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KR-102961502-B1 - Automated storage and retrieval system with carrier pen

KR102961502B1KR 102961502 B1KR102961502 B1KR 102961502B1KR-102961502-B1

Abstract

An automated storage and retrieval system comprises a storage grid configured to store a plurality of storage containers within a vertical stack, a plurality of remotely operated carriers, and a rail system comprising rails and tracks on which the plurality of remotely operated carriers operate. The automated storage and retrieval system further comprises a first region and a second region, wherein the first region is connected to the second region by a carrier pen comprising an entrance barrier and an exit barrier to regulate the passage of one or more carriers between the first region and the second region for the passage of one or more of the plurality of remotely operated carriers, and the entrance and exit barriers may be movable between an open position allowing the passage of one or more carriers and a closed position restricting the passage of one or more carriers, and the entrance and exit barriers are regulated such that the entrance barrier may be opened only when the exit barrier is closed, and vice versa.

Inventors

  • 헤게뵈 예르겐 유베

Assignees

  • 오토스토어 테크놀로지 에이에스

Dates

Publication Date
20260508
Application Date
20200921
Priority Date
20190925

Claims (15)

  1. An automated storage and retrieval system comprising a storage grid (104) configured to store a plurality of storage containers (106) within a vertical stack (107), a plurality of remotely operated carriers (200, 300, 30), and a rail system (108) comprising a rail and a track on which the plurality of remotely operated carriers (200, 300, 30) operate. An automated storage and retrieval system comprises a first region (11) and a second region (12), and for the passage of one or more of a plurality of remotely operated carriers (200, 300, 30), the first region (11) is connected to the second region by a carrier pen (10) comprising an entrance barrier (13) and an exit barrier (14) for controlling the passage of one or more carriers (200, 300, 30) between the first region (11) and the second region (12), and An automated storage and retrieval system in which the entrance and exit barriers (13, 14) can be moved between an open position allowing one or more carriers (200, 300, 30) to pass and a closed position restricting the passage of one or more carriers (200, 300, 30), and the entrance and exit barriers (13, 14) are adjusted so that the entrance barrier (13) can be opened only when the exit barrier (14) is closed, and vice versa.
  2. In paragraph 1, The inlet and outlet barriers (13, 14) of the carrier pen (10) comprise one or more movable barriers (15) that can move between an open position and a closed position, respectively, in an automated storage and retrieval system.
  3. In paragraph 2, One or more movable barriers (15) include: at least one of a bar, a wall or a door, in an automated storage and retrieval system.
  4. In paragraph 2 or 3, One or more movable barriers (15) are arranged on a rail system (108) and are movable relative to the rail system (108), an automated storage and retrieval system.
  5. In any one of paragraphs 1 through 3, An automated storage and retrieval system, wherein a first region (11) and a second region (12) are separated by a partition (17) comprising an opening (18) that allows at least one of a plurality of remote operation carriers (200, 300, 30) to pass through and a gate (19) configured to open and close the opening (18), and the gate (18) is an entrance barrier (13) or an exit barrier (14) of a carrier pen (10).
  6. In any one of paragraphs 1 through 3, An automated storage and retrieval system, wherein a rail system (108) extends across first and second regions (11, 12), and the rail system (108) comprises a plurality of first rails arranged in a first direction (X) and second rails arranged in a second direction (Y), each rail comprises tracks (110, 111) arranged within a horizontal plane (P), and the tracks (110, 111) form a grid pattern of grid cells within the horizontal plane (P).
  7. In paragraph 6, An automated storage and retrieval system, wherein a carrier pen (10) provides a holding area (19) for one or more remotely operated carriers (200, 300, 30) between an inlet barrier (13) and an outlet barrier (14), and the holding area (19) has the size of at least one grid cell in the length and/or width direction.
  8. In Paragraph 7, An automated storage and retrieval system, wherein the maintenance zone (19) is an intermediate zone (23) located between the first zone (11) and the second zone (12), and the first, second, and intermediate zones (11, 12, 23) are separated by a compartment (17) comprising an opening (18) that can be closed by an entrance barrier or an exit barrier (13, 14).
  9. In paragraph 8, An automated storage and recovery system in which an intermediate area (23) includes a carrier blocking zone, and the carrier blocking zone automatically cuts off power to one or more carriers (200, 300) located within the carrier blocking zone when activated.
  10. In Paragraph 9, An automated storage and retrieval system in which the activation of a carrier blocking zone is controlled by an opening of an inlet or outlet barrier (13, 14) so that a carrier (200, 300, 30) located within the carrier blocking zone is automatically blocked when an inlet or outlet barrier (13, 14) is opened.
  11. In any one of paragraphs 1 through 3, An automated storage and retrieval system in which sensors (20) are arranged to register the positions of inlet and outlet barriers (13, 14) and communicate with an automated control system (109) to control the inlet and outlet barriers (13, 14).
  12. In Paragraph 11, An automated storage and retrieval system in which the entrance and exit barriers (13, 14) are configured to be remotely locked, unlocked, opened, or closed by using an automated control system (109).
  13. In any one of paragraphs 1 through 3, An automated storage and retrieval system, wherein the first region (11) is a storage and retrieval area comprising a rail system located on a storage grid, and the second region (12) is a service area comprising a service rail system where one or more carriers (200, 300) are located for maintenance.
  14. In any one of paragraphs 1 through 3, An automated storage and retrieval system, wherein the first region (11) is a delivery region comprising a delivery rail system located in the lower part of the storage grid or at the bottom level of the storage grid, and the second region (12) is a container access region comprising a container access rail system in which an item stored in a storage container (106) transported on a remote operation carrier (30) is accessed by a human or robot operator.
  15. A method for moving at least one of a plurality of remote operation carriers (200, 300, 30) between a first region and a second region of an automated storage and retrieval system according to claim 1, wherein a central computer: - A step of moving a remote motion carrier in the first region toward the entrance barrier of the carrier pen, - The step of opening the entrance barrier after it is confirmed that the exit barrier has been closed, - A step of moving at least one of a plurality of remote operation carriers through the entrance barrier of a carrier pen, - Step of closing the entrance barrier while the carrier is inside the carrier pen, - Step to check if the entrance barrier is in a closed or locked position, - A step for unlocking or opening an exit barrier, wherein the exit barrier can be opened manually or automatically, - The step of moving the carrier through the exit barrier and into the second zone, and - A method arranged to control and execute the steps of closing the exit barrier.

Description

Automated storage and retrieval system with carrier pen The present invention relates to an automated storage and retrieval system comprising a first region and a second region, wherein the first region is connected to the second region for the passage of one or more of a plurality of remotely operated carriers by means of a carrier pen comprising an inlet barrier and an outlet barrier for controlling the passage of one or more carriers between the first region and the second region. FIG. 1 discloses a typical prior art automated storage and retrieval system (1) having a framework structure (100), and FIG. 2 and FIG. 3 disclose two different prior art container handling carriers (201, 301) suitable for operation in such a system (1). The framework structure (100) comprises a storage volume including upright members (102), horizontal members (103), and storage columns (105) arranged in rows between the upright members (102) and the horizontal members (103). Within these storage columns (105), storage containers (106), also known as bins, are stacked vertically on top of each other to form a stack (107). The members (102, 103) can typically be manufactured from metal, for example, compressed aluminum profiles. The framework structure (100) of the automated storage and retrieval system (1) includes a rail system (108) arranged across the upper part of the framework structure (100), and a plurality of container handling carriers (201, 301) are operated on the rail system (108) to raise a storage container (106) from a storage column (105), lower a storage container (106) into a storage column, and also transport a storage container (106) on top of a storage column (105). The rail system (108) comprises a first set of parallel rails (110) arranged to guide the movement of a container handling carrier (201, 301) in a first direction (X) across the top of the frame structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide the movement of the container handling carrier (201, 301) in a second direction (Y) perpendicular to the first direction (X). The container handling carrier accesses a container (106) stored in a column (105) through an access opening (112) within the rail system (108). The container handling carrier (201, 301) may move laterally over the storage column (105), that is, in a plane parallel to the horizontal X-Y plane. The upright member (102) of the framework structure (100) is used to guide the storage container while raising the container from the column (105) and lowering the container into the column. The stack (107) of the container (106) is typically self-supporting. Each of the prior art container handling carriers (201, 301) comprises a carrier body (201a, 301a) and first and second sets of wheels (201b, 301b, 201c, 301c) that enable lateral movement of the container handling carrier (201, 301) along the X direction and Y direction, respectively. In FIGS. 2 and 3, two wheels within each set can be fully identified. The first set of wheels (201b, 301b) is arranged to be coupled with two adjacent rails in the first set (110) of rails, and the second set of wheels (201c, 301c) is arranged to be coupled with two adjacent rails in the second set (111) of rails. At least one of the sets of wheels (201b, 301b, 201c, 301c) can be raised and lowered, and accordingly, the first set of wheels (201b, 301b) and/or the second set of wheels (201c, 301c) can be combined with each set (110, 111) of the rail at any time. Each of the prior art container handling carriers (201, 301) also includes a lifting device (not shown) for vertical transport of a storage container (106), for example, to raise the storage container (106) from a storage column (105) and to lower the storage container (106) into a storage column. The lifting device includes one or more gripping/coupling devices, such gripping/coupling devices are configured to be coupled with the storage container (106), such gripping/coupling devices can be lowered from the carrier (201, 301), and accordingly, the position of the gripping/coupling devices relative to the carrier (201, 301) can be adjusted in a third direction (Z) perpendicular to the first direction (X) and the second direction (Y). A portion of the gripping device of the container handling carrier (301) is illustrated in FIG. 3 by reference numeral 304. The gripping device of the container handling device (201) is located within the carrier body (301a) in FIG. 2. Typically, and also for the purposes of the present invention, Z=1 represents the top layer of the storage container, that is, the layer immediately below the rail system (108), Z=2 represents the second layer below the rail system (108), and Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z=8 represents the bottom layer of the lowest part of the storage container. Similarly, X=1…n and Y=1…n represent the positions of each