired vertical displacement of the vehicle rolling means.
In another advantageous embodiment the displacement arrangement further comprises at least one locking means, for example an elongated hook, where each locking means is pivotally connected to its corresponding lever arm at or near the second end and a second rotatable device situated at the upper half of the vehicle body, wherein the locking means and the second rotatable device are interconnected to allow releasable blocking after a predetermined angular rotation performed by the displacement motor.
In another advantageous embodiment at least one of the locking means is connected to a rotor of the displacement motor which enforces a rotating movement of the connected locking means, thereby causing the desired vertical displacement of the at least one of the first set of vehicle rolling means and the second set of vehicle rolling means relative to any underlying storage system.
In another advantageous embodiment the vehicle assembly further comprises at least one driving motor situated at the lateral plane above the cavity, the driving motor being arranged to drive at least one of the first set of vehicle rolling means and the second set of vehicle rolling means along the lateral plane of any underlying storage system set up by the first (X) and second (Y) directions. The change of direction of the vehicle assembly is preferably discrete. i.e. constituting a 90 degrees turn.
In another advantageous embodiment at least one of the vehicle rolling means comprises a first part and a second part that are arranged at opposite facing side walls of the vehicle body and a vertically displaceable bar rigidly interconnecting the first part and the second part at a lateral plane above the cavity, wherein at least one of the first and second part further comprises an upper rotating unit and a lower rotating unit, the upper and lower rotating units being interconnected by a cord rendering simultaneous rotation of the units possible. At least one of the upper and lower rotating units may be wheels, belts, etc. Furthermore, the cord may comprise any elongated object that allows said simultaneous rotation. The lower rotating unit is configured to at least indirectly contact the underlying storage system during use. The lower rotating unit may advantageously comprise two laterally spaced apart wheels configured to cause releasable contact with the underlying storage system during use, i.e. when the vehicle assembly is set in a non-displaced state.
In one embodiment the interconnecting cord is encircling both the lower and upper rotating unit.
In an alternative embodiment the interconnecting cord is encircling the upper rotating unit but arranged outside the lower rotation unit. The latter configuration may be achieved by means of additional wheels around which the cord is encircling. The assembly of the cord and the additional wheels should then be configured to create a stable pressure onto the lower ration unit, for example by use of two smaller wheels arranged adjacent to each wheels of the lower rotating unit, and where the cord is guided between the larger wheels and the additional wheels. This embodiment is considered more advantageous since it ensures a better contact between the lower rotation unit and the underlying storage system during use.
In another advantageous embodiment at least one of the vehicle rolling means comprises a first part and a second part being arranged at opposite facing side walls of the vehicle body, where the first and second part is rigidly connected to a first and second displacement plate, respectively, and a vertically displaceable bar at a lateral plane above the cavity rigidly connecting the first and second displacement plate.
In another advantageous embodiment all components contributing to the vertical displacement of the vehicle rolling means and the operation of the lifting device are arranged above the cavity, and all components contributing to the lateral movement of the vehicle assembly are either arranged above the cavity or within the volume limited by the spatial distribution of the parts of the vehicle rolling means contacting an underlying storage system during operation or a combination thereof.
One or more embodiments of the invention also concern a storage system suitable for storage of bins. The storage system comprises a remotely operated vehicle assembly in accordance with any of the configurations described above, a vehicle support comprising a plurality of crossing supporting rails and a bin storing structure supporting the vehicle support. The structure comprises a plurality of storage columns, wherein each storage columns is arranged to accommodate a vertical stack of storage bins.
In an advantageous embodiment the plurality of crossing supporting rails are of type double track rails comprising a first and second X-rail in the first direction (X) and a third and fourth Y-rail in the second direction (Y).
In another advantageous embodiment the lateral cross sectional area of the remotely operated vehicle assembly occupies at most the lateral cross sectional area of the storage column within the bin storing structure, where the lateral cross sectional area of the storage column corresponds to the lateral area limited by the distance from one supporting rail to the closest parallel supporting rail in each direction, the distance being measured from the centre line of each rails.
One or more embodiments of the invention also concern a method which is suitable for changing direction of a remotely operated vehicle assembly when operated on a storage system. The vehicle assembly comprises a vehicle body displaying a cavity for receiving a storage bin within the storage system, a vehicle lifting device connected at least indirectly to the vehicle body being suitable for lifting the storage bin into the cavity, a displacement arrangement comprising a displacement motor and driving means comprising a first set of vehicle rolling means connected to the vehicle body allowing movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body allowing movement of the vehicle along a second direction (Y) in the storage system during use, the second direction (Y) being perpendicular to the first direction (X). The method is characterized by the following step:
-
- rotate at least one lever arm by operating the displacement motor, where the displacement motor is situated near the upper lateral plane, or above, the cavity and
- vertically displacing one of the first set of vehicle rolling means and the second set of vehicle rolling means by exerting a pressure force on the vehicle rolling means in the vertical direction, away from any underlying storage system, by means of the rotating lever arm.
In an advantageous embodiment the remotely operated vehicle assembly used in the disclosed method is a vehicle in accordance with any of the configurations mentioned above.
In the following description, numerous specific details are introduced to provide a thorough understanding of embodiments of the claimed vehicle, system and method. One skilled in the relevant art, however, will recognize that these embodiments can be practiced without one or more of the specific details, or with other components, systems, etc. In other instances, well-known structures or operations are not shown, or are not described in detail, to avoid obscuring aspects of the disclosed embodiments.
Hereinafter all relative terms used to describe the inventive robot such as upper, lower, lateral, vertical, X-direction, Y-direction, Z-direction, etc., shall be interpreted using the above mentioned prior art storage system as reference system. Note also that a robot is herein considered to be a particular type of a remotely operated vehicle.
As seen in
In order to lift the slave wheels 31,31a,31b from the storage system 3 during change of direction of the robot 1, one or more vertically displaceable bars 22 is/are mounted above the cavity 7 interconnecting a first and second displacement plate 34a,34b positioned along opposing side walls of the framework 4, i.e., along the y direction. Each displacement plate 34a,34b rigidly connects the master wheel 30, the slave wheels 31 and the belt 32 in the x-z plane, where the master wheel 30, the slave wheels 31 and the belt constitute the first part of the vehicle rolling means 10a. With this particular configuration any displacement of the bar 22 thus result in a rigid displacement of the connected driving means 10.
The displacement of the bar 22 may be achieved by means of a lever arm 23 configured to exert an upward directed pressure force activated by a displacement motor 25,25a, thereby pushing the bar 22 vertically. To ensure high predictability during displacement, the bar 22 can be arranged and guided within suitable slots 33 having a width being slightly larger than the diameter of the bar 22 and a length being equal or slightly longer than the total displacement length (Δz) (
The rotational mechanism of the lever arm 23 may be situated at the opposite lateral side of the bar 22 relative to the fulcrum 26. This particular embodiment is illustrated in
The rotation of the lever arm 23 may alternatively be operated by a displacement motor arranged at its fulcrum 26.
In yet an alternative configuration the rotation of the lever arm 23 may be operated by arranging a suitable displacement motor both at its fulcrum 26 and at or near the opposite end of the lever arm 23.
A vehicle with a top cover 72 (non-removable or removable) and a vehicle body 4 covering all sides in the X,Y directions is shown in
In the partly transparent illustration in
The vehicle lifting device 9 includes the vehicle lifting device motor 9a, the lifting grips 9b situated below the lifting device plate for grabbing the underlying bin 2, the guiding pins 9c for adjusting the lifting device 9 in correct lateral position during pick-up of the bin 2, a plurality of first lifting device bars 9d (
The exploded and non-exploded drawings shown in
The remotely operated vehicle 1 in
A third embodiment according to the invention is shown in
The first set of wheels 10 which is configured to be lowered/lifted to/from the rails 13 in order to change direction is mounted together on a common frame. In
The vehicle 1 in accordance with the third embodiment in
In
All operations of the vehicle/robot 1 are controlled by wireless communication means and remote control units. This includes control of the vehicle movements, the directional changes of the vehicle 1, the vehicle lifting device 9 and any registration of the vehicle positions.
In the preceding description, various aspects of the assembly according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the apparatus and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the apparatus, 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 present invention.
LIST OF REFERENCE NUMERALS/LETTERS
-
- 1 Remotely operated vehicle assembly/robot
- 2 Storage bin
- 3 Storage system
- 4 Vehicle body/framework
- 4u Upper half of vehicle body
- 7 Cavity
- 8 Storage column
- 9 Vehicle lifting device
- 9a Vehicle lifting device motor
- 9b Lifting grip
- 9c Guiding pin
- 9d First lifting device bar
- 9e Second lifting device bar
- 9f Lifting device sheave
- 9g Lifting device belt
- 10 First set of vehicle rolling means/driving means
- 10a First part of vehicle rolling means
- 10b Second part of vehicle rolling means
- 11 Second set of vehicle rolling means/driving means
- 13 Supporting rail
- 13a First X-rail
- 13b Second X-rail
- 13c First Y-rail
- 13d Second Y-rail
- 14 Vehicle support
- 15 Bin storing structure/bin storing grid
- 20 Driving motor for driving vehicle in X direction
- 21 Driving motor for driving vehicle in Y direction
- 22 Displaceable bar
- 23 Lever arm
- 25 Displacement motor
- 25a Rotor of displacement motor
- 26 First rotatable device/rotatable bolt/fulcrum
- 27 Locking means/locking arm
- 28 Second rotatable device/lever arm wheel
- 30 Upper rotating unit/Master wheel
- 31 Lower rotating unit/Slave wheel
- 31a Laterally spaced apart wheel/first slave wheel
- 31b Laterally spaced apart wheel/second slave wheel
- 32 Cord/rope/belt
- 33 Slots
- 34a First displacement plate
- 34b Second displacement plate
- 35 Drive shaft, X direction
- 36 Drive shaft, Y direction
- 37 Auxiliary wheel
- 50 Bin lift device
- 60 Delivery station/port
- 72 Top cover
- Δz Displacement length
Claims
1. A remotely operated vehicle for retrieving items from and/or placing items into a storage system comprising a framework structure having a track system at an upper level of the framework structure upon which the remotely operated vehicle travels, the track system comprising a plurality of double tracks arranged in a first direction and a plurality of double tracks arranged in a second direction perpendicular to the first direction, whereby intersecting double tracks define cells arranged in a grid pattern, the remotely operated vehicle comprising:
- a vehicle body or framework displaying a cavity arranged centrally within the vehicle body or framework for receiving and holding an item from the storage system;
- a lifting device connected to the vehicle body to access items stored in the storage system through the cells;
- two sets of wheels, a first set of wheels arranged to travel along the double tracks in the first direction and a second set of wheels arranged to travel along the double tracks in the second direction; and
- a displacement motor connected to the vehicle body or framework and situated in a lateral plane above the cavity, wherein the displacement motor is configured to provide power or force to vertically displace at least one of the first set of wheels and the second set of wheels between a displaced state and a non-displaced state while the remotely operated vehicle is being operated, wherein the at least one of the first set of wheels and the second set of wheels is displaced away from the double tracks in the displaced state, and wherein the at least one of the first set of wheels and the second set of wheels is in contact with the tracks in the non-displaced state, thereby changing the direction of travel of the remotely operated vehicle,
- wherein a lateral cross-sectional area of the remotely operated vehicle occupies exactly a lateral cross-sectional area of an underlying cell within a middle part of the double track rails both the first direction and the second direction to allow a second remotely operated vehicle to pass on any of four lateral sides of the remotely operated vehicle.
2. The remotely operated vehicle according to claim 1, wherein when the remotely operated vehicle is arranged directly above one cell, the first set of wheels and the second set of wheels are arranged in an inner track of the corresponding double tracks on the four lateral sides.
3. The remotely operated vehicle according to claim 1, wherein the cavity has a lateral area smaller than a lateral area of the underlying cell.
4. The remotely operated vehicle according to claim 1, wherein a lifting device motor of the lifting device lifts and lowers a lifting device plate of the lifting device to grab the items with lifting grips situated below the lifting device plate.
5. The remotely operated vehicle according to claim 4, further comprising a plurality of first lifting device bars connected to lifting device sheaves on two lateral sides of remotely operated vehicle.
6. The remotely operated vehicle according to claim 5, wherein lifting device belts connect the lifting device sheaves and the plurality of first lifting device bars to one or more second lifting device bars, which is in rotary connection with the lifting device motor, and a rotation of the one or more second lifting device bars rotates of the plurality of first lifting device bars and the lifting device sheaves via the lifting device belts to lift and lower the lifting device plate.
7. The remotely operated vehicle according to claim 1, further comprising a top cover disposed on the vehicle body.
8. A system for a plurality of remotely operated vehicles for picking up storage bins from a storage system, the system comprising: wherein each remotely operated vehicle of the plurality of remotely operated vehicles comprising: wherein a lateral cross-sectional area of each remotely operated vehicle of the plurality of remotely operated vehicles occupies a lateral cross-sectional area of a corresponding underlying cell so as to allow the plurality of remotely operated vehicles to pass each other on any of four lateral sides of a corresponding remotely operated vehicle.
- a framework stricture having a track system at an upper level of the framework structure upon which the plurality of remotely operated vehicles travel,
- the track system comprising a first plurality of tracks arranged in a first direction and a second plurality of tracks arranged in a second direction perpendicular to the first direction, wherein the first plurality of tracks intersect the second plurality of tracks to define cells arranged in a grid pattern,
- wherein the plurality of remotely operated vehicles accesses the storage bins stored in the storage system via the cells,
- a vehicle body having a cavity for receiving a first storage bin of the storage bins within the storage system;
- a lifting device connected to the vehicle body for lifting the storage bin into the cavity;
- a first set of wheels connected to the vehicle body allowing a first movement of the remotely operated vehicle assembly along the first direction;
- a second set of wheels connected to the vehicle body allowing a second movement of the remotely operated vehicle assembly along the second direction; and
- a displacement motor connected to the vehicle body and is situated in a lateral plane above the cavity, wherein the displacement motor to generate a power that is converted to a vertically directed pressure force acting on the first set of wheels or the second set of wheels to displace the first set of wheels and the second set of wheels between a displaced state and a non-displaced state, wherein in the displaced state, the first set of wheels and the second set of wheels are displaced away from the storage system, and wherein in the non-displaced state, the first set of wheels and the second set of wheels are in contact with the storage system,
9. The system according to claim 8, wherein the first plurality of tracks comprises a first track rail and a second track rail running parallel to each other in the first direction, and wherein the second plurality of tracks comprises a third track rail and a fourth track rail running parallel to each other in the second direction.
10. The system according to claim 9, wherein the first set of wheels are arranged on the second track rail, and the second track rail is an inner track of a corresponding grid on which a corresponding remotely operated vehicle is traveling.
11. The system according to claim 9, wherein the second set of wheels are arranged on the fourth track rail, and the fourth track rail is an inner track of a corresponding grid on which a corresponding remotely operated vehicle is traveling.
12. The system according to claim 9, wherein the first and second track rails are separated by a first divider, and wherein the third and fourth track rails are separated by a second divider.
13. The system according to claim 12, further comprising a cross where the first and second track rails cross the third and fourth track rails, wherein the first and second dividers are interrupted at the cross.
14. The system according to claim 8, further comprising a wireless control system to control a movement of the plurality of remotely operated vehicles on the track system.
15. The system according to claim 14, wherein, when a first of the plurality of remotely operated vehicles is positioned above a cell so as to access the storage bins stored in the storage system, others of the plurality of remotely operated vehicles are able to pass by the first of the plurality of remotely operated vehicles on all four lateral sides.
Type: Application
Filed: Aug 23, 2023
Publication Date: Dec 14, 2023
Applicant: Autostore Technology AS (Nedre Vats)
Inventors: Ingvar Hognaland (Nedre Vats), Ivar Fjeldheim (Haugesund), Trond Austrheim (Etne), Børge Bekken (Haugesund)
Application Number: 18/454,357