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公开(公告)号：US11479407B2
公开(公告)日：2022-10-25
申请号：US16957116
申请日：2019-01-07
摘要： The invention concerns a displacement mechanism (16) for a remotely operated vehicle (400,500,600,700), the displacement mechanism (16) being for raising and lowering wheels (25) onto a rail system (108) that the remotely operated vehicle (400,500,600,700) runs on. Furthermore, the invention concerns a remotely operated vehicle (400,500,600,700) comprising such a displacement mechanism (16), a method for raising and lowering the wheels of a remotely operated vehicle (400,500,600,700) comprising such a displacement mechanism (16) and an automated storage and retrieval system (1) comprising at least one remotely operated vehicle (400,500,600,700) comprising such a displacement mechanism (16).
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公开(公告)号：US11465521B2
公开(公告)日：2022-10-11
申请号：US16761912
申请日：2018-11-07
摘要： A storage system includes a bin storing grid for storing storage bins in columns of the grid, a base with rails provided on top of the grid, and a vehicle configured to move vertically along the rails in a vehicle operating space. The system includes a charging station assembly for charging the rechargeable power sources of the vehicle. The charging station assembly includes a plurality of charging stations located above each other. Each charging station includes a power source carrier for carrying one of the respective power sources. A charging station support is supporting the charging stations in relation to the base. A transportation device is connected to the base for vertical displacement of the charging stations in relation to the base. A holding device is configured to selectively hold one of the charging stations at an exchange location in which the power source carrier of the one charging station is a predetermined height above the base. The transportation device is configured to vertically displace other charging stations to an upper location above the vehicle operating space or to a lower location below the vehicle operating space.
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公开(公告)号：US20220306384A1
公开(公告)日：2022-09-29
申请号：US17806912
申请日：2022-06-14
IPC分类号： B65G1/04
摘要： A displacement mechanism for a remotely operated vehicle includes a motor configured to actuate a drive crank, a coupler link connected to the drive crank on a first side, and a lift rocker on a second side, a displacement link connected to the lift rocker, and a displacement plate connected to the displacement link and having a plurality of wheels provided thereon. The drive crank, the coupler link, the lift rocker, the displacement link, and the displacement plate are each respectively connected with pivot connections such that actuation of the motor actuates the displacement plate between a raised position and a lowered position. The lift rocker is configured with a pivot point arranged in a body of the lift rocker such that the lift rocker, the pivot connection between the displacement link and the lift rocker, and the pivot connection between the lift rocker and the coupler link each rotate around the pivot point when the motor is actuated.
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公开(公告)号：US20220267094A1
公开(公告)日：2022-08-25
申请号：US17596367
申请日：2020-05-07
发明人： Ingvar Fagerland
摘要： A storage system includes at least one consolidation vehicle, a transfer rail grid, an item picking area, and an item delivery station. The consolidation vehicle includes a wheel arrangement for moving the consolidation vehicle in two perpendicular directions upon the transfer rail grid. The consolidation vehicle may be positioned upon the item picking area to receive multiple items picked from at least one storage container, and an item picker is arranged to pick items from the storage container and transfer them to the consolidation vehicle. The consolidation vehicle may be positioned upon the item delivery station to deliver items received from the storage container to a packaging/processing assembly. The consolidation vehicle includes an item carrier arranged such that items may be emptied from the item carrier when the consolidation vehicle is positioned at the item delivery station.
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公开(公告)号：US20220260982A1
公开(公告)日：2022-08-18
申请号：US17661844
申请日：2022-05-03
IPC分类号： G05B19/418 , B65G1/04 , B65G1/137 , B66F9/06
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 beyond a footprint of the container handling vehicle and, when the container handling vehicle is positioned at 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：US20220258978A1
公开(公告)日：2022-08-18
申请号：US17625945
申请日：2020-05-29
发明人： Ingvar Fagerland
摘要： A storage and retrieval system includes a grid structure with storage columns and a corresponding rail system above the storage columns for guiding movements of the vehicles adapted for transferring storage containers to and from the storage columns. Each vehicle includes a vehicle controller connected to driving unit and sensors for controlling movements of the vehicle along the rail system relative to movements of other vehicles, A method for autonomous controlling movements of the vehicles, performed in the vehicle controller of each vehicle, includes: a) using a map defining rail layout and traffic rules for where and when vehicles can move on the rail system, and wherein the map is the same for all vehicles operating in the storage and retrieval system; b) synchronizing the vehicle controller to a clock common for all vehicles; c) receiving an instruction from a master controller instructing the vehicle to move to a specified destination on the rail system relative to the map; d) letting the vehicle controller determine a route to follow on the rail system from a current position of the vehicle to the specified destination based on the map, the traffic rules, distance to other vehicles and movements of the other vehicles; e) controlling the movements of the vehicle along the rails system from the current position of the vehicle to the specified destination according to the determined route; and f) repeating steps d) and e) until the vehicle has reached the specified destination.
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公开(公告)号：US20220234827A1
公开(公告)日：2022-07-28
申请号：US17606606
申请日：2020-03-06
发明人： Trond Austrheim
摘要： A storage system includes a storage grid structure and multiple remotely operated storage bin handling vehicles. The storage grid structure includes vertical storage column profiles defining multiple storage columns in which storage bins can be stored one on top of another in vertical stacks. Each of the storage column profiles have an upper end and a lower end and the storage column profiles are interconnected at their upper ends by rails forming a horizontal rail grid upon which the bin handling vehicles may move in two perpendicular directions. The storage grid structure features grid supports include multiple base angle brackets. Each base angle bracket includes a vertical flange and a horizontal flange. The vertical flange is connected to a storage column profile. The horizontal flange is connected by bolts to a floor upon which the storage grid is arranged and a web interconnecting the flanges. Each of the flanges has a first end and a second end. The first end is arranged closer than the second end to the lower end of the storage column profile to which the vertical flange is connected. The web has a recess arranged between the first ends of the flanges.
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48.发明申请公开(公告)号：US20220194705A1
公开(公告)日：2022-06-23
申请号：US17599952
申请日：2020-03-16
发明人： Magne Hatteland , Ivar Fjeldheim , Trond Austrheim
摘要： A system for providing secure storage and retrieval of storage containers linked to different users includes an automated storage and retrieval system, a main control system, and a user interface. The automated storage and retrieval system has a framework structure defining a storage grid for storing storage containers arranged in stacks in storage columns and at least one container handling vehicle configured to raise storage containers from and lower storage containers into the storage columns and to transport storage containers to a container transport assembly connecting the automated storage and retrieval system to a plurality of interaction areas for accessing and transferring storage containers to and from the automated storage and retrieval system. The main control system is signal connected to an interaction area controller for keeping track of storage containers and their location in the automated storage and retrieval system and controls transfer of storage containers between the automated storage and retrieval system and the interaction areas. The container transport assembly and the interaction areas both include a transferring mechanism for moving a storage container to and from the container transport assembly and the interaction areas. The transferring mechanism of the container transport assembly includes a storage container support with a support transfer element. Each interaction area includes at least one access station for giving access to and enabling transferring of storage containers or items to and from the interaction area. The user interface has an identification mechanism for identifying a user and for controlling user access to the access station and for interacting with the automatic storage and retrieval system.
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公开(公告)号：US20220181882A1
公开(公告)日：2022-06-09
申请号：US17599436
申请日：2020-03-19
摘要： Power management system for a container-handling vehicle, with a rechargeable power source, for handling storage containers in an automated storage/retrieval system includes a charging station for recharging the rechargeable power source of the container-handling vehicle, a power supply for delivering power to the storage system, a power monitoring device coupled to the power supply, and a control system for controlling the operation of the automated storage/retrieval system. The power monitoring device monitors available power from the power source entering the automated storage/retrieval system and communicate a signal to the control system indicative of the available power. The control system is responsive to that signal and manages power consumption through modifying the operation of the container-handling vehicle and/or the charging station to reduce power consumption of the respective container-handling vehicle and/or the charging station in the event that the signal indicates that the available power has dropped below a threshold level.
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公开(公告)号：US20220168601A1
公开(公告)日：2022-06-02
申请号：US17442985
申请日：2020-03-23
发明人： Trond Austrheim , Ivar Fjeldheim
摘要： An autonomous grid storage system (1) arranged in a warehouse space (12). The autonomous grid storage system is divided within the warehouse space, for example on a single floor of said space, into a plurality of sub grids (10a/10b) separated by fire walls (18). One or more bridges (14) pass through openings in the fire wall to allow bin handling vehicles (210/301) to traverse between the sub grids. The openings (20) are provided with closable fire door (22).
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