Access station for an automated storage and retrieval system with container transfer function and method of use thereof

Abstract

The invention relates to an access station for an automated storage and retrieval system, and a method for operating such an access station. The access station comprises an inner carriage and an outer carriage movable along a guide frame, wherein the inner carriage is provided with a lifting mechanism enabling the inner carriage to transfer a storage container to the outer carriage.

Description

TECHNICAL FIELD

[0001] The present application relates to an automated storage and retrieval system for storing and retrieving containers, in particular to an access station for presenting a storage container from an automated storage and retrieval system to a picker. BACKGROUND

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

[0003] The framework structure 100 comprises upright members 102, horizontal members 103 and storage volumes comprising storage columns 105 arranged between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also known as bins, are stacked one on top of another to form stacks 107. The members 102, 103 can typically be made of metal, e.g. extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of the framework structure 100, on which a number of container handling vehicles 201, 301 are operated to lift storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 201, 301 in a second direction Y, which is perpendicular to the first direction X. The storage containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings 112 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework structure 100 can be used to guide the storage containers during lifting of the containers from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting.

[0006] Each prior art container handling carrier 201, 301 comprises a body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c, which enable the container handling carrier 201, 301 to be moved laterally in the X and Y directions, respectively. In Figs. 2 and 3, two wheels from each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent rails of the second set of rails 111. At least one 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 respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling carrier 201, 301 further comprises lifting devices (not shown) for transporting storage containers 106 vertically, e.g. lifting a storage container 106 from and lowering a storage container 106 into a storage column 105. The lifting devices comprise one or more gripping / engaging devices adapted to engage a storage container 106, which gripping / engaging devices can be lowered from the carrier 201, 301, such that the position of the gripping / engaging devices relative to the carrier 201, 301 can be adjusted in a third direction Z, which is orthogonal to the first direction X and the second direction Y. Some parts of the gripping devices of the container handling carrier 301 are shown in Fig. 3, indicated with reference 304. In Fig. 2, the gripping devices of the container handling carrier 301 are located within the carrier body 301a.

[0008] Generally, also for the purposes of the present application, Z=1 identifies the uppermost 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 indicates the third level, and so on. In the exemplary prior art disclosed in Fig. 1, Z=8 indicates the lowermost level of storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane P H Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in Fig. 1, a storage container identified as 106' in Fig. 1 can be said to occupy the storage position X=10, Y=2, Z=3. The container handling carriers 201, 301 can be said to travel in the Z=0 level, and each storage column 105 can be identified by its X and Y coordinates.

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

[0010] Each prior art container handling carrier 201, 301 comprises a storage compartment or space for receiving and storing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space can comprise a cavity arranged centrally within the carrier body 201a as shown in Fig. 2 and as described in e.g. WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0011] Fig. 3 shows an alternative configuration of a container handling carrier 301 having a cantilevered configuration. Such carriers are described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0012] The footprint of the central cavity container handling carrier 201 shown in Fig. 2 has a size in the X and Y directions that is approximately equal to the lateral extent of the storage columns 105, e.g. as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0013] Alternatively, the footprint of the central cavity container handling carrier 101 can be larger than the lateral area defined by the storage columns 105, e.g. as disclosed in WO2014 / 090684A1.

[0014] The rail system 108 typically comprises rails with grooves in which the wheels of the carriers run. Alternatively, the rails can comprise upwardly protruding elements of which the wheels of the carriers comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively referred to as tracks. Each rail can comprise one track, or each rail can comprise two parallel tracks.

[0015] WO2018 / 146304, the contents of which are incorporated herein by reference, illustrates a typical configuration of a rail system 108 comprising rails and parallel tracks in the X and Y directions.

[0016] In the framework structure 100, the majority of the columns 105 are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 can have other purposes. In Fig. 1, columns 119 and 120 are dedicated columns for drop-off and / or pick-up of storage containers 106 by the container handling carriers 201, 301, so that the storage containers 106 can be easily transported to an access station (not shown) where the storage containers 106 can be accessed from outside the framework structure 100 or transferred out of or into the framework structure 100. In the art, such locations are typically referred to as “ports” and the columns in which the ports are located can be referred to as “port columns” 119, 120.

[0017] In Fig. 1, the first port column 119 can for example be a dedicated drop-off port column, where the container handling vehicles 201, 301 can drop off storage containers 106 to be transported to an access station or a transport station, and the second port column 120 can be a dedicated pick-up port column, where the container handling vehicles 201, 301 can pick up storage containers 106 that have been transported from an access station or a transport station.

[0018] An access station can typically be a pick station or a stocking station, where product items are taken out of or put into the storage containers 106. In a pick or stocking station, the storage containers 106 are typically not taken out of the automated storage and retrieval system 1, but are returned into the framework structure 100 after access. The ports can also be used for transporting storage containers to another storage facility (e.g. to another framework structure or another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

[0019] A conveyor system comprising conveyors is typically used for transporting the storage containers between the port columns 119, 120 and the access stations.

[0020] If the port columns 119, 120 and the access stations are located at different height levels, the conveyor system can comprise lifting devices with vertical components for transporting the storage containers 106 vertically between the port columns 119, 120 and the access stations.

[0021] The conveyor system can be arranged to transport the storage containers 106 between different framework structures, e.g. as described in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0022] When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 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 it to the drop-off port column 119. This operation involves moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is stored, retrieving the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within the stack 107, i.e. with one or more other storage containers 106 positioned above it, the operation also involves temporarily moving the storage containers positioned above the target storage container before lifting it off the storage column 105. In the art, this step is sometimes referred to as “digging”, and can be performed by the same container handling vehicle that is later used for transporting the target storage container to the drop-off port column 119, or by one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301 that are dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been retrieved from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, they can alternatively be repositioned into another storage column 105.

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

[0024] In order to monitor and control the automated storage and retrieval system 1, e.g. to keep track of the location of each storage container 106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201, 301 so that a 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 automated storage and retrieval system 1 comprises a control system 500, which is typically computerized and which typically comprises a database for keeping track of the storage containers 106.

[0025] Fig. 4 shows an example of product items 80 stored in a storage container 106. The storage container 106 shown in Fig. 4 has a height H f , a width W f and a length L f . The storage container 106 has a horizontal cross section A f .

[0026] A storage access station for picking up storage containers is disclosed in WO2020 / 074717. The storage access station comprises an inlet conveyor and an outlet conveyor. Thus, the footprint of the storage access station exceeds the width / length of the storage columns. As a result, there will be a distance between the pick-up areas of two adjacent storage access stations.

[0027] The storage access station disclosed in WO2020 / 074717 also has a number of moving or rotating components, in particular components related to the conveyors, which are prone to wear and tear and require regular maintenance.

[0028] It is therefore an object of the present invention to provide a more compact storage access station in which the pick-up areas of two adjacent storage access stations can be arranged closer to each other.

[0029] It is a further object of the present invention to reduce the complexity of the storage access station, in particular with regard to the number of moving components.

[0030] It is a further object of the present invention to provide a storage access station with storage container exchange and buffer functions. SUMMARY

[0031] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0032] The invention relates to a storage access station for presenting storage containers from an automated storage and retrieval system to a picker, the storage access station having a receiving position for receiving a storage container, a pick-up position located in front of the receiving position for picking up products from the storage container, and a buffer area located behind the receiving position for buffering the storage container, wherein the storage access station comprises:

[0033] a guide frame arranged in a horizontal plane P H and extending between the pick-up position, the receiving position and the buffer area;

[0034] an inner carriage for transporting the storage container,

[0035] wherein the inner carriage comprises:

[0036] an inner carriage base movable along the guide frame; and

[0037] - a first storage container support connected to the inner carriage base,

[0038] wherein the inner carriage base comprises a lifting mechanism for lifting and lowering the first storage container support relative to the guide frame;

[0039] - an outer carriage for transporting storage containers,

[0040] The outer carriage is movable along the guide frame by means of the inner carriage, wherein the outer carriage comprises:

[0041] - a second storage container support; and

[0042] - a gap provided in the second storage container support for receiving the first container support of the inner carriage;

[0043] - a displacement device configured to move the inner carriage between a receiving position, a picking position and a buffer area; and

[0044] - an attachment system for releasably connecting the inner carriage to the outer carriage;

[0045] wherein the inner carriage has a raised state and a lowered state, in the raised state the first storage container support is arranged at a height above the second storage container support, in the lowered state the first storage container support is arranged at a height below the second storage container support.

[0046] The attachment system can be configured to connect the inner carriage and the outer carriage when the inner carriage is in the raised state or the lowered state, and to disconnect the inner carriage and the outer carriage when the inner carriage is in the other of the raised state or the lowered state.

[0047] Thus, a simplified access system with few moving components is provided. The access system enables to exchange storage container supports between two storage container supports. By using carriages, the width of the access station can be made substantially equal to the width of the picking zone, thereby minimizing the distance between the picking zones of two adjacent access stations.

[0048] The outer carriage is preferably not connected to the displacement device. When the outer carriage and the inner carriage are connected by the attachment system, the outer carriage can alternatively be displaced by the inner carriage.

[0049] Thus, a system is realized in which the inner carriage can be operated independently from the outer carriage, both not requiring separate displacement devices.

[0050] When the inner carriage and the outer carriage are connected, the attachment system can allow for a horizontal relative movement between the inner carriage and the outer carriage within a given range. Within this range of movement, the inner carriage can be moved while the outer carriage is stationary.

[0051] When the inner carriage and the outer carriage are connected, the horizontal footprint of the inner carriage and the horizontal footprint of the outer carriage typically at least partially overlap.

[0052] When the inner carriage and the outer carriage are not connected, the inner carriage and the outer carriage can be positioned at a horizontal distance from each other.

[0053] The attachment system can be arranged such that the inner carriage and the outer carriage can each carry one storage container when connected.

[0054] The gap can divide the second storage container support into two separate opposite parts. Alternatively, the two opposite parts can be connected, for example by a bar, in a way that allows receiving the inner carriage.

[0055] The horizontal width of the outer carriage is orthogonal to its horizontal direction of travel. The horizontal width of the inner carriage is orthogonal to its horizontal direction of travel. The horizontal width of the outer carriage is preferably larger than the horizontal width of the inner carriage.

[0056] The displacement device can be configured to move the inner carriage to and away from the pick-up position in a reciprocating manner.

[0057] In one aspect, the attachment system can comprise:

[0058] - a first coupling component arranged on the inner carriage; and

[0059] - a set of second coupling components arranged on the outer carriage at a horizontal distance defining a range of horizontal movement between the inner carriage and the outer carriage;

[0060] wherein the first coupling component and the set of second coupling components are engageable when the inner carriage is in the lowered state;

[0061] wherein the first coupling component and the second coupling components are not engageable when the inner carriage is in the raised state.

[0062] Thus, by operating the inner carriage between the raised state and the lowered state by the lifting mechanism, the inner carriage can be connected and disconnected from the outer carriage. The preferred connection is achieved when the first coupling component is positioned between the set of second coupling components.

[0063] The first coupling component and the second coupling components can be a hook-and-eye mechanism, a blocking bracket, a detent, a clutch or a catch mechanism including blocking, frictional and magnetic engagement. The engagement can be activated directly or indirectly by the lifting mechanism, i.e. by movement or rotation of one component of the lifting mechanism, for example a link. Alternatively, the first coupling component and the second coupling components can be engaged in the horizontal direction, for example by a locking bolt.

[0064] In one aspect, the first coupling members can be arranged at a rear end of the inner carriage, while the second coupling members are arranged at an opposite end of the outer carriage, i.e. the second coupling members are spaced apart.

[0065] Then, the inner carriage can be moved horizontally relative to the outer carriage until the first coupling members engage one of the second coupling members. The first storage container support and the second storage container support can then be substantially vertically aligned. Further horizontal movement of the inner carriage relative to the outer carriage can cause the inner carriage and the outer carriage to hook together. The outer carriage can then be hauled by the inner carriage, i.e. horizontal travel of the inner carriage can cause an equal horizontal travel of the outer carriage.

[0066] Then, the inner carriage can be moved in a second horizontal direction opposite the first horizontal direction until the first coupling members engage the other of the second coupling members. The first storage container support and the second storage container support can be substantially free of vertical overlap. One storage container can then be placed on the first storage container support and another storage container can be placed on the second storage container support. Further movement of the inner carriage in the second horizontal direction will cause the outer carriage to follow.

[0067] When the inner carriage is in the receiving position, a front end of the inner carriage is located at a pick-up position side of the inner carriage and a rear end of the inner carriage is located at a buffer area side of the inner carriage.

[0068] In one aspect, the outer carriage can comprise a vertically extending portion for hooking a storage container positioned on the first storage container support and moving in a horizontal direction towards the buffer area.

[0069] When the storage container has reached the vertical plate, further horizontal movement of the storage container, i.e. the inner carriage, will cause the outer carriage to follow. The vertical plate is preferably arranged at a distal end of the outer carriage, thereby allowing the first storage container support and the second storage container support to be substantially vertically aligned when a storage container is placed on the first storage container support.

[0070] In one aspect, the guide frame can comprise a first guide path and a second guide path parallel to the first guide path;

[0071] wherein the inner carriage is movable along the first guide path and the outer carriage is movable along the second guide path.

[0072] In one aspect, the access station can further comprise:

[0073] - a position holding device for holding the outer carriage in a predetermined position.

[0074] The position maintaining device can be a magnet arranged on the outer carriage and the guide frame. Thus, a position maintaining device without moving components can be realized. The strength of the magnet can be chosen to obtain the required resistance against a change in position.

[0075] The predetermined position can typically be a receiving position of the access station and / or a buffer area.

[0076] The position maintaining device can be particularly useful when moving the inner carriage while keeping the outer carriage stationary.

[0077] In an aspect, the lifting mechanism can comprise:

[0078] - a motor arranged in the inner carriage base for providing rotational drive;

[0079] - a drive crank coupled to the motor for transmitting rotational drive from the motor;

[0080] - a coupler link pivotably coupled to the drive crank;

[0081] - a drive coupling link pivotably coupled to the coupler link, the coupler link coupling rotational drive from the drive crank to the drive coupling link; and

[0082] - a set of displacement links pivotably coupled to opposite ends of the drive coupling link;

[0083] wherein the displacement links are pivotably connected to the inner carriage base such that the drive coupling link, the displacement links and the inner carriage base act as a parallel linkage mechanism for lifting and lowering the first storage container support.

[0084] The inner carriage can be supported by the drive coupling link. The drive coupling link can then be docked with the guide frame. Thus, the parallel linkage mechanism can lift and lower the first storage container support and the inner carriage base relative to the guide frame.

[0085] The inner carriage can comprise wheels for docking with the guide frame, i.e. for supporting the inner carriage. These wheels can be mounted on the displacement links. Alternatively, the wheels can be arranged on shafts connected to or supported by the displacement links. Thus, these wheels can be lifted and lowered relative to the first storage container support by the parallel linkage mechanism such that the first storage container can be lifted and lowered relative to the first storage container support.

[0086] Alternatively, the lifting mechanism can be configured to lift and lower the first storage container support relative to the inner carriage base.

[0087] The coupler link can have a recess.

[0088] The coupler link, the drive crank, the drive coupling link, the displacement link and the first storage container support are coupled by a pivot.

[0089] In the lowered state of the inner carriage, the coupler link straddles the pivot point of the drive crank, such that the pivot of the coupler link is located on the opposite side of the pivot point of the drive crank.

[0090] In the lowered state and the raised state of the inner carriage, the drive coupling link can be substantially parallel to the horizontal plane P H .

[0091] The drive crank can be arranged to move an angle of about 180 degrees between the lowered state and the raised state of the inner carriage.

[0092] The movement of the drive crank can be limited by a stop.

[0093] In an aspect, the access station can have a transfer zone connecting the receiving position and the picking position, and the access station further comprises:

[0094] - a ramp arranged at least partly below the transfer zone;

[0095] wherein the inner carriage further comprises:

[0096] - a follower connected to and extending from the first storage container support for interacting with the ramp;

[0097] wherein the first storage container support is pivotably connected to the inner carriage base;

[0098] wherein the inner carriage has a receiving state and a picking state, in the receiving state the first storage container support is arranged substantially parallel to the horizontal plane P H , in the picking state the first storage container support is inclined with respect to the horizontal plane P H with a predetermined inclination angle a;

[0099] wherein the follower and the ramp are configured to interact in response to the inner carriage moving from the receiving position to the picking position, thereby moving the inner carriage to the picking state.

[0100] The first storage container support can comprise a plate having a top surface for positioning a storage container, and an opposite lower surface for arranging the follower. The follower can preferably extend longitudinally substantially normal to the lower surface of the first storage container support.

[0101] The follower can be configured to follow the surface of the ramp. When the vertical height of the ramp changes, the follower can provide support to the underside of the first container support, such that the first storage container is inclined with respect to the horizontal plane P H .

[0102] The ramp can be a bracket.

[0103] The first storage container support can comprise a retaining lip for preventing a storage container from sliding off the storage container support when the inner carriage is in a picking state.

[0104] The automated storage and retrieval system can comprise a control system, and the displacement device can be in communication with the control system.

[0105] The interaction between the follower and the ramp can be direct or indirect, e.g. through an intermediate component.

[0106] The displacement device can be configured to move the inner carriage in a reciprocating manner.

[0107] In one aspect, the inner carriage base can be a wheeled base.

[0108] Alternatively, the inner carriage base can comprise a sliding surface for moving along the guide frame.

[0109] Alternatively, the guide frame can comprise a roller or a conveyor for moving the inner carriage base.

[0110] In one aspect, the displacement device can comprise a drive belt operated by an electric motor.

[0111] The drive belt can be arranged on the guide frame and connected to the inner carriage base such that operation of the drive belt causes the inner carriage base to move relative to the guide frame.

[0112] The drive belt can be a conveyor belt.

[0113] The drive belt can be arranged on the inner carriage base and configured to drive a set of wheels provided on the inner carriage base.

[0114] The drive belt can be a chain.

[0115] Alternatively, the displacement device can be a linear actuator arranged on the guide frame and connected to the inner carriage base.

[0116] Alternatively, the displacement device can be a rack and pinion device.

[0117] In one aspect, the ramp can have a first portion arranged at least partially below the transfer zone, wherein the first portion is inclined relative to the horizontal plane P H inclined.

[0118] The inclination angle of the first portion will influence the horizontal travel required for the inner sled to enter the picking state, and thus also the opposite horizontal travel required for the inner sled to enter the receiving state. The horizontal extent of the transfer zone can preferably be larger than the horizontal travel required for the inner sled to enter the picking state.

[0119] The first portion of the ramp can have a constant inclination, thus substantially following a straight line. The first portion of the ramp can have a gradually changing inclination, thus following a curve.

[0120] In an aspect, the ramp can comprise a second portion arranged at least partially below the picking position, wherein the second portion has a different inclination relative to the horizontal plane P H than the first portion.

[0121] The second portion of the ramp can preferably be arranged adjacent to the first portion of the ramp.

[0122] The inclination of the second portion relative to the horizontal plane P H may preferably be smaller than the first portion.

[0123] The second portion can be substantially parallel to the horizontal plane P H , i.e. not inclined relative to the horizontal plane P H .

[0124] The second portion being substantially horizontal can allow the inner sled to travel horizontally while maintaining the inclination angle a of the storage container support. Thus, the predetermined inclination angle a of the picking state of the inner sled can be entered before the inner sled reaches the picking position. The picker can then more quickly identify the incoming item.

[0125] The second portion of the ramp can have a constant inclination, thus substantially following a straight line. The second portion of the ramp can have a gradually changing inclination, thus following a curve.

[0126] The second portion can be slightly curved to allow a smooth transition from one type of motion to another type of motion.

[0127] The predetermined inclination angle a can be adjusted depending on the specific needs of the picker and the height of the access station from the ground.

[0128] The inclination angle a can be adjusted by the length of the follower. The inclination angle a can also be adjusted by the vertical height of the ramp.

[0129] In an aspect, the pivotal connection between the inner sled base and the first container support can have a rotation axis A H substantially arranged in the horizontal plane P R , and the follower is arranged at a distance from the rotation axis A R .

[0130] the rotational axis A R The distance between the follower and the driven member will influence the horizontal travel required for the inner carriage to enter the pick-up state, and thus also the opposite horizontal travel required for the inner carriage to enter the receiving state. Shortening the rotational axis A R The distance between the follower and the driven member will reduce the horizontal travel required for the inner carriage to enter the pick-up state.

[0131] the rotational axis A R may be arranged close to the front of the inner carriage base, i.e. off the centre of gravity of the first container support. This will cause the first container support to return to its receiving state under its own weight.

[0132] the rotational axis A R may be arranged close to the centre of the inner carriage base, i.e. substantially at the centre of gravity of the first container support. This will cause the first container support to exhibit seesaw behaviour. By moving the rotational axis A R closer to the centre of the inner carriage base, the force required by the driven member to tilt the first storage container support can be less. The driven member can be movably connected to the ramp, such that when moving the inner carriage in the horizontal direction, the driven member can force the first storage container support into the receiving state in response to a change in the vertical height of the ramp.

[0133] In an aspect, the driven member can comprise a distal end provided with a driven wheel.

[0134] Alternatively, the distal end can be provided with a roller, a ball or a sliding surface.

[0135] In an aspect, the driven member can extend through the inner carriage base at least in the receiving state.

[0136] The driven member can also preferably extend through the inner carriage base in the pick-up state.

[0137] In an aspect, the tilt angle a can be in the range of 2° to 60°, with respect to a horizontal plane P H .

[0138] The tilt angle a can be in the range of 2° to 60°, more preferably 3° to 50°, even more preferably 4° to 45°, even more preferably 5° to 40°, even more preferably 6° to 35°, even more preferably 7° to 30°, even more preferably 8° to 25°, even more preferably 9° to 20°, such as 15°, with respect to a horizontal plane P H . The ability to tilt the storage container allows, inter alia, for the operator to more easily observe and / or access the product within the storage container.

[0139] The preferred range of the inclination angle a can be 10° to 20°. Alternatively, the start of the range can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9° or 15°. Alternatively, the end of the range can be 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50° or 60°.

[0140] The present invention also relates to an internal carriage for an access station as described herein, wherein the internal carriage comprises:

[0141] - an internal carriage base configured to move along the guide frame; and

[0142] - a first storage container support connected to the internal carriage base,

[0143] wherein the internal carriage base comprises a lifting mechanism for lifting and lowering the first storage container support.

[0144] In one aspect, the internal carriage can further comprise:

[0145] - a follower connected to and protruding from the first storage container support and configured to at least indirectly interact with the ramp;

[0146] wherein the first storage container support is pivotably connected to the internal carriage base;

[0147] wherein the internal carriage has a receiving state and a picking state, in the receiving state the first storage container support is arranged substantially parallel to the horizontal plane P H , in the picking state the first storage container support is inclined with a predetermined inclination angle a relative to the horizontal plane P H ; and

[0148] wherein the gravitational force biases the internal carriage towards the receiving state and the interaction between the follower and the ramp urges the first storage container support of the internal carriage towards the picking state.

[0149] The present invention also relates to an automated storage and retrieval system, wherein the automated storage and retrieval system can comprise:

[0150] - an access station as described herein;

[0151] - a guide rail system comprising a first set of parallel guide rails arranged in a horizontal plane P H and extending along a first direction X, and a second set of parallel guide rails arranged in the horizontal plane P H and extending along a second direction Y orthogonal to the first direction X, the first set of guide rails and the second set of guide rails being in the horizontal plane P Hforming a grid pattern comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails;

[0152] - a plurality of stacks of storage containers arranged in storage columns located below the storage section of the rail system, wherein each storage column is located vertically below one grid opening;

[0153] - at least one port column located below the transport section of the rail system and vertically aligned with the receiving position of the access station, the at least one port column being free of storage containers; and

[0154] - a container handling carrier comprising: lifting means for lifting a storage container stacked into a stack above the storage section; and drive means configured to drive the carrier along the rail system in at least one of the first direction X and the second direction Y.

[0155] At the receiving position, the inner skid can receive a storage container from the container handling carrier through the port column. The storage container can be provided vertically to the receiving position through the port column, for example by a container handling carrier operating on the rail system. Alternatively, the storage container can be provided to the receiving position from the side, for example by a container handling carrier operating at the same horizontal level as the access station.

[0156] The present invention also relates to a method of transferring storage containers using the automated storage and retrieval system described herein,

[0157] wherein the method can comprise the steps of:

[0158] - placing a first storage container on a first storage container support;

[0159] - if the inner skid is in a lowered state, lifting the first storage container support to move the inner skid to a raised state;

[0160] - moving the inner skid along the guide frame until the first storage container support is substantially housed within the gap in the second storage container support; and

[0161] - lowering the first storage container support to move the inner skid to a lowered state, thereby placing the storage container on the second storage container support.

[0162] Thus, a method for transferring a storage container from a first storage container support to a second storage container support is achieved.

[0163] In one aspect, the method can further comprise the steps of:

[0164] - moving the inner skid to the receiving position;

[0165] - placing the second storage container on the first storage container support;

[0166] - attaching the outer carriage to the inner carriage using the attachment system, in case the outer carriage is not yet attached to the inner carriage; and

[0167] - moving the inner carriage and the outer carriage such that the outer carriage is in the receiving position.

[0168] Thus, the inner carriage can receive a second storage container before the first storage container is taken out. The first storage container is positioned for being taken out and can be taken out immediately or at a later stage.

[0169] In an aspect, the method can further comprise the steps of:

[0170] - lifting the first storage container support to move the inner carriage to an elevated state, thereby disconnecting the attachment system and separating the inner carriage from the outer carriage; and

[0171] - moving the inner carriage to a pick-up position.

[0172] Thus, the inner carriage is disconnected from the outer carriage and a second storage container can be moved to the pick-up position while the outer carriage remains in the receiving position. Thus, the inner carriage can continue its operation before the first storage container is taken out. This can save time.

[0173] In an aspect, the method can further comprise the steps of:

[0174] - taking out the first storage container from the second storage container support through the port column.

[0175] The first storage container can be taken out before or after the inner carriage and the outer carriage are separated.

[0176] The present invention also relates to a method of presenting a storage container to a picker using the automated storage and retrieval system described herein, wherein the method can comprise the steps of:

[0177] - moving the first storage container support of the inner carriage to the receiving position such that it is in a receiving state;

[0178] - placing a target storage container on the inner carriage; and

[0179] - moving the inner carriage to a pick-up position such that it is in a pick-up state by means of the displacement device moving the inner carriage along the guide frame. BRIEF DESCRIPTION OF DRAWINGS

[0180] The following drawings are provided to facilitate an understanding of the present application. In these drawings like reference characters refer to like elements throughout the several views of the drawings. The present application will now be described, by way of example only, with reference to the accompanying drawings in which:

[0181] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0182] Fig. 2 is a perspective view of a prior art container handling vehicle having centrally arranged cavities for carrying storage containers therein.

[0183] Fig. 3 is a perspective view of a prior art container handling vehicle having cantilevered arms for carrying storage containers thereunder.

[0184] Fig. 4 is a perspective view of a storage container and product items stored in the storage container;

[0185] Figure 5 is a perspective view of an access station for presenting storage containers from an automated storage and retrieval system to a picker;

[0186] Figure 6 is a perspective view of several access stations for presenting storage containers from an automated storage and retrieval system to a picker arranged side by side;

[0187] Figure 7 is an exploded view of an access station comprising a guide frame, an outer carriage, an inner carriage and an access cabinet;

[0188] Figure 8 is a perspective view of an access station partially assembled and connected to a grid frame;

[0189] Figure 9 is a perspective view of an assembled access station having an access cabinet and connected to a grid frame;

[0190] Figure 10 is a vertical sectional view of an access station indicating a pick position, a transfer zone, a receiving position and a buffer area of the access station;

[0191] Figure 11 is a vertical sectional view of an access station wherein the outer carriage is in a receiving position and the inner carriage is in a transfer zone;

[0192] Figure 12 is a vertical sectional view of an access station wherein the inner carriage has a different inclination angle compared to Figure 11

[0193] Figure 13a is a vertical sectional view of an access station wherein the inner carriage is in a pick position and has a predetermined inclination angle;

[0194] Figure 13b is Figure 13a ​rear view of the access station;

[0195] Figure 14a perspective view of the inner carriage in the raised state;

[0196] Figure 14b perspective view of the inner carriage in the lowered state;

[0197] Figure 14c bottom side perspective view of the inner carriage in the lowered state;

[0198] Figure 15a vertical cross-sectional view of the access station with the inner carriage and the outer carriage both in the buffer area and the inner carriage in the raised state and carrying a storage container;

[0199] Figure 15b rear view of the access station with the inner carriage and the outer carriage both in the buffer area and the inner carriage in the raised state;

[0200] Figure 16 rear view of the access station with the inner carriage and the outer carriage both in the buffer area and the inner carriage in the lowered state;

[0201] Figure 17a vertical cross-sectional view of the access station with the inner carriage in the lowered state and in the receiving position, the outer carriage in the buffer area and carrying a storage container received from the inner carriage, the inner carriage and the outer carriage connected;

[0202] Figure 17b rear view of the access station with the inner carriage in the lowered state and in the receiving position, the outer carriage in the buffer area, the inner carriage and the outer carriage connected;

[0203] Figure 18 vertical cross-sectional view of the access station with the inner carriage in the lowered state, in the receiving position and carrying a storage container received through the port column, the outer carriage in the buffer area and carrying a storage container received from the inner carriage, the inner carriage and the outer carriage connected;

[0204] Figure 19a vertical cross-sectional view of the access station with the inner carriage in the lowered state, in the transfer zone and carrying a storage container, the outer carriage in the receiving position and carrying a storage container to be removed through the port column, the inner carriage and the outer carriage connected;

[0205] Figure 19b rear view of the access station with the inner carriage in the lowered state and in the transfer zone, the outer carriage in the receiving position, the inner carriage and the outer carriage connected;

[0206] Figure 20is a rear view of the access station with the inner skid in the raised state and located in the transfer zone, the outer skid in the receiving position, the inner skid and the outer skid not connected; and

[0207] Figure 21 is a vertical sectional view of the access station with the inner skid in the raised state, located in the transfer zone and carrying the storage container to be presented to the picker, the outer skid in the receiving position and the storage container already taken out through the port column, the inner skid and the outer skid not connected. DETAILED DESCRIPTION

[0208] In the following, embodiments of the present application will be discussed in more detail with reference to the drawings. It should be understood, however, that the drawings solely are intended for illustrative purposes and shall not limit the present application to the subject matter described in the drawings.

[0209] The frame structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in connection with Figs. 1 to 3, i.e. a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the frame structure 100 further comprises a first upper rail system 108 in the X- and Y-directions.

[0210] The frame structure 100 further comprises storage compartments in the form of storage columns 105 arranged between the members 102, 103, wherein storage containers 106 can be stacked within the storage columns 105 in the form of stacks 107.

[0211] 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 much longer and / or much deeper than disclosed in Fig. 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 12 containers.

[0212] Figure 5A perspective view of an access station 400 is shown. When connected with the automated storage and retrieval system 1, the access station 400 can be used to present a storage container 106 from the automated storage and retrieval system 1 to a picker. Different kinds of container handling vehicles 201, 301 can be used to transport a storage container 106 from a storage location within the automated storage and retrieval system 1 to the access station 400. The access station 400 can then move the storage container 106 to a position in which the picker can be allowed to have limited access to the presented storage container 106, preferably only to the open side of the presented storage container 106. The access can be allowed, for example, through an automatically operated hatch. After the picker has picked the product 80, the presented storage container 106 can be returned to storage in the automated storage and retrieval system 1. The access station 400 can then move the storage container to a position from which the storage container can be taken by some kind of container handling vehicle 201, 301.

[0213] As shown in Figure 5 , the access station 400 can have an access interface portion that extends horizontally outside the frame structure 100 of the connected automated storage and retrieval system 1.

[0214] Figure 6 is a perspective view of several access stations 400. As shown, the access stations 400 can have a substantially horizontal interface towards the pickers. Alternatively, the access stations 400 can have an interface towards the pickers that is inclined with respect to the horizontal plane P H . The inclined interface will allow the human pickers to be in a more ergonomic working position and to have a better view of the contents of the storage containers 106. In some facilities, it is preferred to arrange different access stations 400 so as to present the storage containers 106 to pickers of different heights.

[0215] The access stations 400 can be manufactured to have a preferred height and be provided with adjustable feet. The height of the access stations 400 can preferably be adapted to the average height of the human pickers. The height of the access stations 400 can also preferably be adapted to the height H f of the storage containers 106.

[0216] The access stations 400 can be manufactured to have a preferred width. Depending on the orientation of the storage containers 106 in the access stations 400 (e.g. based on which side of the storage system the storage containers 106 are arranged), the width of the access stations 400 can preferably be adapted to the length L f or the width W f of the storage containers 106. If the storage containers 106 are oriented with their shortest side in the width direction of the access stations 400, the access stations 400 can have a smaller width.

[0217] By adapting the width of the access station 400 to the width of one storage column 105, two or more access stations 400 can be arranged side by side in a space-efficient manner, i.e. the access stations are not spaced apart. This arrangement of access stations 400 can make the human pickers more efficient due to the short distance between the access stations 400. The width of a storage column can be seen as the width of a storage container 106 plus the width of the rails 110, 111 of the rail system 108 (half the width of the rail arranged on each side of the storage container 106), thus when the access station 400 corresponds to the width of a storage column, the access station can correspond to the position of a storage column to be arranged in a side-by-side relationship and allow the access station 400 to be provided in adjacent rows of storage columns.

[0218] Figure 7 is an exploded view of the access station 400. The access station 400 can comprise a guide frame 410, an outer carriage 430, an inner carriage 420 and an access cabinet 490. The access station 400 can be configured to be connected to a grid frame 415. The grid frame 415 can further be configured to be connected to the automated storage and retrieval system 1.

[0219] Figure 8 is a perspective view of the access station 400 partly assembled (i.e. without the access cabinet 490) and connected to the grid frame 490. The inner carriage 430 and the outer carriage 420 can be movably arranged on the guide frame 410 such that they can be moved reciprocally along some parts of the guide frame 410, sometimes the inner carriage moves independently of the outer carriage 420, sometimes the inner carriage and the outer carriage move together. The guide frame 410 can be supported by the grid frame 415. When supported by the grid frame 415, the guide frame 410 will typically be arranged in a horizontal plane P H .

[0220] The guide frame 410 can be arranged such that a part of it is inside the grid frame 415 and another part is outside the grid frame 415. As Figure 9 illustrated, the part of the guide frame 410 outside the grid frame 415 will typically be received by the access cabinet 490.

[0221] Figure 9 is a perspective view of the access station 400 in assembled state and connected to the grid frame 415. The access cabinet 490 can be connected to the grid frame 415. Figure 7

[0222] Figure 10 is a vertical cross-sectional view of the access station 400. The inner carriage 420 can be moved along the grid frame 415 between a receiving position P R and a picking position P P .

[0223] The receiving position P R ​The internal carriage 420 can be arranged such that it can receive a storage container 106 from above, typically from a storage container handling robot 201, 301. Alternatively or additionally, the receiving position P R The internal carriage 420 can be arranged such that it can receive a storage container 106 from the side, typically from a conveyor. The receiving position P R may be arranged inside the framework structure 100, e.g. below a port column 119, 120, such that a storage container 106 can be received through the port column 119, 120.

[0224] The picking position P P may be arranged such that a picker (a human or a robot) can access a product item 80 placed in a storage container 106 supported by the internal carriage 420 when the internal carriage 420 is in the picking position P P The picking position P P is typically arranged outside the framework structure 100. When the picking position P P is arranged outside the framework structure 100, the picking position P P is typically arranged inside an access cabinet 490 to isolate the picker from the storage environment.

[0225] The picking position P P may be directly connected to or indirectly connected through a transit zone Z R The receiving position P T may be directly connected to or indirectly connected through a transit zone Z P . Thus, when moving between the picking position P R and the receiving position P T , the internal carriage 420 can move through a transit zone Z T . The transit zone Z T is preferably configured such that the internal carriage 420 can move through the transit zone Z T while supporting a storage container 106.

[0226] The internal carriage 420 can be moved along the grid framework 415 into a buffer area A B The buffer area A B and the picking position P P may typically be arranged on opposite sides of the receiving position P R . When the receiving position P R is arranged inside the framework structure 100, the buffer area A B will typically also be arranged inside the framework structure 100.

[0227] The buffer area A B is preferably configured such that the internal carriage 420 can move through the buffer area A B while supporting a storage container 106. The buffer area A BIt can be configured to receive one or more storage containers 106. Buffer area A B It can be configured so that storage container 106 can store and stack in buffer area A B superior.

[0228] exist Figure 10 In the middle, the internal carriage 420 is in the receiving position P R Supports storage container 106. The internal carriage 420 and the external carriage 430 can simultaneously be in the receiving position P. R .

[0229] The external carriage 430 can travel along the grid frame 415 in the buffer area A B and receiving location P R The inner carriage 420 and the outer carriage 430 can move between each other. The inner carriage 420 and the outer carriage 430 can simultaneously be located in the buffer area A. B middle.

[0230] Figure 11 and Figure 12 This is a vertical sectional view of access station 400. The external carriage 430 is shown in the receiving position P. R The internal carriage 420 is in the pickup position P. P It also supports storage container 106.

[0231] Access station 400 may include a shifting device 440 configured to receive at position P R and pick position P P The internal carriage 420 can be moved between these sections. The shifting device 440 can also be configured to move the internal carriage 420 through the transfer area Z. T The shifting device 440 can also be configured to move the internal carriage 420 to the buffer area A. B middle.

[0232] The internal carriage 420 may include: an internal carriage base 421 movable along a guide frame 410; a first storage container support 422 pivotally connected to the internal carriage base 421; and a follower 424 connected to and extending from the first storage container support 422.

[0233] An example illustration of the shifting device 440 shows a drive belt 441 operated by an electric motor 442. The electric motor 442 can be configured to communicate with a control system 500. Figure 14c As shown, the internal carriage 420 may include a drive belt mount 426. The internal carriage 420 can be moved by a shifting device 440 by attaching a drive belt 441 to the drive belt mount 426.

[0234] When the displacement device 440 comprises the drive belt 441, the inner carriage base 421 can for example be a wheeled base configured to move along the first path 41 1 of the guide frame 410.

[0235] The inner carriage 420 can have a receiving state. In the receiving state, the first storage container support 422 is arranged substantially parallel to the horizontal plane P H As Figure 10 illustrated.

[0236] The inner carriage 420 can have a picking state. In the picking state, the first storage container support 422 is inclined with respect to the horizontal plane P H by a predetermined inclination angle a, as Figure 13a illustrated.

[0237] The access station 400 can comprise a ramp 470 for interacting with the driven member 424. As Figure 11 and Figure 12 illustrated, the ramp 470 can be arranged at least partially below the transfer zone Z T .

[0238] The driven member 424 and the ramp 470 can be configured to interact in response to the inner carriage 420 moving from the receiving position P R to the picking position P P (in some cases will comprise moving through the transfer zone Z T ), thereby moving the inner carriage 420 to the picking state.

[0239] Figure 11 , Figure 12 and Figure 13a illustrate the sequence in which the first storage container support 422 can be inclined with respect to the horizontal plane P H as the inner carriage 420 moves towards the picking position P P . The inclination angle a is gradually increased until it reaches a predetermined value. In Figure 13a , the inner carriage 420 has reached its picking state and picking position P P . Thus, the storage container 106 can be presented to a picker.

[0240] Figure 13a illustrate that the ramp 470 can comprise a first portion 471 and a second portion 472. The first portion 471 can be arranged at least partially below the transfer zone Z T , the second portion 472 can be arranged at least partially below the picking position P P . The first portion 471 can extend into the picking position P P . The second portion 472 can extend into the transfer zone Z T .

[0241] The first portion 471 and the second portion 472 are generally inclined with respect to a horizontal plane P H The inclination of the first portion 471 is generally different from the second portion 472. The second portion 472 can be essentially oriented in a horizontal plane P H In Figure 13a The follower 424 interacts with the second portion 472 in the picking position P P The first portion 471 causes the first storage container support 422 to be inclined, while the second portion 472 maintains the inclination angle a caused by the first portion 471. The ramp 470 can have further portions that are inclined differently with respect to the horizontal plane P H In the example shown, the ramp 470 is a bracket that is mounted to the guide frame 410 or another structural member of the access station 400.

[0242] In Figure 13a the example shown, the ramp 470 is a bracket that is mounted to the guide frame 410 or another structural member of the access station 400.

[0243] Figure 13b A rear view of the access station is shown. Figure 13a In Figure 13a and Figure 13b it is illustrated how the first storage container support 422 can be pivoted about a rotation axis A R The rotation axis A R is located at the front end of the inner carriage 420.

[0244] When the follower 424 is moved along the inclined ramp 470 towards the picking position P P , the follower 424 provides a pushing force on the first storage container support 422. This pushing force causes the first storage container support 422 to be inclined with respect to the inner carriage base 421. In Figure 13a and Figure 13b the example shown, the follower 424 is essentially arranged in the center of the first storage container support 422.

[0245] When the inner carriage 420 is moved from the picking position P P towards the receiving position P R , the storage container support 422 will move back towards the horizontal position, i.e. the receiving state of the inner carriage 420. This can be caused by gravity. Depending on the position of the follower 424 with respect to the rotation axis A R and the weight distribution in the storage container 106, gravity alone can not be sufficient. In such cases, the ramp 470 can be configured to limit the track of the vertical movement of the follower 424 in any given position. Thus, the ramp 470 can pull the follower down as well as lift the follower up as appropriate. Other forms of assistance, such as springs, can also be provided.

[0246] The follower 424 extends from the first storage container support 422 a given length. The length of the follower 424 is preferably such that it extends through the inner carriage base 421 at least in the receiving state. The length of the follower 424 can preferably be such that it also extends through the inner carriage base 421 in the picking state. By extending through the inner carriage base 421, the follower 424 allows the ramp 470 to be arranged below the receiving position P R , the transit zone Z T and / or the picking position P P . Thus, the ramp 470 does not hinder the inner carriage 420 from travelling.

[0247] In Figure 13a and Figure 13b configurations, the ramp 470 is vertically aligned with the guide frame 410. This configuration allows the access station 400 to have a smaller width compared to configurations in which the ramp 470 is arranged on the side of the guide frame 410. Thus, the width of the access station can be close to the width W f or the length L f of the storage containers 106.

[0248] A retaining lip 423 can be provided to prevent the storage containers 106 from sliding off the first container support 422 when the inner carriage 420 enters the picking state. Thus, the retaining lip 423 is provided on the edge of the first storage container support 422 which has the lowest vertical height in the picking state.

[0249] Figure 14a , Figure 14b and Figure 14c illustrate that the inner carriage 420 can have a raised state and a lowered state. Figure 14a The raised state is illustrated, Figure 14b and Figure 14c the lowered state is illustrated. When the inner carriage 420 is movably arranged on the guide frame 410, the vertical distance of the first storage container support 422 to the guide frame 410 will be greater in the raised state than in the lowered state. When the inner carriage base 421 is a wheeled base, the distance between the wheels 427 and the first storage container support 422 will generally be greater in the raised state than in the lowered state.

[0250] To transition between the raised state and the lowered state, the inner carriage 420 can comprise a lifting mechanism 480. The lifting mechanism 480 can comprise a motor 481, a drive crank 482, a coupler link 483, a drive coupling link 484 and a displacement link 485. The lifting mechanism 480 can be arranged on the inner carriage base 421.

[0251] The motor 481 can provide rotational drive and can preferably be disposed in the inner carriage base 421. A drive crank 482 is coupled to the motor 481 and is configured to transmit rotational drive from the motor 481. A coupler link 483 can be pivotably coupled to the drive crank 482. A drive coupling link 484 can be pivotably coupled to the coupler link 483. Thus, the coupler link 483 can transmit rotational drive from the drive crank 482 to the drive coupling link 484. Displacement links 485 can be disposed in sets, pivotably coupled to opposite ends of the drive coupling link 484.

[0252] The displacement links 485 can be pivotably connected to the inner carriage base 421 such that the drive coupling link 484, the displacement links 485, and the inner carriage base 421 act as a parallel linkage. The parallel linkage can raise and lower the first storage container support 422.

[0253] The coupler link 483 can be formed with a recess 486. In Figure 14b , a pivot point 487 of the drive crank 482 can be accommodated within the recess 486, for example, when the inner carriage 420 is in a lowered state.

[0254] The drive crank 482 will typically rotate 180 degrees to move the inner carriage 420 from a raised state to a lowered state.

[0255] The inner carriage 420 can include a set of shafts 428. The shafts 428 can themselves be configured to interface with the guide frame 410 in a movable manner. Alternatively, if the inner carriage 420 includes a wheeled base, the shafts 428 can be configured for rotational connection of the wheels 427.

[0256] Each displacement link 485 can be configured to support a shaft 428, or preferably be connected to a shaft 428, such that the shaft 428 can move relative to the first container support 422 in response to operation of the parallel linkage.

[0257] Figure 15a A cross-sectional view of the same access station 400 is shown in Figure 10 to 13a , a rear view of the access station is shown in Figure 15b , and a perspective view of the access station is shown in Figure 15a . In Figure 15a and Figure 15b , the inner carriage 420 and the outer carriage 430 are both in the buffer area A B .

[0258] As Figure 15bAs shown, the outer carriage 430 can comprise a second storage container support 431 adapted to support and transport the storage containers 106. A gap 432 can be provided in the second storage container support 431 in which the inner carriage 420 can be accommodated. The second storage container support 431 can be configured as a pair of support surfaces which can be positioned on opposite sides of the inner carriage 420. Thus, the inner carriage 420 can be in the same position / zone / area as the outer carriage 430 while being in the raised state B or the receiving position P R .

[0259] In Figure 15a and Figure 15b , the inner carriage 420 is in the raised state. As shown in Figure 15b , the first storage container support 422 has a higher vertical height than the second storage container support 431 when the inner carriage 420 is in the raised state. Thus, when the inner carriage 420 and the outer carriage 430 are in the same position / zone / area and the inner carriage 420 is in the raised state, the storage containers 106 shown will be supported by the first storage container support 422. Figure 15a

[0260] Figure 16 The same back view as in Figure 15b is shown, except that the inner carriage 420 is in the lowered state. The second storage container support 431 then has a higher vertical height than the first storage container support 422. Thus, by moving the inner carriage 420 into the lowered state while being in essentially the same position as the outer carriage 430, the storage containers 106 can be transferred from the first storage container support 422 to the second storage container support 431. In a similar manner, by bringing the inner carriage 420 into the raised state while being in essentially the same position as the outer carriage 430, the storage containers 106 can be transferred from the second storage container support 431 to the first storage container support 422.

[0261] The length of the gap 432 in the outer carriage 430 in the first direction X can preferably not exceed at least one of the length L f or the width W f of the storage containers 106, so that the storage containers 106 can also be supported by the second storage container support 431. Thus, the storage containers 106 can extend beyond the perimeter of the first storage container support 422 at least in the first direction X.

[0262] The outer carriage 430 can be configured to move along the second guide path 412 of the guide frame 410. Thus, the outer carriage 430 and the inner carriage 420 which can move along the first guide path 411 can move along the guide frame 410 without interfering with each other. ​

[0263] The outer carriage 430 can be configured to move along the guide frame 410 by the inner carriage 420. This can be achieved by means of a vertical plate 433 arranged on the outer carriage 430. The vertical plate 433 does not necessarily have to be orthogonal to the horizontal plane P H . The vertical plate 433 can be configured to interact with a storage container 106 supported by the inner carriage 420. When a storage container 106 supported on the first storage container support 422 moves into contact with the vertical plate 433, further movement of the inner carriage 420 will push the outer carriage 430 in the same direction.

[0264] One example of such movement can be when the outer carriage 430 is in the receiving position P R and the inner carriage is in the picking position P P and both are to be moved into the buffer area A B . The second storage container support 431 does not support a storage container 106. The inner carriage 420 in the raised state supports one storage container 106. The inner carriage 420 can be moved by means of the displacement device 440 from the picking position P P through the receiving position P R into the buffer area A B . When the inner carriage 420 reaches the receiving position P R , the vertical plate 433 of the outer carriage 430 will interact with a storage container 106 supported by the first storage container support 422. As the inner carriage 420 is moved further into the buffer area A B , the outer carriage 430 will be pushed forward.

[0265] The inner carriage 420 can move the outer carriage 430 along the guide frame 410 by means of an attachment system 450. The attachment system 450 can comprise a first coupling part 451 arranged on the inner carriage 420 and a second coupling part 452 arranged on the outer carriage 430, as also Figure 11 shown. The attachment system 450 can be configured to releasably connect the inner carriage 420 to the outer carriage 430. In the exemplary Figure 17a and Figure 17b , the attachment system 450 is configured to connect the inner carriage 420 to the outer carriage 430 by bringing the inner carriage 420 into the lowered state and to disconnect the inner carriage 420 from the outer carriage 430 by bringing the inner carriage 420 into the raised state.

[0266] The first coupling part 451 is preferably a peg extending in the first direction X and the second coupling part 451 can preferably be a hook extending in the first direction X and configured to connect with the peg moving in the second direction Y.

[0267] The first coupling part 451 is preferably arranged in the rear end of the inner carriage 420. The second coupling part 452 is preferably arranged in the front end of the outer carriage 430. The outer carriage 430 can also preferably be provided with a second coupling part 452 at the rear end, i.e. two second coupling parts 452 are spaced apart. Thus, movement of the inner carriage 420 in the second direction Y can cause the outer carriage 430 to follow. However, some movement of the first coupling part 451 between the front second coupling part 452 and the rear second coupling part 452 can be allowed. Thus, depending on the direction of movement of the inner carriage 420, i.e. when moving from the buffer area A B to the pick-up position P P , or when moving from the pick-up position P R to the buffer area A B , the inner carriage 420 can be positioned differently relative to the outer carriage 430.

[0268] When moving from the buffer area A B to the pick-up position P P , the first storage container support 422 can preferably enter a position outside the gap 432, such that the outer carriage 430 can be located in the buffer area A B , while the inner carriage 420 can be located in the pick-up position P R , while both are connected to each other. In this way, the second storage container support 431 can support one storage container 106, while the first storage container support 422 accommodates another storage container 106. Figure 18 This is illustrated in Fig. 6.

[0269] When moving from the pick-up position P P to the buffer area A B , the first storage container support 422 can preferably accommodate in the gap 432, such that the outer carriage 430 and the inner carriage 420 can both be located in the buffer area A B , while connected to each other.

[0270] By arranging the port columns 119, 120 above the pick-up position P R , a storage container 106 can be received and removed from the first storage container support 422 or the second storage container support 431 when the storage container 106 is positioned in the pick-up position P R .

[0271] A position holding device 460 can be provided in the access station 400. The position holding device 460 can be configured to hold the outer carriage 430 in a predetermined position, e.g. the pick-up position P R or the buffer area A B . Figure 17b and Figure 19bIt is illustrated how this is achieved by means of the magnets. The position keeping device 460 can keep the outer carriage 430 in place until a predetermined force is applied to the outer carriage 430, e.g. from the inner carriage 420. When the inner carriage 420 does not move the outer carriage 430, the position keeping device 460 will prevent the outer carriage 430 from drifting.

[0272] After presenting the storage container 106 to the picker, the inner carriage 420 can thus move itself and the outer carriage 430 to the buffer area A B Here, the presented storage container 106 can be transferred from the inner carriage 420 to the outer carriage 430. The inner carriage 420 can then be releasably connected to the outer carriage 430 by means of the attachment system 450. Alternatively, when both the inner carriage 420 and the outer carriage 430 are in the receiving position P R , the inner carriage 420 can be releasably connected to the outer carriage 430. The inner carriage 420 can then move to the receiving position P R , to receive a new storage container 106 to be presented to the picker, while the outer carriage 430 remains in the buffer area A B . The inner carriage 420 can subsequently move the outer carriage 430 to the receiving position P R , so that the presented storage container 106 can be taken out, as Figure 19a illustrated. The inner carriage 420 can then be disconnected from the outer carriage 430 by entering the elevated state, as Figure 20 illustrated (without storage container 106), and move towards the picking position P P , as Figure 21 illustrated. At the picking position P P , a newly received storage container 106 can be presented to the picker. The last presented storage container 106 can be taken out before or after the inner carriage 420 is disconnected. The process can then be repeated.

[0273] In the foregoing description, various aspects of the conveying carriage and the automated storage and retrieval system according to the present application have been described with reference to example embodiments. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its working. It is apparent, however, to one skilled in the art that the application can be practiced without the specific details given above. In other instances, well-known features are omitted or simplified in order not to obscure the illustrative embodiments being described. Various modifications and changes can be made as apparent to one skilled in the art having the benefit of this disclosure without departing from the scope of the application.

[0274] List of reference signs

[0275] 1 Prior art automated storage and retrieval system

[0276] 80 Product item

[0277] 100 frame structure

[0278] 102 upright members of the frame structure

[0279] 103 horizontal members of the frame structure

[0280] 104 storage grid

[0281] 105 storage column

[0282] 106 storage container

[0283] 106’ specific location of a storage container

[0284] 107 stack

[0285] 108 rail system

[0286] 110 parallel rails in a first direction (X)

[0287] 110a first rail in the first direction (X)

[0288] 110b second rail in the first direction (X)

[0289] 111 parallel rails in a second direction (Y)

[0290] 111a first rail in the second direction (Y)

[0291] 111b second rail in the second direction (Y)

[0292] 112 access opening

[0293] 119 first port column

[0294] 120 second port column

[0295] 201 prior art storage container carrier

[0296] 201a carrier body of the storage container carrier 201

[0297] 201b drive mechanism / wheel arrangement, first direction (X)

[0298] 201c drive mechanism / wheel arrangement, second direction (Y)

[0299] 301 prior art cantilevered storage container carrier

[0300] 301a carrier body of the storage container carrier 301

[0301] 301b drive mechanism in the first direction (X)

[0302] 301c drive mechanism in the second direction (Y)

[0303] 304 clamping device

[0304] 400 access station

[0305] 410 guide frame

[0306] 411 first guide path of the guide frame

[0307] 412 second guide path of the guide frame

[0308] 415 grid frame

[0309] 420 inner carriage

[0310] 421 inner carriage base

[0311] 422 first storage container support

[0312] 423 retaining lip

[0313] 424 follower

[0314] 425 follower wheel

[0315] 426 drive belt support

[0316] 427 wheel of the inner carriage

[0317] 428 shaft of the wheel

[0318] 430 outer carriage

[0319] 431 second storage container support

[0320] 432 gap in the outer carriage

[0321] 433 vertical plate

[0322] 440 displacement device

[0323] 441 drive belt

[0324] 442 electric motor

[0325] 450 attachment system

[0326] 451 first coupling part

[0327] 452 second coupling part

[0328] 460 position holding device

[0329] 470 ramp

[0330] 471 first portion of ramp

[0331] 472 second portion of ramp

[0332] 480 lifting mechanism for inner carriage

[0333] 481 motor for lifting mechanism

[0334] 482 drive crank for lifting mechanism

[0335] 483 coupler link for lifting mechanism

[0336] 484 drive coupling link for lifting mechanism

[0337] 485 shift link for lifting mechanism

[0338] 486 groove in coupler link

[0339] 487 pivot point of drive crank

[0340] 490 access cabinet with hatch

[0341] 500 control system

[0342] P H horizontal plane

[0343] P P pick-up position

[0344] P R receiving position

[0345] A B buffer area

[0346] Z T transfer zone

[0347] W f width of storage container

[0348] L f length of storage container

[0349] H F height of storage container

[0350] Af area of storage container

[0351] a angle of inclination

[0352] A R axis of rotation

[0353] X first direction

[0354] Y second direction

[0355] Z third direction

Claims

1. A retrieval station (400) for presenting a storage container (106) from an automated storage and retrieval system (1) to a picker, the retrieval station (400) having a receiving position for receiving the storage container (106). P R ), located at the receiving position ( P R The pickup position in front for picking up product items (80) from the storage container (106). P P ), and located at the receiving position ( P R The buffer area behind (106) is used for buffer storage container. A B ),in, The access station (400) includes: - Guide frame (410), arranged in a horizontal plane ( P H In the pickup location () P P The receiving location ( P R ) and the buffer area ( A B Extending between ); - An internal carriage (420) for transporting the storage container (106), wherein the internal carriage (420) comprises: i. An internal carriage base (421) movable along the guide frame (410); and ii. A first storage container support (422) is connected to the inner carriage base (421). The internal carriage base (421) includes a lifting mechanism (480) for raising and lowering the first storage container support (422) relative to the guide frame (410). - An outer carriage (430) for transporting the storage container (106), the outer carriage (430) being movable along the guide frame (410) by means of the inner carriage (420), wherein the outer carriage (430) comprises: i. Second storage container support (431); and ii. A gap (432) provided in the second storage container support (431) for receiving the first storage container support of the inner carriage (420); - Shifting device (440), configured to be at the receiving position ( P R The pickup position ( P P ) and the buffer area ( A B The internal carriage (420) can be moved between the two sides; and - An attachment system (450) for releasably connecting the inner carriage (420) to the outer carriage (430). The internal carriage (420) has a raised state and a lowered state. In the raised state, the first storage container support (422) is arranged at a height higher than the second storage container support (431). In the lowered state, the first storage container support (422) is arranged at a height lower than the second storage container support (431).

2. The access station (400) according to claim 1, wherein, The attachment system (450) includes: - A first connecting component (451) is arranged on the inner carriage (420); and - A group of second connecting parts (452) are arranged at a horizontal distance on the outer carriage (430), defining the horizontal range of motion between the inner carriage (420) and the outer carriage (430); When the internal carriage (420) is in a lowered state, the first connecting component (451) and the second connecting component (452) can be engaged; When the internal carriage (420) is in the raised state, the first connecting component (451) and the second connecting component (452) cannot be engaged.

3. The access station (400) according to claim 2. in, The first connecting component (451) is located at the rear end of the inner carriage (420), and the second connecting component (452) is located at the opposite end of the outer carriage (430).

4. The access station (400) according to any one of the preceding claims. in, The external carriage (430) includes a vertical extension (433) for hooking a storage container positioned on the first storage container support (422) and extending horizontally toward the buffer area. A B )move.

5. The access station (400) according to any one of claims 1-3. in, The guidance framework (410) includes a first guidance path (411) and a second guidance path (412) parallel to the first guidance path (411). The inner carriage (420) can move along the first guide path (411), and the outer carriage (430) can move along the second guide path (412).

6. The access station (400) according to any one of claims 1-3, wherein, The access station (400) also includes: - Position holding device (460) for holding the external carriage (430) in a predetermined position.

7. The access station (400) according to any one of claims 1-3, wherein, The lifting mechanism (480) includes: - A motor (481) is arranged in the inner carriage base (421) for providing rotational drive; - Drive crank (482), connected to motor (481) to transmit rotational drive from motor (481); - A connector link (483) is pivotally connected to the drive crank (482). - A drive linkage (484) pivotally connected to the connector linkage (483), the connector linkage (483) connecting the rotational drive from the drive crank (482) to the drive linkage (484); and - A set of shifting links (485) pivotally connected to the opposite end of the drive link (484); The displacement link (485) is pivotally connected to the inner carriage base (421), such that the drive link (484), the displacement link (485), and the inner carriage base (421) serve as a parallel linkage mechanism for raising and lowering the first storage container support (422).

8. The access station (400) according to any one of claims 1-3. in, The access station (400) has a connection to the receiving location ( P R ) and the pickup location ( P P (transfer area) Z T ), and the access station (400) further includes: - Ramp (470), at least partially arranged in the transfer area ( Z T Below; The internal carriage (420) further includes: - A follower (424), connected to and extending from the first storage container support (422), for interacting with the ramp (470); The first storage container support (422) is pivotally connected to the internal carriage base (421). The internal carriage (420) has a receiving state and a picking state. In the receiving state, the first storage container support (422) is arranged substantially parallel to the horizontal plane. P H In the picking state, the first storage container support (422) is positioned relative to the horizontal plane ( P H ) at a predetermined tilt angle ( α )tilt; The follower (424) and the ramp (470) are configured to respond to the internal carriage (420) from the receiving position ( P R Move to the pickup position ( P P They interact with each other, thereby moving the internal carriage (420) to the picking state.

9. The access station (400) according to any one of claims 1-3. in, The internal carriage base (421) is a wheeled base.

10. The access station (400) according to any one of claims 1-3. in, The shifting device (440) includes a drive belt (441) operated by an electric motor (442).

11. The access station (400) according to claim 8. in, The ramp (470) has at least a partial arrangement in the transfer area. Z T The first portion (471) below the horizontal plane, wherein the first portion (471) is relative to the horizontal plane. P H )tilt.

12. The access station (400) according to claim 11. in, The ramp (470) includes at least a partial arrangement at the pickup location. P P The second part (472) below, wherein the second part (472) is relative to the horizontal plane ( P H The tilt of ) is different from that of the first part (471).

13. The access station (400) according to claim 8. in, The pivotal connection between the internal carriage base (421) and the first storage container support (422) has a substantially horizontal arrangement. P H The axis of rotation in ) A R ), and the follower (424) is arranged at a distance from the axis of rotation ( A R At a distance of one.

14. The access station (400) according to claim 8. in, The driven member (424) includes a distal end provided with a driven wheel (425).

15. The access station (400) according to claim 8. in, The follower (424) extends through the inner carriage base (421) at least in the receiving state.

16. The access station (400) according to claim 8. in, Relative to the horizontal plane ( P H The tilt angle () α (The range is from 2° to 60°.) 17. The access station (400) according to any one of claims 1-3 and 11-16. in, The shifting device (440) is configured to move the internal carriage (420) in a reciprocating manner.

18. An automatic storage and retrieval system (1), comprising: - Access station (400) according to any one of claims 1 to 17; - Guide rail system (108), including rails arranged in a horizontal plane ( P H ) in and along the first direction ( X The first set of parallel guide rails (110) extends and is arranged in the horizontal plane ( P H ) in and along the first direction ( X The second orthogonal direction ( Y The first set of guide rails (110) and the second set of guide rails (111) extend parallel to each other in the horizontal plane. P H A grid pattern comprising multiple adjacent grid cells (122) is formed in the grid, each grid cell comprising a grid opening (115) defined by a pair of adjacent guide rails (110a, 110b) of the first set of guide rails (110) and a pair of adjacent guide rails (111a, 111b) of the second set of guide rails (111). - Multiple stacks (107) of storage containers (106) are arranged in storage columns (105) below the storage section of the guide rail system (108), wherein each storage column (105) is located vertically below a grid opening (115); - At least one port column (119) is located below the transport section of the guide rail system (108) and adjacent to the receiving position of the access station (400). P R Vertically aligned, the at least one port column (119) has no storage container (106); and - A container handling carrier (301) includes a lifting device for lifting storage containers (106) stacked in a stack (107) above the storage section, and a drive mechanism (301b, 301c) configured in the first direction ( X ) and the second direction ( Y At least one of the components drives the container disposal vehicle (301) along the guide rail system (108).

19. A method for transferring storage containers (106) using the automated storage and retrieval system (1) according to claim 18, wherein, The method includes the following steps: - Place the first storage container (106) on the first storage container support (422); - If the internal carriage (420) is in the lowered state, the first storage container support (422) is raised to move the internal carriage (420) to the raised state; - Move the inner carriage (420) along the guide frame (410) until the first storage container support (422) is substantially accommodated within the gap (432) in the second storage container support (431); and - Lower the first storage container support (422) to move the internal carriage (420) to the lowered state, thereby placing the storage container (106) on the second storage container support (431).

20. The method according to claim 19, wherein, The method further includes the following steps: - Move the internal carriage (420) to the receiving position ( P R ); - Place the second storage container (106) on the first storage container support (422); - If the outer carriage (430) is not yet attached to the inner carriage (420), the attachment system (450) is used to attach the outer carriage (430) to the inner carriage (420); and - Move the inner carriage (420) and the outer carriage (430) to position the outer carriage (430) at the receiving position. P R ).

21. The method according to claim 20, wherein, The method further includes the following steps: - Raise the first storage container support (422) to move the inner carriage (420) to the raised state, thereby disconnecting the attachment system (450) and separating the inner carriage (420) from the outer carriage (430); - Move the internal carriage (420) to the pickup position ( P P ).

22. The method according to claim 20 or 21, wherein, The method further includes the following steps: - The first storage container (106) is removed from the second storage container support (431) through the port column (119, 120).

23. A method for presenting a storage container (106) to a picker using an access station (400) according to any one of claims 8, 11 to 16, wherein, The method includes the following steps: - Move the first storage container support (422) of the internal carriage (420) to the receiving position ( P R This puts the internal carriage into the receiving state; - Place the target storage container (106) on the internal carriage (420); and - The inner carriage (420) is moved along the guide frame (410) by means of the shifting device (440) to move the inner carriage (420) to the pickup position. P P This puts the internal carriage into the picking state.

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