DK3307654T3 - Opbevaringssystem med robotanordning - Google Patents
Opbevaringssystem med robotanordning Download PDFInfo
- Publication number
- DK3307654T3 DK3307654T3 DK16730308.0T DK16730308T DK3307654T3 DK 3307654 T3 DK3307654 T3 DK 3307654T3 DK 16730308 T DK16730308 T DK 16730308T DK 3307654 T3 DK3307654 T3 DK 3307654T3
- Authority
- DK
- Denmark
- Prior art keywords
- storage system
- robot device
- robot
- storage
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0478—Storage devices mechanical for matrix-arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Warehouses Or Storage Devices (AREA)
- Memory System Of A Hierarchy Structure (AREA)
- Valve Device For Special Equipments (AREA)
- Vehicle Body Suspensions (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO20150758A NO339783B1 (en) | 2015-06-11 | 2015-06-11 | Storage system |
PCT/EP2016/063244 WO2016198565A1 (en) | 2015-06-11 | 2016-06-10 | Storage system with robot device |
Publications (1)
Publication Number | Publication Date |
---|---|
DK3307654T3 true DK3307654T3 (da) | 2023-03-20 |
Family
ID=56137294
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DK16730308.0T DK3307654T3 (da) | 2015-06-11 | 2016-06-10 | Opbevaringssystem med robotanordning |
DK19184185.7T DK3569525T3 (da) | 2015-06-11 | 2016-06-10 | Opbevaringssystem |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DK19184185.7T DK3569525T3 (da) | 2015-06-11 | 2016-06-10 | Opbevaringssystem |
Country Status (13)
Country | Link |
---|---|
US (3) | US10947042B2 (da) |
EP (3) | EP3569525B1 (da) |
JP (3) | JP6924153B2 (da) |
CN (2) | CN113752285A (da) |
AU (1) | AU2016277470A1 (da) |
CA (1) | CA2986315C (da) |
DK (2) | DK3307654T3 (da) |
ES (2) | ES2931317T3 (da) |
HK (1) | HK1247890A1 (da) |
MX (2) | MX2017016032A (da) |
NO (1) | NO339783B1 (da) |
PL (2) | PL3307654T3 (da) |
WO (1) | WO2016198565A1 (da) |
Families Citing this family (61)
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NO339783B1 (en) * | 2015-06-11 | 2017-01-30 | Jakob Hatteland Logistics As | Storage system |
KR20180081740A (ko) | 2015-11-11 | 2018-07-17 | 오카도 이노베이션 리미티드 | 로봇식 피킹 시스템 및 장치 |
CA3117170C (en) | 2016-02-08 | 2023-08-29 | Berkshire Grey, Inc. | Systems and methods for providing processing of a variety of objects employing motion planning |
EP3551560A1 (en) | 2016-12-09 | 2019-10-16 | Berkshire Grey Inc. | Systems and methods for processing objects provided in vehicles |
NO343300B1 (en) * | 2017-03-10 | 2019-01-21 | Autostore Tech As | Automated storage and retrieval system and method of operating the same |
CN110582454B (zh) | 2017-03-15 | 2021-08-03 | 伯克希尔格雷股份有限公司 | 用于存储、检索和处理包括可堆叠半圆形塔的对象的***和方法 |
CN110431097B (zh) | 2017-03-20 | 2022-04-08 | 伯克希尔格雷营业股份有限公司 | 用于处理包括运输车辆的物体的***和方法 |
WO2018175425A1 (en) | 2017-03-20 | 2018-09-27 | Berkshire Grey, Inc. | Systems and methods for processing objects including mobile matrix carrier systems |
CN113562378A (zh) | 2017-03-20 | 2021-10-29 | 伯克希尔格雷股份有限公司 | 用于处理物体的包括线性机架***的***和方法 |
EP3601108A1 (en) | 2017-03-20 | 2020-02-05 | Berkshire Grey, Inc. | Systems and methods for processing objects including an auto-shuttle system |
ES2973481T3 (es) | 2017-03-23 | 2024-06-20 | Berkshire Grey Operating Company Inc | Sistema y método para procesar objetos, incluyendo portadores matriciales móviles automatizados |
CN114148666B (zh) | 2017-03-23 | 2024-01-05 | 伯克希尔格雷营业股份有限公司 | 包括自动线性处理站的用于处理物体的***和方法 |
CN110662707B (zh) | 2017-03-23 | 2021-12-14 | 伯克希尔格雷股份有限公司 | 用于处理包括自动移动矩阵箱的物体的***和方法 |
CN110691742B (zh) | 2017-03-24 | 2022-09-09 | 伯克希尔格雷营业股份有限公司 | 包括自动处理的用于处理物体的***和方法 |
JP6848676B2 (ja) * | 2017-05-19 | 2021-03-24 | 村田機械株式会社 | ピッキングシステム |
NO343676B1 (en) * | 2017-09-20 | 2019-05-06 | Autostore Tech As | Container handling vehicle |
EP3459879A1 (de) * | 2017-09-20 | 2019-03-27 | Swisslog Evomatic GMBH | Roboterbasiertes lagersystem |
NO344464B1 (en) * | 2017-10-19 | 2019-12-23 | Autostore Tech As | Vehicle for an automated storage and retrieval system and method of operating an automated storage and retrieval system |
US11084660B2 (en) | 2017-10-27 | 2021-08-10 | Berkshire Grey, Inc. | Bin infeed and removal systems and methods for processing objects including mobile matrix carrier systems |
NO346364B1 (en) * | 2018-04-25 | 2022-06-27 | Autostore Tech As | Container handling vehicle with first and second sections and battery in second section, and system. |
NO344662B1 (en) * | 2018-06-12 | 2020-03-02 | Autostore Tech As | An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location |
US10843333B2 (en) | 2018-03-05 | 2020-11-24 | Berkshire Grey, Inc. | Systems and methods for processing objects, including automated re-circulating processing stations |
GB201805841D0 (en) * | 2018-04-09 | 2018-05-23 | Ocado Innovation Ltd | Affordance For Use On An Item In A Container |
EP3807177A1 (en) | 2018-06-12 | 2021-04-21 | Autostore Technology As | A delivery vehicle, an automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location |
CN115108226A (zh) * | 2018-06-12 | 2022-09-27 | 自动存储科技股份有限公司 | 用于控制容器搬运车辆和远程操作专用容器搬运车辆的操作的方法和***以及计算机程序 |
JP7386186B2 (ja) | 2018-06-12 | 2023-11-24 | アウトストア・テクノロジー・エーエス | 保管システム |
CN112469646B (zh) * | 2018-06-12 | 2022-07-12 | 自动存储科技股份有限公司 | 卸载设备和卸载站以及从储存容器卸载物项的方法 |
CN115027864A (zh) * | 2018-06-12 | 2022-09-09 | 自动存储科技股份有限公司 | 自动的储存***和在储存***中运送储存容器的方法 |
ES2971731T3 (es) | 2018-06-12 | 2024-06-06 | Autostore Tech As | Método de manipulación de vehículos averiados en un sistema de raíles y sistema de almacenamiento y recuperación que utiliza dicho método |
CA3098974A1 (en) * | 2018-06-12 | 2019-12-19 | Autostore Technology AS | A delivery system with an access point and a method of accessing an access point of the delivery system |
NO346213B1 (en) * | 2018-06-12 | 2022-04-25 | Autostore Tech As | System and applicable method of collecting items from containers by means of robot arm |
NO344742B1 (en) * | 2018-06-12 | 2020-03-30 | Autostore Tech As | A delivery system with an access point and a method of accessing an access point of the delivery system |
CN115123719A (zh) | 2018-06-12 | 2022-09-30 | 自动存储科技股份有限公司 | 自动存取*** |
US11572231B2 (en) | 2018-06-12 | 2023-02-07 | Autostore Technology AS | Storage system with modular container handling vehicles |
NO345886B1 (en) | 2018-06-12 | 2021-09-27 | Autostore Tech As | Vehicle tilting Device and Method of accessing a Storage container |
EP3807184A1 (en) | 2018-06-12 | 2021-04-21 | Autostore Technology As | Storage grid with container accessing station with locking device to lock remotely operated vehicle |
WO2019238642A1 (en) | 2018-06-12 | 2019-12-19 | Autostore Technology AS | Unloading arrangement and unloading station, as well as method of unloading an item from a storage container |
DK3807180T3 (da) * | 2018-06-12 | 2023-11-06 | Autostore Tech As | Beholderadgangsstation med løfteanordning |
WO2020011355A1 (en) * | 2018-07-11 | 2020-01-16 | O.W. Machinebouw B.V. | A storage system, a storage container and a push chain |
NO344852B1 (en) | 2018-11-06 | 2020-06-02 | Autostore Tech As | Robot vehicle with picking system |
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JP7416783B2 (ja) | 2018-11-28 | 2024-01-17 | アウトストア・テクノロジー・エーエス | 自動倉庫システムのための保管コンテナ |
CN113994356A (zh) | 2019-06-24 | 2022-01-28 | 伯克希尔格雷股份有限公司 | 用于在订单履行中心中提供订单装运的***和方法 |
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CN118055897A (zh) | 2021-10-06 | 2024-05-17 | 伯克希尔格雷营业股份有限公司 | 利用转移***对提供在升高车辆中的物体的动态处理和用于接收物体的方法 |
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NO339783B1 (en) * | 2015-06-11 | 2017-01-30 | Jakob Hatteland Logistics As | Storage system |
-
2015
- 2015-06-11 NO NO20150758A patent/NO339783B1/en unknown
-
2016
- 2016-06-10 CN CN202111028354.3A patent/CN113752285A/zh active Pending
- 2016-06-10 EP EP19184185.7A patent/EP3569525B1/en active Active
- 2016-06-10 CN CN201680033686.1A patent/CN107708940B/zh active Active
- 2016-06-10 CA CA2986315A patent/CA2986315C/en active Active
- 2016-06-10 EP EP16730308.0A patent/EP3307654B1/en active Active
- 2016-06-10 US US15/580,881 patent/US10947042B2/en active Active
- 2016-06-10 MX MX2017016032A patent/MX2017016032A/es unknown
- 2016-06-10 DK DK16730308.0T patent/DK3307654T3/da active
- 2016-06-10 ES ES19184185T patent/ES2931317T3/es active Active
- 2016-06-10 ES ES16730308T patent/ES2940359T3/es active Active
- 2016-06-10 JP JP2017563522A patent/JP6924153B2/ja active Active
- 2016-06-10 AU AU2016277470A patent/AU2016277470A1/en not_active Abandoned
- 2016-06-10 WO PCT/EP2016/063244 patent/WO2016198565A1/en active Application Filing
- 2016-06-10 PL PL16730308.0T patent/PL3307654T3/pl unknown
- 2016-06-10 DK DK19184185.7T patent/DK3569525T3/da active
- 2016-06-10 EP EP22154361.4A patent/EP4019431A1/en active Pending
- 2016-06-10 PL PL19184185.7T patent/PL3569525T3/pl unknown
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2017
- 2017-12-08 MX MX2021015671A patent/MX2021015671A/es unknown
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2018
- 2018-05-03 HK HK18105751.8A patent/HK1247890A1/zh unknown
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2020
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2021
- 2021-07-29 JP JP2021124418A patent/JP7284220B2/ja active Active
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2023
- 2023-01-06 JP JP2023000814A patent/JP2023030211A/ja active Pending
- 2023-05-31 US US18/326,403 patent/US20230303324A1/en active Pending
Also Published As
Publication number | Publication date |
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HK1247890A1 (zh) | 2018-10-05 |
AU2016277470A1 (en) | 2018-01-04 |
PL3569525T3 (pl) | 2023-01-16 |
PL3307654T3 (pl) | 2023-04-24 |
JP7284220B2 (ja) | 2023-05-30 |
NO339783B1 (en) | 2017-01-30 |
CA2986315A1 (en) | 2016-12-15 |
EP4019431A1 (en) | 2022-06-29 |
NO20150758A1 (en) | 2016-12-12 |
CN113752285A (zh) | 2021-12-07 |
MX2017016032A (es) | 2018-02-21 |
EP3307654A1 (en) | 2018-04-18 |
ES2940359T3 (es) | 2023-05-05 |
EP3569525B1 (en) | 2022-09-07 |
ES2931317T3 (es) | 2022-12-28 |
US20200031575A1 (en) | 2020-01-30 |
US20230303324A1 (en) | 2023-09-28 |
JP2021176811A (ja) | 2021-11-11 |
CN107708940B (zh) | 2021-10-01 |
EP3569525A1 (en) | 2019-11-20 |
JP2018516825A (ja) | 2018-06-28 |
JP2023030211A (ja) | 2023-03-07 |
CN107708940A (zh) | 2018-02-16 |
JP6924153B2 (ja) | 2021-08-25 |
CA2986315C (en) | 2024-06-11 |
MX2021015671A (es) | 2022-02-03 |
EP3307654B1 (en) | 2022-12-21 |
US10947042B2 (en) | 2021-03-16 |
DK3569525T3 (da) | 2022-12-05 |
US11702284B2 (en) | 2023-07-18 |
US20210101744A1 (en) | 2021-04-08 |
WO2016198565A1 (en) | 2016-12-15 |
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