VEHICLE ROTATION DEVICE AND SYSTEM

Abstract

A rotation device rotates an autonomous vehicle operating on a rail system of an automated storage and retrieval system. The system is of the type having a framework structure including a plurality of vertical upright members defining storage columns for storing stacks of storage containers, with the rail system arranged on the framework structure. The rail system includes perpendicular tracks, the intersection of which define a grid having grid cells. The grid cells define openings to the storage columns. The autonomous vehicle is of the type having wheels that travel along the rail system, and which changes direction by alternatively lifting or lowering sets of wheels. One set of wheels is adapted for travel of the vehicle in a first direction, and a second set of wheels is adapted for travel of the vehicle in a second direction, perpendicular to the first direction. The rotation device includes a module adapted for mounting in a grid cell beneath a plane defined by the rail system of the framework structure, and a stationary member affixed to the module. The stationary member is arranged to receive a force, transferred from the container handling vehicle to the stationary member by a mechanical linkage, and to convert the force into a rotation of the vehicle.

Claims

1. A rotation device for rotating an autonomous vehicle operating on a rail system of an automated storage and retrieval system, of the type having a framework structure comprising a plurality of vertical upright members defining storage columns for storing stacks of storage containers, with the rail system arranged on the framework structure, the rail system comprising perpendicular tracks, the intersection of which define a grid having grid cells, the grid cells defining openings to the storage columns, and where the autonomous vehicle is of the type having wheels that travel along the rail system, and which changes direction by alternatively lifting or lowering sets of wheels, one set of wheels adapted for travel of the vehicle in a first direction, and a second set of wheels adapted for travel of the vehicle in a second direction, perpendicular to the first direction, wherein the rotation device comprises: a. a module adapted for mounting in a grid cell beneath a plane defined by the rail system of the framework structure, b. a stationary member affixed to the module, c. wherein the stationary member is arranged to receive a force, transferred from the container handling vehicle to the stationary member by a mechanical linkage, and to convert the force into a rotation of the vehicle.

2. The rotation device according to claim 1, wherein the stationary member is a circular member.

3. The rotation device according to claim 1, wherein the stationary member is a stationary gear having gear teeth.

4. The rotation device according to claim 1, wherein the stationary member is a post.

5. The rotation device according to claim 1, wherein the device further comprises a turntable, rotatably connected to the stationary member, the turntable comprising track sections around its periphery, the track sections being in contiguous communication with the rail system of the framework structure when the turntable is in a non-rotated, aligned state, and wherein the device comprises means to convert a rotational force from the wheels of a container handling vehicle at rest on the turntable to a rotational force to rotate the turntable.

6. The rotation device according to claim 5, wherein the turntable is connected to the stationary member via a rotatable extension arm or spindle, the arm comprising a rotatable turntable gear arranged to travel circumferentially around the stationary gear when the rotatable turntable gear is rotated, wherein the turntable further comprising one or more rollers arranged in the track segments, and connected by a drive belt to the rotatable extension arm, such that rotation of the wheels of the container handling vehicle is converted into rotation of the rotatable extension arm, thereby rotating the turntable.

7. The rotation device according to claim 3, wherein the stationary gear has a center section adapted for an underside of the container handling vehicle to rest upon when the wheels of the container handling vehicle are lifted, thereby supporting the container handling vehicle above the plane of the rail system, the teeth of the stationary gear being adapted to engage a gear on an underside of the container handling vehicle and convert rotation of the gear into rotation of the container handling vehicle.

8. The rotation device according to claim 7, wherein gear is a worm gear.

9. The rotation device according to claim 4, wherein the post has an upper surface adapted for a rotatable plate arranged on an underside of the container handling vehicle to rest upon when the wheels of the container handling vehicle are lifted, thereby supporting the container handling vehicle above the plane of the rail system, whereby rotation of the rotatable plate is converted into rotation of the container handling vehicle.

10. A system for rotating an autonomous vehicle operating on a rail system of an automated storage and retrieval system, of the type having a framework structure comprising a plurality of vertical upright members defining storage columns for storing stacks of storage containers, with the rail system arranged on the framework structure, the rail system comprising perpendicular tracks, the intersection of which define a grid having grid cells, the grid cells defining openings to the storage columns, and where the vehicle is of the type having wheels that travel along the rail system, and which changes direction by alternatively lifting or lowering sets of wheels, one set of wheels adapted for travel of the vehicle in a first direction, and a second set of wheels adapted for travel of the container handling vehicle in a second direction, perpendicular to the first direction, wherein the system comprises: a. rotation device comprising a module adapted for mounting in a grid cell beneath a plane defined by the rail system of the framework structure, b. a stationary member affixed to the bottom of the module, c. wherein the vehicle and/or the module comprises a mechanical linkage arranged to transfer a force from the vehicle to the stationary member, whereby the force is converted into a rotation of the vehicle d. a control system arranged to issue commands to the vehicle to initiate and complete a rotation.

11. The system according to claim 10, wherein the vehicle is a container handling vehicle.

12. The system according to claim 8, wherein the stationary member is a stationary gear having gear teeth.

13. The system according to claim 8, wherein the stationary member is a post.

14. The system according to claim 10, wherein the device further comprises a turntable, rotatably connected to the stationary member, the turntable comprising track sections around its periphery, the track sections being in contiguous communication with the rail system of the framework structure when the turntable is in a non-rotated, aligned state, and wherein the rotation device comprises means to convert a rotational force from the wheels of a vehicle at rest on the turntable to a rotational force to rotate the turntable with the vehicle.

15. The system according to claim 12, wherein the turntable is connected to the stationary gear via a rotatable extension arm or spindle, the arm comprising a rotatable gear arranged to travel circumferentially around the stationary gear when the rotatable gear is rotated, the turntable further comprising one or more rollers arranged in the track sections, and connected by a drive belt to the rotatable arm, such that rotation of the wheels of the vehicle is converted into rotation of the rotatable arm, thereby rotating the turntable with the vehicle.

16. The system according to claim 10, wherein the stationary gear has center section adapted for an underside of the vehicle to rest upon when the wheels of the vehicle are lifted, thereby supporting the vehicle above the plane of the rail system, the teeth of the gear adapted to engage a gear on the underside of the vehicle and convert rotation of the gear into rotation of the vehicle about the stationary gear.

17. The system according to claim 16, wherein the underside of the container handling vehicle comprises a guide pin arrange to insert in a recess of the center section.

18. The rotation device according to claim 13, wherein the stationary post has an upper surface adapted for a rotatable plate arranged on an underside of the vehicle to rest upon when the wheels of the vehicle are lifted, thereby supporting the vehicle above the plane of the rail system, whereby rotation of the rotatable plate is converted into rotation of the vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

[0044] FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0045] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0046] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0047] FIG. 4 is a perspective view of an embodiment of the rotation device of the invention.

[0048] FIG. 5 is a perspective view of the device from FIG. 4 having rotated approximately 90 degrees.

[0049] FIG. 6 is an exploded view of the rotation device of FIG. 4.

[0050] FIG. 7 is an assembled view of FIG. 6.

[0051] FIG. 8 is a perspective view of a rotation device module, showing a protective plate covering the gears.

[0052] FIG. 9 is an overhead view FIG. 8, showing the track system of the framework structure and installed module.

[0053] FIG. 10 is a cut away perspective view showing the wheels of the vehicle engaging rollers of the rotating device of FIG. 4.

[0054] FIG. 11 is a cut away perspective view of the device from FIG. 10 having rotated approximately 45 degrees.

[0055] FIG. 12 is a perspective view of a vehicle with cantilevered lifting part positioned on the rotation device of FIG. 4.

[0056] FIG. 13 is a perspective view of the rotation device from FIG. 12 having rotated approximately 45 degrees.

[0057] FIG. 14 is a perspective view of details of a second embodiment of the invention, showing stationary module gear.

[0058] FIG. 15 is a top view of FIG. 14.

[0059] FIG. 16 is a side elevational view of FIG. 14.

[0060] FIG. 17 is a view from underneath of a vehicle used in connection with the second embodiment, showing a worm gear.

[0061] FIG. 18 is a detailed perspective view from FIG. 17.

[0062] FIG. 19 is a cut away view showing the vehicle lifted such that the worm gear is out of engagement with the module gear.

[0063] FIG. 20 is a side elevational view of the vehicle from FIG. 19 immediately prior to engagement of its worm gear with the module gear of the second embodiment.

[0064] FIG. 21 is a side elevational view from FIG. 20, showing the vehicle lowered such that its worm gear is in engagement with the module gear of the second embodiment.

[0065] FIG. 22 is a cut away view showing the worm gear of the vehicle in engagement with the module gear of the second embodiment.

[0066] FIG. 23 is a perspective view of a vehicle positioned on top of the second embodiment, and rotated approximately 45 degrees with its wheels lifted.

[0067] FIG. 24 is a view of a third embodiment of the invention, showing a rotatable plate underneath the vehicle.

[0068] FIG. 25 is a view showing the vehicle of FIG. 24 resting on a post arranged in the bottom of a module.

[0069] FIG. 26 is a side view of FIG. 25.

DETAILED DESCRIPTION OF THE INVENTION

[0070] In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

[0071] The present invention is utilized in connection with an automated storage and retrieval system of the type described in the background section of this application.

[0072] The framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with FIGS. 1-3, i.e. a number of upright members 102 and a number of horizontal members 103, which are supported by the upright members 102, and further that the framework structure 100 comprises a first, upper rail system 108 in the X direction and Y direction.

[0073] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, where storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0074] The framework structure 100 can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in FIG. 1. For example, the framework structure 100 may have a horizontal extent of more than 700700 columns and a storage depth of more than twelve containers.

[0075] Various aspects of a vehicle rotation device 600 according to preferred embodiments of the invention will now be discussed in more detail with reference to FIGS. 4-13, which illustrate a first embodiment of the invention, FIGS. 14-23 which illustrate a second embodiment of the invention, and FIG. 24 which illustrates a third embodiment of the invention.

[0076] In the preceding description, various aspects of the container handling vehicle 201/301 and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.

[0077] As shown in FIG. 4, according to a first embodiment the vehicle rotation device 600 of the present invention is in the form of a module 602 arranged to be inserted into and occupy a grid cell 604 of framework structure 100. FIG. 4 shows device 600 in a non-rotated state, while FIG. 5 shows the rotation device 600 in a rotated state, having rotated approximately 90 degrees.

[0078] As shown in FIGS. 6-9, the rotation device 600 comprises module 602. Module 602 comprises a front wall 606, sides 607, a back wall 608 and a bottom 610. Mounted on bottom 610 is a stationary gear 612, referred to hereafter as a module gear. It should be understood that the particular shape and arrangement of the module gear is exemplary, and that one skilled in the art will recognize that various types of gears can be employed. A rotatable turntable 614 is movably connected to module gear 612 via a rotatable extension arm or spindle 616 connected to a center axle 617, as shown in FIG. 5. The rotatable extension arm 616 and center axle 617 have axes of rotation arranged at 90 degrees to each other. A turntable gear 618 is affixed to rotatable extension arm 616 and arranged to travel about the circumference of module gear 612 as extension arm 616 rotates.

[0079] Turntable 614 comprises a plurality of track sections 620, arranged to be coextensive with the periphery of cell 604, and to provide contiguous communication with rail system 108 of framework 100 when turntable 614 is in a non-rotated state (aligned state), as shown in FIGS. 4 and 9.

[0080] Integrated in track sections 620 is one or more rollers 622, connected to rotatable extension arm 616 by a drive belt 624. Rotation of the one or more rollers 622 thus cause turntable gear 618 to travel circumferentially about module gear 612, rotating the turntable with respect to module gear 612.

[0081] As shown in FIG. 5, turntable 614 has arcuate corners 626 that are angled at substantially 45 degrees, and which cooperate with arcuate angled end parts 628.

[0082] As shown in FIG. 8, turntable 614 of rotation device 600 may comprise a cover plate 627 covering the inner components of the module.

[0083] As shown in FIG. 9, arcuate corners 626 and arcuate end parts 628 align to permit vehicles to traverse the track sections of the rotation device when the device is in a non-rotated state.

[0084] FIG. 10 shows a container handling vehicle 201 at rest on the rotation device 600. Fig also illustrates the manner in which module 602 is inserted into grid cell 604. In grid cell 604, parallel rails 110a are removed, and replaced by module rails 630. Rail system 108 is cut or removed at grid cell 604, such that the rail system includes arcuate angled end parts 628. Module 602 may then be placed upon module rails 630 and fixed in place in a manner known in the art.

[0085] As shown in FIGS. 10 and 11, vehicle 201/301 is driven onto turntable 614 such that one or more of wheels 201c rests upon rollers 622. For example, vehicle 201/301 may be driven onto turntable 614 in direction X as shown in FIG. 10 by wheels 201b. Wheels 201b may then be raised in order to lower wheels 201c onto rollers 622. Alternatively, vehicle 201 may be driven in a direction Y, perpendicular to direction X, by wheels 201c directly onto rollers 622.

[0086] Once wheels 201c are in position on rollers 622 as shown in FIGS. 10 and 12, the wheels 201c are caused to rotate through torque provided by drive motors in the vehicles 201/301, which in turn causes drive belt 624 to rotate extension arm 616 about an axis of the center axle 617. As extension arm 616 rotates, turntable gear 618 travels about module gear 612, rotating turntable 614 and vehicle 201/301, as shown in FIGS. 11 and 13.

[0087] A second embodiment of the invention is illustrated in FIGS. 14-23. As shown in FIG. 14, module 602 comprises a stationary gear 612 mounted on bottom 610. In this embodiment there is no rotatable turntable. Rather, the rail system 108 remains intact about the grid cell in which the rotation device is inserted. Alternatively, module 602 may comprise its own track segments which replace the portions of rail system 108 surrounding the grid cell.

[0088] Module gear 612 has a center section 632. In one aspect, center section 632 has a recess 634. In one aspect, module gear 612 may protrude vertically above a horizontal plane defined by an upper surface of rail system 108, with center section 632 protruding vertically higher than module gear teeth 636.

[0089] According to this second embodiment, the container handling vehicle body has an underside 638. In one aspect, a guide pin 640 is arranged on underside 638, as shown in FIG. 17. A gear 642 is located below vehicle body underside 638, arranged to engage stationary gear 612 to apply a thrust that is reacted by the stationary gear in order to rotate the vehicle. In one embodiment gear 642 is a worm gear, but one skilled in the art will recognize that other types of gears can be employed. Gear 642 may be caused to rotate by the motors for the drive wheels of the vehicle or by other means.

[0090] FIGS. 20-23 illustrate the operation of the second embodiment. Vehicle 201/301 is driven onto rotation device 600. Wheels 201c are lifted, such that vehicle underside comes to rest upon center section 632 of module gear 612. As can be appreciated, a guide pin 640 can insert into recess 634 to align the vehicle with the module gear. Wheels 201c are then further lifted, such that vehicle 201/301 rests fully upon module gear, with worm gear 642 engaged with module gear teeth 636. Rotation of the worm gear 642 will thereby cause vehicle 201/301 to rotate about module gear 612. After the rotation is complete, the wheels of the vehicle are lowered into contact with the rail system, as shown in FIG. 23.

[0091] FIG. 24 illustrates a third embodiment of the invention. Similar to the second embodiment, the third embodiment does not comprise a rotatable turntable. In the third embodiment, module 602 comprises a stationary post 644 rather than a module gear 612. In this embodiment, vehicle 201/301 comprises a rotatable plate 646. As in the case of the second embodiment, the third embodiment operates by the vehicle driving onto the rotation device, and raising its wheels such that the vehicle comes to rest upon post 644, with rotatable plate 646 resting on an upper surface 648 of post 644. By rotating the rotatable plate, the vehicle rotates about post 644. Rotatable plate 646 may be caused to rotate by a mechanical linkage to the vehicles drive wheels, by its own motor, or by other means known in the art.

LIST OF REFERENCE NUMBERS

Prior Art (FIGS. 1-4)

[0092] 1 Prior art automated storage and retrieval system [0093] 100 Framework structure [0094] 102 Upright members of framework structure [0095] 103 Horizontal members of framework structure [0096] 104 Storage grid [0097] 105 Storage column [0098] 106 Storage container [0099] 106 Particular position of storage container [0100] 107 Stack [0101] 108 Rail system [0102] 110 Parallel rails in first direction (X) [0103] 110a First rail in first direction (X) [0104] 110b Second rail in first direction (X) [0105] 111 Parallel rail in second direction (Y) [0106] 111a First rail of second direction (Y) [0107] 111b Second rail of second direction (Y) [0108] 112 Access opening [0109] 119 First port column [0110] 120 Second port column [0111] 201 Prior art storage container vehicle [0112] 201a Vehicle body of the storage container vehicle 201 [0113] 201b Drive means/wheel arrangement, first direction (X) [0114] 201c Drive means/wheel arrangement, second direction (Y) [0115] 301 Prior art cantilever storage container vehicle [0116] 301a Vehicle body of the storage container vehicle 301 [0117] 301b Drive means in first direction (X) [0118] 301c Drive means in second direction (Y) [0119] 304 Gripping device [0120] 500 Control system [0121] X First direction [0122] Y Second direction [0123] Z Third direction

Present Invention

[0124] 600 Vehicle rotation device [0125] 602 Module [0126] 604 Grid cell [0127] 606 front wall [0128] 607 sides [0129] 608 back wall [0130] 610 Bottom [0131] 612 Module gear [0132] 614 turntable [0133] 616 extension arm [0134] 617 center axle [0135] 618 turntable gear [0136] 620 track sections [0137] 622 rollers [0138] 624 drive belt [0139] 626 corners [0140] 627 cover plate [0141] 628 end parts [0142] 630 module rails [0143] 632 Center section [0144] 634 recess [0145] 636 Module gear teeth [0146] 638 vehicle body underside [0147] 640 Guide pin [0148] 642 worm gear [0149] 644 post [0150] 646 rotatable plate [0151] 648 Upper post surface