公开(公告)号：US20230024692A1

公开(公告)日：2023-01-26

申请号：US17757412

申请日：2020-12-15

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Øystein Gjerdevik

IPC: G05D1/02 ,  B65G1/04 ,  B65G1/137

Abstract: A remotely operated vehicle includes an arrangement to provide a pre-alert and tracking of a position of the vehicle following a travelling route relative to tracks laid out on rails in x-, y-directions on a rail system. The vehicle has first and seconds sets of wheels connected to drives for moving the vehicle in corresponding x-, y-directions on the rail system. The arrangement includes at least one sensor module provided with at least four sensors. A first sensor is directed vertically downwards to detect the rails in the x-direction on the sensor module. A second sensor is directed vertically downwards to detect the rails in the y-direction on the sensor module. A third sensor is positioned on the sensor module to detect a corner of an intersection between the rails in the x-direction and y-direction. A fourth sensor is configured to detect a remaining distance to the arrival of the vehicle at a set position, by detecting the rails in the x direction when travelling in the y direction, and detecting the rail in the y direction when travelling in the x direction. The fourth sensor is placed at a predefined position on the sensor module. A controller is provided on the vehicle to receive the output from at least one of the sensors and to pre-alert the remaining distance of the arrival of the vehicle at the position.

公开(公告)号：US20230019883A1

公开(公告)日：2023-01-19

申请号：US17934377

申请日：2022-09-22

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Jørgen Djuve Heggebø ,  Uwe Gruenbeck

IPC: B60W50/00 ,  B65G1/04 ,  B65G65/23 ,  B65G47/06 ,  B66F9/06 ,  G05D1/02 ,  B66F9/19 ,  G05D1/00 ,  B65G1/137 ,  B65G63/06 ,  B65G57/03 ,  B61B13/00 ,  B65G67/24 ,  B65G43/00 ,  B65G1/06 ,  B65G47/52 ,  B65G63/00

Abstract: An automatic storage and retrieval system includes: a delivery vehicle; a storage container carried by the delivery vehicle; and an unloading station for unloading an item from the storage container while it is being carried by the delivery vehicle. The unloading station includes: an unloading device; and a destination conveyor configured to convey the item to a target destination, wherein the unloading device is configured to move the item through a side opening of the storage container to the destination conveyor.

公开(公告)号：US11498757B2

公开(公告)日：2022-11-15

申请号：US17054531

申请日：2019-06-11

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

IPC: B65G1/04 ,  B65G1/06

Abstract: The present invention provides a storage system (1) comprising a storage grid structure (104) having a top rail grid upon which container handling vehicles (200,300) work to store and retrieve storage containers (106) in and from storage columns (105) beneath the top rail grid, wherein the storage system comprises multiple transfer rails (110′,111′) forming a horizontal transfer rail grid (5) arranged at a level below the top rail grid, at least one transport vehicle (19) operating on the transfer rail grid, a picking/stocking station (8) for picking/stocking items between a storage container (106) and a packaging box (24), and an unloading/loading assembly (23) for unloading/loading packaging boxes containing such items, the transport vehicle (19) is arranged to move upon the transfer rail grid (5) in two perpendicular directions and comprises a carrier platform (20), wherein the transfer rail grid is arranged to allow access for the transport vehicle (19) to transport one or more packaging boxes at a time between the picking/stocking station and the unloading/loading assembly (23).

公开(公告)号：US20220356697A1

公开(公告)日：2022-11-10

申请号：US17814082

申请日：2022-07-21

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

IPC: E04B1/19 ,  B65G1/04 ,  E04C3/02

Abstract: A storage system includes a storage grid structure; and a remotely operated storage bin handling vehicle. The storage grid structure comprises a first and a second type of vertical storage column profiles defining multiple storage columns in which storage bins can be stored one on top of another in vertical stacks. The first and second type storage column profiles are interconnected at top ends thereof by rails forming a horizontal rail grid upon which the remotely operated storage bin handling vehicle may move in two perpendicular directions. The first type of storage column profiles has a cross-section comprising a hollow centre section and four corner sections, each of the four corner sections of the first type of storage column profiles comprises two perpendicular bin guiding plates for accommodating a corner of a first storage bin. The second type of storage column profiles has a cross-section comprising a hollow centre section having at least two connecting elements arranged in, or on, an external surface of the hollow centre section, and at least one corner section, the at least one corner section of the second type of storage column profiles comprises two perpendicular bin guiding plates for accommodating a corner of a second storage bin. The storage grid structure comprises a grid supporting structure comprising at least two of the second type of storage column profiles interconnected, via the at least two connecting elements of the at least two second type of storage column profiles, by vertically inclined support struts.

公开(公告)号：US11492197B2

公开(公告)日：2022-11-08

申请号：US17045999

申请日：2019-04-24

Applicant: Autostore Technology AS

Inventor： Ivar Fjeldheim ,  Trond Austrheim

IPC: B65G1/04 ,  B65G1/137

Abstract: An automated storage and retrieval system includes at least one relay module for relaying storage containers between a port column and an access station. The relay module is arranged below a port column. The relay module includes a port station, a first conveyor, a second conveyor, each arranged at a side of the port station, and a lateral displacement device. The port station receives storage containers dropped off from and to be picked up through the port column. The first conveyor is adapted to transport storage containers to an access station. The second conveyor is adapted for transporting storage containers from the access station. The lateral displacement device is arranged to transport storage containers between the port station and the first conveyor, and between the second conveyor and the port station.

公开(公告)号：US11479407B2

公开(公告)日：2022-10-25

申请号：US16957116

申请日：2019-01-07

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Jorgen Djuve Heggebo ,  Ivar Fjeldheim ,  Borge Bekken

IPC: F16H21/14 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137

Abstract: 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).

公开(公告)号：US11465521B2

公开(公告)日：2022-10-11

申请号：US16761912

申请日：2018-11-07

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Øystein Gjerdevik ,  Jørgen Djuve Heggebø

IPC: B60L53/36 ,  B65G1/04

Abstract: 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.

公开(公告)号：US20220306384A1

公开(公告)日：2022-09-29

申请号：US17806912

申请日：2022-06-14

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Jørgen Djuve Heggebø ,  Ivar Fjeldheim ,  Børge Bekken

IPC: B65G1/04

Abstract: 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.

公开(公告)号：US20220260982A1

公开(公告)日：2022-08-18

申请号：US17661844

申请日：2022-05-03

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ivar Fjeldheim ,  Ingvar Fagerland

IPC: G05B19/418 ,  B65G1/04 ,  B65G1/137 ,  B66F9/06

Abstract: 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.

公开(公告)号：US20220234827A1

公开(公告)日：2022-07-28

申请号：US17606606

申请日：2020-03-06

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

IPC: B65G1/04 ,  E04B1/24 ,  E04B1/58 ,  E04H12/22

Abstract: 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.