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EP-4737066-A1 - A GRIPPING DEVICE

EP4737066A1EP 4737066 A1EP4737066 A1EP 4737066A1EP-4737066-A1

Abstract

The disclosure relates to an add-on gripping device for use with a robotic vehicle for handling storage containers, the storage containers configured to be stored in storage columns of an automated storage and retrieval system, the add-on gripping device comprising: a surface for a gripping device of the robotic vehicle to grip onto; and a grip element configured to grip an object.

Inventors

  • IVARJORD, Åsmund

Assignees

  • AutoStore Technology AS

Dates

Publication Date
20260506
Application Date
20241101

Claims (15)

  1. An add-on gripping device for use with a robotic vehicle for handling storage containers, the storage containers configured to be stored in storage columns of an automated storage and retrieval system, the add-on gripping device comprising: a surface for a gripping device of the robotic vehicle to grip onto; and a grip element configured to grip an object.
  2. The add-on gripping device of claim 1, further comprising an interface for receiving control inputs for controlling the grip element from the robotic vehicle when the gripping device grips the add-on gripping device.
  3. The add-on gripping device of claim 2, wherein the control inputs comprise one or more of: electronic control signals; and mechanical control inputs.
  4. The add-on gripping device of claim 2 or claim 3, wherein the interface comprises one or more of: an electrical contact configured to contact a corresponding electrical contact on the gripping device when the gripping device grips the add-on gripping device; and an element configured to couple with an actuator on the gripping device, where actuation of the actuator moves the corresponding element to cause actuation of the grip element.
  5. The add-on gripping device of any preceding claim, further comprising a gantry system, wherein the grip element is mounted to the gantry system.
  6. The add-on gripping device of claim 5, wherein the gantry system is configured to move the grip element in a first direction and, optionally, a second direction orthogonal to the first direction.
  7. The add-on gripping device of any preceding claim, wherein the grip element comprises opposing jaws.
  8. The add-on gripping device of claim 7, wherein the grip element further comprises a second set of opposing jaws.
  9. The add-on gripping device of claim 7 or claim 8, wherein the opposing jaws are configured such that a distance between the a base of the jaws can be adjusted.
  10. The add-on gripping device of any of claims 7 to 9, further comprising a gantry system, wherein the gantry system is configured to: adjust the distance between the base of the opposing jaws and/or a second set of opposing jaws; and/or adjust the distance between the opposing jaws and the second set of opposing jaws.
  11. The add-on gripping device of any preceding claim, wherein the gripping element comprises: a robotic arm; and/or a gripping claw.
  12. The add-on gripping device of any preceding claim, further comprising a recess, wherein the surface for the gripping device of the robotic vehicle to grip onto is located within the recess.
  13. A robotic vehicle for handling storage containers, the storage containers configured to be stored in storage columns of an automated storage and retrieval system, the robotic vehicle comprising: a drive system for moving the robotic vehicle on rails of a rail system above the storage columns; a gripping device comprising grippers for engaging a storage container; and a lifting device for raising and lowering the gripping device, wherein the gripping device comprises an interface for providing inputs for controlling a grip element of an add-on gripping device from the robotic vehicle when the gripping device grips the add-on gripping device.
  14. The robotic vehicle of claim 13, wherein the lifting device comprises lifting bands coupled to the gripping device, wherein the interface is electrically coupled to the lifting bands such that electronic control signals can be passed to the add-on gripping device via the lifting bands.
  15. A system comprising a robotic vehicle according to either of claims 13 and 14 and an add-on gripping device according to any of claims 1 to 12.

Description

TECHNICAL FIELD The disclosure relates to a gripping device. More particularly, it relates to an add-on gripping device for use with a robotic vehicle for handling storage containers. BACKGROUND Traditional storage solutions usually involve the arrangement of goods on rows of shelves within a warehouse. The shelf location for each item is recorded in an inventory, and goods are retrieved from the shelves by a stock picker. The shelves are restocked and the inventory updated, as needed, as goods enter and leave the warehouse. Warehouse workers may be assisted by robotic pickers and by automated inventory management systems. Automated transit systems may also be implemented in traditional warehouse set-ups to move goods from their inventory location to a picking and/or packing station. An alternative to a traditional warehouse set-up is an automated storage and retrieval system in which robots retrieve items from their logged location within the warehouse and deliver the items to a packing station or port. Such systems can reduce or eliminate the space needed to pass between rows of shelves to access stock, thereby removing the need for broad aisles within the warehouse. One example of such a system involves placing goods in bins or containers that are configured to be stacked, side by side, within a three-dimensional grid. A rail system is arranged on top of the grid, along which robotic container-handling vehicles configured to lift containers from the grid can travel. The container-handling vehicles are configured to transport containers from the grid and to deliver them to ports or stations at the periphery of the grid so that the goods within the container can be picked and packed. Robotic container-handling vehicles are central to the efficient operation of an automated storage and retrieval system. Developments in the design and operation of such robots can significantly improve the operation of automated storage and retrieval systems. In order to handle containers, a robotic container-handling vehicle must be able to lift containers from the grid, and return containers to the grid using a lifting device configured to engage containers. It would be advantageous to improve the functionality of such robots. One or more aspects of the invention of the present application are set out in the claims. BRIEF DESCRIPTION OF THE DRAWINGS The disclosure will now be described in more detail in connection with a number of exemplary embodiments shown in the accompanying drawings, in which: Fig. 1 shows a perspective view of a storage system comprising a grid and a plurality of robotic container-handling vehicles configured to retrieve and/or rearrange goods stored within the grid;Fig. 2 shows a top view of the system of Fig. 1;Fig. 3A shows a side view of a first robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3B shows a side view of a second robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3C is a perspective side view of the robot of Fig. 3B;Fig. 4 shows a computing device for implementing the operations described herein;Fig. 5 shows an example gripping device of a robotic container-handling vehicle that is configured to couple to a container held within a multi-container frame to enable the container to be lifted or lowered by the container-handling vehicle;Fig. 6 shows an example system comprising a robotic container-handling vehicle alongside an add-on gripping device;Fig. 7 shows a gripping device of a robotic container-handling vehicle alongside an add-on gripping device;Fig. 8 shows a portion of an add-on gripping device;Fig. 9 shows a gripping device of a robotic container-handling vehicle alongside an add-on gripping device, the add-on gripping device having a grip element mounted to a gantry;Figs. 10 and 11 show a gripping device of a robotic container-handling vehicle alongside an add-on gripping device, the add-on gripping device having a grip element with opposing jaws for gripping a pipe;Fig. 12 shows a robotic container-handling vehicle with a gripping device having a grip element in the form of a robotic arm;Fig. 13 shows a robotic container-handling vehicle with a gripping device;Fig. 14 shows a storage system comprising a grid with add-on gripping device stations;Figs. 15 and 16 show a robotic container-handling vehicle with a gripping device having a grip element with opposing jaws for gripping a pipe; andFigs. 17 and 18 show a robotic container-handling vehicle with a gripping device having a grip element mounted to a gantry. Throughout the description and drawings, like reference numerals refer to like features. DETAILED DESCRIPTION In overview, the disclosure relates to an add-on gripping device for use with a robotic vehicle for handling storage containers, the storage containers configured to be stored in storage columns of an automated storage and retrieval system. The add-on gripping device has a surface for a gripping device