Container storage and retrieval station with lifting device

Abstract

A container access station is used to access storage containers of an automated storage and retrieval grid. The container access station comprises: an access opening through which a person and / or a robot can access the contents of the storage container; a base opening; and a lifting device arranged to retrieve the storage container from a first level below the base opening and lift the storage container through the base opening to a second level so that the storage container can be accessed through the access opening. The present invention also relates to a container access system and method thereof.

Description

[0001] This application is a divisional application, the application number of the parent application is 201980039028.7 (international application number is PCT / EP2019 / 065184), the application date is June 11, 2019, and the name of the invention is “Container storage and retrieval station with lifting device”. Technical Field

[0002] The present invention relates to a container accessing station, the container accessing station comprising a lifting device arranged to retrieve a storage container from a first level below a base opening and to lift the storage container through the base opening to a second level such that the container can be accessed through the access opening. The present invention also relates to a container accessing system, an automated storage and retrieval system and a method of accessing a storage container. Background Art

[0003] Figure 1A and Figure 1C A typical automated storage and retrieval system 1 of the prior art having a frame structure 100 is disclosed. Figure 1B and Figure 1D The operations are disclosed separately Figure 1A and Figure 1C A container transport vehicle 101 of a prior art system 1 disclosed in FIG.

[0004] The frame structure 100 includes a plurality of vertical members 102 and optionally a plurality of horizontal members 103 supporting the vertical members 102. The members 102, 103 may be generally made of metal, such as extruded aluminum profiles.

[0005] The frame structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows, wherein storage columns of storage containers 106 , also referred to as boxes, are stacked one above the other to form stacks 107 .

[0006] Each storage container 106 may typically hold a plurality of product items (not shown), and depending on the application, the product items within the storage containers 106 may be the same or may be different product types.

[0007] The storage grid 104 prevents horizontal movement of the storage containers 106 in the stack 107 and guides vertical movement of the storage containers 106 , but generally does not otherwise support the storage containers 106 when stacked.

[0008] The automated storage and retrieval system 1 includes a track system 108 arranged in a grid pattern on top of a storage grid 104, a plurality of container handling vehicles 200, 300 (such as in Figure 1B and Figure 1D) is operated on the rail system 108 to lift and lower a plurality of storage containers 106 from the storage column 105 and to transport the storage containers 106 above the storage column 105. The horizontal range of one grid cell in the grid cells 122 constituting the grid pattern is Figure 1A and Figure 1C Marked with bold lines.

[0009] Each grid unit 122 has a width typically in the interval of 30 to 150 cm and a length typically in the interval of 50 to 200 cm. Each grid opening 115 has a width and length typically 2 to 10 cm smaller than the width and length of the grid unit 122, due to the horizontal extension of the rails 110, 111.

[0010] The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 200, 300 to move across the top of the frame structure 100 in a first direction X and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 200, 300 to move in a second direction Y perpendicular to the first direction X. In this way, the track system 108 defines a plurality of grid columns over which the container handling vehicles 200, 300 can move laterally, i.e., in a plane parallel to the horizontal XY plane.

[0011] Each prior art container handling vehicle 200, 300 comprises a vehicle body and a wheel arrangement of eight wheels 201, 301, wherein a first set of four wheels enables lateral movement of the container handling vehicle 200, 300 in the X direction, and a second set of the remaining four wheels enables lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement can be raised and lowered so that the first set of wheels and / or the second set of wheels can engage with the corresponding set of tracks 110, 111 at any time.

[0012] Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertically transporting storage containers 106, such as lifting storage containers 106 from storage row 105 and lowering storage containers 106 into storage row 105. The lifting device includes one or more clamping / engaging devices (not shown) that are suitable for engaging storage containers 106, and the clamping / engaging devices can be lowered from the vehicle 201, 301 so that the position of the clamping / engaging devices relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0013] Typically, and also for the purposes of this application, Z=1 represents the uppermost layer of the grid 104, i.e., the layer immediately below the track system 108, Z=2 represents the second layer below the track system 108, Z=3 represents the third layer, etc. Figure 1A and Figure 1C In the exemplary prior art grid 104 disclosed in , Z=8 represents the bottom layer of the grid 04. Therefore, as an example, using Figure 1A and Figure 1D The Cartesian coordinate system X, Y, Z indicated in Figure 1A The storage container identified as 106' in FIG. 1 occupies grid position or cell X = 10, Y = 2, Z = 3. It can be said that the container handling vehicle 101 is traveling in the Z = 0 layer, and each grid column can be identified by its X and Y coordinates.

[0014] Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and loading the storage container 106 as it is transported across the track system 108. The storage space may include a centrally located cavity within the vehicle body, as described in WO 2014 / 090684 A1, the contents of which are incorporated herein by reference.

[0015] Alternatively, the container handling vehicle 300 may have a cantilever structure, as described in NO 317366, the contents of which are also incorporated herein by reference.

[0016] The container handling vehicle 200 may have a footprint, i.e., an extent in the X and Y directions, which is generally equal to the lateral extent of the grid cells 122, i.e., the extent of the grid cells 122 in the X and Y directions, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontally".

[0017] Alternatively, the container handling vehicle 200 may have a footprint that is greater than the lateral extent of (the lateral area defined thereby) the grid columns 105, as disclosed in WO 2014 / 090684 A1.

[0018] The track system 108 may be a single track system, as shown in FIG2A. Alternatively, the track system 108 may be a dual track system, as shown in FIG2B, thereby allowing a container handling vehicle 201 having a footprint generally corresponding to the lateral area defined by the grid columns 112 to travel along a row of grid columns even if another container handling vehicle 200 is located above a grid column 112 adjacent to the row. Both the single track system and the dual track system, or a combination of single track arrangements and dual track arrangements in the single track system 108, form a grid pattern in the horizontal plane P that includes a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of rails 110a, 110b of the first track 110 and a pair of rails 111a, 111b of the second set of rails 111. In FIG2B, the grid cells 122 are represented by dashed boxes.

[0019] Thus, tracks 110a and 110b form a track pair defining parallel rows of grid cells extending in the X-direction, and tracks 111a and 111b form a track pair defining parallel rows of grid cells extending in the Y-direction.

[0020] 2C, each grid unit 122 has a width Wc typically in the interval of 30 to 150 cm and a length Lc typically in the interval of 50 to 200 cm. Each grid opening 115 has a width Wo and a length Lo, which are typically 2 to 10 cm smaller than the width Wc and length Lc of the grid unit 122.

[0021] In the X and Y directions, adjacent grid cells are arranged to touch each other so that there is no space between them.

[0022] In the storage grid 104, most of the grid columns are storage columns 105, i.e., grid columns 105 in which storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column that is not used to store storage containers 106, but rather includes a position in which a container handling vehicle 200, 300 can unload and / or pick up storage containers 106 so that they can be transported to a second position (not shown) in which the storage containers 106 can be accessed from outside the grid 104, or the storage containers are transferred outside the grid 104 or transferred inside the grid. In the art, such positions are typically referred to as "ports", and the grid columns in which the ports are located can be referred to as "transfer columns" 119, 120. The unloading and picking up ports of the container handling vehicles are referred to as "upper ports of the transfer columns" 119, 120, while the opposite ends of the transfer columns are referred to as "lower ports of the transfer columns".

[0023] Figure 1A and Figure 1CThe storage grid 104 in includes two conveying lanes 119 and 120. The first conveying lane 119 may, for example, include a dedicated unloading port, where the container handling vehicles 200, 300 can unload the storage containers 106 to be transported through the conveying lane 119 and further enter the entrance or transfer station, and the second conveying lane 120 may include a dedicated picking port, where the container handling vehicles 200, 300 can pick up the storage containers 106 that have been transported from the entrance or transfer station through the conveying lane 120. Each of the ports of the first conveying lane and the second conveying lane may include a port suitable for picking up and unloading storage containers.

[0024] The container access station may typically be a picking station or inventory station where products are taken from or placed into the storage container 106. In the picking station or inventory station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to the storage grid 104 once accessed. In order to move storage containers out of or into the storage grid 104, there are also lower ports in the transfer train, such lower ports being used, for example, to transfer the storage container 106 to another storage facility (e.g., to another storage grid), directly to a transfer vehicle (e.g., a train or truck), or to a production facility.

[0025] When accessing data stored in Figure 1A104, one of the container handling vehicles 200, 300 is instructed to retrieve the target storage container 106 from the position of the target storage container 106 in the grid 104 and transport it to the transfer column 119 or through the transfer column 119. This operation involves moving the container handling vehicle 200, 300 to a grid position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle, and transporting the storage container 106 to the transfer column 119. If the target storage container 106 is located deep in the stack 107, that is, one or more other storage containers are located above the target storage container 106, the operation also involves temporarily moving the above-mentioned positioned storage container before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed with the same container handling vehicle 200, 300 that is subsequently used to transport the target storage container 106 to the transfer train, or with one or more other cooperating container handling vehicles 200, 300. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle 200, 300 that is specifically designed for the task of temporarily removing a storage container 106 from a storage train 105. Once the target storage container 106 has been removed from a storage train 105, the temporarily removed storage container may be placed back into the original storage train 105. However, the removed storage container may alternatively be placed back into another storage train 105.

[0026] When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 200, 300 is instructed to pick up a storage container 106 from the transfer column 120 and transport it to a grid position above the storage column 105 where the storage container 106 will be stored. After any storage container located at or above the target position within the storage column stack 107 has been removed, the container handling vehicle 200, 300 places the storage container 106 at the desired location. The removed storage container can then be placed back into the storage column 105 or relocated to another storage column 105.

[0027] A problem associated with known automated storage and retrieval systems 1 is that the area around the pick-up and unloading ports may be blocked by container handling vehicles 200, 300 that are instructed to unload or pick up storage containers 106. This may seriously hinder the operation of the automated storage and retrieval system 1. In small systems, this situation can be alleviated by adding transfer columns to the grid, as this will allow the container handling vehicles 200, 300 to be distributed between a large number of ports of the transfer columns to avoid congestion. However, if ports and columns are added, the infrastructure of the conveyor system must usually be increased. This requires space that may not necessarily be available. In addition, the cost of increasing the infrastructure of the conveyor system is high.

[0028] Another problem of the prior art automatic storage and retrieval system 1 is that the separate unloading port and pickup port of the transfer column 119, 120 require the container handling vehicle 200, 300 to move to the storage column 105 after unloading to retrieve a new storage container 106. Likewise, the container handling vehicle 200, 300 must empty the storage container 106 when being sent to the pickup port 120 to pick up the storage container. This leads to inefficiency and increased congestion around the port when the container handling vehicle 200, 300 moves around on the grid without the storage container 106 as a payload. In addition, the transfer column 119, 120 may occupy space on the grid 104, which can be used for other purposes, such as the movement of the container handling vehicle 200, 300.

[0029] In some cases, it may be desirable to separate the storage and retrieval system from public areas or areas accessible to consumers due to security or space considerations, such as in a supermarket or department store.

[0030] In view of the foregoing, it would be desirable to provide an automated storage and retrieval system and method for operating such a system which solves or at least alleviates one or more of the above-mentioned problems associated with using prior art storage and retrieval systems.

[0031] It is an object of the present invention to provide an automated storage and retrieval system which is more efficient than prior art systems by avoiding or at least reducing congestion of storage containers around a conveyor train.

[0032] An object of the present invention is to provide an efficient storage and retrieval system which takes up less space at a level accessible to consumers and in which elements of the storage and retrieval system can be concealed and secure.

[0033] Another object is to provide an efficient automated storage and retrieval system that is easy to install and to which transfer capacity can be easily increased after installation is complete.

[0034] Yet another object is to provide a dedicated area where storage containers and items held therein can be efficiently and easily handled at a level accessible to consumers. Summary of the invention

[0035] The present invention relates to a container access station for accessing a storage container for automatically storing and retrieving a grid. The container access station comprises:

[0036] - an access opening through which a person or a robot can access the contents of the container;

[0037] - an opening at the base; and

[0038] - a lifting device arranged to retrieve a container from a first level below the base opening and to lift the container through the base opening to a second level so that the container can be accessed through the access opening.

[0039] The lifting device may be configured to move the storage container in a substantially vertical or absolutely vertical direction between a first level and a second level.

[0040] The first level may be located on a first floor and the second level may be located on a second floor, the first floor and the second floor being vertically displaced relative to each other, wherein the lifting device is arranged for lifting or lowering the storage container between the first floor and the second floor.

[0041] The first level may be an area that is inaccessible to personnel or consumers, and the second level may be an area operated by personnel and / or customers, such as a department store, office, school, etc. When an item is ordered, the automatic storage and retrieval system retrieves the storage container containing the stored item and delivers it to the container retrieval station. In this way, the entire storage and retrieval system can be hidden from personnel or consumers, thereby saving space and increasing safety.

[0042] The lifting device may extend below the base opening and include a lifting frame for releasably connecting to the storage container and a lifting mechanism arranged to move the lifting frame from a first level to a second level.

[0043] The lifting mechanism may include a guide structure extending in a vertical direction at least from a first level to a second level, and the lifting frame may be connected to the guide structure and may be operable along at least a portion of the guide structure.

[0044] The lifting frame may be operated along at least a portion of the guide structure by a motor located on the lifting frame or the lifting mechanism. Thus, the motor may be configured to drive the lifting frame along at least a portion of the guide structure.

[0045] The lifting frame may be connected to the guide structure such that the lifting frame extends perpendicularly to the guide structure. Thus, the lifting frame may be in a horizontal or substantially horizontal position and the guide structure in a vertical or substantially vertical position.

[0046] The lifting frame may include four corner sections and a clamp element for releasably connecting to the storage container. The four corner clamp structures may hold the storage container in a stationary or near-stationary position on the lifting frame.

[0047] The gripper element may be driven by a gripper motor located at the periphery of the lifting frame. The control module may be connected to the gripper motor and control the gripper motor.

[0048] The storage container may include a plurality of recesses provided at the periphery of the opening of the storage container, wherein each recess is configured to receive a corresponding clamp element for releasably connecting the storage container to the lifting frame. The clamp element may be configured to releasably connect to the storage container using the recesses.

[0049] The lift frame may provide an opening in which items stored in the storage container may be accessed by a human and / or robotic operator at the container access station through the opening of the lift frame. When the lift frame is at the second level, the opening may be aligned with the access opening so that the contents of a container carried by the lift frame may be accessed via the access opening and the opening.

[0050] The lifting mechanism may include a lifting frame having an opening provided at the access opening, the opening defining an access perimeter and including a plurality of lifting belts guided by the lifting frame. The lifting frame may be suspended from the lifting frame in a horizontal orientation by the plurality of lifting belts, wherein the access perimeter of the opening in the lifting frame corresponds in shape and alignment to the access perimeter of the opening in the lifting frame to allow access to items in the storage container through the corresponding opening when the lifting frame has been lifted to the lifting frame by the lifting mechanism.

[0051] The lifting frame may include a pair of arms and a pulley may be connected to a distal end of each arm.

[0052] The lifting mechanism may include a lifting shaft for simultaneously winding or simultaneously unwinding the lifting belts.

[0053] The lifting belts can be unwound (unrolled) operated so that they deploy the lifting frame through the base opening where the lifting frame is connected to the upper surface of the storage container, and wound (reeled) when the lifting belts are operated so that they lift the storage container through the base opening to the access opening.

[0054] The container access station may include a cabinet that is arranged around the access opening and the base opening such that a container lifted into the cabinet by the lifting device is accessible only through the access opening.

[0055] The access opening may be located in the upper portion of the cabinet, and the base opening may be provided in the lower portion of the cabinet. Thus, the storage container is lifted from a first level below the cabinet to a second level at the upper portion of the cabinet through the base opening so that the storage container can be accessed through the access opening.

[0056] The base opening may be provided above or adjacent to a floor opening provided between a first level and a second level or between a first floor and a second floor of a building.

[0057] The container access station may include a deployable cover for limiting access through the access opening. The deployable cover may be a retractable cover. The cover may be arranged to open only when a predetermined condition is met (e.g., if access to the container is authorized), and thereby may permit access to the container through the access opening when the container is at the second level. The cover may be transparent and may allow viewing of the contents of the container from outside the container access station.

[0058] The present invention may also be directed to a container access system, which includes the container access station and the conveyor track system as described above.

[0059] The conveyor track system may include at least a first set of parallel tracks and at least a second set of parallel tracks, the at least first set of parallel tracks being arranged in a horizontal plane and extending in a first direction, the at least second set of parallel tracks being arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, the first and second sets of tracks together defining a conveyor grid of conveyor grid cells, and

[0060] - a remotely operated transfer vehicle operating on a transfer rail system, comprising a motor vehicle body and a container carrier arranged above the motor vehicle body for carrying a storage container,

[0061] Wherein the remotely operated transfer vehicle is configured to transfer the storage container to the container access station, and the lifting device of the container access station is arranged to retrieve the storage container from the remotely operated transfer vehicle at a first level.

[0062] By the arrangement of the lifting device, storage containers will be efficiently transported between the transfer rail system and the container access station which are vertically displaced relative to each other, allowing the transfer rail system to be located at a different level from the access station, thereby allowing efficient use of available floor space.

[0063] The present invention may also be directed to a container access system comprising a container access station and an automated storage and retrieval grid system as described above.

[0064] The automated storage and retrieval grid may be located on a level below the container access station. The container handling vehicle may be adapted to retrieve storage containers from the storage columns of the automated storage and retrieval grid and to transfer the storage containers to the container access station. The lifting device of the container access station is arranged to retrieve the storage container from the container handling vehicle at a first level and to lift the storage container from the first level to a second level.

[0065] Thus, the container storage and retrieval station may be arranged on the floor above a conveying grid of a conveying system or above a storage and retrieval grid of a container storage and retrieval system.

[0066] The container access system may include a plurality of container access stations as described above.

[0067] The present invention may also relate to an automated storage and retrieval system comprising a container access station, an automated storage and retrieval grid, and a conveying system for conveying storage containers between the automated storage and retrieval grid and the container access station.

[0068] The automated storage and retrieval grid includes:

[0069] a container handling vehicle track system for guiding a plurality of container handling vehicles, the container handling vehicle track system comprising 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 orthogonal to the first direction, the first and second sets of tracks forming a grid pattern in the horizontal plane, the grid pattern comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks; and

[0070] A conveying train adapted to transport storage containers arranged in stacks of storage containers beneath a container handling vehicle rail system between a container handling vehicle and a conveying port at a lower end of the conveying train.

[0071] The transfer vehicle is arranged to transport storage containers from a transfer port of the storage grid through the transfer grid to a transfer grid cell located vertically below the container access station and return the storage container to the transfer port for storage within the storage grid.

[0072] The automated storage and retrieval grid includes a plurality of vertical members defining a plurality of storage columns for storing storage containers stacked vertically on top of each other. The vertical members are interconnected at their upper ends by a container handling vehicle track system arranged to guide at least one container handling vehicle. The container handling vehicle is configured to lift or lower storage containers from or into the storage columns and to store containers above the storage columns.

[0073] The container handling vehicle track system is arranged in a first horizontal plane and includes a first set of parallel tracks extending in a first direction X and a second set of parallel tracks extending in a second direction Y orthogonal to the first direction X. The first and second sets of tracks form a grid pattern in the first horizontal plane, and the grid pattern includes 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 adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks. In addition, the automated storage and retrieval grid includes a transfer column adapted to transport storage containers between a container handling vehicle and a transfer space located at a lower end of the transfer column.

[0074] The transfer system comprises a first transfer track system having at least one set of parallel tracks arranged in a second horizontal plane and guiding at least one transfer vehicle thereon.

[0075] The transfer vehicle is adapted to receive and / or transfer a storage container at a storage container transfer position arranged below a transfer port of the transfer train and to move between the storage grid and the container access station.

[0076] The first transfer track system covers at least a region extending from a transfer port of the storage grid to a container access station.

[0077] The present invention also relates to a method for accessing a storage container through a container access station. The container access station comprises:

[0078] an access opening through which a person and / or a robot can access the contents of the storage container; a base opening; and

[0079] Lifting device.

[0080] The method includes retrieving a storage container from a first level and lifting the storage container through a base opening to a second level using a lifting device; and accessing the storage container at the second level through the access opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The following drawings are attached by way of example only to facilitate the understanding of the present invention.

[0082] Figures 1A to 1D is a perspective view of a prior art automated storage and retrieval system, wherein Figure 1A and Figure 1C The whole system is shown, Figure 1B and Figure 1D An example of a prior art container handling vehicle is shown with which the system is operable.

[0083] 2A-2C are top views of a grid unit including a set of parallel tracks arranged to guide movement of a remotely operated vehicle.

[0084] 3A to 3C illustrate different versions of a remotely operated transfer vehicle arranged for transporting storage containers between a storage grid and a container access station.

[0085] FIG. 4A to FIG. 4B is a perspective view of another automated storage and retrieval grid and a conveyor system for transporting storage containers between the storage grid and a container access station.

[0086] FIG. 5A to FIG. 5B A container access station according to an embodiment of the present invention is shown, wherein Figure 5BA second level of storage containers is shown.

[0087] FIG. 6A to FIG. 6C It is a perspective view of a container storage and retrieval system, which includes a conveyor system and a container storage and retrieval station with a container lifting device.

[0088] FIG. 7A to FIG. 7B A container access station according to an embodiment of the invention is shown, comprising a lifting device having a lifting belt.

[0089] FIG. 8A to FIG. 8B A container access system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0090] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings. Furthermore, even if certain features are described only for the system, it is clear that they are also valid for the transmitting vehicle and the related method, and vice versa. Therefore, any features and / or related methods described only with respect to the transmitting vehicle are also valid for the system.

[0091] refer to Figures 1A to 1D The storage grids 104 of each storage structure 1 constitute a frame 100 of a total of 143 grid columns 112, wherein the width and length of the frame correspond to the width and length of 13 and 11 grid columns 112, respectively. The top layer of the frame 100 is a rail system 108, on which a plurality of container handling vehicles 200, 300 operate.

[0092] The frame 100 of the storage system 1 is constructed according to the frame 100 of the prior art described above, i.e., a plurality of vertical members 102 and a plurality of horizontal members 103 supported by the vertical members 102, and further, the horizontal members 103 include a rail system 108 of parallel rails 110, 111 arranged across the top of the storage column 105 in the X direction and the Y direction, respectively. The horizontal area of ​​a single grid unit 122, i.e., along the X and Y directions, can be defined by the distance between adjacent rails 110 and 111, respectively (see also FIGS. 3A to 3C and FIG. 4A to FIG. 4B ).exist Figure 1A and Figure 1C In FIG. 1 , such grid cells 122 are marked on the rail system 108 by bold lines.

[0093] The track system 108 allows the container handling vehicles 200 , 300 to move horizontally between different grid locations, where each grid location is associated with a grid cell 122 .

[0094] exist Figure 1A and Figure 1CIn the embodiment, the storage grid 104 is shown as having a height of 8 cells. However, it should be understood that the storage grid 104 can in principle be of any size. In particular, it should be understood that the storage grid 104 can be larger than 8 cells. Figure 1A and Figure 1C For example, the grid 104 may have a horizontal extent greater than 700×700 grid cells 122. In addition, the grid 104 may be wider and / or longer than disclosed in FIG. Figure 1A and Figure 1C The grids disclosed in are much deeper. For example, the storage grid 104 can be greater than twelve grid cells deep.

[0095] The storage container handling vehicles 200, 300 may be of any type known in the art, such as any of the automated container handling vehicles disclosed in WO 2014 / 090684 A1, NO 317366 or WO 2015 / 193278 A1.

[0096] The track system 108 may be a single track system, as shown in Figure 2A. Alternatively, the track system 108 may be a double track system, as shown in Figure 2B. The present specification discloses details of single track and double track systems in the background technology section and the prior art section.

[0097] 3A-3C illustrate an embodiment of a remotely operated transfer vehicle 30 (hereinafter referred to as transfer vehicle 30 ).

[0098] The transfer vehicle 30 is configured to automatically store and retrieve the grid 104 (see Figure 4A and Figure 4B ) and an access opening 61 for transporting storage containers 106 (not shown), the automatic storage and retrieval grid being configured to store multiple stacks 107 of multiple storage containers 106, the grid being referred to as the storage grid 104 below, the access opening 61 being arranged in the container access station 60 for operating the storage container 106 by at least one of a robotic operator and a manual operator.

[0099] The transfer vehicle 30 includes: a body 31; rolling devices 32a, 32b connected to the body 31; a rolling device motor for driving the rolling devices 32a, 32b in a horizontal plane P; and a power source (not shown) connected to the rolling device motor. The power source should provide sufficient power to the rolling device motor (not shown) to propel the rolling devices 32a, 32b on a set route from the storage grid 104 to, for example, the access station 60.

[0100] The transfer vehicle 30 may further include a container carrier 35 mounted above the vehicle body 31. The container carrier 35 should be configured to receive the storage container 106 on or within the container carrier 35, thereby preventing the storage container 106 from sliding along the horizontal plane P.

[0101] The container carrier 35 may include a container support device that supports the storage container 106 from below.

[0102] In Figures 3A to 3B, the container carrier 35 is disclosed as a storage container receiving compartment having a bottom / base and side walls. The volume of the compartment in this exemplary structure enables it to receive and accommodate the entire horizontal range of the storage container and at least a portion of the vertical range of the storage container.

[0103] The specific structure of the container carrier 35 disclosed in FIGS. 3A-3B allows the transfer vehicle 30 to transport storage containers 106 having different heights.

[0104] Note that the dimensions of the compartments within the container carrier 35 may be readily adapted to receive and support multiple storage containers 106 in one operation.

[0105] Fig. 3C shows another exemplary structure of a remotely operated transfer vehicle 30. In this structure, a container carrier 35 includes a base plate, a conveyor arranged on the base plate, and two side walls protruding upward from the base plate. The rolling device 32 and the body 31 are the same or similar to the above-mentioned rolling device 32 and the body 31.

[0106] The conveyor may be provided by a plurality of parallel oriented rollers 36 having a common longitudinal direction perpendicular to the two side walls. In this way, the rollers 36 allow one or more containers 106 to be moved into or out of the container carrier 35 while being guided by the side walls. The conveyor may be connected to a conveyor motor that allows one or more rollers to rotate.

[0107] Perspective view of the automated storage and retrieval system FIG. 4A to FIG. 4B The system includes a storage grid 104 and a conveying system 140 , the conveying system 140 including a conveying track system 50 and a plurality of conveying vehicles 30 operating on the conveying track system 50 .

[0108] The storage grid 104 is the same as or similar to the storage grid 104 of the above-mentioned prior art, that is, the storage grid 104 includes a rail system 108; multiple stacks 107 of storage containers 106; multiple container handling vehicles 300 for lifting and moving the storage containers 106 stacked in the stacks 107; and conveying columns 119, 120, which are configured to receive storage containers 106 from the container handling vehicles 300.

[0109] The conveyor system 140 includes one or more conveyor vehicles 30 as described above, i.e., the conveyor vehicles 30 are configured to receive and support storage containers 106 for transport between one or more conveyor trains 119, 120 and one or more container loading and unloading stations 60 located outside the storage grid 104. The container loading and unloading stations 60 can be located at any predetermined location suitable for loading and unloading containers.

[0110] The transport system 140 may further include a transport track system 50 located below a transport port 150 of one or more transport columns 119 , 120 .

[0111] like FIG. 4A to FIG. 4B As shown, the transfer track system 50 can be constructed in the same or similar manner as the track system 108 of the container handling vehicles 200, 300. The transfer track 50 extends at least from the transfer port 150 of one or more transfer columns 119, 120 to at least one container access station 60, so that each storage container 106 can be lifted into the container access station 60, wherein the items stored in the container access station 60 can be accessed from a different level than the transfer track (see FIG. 6A to FIG. 6C ).

[0112] The container access station 60 may include a cabinet 63 including walls and a top cover supported on the walls, such as FIG. 5A to FIG. 5B Items stored in storage containers 106 carried by transfer vehicles 30 and lifted to the container access station 60 are accessible through access openings 61 in the top cover of cabinet 63 .

[0113] The cabinet 60 is arranged adjacent to the storage grid 104 , with the transfer track system 50 extending from below the transfer port 150 and arriving at a position on a first level below the container access station 60 .

[0114] The container access station 60 includes an access opening 61 through which a person and / or a robot can access the contents of the container 106. The container access station 60 further includes: a base opening 62 disposed at the lower portion of the cabinet; and a lifting device 70, which is arranged to retrieve the container 106 from a first level below the base opening 62 and lift the container through the base opening 62 to a second level, so that the container 106 can be accessed through the access opening 61.

[0115] like Figure 5BAs shown, the container access station 60 may include an applicable cover 81 for limiting access through the access opening 61. The applicable cover 81 may be a telescopic cover 81. The cover may be arranged to open only when a predetermined condition is met (e.g., if access to the container is authorized), and thereby allow access to the container 106 through the access opening 61 when the container 106 is at the second level. The cover 81 may be transparent and may allow viewing of the contents of the container 106 from outside the container access station 60.

[0116] FIG. 6A to FIG. 6C A container access system is shown that includes a container access station 60 and a conveyor system 140. The conveyor system 140 is connected to a storage grid (see FIG. 4A to FIG. 4B ), so that the storage container 106 can be retrieved from the storage location in the storage grid 104 and transported on the transfer vehicle 30 to the transfer grid unit located vertically below the container access station 60. The lifting device 70 of the container access station 60 is operated to retrieve the storage container 106 and lift it from the first level to the second level, in which the items stored in the storage container 106 can be accessed through the access opening 61 provided in the container access station 60.

[0117] FIG. 6A to FIG. 6C The conveying system 140 in the embodiment may also be a storage grid (not shown). In this way, the vehicle operating on the track is a container handling vehicle 200, 300. The container handling vehicle 200, 300 can retrieve the storage container 106 from the grid structure arranged below the track system, in which the container handling vehicle 200, 300 operates and transfers the storage container to the lifting device 70 of the container access station 60. Therefore, the lifting device 70 of the container access station 60 can retrieve the storage container 106 from the conveying vehicle 30 or the container handling vehicle 200, 300.

[0118] The lifting device 70 extends below the base opening 62 and comprises a lifting frame 72 for releasably connecting to the container 106 and a lifting mechanism 71 arranged to move the lifting frame 72 from a first level to a second level.

[0119] The lifting frame 72 includes four corner sections and a clamp element 78 for releasably connecting to the storage container 60 .

[0120] The lifting frame 72 provides an opening OLF, and when the container 60 is lifted to the second level at the access opening 61, a human and / or robot operator at the container access station 60 can reach the items stored in the storage container through the opening OLF of the lifting frame 72.

[0121] The lifting mechanism 71 may include a guide structure 73 arranged vertically and at least between a first level and a second level, wherein the horizontal lifting frame 72 is movable along at least a portion of the guide structure 73 .

[0122] FIG. 7A to FIG. 7B Another embodiment of a lifting device 70 is shown, which includes a lifting frame 72 and a lifting mechanism 71 .

[0123] The lifting mechanism 71 may include a lifting frame 74 having an opening OHF disposed at the access opening 61 and defining an access perimeter, and the lifting mechanism 71 includes a plurality of lifting belts guided by the lifting frame 74. The lifting frame 72 is suspended from the lifting frame 74 from a horizontal direction by the plurality of lifting belts, wherein the access perimeter of the opening OHF in the lifting frame 74 corresponds in shape and alignment to the access perimeter of the opening OLF in the lifting frame 74, so as to allow access to items stored in the storage container through the corresponding openings OHF, OLF when the lifting frame 72 has been lifted to the lifting frame 74 by the lifting mechanism 71.

[0124] The lifting frame 74 may include a pair of arms 77 , and wherein a pulley 79 is connected to a distal end of each arm 77 .

[0125] The lifting mechanism 71 may include a lifting shaft 80 for simultaneously winding or simultaneously unwinding the lifting belts.

[0126] Thus, the container access station 60 may include a cabinet 63 arranged around the access opening 61 and the base opening 62 such that the storage container 106 lifted into the cabinet 63 by the lifting device 70 can only be accessed through the access opening 61 .

[0127] Reference numerals

[0128] 30 Transport Vehicle

[0129] 31 Body

[0130] 32 Rolling device

[0131] 32a First set of wheels

[0132] 32b Second set of wheels

[0133] 35 Container carrier

[0134] 36 Conveyor rollers

[0135] 50 Conveyor Track System

[0136] 51 Teleport Grid

[0137] 52 Teleport Grid Units

[0138] 60 Container access station

[0139] 61 Access opening

[0140] 62 Base opening

[0141] 63 Cabinet

[0142] P1 Conveyor track system level

[0143] 70 Lifting device

[0144] 71 Lifting mechanism

[0145] 72 Lifting frame

[0146] 73 Boot structure

[0147] 74 Lifting frame

[0148] 75 Lifting mechanism

[0149] 76 Lifting belt

[0150] 77 Arm

[0151] 78 Gripper element

[0152] 79 Pulley

[0153] 80 Lifting Axis

[0154] 81 Applicable cover

[0155] OLF Lifting Frame Opening

[0156] OHF lifting frame opening

[0157] 100 Frame structure

[0158] 102 Vertical members of frame structure

[0159] 103 Horizontal members of frame structures

[0160] 104 Storage grid / 3D grid

[0161] 105 Storage Rows

[0162] 106 Storage Container

[0163] 107 Stacking

[0164] 108 Track System

[0165] 110 The first set of parallel tracks in the first direction (X)

[0166] 111 The second set of parallel tracks in the second direction (Y)

[0167] 115 Grid Opening

[0168] 119 Transmission Column

[0169] 120 Transmission Column

[0170] 122 grid cells

[0171] 140 Conveyor System

[0172] 150 Transmission port

[0173] 200 First container handling vehicle

[0174] 201 Wheel Arrangement

[0175] 300 Second container handling vehicle

[0176] 301 Wheel Arrangement

[0177] X first direction

[0178] Y Second direction

[0179] P Track system level

Claims

1. A container access station (60) for accessing a storage container (106) of an automatic storage and retrieval grid (104), the container access station (60) comprising: - an access opening (61) through which a person and / or a robot can access the contents of the storage container (106); - a base opening (62); as well as - a lifting device (70) arranged to retrieve the storage container (106) from a first level below the base opening (62) and to lift the storage container through the base opening (62) to a second level so that the storage container (106) can be accessed through the access opening (61), wherein: - the lifting device (70) comprises: a lifting frame (72) for releasably connecting to the storage container (106); and a lifting mechanism (71) arranged to move the lifting frame (72) from the first level to the second level; and - The automated storage and retrieval grid (104) is located on the first level and the container access station is located on the second level.

2. The container access station (60) according to claim 1, wherein: The lifting frame (72) includes: four corner sections; and a clamp element (78) for releasably connecting to the storage container (106).

3. The container access station (60) according to claim 2, wherein: The gripper element is driven by a gripper motor located at the periphery of the lifting frame (72).

4. The container access station (60) according to claim 3, wherein: A control module is connected to the gripper motor and controls the gripper motor.

5. The container access station (60) according to claim 2, wherein: The storage container comprises a plurality of recesses provided at a periphery of an opening of the storage container, wherein each recess is configured to receive a respective clamp element for releasably connecting the storage container to the lifting frame.

6. The container access station (60) according to claim 5, wherein: The holder element is configured to be releasably connected to the storage container using the recess.

Images