Container handling module

Abstract

The present invention provides a container handling module (13) for an access station (7) in a storage system (1), the container handling module (13) including a first container holder (8a), a second container holder (8b), a shuttle (14) and a guide rail assembly (15, 16), the first container holder and the second container holder (8a, 8b) being rotatably mounted to the shuttle (14) via a rotation axis (9), wherein each of the first container holder and the second container holder (8a, 8b) is arranged to accommodate a storage container (106) and is rotatable about a rotation axis (C) between a first angular position (P1) and a second angular position (P2), the second angular position being opposite to the first angular position relative to the centerline (C) of the rotation axis (9), and the shuttle (14) being configured to move linearly between a first linear position (L1) and a second linear position (L2) in the horizontal direction (H) relative to the guide rail assembly.

Description

Technical Field

[0001] The present invention relates to a container handling module, an access station including the container handling module, and a storage system including such an access station. Background Technology

[0002] Figure 1 discloses a common prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2 to 4 disclose two different prior art container handling vehicles 201 and 301 suitable for operation on such system 1.

[0003] The frame structure 100 includes upright members 102, horizontal members 103, and storage volumes comprising storage rows 105 arranged between the upright members 102 and the horizontal members 103. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal (e.g., extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a guide rail system 108 arranged across the top of the frame structure 100. Multiple container handling vehicles 201, 301 operate on the guide rail system 108 to lift storage containers 106 from storage columns 105 and lower storage containers 106 into the storage columns, and also transport storage containers 106 above the storage columns 105. The horizontal extent of the grid cells 122 forms a grid pattern marked with thick lines.

[0005] The guide rail system 108 (i.e., the guide rail grid) includes a first set of parallel guide rails 110 and a second set of parallel guide rails 111. The first set of parallel guide rails is arranged to guide container transport vehicles 201 and 301 across the top of the frame structure 100 in a first direction X. The second set of parallel guide rails is arranged perpendicular to the first set of guide rails 110 to guide container transport vehicles 201 and 301 in a second direction Y, perpendicular to the first direction X. Containers 106 stored in column 105 are accessed by the container transport vehicles through access openings 112 in the guide rail system 108. Container transport vehicles 201 and 301 can move laterally above the storage column 105, i.e., in a plane parallel to the horizontal XY plane. Typically, at least one set of guide rails 110 and 111 is made of double-track guide rails to allow two container transport vehicles to pass each other on adjacent grid cells 122. Dual-track rails are known and disclosed, for example, in WO2015 / 193278A1 and WO2015 / 140216A1, the contents of which are incorporated herein by reference.

[0006] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the process of lifting the containers from the column 105 and lowering the containers into the column. The stack 107 of the containers 106 is typically self-supporting.

[0007] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a and a first set of wheels and a second set of wheels 201b, 301b, 201c, 301c, which enable the container handling vehicle 201, 301 to move laterally in the X and Y directions, respectively. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b are arranged to engage with two adjacent rails in the first set of guide rails 110, and the second set of wheels 201c, 301c are arranged to engage with two adjacent rails in the second set of guide rails 111. At least one set of these sets of wheels 201b, 301b, 201c, 301c can be raised and lowered, such that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the corresponding set of guide rails 110, 111 at any time.

[0008] Each prior art container handling vehicle 201, 301 also includes a container lifting assembly 2 (shown in FIG. 4) for the vertical transport of the storage container 106, for example, lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The container lifting assembly 2 includes a lifting frame 3 having one or more clamping / engaging devices adapted to engage with the storage container 106 and guide pins 304 for properly positioning the lifting frame 3 relative to the storage container 106. The lifting frame 3 can be lowered from the vehicle 201, 301 by a lifting belt 5, thereby allowing adjustment of the position of the lifting frame relative to the vehicle 201, 301 in a third direction Z orthogonal to the first direction X and the second direction Y.

[0009] The lifting frame 3 (not shown) of the container handling vehicle 201 in Figure 2 is located inside the cavity of the vehicle body 201a.

[0010] Conventionally and for the purposes of this application, Z=1 represents the uppermost layer of the storage container, i.e., the layer immediately below the guide rail system 108; Z=2 represents the second layer below the guide rail system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 represents the bottommost layer of the storage container. Similarly, X=1...n and Y=1...n represent the position of each storage column 105 on the horizontal plane. Therefore, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG1, it can be said that the storage container identified as 106' in FIG1 occupies the storage position of X=10, Y=2, Z=3. It can be said that the container transport vehicles 201, 301 travel in the layer of Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0011] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this 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.

[0012] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage container 106 when transporting it across the guide rail system 108. The storage space may include a cavity centrally located within the vehicle body 201a (as shown in Figure 2) and, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0013] Figure 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, No. 0317366, the contents of which are also incorporated herein by reference.

[0014] The area occupied by the central cavity container transport vehicle 201 shown in Figure 2 can cover an area in the X and Y directions that is approximately equal in size to the lateral extent of the storage column 105, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0015] Alternatively, the occupied area of ​​the central cavity container transport vehicle 201 may be larger than the lateral area defined by the storage column 105, for example, as disclosed in WO2014 / 090684A1.

[0016] The guide rail system 108 typically includes a guide rail with grooves in which the vehicle's wheels travel. Alternatively, the guide rail may include upwardly projecting elements, where the vehicle's wheels include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as tracks. Each guide rail may include one track, or each guide rail may include two parallel tracks.

[0017] WO2018 / 146304 (the contents of which are incorporated herein by reference) illustrates a common configuration of a guide rail system 108, including a guide rail and parallel tracks in both the X and Y directions.

[0018] In frame structure 100, most columns 105 are storage columns 105, meaning that containers 106 are stored in stacks 107 within columns 105. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are dedicated columns for container handling vehicles 201 and 301 to unload and / or pick up storage containers 106 so that the storage containers can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside frame structure 100 or moved in or out of frame structure 100. In the art, such locations are commonly referred to as "ports," and the columns containing the ports may be referred to as "port columns" 119 and 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in random or dedicated columns 105 within frame structure 100, and then picked up and transported by any container handling vehicle to port columns 119, 120 for further transport to the retrieval station. Note that the term "inclined" means that the transport of storage container 106 has a certain conventional transport orientation between horizontal and vertical.

[0019] In Figure 1, the first port column 119 may be a dedicated unloading port column, in which container handling vehicles 201 and 301 can unload storage containers 106 to be transported to the storage station or transfer station, and the second port column 120 may be a dedicated pick-up port column, in which container handling vehicles 201 and 301 can pick up storage containers 106 that have been transported from the storage station or transfer station.

[0020] The storage station can typically be a picking station or a storage station where product items are removed from or placed into storage container 106. At the picking station or storage station, storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to the frame structure 100 after storage or retrieval. Ports can also be used to transfer storage containers to another storage facility (e.g., another frame structure or another automated storage and retrieval system), transport vehicles (e.g., trains or trucks), or production facilities.

[0021] Storage containers can be transported between port columns 119, 120 and the access station using a conveyor system including, for example, belt or roller conveyors.

[0022] If port columns 119, 120 and access stations are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0023] The transport system can be arranged to transfer storage container 106 between different frame structures, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0024] Belt and / or roller conveyors are relatively expensive and typically require extensive maintenance. To avoid using such conveyors, some retrieval stations may have sections that can be arranged directly below the port column, allowing storage containers to be transferred directly to the retrieval station. Prior art retrieval stations suitable for arrangement below the port column are disclosed, for example, in WO2012 / 026824A1 and WO2016 / 120375A1. Prior art retrieval stations can move storage containers from a position below the port column to a picking / stocking position (or retrieval position) by radial movement about a rotation axis. The operator retrieves the contents of the storage container at this picking / stocking position. Due to the space required to perform radial movement, the minimum width of the prior art retrieval station at the picking / stocking position is approximately twice the width of the storage container. Therefore, the radial movement of the prior art retrieval stations disclosed in WO2012 / 026824A1 and WO2016 / 120375A1 may be disadvantageous in some cases. For example, because the retrieval station occupies a large area outside the frame structure and the picking position is very inflexible relative to the port column, multiple picking / storage positions cannot be arranged adjacent to each other. Furthermore, because the distance from the port column to the picking / storage position is determined by the range of radial movement, the arrangement of retrieval stations in the prior art is somewhat inflexible.

[0025] The access station disclosed in WO2016 / 120375A1 is characterized by having a storage container holder and a complex guiding mechanism for tilting the storage container holder toward the operator, thereby providing an improved ergonomic working position.

[0026] When access is required for a storage container 106 stored in one of the columns 105 shown in Figure 1, one of a plurality of container handling vehicles 201, 301 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation includes moving the container handling vehicles 201, 301 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting devices (not shown) of the container handling vehicles 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the above storage containers before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle specifically designed for the task of temporarily removing storage containers from storage column 105. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container can be repositioned back into the initial storage column 105. However, the removed storage container can alternatively be relocated to another storage column.

[0027] When storage container 106 is to be stored in a column of column 105, one of the plurality of container handling vehicles 201, 301 is instructed to pick up storage container 106 from pick-up port column 120 and transport the storage container to a position above the storage column 105 where it will be stored. After removing any storage container located at or above the target position within the storage column stack 107, container handling vehicles 201, 301 position storage container 106 to the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column.

[0028] In order to monitor and control the automated storage and retrieval system 1, for example, to monitor and control the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301, so that the required storage container 106 can be delivered to the required location at the required time without the container transport vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0029] The object of the present invention is to provide an improved access station, wherein at least some of the disadvantages of prior art access stations that utilize radial movement of a container holder are reduced or minimized. Summary of the Invention

[0030] This invention is defined by the appended claims and the following:

[0031] In a first aspect, the present invention provides a container handling module for an access station in a storage system, the container handling module including a first container holder, a second container holder, a shuttle, and a guide rail assembly, wherein the first and second container holders are rotatably mounted to the shuttle via a rotation axis, wherein each of the first and second container holders is arranged to receive a storage container and is rotatable about a rotation axis between a first angular position and a second angular position, the second angular position being opposite to the first angular position relative to the centerline of the rotation axis, and the shuttle is configured to move linearly in a horizontal direction between a first linear position and a second linear position relative to the guide rail assembly.

[0032] The first and second container holders may be in the form of trays. In other embodiments, the container holders are characterized by having a belt or roller conveyor to allow storage containers to be loaded onto / unloaded from the container holder in a horizontal direction, for example, loaded onto / unloaded from an external conveyor system. The first and second container holders may have the same shape and configuration, arranged opposite each other with respect to the centerline of the axis of rotation.

[0033] In one embodiment of the container handling module, the rail assembly may include two parallel rails and a support frame (i.e., a frame for supporting the rails).

[0034] In one embodiment of the container handling module, during rotation between a first angular position and a second angular position, the first container holder and the second container holder extend laterally beyond the parallel guide rail.

[0035] In one embodiment of the container handling module, during rotation between a first angular position and a second angular position, the first container holder and the second container holder extend laterally beyond the parallel guide rails more than they do in the first angular position and the second angular position.

[0036] In one embodiment of the container handling module, the shuttle can be configured to move linearly in the horizontal direction between a first linear position and a second linear position relative to the guide rail assembly, such that when the shuttle is in the first linear position, a first container holder or a second container holder arranged in a first angular position can be moved by the shuttle to occupy the space corresponding to the space occupied by the first container holder or the second container holder arranged in the second angular position when the shuttle is in the first linear position, without rotating about the axis of rotation.

[0037] In one embodiment of the container handling module, the shuttle can be configured to move linearly in the horizontal direction between a first linear position and a second linear position relative to the guide rail assembly, such that the position of either the first container holder or the second container holder in the first angular position and the second angular position can be moved relative to the guide rail assembly.

[0038] In one embodiment of the container handling module, the shuttle may include a set of wheels that contact a guide rail assembly and are configured to allow the shuttle to move horizontally between a first linear position and a second linear position relative to the guide rail assembly. In other words, the set of wheels may be configured to move the shuttle, as well as the first and second container holders, horizontally.

[0039] In one embodiment of the container handling module, each of the two parallel guide rails may have a cross-section including guide surfaces arranged to interact with the shuttle to limit vertical movement of the shuttle relative to the guide rail assembly. In other words, these guide surfaces are arranged to prevent or limit tilting of the shuttle relative to the guide rails and / or the frame. These guide surfaces may be longitudinal and parallel to the guide rails. These guide surfaces may interact, for example, with a set of wheels, ribs or recesses on the shuttle, and / or ribs or recesses on the axles of a set of wheels. These guide surfaces include at least one downward-facing surface.

[0040] In one embodiment of the container handling module, each of the two parallel guide rails may have a cross-section including guide surfaces provided by an upper flange and a lower flange for interacting with a set of wheels, the upper and lower flanges being arranged to limit vertical movement of the set of wheels relative to the guide rail assembly. The upper and lower edges may also help limit lateral movement perpendicular to the direction of travel of the container handling module, facilitating forward and backward movement of the container handling module. The upper flange includes a downward-facing guide surface.

[0041] In one embodiment of the container handling module, the shuttle can move between a first end and a second end of the guide rail assembly.

[0042] In one embodiment of the container handling module, when the shuttle is in a first linear position, a first container holder or a second container holder in a first angular position may be positioned at a first end of the guide rail assembly. The length of horizontal movement of the shuttle between the first linear position and the second linear position may be at least equal to the minimum range of the first or second container holder in the horizontal plane.

[0043] In one embodiment of the container handling module, when the shuttle is in a first linear position, a first container holder or a second container holder in a first angular position is arranged at the first end of the guide rail assembly.

[0044] In one embodiment of the container handling module, the first corner position is located between the rotation axis and the first end of the guide rail assembly.

[0045] In one embodiment of the container handling module, a first container holder or a second container holder positioned at a first corner position may be closer to the first end of the guide rail assembly than the other of the first container holder or the second container holder positioned at a second corner position, i.e., when the shuttle is in a set linear position.

[0046] In one embodiment of the container handling module, the shuttle can move linearly a distance at least equal to the horizontal distance between the axis of rotation and the distal portion of the first or second container holder. In other words, the linear movement of the shuttle can extend a distance at least equal to the horizontal distance between the axis of rotation and the distal portion of the first or second container holder.

[0047] In one embodiment of the container handling module, the horizontal length of the guide rail assembly may be at least three times the horizontal distance between the axis of rotation and the distal portion of the first or second container holder. In another embodiment, the horizontal length of the guide rail assembly may be at least four times the horizontal distance between the axis of rotation and the distal portion of the first or second container holder.

[0048] In one embodiment of the container handling module, the distance between the first linear position and the second linear position may be at least equal to the horizontal distance between the axis of rotation and the distal portion of the first or second container holder. In another embodiment, this distance may be at least twice the horizontal distance between the axis of rotation and the distal portion of the first or second container holder. The distal portion is intended to refer to the part of the first or second container holder that is furthest from the axis of rotation.

[0049] In one embodiment of the container handling module, the first container holder may be arranged opposite the second container holder relative to the axis of rotation. In other words, the first and second container holders may be positioned on opposite sides of the axis of rotation such that when the other container holder is in a second angular position, either the first or second container holder is in a first angular position.

[0050] In one embodiment, the container handling module may include: a first electric motor arranged to rotate a first container holder and a second container holder about a rotation axis; and / or a second electric motor arranged to move a shuttle between a first linear position and a second linear position. The second electric motor may be arranged to rotate at least one of a set of wheels. Rotation of at least one of the wheels in the set of wheels may be achieved by engaging the wheel with the rotation of the second electric motor or by arranging the second electric motor to move the shuttle in a linear direction.

[0051] In one embodiment of the container handling module, the shuttle can move to at least one intermediate linear position arranged between a first linear position and a second linear position.

[0052] In one embodiment of the container handling module, the axis of rotation may be tilted at a first angle relative to a vertical position, and each of the first and second container holders is configured such that when the contained storage container is supported by the respective container holder, the centerline of the contained storage container is tilted at a second angle relative to the axis of rotation, wherein the centerline of the contained storage container is vertical when in the second angle position and tilted at a third angle relative to the vertical position when in the first angle position, the third angle being equal to the sum of the first and second angles.

[0053] The centerline of the storage container is intended to define a line perpendicular to a plane at the bottom of the storage container and intersecting the center of the bottom. Alternatively, the centerline of the storage container may be defined as the central axis of the storage container. When supported on a container holder arranged in a second corner position, the centerline of the storage container may extend perpendicularly to a horizontal line extending between the first and second corner positions.

[0054] In one embodiment of the container handling module, the centerline of the storage container may coincide with the centerline of either a first or second container holder that houses the storage container. In other words, the axis of rotation may be tilted at a first angle relative to a vertical position, and each of the first and second container holders is configured such that the centerline of the respective container holder is tilted at a second angle relative to the axis of rotation, wherein the centerline of either the first or second container holder is vertical when in the second angular position and tilted at a third angle relative to the vertical line when in the first angular position, the third angle being equal to the sum of the first and second angles.

[0055] In other words, when the axis of rotation is tilted, either the first container holder or the second container holder can rotate / revolve 180 degrees about the axis of rotation between a second angular position and a first angular position. In the second angular position, the contained storage container is horizontal, i.e., has an opening facing upwards. In the first angular position, the contained storage container is tilted at a third angle relative to the vertical position, i.e., has an opening facing upwards and tilted at a third angle relative to the vertical line. The first angle can be approximately equal to the second angle. In this specification, the term "approximately equal to" is intended to mean that the difference between the size of the first angle and the size of the second angle is less than 25%, and preferably less than 10%.

[0056] In one embodiment of the container handling module, both the first angle and the second angle can be within the range of 2 to 10 degrees, 3 to 8 degrees, or 4 to 7 degrees.

[0057] In one embodiment of the container handling module, when the respective container holder is in the first corner position, the centerline of the storage container housed in the first or second container holder can be tilted relative to the vertical position, such that the opening of the storage container will be away from the axis of rotation. In other words, when the container holder is in the first corner position, the top opening of the housed storage container can be tilted so that it faces the operator when the container handling module is part of the access station.

[0058] In one embodiment of the container handling module, the rotation axis may be tilted toward the first end of the guide rail assembly.

[0059] In one embodiment of the container handling module, during the arcuate movement between the second angular position and the first angular position, the centerline of the storage container held by the first container holder or the second container holder can gradually tilt from the vertical position to the third angle.

[0060] In a second aspect, the present invention provides an access station including at least one container handling module according to any embodiment of the first aspect, wherein the container handling module is arranged to present a storage container at an access position of the access station, where an operator or robot can access the storage container when the storage container is supported by a first container holder or a second container holder in a first angular position and a shuttle is in a first linear position. In other words, either the first container holder or the second container holder can be arranged at the access position when the respective container holder is in the first angular position and the shuttle is in the first linear position.

[0061] In one embodiment of the storage station, the container handling module is arranged such that, when the corresponding container holder is in a second corner position and the shuttle is in a second linear position, it allows a storage container to be supplied to or retrieved from either the first or second container holder. In other words, when the corresponding container holder is in the second corner position and the shuttle is in the second linear position, either the first or second container holder can be positioned at the loading / unloading location of the storage container.

[0062] In one embodiment of the storage station, when the corresponding container holder is in the second corner position and the shuttle is in either the first linear position or the second linear position, the container handling module may be arranged to allow the storage container to be supplied to or retrieved from the first container holder or the second container holder.

[0063] In one embodiment of the access station, when the shuttle is in the second linear position, the first container holder and the second container holder can rotate about the rotation axis. In other words, at least when the shuttle is in the second linear position, the first container holder and the second container holder have a space or opening for rotation about the rotation axis.

[0064] In one embodiment, the access station may include a cabinet, in which a first end of a guide rail assembly of at least one container handling module is disposed, the cabinet including an access opening arranged to align with the access position.

[0065] In one embodiment, the access station may include a first container handling module and a second container handling module, wherein the guide rail assemblies of the first container handling module and the second container handling module are arranged parallel or perpendicular to each other to provide two adjacent access positions.

[0066] In one embodiment, the access station can be configured for a storage system characterized by having at least one port column through which storage containers can be vertically transported, and wherein the access station includes a station frame configured to support the lower ends of the at least one port column above a guide rail assembly. In other words, the station frame is configured such that, when a corresponding container holder is in a second corner position and the shuttle is in either a first linear position or a second linear position depending on the linear position above which the at least one port column is arranged, a storage container can be provided to or removed from either a first container holder or a second container holder via the at least one port column. The station frame may include a horizontal beam, such as a lintel, on which the lower ends of the at least one port column are supported. The frame may also include vertical columns for supporting the horizontal beam. The station frame is configured to support the lower ends of the at least one port column at a height above the upper layer of storage containers arranged on either the first container holder or the second container holder.

[0067] In one embodiment, the access station can be configured for a storage system having multiple port columns, and the station frame is configured to support the lower ends of the multiple port columns above a guide rail assembly. In other words, the station frame is configured to support the lower ends of the multiple port columns at separate port column positions disposed above the guide rail assembly and along the guide rail assembly. Each of the separate port column positions can be aligned with a corresponding container holder position that can be occupied by a first or second container holder, depending on the angular position of the container holder and the linear position of the shuttle.

[0068] In one embodiment of the storage station, when the shuttle of the first container handling module is in the second linear position and the shuttle of the second container handling module is in the first linear position, the first container holder and the second container holder of the first container handling module can rotate about the rotation axis.

[0069] In one embodiment of the access station, the station frame is arranged to provide sufficient space for a first and second container holder of at least one container handling module to rotate about a rotation axis when the shuttle of at least one container handling module is in a second linear position. In some embodiments, the frame can provide sufficient space for the first and second container holders of at least one container handling module to rotate about a rotation axis when the shuttle of at least one container handling module is in a first linear position.

[0070] In a third aspect, the present invention provides a storage system including an access station according to any embodiment of the second aspect, wherein the storage system is characterized by having at least one port column through which storage containers can be transported in a vertical direction, the at least one port column being arranged above a guide rail assembly of at least one container handling module of the access station, such that when a first container holder or a second container holder is arranged in a second corner position and a shuttle is in a second linear position, a storage container can be delivered to or removed from the first container holder or the second container holder via the port column.

[0071] In one embodiment, the storage system may include multiple port columns arranged above the rail assembly of at least one container handling module of the access station, such that when the first or second container holder is positioned at a second corner and the shuttle is in either a first or second linear position, storage containers can be delivered to or retrieved from the first or second container holder via the port columns. For example, multiple port columns arranged in rows and including, for example, two, three, or four port columns can allow different types of container handling vehicles to use the access station (e.g., cantilevered container handling vehicles with cantilevered arms extending in different directions), and allow multiple container handling vehicles to simultaneously unload storage containers onto or retrieve storage containers from the access station.

[0072] In one embodiment of the storage system, a shuttle of at least one container handling module can be moved to at least one intermediate linear position arranged between a first linear position and a second linear position, wherein the storage system includes a plurality of port columns arranged above a guide rail assembly of at least one container handling module, such that when a first container holder or a second container holder is arranged in a second corner position and the shuttle is in either the intermediate linear position or the second linear position, a storage container can be delivered to or removed from the first container holder or the second container holder.

[0073] In one embodiment of the storage system, the storage system or access station may include a station frame configured to support the lower ends of a plurality of port columns above a rail assembly.

[0074] In one embodiment, the storage system includes vertical column profiles defining a plurality of grid columns, each grid column including storage columns in which storage containers can be vertically stacked one on top of another, and at least one of the grid columns is a port column. Each of the plurality of grid columns is defined by four vertically extending column profiles, and the column profiles are interconnected at their upper ends by top rails of a horizontal top rail grid (or rail system) forming the storage grid. The storage system may include a plurality of container handling vehicles arranged on the top rail grid and configured to transfer storage containers from or to the top rail grid via the port columns.

[0075] In a fourth aspect, the present invention provides a method for replacing a storage container at an access location of an access station according to any embodiment of the second aspect, comprising the following steps:

[0076] - By supporting the first storage container on the first container holder of at least one container holder module, arranging the first container holder in a first angular position, and arranging the shuttle in a first linear position, the first storage container is presented at the access position.

[0077] - Move the shuttle to the second linear position and load the second container holder onto the second container holder arranged in the second corner position;

[0078] - Rotate the first container holder and the second container holder about the axis of rotation to position the first container holder in the second angular position and the second container holder in the first angular position;

[0079] - Optionally, the first storage container can be unloaded from the first container holder; and

[0080] - Move the shuttle to the first linear position and present the second storage container at the access position.

[0081] In a fifth aspect, the present invention provides a method for presenting a storage container for access at an access station according to any embodiment of the second aspect, comprising the steps of:

[0082] - Move the shuttle of the first container handling module to the second linear position (i.e., move it to its second linear position), while the shuttle of the second container handling module is in the first linear position (i.e., in its first linear position);

[0083] - Load the storage container onto the first container holder or the second container holder of the first container handling module in the second corner position;

[0084] - Rotate the first and second container holders of the first container handling module about a rotation axis to move either the first or second container holder loaded with the storage container to a first angular position; and

[0085] - Move the shuttle of the first container handling module to the first linear position and present the storage container at the first access position.

[0086] The first and second linear positions in which the shuttle of the first container handling module can move can be arranged to be adjacent to the corresponding first and second linear positions in which the shuttle of the second container handling module can move.

[0087] In one embodiment, the method according to the fifth aspect may include the following steps:

[0088] - Move the shuttle of the second container handling module to the second linear position, while the shuttle of the first container handling module is in the first linear position;

[0089] - Load another storage container onto the first container holder or the second container holder of the second container handling module in the second corner position;

[0090] - Rotate the first and second container holders of the second container handling module about the rotation axis to move either the first or second container holder loaded with another storage container to a first angular position; and

[0091] - Move the shuttle of the second container handling module to the first linear position and present another storage container at the second access position.

[0092] In a sixth aspect, the present invention provides a method for presenting a storage container for access at an access station according to any embodiment of the second aspect, comprising the steps of:

[0093] - Move the shuttle of at least one container handling module to the second linear position;

[0094] - Load the storage container onto the first or second container holder located in the second corner position;

[0095] - Rotate the first container holder and the second container holder about a rotation axis to move either the first container holder or the second container holder containing the storage container to a first angular position; and

[0096] - Move the shuttle to the first linear position and present the storage container at the access position.

[0097] In this disclosure, the term "access station" is intended to refer to a component of at least one container handling module according to a first aspect of the invention, i.e., a station that provides one or more access points to a storage container, wherein the contents of the storage container can be picked, and wherein the storage container can store additional contents and any combination thereof. Attached Figure Description

[0098] Embodiments of the present invention will be described in detail with reference to the following accompanying drawings:

[0099] Figure 1 is a perspective view of the framework structure of an existing automated storage and retrieval system.

[0100] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0101] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever section for carrying storage containers below.

[0102] Figure 4 is a side view of the container transport vehicle in Figure 3, showing the lifting device.

[0103] Figure 5 This is a perspective view of a first exemplary container handling module according to the present invention.

[0104] Figure 6 yes Figure 5 A side view of the container handling module in the image.

[0105] Figure 7 yes Figure 5 A side view of the container handling module in the image.

[0106] Figure 8 yes Figure 5 An exploded view of the container handling module in the diagram.

[0107] Figure 9 This is a perspective view of a second exemplary container handling module according to the present invention.

[0108] Figure 10 It is included in the present invention. Figures 5 to 8 A side view of the first exemplary access station of the container handling module in the image.

[0109] Figures 11 to 13 It is included in the present invention. Figure 9 A side view of the second exemplary access station of the container handling module in the image.

[0110] Figure 14 yes Figures 11 to 13 A 3D view of the access station.

[0111] Figures 15 to 17 According to the present invention, it includes multiple such Figures 5 to 8 A perspective view of the third exemplary access station of the container handling module shown.

[0112] Figure 18 This is a perspective top view of the fourth exemplary access station according to the present invention. Detailed Implementation

[0113] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, the drawings are not intended to limit the invention to the subjects depicted in the drawings.

[0114] The container handling module and access station of the present invention are developed for use in the prior art storage systems shown in FIG1 and described in detail above. However, both the container handling module and access station can be advantageously used in any type of container handling system, including various container storage systems, in which containers need to be accessed.

[0115] exist Figures 5 to 8 The first exemplary container handling module 13 according to the present invention is shown in the figure. Figure 9 A second exemplary container handling module 13' is shown. The container handling module is adapted for use in a storage system access station. In the access station, storage containers can be transferred between a delivery / retrieval location and an access location, where storage containers can be delivered to or retrieved from the access station, and where a picker (i.e., a human operator or robot) can access the storage containers.

[0116] The container handling module 13 includes a first container holder 8a, a second container holder 8b, a shuttle 14, and a guide rail assembly characterized by having two parallel guide rails 15 and a support frame 16. The first and second container holders 8a and 8b are rotatably mounted to the shuttle 14 via a rotation shaft 9. Each of the first and second container holders 8a and 8b is arranged to receive a storage container 106, see [reference needed]. Figure 10 It can rotate about the rotation axis C between a first angular position P1 and a second angular position P2. The second angular position P2 is opposite to the first angular position P1 relative to the center line C of the rotation axis 9. The first container holder 8a is arranged opposite to the second container holder 8b relative to the rotation axis C, such that when the second container holder 8b is in the second angular position P2, the first container holder 8a is in the first angular position P1.

[0117] The shuttle 14 has a set of wheels 17 that contact two parallel guide rails 15 and is configured to allow the shuttle 14 to move linearly in the horizontal direction H between a first linear position L1, at least one intermediate linear position L2', and a second linear position L2. The first linear position is located at a first end 8 of the guide rail assemblies 15, 16, and the second linear position is located at a second end of the guide rail assemblies 15, 16, i.e., the shuttle 14 can move linearly relative to the guide rail assemblies.

[0118] When the shuttle 14 is in the first linear position L1, and one of the first container holder and the second container holder 8a, 8b is arranged in the first angular position P1, the corresponding container holder is arranged at or near the first end 18 of the guide rail assembly.

[0119] The guide rail assemblies 15, 16 and the shuttle 14 are configured to allow a first or second container holder arranged in the second corner position P2 to move linearly between two different positions relative to the guide rail assemblies 15, 16, i.e., the horizontal periphery of the first container holder arranged in the first different position will not overlap with the horizontal periphery of the first container holder arranged in the second different position. Figures 5 to 8 In the illustrated embodiment, the distance between two different positions (e.g., the first linear position L1 and the intermediate linear position L2') is approximately equal to the distance between the rotation axis C and the distal edge 35 (i.e., the distal portion) of either the first container holder 8a or the second container holder 8b.

[0120] In an exemplary embodiment, container holders 8a, 8b are in the form of trays configured to support the bottom of storage containers. The trays are connected to a rotation axis 9 via angled beams 31. The trays may also be configured to restrict lateral movement of the storage containers relative to the trays. In other embodiments, the container holders may be, for example, similar to those disclosed in WO2019 / 076516A1. Each of a plurality of container holders may also rotate about an inner axis as shown in WO2012 / 026824A1. In another alternative embodiment, the container holders are characterized by having, for example, a belt or roller conveyor configured to transport storage containers onto or off the container holder in a horizontal direction.

[0121] To enable the first and second container holders 8a, 8b to rotate stably about the axis of rotation C, each of the two parallel guide rails 15 has a cross-section comprising an upper flange 22a and a lower flange 22b, the upper flange having a downward-facing guide surface 36, and the lower flange for interacting with a set of wheels 17. The upper and lower flanges 22a, 22b are arranged to restrict the vertical movement of the set of wheels relative to the guide rail assembly. This feature is highly advantageous when the load on the oppositely arranged container holders is uneven. Without the upper flange 22a (i.e., the guide surface), the narrow shuttle, as disclosed in this invention, would easily tilt or tip over during rotation of the container holder between a first angular position and a second angular position.

[0122] To achieve the desired rotation and linear movement, the container handling module is characterized by having a first electric motor 20 configured to rotate the first and second container holders 8a, 8b about a rotation axis C. Furthermore, a second electric motor 21 can be arranged to rotate at least one of a set of wheels 17. Alternative embodiments are envisioned, in which the second electric motor may be separate from the shuttle, for example, arranged in or connected to a section of the guide rail assembly to move the shuttle via a suitable drive belt or linear actuator. A rotating shaft 9 is operatively connected to the electric motor 20 via a drive belt 11. Other means for connecting the rotating shaft 9 to the electric motor are envisioned, for example, by gears or by using a direct drive motor. Power for driving the first electric motor 20 and / or the second electric motor 21 is provided by power cables arranged within a cable protector drag chain 24.

[0123] The centerline of rotation axis C or rotation axis 9 can be inclined at a first angle X relative to the vertical position V. See [reference needed] Figure 6 The first and second container holders 8a, 8b are configured and / or tilted such that the centerline of the contained storage container 106 is tilted at a second angle Y relative to the axis of rotation C. In an exemplary embodiment, the centerline of the contained storage container will coincide with the centerline D of the corresponding container holder. The second angle Y causes the opening of the storage container to be away from the axis of rotation C. In this specification, the centerline of the storage container 106 is a line perpendicular to the plane of the bottom of the storage container and intersecting the center of the bottom.

[0124] The result of configuring and / or tilting the rotation axis C and container holders 8a, 8b such that the contained storage container is tilted at a corresponding first angle X and second angle Y is that when the storage container is contained in the second angular position P2 by the container holder, the storage container is held horizontally, and when the storage container is contained in the first angular position P1 by the container holder, the storage container is tilted at an angle of X+Y (i.e., a third angle) in the direction of the first end 18 of the guide rail assembly.

[0125] In the illustrated embodiment, the first angle X and the second angle Y are both 5 degrees, and therefore the third angle is 10 degrees. In other embodiments, the first angle X and the second angle Y will preferably be in the range of 1 to 10 degrees.

[0126] A common feature of the various container holders shown is the presence of at least one container support surface on which the contained storage container rests, such as the bottom support surface 30 of a tray structure. One or more support surfaces 30 are typically arranged in a support plane parallel to the bottom plane of the contained storage container 106. Therefore, a line perpendicular to the support plane will be inclined relative to the axis of rotation C at the same angle as the centerline of the contained storage container. The inclination of the container holder or the inclination of the support plane can also be defined by using a second angle Y relative to a radial plane perpendicular to the axis of rotation C.

[0127] exist Figure 9 The image shows a second exemplary container holder module 13'. (Compared to...) Figures 5 to 8 Compared to the implementation described above, the different feature of this container handling module is the manner in which the first and second electric motors 20, 21 are powered. In many applications, increasing the distance between the access position and the delivery / retrieval position is advantageous. In the container handling module according to the invention, this distance is determined by the length of the guide rail assemblies 15, 16 and the distance that the shuttle 14 can travel on the guide rail assemblies 15, 16. In the first exemplary container holder module 13, the travel distance of the shuttle 14 is limited by the actual length of the cable protector drag chain 24. To allow for a longer travel distance of the shuttle 14, power can be supplied to the electric motors 20, 21 of the second exemplary container holder module via contacts 25 on the guide rails and mating contacts 32, for example, connected to the axle 33 of the shuttle 14. Thus, the travel distance of the shuttle is limited only by efficiency considerations due to the increased travel time of the shuttle from the distal delivery / retrieval position to the access position (i.e., from the second linear position L2 to the first linear position L1). The structural elements constituting the mating contact 32 can also interact with the guide surface 37 of the guide rail to limit the tilt of the shuttle.

[0128] exist Figure 10 The diagram shows an access station characterized by having a first exemplary container handling module 13. This access station is configured for use with the storage system shown in FIG. 1 and described above, and is characterized by having a station frame 34 and a cabinet 26 having an access opening 27. The first ends 18 of the guide rail assemblies 15, 16 are arranged within the cabinet 34, such that when the shuttle 14 ( Figure 8 When the storage container 106 is in the first linear position L1 and is supported by one of the container holders 8a and 8b arranged in the first angular position P1, the storage container 106 can be aligned with the access opening 27.

[0129] The shuttle 14 can move between a first linear position L1, an intermediate linear position L2', and a second linear position L2. The station frame is configured to support the lower ends of three port columns 119a-c arranged above the guide rail assemblies 15 and 16. In this way, when the corresponding container holder is in the second corner position P2 and the shuttle 14 is in any of the first linear position L1, the intermediate linear position L2', and the second linear position L2, the storage container 106 can be supplied to or retrieved from either the first container holder or the second container holder 8a, 8b via one of the three port columns 119a-c.

[0130] The station frame 34 is configured to allow space for rotation of the first and second container holders 8a, 8b about the axis of rotation C, at least when the shuttle 14 is in the second linear position L2. The station frame may include a lintel in the form of a horizontal beam 34a, on which the lower ends of at least one port column 119a-c of the storage system can be supported. A vertical column 34b may be used to support the horizontal beam 34a. The horizontal beam is configured to support the lower ends of the port columns at a height above the upper layer of the storage container 106 arranged on either the first or second container holder 8a, 8b.

[0131] exist Figures 11 to 14 The diagram shows a section characterized by having an access station according to the invention. This access station is similar to... Figure 10 The access station shown, except that the access station includes, as Figure 9 The second exemplary container handling module 13' shown.

[0132] The storage system is characterized by having a first port column 119a, a second port column 119b, and a third port column 119c, with the lower end of each port column 119a-c supported by a station frame 34 above the guide rail assemblies 15 and 16.

[0133] When the first container holder or the second container holder 8a, 8b is positioned at the second corner position P2 and the shuttle 14 is in any of the first linear position L1, the intermediate linear position L2', and the second linear position L2, the storage container 106 can be delivered to the first container holder or the second container holder 8a, 8b or removed from the first container holder or the second container holder via one of the multiple port columns 119a-c.

[0134] Despite Figure 10The station frame 34 is shown as part of the access station, but it can also be defined as part of the frame structures 102, 108 of the storage system itself. Because the rotation of the container holders 8a, 8b can be performed inside the frame structure, the area or width occupied by the access station outside the frame structures 102, 108 can be smaller than that of prior art access stations. It should be noted that because the columns arranged above the station frame are port columns 119 or storage columns 105 (see Figure 1), the loss of storage space inside the frame structure due to the space required for the rotation of the container holders is minimized. The storage columns 105 supported by the station frame are provided with container stops (not shown) at their lower ends, allowing each storage column 105 to accommodate a stack of storage containers above the station frame.

[0135] Figures 11 to 14 An exemplary method of operating an access station (or storage system) according to the present invention is shown.

[0136] exist Figure 11 In this configuration, the first storage container 106' is presented at access position 23 by supporting the first container holder 8a of at least one container holder module 13', with the first container holder 8a arranged in a first angular position P1 and the shuttle 14 arranged in a first linear position L1. Any necessary actions, such as picking items from the first storage container or storing items into the first storage container, can be performed by a human operator or a robot.

[0137] Then, the shuttle 14 is moved to the second linear position L2. The second storage container 106” is loaded onto the second container holder 8b, which is arranged in the second angular position P2, and the first container holder and the second container holder are rotated about the rotation axis C so that the first container holder 8a is arranged in the second angular position P2 and the second container holder 8b is arranged in the first angular position P1. Figure 12 The unloading of the first storage container 106' from the first container holder 8a is illustrated using a container handling vehicle 301 operating on a guide rail system 108. Figure 13 and Figure 14In this configuration, the shuttle 14 moves toward the first linear position L1, where the second storage container 106 can be presented at the access position 23. The combination of rotational and linear movement of the container holders 8a, 8b provides a highly flexible access station, where the storage container 106 can be retrieved from or delivered to any of the multiple container holders in any preferred order, which makes the presentation and replacement of the storage container at the access position 23 most efficient. In addition, one of the multiple storage containers can hold frequently picked items, and this arrangement of the container handling module 13 / access station allows for repeated picking of items in different sequences without having to return to the storage containers 106', 106.

[0138] exist Figures 15 to 17 Another exemplary access station according to the present invention is shown. This access station is characterized by having three sets of similar two-container handling modules 13a, 13b. Each set provides two separate access positions 23a, 23b and corresponds to... Figures 10 to 14 Two versions of the access station are disclosed. It is possible to provide two adjacent access positions via a movable shuttle 14. When the two container handling modules 13a, 13b are arranged in parallel, i.e., the corresponding guide rail assemblies 15, 16 are parallel and adjacent, and when the corresponding shuttles 14 are in the same linear position, the container holders 8a, 8b of the two container handling modules 13a, 13b cannot rotate about their respective rotation axes C. Therefore, in order to retrieve and present the storage container 106 at the first access position 23a, firstly, the shuttle 14 of the first container handling module 13a is moved to the second linear position L2, while the shuttle 14 of the second container handling module 13b is in the first linear position L1. Then, the storage container is loaded onto the first or second container holder 8a, 8b at the second angular position P2. Then, the first and second container holders 8a, 8b of the first container handling module 13a are rotated about the rotation axis C to move the first or second container holder loaded with the storage container to the first angular position P1. Finally, the shuttle 14 of the first container handling module 13a is moved to the first linear position L1 to present the storage container at the access position of the first container handling module 13a. When the first container handling module 13a is arranged to present the storage container, the second container handling module 13b can move to retrieve another storage container for subsequent presentation at its corresponding access position 23b.

[0139] The station frames 34a and 34b of the access station are extended versions of the station frames described above. When the access station is incorporated into the storage system 1 as described above, the first container handling module and the second container handling module are arranged such that the corresponding container holders are separated by a distance that approximately corresponds to the width of the rails constituting the horizontal top rail grid 108.

[0140] Figure 18 Another exemplary access station according to the invention is shown, wherein two adjacent access positions 23c, 23d are obtained by arranging the guide rail assemblies 15, 16 of the third container handling module 13c and the fourth container handling module in a vertical relationship.

[0141] It should be noted that the container handling module of the present invention can be used to provide a variety of different access station configurations. For example, depending on the travel length of the shuttle, the second linear position of the container handling module can be arranged at any desired distance from the first linear position (or the access position in the access station).

Claims

1. A container handling module (13) for an access station (7) in a storage system (1). The container handling module (13) includes a first container holder (8a), a second container holder (8b), a shuttle (14), and guide rail assemblies (15, 16). The first container holder and the second container holder (8a, 8b) are rotatably mounted to the shuttle (14) via a rotating shaft (9). Each of the first container holder and the second container holder (8a, 8b) is arranged to receive a storage container (106) and is rotatable about a rotation axis (C) between a first angular position (P1) and a second angular position (P2), the second angular position being opposite to the first angular position relative to the centerline (C) of the rotation axis (9). The shuttle (14) is configured to move linearly relative to the guide rail assembly in the horizontal direction (H) between a first linear position (L1) and a second linear position (L2). in, The axis of rotation (C) is inclined at a first angle (X) relative to the vertical position (V), and each of the first container holder (8a) and the second container holder (8b) is configured such that when the contained storage container is supported by the respective container holder, the centerline (D) of the contained storage container (106) is inclined at a second angle (Y) relative to the axis of rotation (C).

2. The container handling module according to claim 1, wherein, The guide rail assembly includes two parallel guide rails (15) and a support frame (16).

3. The container handling module according to claim 2, wherein, Each of the two parallel guide rails has a cross section including guide surfaces (36, 37) arranged to interact with the shuttle (14) to limit the vertical movement of the shuttle relative to the guide rail assembly.

4. The container handling module according to any one of claims 1 to 3, wherein, The shuttle includes a set of wheels (17) that contact the guide rail assembly (15, 16) and are configured to allow the shuttle to move relative to the guide rail assembly in the horizontal direction (H) between a first linear position (L1) and a second linear position (L2).

5. The container handling module according to any one of claims 1 to 4, wherein, The shuttle (14) is movable between the first end (18) and the second end (19) of the guide rail assembly (15, 16).

6. The container handling module according to claim 5, wherein, When the shuttle (14) is in the first linear position (L1), the container holder in the first angular position (P1) of the first container holder and the second container holder (8a, 8b) is arranged at the first end (18) of the guide rail assembly.

7. The container handling module according to any one of claims 1 to 6, wherein, The shuttle (14) is capable of linearly moving a distance at least equal to the horizontal distance between the axis of rotation (C) and the distal portion (35) of the first container holder (8a) or the distal portion of the second container holder (8b).

8. The container handling module according to any one of claims 1 to 7, wherein, When the second container holder (8b) is in the second corner position (P2), the first container holder (8a) is in the first corner position (P1).

9. The container handling module according to any one of claims 1 to 8, wherein, The shuttle (14) is capable of moving to at least one intermediate linear position (L2') arranged between the first linear position (L1) and the second linear position (L2).

10. The container handling module according to any one of claims 1 to 9, wherein, When the contained storage container is in the second corner position (P2), the centerline (D) of the contained storage container (106) is vertical, and when the contained storage container is in the first corner position (P1), the centerline of the contained storage container is inclined at a third angle (XY) relative to the vertical position (V), the third angle being equal to the sum of the first angle (X) and the second angle (Y).

11. The container handling module according to claim 10, wherein, The rotation axis (C) is inclined toward the first end (18) of the guide rail assembly.

12. An access station comprising at least one container handling module (13) according to any one of claims 1 to 11, wherein, The container handling module (13) is arranged to present a storage container (106) at the access position (23) of the access station, at which the operator (28) or robot accesses the storage container (106) when the storage container is supported by the first container holder or the second container holder (8a, 8b) in the first corner position (P1) and the shuttle (14) is in the first linear position (L1).

13. The access station according to claim 12, wherein, The container handling module (13) is arranged to allow the storage container (106) to be supplied to or removed from the corresponding container holder when the first container holder or the second container holder (8a, 8b) is in the second angular position (P2) and the shuttle (14) is in the second linear position (L2).

14. The access station according to claim 12 or 13, wherein, The container handling module (13) is arranged to allow the storage container (106) to be supplied to or removed from the corresponding container holder when the first container holder or the second container holder is in the second angular position (P2) and the shuttle (14) is in either the first linear position (L1) or the second linear position (L2).

15. The access station according to any one of claims 12 to 14, wherein, When the shuttle (14) is in the second linear position (L2), the first container holder and the second container holder are able to rotate about the rotation axis (C).

16. The access station according to any one of claims 12 to 15, comprising a cabinet (26), wherein a first end (18) of at least one guide rail assembly (15, 16) of the container handling module (13) is disposed within the cabinet, the cabinet (26) comprising an access opening (27) arranged to align with the access position (23).

17. The access station according to any one of claims 12 to 16, comprising a first container handling module (13a) and a second container handling module (13b), wherein, The guide rail assemblies of the first container handling module and the second container handling module (13a, 13b) are arranged to be parallel or perpendicular to each other to provide two adjacent access positions (23a, 23b).

18. The access station according to claim 17, wherein, When the shuttle (14) of the first container handling module is in the second linear position (L2) and the shuttle (14) of the second container handling module (13b) is in the first linear position (L1), the first container holder and the second container holder (8a, 8b) of the first container handling module (13a) can rotate around the rotation axis (C).

19. The access station according to any one of claims 12 to 18, the access station being used for a storage system characterized by having at least one port column (119a-c), the storage container (106) being capable of vertical transport through at least one of said port columns, and wherein, The access station includes a station frame (34) configured to support the lower ends of at least one of the port columns above the rail assemblies (15, 16).

20. The access station according to claim 19, wherein, The storage system has multiple port columns (119a-c), and the station frame (34) is configured to support the lower ends of the multiple port columns (119a-c) above the rail assembly.

21. A storage system comprising an access station according to any one of claims 12 to 20, wherein, The storage system is characterized by having at least one port column (119a-c) through which a storage container (106) can be transported vertically. The at least one port column is arranged above the guide rail assembly of at least one of the container handling modules (13) of the access station, such that when the first container holder or the second container holder is arranged in the second angular position (P2) and the shuttle is in the second linear position (L2), the storage container can be delivered to or removed from the first container holder or the second container holder (8a, 8b) via the port column.

22. A method of presenting a storage container for access at an access station according to any one of claims 12 to 20, comprising the steps of: - Move the shuttle (14) to the second linear position (L2); - Load the storage container onto the first container holder or the second container holder (8a, 8b) located at the second corner position (P2); - Rotate the first container holder and the second container holder (8a, 8b) about the axis of rotation (C) to move the first container holder or the second container holder containing the storage container to the first angular position (P1); and - Move the shuttle (14) to the first linear position (L1) to present the storage container at the access position (23).

23. A method for replacing a storage container at an access station according to any one of claims 12 to 20, comprising the following steps: - The first storage container (106') is presented at the access position by supporting the first storage container on the first container holder (8a) of at least one of the container handling modules (13), arranging the first container holder (8a) in the first angular position (P1) and arranging the shuttle (14) in the first linear position (L1). - Move the shuttle (14) to the second linear position (L2) and load the second storage container (106'') onto the second container holder (8b) arranged in the second corner position (P2); - Rotate the first container holder and the second container holder about the axis of rotation (C) to arrange the first container holder (8a) in the second angular position (P2) and the second container holder (8b) in the first angular position (P1); - Selectively unload the first storage container (106') from the first container holder (8a); - Move the shuttle (14) to the first linear position (L1) and present the second storage container (106'') at the access position.

24. A method of presenting a storage container for access at an access station according to claim 17 or 18, comprising the steps of: - Move the shuttle (14) of the first container handling module (13a) to the second linear position (L2), while simultaneously placing the shuttle (14) of the second container handling module (13b) in the first linear position (L1). - Load the storage container onto the first container holder or the second container holder of the first container handling module (13a) at the second corner position (P2); - Rotate the first container holder and the second container holder of the first container handling module (13a) about the rotation axis (C) to move the first container holder or the second container holder containing the storage container to the first angular position (P1); and - Move the shuttle (14) of the first container handling module (13a) to the first linear position (L1) and present the storage container at the first access position (23a).

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