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111.发明公开公开(公告)号：US20240190652A1
公开(公告)日：2024-06-13
申请号：US18554593
申请日：2022-04-07
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Ingvar Fagerland , Trond Austrheim , Jørgen Djuve Heggebø
IPC: B65G1/04
CPC classification number: B65G1/0464
Abstract: A container handling vehicle is fitted with a coupler for coupling to a delivery container and/or to a storage container. The coupler includes a coupler frame, a delivery container gripper, and a storage container gripper. The delivery container gripper is provided on the coupler frame and protrudes from a lower face of the coupler frame. The delivery container gripper is configured to enable releasable coupling to corresponding coupling structure of a delivery container. The storage container gripper is provided on the coupler frame and protrudes from the lower face of the coupler frame. The storage container gripper is configured to enable releasable coupling to corresponding coupling structures of a storage container having a size allowing the delivery container to be held therein. The delivery container gripper includes two gripper paddles for gripping the delivery container. Each gripper paddle is pivoted from a pivot axis spaced equally and oppositely from a vertical centre plane oriented perpendicular to the lower face of the coupler frame. Each of the gripper paddles includes a protrusion located below the lower face of the coupler frame for insertion into a corresponding coupling structure of the delivery container.
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公开(公告)号：US12006145B2
公开(公告)日：2024-06-11
申请号：US16981109
申请日：2019-03-13
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø , Ivar Fjeldheim , Trond Austrheim
CPC classification number: B65G1/0464 , B65G1/1371 , B65G1/1375 , B66C13/48 , B66C17/06 , G06K7/10316 , B65G2203/046 , B65G2209/04
Abstract: An automated storage and retrieval system includes a guiding assembly and a vehicle. The guiding assembly includes a first guiding system arranged in a first horizontal plane and extending in a first direction, and a second guiding system arranged in a second horizontal plane and extending in a second direction which is orthogonal to the first direction, and a plurality of storage containers. The vehicle includes a lifting device for picking up storage containers that includes a lifting frame connectable to a storage container via lifting bands including powering and control cables for controlling a gripping device on the lifting frame. The vehicle includes at least one reader arranged on the lifting frame configured to read at least one label of a storage container of the system. The at least one reader is power and signally connected to onboard controls and communications systems of the vehicle.
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公开(公告)号：US20240158167A1
公开(公告)日：2024-05-16
申请号：US18422983
申请日：2024-01-25
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Trond Austrheim
CPC classification number: B65G1/0464 , B65G1/065 , B65G1/137 , B65G2201/0235
Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes: a first set of wheels arranged at opposite portions of a vehicle body of the container handling vehicle, for moving the vehicle along a first direction on a rail system of the grid; and a second set of wheels arranged at opposite portions of the vehicle body, for moving the vehicle along a second direction on the rail system of the grid, the second direction being perpendicular to the first direction. The vehicle body includes walls on all sides forming a footprint defined by horizontal peripheries in the X and Y directions of the vehicle body. The container handling vehicle further includes: a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section is arranged off centre relative a centre point of the footprint of the vehicle body, wherein a size ratio of the footprint F1 of the first section relative a footprint of the second section is at least 2:1, the first section is configured to accommodate a storage container, and the second section includes an assembly of motors for driving at least one wheel of each of the sets of wheels.
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公开(公告)号：US20240025643A1
公开(公告)日：2024-01-25
申请号：US18256736
申请日：2021-12-21
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ivar Fjeldheim , Magne Hatteland , Simen Aarseth , Øystein Gjerdevik
CPC classification number: B65G1/137 , B65G1/0464
Abstract: An automated storage and retrieval system includes a framework structure. The framework structure includes upright members, a storage volume comprising columns provided between the members, and a rail system provided on top of the members. Storage containers are stackable in stacks within the columns. The automated storage and retrieval system includes an access station and container handing vehicles configured to move on the rail system. The framework structure includes an access station compartment. The access station compartment comprises an access module, wherein the access module is one single independent access module with a self-supporting frame provided with wheels. The one single independent access module with a self-supporting frame is insertable into and retrievable out from the access station compartment.
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115.发明公开公开(公告)号：US20230406630A1
公开(公告)日：2023-12-21
申请号：US18037678
申请日：2021-12-20
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ivar Fjeldheim , Magne Hatteland , Simen Aarseth
CPC classification number: B65G1/10 , B65G1/0485 , B65G2203/0258 , B65G2201/0235
Abstract: An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, includes an access module, a drawer, a first actuator, and a second actuator. The access module includes a frame defining a drawer compartment provided within the frame. The drawer includes a drawer base and a drawer front. The drawer is movably connected to the frame. The first actuator is for moving the drawer relative to the frame between a presentation position in which the drawer is protruding from the drawer compartment and a retracted position in which the drawer is retracted within the drawer compartment. The drawer base includes a support on which the storage container can be supported in a front position or in a rear position. The second actuator is for moving the storage container from the front position to the rear position. The storage container is presented to the picker when the storage container is in the front position and when the drawer is in the presentation position.
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Patent Agency Ranking
公开(公告)号：US11846935B2
公开(公告)日：2023-12-19
申请号：US17661844
申请日：2022-05-03
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ivar Fjeldheim , Ingvar Fagerland
IPC: B65G1/137 , B65G1/04 , G05B19/418 , B66F9/06
CPC classification number: G05B19/41895 , B65G1/0464 , B65G1/0478 , B65G1/1375 , B66F9/063
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.
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公开(公告)号：US20230339683A1
公开(公告)日：2023-10-26
申请号：US18339580
申请日：2023-06-22
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Trond Austrheim
CPC classification number: B65G1/065 , B65G1/0414 , B65G1/0464 , B65G59/02
Abstract: An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position beyond a horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly within the horizontal extent of the vehicle body and above the vehicle body.
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公开(公告)号：US11718477B2
公开(公告)日：2023-08-08
申请号：US17817513
申请日：2022-08-04
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Trond Austrheim
CPC classification number: B65G1/065 , B65G1/0414 , B65G1/0464 , B65G59/02
Abstract: An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position outside the horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly inside the horizontal extent of the vehicle body.
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公开(公告)号：US11465842B2
公开(公告)日：2022-10-11
申请号：US17048963
申请日：2019-02-14
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Trond Austrheim
Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels for moving the vehicle along an X direction on a rail system of the grid; and a second set of wheels for moving the vehicle along a Y direction on the rail system of the grid. The Y direction is perpendicular to the X direction. The container handling vehicle includes vehicle body including sides. The vehicle body has a vehicle body footprint defined by horizontal peripheries in the X and Y directions of the vehicle body and includes a first section and a second section. The first section has a first footprint and the second section has a second footprint. The first and second footprints are defined by horizontal peripheries in the X and Y directions of the first and second sections respectively. The first section and the second section are arranged side-by-side, separated by a separation element of the first section, such that a total area of the first and second footprints equals a total area of the vehicle body footprint, and a centre point of the first footprint is arranged off centre relative a centre point of the vehicle body footprint. The first section defines a storage container receiving space which is configured to accommodate a storage container. The second section has a rectangular footprint and includes a portion of a first side of the vehicle body and an opposed portion of a second side of the vehicle body. The second section extends adjacent the separation element. Two wheels are mounted to the separation element. One wheel is mounted to the portion of the first side of the vehicle body and one wheel is mounted to the portion of the second side of the vehicle body. The wheels mounted to said portions of the first and second sides of the vehicle body are driven by a wheel motor that extends from an interior face of the side of the vehicle body into an internal space within the second section.
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公开(公告)号：US20220281684A1
公开(公告)日：2022-09-08
申请号：US17634376
申请日：2020-08-21
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Trond Austrheim
Abstract: An automated storage and retrieval system includes a rail system for guiding a plurality of container handling vehicles. The rail system includes a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction, which is orthogonal to the first direction. The first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each grid cell includes a grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. The automated storage and retrieval system includes a storage volume beneath the rail system. The storage volume includes storage columns for storing storage containers and the container handling vehicles are operable to retrieve a storage container from a stack of storage containers within the storage volume. A method of providing an operator access to a target storage position in the automated storage and retrieval system includes operating a master control system to allocate and instruct at least one container handling vehicle to remove storage containers along a first path between a position at a side edge or a top surface of the storage volume and the target storage position such that an operator can access the target storage position through the first path when the at least one container handling vehicle has removed the storage containers along the first path.
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