Automatic storage tower with turntable

Abstract

A storage tower (400), an automated storage and retrieval system (1), and a method for using the same are disclosed. The storage tower (400) includes a vertically extending support structure having a vertical axis and a plurality of horizontally oriented container supports (402a-m) arranged along the vertical axis of the support structure and dispersed at vertical intervals. Each container support (402a-m) is rotatably connected to the support structure and configured to support at least one storage container. Each container support (402a-l) has at least one opening (403) having a size of at least the maximum horizontal cross-section of a storage container (106) to be stored. The container supports (402a-l) are independently rotatable about the vertical axis such that at least one opening (403) of each of the plurality of container supports (402a-l) can be vertically aligned with at least one opening (403) of another of the plurality of container supports (402a-l) by individual rotation of the container supports (402a-l).

Description

Technical Field

[0001] The present invention relates to a storage grid, an automated storage and retrieval system for storing and retrieving containers in and from the storage grid, and a method for storing and retrieving containers in the storage grid to allow for more time-efficient access to deeply located containers. Background Art

[0002] FIG. 1 discloses a common prior art automated storage and retrieval system 1 having a frame structure 100 , and FIG. 2 and FIG. 3 disclose two different prior art container handling vehicles 201 , 301 suitable for operating on such a system 1 .

[0003] The frame structure 100 comprises upright members 102, horizontal members 103 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form stacks 107. The members 102, 103 may typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100. A plurality of container handling vehicles 201 and 301 operate on this track system 108 to lift and lower storage containers 106 from and into storage rows 105, and also to transport storage containers 106 over storage rows 105. The track system 108 includes a first set of parallel rails 110 arranged to guide the container handling vehicles 201 and 301 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201 and 301 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the rows 105 are accessed by the container handling vehicles through access openings 112 in the track system 108. The container handling vehicles 201 and 301 are movable laterally over the storage rows 105, i.e., in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 may be used to guide the storage containers during raising and lowering of the containers from and to the row 105. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301 includes a vehicle body 201a, 301a, and first and second sets of wheels 201b, 301b, 201c, 301c, respectively, which enable lateral movement of the container handling vehicle 201, 301 in the X and Y directions. In Figures 2 and 3, both wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage two adjacent rails in the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage two adjacent rails in the second set of rails 111. At least one of the wheel sets 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c are readily engageable with the corresponding set of rails 110, 111.

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting storage containers 106, for example, lifting storage containers 106 from storage row 105 and lowering storage containers 106 into the storage row. The lifting device includes one or more gripping / engaging devices adapted to engage storage containers 106, and the gripping / engaging devices are lowerable from the vehicle 201, 301 such that their positions relative to the vehicle 201, 301 are adjustable along a third direction Z, orthogonal to the first direction X and the second direction Y. Portions of the gripping device of the container handling vehicle 301 are shown in FIG. 3 and are designated by reference numeral 304. The gripping device of the container handling vehicle 201 is located within the vehicle body 301a in FIG. 2.

[0008] Conventionally, and also for the purposes of this application, Z=1 identifies the topmost level of storage containers, i.e., the level directly below the rail system 108, Z=2 identifies the second level below the rail system 108, Z=3 identifies the third level, and so on. In the exemplary prior art disclosed in FIG. 1 , Z=8 identifies the bottommost level of storage containers. Similarly, X=1…n and Y=1…n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG. 1 , the storage container designated 106 ′ in FIG. 1 can be said to occupy storage location X=10, Y=2, Z=3. Container handling vehicles 201, 301 can be said to be traveling in level Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage locations within the grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y and Z directions.

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading storage containers 106 when transporting the storage containers 106 across the track system 108. The storage space may include a cavity centrally disposed within the vehicle body 201a, as shown in FIG2 and as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative construction of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0012] The center chamber container handling vehicle 201 shown in FIG2 can have a footprint that covers an area whose dimensions in the X and Y directions are approximately equal to the lateral extent of the storage array 105, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" can mean "horizontal."

[0013] Alternatively, the center chamber container handling vehicle 101 may have a footprint that is larger than the lateral area defined by the storage rows 105 , for example as disclosed in WO 2014 / 090684 A1.

[0014] The track system 108 typically includes a track having grooves in which the vehicle's wheels travel. Alternatively, the track may include upwardly projecting elements, wherein the vehicle's wheels include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include a single guide rail, or each track may include two parallel guide rails.

[0015] WO2018146304 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108 comprising tracks and parallel guides in both the X and Y directions.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some columns 105 may have other purposes. In FIG1 , columns 119 and 120 are dedicated columns for unloading and / or picking up storage containers 106 by using container handling vehicles 201 , 301 so that the storage containers can be transported to access stations (not shown) where the storage containers 106 can be accessed from outside the frame structure 100 or transferred out of or into the frame structure 100. In the art, such locations are generally referred to as "ports," and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access stations may be in any direction, i.e., horizontally, inclined, and / or vertically. For example, storage containers 106 can be placed in random or dedicated rows 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to the port rows 119, 120 for further transport to an access station. It should be noted that the term "inclined" means transport of storage containers 106 with a general transport orientation somewhere between horizontal and vertical.

[0017] In Figure 1, the first port column 119 can be, for example, a dedicated unloading port column, where the container handling vehicles 201, 301 can unload the transported storage containers 106 to the access station or transfer station, and the second port column 120 can be a dedicated picking port column, where the container handling vehicles 201, 301 can pick up the storage containers 106 that have been transported from the access station or transfer station.

[0018] The access station can generally be a picking station or an inventory station where product items are removed from or positioned in the storage container 106. At the picking station or inventory station, the storage container 106 is generally not removed from the automated storage and retrieval system 1, but is returned to the frame structure 100 after access. The port can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), a transportation vehicle (e.g., a train or truck), or a production facility.

[0019] Storage containers are typically transported between the port rows 119, 120 and the access station using a conveyor system including conveyors.

[0020] If the port rows 119, 120 and the access station are located at different heights, the conveyor system may include a lifting device with vertical components for transporting the storage containers 106 vertically between the port rows 119, 120 and the access station.

[0021] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1 , the contents of which are incorporated herein by reference.

[0022] When a storage container 106 stored in one of the rows 105 disclosed in FIG1 is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its location and transport the target storage container to the unloading port row 119. This operation involves moving the container handling vehicle 201, 301 to a position above the storage row 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage row 105 using a lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the unloading port row 119. If the target storage container 106 is located deep within the stack 107, that is, one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage containers located above before lifting the target storage container 106 from the storage row 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling vehicle that will subsequently transport the target storage container to the unloading port array 119, or using one or more other coordinated container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have a container handling vehicle dedicated to the task of temporarily removing storage containers from the storage array 105. After the target storage container 106 has been removed from the storage array 105, the temporarily removed storage container can be relocated to the original storage array 105. However, the removed storage container can alternatively be relocated to another storage array.

[0023] When a storage container 106 is to be stored in one of the rows 105, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the pick port row 120 and transport it to a position above the storage row 105 where the storage container is to be stored. After all storage containers located at or above the target position within the storage row stack 107 have been removed, the container handling vehicle 201, 301 positions the storage container 106 at the desired location. The removed storage container can then be lowered back into the storage row 105 or relocated to another storage row.

[0024] 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 frame structure 100, 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 delivered to the desired location 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 500, which is typically computerized and typically includes a database for recording the storage containers 106.

[0025] FIG4 shows an example of product items 80 stored in a storage container 106. The storage container 106 shown in FIG4 has a height H f , width W f and length L f The storage container 106 has a horizontal cross section A f .

[0026] For systems with a large number of boxes in each stack, this "digging" can prove to be both time-consuming and space-consuming when the target box is located deep within the grid. For example, if the target box is at position Z = 5, the vehicle must lift four non-target boxes and place them elsewhere, typically at the top of the grid (Z = 0), before being able to reach the target box. Non-target boxes may force other robots to choose non-optimal paths to perform their respective operations before being placed back into the grid.

[0027] It is therefore an object of the present invention to provide a storage tower and a storage and retrieval system using such a storage tower which can provide a more time-efficient storage and retrieval method than prior art systems. Summary of the Invention

[0028] The present invention is set out in the independent claim, and the dependent claims describe certain optional features of the invention.

[0029] In particular, the present invention relates to a storage tower for storing storage containers, comprising a support structure having a vertical axis and extending vertically and including m horizontally oriented container supports, where m is a positive integer of 2 or greater.

[0030] The container supports are arranged along the vertical axis of the support structure and supported by the container support frame, the container supports are dispersed at vertical intervals to provide different layers for storing storage containers, and each container support can be rotatably connected to the support structure and configured to support at least one storage container.

[0031] Each layer of l container supports among these container supports is arranged above a layer of ml other container supports and has at least one opening having a size of at least the maximum horizontal cross-section of a storage container to be stored, where l is a positive integer from 1 to ml.

[0032] The container supports can be independently rotated about a vertical axis so that at least one opening of a layer where each of the container supports is located can be vertically aligned with at least one opening of a layer where other of the container supports are located by the individual rotation of the container supports.

[0033] Preferably, all container supports of the storage tower can be independently rotated about a vertical axis so that at least one opening of a layer where each of the plurality of container supports is located can be vertically aligned with at least one opening of a layer where other of the container supports are located by individual rotation of the container supports.

[0034] Thus, a storage tower is achieved in which a remotely operated vehicle can pick up a storage container at least at level l+1 without digging, thus saving time.

[0035] Thus, a storage tower is achieved that allows product items to be delivered in a more time-efficient manner to customers or other recipients who store the items in storage containers.

[0036] Thus, a storage tower is achieved which allows a high throughput of product items, such as product items for sale or other products with high demand.

[0037] The horizontal container support frame may have a repeating geometric shape, specifically 1 container support member.

[0038] It can be seen that the horizontal container supports provide a set of rotatable storage racks for storage containers, the contents of which can be easily accessed by aligning the opening in the upper container support with the target storage container below.

[0039] The container support can be a plate, such as a single continuous plate or several plates connected to form the container support. In other words, the container support can provide a continuous surface on which to place the storage container. Alternatively, the container support can have a frame structure, i.e., without internal structure or material between the frame members of the frame structure. Furthermore, the container support can be a combination of both. The container support in a storage tower can also be a mixture of both.

[0040] The at least one opening shown by each container support can be a separate opening. The opening need not be in the actual container support. For example, the container support may not extend into the opening area. If the container support has two or more openings, these openings can be merged together to form a continuous opening. The container support can include a plurality of openings distributed along an arc on the container support such that the plurality of openings are circumferentially offset from the vertical axis of the support structure by a distance equal to or substantially equal to the first radial distance.

[0041] The at least one opening and the plurality of container spaces of the same container support may be distributed along the same arc.

[0042] The distribution of the at least one opening of each container support and the plurality of container spaces is preferably similar for each container support so that, when coaxially arranged, the container space of any container support will be perfectly aligned with the opening of any other container support.

[0043] The storage tower may include m container support frames arranged along a vertical axis of the support structure and dispersed at vertical intervals, where m is a positive integer of 2 or greater. Each container support frame is configured to support at least one container support.

[0044] For example, the container support frames may be arranged with no space between adjacent container support frames, for example where ml container support frames of the plurality of container support frames are positioned above an underlying container support frame. Alternatively, the container support frames may be spaced apart.

[0045] The storage tower may include a drive mechanism configured to rotate the at least one container support relative to a vertical axis of the support structure.

[0046] The drive mechanism may be, for example, a swivel drive mechanism, a gear drive mechanism, a belt drive mechanism, a chain drive mechanism, or an electromagnetic drive mechanism (eg, a stepper motor).

[0047] The drive mechanism can, for example, be arranged on a support structure, a container support or a container support frame.

[0048] Typically, all of the container supports of the tower will be rotatable. However, where all upper container supports are rotatable, the lowermost container support can be stationary and the remotely operated vehicle can be aligned vertically over all potential target storage containers supported on the lowermost container support.

[0049] The container support is at least indirectly rotatably connected to the support structure, for example via a container support frame, wherein the container support frame may be connected to the support structure in a non-rotational manner.

[0050] Each of the m container supports may include a plurality of first container spaces distributed along an arc on the container support such that the plurality of first container spaces are circumferentially offset from a vertical axis of the support structure by a distance equal to or nearly equal to the first radial distance.

[0051] Each container support may, for example, comprise five first container spaces.

[0052] The plurality of first container spaces may be arranged radially symmetrically. However, equal angular spacing is not required between the container spaces.

[0053] The container space can be configured to store storage containers arranged with their transverse direction extending radially to the vertical axis of the support structure. This allows storage containers to be stored or retrieved to be aligned with one or more grid openings of the grid arranged above the storage tower. Alternatively, the container space can be configured to store storage containers arranged with their longitudinal direction extending radially to the vertical axis of the support structure. Furthermore, the container space can be configured to store storage containers arranged at any angular displacement relative to the aforementioned orientation.

[0054] Each container support may also include a plurality of second container spaces, the second container spaces distributed along an arc on at least one horizontally oriented container support, such that the plurality of second container spaces are circumferentially offset from the vertical axis by a distance equal to or substantially equal to a second radial distance, the second radial distance being greater than the first radial distance. The second radial distance is greater than the first radial distance by at least the width of the container to be stored. The container support typically may include seven second container spaces.

[0055] Each container support may further include a plurality of third container spaces, the third container spaces being distributed along an arc on at least one horizontally oriented container support, such that the plurality of third container spaces are circumferentially offset from the vertical axis by a distance equal to or substantially equal to a third radial distance, the third radial distance being greater than the first radial distance and the second radial distance. The third radial distance is greater than the second radial distance by at least the length of the container to be stored. The container support may typically include eleven third container spaces.

[0056] Each container support may have a circular horizontal cross-section.

[0057] The support structure may be a central rod, a peripheral shell or a combination of a central rod and a peripheral shell. The shell may be a cage-like structure.

[0058] At least one container support may comprise a plurality of sensor devices for sensing the presence of a storage container.The sensor devices may be distributed over a plurality of container spaces.

[0059] Sensors arranged on the container support or the container support frame may communicate with the control system.

[0060] The sensor device can be selected from the group consisting of piezoelectric sensors, weight sensors, magnetic sensors (which will require the storage container to be made of magnetic material or provided with magnetic means), visual sensors, light sensors, motion sensors, electrical contacts and / or inductive sensors.

[0061] At least one of the vessel supports may comprise sensor means for sensing a rotation of the vessel support relative to the support structure.

[0062] Each container support frame may include a plurality of container supports, wherein the plurality of container supports may be coaxially arranged and rotatable relative to one another. In this case, the first container space, the second container space, and the third container space of the same container support frame may be distributed on the first container support, the second container support, and the third container support, respectively.

[0063] The advantage of this configuration is that two remotely operated vehicles can simultaneously pick up two corresponding target storage containers from the same storage tower without interfering with each other. If a first remotely operated vehicle is picking up a first storage container from a given container support, a second remotely operated vehicle can pick up a second storage container or a third storage container from any container support of the same storage tower (including the same container support from which the first remotely operated vehicle also picked up).

[0064] The plurality of first container spaces of the at least one container support frame may be distributed over a plurality of container supports, for example, if each container support is substantially fan-shaped.

[0065] Each container support frame may also include a stationary portion connected to the support structure in a non-rotatable manner. The stationary portion may be provided with a rotation device, such as a wheel, bearing, swivel, or roller. At least one container support may be rotatably coupled to the stationary portion.

[0066] It will be understood that the term "coupled to" also encompasses "located on" and "supported by."

[0067] It is to be understood that the term “connected” also encompasses “indirect connection”, so that if the container support is connected to the container support structure and the container support structure is also connected to the support structure, i.e. the container support is connected to the support structure via the container support structure, the container support is considered to be connected to the support structure.

[0068] The rotating means may form part of the drive mechanism.

[0069] The stationary portion may be formed as an arm extending horizontally in a radial direction from the vertical axis of the support structure. The rotating device may be arranged on the arm, for example at the distal end of the arm. The rotating device arranged on the arm may be powered to rotate the associated container support and thus constitute the drive mechanism.

[0070] Each horizontally extending arm may include a plurality of rotation devices configured to support individual container supports and allow the individual container supports to rotate relative to each other.

[0071] The horizontally extending arms can be arranged in groups of different lengths, wherein each group is configured to support a separate coaxially arranged container support. In this case, the first container support, the second container support, and the third container support of the same container support frame can be supported by the first group of arms, the second group of arms, and the third group of arms, respectively.

[0072] The container support may include a guide post for guiding the storage container in position on the container space. The storage container may preferably include a guide recess configured to cooperate with the guide post.

[0073] The guide posts will also prevent the storage container from moving on the container support when the container support is rotated, ie ensuring that the storage container remains in place during storage.

[0074] Each container support may include vertical guide plates arranged at least partially around the perimeter of each of the at least one opening. These vertical guide plates may be configured to align storage containers being lifted or lowered into the corresponding openings in a horizontal plane.

[0075] The storage tower may further comprise a transport mechanism arranged above the uppermost container support frame or the uppermost container support at a first vertical offset, which is at least the maximum height of the storage containers to be stored.

[0076] Instead of a wheeled vehicle that moves on a rail system, the transport system can include a crane that can move in the X and Y directions (and not strictly in those directions, but obliquely in a combination of those directions) above the storage tower. For example, the crane can move in a first direction on sliding rods that extend across the width of the storage tower. Movement in a second direction can be achieved by sliding the sliding rods along two fixed rods extending in the second direction on either side of the storage tower. Other arrangements and numbers of rods are contemplated herein as long as they can be used to achieve the same movement of the overhead crane. The crane can be a container handling vehicle with a cantilever structure supported on two parallel sliding rods.

[0077] Thus, a storage tower is achieved which is still operable despite not being horizontal. The transport mechanism is less prone to derailment than a vehicle moving on wheels. Thus, the storage tower can be adapted for operation at sea, for example on a ship.

[0078] The storage tower may alternatively comprise a rail system arranged above the uppermost container support frame or the uppermost container support.

[0079] The rail system may be arranged above the uppermost container support frame or the uppermost container support at a first vertical offset, which is at least the maximum height of the storage containers to be stored.

[0080] The uppermost container support frame or uppermost container support can be positioned below the lower edge of the upper adjacent rail system at a distance corresponding to a height equal to or greater than the maximum height of a stack of several storage containers. In this way, a portion of the storage tower can partially correspond to a conventional storage grid, in which storage containers can be positioned on top of each other to form a stack, and a remotely operated vehicle may have to dig to access a target storage container. Meanwhile, another portion of the same storage tower can include one or more container supports in which the storage containers are not stacked, eliminating the need for digging.

[0081] The track system may provide access to a target opening of a storage tower and to adjacent storage towers and / or storage grids without necessarily covering the entire horizontal extent of the storage tower.

[0082] The present invention also relates to an automated storage and retrieval system configured to store a plurality of storage containers.

[0083] An automated storage and retrieval system may include the storage tower described above.

[0084] Additionally, the automated storage and retrieval system may include a plurality of storage containers supported on a plurality of container supports.

[0085] Additionally, the automated storage and retrieval system may include a remotely operated vehicle configured to move laterally over at least a portion of the plurality of container supports. The remotely operated vehicle may include a lifting device configured to grip and vertically lift and lower the storage container.

[0086] Additionally, the automated storage and retrieval system may include a control system configured to wirelessly monitor and control the movement of the remotely operated vehicle.

[0087] The remotely operated vehicle may be a storage container vehicle or a crane.

[0088] Thus, an automated storage and retrieval system is achieved in which a remotely operated vehicle can pick up a storage container without having to dig.

[0089] Thus, an automated storage and retrieval system is achieved that allows product items to be delivered in a more time-efficient manner to customers or other recipients who store the items in storage containers.

[0090] Thus, an automated storage and retrieval system is achieved which allows a high throughput of product items, such as product items for sale or other products with high demand.

[0091] The automated storage and retrieval system may further comprise a storage grid comprising:

[0092] Vertical storage columns for stacking storage containers on top of each other; and

[0093] A track system on which multiple container handling vehicles can run, which can be arranged above multiple storage columns,

[0094] In which, storage containers stored in the storage columns can be accessed by container handling vehicles through grid openings in the rail system, and the rail system may include a cantilever portion whose horizontal range is equal to the difference between the horizontal range of the rail system and the horizontal range of multiple storage columns.

[0095] One or more storage towers can be at least partially arranged below the cantilever portion of the track system and positioned so that the container supports can be independently rotated about a vertical axis so that at least one opening of each of the container supports can be vertically aligned with at least one opening of the other of the container supports by rotation of the container supports.

[0096] Alternatively, the automated storage and retrieval system may also include a storage grid comprising:

[0097] Vertical storage columns for stacking storage containers on top of each other; and

[0098] a transport mechanism, wherein the remotely operated vehicle is a crane movable along a sliding rod arranged parallel to a first direction, the sliding rod having two opposite ends movable along two fixed rods arranged parallel to a second direction, the transport mechanism being arranged above the plurality of storage columns,

[0099] The transport mechanism includes a cantilever portion having a horizontal extent equal to a difference between a horizontal extent of the transport mechanism and a horizontal extent of the plurality of storage columns.

[0100] One or more storage towers may be disposed at least partially beneath the boom portion of the mobile crane system.

[0101] Thus, a storage and retrieval system is achieved which combines a prior art storage grid and a storage tower of the invention, ie a combination of a high-operation rate tower and a low-operation rate grid, in which product items can be arranged according to their turnover rate.

[0102] Thus, a storage and retrieval system is achieved that combines storage capacity with time-efficient delivery of product items to customers, for example, where after an order is picked up from a low-operation rate grid with high storage capacity, the product items can be transitionally stored (buffered) in a high-operation rate grid for time-efficient delivery to the customer, and then efficiently delivered to the customer when the customer arrives.

[0103] High-operation-rate storage towers are configured to allow storage containers to enter and exit the towers at a high frequency. Storage containers are typically stored in high-operation-rate storage towers for shorter periods of time compared to low-operation-rate storage grids. High-operation-rate storage towers are particularly well-suited for high-demand products. High-operation-rate storage towers offer rapid access, making them suitable for time-critical storage. However, high-operation-rate storage towers are less space-efficient than low-operation-rate storage grids.

[0104] Compared to high-availability storage towers, low-availability storage grids are more space-efficient. Storage containers are typically stored for longer periods in low-availability grids than in high-availability storage towers. Compared to high-availability storage towers, low-availability storage grids have slower access times and are therefore more suitable for less time-critical storage.

[0105] Therefore, the high-operation rate storage tower and the low-operation rate storage grid complement each other.

[0106] The automated storage and retrieval system may further include a track system disposed above the uppermost container support frame or the uppermost container support. The track system may be disposed above the uppermost container support frame or the uppermost container support at a first vertical offset that is at least the maximum height of the storage container to be stored.

[0107] The automated storage and retrieval system may alternatively comprise a transport mechanism arranged above the uppermost container support frame or uppermost container support of the storage tower at a first vertical offset, which is at least the maximum height of the storage containers to be stored.

[0108] At least one of the container support frame and the container support may be arranged at a distance below a lower edge of the above adjacent rail system, the distance corresponding to a height that is equal to or greater than a maximum height of a stack of several storage containers.

[0109] The invention also relates to a method for storing and retrieving storage containers from an automated storage and retrieval system. The automated storage and retrieval system may be a system as described above.

[0110] Each container support may include a plurality of first container spaces distributed on at least one horizontally oriented container support such that the plurality of first container spaces are circumferentially offset from the vertical axis by a distance equal to or nearly equal to the first radial distance.

[0111] The method comprises the following steps:

[0112] Moving the remotely operated vehicle or crane to a position where its lifting apparatus can be vertically aligned with a target storage container positioned on one of the plurality of first container spaces, or to a position where its lifting apparatus can be vertically aligned with an opening or a plurality of aligned openings of a container support.

[0113] • If necessary, rotating the container support on which the target storage container is supported to position the target storage container in vertical alignment beneath the location of the remotely operated vehicle or crane.

[0114] When necessary, and if the container support on which the target storage container is supported is not the uppermost container support, rotating the upper container support or each of the upper plurality of container supports to a circumferential position in which the lifting device directly vertically accesses the target storage container through the at least one opening.

[0115] By using the lifting device to clamp and lift the target storage container.

[0116] Move the remotely operated vehicle with the target storage container to a different horizontal position.

[0117] Preferably, the container supports can have a default position in the storage tower in which at least one opening of each of the container supports is vertically aligned. Furthermore, when a rail system is used, the default position of the aligned openings of the container supports can preferably be vertically aligned with the grid openings of the rail system. Alternatively, when a transport mechanism is used, the default position of the aligned openings of the container supports can preferably be vertically aligned with the lifting device of the crane and have the same horizontal orientation as the lifting device.

[0118] Thus, a method is achieved for picking up a storage container using a remotely operated vehicle without having to dig.

[0119] Thus, a method is achieved that enables product items to be delivered in a more time-efficient manner to customers or other recipients who store the items in storage containers.

[0120] Thus, a method of providing a high throughput of product items, such as product items for sale or other products with high demand, is achieved.

[0121] If each container support includes multiple secondary container spaces, and possibly also tertiary container spaces, two remotely operated vehicles can simultaneously pick up a target storage container from the same container support. Alternatively, two remotely operated vehicles can simultaneously store two storage containers in the same container support. As another alternative, one remotely operated vehicle can simultaneously remove a target storage container from a container support while another remotely operated vehicle simultaneously stores a storage container in the same container support.

[0122] In the case where a remotely operated vehicle or crane delivers a storage container to be stored in the automated storage and retrieval system before or after retrieving the target storage container, the method may include the following steps:

[0123] Moving the remotely operated vehicle or crane to a position where its lifting apparatus can be vertically aligned with an empty container space (e.g., one of the first container spaces), or to a position where its lifting apparatus can be vertically aligned with an opening or aligned openings of a container support.

[0124] • If necessary, rotate the container support on which the empty container space is located to position the empty container space in vertical alignment beneath the location of the remotely operated vehicle or crane.

[0125] In the event that the container support of the empty container space is not the uppermost container support, rotating the upper container support or each of the upper container supports into a circumferential position in which the lifting device has direct vertical access to the empty container space through the at least one opening.

[0126] The transported storage container is lowered into position onto the empty container space using a lifting device.

[0127] Where the automated storage and retrieval system comprises a storage grid comprising target storage containers, the method may comprise the following steps:

[0128] • Picking a target storage container from the storage grid, e.g., as described in the background.

[0129] • Store the target storage container in a storage tower according to the above method.

[0130] • Removing the storage container from the storage tower according to the method for storing and removing the storage container.

[0131] The automated storage and retrieval system described above may be used to deliver items arranged within storage containers stored in a storage tower directly to an end user.

[0132] The invention also relates to a method for installing a storage tower in an automatic storage and retrieval system.The storage tower and the automatic storage and retrieval system may be according to the above description.

[0133] An automated storage and retrieval system may include:

[0134] Storage grid; and

[0135] A vehicle movement system with a larger horizontal range than the storage grid.

[0136] The method comprises the following steps:

[0137] • Assembling at least a portion of a storage tower according to the above description under the cantilever portion of the vehicle movement system.

[0138] Thus, a storage tower is achieved which can be retrofitted to existing storage and retrieval systems.

[0139] The vehicle motion system may include a track system, and the method may then further include the steps of:

[0140] Aligning the storage tower with the rail system so that the at least one opening of the first container support frame and each of the uppermost ml container support frames can be aligned vertically below the grid opening of the rail system that extends beyond the portion of the storage grid.

[0141] The cantilevered portion of the track system need not extend to the entire horizontal extent of the storage tower. The cantilevered portion of the track system may, for example, only extend sufficiently to reach a target opening of the storage tower.

[0142] Due to the configuration of the container supports, the vertical struts cannot be located inside the storage tower. This means that there will be large spans between the vertical struts of the storage tower and therefore higher loads on each vertical strut than on the upright members of the prior art storage grids.

[0143] When a rail system is present, it must extend over a larger area and support the weight of the remotely operated vehicle than a conventional storage grid where each grid space is supported at the corners by upright members.

[0144] To accommodate the increased loads, the vertical posts and / or track systems may need to be strengthened as compared to prior art uprights and track systems.

[0145] A remotely operated vehicle approaching a storage tower to retrieve a target storage container typically carries another storage container to be stored in the storage and retrieval system. After the remotely operated vehicle advantageously places the held storage container in an empty container space within a storage tower, the vehicle can then retrieve the target storage container from the same storage tower. This process is often referred to as an exchange process. This exchange process can be performed in storage towers and automated storage and retrieval systems as described above.

[0146] By keeping the number of storage containers smaller than the number of available container spaces in the storage system, there will always be at least one empty container space. Empty container spaces will also be dynamically created as remotely operated vehicles pick up storage containers from the storage tower. If there are no empty container spaces in the storage system, the remotely operated vehicle cannot bring in additional storage containers, such as from a port column, or the remotely operated vehicle must place the remaining storage container on top of the storage tower. Both alternative approaches have drawbacks in terms of time efficiency.

[0147] The empty container space (into which the storage container is to be placed) and the target storage container are preferably located horizontally closest to the same target opening. This way, during the same exchange process, the remotely operated vehicle does not need to move between two operations. Even more preferably, in addition to being accessible through the same target opening, the empty container space and the target storage container can be located on the same container support. This allows the remotely operated vehicle to have minimal movement of its lifting device between two operations of the exchange process. Consequently, the exchange process is not prolonged due to conflicting displacements of the lifting device with the container support of the target storage container.

[0148] After the remotely operated vehicle positions the previously held storage container in the empty container space, the remotely operated vehicle must retract the lifting device. Retracting the lifting device allows the container support on which the previously held storage container is positioned to rotate, i.e., return to a predetermined default orientation. The default position of the container supports is typically one in which at least one opening of each container support is vertically aligned. To make the operation time-efficient, the remotely operated vehicle should not retract the lifting device, i.e., raise it higher than strictly necessary. If the target storage container is positioned deeper in the storage tower than the previously held storage container, the lifting device only needs to be raised away from the container support on which the previously held storage container is positioned. If the target storage container is positioned higher in the storage tower than the previously held storage container, the lifting device needs to be raised away from the container support on which the target storage container is positioned in order to rotate it. However, it is not necessary to raise the lifting device to a higher position. Therefore, unless the target storage container or empty container space is positioned in the uppermost container support, there is no need to continuously retract the lifting device toward the remotely operated vehicle. In order to make the operation time-efficient, the container support of the target storage container and the container support of the previously held storage container may be rotated simultaneously.

[0149] After the target storage container has been lifted over the container support, the container support may be rotated back to its original position. BRIEF DESCRIPTION OF THE DRAWINGS

[0150] 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 the drawings:

[0151] FIG1 is a perspective view of a frame structure of an automatic storage and retrieval system of the prior art;

[0152] FIG2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying a storage container therein;

[0153] FIG3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container thereunder;

[0154] FIG4 is a perspective view of a storage container and product items stored in the storage container;

[0155] Figure 5a is a top view of a storage system wherein a rail system is arranged above a storage tower and an opening of each container support is vertically aligned below a grid opening in the rail system;

[0156] Figure 5b yes Figure 5aA top view of a storage system in which one container support is rotated relative to another container support;

[0157] Figure 5c yes Figure 5a to Figure 5b A top view of a storage system in which one container support is rotated relative to another container support so that an opening of a storage container and an upper container support are vertically aligned with the grid openings;

[0158] Figure 6 yes Figures 5a to 5c A perspective view of a storage system of FIG. 1 , wherein a remotely operated vehicle having a lifting device and movable on a rail system is positioned in vertical alignment with the lifting device over the grid opening;

[0159] Figure 7 is a top view of a storage system wherein a container support is configured with container spaces and / or openings that are alignable below two different grid openings;

[0160] Figure 8 is a top view of a storage system wherein a container support is configured with container spaces and / or openings that can be aligned below three different grid openings;

[0161] Figure 9 is a side view of a storage system according to an embodiment of the present invention, wherein a storage grid and a storage tower are positioned side by side and below a rail system;

[0162] Figure 10 yes Figure 9 A side view of a storage system with all but the lowermost and uppermost container supports removed from the storage tower;

[0163] Figure 11 yes Figure 9 a perspective view of a detail of a storage system of FIG, wherein all but two lowermost container supports are removed from the storage tower;

[0164] Figure 12 yes Figure 9 a side view of a detail of the storage system showing the drive mechanism and container support frame of the storage tower;

[0165] Figure 13 is a perspective view of another embodiment of a storage system according to the present invention, wherein a storage grid and a plurality of storage towers are positioned side by side and below a rail system;

[0166] Figure 14 yes Figure 9 A side view of a storage system of FIG. 1 , wherein the storage tower has two empty container spaces; and

[0167] Figure 15 yes Figure 14 Side view of the storage system. DETAILED DESCRIPTION

[0168] Hereinafter, embodiments of the present invention will be discussed in more detail 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.

[0169] The frame structure 100 of the automatic storage and retrieval system 1 is constructed according to the frame structure 100 of the prior art described above in conjunction with Figures 1 to 3, that is, a plurality of upright members 102 and a plurality of horizontal members 103 supported by the plurality of upright members 102, and in addition the frame structure 100 also includes a first upper rail system 108 in the X direction and the Y direction.

[0170] The frame structure 100 further comprises storage compartments arranged between the components 102 , 103 in the form of storage rows 105 , wherein storage containers 106 can be stacked in the form of stacks 107 within the storage rows 105 .

[0171] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be much wider and / or longer and / or deeper than that disclosed in Figure 1. For example, the frame structure 100 can have a horizontal extent of more than 700 x 700 columns and a storage depth of more than twelve containers.

[0172] Now refer to Figures 5a to 15 Embodiments of the automated storage and retrieval system according to the present invention are discussed in more detail.

[0173] In the preceding description, various aspects of the delivery vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, will be apparent to those skilled in the art.

[0174] See especially Figures 5 to Figure 6 and Figures 9 to 15The storage and retrieval system 1 of the present invention includes a remotely operated vehicle 301 running on a track system 408, the track system including: a first set of parallel tracks 410 arranged to guide the remotely operated vehicle 301 to move across the storage grid 400 in a first direction X; and a second set of parallel tracks 411 arranged perpendicular to the first set of tracks 410 to guide the remotely operated vehicle 301 to move in a second direction Y perpendicular to the first direction X. The storage containers 106 stored in the storage tower 400 are accessed by the remotely operated vehicle 301 through grid openings 415 in the track system 408. Each grid opening 415 of the track system 408 is surrounded by grid cells 422. The track system 408 is in a horizontal plane P rs (See Figure 7 ) is extended in .

[0175] like Figure 9 As best shown in FIG. 1 , the storage containers 106 are stored on a plurality of container supports 402 distributed in the Z direction below a rail system 408 and having a V r1 The vertical offset indicated by ΔdV (i.e., the offset between the lower edge of the rail system 408 and the lower edge of the first container support 402a immediately below the rail system 408) and the vertical offset indicated by ΔdV (i.e., the average offset between the lower edges of adjacent, deeper placed container supports 402b-m).

[0176] Although "m", the thirteenth letter of the alphabet, has been used to identify the lowest container support and Figure 9 In the embodiment of m, thirteen layers of container supports are represented, but other number of layers of container supports may exist in the storage and retrieval system. Therefore, m is not limited to thirteen, but may be any integer equal to two or greater.

[0177] Vertical offset V r1and ΔdV can be selected to provide a height that is equal to or greater than the maximum height of a storage container 106 or a stack 107 of several storage containers 106. As an example, a first container support 402a can be adapted to store a stack 107 of storage containers 106, while the container supports 402b-m (or some of them) located below can be adapted to store a single (non-stacked) storage container 106. As another example, several or all of the container supports 402 of a tower 400 can be adapted to store a stack 107 of several storage containers 106. Different container supports 402 of the same storage tower 400 can be configured to store unequal numbers of stacks 107 of storage containers 106. Compared to the construction of a storage tower 400 in which all container supports 402 are suitable for storing single (non-stacked) storage containers 106, the vertical space (i.e., available height) required for one or several container supports 402 of the storage tower 400 to store stacks 107 of several storage containers 106 can be obtained by reducing the total number of container supports 402.

[0178] Figures 5a to 5c A top view of a storage tower 400 is shown, which includes a vertical axis A. v A plurality of horizontally oriented container supports 402a-m are arranged along the vertical axis of the support structure 450 and are dispersed at vertical intervals ΔdV, as described above. Each container support 420 is rotatably connected to the support structure 450 and is configured to support at least one storage container 106.

[0179] The container supports 402a-1 arranged above the remaining container supports 402 each exhibit at least one opening 403 having a maximum horizontal cross-section A of at least the storage container 106 to be stored. f size.

[0180] As with the integer "m," the integer "1" is not limited to any particular integer, but may include any integer less than "m."

[0181] The container support 402a-1 can be arranged around a vertical axis A. v Independently rotatable such that at least one opening 403 of each of the m container supports 402a-m can be vertically aligned with at least one opening of the other m container supports 402a-m by individual rotation of the container supports 402a-m.

[0182] The storage tower 400 may include a plurality of container support frames 410 a - m configured to each support at least one container support 402 .

[0183] Each container support 402 may include a plurality of first container spaces 104a distributed along an arc on the container support 402, such that the plurality of first container spaces 104a are arranged from the vertical axis A of the support structure 450 to the vertical axis A of the support structure 450. v The circumferential offset is equal to or almost equal to the distance of the first radial distance r1. Figure 11 In the example of FIG. 4 , the container support 402 includes six first container spaces 104 a and one opening 403 .

[0184] The container space 104 of the container support 402 may be configured to store a storage container 106 arranged with its lateral direction (width) extending radially to the vertical axis A of the support structure 450. v In this way, the storage container 106 to be stored or retrieved can be vertically aligned with one or more grid openings 415 of the rail system 408 arranged above the storage tower 400 (the length and width of the grid opening 415 are aligned with the length and width of the storage container 106). If one first container space 104a is vertically aligned with the grid opening 415, the other first container spaces 104a can be vertically aligned with the same grid opening 415 by rotating the container support 402.

[0185] Figure 7 The container support 402 may include a plurality of first container spaces 104a distributed along an arc on the container support 402, such that the plurality of first container spaces 104a are arranged from the vertical axis A of the support structure 450. v The circumferential offset is equal to or almost equal to the first radial distance r1 . The container support 402 of this example includes five first container spaces 104 a and one first opening 403 a .

[0186] Figure 7 It is also shown that the container support 402 may include a plurality of second container spaces 104b distributed along an arc, such that the plurality of second container spaces 104b are arranged from the vertical axis A to the vertical axis A. v The circumferential offset is equal to or substantially equal to a second radial distance r2, which is greater than the first radial distance r1. The second radial distance r2 is greater than the first radial distance r1 by at least the width of the storage container 106 to be stored. The container support 402 of this example includes seven second container spaces 104b and one second opening 403b.

[0187] Figure 8 Shown Figure 7 The container support 402 may further include a plurality of third container spaces 104c distributed along an arc on at least one horizontally oriented container support 402, such that the plurality of third container spaces 104c are arranged from the vertical axis A to the horizontal axis A. vThe circumferential offset is equal to or substantially equal to a third radial distance r3, which is greater than the first radial distance r1 and the second radial distance r2. The third radial distance r3 is greater than the second radial distance r2 by at least the length of the storage container 106 to be stored. The container support 402 of this example includes eleven third container spaces 104c and one third opening 403c.

[0188] The number of first container spaces, second container spaces, and third container spaces 104 c may vary, for example, depending on the size of the container support 402 and the storage container 106 .

[0189] As shown, the container support 402 may preferably have a circular horizontal cross-section. All container supports 402 will typically have the same geometric shape. The lowermost container support 402 typically differs from the other container supports in that it lacks an opening 403, as no storage container 106 or container space 104 is to be located below it.

[0190] In the exemplary figures, the support structure 450 is a central rod. However, other arrangements are conceivable in which the vessel support is mounted on circumferential bearings provided in a cylindrical frame surrounding the vessel support.

[0191] When arranged in the container support frame 401, Figure 7 and Figure 8 The container support 402 can be divided into multiple container supports 402 coaxially arranged in the same container support frame 401. The container supports 402 of the same container support frame 401 can then be rotated relative to each other. In this case, the first container space, the second container space, and the third container space 104c of the same container support frame 401 can be distributed across the first container support, the second container support, and the third container support 402, respectively.

[0192] Alternatively, the container support 402 may be divided into a plurality of segments so that the plurality of first container spaces 104a are distributed over a plurality of container supports 402. A gap between a pair of segments may provide an opening for the storage container 106 to pass through.

[0193] Figure 11 The storage tower 400 may include a drive mechanism 700 configured to move at least one container support 402 relative to a vertical axis A of the support structure 450. v Rotate.

[0194] exist Figure 11 In FIG, some of the container supports 402 are removed for illustrative purposes. The drive mechanism 700 can be connected to the support structure 450, the container support frame 401, or the container supports 402. Figure 11 In the embodiment, the drive mechanism 700 is connected to a portion of the container support frame 401, thereby forming a vertical axis A from the support structure 450. v An arm 405 extends horizontally in a radial direction.

[0195] The drive mechanism 700 may be, for example, a rotating ring drive mechanism, a gear drive mechanism, a belt drive mechanism, a chain drive mechanism, or an electromagnetic drive mechanism (eg, a stepping motor).

[0196] Typically, all of the container supports 402 of the storage tower 400 will be rotatable. However, if all of the upper container supports 402 are rotatable, the lowermost container support 402 can be fixed, and the remotely operated vehicle can be aligned vertically over all potential target storage containers 106' supported by the lowermost container support 402.

[0197] The container support 402 is at least indirectly rotatably connected to the support structure 450, for example via the container support frame 401, wherein the container support frame 401 can be non-rotatably connected to the support structure 450. In this case, the container support frame 401 can be considered a stationary part of the storage tower 400.

[0198] Figure 11 The drive mechanism 700 is shown to be connected to a stationary portion (e.g., a container support frame) and configured to rotate the container support 402 via a gear drive mechanism. The container support 402 may have a Figure 11 The gear may be arranged near the center of the gear, or the gear may be arranged closer to or on the periphery.

[0199] Figure 12 The frame 401 is shown as being capable of supporting a container support 402. To allow the container support 402 to rotate relative to the container support frame 401, the container support frame 401 can be provided with one or more rotation devices 406. The rotation devices 406 can be wheels, bearings, swivels, or rollers. The container support 402 can then be considered rotationally coupled to a stationary portion, which in this case is the container support frame 401. In an alternative configuration, the container support 402 can be provided with such a rotation device and arranged to travel on a surface or rail provided by the container support frame.

[0200] The rotating device 406 may be powered to rotate, thereby constituting the driving mechanism 700 .

[0201] exist Figure 12 , the rotation device 406 is arranged in the distal part of the arm 405.

[0202] If a container support frame 401 comprises a plurality of coaxially arranged container supports 402 as described above, each arm 405 may require a corresponding number of rotation devices 406. The rotation devices 406 should then be arranged at a distance of 1 / 4 from the vertical axis A of the support structure 450. v At a radial distance, the radial distance corresponds to the horizontal extent of the vessel support 402 (eg, the inner extent and the outer extent of the vessel support in the radial direction).

[0203] Alternatively, each of the multiple container supports 402 can have a dedicated arm 405, for example an arm having a different length depending on the horizontal range of the container support 402, or an arm having the same length but with a rotating device 406 arranged at a different position depending on the position of the horizontal range of the container support 402 to be rotatably connected.

[0204] The container support 402 may include a guide post 407 for guiding the storage container 106 in position on the container space 104. The storage container 106 may preferably include a guide recess configured to cooperate with the guide post 407.

[0205] The container support 402 may have cutouts, for example, in the container space 104. These cutouts will reduce weight and may reduce the cost of the container support 402.

[0206] In order to store and retrieve the target storage container 106' using the storage tower 400, the following operations are performed (refer to Figure 6 and Figures 5a to 5c ):

[0207] The control system 500 issues a command to the vehicle 301 to pick up the target storage container 106' having coordinates X, Y, Z. This position corresponds to being positioned 5xΔdV+V below the track system 408. r1 Since all openings 403 in the storage tower 400 are initially aligned (have the same XY coordinates), the XY position of the target opening 403' of the container support 402a adjacent to the rail system 408 is equal to the XY position of the target opening 403' of the container support frame 401b-m below.

[0208] The vehicle 301 is moved in the X and Y directions by means of its drive means 301b, c until its lifting device 304 is directly above the target opening 403'.

[0209] During and / or after the vehicle 301 moves to a position above the target opening 403', the control system 500 sends instructions to the drive mechanism 700 to rotate the container support 402g so that the target storage container 106' is vertically aligned with the target opening 403' of the upper container supports 402a-f.

[0210] During and / or after displacement of the container support 402g, the lifting device 304 of the vehicle 301 is activated and lowered downward through the grid opening 415 and the aligned target opening 403' until the gripping portion of the lifting device 304 is in position to grip the target storage container 106'.

[0211] After the target storage container 106' has been gripped by the lifting device 304 and lifted onto the upper container support 402f, the drive mechanism 700 is activated again to move the container support 402g back to its original position.

[0212] • When the target storage container 106' has been lifted onto the rail system 408, the vehicle 301 moves to another location on the rail system 408, such as to a dedicated port row / chute for delivery to an access station.

[0213] The advantage of this process is that the excavation required to perform the prior art storage and retrieval systems is no longer necessary.

[0214] Figures 5a to 5c A grid opening 415 is shown, through which the lifting device 304 can access the storage container 106. The storage container 106, opening 403, and container space 104 of the container support 402 can be vertically aligned with the grid opening 415. Due to the rotational movement of the container support 402 and the rectangular shape of the grid opening 415, the storage container 106, opening 403, and container space 104 (rather than all grid openings 415) are suitable access points. In some cases, only one grid opening 415 is a suitable access point for the entire 360-degree rotation of the container support 402. By adjusting the size of the storage container 106, opening 403, container space 104, and / or grid opening 415, two suitable access points offset by 180 degrees can be provided. By further squaring the storage container 106, opening 403, container space 104, and grid opening 415, four suitable access points offset by 90 degrees can be provided. This is based on a container support 402 having only a plurality of first container spaces 104a. A container support 402 having the same plurality of second storage spaces 104b can have twice the number of access points. A container support 402 having the same plurality of third storage spaces 104c can have three times the number of access points, and so on.

[0215] Figure 9A side view of a storage and retrieval system 1 is shown, comprising a storage tower 400 according to the present invention and a prior art storage grid 100. The drive mechanism 700 is positioned near the center of each container support 402. This particular configuration includes thirteen container supports 402a-m arranged below a rail system 408. The number of container supports 402a-m arranged corresponds to the number of container support frames 401a-m. All container supports 402 are rotatable relative to one another. Other numbers of container supports 402 may be present as appropriate. Preferably, there are more than five container supports 402, and more preferably, more than ten.

[0216] To enable movement between the storage grid 100 and the storage tower 400, e.g. Figure 15 , a connecting rail system 408' is shown interconnecting the rail system 108 of the prior art storage grid 100 and the rail system 408 of the storage tower 400 of the present invention. The rail system 408 of the storage tower 400 of the present invention and the rail system 108 of the prior art storage grid 100 have a common orientation and design, allowing the same type of vehicle 301 to operate on both rail systems 108, 408. Due to the different configurations of the container supports 402 of the storage tower 400 of the present invention and the stacks 107 of storage containers 106 of the prior art storage grid 100, the rails 410, 411 above the container supports 402 can be made wider than the rails 110, 111 above the stacks 107 in at least one of the X and Y directions. To ensure that the storage containers 106 can pass through the grid openings 415, the rails 410, 411 above the container supports 402 can be made deeper, i.e., in the Z direction.

[0217] Both the storage tower 400 of the present invention and the prior art storage grid 100 can be of any size. In particular, it should be understood that the storage tower 400 and / or storage grid 100 can be much wider and / or longer and / or deeper than that disclosed in the figures. For example, the horizontal extent of the storage tower 400 and / or storage grid 100 can exceed the space for 700×700 storage containers 106 and the storage depth can exceed fourteen storage containers 106.

[0218] One way to install the storage tower 400 as described above would be to remove all of the stacks 107 and most of the vertical supports 431 of the storage containers 106 below a portion of the track system 108 of the prior art storage and retrieval system 1 as shown in FIG1 , leaving a stack 107 of storage containers 106 and a portion of the vertical supports 431 below the track system 108 of the prior art storage and retrieval system 1 as shown in FIG1 . Figure 10 The cantilevered portion CP of the track system 108 and some vertical supports 431 are shown. Then one or more storage towers 400 of the present invention are inserted into the empty volume below the cantilevered portion CP of the track system 108. Figure 10In FIG. 4 , some of the container supports 402 are removed to illustrate that multiple container support frames 401 can be placed on top of each other with no space between them.

[0219] Figure 13 An embodiment of the storage and retrieval system 1 is shown in which a plurality of storage towers 400 are arranged side by side and adjacent to the storage grid 100. Figure 13 In the example of , three storage towers 400 and a storage grid are arranged under the same rail system 108. Figure 14 In the example of FIG. 4 , a storage tower 400 and a storage grid are arranged under the same rail system 108 .

[0220] Figure 14 A storage tower 400 is shown having a plurality of container supports 402a-m. This example shows thirteen container supports 402. When counting from above, the fourth container support 402d has an empty container space 106". Additionally, when counting from above, the sixth container support 402f has an empty container space 106".

[0221] In the preceding description, various aspects of the automated storage and retrieval system and the related method of picking up product items using a vehicle have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, will be apparent to those skilled in the art.

[0222] List of reference numerals

[0223]

[0224]

[0225]

Claims

1. A storage tower (400) for storing a storage container (106), wherein: The storage tower (400) comprises: A vertically extending support structure (450) having a vertical axis (A v );as well as · m horizontally oriented container supports (402) arranged along the vertical axis of the support structure (450) and supported by the container support frame (401), the container supports (402) being dispersed at vertical intervals (ΔdV) to provide different layers capable of storing the storage containers (106), wherein m is a positive integer of 2 or greater, wherein each of the container supports (402) is rotatably connected to the support structure (450) and is configured to support at least one of the storage containers (106), in, l The layer where the container supports (402a-402l) are located is arranged on the remaining m-l Above the layer where the container support (402) is located, l Each of the layers of the container supports has at least one opening (403) having a size of at least the maximum horizontal cross-section (A) of the storage container (106) to be stored. f ),in l is 1 to m- A positive integer greater than 1, and in, l Each of the container supports (402a-402l) can be rotatable around the vertical axis (A v ) rotate independently, so that l At least one opening (403) of each layer in which the container supports (402a-402l) are located can be connected to the container by rotating the corresponding container support (402a-402l) individually. l At least one opening of other layers in the layer where the container supports (402a-402l) are located is vertically aligned; Each of the plurality of container support frames (401a-401m) further comprises: a stationary part connected to the support structure (450) in a non-rotating manner, wherein the stationary part is provided with a rotating device (406), wherein at least one of the container supports (402) oriented horizontally is rotatably coupled to the stationary portion; wherein the stationary portion forms a vertical axis (A) extending from the support structure (450) v ) an arm (405) extending horizontally in a radial direction, wherein the rotating device (406) is arranged at the distal end of the arm (405); and Each of the horizontally extending arms (405) includes a plurality of rotating devices (406) configured to support the independent container supports (402) and allow the independent container supports (402) to rotate relative to each other.

2. The storage tower (400) according to claim 1, in, The storage tower (400) comprises: A drive mechanism (700) configured to move at least one of the container supports (402) relative to the vertical axis (A v ) rotation.

3. The storage tower (400) according to claim 1 or 2, in, Each of the m container supports (402a-402n) includes a plurality of first container spaces (104a) distributed along an arc on the container support (402), so that the plurality of first container spaces (104a) are arranged from the vertical axis (A v ) is circumferentially offset by a distance equal to or almost equal to the first radial distance (r1).

4. The storage tower (400) according to claim 3, in, Each of the plurality of container supports (402) further comprises a plurality of second container spaces (104b) distributed along an arc on at least one of the horizontally oriented container supports (402), such that the plurality of second container spaces (104b) are arranged from the vertical axis (A) to the vertical axis (B). v ) are circumferentially offset by a distance that is equal to or almost equal to a second radial distance (r2), and the second radial distance (r2) is greater than the first radial distance (r1).

5. The storage tower (400) according to claim 1 or 2, in, Each of the container supports (402) has a circular horizontal cross-section.

6. The storage tower (400) according to claim 1 or 2, in, The support structure (450) is a central rod, a peripheral shell, or a combination of a central rod and a peripheral shell.

7. The storage tower (400) according to claim 1 or 2, in, Each of the container support frames (401a-401m) includes a plurality of container support members (402). Therein, the container supports (402) are coaxially arranged and rotatable relative to each other.

8. The storage tower (400) according to claim 3, in, The plurality of first container spaces (104a) of at least one of the container support frames (401) are distributed on a plurality of the container supports (402).

9. The storage tower (400) according to claim 2, in, The rotating device (406) forms part of the driving mechanism (700).

10. The storage tower (400) according to claim 1 or 2, in, The horizontally extending arms are arranged in groups with different lengths, Wherein, each of the groups is configured to support independent coaxially arranged container supports (402).

11. The storage tower (400) according to claim 3, in, The container support (402) includes a guide post (407) for guiding the storage container (106) into position on the first container space.

12. The storage tower (400) according to claim 1 or 2, in, Each of the container supports (402) comprises a vertical guide plate (409) arranged at least partially around the periphery of each of the at least one opening (403), Wherein, the vertical guide plates (409) are configured so that the storage containers (106) lifted or lowered into the corresponding openings (403) are aligned in a horizontal plane.

13. The storage tower (400) according to claim 1 or 2, in, The storage tower (400) further comprises a transport mechanism, the transport mechanism being arranged above the uppermost container support frame (401a) or the uppermost container support member (402) with a first vertical offset (V r1 ) arrangement, the first vertical offset being at least the maximum height of the storage container (106) to be stored.

14. The storage tower (400) according to claim 1 or 2, in, The storage tower (400) further comprises a rail system (408) arranged above the uppermost container support frame (401a) or the uppermost container support (402a).

15. The storage tower (400) according to claim 14, in, The rail system (408) is positioned above the uppermost container support frame (401a) or the uppermost container support (402a) with a first vertical offset (V r1 ) arrangement, the first vertical offset being at least the maximum height of the storage container (106) to be stored.

16. The storage tower (400) according to claim 14, in, The uppermost container support frame (401a) or the uppermost container support (402a) is arranged at a distance below the lower edge of the adjacent rail system (408) above, which distance corresponds to a height equal to or greater than the maximum height of the stack (107) of multiple storage containers (106).

17. An automatic storage and retrieval system (1) configured to store a plurality of storage containers (106), the automatic storage and retrieval system comprising: One or more storage towers (400) according to any one of claims 1 to 13; A plurality of storage containers (106) supported on a plurality of container supports (402); a remotely operated vehicle (201; 301; 602) configured to move laterally over at least a portion of the plurality of container supports (402), wherein the remotely operated vehicle (201; 301; 602) includes a lifting device (304) configured to grip and vertically lift the storage container (106); and • A control system (500) configured to wirelessly monitor and control the movement of the remotely operated vehicle (201; 301).

18. The automatic storage and retrieval system (1) according to claim 17, in, The system (1) further comprises: A storage grid (100), comprising - a plurality of vertical storage columns (105) for stacking the storage containers (106) one on top of another; and - a rail system (108) on which a plurality of container handling vehicles (201; 301) can run, The rail system (108) is arranged above a plurality of the storage columns (105), wherein the storage containers (106) stored in the storage column (105) can be accessed by the container handling vehicle (201; 301) through a grid opening (115) located in the rail system (108), The rail system (108) includes a cantilever portion (CP) having a horizontal extent equal to the difference between the horizontal extent of the rail system (108) and the horizontal extent of the plurality of storage columns (105), wherein one or more storage towers (400) are arranged at least partially below the cantilever portion (CP) of the rail system (108) and positioned such that l Each of the container supports (402a-402l) can rotate independently around the vertical axis so that l At least one opening (403) of each of the container supports (402a-402l) can be engaged with the container by rotating the container support (402a-402l). l At least one opening of the other container supports of the container supports (402a-402l) are vertically aligned.

19. The automatic storage and retrieval system (1) according to claim 17, in, The system (1) further comprises: A storage grid (100), comprising: - a plurality of vertical storage columns (105) for stacking the storage containers (106) one on top of another; and - a transport mechanism, wherein the remotely operated vehicle is a crane (602) movable along a sliding rod (603) arranged parallel to a first direction (X), The sliding rod (603) has two opposite ends, which can move along two fixed rods (604) arranged parallel to the second direction (Y). The transport mechanism is arranged above a plurality of the storage columns (105), The transport mechanism includes a cantilever portion (CP) having a horizontal range equal to the difference between the horizontal range of the transport mechanism and the horizontal range of the plurality of storage columns (105), Wherein, one or more storage towers (400) are at least partially arranged below a cantilever portion (CP) of a mobile crane system (108).

20. The automatic storage and retrieval system (1) according to claim 17, in, The storage tower (400) further comprises a rail system (408) which is arranged above the uppermost container support frame (401a) or the uppermost container support (402a) with a first vertical offset (V r1 ) arrangement, the first vertical offset being at least the maximum height of the storage container (106) to be stored.

21. The automatic storage and retrieval system (1) according to claim 20, in, At least one of the container support frames (401) is arranged at a distance below the lower edge of the upper adjacent rail system (408), the distance corresponding to a height equal to or greater than the maximum height of the stack (107) of multiple storage containers (106).

22. A method for storing and retrieving storage containers (106) from an automatic storage and retrieval system (1) according to claim 19, in, Each of the plurality of container supports (402a-402n) comprises a plurality of first container spaces (104a) distributed on at least one horizontally oriented container support (402), such that the plurality of first container spaces (104a) are arranged from the vertical axis (A v ) is circumferentially offset by a distance equal to or almost equal to the first radial distance (r1), The method comprises the following steps: moving the remotely operated vehicle (201; 301) or the crane (602) to a position where the lifting device (304) of the remotely operated vehicle or the lifting device of the crane can be vertically aligned with a target storage container (106') positioned on one of the plurality of first container spaces (104a), or moving the remotely operated vehicle or the crane to a position where the lifting device of the remotely operated vehicle or the lifting device of the crane can be vertically aligned with one or more aligned openings (403) of the container support (402), rotating the container support (402) supporting the target storage container (106') to position the target storage container (106') in vertical alignment below the location of the remotely operated vehicle (201; 301) or the crane (602), and in the case where the container support (402) supporting the target storage container (106') is not the uppermost container support (402a), causing the upper container support (402) or each of the plurality of upper container supports (402) to rotate to a circumferential position in which the lifting device (304) directly vertically accesses the target storage container (106') through at least one of the openings (403), By using the lifting device (304) to grip and lift the target storage container (106'), and • Moving the remotely operated vehicle (201; 301; 602) with the target storage container (106') to a different horizontal position.

23. The method according to claim 22, in, The remotely operated vehicle (201; 301) or the crane (602) transports a storage container (106) to be stored in the automatic storage and retrieval system (1) before or after retrieving the target storage container (106'), The method comprises the following steps: moving the remotely operated vehicle (201; 301) or the crane (602) to a position where the lifting device (304) of the remotely operated vehicle or the lifting device of the crane can be vertically aligned with an empty container space (106''), or moving the remotely operated vehicle or the crane to a position where the lifting device of the remotely operated vehicle or the lifting device of the crane can be vertically aligned with an opening or a plurality of aligned openings (403) of the container support (402), rotating the container support (402) on which the empty container space (106") is located to position the empty container space (106") in vertical alignment below the location of the remotely operated vehicle (201; 301) or the crane (602), In the case where the container support (402) where the empty container space (106") is located is not the uppermost container support (402a), rotating the upper container support (402) or each of the upper container supports (402) to a circumferential position in which the lifting device (304) directly enters the empty container space (106") vertically through at least one of the openings (403), The transported storage container ( 106 ) is lowered into position onto the empty container space ( 106 ″) by using the lifting device ( 304 ).

24. The method according to claim 23, in, The automatic storage and retrieval system (1) comprises a storage grid (100) containing the target storage container (106'), The method comprises the following steps: Picking up the target storage container (106') from the storage grid (100), Storing the target storage container (106') in the storage tower (400) by the method according to claim 23, and • Removing the target storage container (106') from the storage tower (400) by the method according to claim 22.

25. Use of the automated storage and retrieval system (1) according to any one of claims 17 to 21 for delivering items arranged in the storage containers stored in the storage tower (400) directly to an end user.

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