Automatic storage system and method for transporting storage containers in a storage system

Abstract

The present invention provides an automated storage system and a method of transporting storage containers in the storage system. A lifting system for an automated storage system of the type in which storage containers are stacked in storage columns arranged in a grid and in which an automated container handling vehicle retrieves and replaces containers from the top layer of the grid. The lifting system has a vertically movable platform adjacent to a face of the grid, the platform being arranged to receive and transport one or more containers. A dedicated mechanical device is arranged to grab, lift and move storage containers from a staging area at the top of the grid and place the containers on the platform, and vice versa.

Description

[0001] This application is a divisional application, the application number of the parent application is 201980037723.X (international application number is PCT / EP2019 / 065177), the application date is June 11, 2019, and the name of the invention is “Fast box lift for automatic storage system”. Technical Field

[0002] The present invention relates to an automated storage and retrieval system for storage and retrieval of containers, and more particularly to a lifting device and system for moving containers between vertical levels of a grid storage system. Background Art

[0003] Automatic grid storage systems, typically: Figure 1 A typical prior art automated storage and retrieval system of the type commercially sold by the present applicant is disclosed. Figure 1 A frame structure 100 is shown, and Figure 2A , Figure 2B and Figure 3A , Figure 3B Two different prior art container handling carriers 201, 301 suitable for operating on such a system are disclosed.

[0004] The frame structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright 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 that includes storage columns 105 arranged in rows in which storage containers 106 (also referred to as boxes) are stacked one on top of another to form stacks 107. The storage grid 104 prevents horizontal movement of the stack 107 of storage containers 106 and guides vertical movement of the containers 106, but does not generally support the storage containers 106 when stacked.

[0006] The automated storage and retrieval system 1 includes a track system 108 arranged in a grid pattern on top of a storage grid 104, on which a plurality of automated container handling vehicles 201, 301 travel. The container handling vehicles have a gripping / lifting mechanism 202 / 302 for gripping a storage container 106 and subsequently raising or lowering it from a storage column 105 into a storage column 105. Figure 2A and Figure 2B In one embodiment shown, a gripper / lifting mechanism 202 raises the container into a cavity in the body of the vehicle. Figure 3A and Figure 3BAn alternative construction of a container handling carrier 301 is shown, in which the gripping / lifting mechanism 302 is arranged as part of a cantilever construction 303. Such a carrier is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0007] The container handling vehicles are arranged to transport storage containers 106 over the storage columns 105. The track system 108 includes a first set of parallel tracks 110, which are arranged to guide the container handling vehicles 201, 301 to move in a first direction X through the top of the frame structure 100, and a second set of parallel tracks 111, which are arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301 to move in a second direction Y perpendicular to the first direction X. In this way, the track system 108 defines a grid column 112, above which the container handling vehicles 201, 301 can move laterally in the X or Y direction above the storage column 105, that is, in a plane parallel to the horizontal XY plane. The upper part of the column (105 / 112) in the horizontal plane, representing the position of the column in the grid in two horizontal dimensions, can be referred to as a "unit".

[0008] In order to monitor and control the automatic storage and retrieval system 1, such as monitoring and controlling the positions of the corresponding storage containers 106 within the grid 104, the contents of each storage container 106; and the movement of the container handling vehicles 201, 301, so that the desired storage container 106 can be transported to the desired position at the desired time without the container handling vehicles 201, 301 colliding with each other, the automatic storage and retrieval system 1 includes a control system, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0009] Transport containers to access stations or different levels in a multi-layer grid system:

[0010] Containers in a grid system typically must be moved from their position in a column to an access station (not shown), typically located at a lower level of the grid, where an operator (human or automated) can remove items from the container for placement in a shipping container, etc., and / or resupply the container for replacement in the grid.

[0011] In the storage grid 104, most of the grid columns 112 are storage columns 105, i.e., columns in which storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column 112 without a storage container 106, through which a container handling carrier 201, 301 using its own lifting mechanism can raise or lower the storage container 106 to different layers. In the art, such grid columns are referred to as "port columns" 119, 120, and the position at the top or bottom of the column is typically referred to as a "port". According to one aspect, a conveyor system can be arranged below the port column, and the container handling carrier lowers the container onto the conveyor system for further transport to and from the access station. In some cases, the grid has one or more port columns dedicated to lowering containers for transport, and different port columns dedicated to lifting containers for retrieval.

[0012] In other cases, the grid storage system includes multiple vertically arranged layers or sections, each layer or section having its own top layer and container handling vehicle. In such a multi-layer system, it is often desirable to move containers from one layer to another. This is also performed by the container handling vehicle lowering or raising the container from one layer to another through the port column.

[0013] WO / 2014 / 075937 describes a storage system with a dedicated box lift for transporting storage boxes vertically to a delivery station or to different levels of a multi-level storage system. The lift is arranged to transport the boxes through one or more individual port columns.

[0014] Disadvantages of existing technology:

[0015] There are a number of disadvantages to using the container handling vehicle's own lifting mechanism to move the container vertically through the port column.

[0016] One disadvantage is that prior art systems require very precise construction and maintenance of the frame structure in order to properly align the port posts. This is particularly true in multi-layer systems, where the layers must be laboriously aligned with each other in order for a container passing through the port posts of one layer to properly contact the posts of a different layer. Misalignment of the frame may also result in carrier collisions. Any future settling or movement of the frame (e.g., due to temperature differences) may cause the port posts to become misaligned, thereby disrupting the delivery of the container.

[0017] Another disadvantage is that the speed and robustness of the lifting mechanism of the container handling carrier is necessarily limited due to the size and expense of the carrier. This reduces the throughput of the automated storage system.

[0018] Another disadvantage is that congestion may occur near the port as carriers wait for other carriers to vacate space above the port column. This also negatively affects the throughput of the automated storage system. Summary of the invention

[0019] More specifically, the invention provides a storage system as set out in the introduction, the storage system also comprising a vertically movable platform adjacent to the face of the grid, the platform being arranged to receive and transport one or more containers. Special mechanical means are arranged for grabbing, lifting and moving storage containers from the top of the grid and placing the containers on the platform, and vice versa.

[0020] In one embodiment, the dedicated mechanical device is a manipulator trolley arranged to travel along two parallel trolley tracks extending from a position above the grid to a position above the platform, wherein the area between the trolley tracks defines a staging area including a plurality of units arranged to receive storage boxes awaiting retrieval by the manipulator trolley and / or to receive storage boxes awaiting retrieval by a handling vehicle.

[0021] The storage system may include a plurality of vertically arranged layers, with each grid being provided with its own manipulator trolley. In this arrangement, in one embodiment, the platform may be moved in the horizontal direction by an amount sufficient to compensate for any horizontal misalignment between the grids, so that a container delivered from one layer may be retrieved by a manipulator trolley on a different layer.

[0022] According to another aspect, the present invention provides a platform for transporting storage containers between a plurality of vertically arranged storage grids in a multi-layer storage system. The platform is vertically movable along one or more vertical rails disposed outside and functionally adjacent to the vertical alignment faces of the grid segments. The platform is horizontally adjustable relative to the one or more vertical rails by an amount sufficient to accommodate horizontal misalignment between the rail systems of the respective grid segments.

[0023] In one embodiment, wherein the platform is horizontally adjustable in that it includes a vertically movable frame member to which a horizontally movable carriage member is connected. The carriage member also includes one or more alignment wheels connected to the carriage member at a position where the alignment wheels travel along the surface of the vertical track during vertical movement of the platform. One or more alignment brackets are arranged on the vertical track. The alignment bracket includes an upper inclined surface and a lower inclined surface and extends from one side of the vertical track a distance corresponding to the expected horizontal adjustment distance of the platform. In use, during the vertical movement of the frame member, the alignment wheel will contact the inclined surface of the extended alignment bracket mounted on the vertical track and roll on the inclined surface, thereby causing the carriage member to move in a horizontal direction relative to the frame member.

[0024] According to a further aspect, the present invention provides a method for transporting storage containers in an automated storage grid system of the type according to the present invention. The method according to this aspect comprises:

[0025] a. Place the vertically movable platform near the surface of the grid,

[0026] b. Arrangement of special mechanical devices for grabbing, lifting and moving storage containers from the top of the grid and placing the containers on the platform and vice versa,

[0027] c. Indicates a number of cells (P) for placing storage containers waiting to be moved from the grid to the platform,

[0028] d. A plurality of cells (G) are marked for placing storage containers waiting to be retrieved by a container handling vehicle,

[0029] e. causing the container handling vehicle to place the storage container on the unit (P),

[0030] f. causing a dedicated mechanical device to remove any container from the platform and place the container on unit (G),

[0031] g. causing the dedicated mechanical device to lift the storage container from the unit (P) and place the container on the platform, and

[0032] h. Cause the platform to lower the container to a lower level in the grid system.

[0033] At least in preferred embodiments, the systems and methods of the present invention are seen to provide one or more of the following advantages:

[0034] It provides a dedicated lifting and lowering mechanism for vertical transport of storage containers that is stronger and more powerful than is possible using the carrier's lifting mechanism. This increases the capacity and throughput of the storage system and avoids expensive wear and tear of the carrier's lifting mechanism.

[0035] • Alignment of grid layers in a multi-layer storage system is not critical as the platform can be adjusted laterally to account for misalignment.

[0036] Staging areas allow container handling vehicles to unload containers and continue other tasks, thus avoiding downtime or congestion around the port.

[0037] Port columns can be re-purposed for storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The following drawings are provided to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, in which:

[0039] Figure 1 is a perspective view of a grid of a prior art automated storage and retrieval system.

[0040] Figure 2A and Figure 2Bis a perspective view of a prior art container handling carrier having a centrally disposed cavity for receiving a storage container therein.

[0041] Figure 3A and Figure 3B Shown is a perspective view of a prior art container handling carrier having a cantilever arm for receiving a storage container underneath.

[0042] Figure 4 is a perspective view of a multi-story automated storage and retrieval system.

[0043] Figure 5 is a side elevation view of a multi-layer automated storage and retrieval system.

[0044] Figure 6 is a perspective view of a multi-level automated storage and retrieval system with a container handling carrier shown.

[0045] Figure 7 is a side elevation view of a multi-layer automated storage and retrieval system.

[0046] Figure 8 Here is a close up of the motor and pulley arrangement.

[0047] Fig. 9 One embodiment of a manipulator cart for moving storage containers from a top grid to the lift platform of the present invention is shown.

[0048] Fig.10 One embodiment of a manipulator cart for moving storage containers from a lower grid to an exemplary lifting platform according to the present invention is shown.

[0049] Fig.11 is a top view of the staging area showing the "Place" unit and the "Get" unit.

[0050] Fig.12 is a close up perspective view of a container handling vehicle showing the placement of containers in a staging area.

[0051] Fig.13 is a perspective view of one embodiment of a lifting platform.

[0052] Fig.14 yes Fig.13 Exploded view of the lifting platform.

[0053] Fig.15 yes Fig.13 A perspective view of a lifting platform and a device for adjusting the horizontal position of the platform.

[0054] Fig.16 is a perspective view of an automated storage and retrieval system with an unloading station / loading station on the lower level.

[0055] Fig.17 is a close up view of the unloading station / loading station with the conveyor arrangement.

[0056] Fig.18 It has a transmitter device Fig.17 Close up view of the unloading station / loading station.

[0057] Fig.19 A close up view of an unloading station / loading station operating with an autonomous transport vehicle. DETAILED DESCRIPTION

[0058] In the following, embodiments of the invention will be discussed in more detail, by way of example only, and with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0059] The present invention provides an automatic storage and retrieval system 1 constructed according to the prior art, as described above in combination with Figures 1 to 3B Described, namely frame 100, it has a plurality of upright members 102 and a plurality of horizontal members 103, and the horizontal members are supported by the upright members 102 to define a first storage grid 104. Storage grid 104 includes grid columns 112, a plurality of which are storage columns 105, wherein the storage columns are stacked storage containers 106. Frame 100 includes a track system 108 of parallel tracks 110, 111 extending in the X-direction and the Y-direction, and the parallel tracks are arranged on the top of the storage grid 104, and a plurality of container handling vehicles (201 / 301) travel on the parallel tracks. The container handling vehicle is preferably an autonomous vehicle arranged to lift the storage container 106 from the storage column 105 and transport the storage container around the grid, and to place the storage container back into the storage column 105.

[0060] exist Figure 1 In the embodiment, the storage grid 104 is shown as having a height of eight 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 Figure 1 For example, the storage grid 104 may have a horizontal extent of more than 700×700 grid cells and a depth of more than 12 grid cells.

[0061] According to one aspect, the automated storage and retrieval system 1 may include multiple layers, such as Figure 4 and Figure 5 , which depicts two layers of storage grids 104 and 104'. There, a first storage grid 104 is arranged vertically above a corresponding second storage grid 104', for example on an upper floor of a building located directly above the second storage grid 104'. Figure 4The first storage grid 104 and the second storage grid 104' are depicted as having the same number of columns in the X and Y directions. It should be understood that this is not necessarily the case, as grids in different layers may have different configurations. Figure 5 As shown, the grid columns 112 of the first storage grid 104 are substantially aligned with corresponding grid columns 112 ′ of the second storage grid 104 along the front faces 400 and 400 ′, respectively. Figure 6 Container handling vehicles 201 and 201 ' (or 301 / 301 ') are shown traveling on track systems 108 ' and 108 ', respectively.

[0062] According to one aspect, the present invention provides a box lifting device for transporting storage boxes between levels in a multi-level automated storage and retrieval system, and for transporting storage boxes between the top of a storage grid 104 / 104' to the bottom of the storage grid, wherein the storage boxes can be further transported to a storage and retrieval station, for example.

[0063] The box lifting device includes a vertically movable platform 402, which moves vertically along one or more (preferably two) vertical lifting tracks 404, close to one face of the grid. Figure 5 As shown, the platform 402 has a depth substantially corresponding to the width of the storage container 106, and the lifting track 404 is arranged outside a surface, such as the front 400 / 400' of the storage grid 104 / 104' at a certain distance in this embodiment, so that the front edge of the platform 402 is functionally adjacent to the front 400 / 400'.

[0064] As used herein, the term "functionally adjacent" means that the platform can move up and down near the grid 104 / 104' without interference. The platform 402 is arranged to receive and transport one or more storage boxes 106 in a vertical direction. The platform 402 can be movable by a motor and pulley arrangement 406, for example, Figure 8 As shown, or movable by other lifting devices known in the art.

[0065] The storage container 106 can be moved from the storage grid 104 / 104' to the platform 402 by a dedicated mechanical device for grabbing, lifting and moving the storage container. As used herein, the term "dedicated mechanical device" refers to a device that is separate from the container handling vehicle 201 / 201' / 301 / 301', and its function is mainly to move the container between the grid and the platform, and vice versa. In one embodiment, such a device is in the form of a manipulator trolley 408 / 408', such as Fig. 9 and Fig.10 shown. Fig. 9 A manipulator cart 408 is shown arranged in connection with the top grid 104, and Fig.10A manipulator trolley 408 is shown arranged in connection with the lower grid 104'. The manipulator trolley 408 / 408' has one or more grabbing / lifting mechanisms 410 arranged to grab a storage container 106 from a position on top of the storage grid and lift the container upward, whereupon the manipulator trolley 408 / 408' transports the storage container to a position above the platform 402, whereupon the grabbing / lifting mechanism 410 lowers the storage container onto the platform. When the platform 402 returns with the storage container 106, the manipulator trolley 408 / 408' performs this operation in reverse order to remove the container from the platform 402 and place it on top of the storage grid 104 / 104'.

[0066] The manipulator trolley 408 / 408' can be moved from a position above the storage grid 104 / 104' to a position above the platform 402 by a motorized mechanism along the horizontal trolley track 412. Figure 5 As shown, the trolley track 412 is arranged directly above the track system 108 / 108', and the container handling carrier 201301 travels on the track system. Figure 6 As shown, the dolly track 412 may be suspended above the track system 108 / 108 ′ a distance greater than the height of the vehicle such that the vehicle may travel underneath the dolly track 412 .

[0067] According to one aspect of the present invention, Fig.11 As shown, the area of ​​the grid arranged between the cart tracks 412 represents the staging area 414. The staging area 414 includes cells at the top level of the grid where containers 106 can be placed by the carrier 201 / 301 where they await retrieval and movement by the manipulator cart 408, and cells where the manipulator cart can place cells where they await retrieval by the carrier. These cells may be referred to as "placement" cells and "retrieval" cells, respectively. Fig.11 402 are represented by the letters P and G. Four placement units are shown here along the far edge of the grid surface, and four acquisition units are arranged along the next innermost row, corresponding to a platform 402 having a capacity for four containers 106. It should be understood that the platform 402 can have different capacities, and the staging area 414 and the placement units P and acquisition units G can be arranged in any manner and can be dynamically reassigned as needed, such as based on routing considerations determined by the automated storage system.

[0068] In operation, Fig.12As shown, the container handling carrier 201, 301 places the container 106 in the placement unit P, thereby freeing the carrier to handle other tasks. The manipulator trolley 408 / 408' will then grab the container 106 in the placement unit P, preferably grab and lift the container 106 at the same time, and place the container 106 on the platform 402. In the case where the platform 402 is transporting containers 106 to be replaced in the storage columns 112, 112', the manipulator trolley 408 will first place the returned container in the placement unit G, move to the placement unit P and lift the containers 106 arranged there, and then place these containers on the platform 402. The carrier can then reach to retrieve the container 106 from the acquisition unit G and replace it in the storage column 112, 112'.

[0069] According to one embodiment of the present invention, the platform 402 is movable in a horizontal direction, transverse to its vertical direction of travel. Such horizontal movement is provided to account for any potential horizontal misalignment between the columns 112 of different grid layers. Figures 13 to 15 One embodiment of the platform 402 is shown that provides such horizontal displacement. It should be understood that other means for horizontal adjustment of the platform 402 are possible within the scope of the present invention.

[0070] Fig.13 The assembled platform 402 is shown, and Fig.14 An exploded view of the platform 402 is shown. The platform 402 includes a rectangular lift frame 416. The lift frame 416 has connection points 418 along the top edge (e.g., shackles) for attachment to one or more pulley lines 420 operated by the motor / pulley arrangement 406. The lift frame 416 also includes a plurality of track wheels 422 that are arranged to engage with and travel along the lift track 404.

[0071] The platform 402 also includes a horizontally movable carriage member 424 having a receiving surface 426 on which the storage bin 106 can be placed. The carriage member 424 has rearwardly extending guide wheels 428 mounted on brackets 430. Fig.13 As shown, the guide wheels 428 engage the inner surface of the horizontal guide track 432 of the lifting frame 416. Thus, the guide wheels 428 allow the bracket member 424 to move horizontally relative to the lifting frame 416.

[0072] like Fig.15 As shown, the lifting frame 416 has substantially the same width as the space between the lifting rails 404, wherein the bracket member 424 is wider than the lifting rails 404 and extends beyond the lifting rails 404 to both sides. The bracket member 424 is equipped with one or more alignment wheels 434. The alignment wheels 434 are mounted at a rear portion of the bracket member 424 in a position such that the alignment wheels 434 are arranged outside the lifting rails 404.

[0073] In the event that the columns of the second grid layer are offset in the horizontal direction by a known distance from the first layer, an alignment bracket 436 can be attached to the lifting track 404 in a vertical position where the platform 402 will stop to retrieve or unload the container. The alignment bracket 436 has an inclined portion 438 and an intermediate straight portion 440. The inclined portion 438 is arranged to extend the straight portion 440 to a distance from the lifting track 402 corresponding to the degree of misalignment between the columns of the two layers. As can be seen from Fig.15 As recognized in Figure 4, as the platform 402 is lowered along the lifting track 404, the alignment wheel 434 will move upward along the inclined portion 438, thereby causing the bracket member 424 to move horizontally relative to the lifting frame 416 via the guide wheel 428. According to one embodiment, the storage and retrieval system can include an inventory of alignment brackets 436 with various offset distances. In the event that the grid layer becomes misaligned, the operator of the system can simply select a bracket with the appropriate offset.

[0074] According to yet another embodiment of the present invention, an unloading station / loading station 442 may be arranged at the lower level of the automated storage system, at the bottom of the lifting track 404. At the unloading station / loading station 442, the storage boxes are moved by a manipulator trolley 408 arranged in connection with the station 442 to unload the storage boxes from the lifting device for transport to a different location, for example, to an access station (not shown) where an operator can access the boxes. Conversely, the boxes may be loaded onto the lifting device at the station 442 to be transported to the upper level of the grid. Fig.16 A station 442 is shown where the platform 402 is located at the upper level of the grid for retrieving bins 106, Fig.17 Platform 402 is shown being transported to station 442, and Fig.18 Platform 402 is shown arriving at station 442. Fig.18 , it can be seen that the manipulator trolley 408 travels along the trolley track 412 to load / unload the box 106 from the platform 402.

[0075] Figures 16 to 18A first embodiment is shown in which a manipulator cart 408 moves a box 106 onto a conveyor system including a conveyor line 444 and a return line 446 and retrieves the box 106 therefrom. Lines 444 and 446 transport the box 106 to different locations, such as a storage and retrieval station (not shown). In an alternative embodiment, the manipulator cart 408 at the unloading station / loading station 442 can place the box 106 directly into one or more autonomous conveying vehicles, or retrieve the box 106 directly from it. The conveying vehicle 408 is more fully described in Application No. 20180813 filed on June 12, 2018 and Application No. 20181005 filed on July 19, 2018, the entire contents of which are incorporated herein by reference as if fully reproduced herein. The conveying vehicle 448 has a box receiving portion in which the box 106 can be placed by the manipulator cart 408. The transport vehicle 448 can then freely travel to different locations, such as access stations, along its own dedicated track system 450. The combination of the lifting device of the present invention and the autonomous transport vehicle can significantly increase the flexibility and throughput of the automated storage system. The dedicated track system can include a first track system located within the frame structure of the storage grid and a second track system located outside the frame structure of the storage grid, and wherein the first track system and the second track system are connected so that the transport vehicle can operate between the track systems.

[0076] The second location may be connected to a second rail system.

[0077] List of reference numerals

[0078] 100 Frames

[0079] 102 Upright members

[0080] 103 Horizontal member

[0081] 104 Storage Grid

[0082] 105 Storage Column

[0083] 106 Storage Container

[0084] 107 Stacking

[0085] 108 Track System

[0086] 110 / 111 Track

[0087] 112 Grid Column

[0088] 119, 120 port column

[0089] 201, 301 container disposal carrier

[0090] 202 Clamping / Lifting Mechanism

[0091] 303 Cantilever structure

[0092] 400 Grid Front

[0093] 402 Platform

[0094] 404 Lifting Track

[0095] 406 Motor / Pulley Assembly

[0096] 408 Manipulator Pulley

[0097] 410 Grabbing / Lifting Mechanism

[0098] 412 Pulley Track

[0099] 414 Assembly Area

[0100] 416 Enhancement Framework

[0101] 418 Connection Points

[0102] 420 Pulley Line

[0103] 422 Track Wheel

[0104] 424 Bracket components

[0105] 426 Receiving surface

[0106] 428 Guide Wheel

[0107] 430 Bracket

[0108] 432 Guide Track

[0109] 434 Alignment Wheel

[0110] 436 Alignment bracket

[0111] 438 inclined part

[0112] 440 Straight part

[0113] 442 Loading / unloading station

[0114] 444 conveyor line

[0115] 446 Return Line

[0116] 448 Autonomous Transport Vehicle

Claims

1. An automated storage system comprising a plurality of upright members (102) and horizontal members (103) defining a frame structure (100) in the form of a grid (104) of storage columns (105) accommodating storage containers (106) arranged in stacks (107), and having an automated container handling vehicle (201 / 301) running on a track system (108) on a top layer of the grid (104), the track system comprising mutually perpendicular horizontal tracks (110 / 111), the automated container handling vehicle being able to travel on the mutually perpendicular horizontal tracks in a first direction and in a second direction perpendicular to the first direction, the intersection of the mutually perpendicular horizontal tracks further defining a cell above the grid column (112), in, The system comprises: a platform (402) movable vertically adjacent to a face (400) of the grid (104), arranged to receive and transport one or more storage containers (106), a dedicated mechanical device (408) arranged to grab, lift and move the storage container from the top of the grid and place the storage container on the platform, and vice versa, Characterized in that the dedicated mechanical device (408) is a manipulator trolley arranged to travel along two parallel trolley tracks (412), and the trolley tracks extend from a position above the grid (104) to a position above the platform (402), wherein the area between the trolley tracks (412) defines a staging area (414), and the staging area includes a plurality of units arranged to receive storage boxes waiting to be retrieved by the manipulator trolley and / or to receive storage boxes waiting to be retrieved by the automatic container handling vehicle.

2. The storage system according to claim 1, It is characterized in that The staging area (414) includes a plurality of units P designated for holding storage containers (106) waiting to be transported to the platform (402), and a plurality of units G designated for placing storage containers waiting to be retrieved by the automated container handling vehicle (201 / 301), the number of units P and units G each being at least equal to the number of storage containers that can be placed on the platform.

3. The storage system according to claim 1 or 2, It is characterized in that The storage system comprises a plurality of grids arranged vertically one above the other on different vertical levels, each grid being provided with a manipulator trolley and having at least one face substantially vertically aligned with one another, further wherein the platform (402) is movable in a horizontal direction by an amount sufficient to compensate for any horizontal misalignment between the grids such that storage containers transported from one level can be retrieved by a manipulator trolley on a different level.

4. The storage system according to claim 1, It is characterized in that The platform (402) includes: a vertically movable frame member (416) arranged to travel along one or more vertical tracks (404) arranged outside the surface of the grid and functionally adjacent to the surface of the grid; a horizontally movable bracket member (424) connected to the vertically movable frame member (416), the bracket member being arranged to receive a storage container, the bracket member being connected to the frame member via one or more guide wheels (428), the one or more guide wheels being arranged to roll along one or more horizontal guide tracks (432) of the frame member.

5. The storage system according to claim 4, It is characterized in that The bracket member also includes: one or more alignment wheels (434) connected to the bracket member at a position relative to the vertical track (404), whereby the alignment wheels (434) are arranged to contact and roll on an inclined surface (438) of an extended alignment bracket (436) mounted on the vertical track during vertical movement of the frame member, thereby causing the bracket member to move in a horizontal direction relative to the frame member (416).

6. The storage system according to claim 1, It is characterized in that The storage system also includes a loading and unloading station (442) at the lower level, which includes a manipulator trolley arranged to remove the storage container from the platform (402) and transfer the storage container to a storage container conveying device to transport the storage container to a destination in the storage system.

7. The storage system according to claim 6, in, The transport device is a conveyor system (444 / 446).

8. The storage system according to claim 6, in, The transport device is a plurality of autonomous transport vehicles (448).

9. A method for transporting storage containers in an automated storage system according to any one of claims 1 to 8, It is characterized in that The method comprises: a. The vertically movable platform (402) is arranged adjacent to the surface (400) of the grid (104), b. arranging a dedicated mechanical device (408) for grabbing, lifting and moving the storage container from the top of the grid and placing the storage container on the platform, and vice versa, c. Indicates a plurality of units P for placing storage containers waiting to be moved from the grid to the platform, d. a plurality of cells G indicating storage containers to be placed to be retrieved by an automated container handling vehicle (201 / 301), e. causing the automatic container handling vehicle to place the storage container on the unit P, f. causing the dedicated mechanical device (408) to remove any storage containers from the platform and place them on unit G, g. causing the dedicated mechanical device (408) to lift the storage container from the unit P and place the storage container on the platform, and h. causing the platform to lower the storage container to a lower level in the storage system.

10. The method according to claim 9, in, The lower layer is a vertically arranged lower grid segment (104'), and wherein the platform is horizontally adjustable to accommodate any horizontal misalignment between the grid (104) and the lower grid segment (104').

11. The method according to claim 9, in, The cells P and the cells G are arranged in respective rows.

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