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公开(公告)号：US20240300356A1
公开(公告)日：2024-09-12
申请号：US18666455
申请日：2024-05-16
CPC分类号： B60L53/36 , B60L53/30 , B65G1/0464 , B65G1/0478 , B65G1/065 , B65G1/1378 , B65G2201/0258 , Y02T10/70 , Y02T10/7072 , Y02T90/12 , Y02T90/14
摘要： An automated storage and retrieval system includes a track system, a plurality of storage columns, a container handling vehicle, a replaceable power supply, and a charging station. The track system includes a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, said first and second sets of tracks forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks. The plurality of storage columns are located beneath the track system. Each storage column is located vertically below a grid opening and arranged to store a stack of storage containers. The container handling vehicle is for lifting at least one storage container stacked in the stacks. The container handling vehicle is configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings, wherein the container handling vehicle comprises a lower part comprising at least one storage compartment for storing a storage container, an upper part arranged vertically above the lower part, a wheel assembly for guiding the container handling vehicle along the track system and a power supply compartment for accommodating a replaceable power supply. The replaceable power supply is for accommodation in the power supply compartment, having a power supply charging connection. The charging station is for charging of the replaceable power supply, the charging station comprising a charging station charging connection configured to create an electrical connection with the power supply charging connection and a power supply support for releasably supporting the power supply during charging. The container handling vehicle includes an auxiliary battery to allow movement of the container handling vehicle when void of the replaceable power supply.
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2.发明公开公开(公告)号：US20240217739A1
公开(公告)日：2024-07-04
申请号：US18553803
申请日：2022-04-07
IPC分类号： B65G1/04
CPC分类号： B65G1/0464
摘要： A lifting device assembly for handling a delivery container stored within a storage container includes a delivery container coupler and a lifting device. The delivery container coupler includes a coupler frame having a coupler frame lower face and a coupler frame upper face, and a delivery container coupling mechanism fixed to the coupler frame and protruding from the coupler frame lower face for enabling releasable coupling to corresponding coupling structures within an inner volume of a delivery container. The lifting device includes a lifting frame having a lifting frame lower face and a lifting frame upper face, and a plurality of grippers connected to the lifting frame for releasable connection to the coupler. The lifting frame is configured such that the lifting frame lower face can be arranged adjacent to the coupler frame upper face in a coupled position.
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公开(公告)号：US20240126249A1
公开(公告)日：2024-04-18
申请号：US18505777
申请日：2023-11-09
IPC分类号： G05B19/418 , B65G1/04 , B65G1/137 , B66F9/06
CPC分类号： G05B19/41895 , B65G1/0464 , B65G1/0478 , B65G1/1375 , B66F9/063
摘要： An automated storage and retrieval system includes a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings. Each container handling vehicle includes a protruding section which extends horizontally into a neighbouring grid cell, and a recessed section arranged to accommodate the protruding sections of another container handling vehicle.
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公开(公告)号：US20230053090A1
公开(公告)日：2023-02-16
申请号：US17758949
申请日：2021-01-27
发明人： Ivar Fjeldheim , Trond Austrheim
摘要： A system for performing measurements in storage containers for storing items includes a framework structure. The storage containers are stored in an automated storage system. The framework structure forms a three-dimensional storage grid structure for storing the storage containers. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening to the vertical storage columns between rails of a rail system. The rail system is arranged on top of the framework structure. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. Each vehicle includes a vehicle controller communicating with a central computer system controlling the operation of the storage system. A container handling platform of a container handling vehicle includes measuring equipment configured to perform measurements in containers and includes a communication unit configured to communicate measurement data to a computer system.
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公开(公告)号：US11465844B2
公开(公告)日：2022-10-11
申请号：US16756853
申请日：2018-10-12
发明人： Ivar Fjeldheim , Trond Austrheim
摘要： The invention concerns an automated storage and retrieval system, a storage container handling vehicle and a method for operating such a system. The system comprises a plurality of vehicles, where each vehicle comprises a vehicle body (30), a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device (4) for releasably attaching to a storage container, comprising one or more pivot arms (5) having a first end pivotally connected to the vehicle body at pivot point (PP). The configuration of the container picking device is such that it is movable in a pivoting motion of the pivot arm about the pivot point between a first, lifting position enabling the container picking device to lift at least one storage container from a position outside the horizontal extent of the vehicle body and a second, transport position enabling the container picking device to hold the at least one storage container at least partly inside the horizontal extent of the vehicle body.
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公开(公告)号：US11360465B2
公开(公告)日：2022-06-14
申请号：US16614121
申请日：2018-05-15
IPC分类号： G05B19/418 , B65G1/04 , B65G1/137 , B66F9/06
摘要： An automated storage and retrieval system includes a track system having a first set of parallel tracks and a second set of parallel tracks. The first and second sets of tracks form a grid pattern of grid cells. Storage containers are arranged in storage columns located beneath the track system. Container handling vehicles lift and move storage containers. The container handling vehicles are configured to move laterally on the track system above the storage columns to access the storage containers via grid openings. Each container handling vehicle includes: a protruding section which extends horizontally beyond the footprint of the container handling vehicle and, when the container handling vehicle is positioned above a grid cell, into a neighbouring grid cell; and a recessed section arranged to accommodate the protruding sections of another container handling vehicle when operating over a neighbouring grid cell.
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公开(公告)号：US20220161662A1
公开(公告)日：2022-05-26
申请号：US17432045
申请日：2020-02-14
发明人： Ivar Fjeldheim
摘要： A container-handling vehicle for handling storage containers in a three-dimensional grid of an underlying storage system, comprising: at least one lifting device for lifting storage containers from and lowering storage containers to the underlying storage system, said lifting device comprises a lifting frame for gripping a storage container, a winch system for lifting and lowering the lifting frame, a motor to drive the winch system and a driver circuit with a controller controlling the motor; and at least first and second rechargeable power sources for providing power to the motor, wherein the driver circuit further comprises a regenerative energy circuit configured to harvest energy from the motor when the lifting frame is lowered into the storage system and where the driver circuit is configured to direct harvested energy to the rechargeable power sources according to levels of charge in the rechargeable power sources.
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8.发明申请公开(公告)号：US20220019232A1
公开(公告)日：2022-01-20
申请号：US17489355
申请日：2021-09-29
IPC分类号： G05D1/02
摘要： A vehicle for an automated storage and retrieval system is configured to follow a set route on a track being laid out in the automated storage and retrieval system and having one or more track features. The vehicle includes a first set of wheels capable of moving the vehicle in a first direction; a second set of wheels capable of moving the vehicle in a second direction perpendicular to the first direction; and a plurality of sensors attached to the vehicle and configured to detect track features and to measure a distance to a track feature while the vehicle is moving in the first direction or the second direction.
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公开(公告)号：US11104522B2
公开(公告)日：2021-08-31
申请号：US16844696
申请日：2020-04-09
摘要： A vehicle operated cleaning bin for cleaning a storage grid of a storage system, wherein the cleaning bin includes a connector for attaching the cleaning bin to a lifting device of a remotely operating vehicle being configured to vertically convey the cleaning bin inside a column of the storage grid by aid of the lifting device, and a plurality of cleaners for removing foreign debris from the storage grid. The plurality of cleaners are arranged on at least one lateral wall of the cleaning bin.
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公开(公告)号：US10882694B2
公开(公告)日：2021-01-05
申请号：US15978219
申请日：2018-05-14
IPC分类号： B65G1/04
摘要： A remotely operated vehicle assembly for picking up storage bins from a storage system and a method for change of vehicle direction. The vehicle assembly has a vehicle body with a cavity suitable for receiving a storage bin stored within the storage system, a lifting device for lifting the containers into the cavity and a displacement arrangement including a motor for lifting one of two sets of wheels in or out of engagement with an underlying track for changing vehicle direction. The displacement arrangement includes a displacement plate and a vertically displaceable bar arranged in a lateral plane above the cavity.
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