公开(公告)号：US12180003B2

公开(公告)日：2024-12-31

申请号：US17047400

申请日：2019-02-07

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

IPC: B65G1/04 ,  B66C13/08

Abstract: The present invention provides a container-handling vehicle (9′) for picking up storage containers (6) from a three-dimensional grid (4) of an underlying storage system (1), comprising a vehicle body (13) and at least one lifting device (18) for lifting a storage container (6) from the grid (4), the lifting device (18′) comprises a lifting band drive assembly (47, 47′,31), a horizontal lifting frame (17) and a plurality of lifting bands (16a, 16b); the lifting band drive assembly (47, 47′,31) is connected to the vehicle body (13) and comprises at least one rotatable lifting shaft (22.22′); the lifting frame (17,17) comprises four corner sections (36), gripper elements (24) for releasable connection to a storage container (6), and a lifting band connector (32,32′) arranged at each of the corner sections; the lifting bands (16a, 16b) are connected to the lifting band drive assembly (47, 47′,31) and the lifting band connectors (32,32′), such that the lifting frame (17, 17) may move in a vertical direction relative to the lifting band drive assembly by rotation of the lifting shaft (22,22); wherein at least three of the lifting band connectors (32,32′) are adjustable, such that the vertical distance between the respective corner sections and the lifting band drive assembly may be adjusted.

公开(公告)号：US12179808B2

公开(公告)日：2024-12-31

申请号：US18455420

申请日：2023-08-24

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

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

Abstract: A system for storing and transporting storage containers includes an automated storage and retrieval grid including vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns. The container handling vehicle rail system includes a first set of parallel rails arranged in a first horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the first horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the first horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle 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. A transfer column is adapted for transport of a storage container between the container handling vehicle and a delivery space is situated at a lower end of the transfer column. A delivery system includes a first delivery rail system having at least one set of parallel rails arranged in a second horizontal plane guiding at least one delivery vehicle thereon. The delivery vehicle is adapted to receive and/or deliver a storage container at a storage container delivery location arranged below the delivery space of the transfer column and to move between the storage container delivery location and a second location, the first delivery rail system covers at least an area extending from the storage container delivery location to the second location. A vehicle lift device for transfer of the at least one delivery vehicle between a first lift stop position adjacent the second location in the second horizontal plane and a second lift stop position adjacent a third location arranged in a third horizontal plane being at a different vertical level than the second horizontal plane.

公开(公告)号：US12179807B2

公开(公告)日：2024-12-31

申请号：US17058680

申请日：2019-06-11

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

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

Abstract: The present invention provides a storage system (1) comprising a storage grid structure (104) and multiple container handling vehicles (200,300), the storage grid structure comprises vertical column profiles (102) defining multiple storage columns (105), in which storage containers (106) can be stored one on top of another in vertical stacks (107), and at least one transfer column (119,120), the column profiles are interconnected at their upper ends by top rails (110,111) forming a horizontal top rail grid (108) upon which the container handling vehicles (200,300) may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers (106) from, and store storage containers in, the storage columns (105), and transport the storage containers on the storage grid structure, wherein the storage grid structure (104) comprises at least one horizontal transfer section (2); and the storage system comprises multiple container transfer vehicles (6) and a transfer floor (5) on which the container transfer vehicles (6) may move horizontally, and the transfer section (2) is arranged at a level below the top rail grid (108) and extends from an external side (12) of the storage grid structure (104) to a position below the at least one transfer column (119,120) and comprises at least a section of the transfer floor (5); and each of the container transfer vehicles comprises a container carrier (38) for carrying a storage container (106) and a wheel arrangement (32a,32b) for moving the container transfer vehicle (6) in at least two perpendicular directions on the transfer floor (5); and wherein the at least one transfer column (119,120) extends from the top rail grid (108) to the transfer section (2), such that a storage container (106) may be transferred between the top rail grid (108) and the container carrier of one of the container transfer vehicles (6).

公开(公告)号：US12151894B2

公开(公告)日：2024-11-26

申请号：US15734431

申请日：2019-06-11

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

IPC: B65G1/137 ,  B65G1/04 ,  B65G47/02 ,  B65G61/00

Abstract: An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system including a first set of parallel rails arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell including a container handling vehicle 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 container handling vehicles being operable to retrieve a storage container from a stack of storage containers beneath the container handling rail system; a plurality of container handling vehicles operable on the container handling vehicle rail system, the container handling vehicles being operable to retrieve a storage container from a stack of storage containers beneath the container handling rail system; and a delivery column adapted for transport of a storage container between a container handling vehicle and a delivery port situated at a lower end of the delivery column. The delivery system includes: a delivery rail system, the delivery rail system comprising a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X), and a remotely operated delivery vehicle configured to travel on the delivery rail system, the remotely operated delivery vehicle including a container carrier adapted to support the storage container; a second location on the delivery rail system including a robotic operator for handling of product items in the storage container. The delivery port is arranged at a level above the delivery rails system allowing the delivery vehicle to be positioned directly below the delivery column. The delivery vehicle is further adapted to transport the storage container between a first location represented by the delivery port and the second location. The robotic operator is able to reach multiple positions within the delivery system in order to access storage containers transported on remotely operated delivery vehicles and positioned at different location within the delivery system.

公开(公告)号：US20240373804A1

公开(公告)日：2024-11-14

申请号：US18325877

申请日：2023-05-30

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ivar Fjeldheim

IPC: A01G31/06

Abstract: A stackable module has a functional component. The stackable module has a load-bearing frame including a first support member and a second support member held in a spaced apart and parallel configuration by a cross-member. The cross-member forms a part of the functional component. The load-bearing frame is configured to enable the stackable module to occupy a cuboidal volume within which the functional component is supported, and wherein the load-bearing frame includes upper and lower load-transferring edge surfaces. The functional component may be a growth board for supporting plants in a vertical farming system, the growth board having a drain.

公开(公告)号：US20240373803A1

公开(公告)日：2024-11-14

申请号：US18316859

申请日：2023-05-12

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ivar Fjeldheim

IPC: A01G31/06 ,  A01G7/04

Abstract: A stackable module having a functional component, where the stackable module has a load-bearing frame including a first support member and a second support member held in a spaced apart and parallel configuration by a cross-member, the cross-member forming a part of the functional component. The load-bearing frame is configured to enable the stackable module to occupy a cuboidal volume within which the functional component is supported, and wherein the load-bearing frame comprises upper and lower load-transferring edge surfaces. The functional component may be a functional component of a vertical farming system.

公开(公告)号：US20240373802A1

公开(公告)日：2024-11-14

申请号：US18316858

申请日：2023-05-12

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ivar Fjeldheim

IPC: A01G31/06

Abstract: A watering system for a vertical farming facility, having a stackable growth module having a load bearing frame to allow the growth module to be arranged in a self-supporting stack of other modules in a vertical farming facility. The growth module supports a vertically arranged growth board for supporting plants grown in the vertical farming facility where the plants grow in a horizontal direction out from the growth board. The growth board has: a porous growth medium; a watering trough extending along an upper edge of the growth board which is provided with holes for distributing water into the growth medium; a water collection trough extending along a lower edge of the growth board arranged to collect water exiting the growth medium; and a valve provided in the water collection trough arranged to permit water to flow out of the water collection trough when the valve is open and to prevent water from flowing out of the collection trough when the valve is closed.

公开(公告)号：US20240373792A1

公开(公告)日：2024-11-14

申请号：US18316916

申请日：2023-05-12

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ivar Fjeldheim

IPC: A01G9/02 ,  A01G9/24 ,  B65G1/04 ,  B65G1/06

Abstract: An automated vertical farming system includes a framework structure forming a grid storage arrangement. One or more module handling vehicles are arranged to travel and transport modules along a rail system. A control system is configured to control the travel and operation of the one or more module handling vehicles. Stackable growth modules are arranged to support growing plants, the growth modules having a footprint corresponding to that of a column of the framework structure, such that the growth modules may be arranged in stacks in the columns. The growth modules allow plants to grow horizontally, and also provide a non-drip watering system for watering the plants.

公开(公告)号：US20240343488A1

公开(公告)日：2024-10-17

申请号：US18755322

申请日：2024-06-26

Applicant: Autostore Technology AS

Inventor： Jørgen Djuve Heggebø ,  Trond Austrheim

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

CPC classification number: B65G1/065 ,  B65G1/0464 ,  B65G1/0478 ,  B65G1/1375 ,  G05B19/41895

Abstract: An automated storage and retrieval system that includes a rail system that includes 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 that is orthogonal to the first direction; a plurality of storage columns located beneath the rail system, each storage column is located vertically below a grid opening, wherein stacks of storage containers can be arranged in the storage columns; and a trolley for transporting the storage containers between the storage columns and at least one deployment area. The first and second sets of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell including a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of track. The trolley is movable in a horizontal plane above or below the rail system. The deployment area provides direct access to an area outside the grid pattern formed by the first and second sets of tracks. The trolley provides a container volume for storing at least one of the storage containers. The trolley includes moving devices allowing movement of the trolley in at least one of the first direction and the second direction.

公开(公告)号：US12098029B2

公开(公告)日：2024-09-24

申请号：US17283563

申请日：2019-10-11

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

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

CPC classification number: B65G1/06 ,  B65G1/0464 ,  B65G1/1378

Abstract: The invention concerns an access station (3) for picking storage containers (106), comprising: •—a picking zone (4), •—at least one conveyor (8,9,21,22) arranged to transport storage containers (106) from an entry position (6) through said picking zone (4) and to an exit position (7), wherein the access station (3) comprises: •—at least one tilting device (13) arranged to tilt a storage container (106) at least in the picking zone (4). The invention further relates to a method for operating such an access station and an automated storage and retrieval system comprising such an access station.