LIFTING FRAME WITH WIRELESS COMMUNICATION

Abstract

A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a vehicle body and at least one lifting device with a lifting frame with gripper elements for releasable connection to a storage container, and a transmitter for communicating instructions for controlling the gripper elements. The lifting frame includes a first rechargeable power supply for supplying energy to the gripper elements. The container handling vehicle has at least one second rechargeable power supply configures to charge the first rechargeable power supply when the lifting frame is in a top most position. The at least one second 10 rechargeable power supply is connected to at least one upper charger connector and the first rechargeable power supply is connected to at least one lower charger connector. The at least one lower charger connector is attached to the upper side of the lifting frame and is connected to the first rechargeable power supply.

Claims

1. A container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system, the container handling vehicle comprising a vehicle body, at least one lifting device having a lifting frame with gripper elements for releasable connection to a storage container, and a transmitter for communicating instructions for controlling the gripper elements, wherein: the lifting frame further comprises a first rechargeable power supply for supplying energy to the gripper elements; wherein the container handling vehicle has at least one second rechargeable power supply configured to charge the first rechargeable power supply when the lifting frame is in a top position; the at least one second rechargeable power supply is connected to at least one upper charger connector and the first rechargeable power supply is connected to at least one lower charger connector.

2. The container handling vehicle according to claim 1, wherein the at least one upper charger connector comprises a spring-biased contact probe, and wherein the at least one upper charger connector comprises a contact probe, a spring, a fixing plate, a wire connecting nut, a contact probe fixing nut, and a fixing nut.

3. The container handling vehicle according to claim 2, wherein the spring-biased contact probe has an internal spring.

4. The container handling vehicle according to claim 1, wherein the at least one lower charger connector is a plate of an electrically conductive material.

5. The container handling vehicle according to claim 1, wherein the at least one second rechargeable power supply is a Li-ion battery or a capacitor.

6. The container handling vehicle according to claim 1, wherein the first rechargeable power supply is a Li-ion battery or a capacitor.

7. The container handling vehicle according to claim 1, wherein communication for controlling the gripper elements is wireless communication between the transmitter and a receiver situated on the lifting frame.

8. The container handling vehicle according to claim 7, wherein the wireless communication is light communication.

9. The container handling vehicle according to claim 8, wherein the light communication is implemented by one or more of Visible Light Communication (VLC), Li-Fi, Irda, Optical Wireless Communication (OWC), or Reasonable Optical Near Joint Access (RONJA).

10. The container handling vehicle according to claim 7, wherein the transmitter is a first transceiver and the receiver is a second transceiver.

11. The container handling vehicle according to claim 7, wherein the transmitter and the receiver are installed to be in line of sight of each other.

12. The container handling vehicle according to claim 1, wherein the lifting frame is a horizontal lifting frame.

13. A method for picking up storage containers from a three-dimensional grid of a storage system, the method comprising: lowering a lifting frame of a container handling vehicle; communicating instructions to the lifting frame, by a transmitter of the container handling vehicle, to actuate gripper elements of the lifting frame; using a first rechargeable power supply of the container handling vehicle to supply energy to perform the actuating of the gripper elements; lifting the lifting frame; using a power reading device to read a charge level of the first rechargeable power supply; and using at least one second rechargeable power supply to charge the first rechargeable power supply if the first rechargeable power supply has a charge level below a set threshold level, wherein the at least one second rechargeable power supply is connected to at least one upper charger connector and the first rechargeable power supply is connected to at least one lower charger connector.

14. The method according to claim 13, wherein the first rechargeable power supply is a Li-ion battery or a capacitor.

15. The method according to claim 13, wherein the at least one second rechargeable power supply is a Li-ion battery or a capacitor.

16. The method according to claim 13, further comprising using wireless communication between the transmitter and a receiver.

17. The method according to claim 16, wherein the wireless communication uses light communication.

18. The method according to claim 16, further comprising using a first transceiver as the transmitter and a second transceiver as the receiver.

19. The method according to claim 17, further comprising using one or more of Visible Light Communication (VLC), Li-Fi, Irda, Optical Wireless Communication (OWC), or Reasonable Optical Near Joint Access (RONJA) as the light communication.

20. The method according to claim 13, wherein the lifting frame is a horizontal lifting frame.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Certain embodiments will now be described in greater detail by way of example only and with reference to the accompanying drawings, in which:

[0024] FIG. 1 is a perspective view of an exemplary storage system according to the present invention.

[0025] FIG. 2a is a perspective view of a prior art container handling vehicle with a central cavity for storing containers.

[0026] FIG. 2b is a side view of a prior art container handling vehicle wherein the lifting frame is displayed, first in a raised position and second in a slightly lowered position.

[0027] FIG. 3 is a side view of a container handling vehicle according to an embodiment of the present invention wherein the lifting frame is displayed in a slightly lowered position.

[0028] FIG. 4 is a side view of the charging circuit of how the first rechargeable power source can charge the second rechargeable power source.

DETAILED DESCRIPTION

[0029] FIG. 1 is a perspective view of an exemplary storage system according to the present invention. Here it is disclosed a framework structure of a typical prior art automated storage and retrieval system 1. The framework structure comprises a plurality of upright members/profiles 2 and a plurality of horizontal members 3, which are supported by the upright members 2. The members 2, 3 may typically be made of metal, e.g. extruded aluminium profiles.

[0030] The framework structure defines a storage grid 4 comprising multiple grid columns 12 arranged in rows. Most of the grid columns 12 are storage columns 5 in which storage containers 6, also known as containers, are stacked one on top of another to form stacks 7. Each storage container 6 (or container for short) may typically hold a plurality of product items (not shown), and the product items within a storage container 6 may be identical or may be of different product types depending on the application. The framework structure guards against horizontal movement of the stacks 7 of storage containers 6, and guides vertical movement of the containers 6, but does normally not otherwise support the storage containers 6 when stacked.

[0031] FIG. 2a is a perspective view of a prior art container handling vehicle with a central cavity for storing containers. In this solution the lifting device and the lifting frame 17 with the gripper elements is stored inside the central cavity when it is raised. The benefit of such a solution is that the container handling vehicle takes up less space of the underlying grid allowing for more container handling vehicles to operate at the same time.

[0032] FIG. 2b is a side view of a prior art container handling vehicle wherein the lifting frame 17 is displayed, first in a raised position and second in a slightly lowered position. The container handling vehicle presented here is a cantilever solution wherein the lifting device and the lifting frame 17 with the gripper elements are placed adjacent to the main body of the container handling vehicle. A benefit with this solution is that the container is placed away from the main power source and the electro motors running the container handling vehicles.

[0033] FIG. 3 is a side view of a container handling vehicle according to an embodiment of the present invention wherein the lifting frame 17 is displayed. Although the container handling vehicle displayed here is a cantilever solution the present invention can just as well be used on a container handling vehicle with a central cavity for storing containers. The container handling vehicle comprises a main body and a cantilever extension. In the main body there is a second rechargeable power supply 41. This second rechargeable power supply 41 can preferably be a Li-ion battery or a capacitor. The second rechargeable power supply 41 delivers power to at least one electrically powered motor. The electrically powered motor maneuvers the container handling vehicle on the grid of the underlying storage system. The electrically powered motors provide motion to at least two sets of wheels. Further the main body can have a central control center.

[0034] In the embodiment presented in FIG. 3 there is a cantilever extension on the main body where the lifting device is situated. In an alternative embodiment the lifting device can be situated inside the body of a central cavity container handling vehicle. This makes no difference to the solution of the present invention.

[0035] The lifting device comprises a lifting band drive assembly connected to the vehicle body. To the lifting band drive assembly there is attached at least one rotatable lifting shaft. To the rotatable lifting shaft there is attached a plurality of lifting bands 16. To the lifting bands 16 there is attached a horizontal lifting frame 17. On this lifting frame 17 there is at least one set of gripping elements for releasable connection to a storage container.

[0036] To the bottom part of the cantilever extension there is attached at least one upper charger connector 31. The upper charger connector 31 is connected to the second rechargeable power supply 41. The second rechargeable power supply 41 can charge a first rechargeable power supply 42 situated on the horizontal lifting frame 17. The charging of the first rechargeable power supply 42 is done when the lifting frame 17 is at its upper most position.

[0037] The second rechargeable power supply 41 is the main power supply for the container handling vehicle. The power is used for manoeuvring the container handling vehicle and to give power to the lifting of the containers by the horizontal lifting frame 17.

[0038] Further the second rechargeable power supply 41 is used to power the central controller system, which is the main computer system of the container handling vehicle, and to charge the second rechargeable power supply.

[0039] The first rechargeable power supply 42 is used to power the gripper elements 24 on the horizontal lifting frame 17. The first rechargeable power supply 42 is also situated on the horizontal lifting frame 17.

[0040] The at least one upper charge connector is connected to the second rechargeable power supply 41. The at least one upper charger connector 31 are touching at least one lower charger connector 33 when the horizontal lifting frame 17 is at its top most position. The at least one lower charger connector 33 is attached to the upper side of the horizontal lifting frame 17. From here it is connected to the first rechargeable power supply 42.

[0041] A power reading device 43 can check if the first rechargeable power supply 42 needs to be charged when the horizontal lifting frame 17 is at its top most position. If the first rechargeable power supply 42 needs to be recharged the power is transferred from the second rechargeable power supply 41 to the first rechargeable power supply 42 via the upper and the lower charger connectors 33. If the power reading device concludes that the first rechargeable power supply 42 do not need to be charged, no power is transferred from the second rechargeable power supply 41 to the first rechargeable power supply 42 via the upper and the lower charger connectors 33.

[0042] The first rechargeable power supply 42 can be a Li-ion battery or a capacitor.

[0043] The when the horizontal lifting frame 17 is lowered into the underlying grid of the storage system, vertical guide pins 30 ensures that the lifting frame 17 is lowered correctly into the shaft and connects properly with the container. There is a vertical guide pin in each corner of the horizontal lifting frame 17.

[0044] When the lifting frame 17 has connected properly to the container the central controller system tells the gripper elements 24 to grip the container. The central controller system communicates the information to a transmitter 32 using light as a medium for communication. The transmitter 32 is situated in a lower part of the cantilever extension. The transmitter 32 transmits information directly downwards to a receiver 34 situated on an upper surface of the horizontal lifting frame 17. From here the information received by the receiver is transmitted along a wire to the gripper elements 24 and the gripper elements 24 either grips a container or releases a container depending on the information sent by the central controller system.

[0045] The gripper element 24 is connected to a gripper sensor 43. The gripper sensor 43 gives information regarding if the gripper elements 24 are actually gripping a container. The sensor can give this information in the form of feedback to the central controller system. Further, the gripper sensor 43 can also measure the amount of force the gripper elements 24 are using.

[0046] Further the transmitter 32 can be a first transceiver and the receiver 34 can be a second transceiver ensuring a two-way communication between the lifting frame 17 and the central control system.

[0047] The light communication can be implemented by one or more of Visible Light Communication (VLC), Li-Fi, Irda, Optical Wireless Communication (OWC) or Reasonable Optical Near Joint Access (RONJA).

[0048] Further the transmitter 32 and the receiver 34 must be in line of sight of each other.

[0049] FIG. 4 is a side view of the charging circuit of how the second rechargeable power supply 41 can charge the first rechargeable power supply 42 according to a preferred embodiment of the present invention.

[0050] The second rechargeable power supply 41 is connected to two upper charger connectors 31. The contact probe 35 of the upper charger connectors 31 protrudes from the bottom surface of the cantilever extension. In a central cavity solution, the contact probe 35 of the upper charger connector 31 will protrude slightly from a lower part of the cantilever extension of the container handling vehicle.

[0051] When the lifting frame 17 is in its top most position, the two upper charger connectors 31 are in physical contact with a corresponding pair of lower charger connectors 33. These lower charger connectors 33 according to a preferred embodiment of the present invention is in the form of plates of an electrically conductive material. The lower charger connectors 33 are mounted to the top side of the lifting frame 17. The lower and the upper charger connectors 31 are adjacent to each other so that they will touch when the lifting frame 17 is in its top most position.

[0052] A power reading device 43 can read of the charge level of the first rechargeable power supply 42 when the upper and the lower charger connectors 33 are in physical contact with each other. If the first rechargeable power supply 42 need to be recharged the second rechargeable power supply 41 will charge the second rechargeable power supply. If the first rechargeable power supply 42 has sufficient charge no power is transferred from the second rechargeable power supply 41 to the first rechargeable power supply 42.

[0053] Each upper charger connector 31 comprises a contact probe 35, a spring 36, a fixing plate 37, a wire connecting nut 38, a contact probe fixing nut 39, and a fixing nut 40. The contact probe goes through the center of the entire upper charger connector 31 and is preferably an electrode of conductive metal like e.g. copper. Between the contact probe 35 and the fixing plate 37, there is a spring 36. The spring 36 biasing the contact probe 35 towards the fixing plate 37 ensures a reliable connection between the upper and the lower charger connector 33. The upper charger connector 31 is fixed to a fixing plate with a fixing nut. The contact probe is fixed to the rest of the upper charger connector 31 with a contact probe fixing nut. The wires from the second rechargeable power supply 41 is fixed between the contact probe fixing nut and a wire connecting nut.