公开(公告)号：WO2020193475A1

公开(公告)日：2020-10-01

申请号：PCT/EP2020/057979

申请日：2020-03-23

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： FJELDHEIM, Ivar ,  AUSTRHEIM, Trond

IPC: B65G1/04 ,  A62C3/00

Abstract: An autonomous grid storage system with a foam based fire prevention system. The autonomous grid storage system is in the form of a grid storage structure (104) dived into sub grids (10A, 10B 10C) separated by firebreak or firebreaks (12). A foam dispensing system (20) dispenses a fire-retardant foam into the firebreak or firebreaks in the event of fire.

公开(公告)号：WO2020126725A1

公开(公告)日：2020-06-25

申请号：PCT/EP2019/084571

申请日：2019-12-11

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond

IPC: B65G1/06 ,  B65G1/137 ,  B65G1/04

Abstract: The present invention relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to a vehicle lift (770) for lifting a delivery vehicle (601) having a storage container (106) from a delivery rail system (608) into an accessing station (760).

公开(公告)号：WO2019238697A1

公开(公告)日：2019-12-19

申请号：PCT/EP2019/065236

申请日：2019-06-11

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond

IPC: B65G1/04 ,  B65G1/137

Abstract: The present invention provides a storage system (1) comprising a storage grid structure (104) and multiple container handling vehicles (200,300), the storage grid structure comprises vertical column profiles (102) defining multiple storage columns (105), in which storage containers (106) can be stored one on top of another in vertical stacks (107), and at least one transfer column (119,120), the column profiles are interconnected at their upper ends by top rails (110,111) forming a horizontal top rail grid (108) upon which the container handling vehicles (200,300) may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers (106) from, and store storage containers in, the storage columns (105), and transport the storage containers on the storage grid structure, wherein the storage grid structure (104) comprises at least one horizontal transfer section (2); and the storage system comprises multiple container transfer vehicles (6) and a transfer floor (5) on which the container transfer vehicles (6) may move horizontally, and the transfer section (2) is arranged at a level below the top rail grid (108) and extends from an external side (12) of the storage grid structure (104) to a position below the at least one transfer column (119,120) and comprises at least a section of the transfer floor (5); and each of the container transfer vehicles comprises a container carrier (38) for carrying a storage container (106) and a wheel arrangement (32a,32b) for moving the container transfer vehicle (6) in at least two perpendicular directions on the transfer floor (5); and wherein the at least one transfer column (119,120) extends from the top rail grid (108) to the transfer section (2), such that a storage container (106) may be transferred between the top rail grid (108) and the container carrier of one of the container transfer vehicles (6).

公开(公告)号：WO2019238664A1

公开(公告)日：2019-12-19

申请号：PCT/EP2019/065189

申请日：2019-06-11

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond

IPC: B65G1/04 ,  B65G1/137

Abstract: An automated storage and retrieval system comprising a storage grid for storage of storage containers and a delivery system for transport of said storage containers between a delivery port of the storage grid and an access point of the delivery system, the access point being adapted for handling of items held in the storage containers by a robotic operator or human operator. The delivery system comprises: a delivery rail system, a remotely operated delivery vehicle, and an access point, wherein the delivery grid provides one or more delivery grid cells for the remotely operated delivery vehicle at the access point as well as a plurality of delivery grid cells adjacent the one or more delivery grid cells of the access point, such that there is more than one path to and/or from the access point or the remotely operated delivery vehicle via the plurality of delivery grid cells.

公开(公告)号：WO2019238661A1

公开(公告)日：2019-12-19

申请号：PCT/EP2019/065184

申请日：2019-06-11

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond ,  STUHAUG, Ragnar

IPC: B65G1/04 ,  B65G1/137

Abstract: A container accessing station for accessing a storage container of an automated storage and retrieval grid. The container accessing station comprising: an access opening through which a human and/or robot may access contents of the storage container; a base opening; and a lifting device arranged to retrieve the storage container from a first level beneath the base opening and lift it up through the base opening to a second level so that the storage container may be accessed through the access opening. The invention is also directed to a container accessing system and a method thereof.

公开(公告)号：WO2019238659A2

公开(公告)日：2019-12-19

申请号：PCT/EP2019/065177

申请日：2019-06-11

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond

IPC: B65G1/04

Abstract: A lift system for an automated storage system of the type where storage containers are stacked in storage columns arranged in a grid, and where automated container handling vehicles retrieve and replace containers from a top level of the grid. The lift system has a platform vertically movable adjacent to a face of the grid, arranged for receiving and transporting one or more containers. A dedicated mechanical device is arranged for grabbing, lifting and moving the storage containers from a staging area at the top of the grid and placing containers on the platform and vice versa.

公开(公告)号：WO2019229170A3

公开(公告)日：2019-12-05

申请号：PCT/EP2019/064063

申请日：2019-05-29

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond

IPC: B65G1/04

Abstract: The present invention relates to an automated storage and retrieval system (200, 300) comprising a track system (108) and a plurality of storage columns (105), the system further comprising: - at least one transfer vehicle (3, 45, 60, 75, 80, 81, 82), arranged to transport at least one storage container (106) in a horizontal plane which is located above the horizontal plane of the track system (108), - at least one storage container lift assembly (7, 8, 9) comprising at least one movable lifting member (10a, 10b), wherein each movable lifting member is arranged to receive at least one storage container (106) from the transfer vehicle (3, 45, 60, 75, 80, 81, 82), and the at least one movable lifting member (10a, 10b) is arranged for vertical movement to and from the plane where the transfer vehicle (3, 45, 60, 75, 80, 81, 82) of the system (200, 300) operates. Furthermore, the invention relates to a storage assembly comprising such automated storage and retrieval systems, a storage container lift assembly and operating methods thereof.

公开(公告)号：WO2019206490A1

公开(公告)日：2019-10-31

申请号：PCT/EP2019/053875

申请日：2019-02-15

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond ,  FJELDHEIM, Ivar ,  FAGERLAND, Ingvar

IPC: B65G1/04 ,  B65G1/137 ,  B60L53/80 ,  B60L53/14 ,  B60L53/30 ,  B60S5/06 ,  B60L53/16

Abstract: The present invention an automated storage and retrieval system (1) comprising: a track system (108) comprising a first set of parallel tracks (110) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel tracks (111) arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), said first and second sets of tracks (110, 110) forming a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (122), each grid cell comprising a grid opening (115) defined by a pair of adjacent tracks (110a, 110b) of the first set of tracks (110) and a pair of adjacent tracks (111a, 111b) of the second set of tracks (111); a plurality of storage columns (105) located beneath the track system (108), wherein each storage column (105) is located vertically below a grid opening (115) and arranged to store a stack (107) of storage containers (106); a container handling vehicle (3-5) for lifting at least one storage container (106) stacked in the stacks (107), the container handling vehicle (3-5) being configured to move laterally on the track system (108) above the storage columns (105) to access the storage containers (106) via the grid openings (115), wherein the container handling vehicle (3-5) comprises a lower part (17a) comprising at least one storage compartment (24) for storing a storage container (106), an upper part (17b) arranged vertically above the lower part (17a), a wheel assembly (18) for guiding the container handling vehicle (3-5) along the track system (108) and a power supply compartment (27a) for accommodating a replaceable power supply (28); a replaceable power supply (28) for accommodation in the power supply compartment, having a power supply charging connection (46); and a charging station (40) for charging of the replaceable power supply (28), the charging station (40) comprising a charging connection (45) configured to create an electrical connection with the power supply charging connection (46) and a power supply support (43) for releasably supporting the power supply (28) during charging; wherein the power supply compartment (27a) is arranged in the upper part (17b) of the container handling vehicle (3-5) and is configured to receive the replaceable power supply (28) via an opening facing towards the first direction (X) or the second direction (Y).

公开(公告)号：WO2019206487A1

公开(公告)日：2019-10-31

申请号：PCT/EP2019/053672

申请日：2019-02-14

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond

IPC: B65G1/04 ,  B65G1/06

Abstract: A container handling vehicle (9') for picking up storage containers (6) from a three- dimensional grid (4) of an underlying storage system (1), comprising - a first set of wheels (22) for moving the vehicle (9') along an X direction (X) on a rail system (8) of the grid (4); and - a second set of wheels (23) for moving the vehicle (9') along a Y direction (Y) on the rail system (8) of the grid (4), the Y direction (Y) being perpendicular to the X direction; - a vehicle body (13), the vehicle body (13) having a vehicle body footprint (FV) defined by horizontal peripheries in the X and Y directions of the vehicle body (13), the vehicle body comprising a first section (204) and a second section (205),the first section (204) having a first footprint (F1) and the second section (205) having a second footprint (F2), the first and second footprints (F1, F2) being defined by horizontal peripheries in the X and Y directions of the first and second sections (204, 205), respectively; - a lifting device (18) for lifting storage containers (6) from the storage system (1); and 20 - a lifting device motor (211, 211') arranged to drive the lifting device (18) when lifting storage containers (6) from the storage system (1); wherein - the first section (204) and the second section (205) are arranged side-by- side such that a total area of the first and second footprints (F1, F2) equals a total area of the vehicle body footprint (FV), and a centre point of the first footprint (F1) is arranged off centre relative a centre point of the vehicle body footprint (FV); - the first section (204) defines a storage container receiving space which is configured to accommodate a storage container (6), the first section (204) also accommodating the lifting device (18) for lifting a storage container (6) from the storage system (1); and the lifting device motor (211, 211') is accommodated in the second section (205).

公开(公告)号：WO2019206440A1

公开(公告)日：2019-10-31

申请号：PCT/EP2018/077732

申请日：2018-10-11

Applicant: AUTOSTORE TECHNOLOGY AS

Inventor： AUSTRHEIM, Trond

IPC: B65G1/04 ,  B65G1/137

Abstract: The present invention provides a container handling vehicle (9') for picking up storage containers (6) from a three-dimensional grid (4) of an underlying storage system (1), comprising a first set of wheels (14) arranged at opposite portions of a vehicle body (13), for moving the vehicle (9') along a first direction (X) on a rail 5 system (8) in the grid (4); a second set of wheels (15) arranged at opposite portions of the vehicle body (13), for moving the vehicle (9') along a second direction (Y) on the rail system (8) in the grid (4), the second direction (Y) being perpendicular to the first direction (X); wherein the vehicle body (13) comprises walls on all sides and forms a quadrilateral footprint, a first section and a second section arranged 10 side-by-side such that a centre point of the first section is arranged off centre relative a centre point of the footprint formed by the vehicle body (13), and wherein a size ratio of a footprint of the first section relative a footprint of the second section is at least 2:1, and wherein the first section is configured to accommodate a storage container, and the second section comprises at least a first battery (213', 15 213'').