A HATCH ASSEMBLY FOR A PORT OF A STORAGE AND RETRIEVAL SYSTEM

Abstract

A hatch assembly includes a pivotable hatch, at least one driven arm, and at least one link. The pivotable hatch includes a hatch frame pivotable about a horizontal pivot axis at its base, and a hatch cover connected to the hatch frame. The hatch cover can move in an arcuate manner for covering an open side of the goods holder. The driven arm rigidly is connected to a drive shaft. The link is for linking the pivotable hatch frame and the driven arm so that motion of the driven arm causes pivoting motion of the hatch. The link has a first direction of extension and is rigidly connected to the hatch frame and flexibly connected to the driven arm. The link has variable length in the first direction of extension. The length of the link is reduced once a forward pivotal movement of the hatch frame is discontinued.

Claims

1. A hatch assembly for a port of a storage and retrieval system for storing goods holders, said hatch assembly comprising: a pivotable hatch comprising a hatch frame pivotable about a horizontal pivot axis at its base, and a hatch cover connected to the hatch frame, wherein said hatch cover can move in an arcuate manner for covering an open side of the goods holder, at least one driven arm rigidly connected to a drive shaft of driving means, at least one link for linking the pivotable hatch frame and the driven arm so that motion of the driven arm causes pivoting motion of the hatch, the link having a first direction of extension, said link being rigidly connected to the hatch frame and flexibly connected to the driven arm, wherein said link has variable length in the first direction of extension, and wherein length of the link is reduced once a forward pivotal movement of the hatch frame is discontinued.

2. The hatch assembly of claim 1, wherein the link and the driven arm are pivotally connected to each other.

3. The hatch assembly of claim 1, wherein the driven arm and the pivotable hatch frame pivot back and forth in a reciprocative manner in the same plane.

4. The hatch assembly of claim 1, wherein the driven arm and the pivotable hatch frame always pivot in the same direction.

5. The hatch assembly of claim 1, wherein an angular stroke of the driven arm is between 80 and 100 degrees.

6. The hatch assembly of claim 5, wherein the angular stroke of the driven arm is larger than an angular stroke of the pivotable hatch frame.

7. The hatch assembly of claim 1, wherein said link comprises a spring.

8. The hatch assembly of claim 7, wherein said spring is lockable.

9. The hatch assembly of claim 7, wherein said spring is a gas spring.

10. The hatch assembly of claim 9, wherein a threshold value for a force required to extend or compress the gas spring is in the range 50-150 Nm.

11. The hatch assembly of claim 1, wherein said hatch cover has curved shape having a first curvature.

12. The hatch assembly of claim 1, wherein said hatch assembly is provided with a sensor for monitoring position of the hatch cover.

13. The hatch assembly of claim 1, wherein said hatch assembly further comprises a base frame that supports the driven arm and the driving means, said base frame further comprising connection points for the hatch frame.

14. The hatch assembly of claim 13, wherein said base frame further comprises wheels so that the hatch assembly is movable.

15. The hatch assembly of claim 1, wherein a horizontal pivot axis of the hatch frame is disposed under access position associated with the goods holder.

16. The hatch assembly of claim 1, wherein pivoting of said hatch frame entails translatory movement of the hatch cover.

17. The hatch assembly of claim 1, wherein the hatch frame comprises a pair of oppositely arranged hatch frame sections, the hatch cover being arranged between said frame sections and being rigidly connected to said frame sections, said hatch assembly further comprising a pair of oppositely arranged, driven arms, each connected to driving means, and a pair of oppositely arranged links, each link having a first direction of extension and linking the hatch frame section with the thereto associated driven arm so that motion of the driven arms causes pivoting motion of the hatch, each link being rigidly connected to the hatch frame and flexibly connected to the pivotable arm and each link having variable length in its first direction of extension, wherein length of the respective link is reduced once a forward pivotal movement of the hatch frame is discontinued.

18. The hatch assembly of claim 17, wherein the hatch frame section is shaped as a sector of a circle.

19. The hatch assembly of claim 17, said hatch assembly being substantially shaped as a parallelepiped, wherein a cut-out is provided at a lowermost portion of the hatch assembly, said cut-out further facing a hatch assembly operator.

20. A port of a storage and retrieval system for storing goods holders, said port comprising a hatch assembly comprising: a pivotable hatch comprising a hatch frame pivotable about a horizontal pivot axis at its base, and a hatch cover connected to the hatch frame, wherein said hatch cover can move in an arcuate manner for covering an open side of the goods holder, at least one driven arm rigidly connected to a drive shaft of driving means, at least one link for linking the pivotable hatch frame and the driven arm so that motion of the driven arm causes pivoting motion of the hatch, the link having a first direction of extension, said link being rigidly connected to the hatch frame and flexibly connected to the driven arm, wherein said link has variable length in the first direction of extension, and wherein length of the link is reduced once a forward pivotal movement of the hatch frame is discontinued.

21. A method for controlling operation of a hatch assembly for a port of a storage and retrieval system for storing goods holders, said hatch assembly comprising a pivotable hatch comprising a pivotable hatch frame, a hatch cover connected to said hatch frame, a driven arm, and a link for linking the pivotable hatch frame and the driven arm so that motion of the driven arm causes pivoting motion of the hatch, said method comprising: initiate size reduction of the link once forward pivotal movement of the hatch frame is discontinued.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0046] 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:

[0047] FIG. 1 is a perspective view of a framework structure of an automated storage and retrieval system belonging to prior art.

[0048] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying a container therein.

[0049] FIG. 3a is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0050] FIG. 3b is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying a storage container therein.

[0051] FIG. 4 is a perspective side view showing port and a port operator in accordance with one embodiment of the present invention.

[0052] FIG. 5 is a perspective side view of a hatch assembly in accordance with one embodiment of the present invention, wherein lid part of the hatch assembly is open.

[0053] FIG. 6 is a perspective side view of the hatch assembly shown in FIG. 5, wherein lid part of the hatch assembly is closed.

[0054] FIG. 7 is a perspective side view of the hatch assembly shown in FIGS. 5 and 6, wherein operator's hand is caught by the lid part.

[0055] FIG. 8 is a close-up showing components of the hatch assembly in accordance with one embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

[0056] 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.

[0057] 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. 1-3b, i.e. a number of upright members 102, wherein the framework structure 100 also comprises a first, upper rail system 108 in the X direction and Y direction.

[0058] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 where storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0059] 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.

[0060] Various aspects of the present invention will now be discussed in more detail with reference to FIGS. 4-8.

[0061] FIG. 4 is a perspective side view showing a port 12 and a port operator 36 of a storage and retrieval system shown in FIG. 1 in accordance with one embodiment of the present invention. A goods holder 106 about to exit the system via said port 12 is also shown. A hatch assembly 10 provided with a side cover 11 is also shown. The shown hatch assembly 10 is substantially shaped as a parallelepiped. A cut-out 32 that faces the operator 36 is provided at a lowermost portion of the hatch assembly 10. The assembly 10 will be discussed in greater detail in connection with FIGS. 5-8.

[0062] FIG. 5 is a perspective side view of a hatch assembly 10 in accordance with one embodiment of the present invention. For the sake of brevity, the parts discussed above in connection with FIG. 4 are not further discussed in connection with FIG. 5. Side cover shown in FIG. 4 has been removed in order to show interior components of the hatch assembly 10. In FIG. 5, a hatch cover 18 of the hatch assembly 10 is in the open state and goods holder 106 is in its access position 34. The hatch cover 18 has curved shape having a first curvature.

[0063] The shown hatch assembly 10 is suitable for use in a port of a storage and retrieval system for storing goods holders. The hatch assembly 10 comprises a pivotable hatch 14 comprising a hatch frame 16 pivotable about a horizontal pivot axis at its base, and the hatch cover 18 rigidly connected to the hatch frame 16. A further goods holder 109 positioned in a port column 37 is also shown. The hatch cover 18 can move in an arcuate manner for covering an open side of the goods holder 106. At least one driven arm 20 is rigidly connected to a drive shaft of driving means (both shown and discussed in connection with FIG. 8). At least one link 26 links the pivotable hatch frame 16 and the driven arm 20 so that motion of the driven arm 20 causes pivoting motion of the hatch 14. The driven arm 20 and the pivotable hatch frame 16 pivot back and forth in a reciprocative manner in the same plane. Said arm 20 and the hatch frame 16 always pivot in the same direction. An angular stroke of the driven arm 20 is between 80 and 100 degrees. Here, angular stroke of the driven arm 20 is the angular length of the arm movement required to cover over or allow access to the goods holder 106. The angular stroke of the driven arm 20 is larger than an angular stroke of the pivotable hatch frame 16.

[0064] The link 26 has a first direction of extension 27 and is rigidly connected to the hatch frame 16 and flexibly, typically pivotally, connected to the driven arm 20. The link 26 has variable length in the first direction of extension 27. In one embodiment, said link 26 comprises a spring that optionally may be lockable. The spring could be a gas spring. A threshold value for a force required to compress the gas spring, a so-called push-in force, is in the range 50-150 Nm.

[0065] FIG. 6 is a perspective side view of the hatch assembly 10 shown in FIG. 5. In FIG. 6, a hatch cover 18 of the hatch assembly 10 is in the closed state and the operator 36, in particular his hands, is positioned at a distance from the hatch assembly 10.

[0066] With reference to FIGS. 5-6 and for safety purposes, the hatch cover 18 will always be in closed state when the hatch assembly 10 doesn't hold a goods holder.

[0067] Furthermore, arrival of the goods holder 106 into access position associated with the goods holder (34; shown in FIG. 5) is detected by a suitable sensor, for instance a weight sensor. This sensor sends a signal to a control unit (not shown) that hatch 14 needs to open, i.e. pivot back into position shown in FIG. 5 such that the content of the goods holder may be accessed by the operator. The control unit may be independent or be integrated into a larger control unit controlling operation of the entire system of FIG. 1. Once the goods holder 106 is emptied and is ready for return to the system, the entire hatch 14 pivots forward so that the hatch cover 18 may shield the empty goods holder. This action may be triggered by the sensor signal or by the operator's action(s). In a related context, the hatch assembly 10 may be provided with a sensor (not shown) for monitoring position of the hatch cover 18.

[0068] FIG. 7 is a perspective side view of the hatch assembly 10 including a hatch 14 shown in FIGS. 5 and 6, wherein operator's 36 hand is caught by the hatch cover 18. For the sake of brevity, the parts discussed above in connection with FIGS. 5 and 6 are not further discussed in connection with FIG. 7.

[0069] In addition to what has been stated in connection with FIGS. 5-6, the hatch assembly 10 of FIGS. 5-7 eliminates the risk of fingers caught by the moving hatch cover 18 being firmly squeezed by the cover 18 such that the operator 36 sustains a serious injury. This is achieved in a simple and robust manner, i.e. without relying on electronic torque measurement components and software. More specifically, if forward, i.e. towards the operator 36, movement of the hatch cover 18 suddenly becomes hindered by the operator's hand, the driven arm will continue to pivot and the link being flexibly connected to the driven arm and having variable length will give in and compress, i.e. its length will be reduced, while a forward pivotal movement of the hatch frame 16 and the hatch cover 18 will be discontinued. In consequence, the hatch cover 18 stays put and does not move forward and cannot inflict an injury to the operator 36.

[0070] Here, the hatch assembly 10 of FIGS. 5-7 combines the small footprint with state-of-the-art safety mechanism. Accordingly, it may be used in a number of different port applications, including applications in pick-up areas where the goods holder is directly handled by a customer. In addition and with reference to cut-out shown in FIG. 4, the hatch assembly 10 of the present invention has a simple design featuring a limited number of components, resulting in a small footprint. The hatch assembly 10 may be made movable, for instance by providing wheels 30 visible for instance in FIG. 7.

[0071] FIG. 8 is a close-up showing components of the hatch assembly 10 in accordance with one embodiment of the present invention. In this embodiment, the hatch frame comprises a pair of oppositely arranged hatch frame sections 16a (only one of these being clearly visible in FIG. 8). Each of these sections 16a is shaped as a sector of a circle. The hatch cover 18 is arranged between said frame sections 16a and is rigidly connected to said frame sections 16a. The hatch assembly 10 further comprises a pair of oppositely arranged, driven arms 20a, each connected to drive shaft 22 of driving means 24, and a pair of oppositely arranged links 26a, each link 26a having a first direction of extension 27a and linking the hatch frame section 16a with the thereto associated driven arm 20a. Each link 26a is rigidly connected to the hatch frame section 16a and flexibly connected to the pivotable arm 20a. Each link 26a has variable length in its first direction of extension 27a.

[0072] The assembly 10 further comprises a base frame 28 that supports the driven arm 20 and the driving means 24, said base frame 28 further comprising connection points 33 for the hatch frame 16. A horizontal pivot axis of the hatch frame 16 is disposed under access position associated with the goods holder (34; shown in FIG. 5). The assembly 10 in accordance with this embodiment can be retrofitted to an existing goods holder handling station at a port where health and safety requirements call for a guard structure to protect the operator. If required and for easier handling, such an assembly may be provided with wheels, for instance wheels 30 shown in FIG. 7.

[0073] Turning back to FIG. 5, the hatch cover 18 in the open state (FIG. 5) can block a further goods holder 109 positioned in a port column 37 from colliding with the goods holder 106 in the access position 34 associated with the goods holder while simultaneously allowing access to the goods holder in the access position. Hereby, an additional safety feature has been achieved. More specifically and still with reference to FIG. 5, an inadvertent translational movement of the further goods holder 109 towards the operator is dispersed by the hatch frame 16 in the open state and occupying a space 40 provided between the port column 37 and the access position 34 associated with the goods holder. Hereby, the force generated by the further goods holder 109 accidentally crashing into the hatch 14 is deflected towards the connection points 33 (shown in FIG. 8) of the hatch frame 16, thus protecting the operator.

[0074] In the preceding description, various aspects of the safety hatch, the port of a storage and retrieval system and the automated storage and retrieval system itself 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.

LIST OF REFERENCE NUMBERS

[0075] 1 Storage and retrieval system [0076] 10 Hatch assembly [0077] 11 Side cover [0078] 12 Port [0079] 14 Hatch [0080] 16 Hatch frame [0081] 16a Hatch frame section [0082] 18 Hatch cover [0083] 20, 20a Arm [0084] 22 Drive shaft [0085] 24 Driving means [0086] 26, 26a Link [0087] 27, 27a First direction of extension [0088] 28 Base frame [0089] 30 Wheels [0090] 32 Cut-out [0091] 33 Connection points [0092] 34 Access position associated with the goods holder [0093] 36 Operator [0094] 37 Port column [0095] 40 Space [0096] 100 Framework structure 100 [0097] 102 Upright members of framework structure [0098] 104 Storage grid [0099] 105 Storage column [0100] 106 Storage container [0101] 106 Particular position of storage container [0102] 107 Stack of storage containers [0103] 108 Rail system [0104] 109 Further goods holder [0105] 110 Parallel rails in first direction (X) [0106] 111 Parallel rails in second direction (Y) [0107] 112 Access opening [0108] 119 First port column [0109] 201 Container handling vehicle belonging to prior art [0110] 201a Vehicle body of the container handling vehicle 201 [0111] 201b Drive means/wheel arrangement, first direction (X) [0112] 201c Drive means/wheel arrangement, second direction (Y) [0113] 301 Cantilever-based container handling vehicle belonging to prior art [0114] 301a Vehicle body of the container handling vehicle 301 [0115] 301b Drive means in first direction (X) [0116] 301c Drive means in second direction (Y) [0117] 401 Container handling vehicle belonging to prior art [0118] 401a Vehicle body of the container handling vehicle 401 [0119] 401b Drive means in first direction (X) [0120] 401c Drive means in second direction (Y) [0121] X First direction [0122] Y Second direction [0123] Z Third direction