Dual-ended access station for automated storage and retrieval systems and its usage method

Abstract

This invention relates to a storage station for an automated storage and retrieval system and a method for operating such a storage station. The storage station includes: a receiving area for receiving storage containers from the automated storage and retrieval system; a first pickup position for presenting the storage containers to a pickup operator, the first pickup position being arranged on a first side of the receiving area; a second pickup position for presenting the storage containers to a pickup operator, the second pickup position being arranged on a second side of the receiving area opposite to the first side; and a main carriage for transporting the storage containers between the pickup positions and the receiving area.

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to a retrieval station for presenting storage containers from the automated storage and retrieval system to a picker. Background Technology

[0002] Figure 1 discloses a prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301 and 401 suitable for operation on such system 1.

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

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which multiple container handling vehicles 201, 301, and 401 can operate to lift storage containers 106 from and lower storage containers 106 into storage columns 105, and also transport storage containers 106 on storage columns 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, and 401 along a first direction X across the top of the frame structure 100; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, and 401 along a second direction Y perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles 201, 301, and 401 through access ports 112 in the track system 108. Container handling vehicles 201, 301, and 401 can move laterally above storage column 105, that is, in a plane parallel to the horizontal XY plane.

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

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a, and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. In Figures 2, 3, and 4, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage two adjacent tracks in the second set of tracks 111. At least one of these sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered such that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the corresponding set of tracks 110, 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, such as lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices can be lowered from the vehicles 201, 301, 401 such that the position of the clamping / engaging devices relative to the vehicles 201, 301, 401 can be adjusted along a third direction Z orthogonal to the first direction X and the second direction Y. In Figures 3 and 4, some portions of the clamping devices of the container handling vehicles 301, 401 are indicated by reference numerals 304, 404. In Figure 2, the clamping devices of the container handling vehicle 201 are located within the body 201a.

[0008] Typically, and for the purposes of this application, Z=1 denotes the uppermost layer below tracks 110, 111 that can be used for storage containers, i.e., the layer immediately below track system 108; Z=2 denotes the second layer below track system 108; Z=3 denotes the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=7 denotes the lowest layer of storage containers. Similarly, X=1…n and Y=1…n denote the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG1, the storage container labeled 106' in FIG1 can be said to occupy storage position X=17, Y=1, Z=5. Container transport vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, the storage containers extending above track system 108 shown in FIG1 can also be said to be arranged in layer Z=0.

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

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and storing the storage container 106 when transporting it on the track system 108. The storage space may include cavities arranged internally within the vehicle body 201a, as shown in Figures 2 and 4, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO317366, the contents of which are also incorporated herein by reference.

[0012] The cavity container transport vehicle 201 shown in Figure 2 may have a coverage area that is approximately equal in size to the lateral extent of the storage column 105 in both the X and Y directions, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0013] Alternatively, as shown in Figures 1 and 4, such as those disclosed in WO2014 / 090684A1 or WO2019 / 206487A1, the cavity container transport vehicle 401 may have a coverage area greater than the lateral area defined by the storage column 105.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle run. Alternatively, the tracks may include upwardly extending elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly extending elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails; in other track systems 108, each track may include one guide rail in one direction and two guide rails in another perpendicular direction.

[0015] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108 including a track and parallel guide rails in the X and Y directions.

[0016] In frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are such dedicated columns, used by container handling vehicles 201, 301, 401 to unload and / or pick up storage containers 106, so that the storage containers can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside frame structure 100, or the storage containers can be transferred out of or into frame structure 100. In the art, such a location is commonly referred to as a “port,” and the columns where the ports are located may be referred to as “port columns” 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in random or dedicated columns 105 within frame structure 100, then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to the retrieval station. After storage container 106 has been lowered through port columns 119, 120, transport from the port to the retrieval station may require movement in various directions using means such as conveyor vehicles, trolleys, or other transport routes. It should be noted that the term "inclined" means that the transport of storage container 106 has a general transport orientation somewhere between horizontal and vertical.

[0017] In Figure 1, the first port column 119 may be a dedicated unloading port column, where container handling vehicles 201 and 301 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 may be a dedicated picking port column, where container handling vehicles 201, 301 and 401 can pick up the storage container 106 that has been transported from the storage station or transfer station.

[0018] The retrieval station can typically be a pick-up station or a storage station, where product items are removed from or placed into storage container 106. At the pick-up station or storage station, storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to frame structure 100 after retrieval. The port can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] Storage containers are typically transported between port lines 119, 120 and the access station using a transmitter system that includes a transmitter.

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

[0021] The transport system can be arranged to transfer storage container 106 between different frame structures, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When access is required for a storage container 106 stored in one of the multiple columns 105 disclosed in Figure 1, one of the container handling vehicles 201, 301, and 401 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicles 201 and 301 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicles 201, 301, and 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also involves temporarily moving the storage container located above it before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 may alternatively be repositioned to another storage column 105.

[0023] When storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301, and 401 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 will be stored. After any storage container 106 located at or above the target position within the stack 107 has been removed, the container handling vehicles 201, 301, and 401 position the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, 401 so that the desired storage containers 106 can be delivered to the desired location at the desired time without the container transport vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] Figure 32 shows an example of product item 80 stored in storage container 106. The storage container 106 shown in Figure 32 has a height Hf, a width Wf, and a length Lf. The storage container 106 has a horizontal cross-section Af.

[0026] WO2020 / 074717 discloses an access station for picking up storage containers. This access station includes an inlet conveyor and an outlet conveyor. Therefore, the access station has a coverage area exceeding the width / length of the storage column. Consequently, a certain distance will exist between the picking areas of two adjacent access stations.

[0027] The access station disclosed in WO2020 / 074717 also has many moving or rotating parts, especially moving or rotating parts associated with the transmitter, which are prone to wear and require regular maintenance.

[0028] Therefore, the object of the present invention is to provide an access station in which storage containers can be accessed in different ways.

[0029] Another objective of this invention is to reduce the complexity of access stations, particularly regarding the number of moving parts. Summary of the Invention

[0030] The invention is set forth and its features are shown in the independent claims, while other features of the invention are described in the dependent claims.

[0031] This invention relates to an access station for presenting a storage container, wherein the access station includes:

[0032] - Receiving area for receiving storage containers from the automated storage and retrieval system;

[0033] - A first pickup position is used to present the storage container to the pickup operator. The first pickup position is located on the first side of the receiving area.

[0034] - A second pickup position is used to present the storage container to the pickup operator. The second pickup position is arranged on the second side of the receiving area opposite to the first side.

[0035] - A guide frame, arranged in a horizontal plane and extending between a first pickup position and a second pickup position; and

[0036] - Main bracket, used for transporting storage containers along the guide frame.

[0037] The main tray can be configured to transport the storage container to both the first pick-up location and the second pick-up location.

[0038] The flexibility of the access station is increased because multiple operations can be performed simultaneously at the same access station. The dual-end configuration also provides contingency measures if continued operation is blocked at one end (i.e., at either the first or second pickup position). Since the first and second pickup positions share a receiving area, the coverage area of ​​the access station can be smaller than the coverage area of ​​two access stations, each with one pickup position.

[0039] The access station provides the possibility of performing automatic pickup at the first pickup location and manual pickup / intervention at the second pickup location.

[0040] The retrieval station may also include a retrieval cabinet for interfacing with a human retrieval operator, which is located at the second retrieval position.

[0041] Human pickers can remove storage containers from and / or add storage containers to the storage and retrieval system via the lockers. The lockers also allow personnel to inspect the storage containers and their contents.

[0042] The retrieval station may also include a retrieval cabinet located at the first retrieval position for interaction with a human retrieval operator.

[0043] The access cabinet may be equipped with a hatch that allows access to the interior of the cabinet when storage containers are present. The hatch typically slides open. The access cabinet can then extend outside the frame structure for approximately two storage columns. Alternatively, the hatch can pivot between an open and closed position. The access cabinet can then extend outside the frame structure for approximately one storage column. For layout purposes, the access cabinet may, where appropriate, extend outside the frame structure for up to three storage columns.

[0044] The receiving area may include only one receiving location.

[0045] Compact access stations can be achieved by having a receiving area with only one receiving location. This allows space to be provided for a greater number of storage containers to be stored in the system. However, providing additional receiving locations can offer greater access opportunities for larger storage systems.

[0046] The receiving area can define a region larger than the sum of the receiving locations it encompasses. This is especially true when the receiving area includes only one receiving location. A portion of the receiving area can, for example, be arranged below one or more storage columns.

[0047] The receiving area can include multiple receiving locations.

[0048] By having a receiving area that includes multiple receiving locations, traffic on the rail system can be better organized. Container transport vehicles can queue at different receiving locations simultaneously.

[0049] The receiving area may include two or more receiving locations, preferably three or four receiving locations.

[0050] Multiple receiving positions can be spaced apart. However, the closer the receiving positions are arranged together, the more compact the access station will be, and in at least one embodiment, the receiving positions are arranged in a row, with each receiving position adjacent to another receiving position.

[0051] Each receiving position is positioned vertically aligned with the port array (i.e., access ports) of the automatic storage and retrieval system.

[0052] Alternatively, the access station may include a frame structure with upright members and a track system. In this case, the frame structure of the access station should be connected to the frame structure of the automated storage and retrieval system, for example, in terms of the height and arrangement of the track system.

[0053] An access station with a receiving area comprising multiple receiving positions will be used in conjunction with an automated storage and retrieval system with a frame structure comprising multiple port columns. Thus, the arrangement of the receiving positions corresponds to the arrangement of the port columns.

[0054] By adapting the width of a receiving position to the width of a port column, two or more receiving positions can be arranged side-by-side in a space-efficient manner, i.e., without spacing. This arrangement of receiving positions can provide a compact access station. The width of a port column can be considered as the width of the storage container plus the additional width of the rails of the rail system (half the width of the rails arranged on each side of the storage container). Therefore, when the receiving position corresponds to the width of the port column, the receiving positions can be arranged in a side-by-side relationship corresponding to the position of the port column, and it allows the receiving positions to be placed in storage columns in adjacent rows.

[0055] Container handling vehicles facing opposite directions (e.g., "northbound" vehicles and "southbound" vehicles) can transport storage containers to the same receiving location.

[0056] Using the receiving position closest to the pickup location (i.e., the first pickup position) is preferred because it requires the shortest movement of the main carriage and is therefore the fastest, minimizing the usage time of the storage and retrieval system resources as an access station. However, if the container handling vehicle is not ready and available at the first receiving position, it may be beneficial to utilize other receiving positions available to the container handling vehicle, even if the main carriage must move a longer distance. If the first receiving position is occupied by the first container handling vehicle, any subsequent container handling vehicle(s) can use any of the other port columns.

[0057] Cantilever container handling vehicles can be used to transport storage containers to / from a receiving area. These vehicles typically cover two access points. If the cantilever container handling vehicle is oriented such that it covers the access points above the first and second receiving positions, another container handling vehicle will typically utilize a third receiving position in simultaneous operations.

[0058] Instead of cantilever container handling vehicles, or in addition to cantilever container handling vehicles, single-unit container handling vehicles can be used to transport storage containers to / from the receiving area. These container handling vehicles typically cover only one access point. When single-unit container handling vehicles are operating simultaneously, all receiving locations can be utilized.

[0059] Container handling vehicles can also take different forms, and can cover additional numbers or portions of access points.

[0060] Access stations may also include:

[0061] - Sub-carrier, used for transporting storage containers along the guide frame.

[0062] The main bracket and the sub-bracket are preferably configured to move along the same path.

[0063] The main tray can be configured to transport the storage container to a first pickup location, and the sub-trailer can be configured to transport the storage container to a second pickup location.

[0064] The main bracket may include:

[0065] -The base of the main bracket can move along the guide frame;

[0066] - Main bracket shifting motor, configured to move the main bracket along the guide frame;

[0067] - A first storage container support, connected to the base of the main bracket; and

[0068] - A transfer device for displacing a storage container positioned on a first storage container support;

[0069] The sub-bracket includes:

[0070] - The base of the sub-bracket can move along the guide frame;

[0071] - Sub-carrier shifting motor, configured to move the sub-carrier along the guide frame; and

[0072] - A second storage container support, connected to the base of the sub-cabinet; and

[0073] The sub-bracket is configured to receive a storage container that has been moved from the first main bracket by means of a transfer device.

[0074] The advantage of this access station is that it increases the frequency at which storage containers are presented to the picker. Therefore, the throughput of storage containers in the storage and retrieval system can be increased.

[0075] Between each storage container presented to the picker, the main tray does not need to travel beyond its receiving area for the next storage container to be presented to the picker; that is, the travel distance is kept to a minimum. Time is saved by keeping the travel of the main tray as short as possible. This is achieved by a transfer device moving the storage container from the first storage container support to the second storage container support. Thus, the main tray does not need to travel to an intermediate position to transport the already presented storage container before it can receive subsequent storage containers.

[0076] The transfer device can transfer the storage container from the first storage container support to the second storage container support when the main bracket and the auxiliary bracket are stationary or when the main bracket and the auxiliary bracket move together.

[0077] The transfer device can be arranged, for example, on the base of the main bracket. Alternatively, the transfer device can be arranged on the first storage container support.

[0078] By transferring the storage container from the first storage container support to the second storage container support while the main and auxiliary supports move together (e.g., as a single unit), the main support can be prepared to receive the subsequent storage container upon its arrival at the receiving area. This saves time, especially when the container handling vehicle is ready to transport the subsequent storage container.

[0079] Utilizing an access station with multiple receiving locations, a first container handling vehicle can transport / retrieve storage containers from a first receiving location, while a second container handling vehicle is ready to transport / retrieve storage containers from a second receiving location. Therefore, the container handling vehicles can always be ready to transport / retrieve storage containers from either the main or auxiliary pallet. The advantage of this is that the main pallet does not have to wait for the container handling vehicles to change locations; thus, the main pallet does not waste time.

[0080] To ensure efficient use of container handling vehicles, the vehicles that transport subsequent storage containers to the main rack can typically also retrieve previous storage containers from the secondary rack.

[0081] The main bracket and the sub-bracket can also be configured to move independently of each other.

[0082] The main bracket and the auxiliary bracket can be configured to move in a reciprocating motion.

[0083] By providing displacement motors to the main bracket and the sub-bracket respectively, the main bracket and the sub-bracket can move independently along the guide frame.

[0084] One of the main bracket and the sub-bracket can move along the guide frame, while the other can remain stationary. Furthermore, the main bracket and the sub-bracket can simultaneously move towards or away from each other along the guide frame.

[0085] In this way, the main tray can move independently of the secondary tray from the receiving area to the pickup position. While the main tray brings a subsequent storage container from the receiving area to the pickup position, the secondary tray can bring the already picked-up storage container to the receiving position previously occupied by the main tray. The container handling vehicle, already in place, can then remove the storage container supported by the secondary tray as the lifting device lowers towards the retrieval station. Alternatively, the secondary tray can move towards another receiving position in the receiving area, even simultaneously with the main tray receiving a subsequent storage container. A second container handling vehicle will then typically remove the storage container from the secondary tray.

[0086] In this way, when the main tray is in the pick-up position, the secondary tray can move toward and engage the main tray. Then, the transfer of the storage container from the first storage container support to the second storage container support can begin immediately after the pick-up has been performed from the storage container.

[0087] The main bracket shifting motor and the sub-bracket shifting motor can be similar or even the same motor. The shifting motors can be arranged on the base of the main bracket and the base of the sub-bracket, preferably at least partially within the volume defined by the respective bracket base. Alternatively, the shifting motors can be arranged on the guide frame. Any motor with suitable dimensions can be used; for example, an electric motor such as a brushless DC motor.

[0088] The shift motor and any other motors mounted on the main and / or sub-mounts can be powered by batteries mounted on the base of the respective mounts. Alternatively, the motors can be connected to one or more external power sources.

[0089] The shift motor can be connected to at least one of the corresponding wheels of the main bracket and the sub-bracket via a gear or belt drive. Alternatively, the shift motor can be a direct drive mechanism.

[0090] For stability purposes, the shift motor can be centrally located in the base of the bracket, preferably as low as possible in the base of the bracket.

[0091] The main bracket shift motor and the auxiliary bracket shift motor preferably communicate directly or indirectly with the control system to avoid collisions between the main bracket and the auxiliary bracket.

[0092] The access station can preferably be configured for signal communication with the control system.

[0093] The access station can be configured to handle storage containers and / or merging bins.

[0094] The transfer device may include a transmitter.

[0095] The conveyor may include motorized rollers. Such rollers may be arranged on a first storage container support and configured to support the storage container prior to transfer. Alternatively, the conveyor may include a belt.

[0096] The transmitter may include:

[0097] - A track extends rearward from the main bracket in the direction toward the sub-bracket, and the length of the track exceeds the length or width of the storage container;

[0098] - A slider, connected to the track and configured to interact with the storage container; and

[0099] - A transfer motor configured to move a slider relative to a first storage container support in a direction toward a sub-carrier to provide thrust on a storage container positioned on the first storage container support.

[0100] When the main bracket and the sub-bracket are connected to each other or at least moved close together, the track can preferably extend inside the periphery of the base of the sub-bracket.

[0101] The track can be arranged in the central part of the base of the main bracket and has a longitudinal axis parallel to the direction of movement of the main bracket.

[0102] The track is preferably arranged horizontally below the first storage container support. Alternatively, the track may be arranged in a gap within the first storage container support.

[0103] The track can be retractable.

[0104] The track may include a belt and two pulleys typically arranged at corresponding ends. The belt may be configured to be operated directly by a transfer motor or indirectly via a second belt. The belt may be further connected to a slider, such that the slider is operated by the transfer motor. The transfer motor typically then communicates with a control system. The belt may be in the form of a chain.

[0105] The track can be replaced by a linear actuator. A less preferred alternative is a double-acting hydraulic cylinder.

[0106] The slider is connected to the track, either directly or indirectly via at least one intermediate component. The slider can be releasably connected to the track.

[0107] The slider can be configured to move along the track in a reciprocating motion. Alternatively, a set of sliders can move along a first side of the track in a first direction, then turn to the opposite second side of the track when reaching the end of the track, and move along the second side of the track in a second direction, which is opposite to the first direction. Then, as the second slider turns from the second side of the track to the first side of the track, the first slider will typically turn from the first side of the track to the second side of the track.

[0108] If the slider is fixed to the track, the transfer motor can be configured to move the slider by means of providing reciprocating motion to the track.

[0109] The slider may have an initial position that allows at least half the length or width of the storage container to be supported on the first storage container support, while the storage container is positioned between the slider and the sub-carrier.

[0110] The slider may have a subsequent position that allows less than half the length or width of the storage container to be supported on the first storage container support, while the storage container is positioned between the slider and the sub-carrier.

[0111] The slider may have a vertical extension that is at least partially arranged at the same vertical height as the storage container supported on the first storage container support.

[0112] The transfer motor is preferably electric.

[0113] If the transfer device includes a double-acting hydraulic cylinder, the transfer motor can be a hydraulic pump that supplies hydraulic pressure to the cylinder.

[0114] Access stations may also include:

[0115] - A latch for releasably connecting the main bracket to the sub-bracket.

[0116] By attaching the main bracket to the secondary bracket, the risk of the storage container falling off during its movement from the first storage container support to the second storage container support is reduced. This is especially true when storage container displacement occurs during the movement of the main and secondary brackets.

[0117] The latch can preferably be configured such that the main bracket and the sub-bracket can be in corresponding adjacent receiving positions while connected. This allows for simultaneous receiving / removal of the storage container from both the first and second storage container supports.

[0118] A latch may include:

[0119] -A first connecting portion, located at the rear end of the main bracket base; and

[0120] - The second connecting part is located at the front end of the base of the sub-bracket;

[0121] The rear end of the main bracket faces the front end of the sub-bracket.

[0122] The latch can be a snap-locking system, for example, in which the first coupling is a contoured portion including a retaining lip, and the second coupling is a resilient or biased hook. The latch will then preferably include a lever or pull / push device for disengaging the second coupling and the first coupling.

[0123] A latch in the form of a snap-locking system may include a sensor for connection detection. The sensor can detect the connection by means of movement of a hook. The sensor can communicate with the control system directly or indirectly via an access station or any component thereof.

[0124] The first and second storage container supports may include rollers, sliding surfaces, continuous tracks, or any combination thereof.

[0125] The first and second storage container supports can preferably have a perimeter of a coverage area that is substantially equal to the coverage area of ​​the storage container. In this way, the first and second storage container supports can provide stable support for the storage container, especially when the weight of one or more products within the storage container is unevenly distributed.

[0126] The first and second storage container supports may include vertical side panels arranged parallel to their direction of travel, which is typically also the direction in which the storage containers are transferred between the two brackets. The vertical side panels prevent unintentional movement of the storage containers. This is particularly advantageous during the transfer of storage containers from the main bracket to the secondary bracket.

[0127] The vertical side panels may be provided with rollers or sliding surfaces to reduce friction when the storage container comes into contact with the vertical side panels during transfer.

[0128] If the vertical side panel is provided with rollers, the rollers can be powered and configured to displace the storage container through the first storage container support.

[0129] The sliding surface can be made of a different material than the vertical side panel, preferably having lower friction. Suitable materials can be polymers, such as polyoxymethylene (POM). The sliding surface can be a plate attached to the vertical side panel or a coating applied to the vertical side panel.

[0130] The first and second storage container supports may include end stops arranged orthogonally to their direction of travel, which is typically also the direction in which the storage container is transferred between the two supports. The end stops may be located in the end of the first storage container support opposite to the sub-support and in the end of the second storage container support opposite to the main support. The end stops prevent unintentional movement of the storage container. This is particularly advantageous during the transfer of the storage container from the main support to the sub-support.

[0131] The end stop can be formed from the same plate as the vertical side panel.

[0132] The boot framework may include a first boot path; and

[0133] Both the main bracket and the sub-bracket are configured to move along the first guide path.

[0134] A boot framework with only one boot path will make the boot framework less complex.

[0135] However, the guide frame may include two guide paths, a first guide path and a second guide path. The main bracket may be configured to move along the first guide path, and the secondary bracket may be configured to move along the second guide path. The second guide path typically has a different vertical height than the first guide path. The first storage container support and the second storage container support can still be configured to have the same vertical height.

[0136] The main bracket may also include:

[0137] -At least two sets of wheels, connected to both sides of the base of the main bracket; and

[0138] The sub-bracket may also include:

[0139] - At least two sets of wheels are connected to both sides of the base of the sub-bracket.

[0140] A set of wheels located at the rear of the sub-carrier can extend rearward from the sub-carrier or at least the second storage container support. This wheel arrangement can provide improved stability to the sub-carrier during the transfer of storage containers.

[0141] At least one of multiple wheel sets (i.e., a group of wheels) can be fixed to a straight axle, allowing the two wheels to rotate in unison. This is preferred for wheel sets connected to a main bracket shift motor or a sub-bracket shift motor.

[0142] The main bracket shifting motor can be arranged on the base of the main bracket and configured to rotate at least one wheel connected to the base of the main bracket; and

[0143] The sub-carrier shifting motor can be arranged on the base of the sub-carrier and configured to rotate at least one wheel connected to the base of the sub-carrier.

[0144] The main bracket may also include:

[0145] - A main drive belt arranged on the guide frame, which extends at least from the pickup position to the receiving area and is connected to the base of the main bracket;

[0146] The main bracket shifting motor is mounted on the guide frame and configured to operate the main drive belt to move the main bracket along the guide frame; and

[0147] The sub-bracket may also include:

[0148] - A secondary drive belt arranged on the guide frame, which extends at least from the pickup position to the receiving area and is connected to the base of the secondary bracket;

[0149] The sub-carrier shifting motor is arranged on the guide frame and configured to operate the sub-drive belt to move the sub-carrier along the guide frame.

[0150] The advantage of arranging the main bracket shift motor and the sub-bracket shift motor on the guide frame is that fewer parts are arranged at the base of the main bracket and the base of the sub-bracket, which reduces their weight and complexity.

[0151] The main drive belt and the auxiliary drive belt can be arranged side by side or spaced apart at the same vertical height.

[0152] Each of the main drive belt and the auxiliary drive belt can be arranged on two pulleys located at opposite ends of the guide frame.

[0153] Alternatively, the main drive belt and the auxiliary drive belt can be chains.

[0154] The sub-carrier can be configured to carry two or more storage containers. By configuring the sub-carrier to support two or more storage containers, it can buffer storage containers during periods of reduced availability of container handling vehicles. During periods of increased availability of container handling vehicles, two or more container handling vehicles can retrieve storage containers from the sub-carrier and the main carrier substantially simultaneously.

[0155] The first storage container support can be pivotally connected to the base of the main bracket via a pivotal connection;

[0156] Furthermore, the access station may also include:

[0157] - A tilting device for tilting the first storage container support; and

[0158] The main bracket can have a receiving state and a picking state. In the receiving state, the first storage container support is arranged substantially parallel to the horizontal plane. In the picking state, the first storage container support is tilted relative to the horizontal plane at a predetermined tilt angle α.

[0159] The main bracket is in the receiving state when the first storage container support receives the storage container and when the storage container is typically removed from the first storage container support by means of a container handling vehicle.

[0160] When the storage container is transferred from the first storage container support to the second storage container support, the main bracket is in the receiving state.

[0161] The main bracket typically moves to the pickup state when it is in the pickup position to provide the pickup operator with an ergonomic working position.

[0162] In the receiving state, the second storage container support preferably has the same vertical height as the first storage container support.

[0163] The tilting device may include:

[0164] - A tilting motor, located on the base of the main bracket, is used to provide torque;

[0165] - A drive crank, connected to a tilting motor to transmit torque from the tilting motor; and

[0166] - The connecting rod is pivotally connected to the drive crank at a first end and to the first storage container support at a second end opposite to the first end.

[0167] The connecting rod is configured to provide a thrust to the lower side of the first storage container support in response to the operation of the tilting motor, such that the first storage container is positioned relative to the horizontal plane P. H tilt.

[0168] The tilting device may include:

[0169] - The ramp section is arranged at least partially below the guide frame;

[0170] - A follower, connected to and extending from the first storage container support, for interacting with the ramp portion;

[0171] The main bracket has a receiving state and a picking state. In the receiving state, the first storage container support is substantially parallel to the horizontal plane P. H In the pick-up state, the first storage container support is positioned relative to the horizontal plane P.H The tilt is predetermined at an angle α; and

[0172] The follower and the ramp are configured to interact in response to the main bracket moving from the receiving area to the picking position to move the main bracket to the picking state.

[0173] The first storage container support may include a plate having a top surface and an opposing lower surface, wherein the top surface is used to position the storage container and the lower surface is used to arrange a follower. The follower may preferably extend in a longitudinal direction substantially orthogonal to the lower surface of the first storage container support.

[0174] The follower can be configured to follow the surface of the ramp. When the vertical height of the ramp changes, the follower can provide a thrust to the lower side of the first container support, causing the first storage container to move relative to the horizontal plane P. H tilt.

[0175] The driven member may include the distal end of which is provided with a driven wheel.

[0176] Alternatively, the distal end may be provided with a roller, ball, or sliding surface.

[0177] The driven member can extend through the base of the main bracket, at least in the receiving state.

[0178] The driven member can also preferably extend through the base of the main bracket in the picked-up state.

[0179] The ramp can be provided by a fixed support.

[0180] The interaction between the follower and the ramp can be direct or indirect (e.g., via an intermediate component).

[0181] The ramp portion may have a first part arranged at least partially below the guide frame, wherein the first part is relative to the horizontal plane P. H tilt.

[0182] The tilt angle of the first part will affect the horizontal travel required for the main carriage to enter the picking state, and therefore also the opposite horizontal travel required for the main carriage to enter the receiving state.

[0183] The first part of the ramp can have a constant slope and therefore follow a basically straight line. The first part of the ramp can have a gradually changing slope and therefore follow a curve.

[0184] The ramp portion may include a second portion at least partially disposed below the pickup position, wherein the second portion is relative to the horizontal plane P. H It is tilted differently from the first part.

[0185] The second part of the slope can preferably be arranged adjacent to the first part of the slope.

[0186] The second part can preferably be relative to the horizontal plane P. H It is less tilted than the first part.

[0187] The second part can be basically parallel to the horizontal plane P. H That is, not relative to the horizontal plane P H tilt.

[0188] The essentially horizontal second section allows the main tray to travel horizontally while maintaining the tilt angle α of the storage container support. Therefore, a predetermined tilt angle α can be achieved in the main tray's picking state before it reaches the picking position. The picker can then identify the approaching item more quickly.

[0189] The second part of the slope can have a constant inclination and therefore follow a basically straight line. Alternatively, the second part of the slope can have a gradually changing inclination and therefore follow a curve.

[0190] The second part can be slightly curved to make the transition from one type of movement to another smooth.

[0191] The predetermined tilt angle α can be adjusted according to the specific needs of the picker and the height of the retrieval station from the ground.

[0192] The tilt angle α can be adjusted according to the length of the driven member. The tilt angle α can also be adjusted according to the vertical height of the ramp.

[0193] The pivotal connection between the base of the main bracket and the first storage container support can have a substantially horizontal arrangement in plane P. H The axis of rotation C in R Furthermore, the connecting rod can be positioned at a distance C from the axis of rotation. R Connect at a distance of one.

[0194] Rotation axis C R The distance between the connector rod and the rotor will affect the maximum tilt angle. Shortening the axis of rotation C... R The distance between the connector rod and the connector will increase the maximum tilt angle.

[0195] The length of the drive crank will also affect the maximum tilt angle. Increasing the length of the drive crank will increase the maximum tilt angle.

[0196] Rotation axis C R It can be arranged in the front part near the base of the main bracket.

[0197] The connector link may preferably include a recess configured to receive, for example, the pivot point of the drive crank in the receiving state of the main bracket.

[0198] The pivotal connection between the base of the main bracket and the first container support can be substantially arranged in the horizontal plane P. H The axis of rotation C in R And the follower is arranged at a distance C from the axis of rotation. R At a distance of one meter.

[0199] The distance between the axis of rotation and the driven member affects the horizontal travel required for the main carriage to enter the picking state, and therefore also the opposite horizontal travel required for the main carriage to enter the receiving state. Shortening the distance between the axis of rotation and the driven member will reduce the horizontal travel required for the main carriage to enter the picking state.

[0200] Rotation axis C R It can be arranged near the front of the main bracket base, that is, off-center from the center of gravity of the first container support. This will allow the first container support to return to its receiving position under its own weight.

[0201] Rotation axis C R It can be arranged close to the center of the base of the main bracket, that is, substantially at the center of gravity of the first container support. This will produce a tug-of-war behavior in the first container support. By moving the axis of rotation closer to the center of the base of the main bracket, the driven member may require less force when tilting the first storage container support. The driven member can be movably connected to the ramp, such that while moving the main bracket horizontally, the driven member can force the first storage container support into a receiving state in response to a change in the vertical height of the ramp.

[0202] The tilt angle α can be relative to the horizontal plane P H Within the range of 2° to 60°.

[0203] Inclination angle α relative to horizontal plane P H The angle can range from 2° to 60°, more preferably from 3° to 50°, even more preferably from 4° to 45°, even more preferably from 5° to 40°, even more preferably from 6° to 35°, even more preferably from 7° to 30°, even more preferably from 8° to 25°, even more preferably from 9° to 20°, for example 15°. The ability to tilt the storage container particularly allows a human operator to more easily observe and / or access the product within the storage container.

[0204] The preferred tilt angle α can be in the range of 10° to 20°. Alternatively, this range can have a starting point of 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, or 15°. Alternatively, this range can have an ending point of 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, or 60°.

[0205] The predetermined tilt angle α can be adjusted according to the specific needs of the picker and the height of the retrieval station from the ground.

[0206] The present invention also relates to an automatic storage and retrieval system. The automatic storage and retrieval system includes:

[0207] - Access stations as described in this article;

[0208] - A track system, comprising a first set of parallel tracks arranged in a horizontal plane and extending along a first direction and a second set of parallel tracks arranged in a horizontal plane and extending along a second direction orthogonal to the first direction, the first set of tracks and the second set of tracks forming a grid pattern in the horizontal plane, the grid pattern comprising a plurality of adjacent access ports defined by a pair of adjacent tracks in the first set of tracks and a pair of adjacent tracks in the second set of tracks.

[0209] - Multiple stacks of storage containers are arranged in storage columns located below the storage section of the track system, wherein each storage column is located vertically below the access port;

[0210] - At least one port column, located below the transport section of the track system and vertically aligned with the receiving position of the access station, wherein at least one port column has no storage container; and

[0211] - A container handling vehicle, including a lifting device and a drive mechanism, the lifting device being used to lift storage containers stacked in a stack above a storage section, and the drive mechanism being configured to drive the vehicle along a track system in at least one of a first direction and a second direction.

[0212] The automated storage and retrieval system may also include:

[0213] - An inspection device for inspecting a storage container presented at a first pickup position. The inspection may also include inspecting the contents of the storage container.

[0214] One purpose of the inspection can be to detect errors in storage containers or their contents. Some examples of relevant errors could be: incorrect contents in the box (the items in the box are incorrect or the quantity of items is incorrect compared to the contents registered in the system), damaged goods, damaged boxes, deformed boxes, dirty boxes, and dirty contents.

[0215] The automated storage and retrieval system may also include:

[0216] - A robotic picker, configured to pick up products from a storage container presented at a first pick-up location.

[0217] The retrieval station can be arranged such that a portion of the retrieval station is partially surrounded by a storage column. This is typically the case when the first pick-up position is operated by a robotic picker. The receiving area, the first pick-up position, and the robotic picker can then be partially surrounded by the storage column, typically with a track system above. The retrieval station can then be divided between the manual and robotic areas to improve the safety of personnel working in the warehouse.

[0218] Alternatively, the retrieval station can be arranged such that both the first and second retrieval positions are accessible to personnel working in the warehouse. The track system can then have a cantilevered portion extending at least above the receiving area of ​​the retrieval station.

[0219] The inspection device can be placed on the robot picker.

[0220] The automated storage and retrieval system may also include:

[0221] - At least two port columns, preferably three or four port columns.

[0222] The number of port columns associated with an access station typically corresponds to the number of receiving locations of the access station.

[0223] The automated storage and retrieval system may also include:

[0224] - At least two access stations arranged side by side, preferably three or four access stations, and even more preferably five access stations.

[0225] A larger number of storage and retrieval stations will help increase the throughput of items in the storage and retrieval system.

[0226] This access station is ideally suited for a space-efficient side-by-side layout.

[0227] When multiple retrieval stations are arranged side by side, a robotic picker can pick up items from multiple nearby first pick-up locations.

[0228] By adapting the width of the access station to the width of a storage column, two or more access stations can be arranged side-by-side in a space-efficient manner, i.e., without spacing. This arrangement allows for greater efficiency for manual pickers due to the shorter distances between access stations. The width of a storage column can be considered as the width of the storage container plus the additional width of the tracks in the track system (half the width of the tracks arranged on each side of the storage container), and therefore, when an access station corresponds to the width of a storage column, the access stations can be arranged side-by-side corresponding to the position of the storage column, allowing access stations to be placed in adjacent rows of the storage column.

[0229] Multiple retrieval stations arranged side-by-side can present different types of containers. As an example, some retrieval stations can present storage containers to hold products to be picked up. Some of other retrieval stations can present consolidation boxes to hold orders. Retrieval stations presenting storage containers will generally have higher throughput than retrieval stations presenting consolidation boxes.

[0230] When several access stations are arranged side by side, their access cabinets can be extended from the frame structure by different lengths to improve their accessibility. The cabinets can then partially surround the retrieval operator. The access stations can also be positioned at different heights if needed.

[0231] The present invention also relates to a method for presenting a storage container at a storage station and returning the storage container using the automated storage and retrieval system described herein.

[0232] The method includes the following steps:

[0233] - Container handling vehicles are used to transport storage containers to the receiving area;

[0234] - Move the storage container to the first pickup position to present it to the robot pickup operator; and

[0235] If the robot picker is unable to retrieve the product from the storage container,

[0236] -Then the storage container is moved to the second pickup location to be presented to the human pickup operator;

[0237] - Pick up the product item from the storage container at the second pickup location; and

[0238] - Return the storage container to the receiving area for retrieval using a container handling vehicle; or

[0239] If robotic pickers can retrieve product items from storage containers,

[0240] -Then, at the first pickup location, the product item is picked up from the storage container; and

[0241] - Return the storage container to the receiving area for retrieval using a container handling vehicle.

[0242] When the storage container has been moved to the first pickup position, the method may further include the following steps:

[0243] - Check for errors in the storage container; and

[0244] If an error is detected,

[0245] - Then move the storage container to the second pickup position to correct the detected error; or

[0246] If no error is detected,

[0247] - This allows the storage container to be returned to the receiving area for retrieval using a container handling vehicle.

[0248] Error checking of the storage container and / or its contents can be performed by visual inspection by a human picker or operator. Alternatively, error checking of the storage container and / or its contents can be performed by inspection devices located at the first pick-up position or on a robotic picker located at the first pick-up position.

[0249] Inspections will prevent faulty containers from being returned to the system, thereby improving system quality control. This prevents undesirable future events such as picking up the wrong items, items not being available in a timely manner, and storage containers becoming clogged.

[0250] The storage station can remain operational at the first pickup position, while at the second pickup position, it can further inspect and correct faulty storage containers as needed.

[0251] When the access station includes the following:

[0252] - Sub-carrier for transporting storage containers along the guide frame;

[0253] The main tray is configured to transport the storage container to the first pickup position;

[0254] The secondary bracket is configured to transport the storage container to the second pickup position;

[0255] After picking up and / or inspecting the storage container for errors, the method may further include the following steps:

[0256] - Transfer the storage container from the main tray to the secondary tray.

[0257] Therefore, the main tray can be immediately used for continued operation and to serve the first pickup position.

[0258] If the main bracket and the sub-bracket are not already in the receiving area, the method may further include the following steps:

[0259] - At least partially while transferring the storage container, move the main tray and the auxiliary tray along the guide frame to the receiving area A. R .

[0260] The method may also include the following steps:

[0261] - Move the main bracket to the first receiving position;

[0262] - The second storage container is placed on the first storage container support using a first container handling vehicle; and

[0263] - Move the main tray to the pickup position to present the second storage container to the pickup operator.

[0264] If the receiving area includes multiple receiving locations, subsequent storage containers can be received at alternating receiving locations.

[0265] Subsequent storage containers can be received from different container vehicles.

[0266] The method may also include the following steps:

[0267] -Move the sub-carrier to the first receiving position;

[0268] -The first storage container is removed from the second storage container support by means of the first container handling vehicle.

[0269] Preferably, the first storage container is removed from the second storage container support by the same container transport vehicle that places the second storage container on the first storage container support. Therefore, the first storage container is also preferably removed from the second storage container support at the same receiving position as the position where the second storage container was received by the first storage container support.

[0270] The method may also include the following steps:

[0271] - A first cantilevered container handling vehicle facing a first direction (e.g., south) supplies storage containers to a first storage container support via a first port column; and

[0272] - Using a second cantilevered container handling vehicle facing a second direction opposite to the first direction (e.g., facing north), the storage container is removed from the second storage container support through the second port column.

[0273] If the receiving area includes multiple receiving locations, the first storage container can be removed from the main tray at the corresponding receiving location, while the second storage container can be received by the main tray. This operation requires two container handling vehicles.

[0274] Alternatively, the second storage container can be received by the main tray, and the first storage container can then be removed from the sub-tray at the same receiving location. This operation would require only one container handling vehicle.

[0275] The access station may include a latch for releasably connecting the main tray to the sub-trailer.

[0276] The method may further include the following steps:

[0277] - Before transferring the first storage container, the main carriage is connected to the secondary carriage by means of a latch;

[0278] - After the first storage container is transferred, the main carriage is released from the secondary carriage by means of a latch. Attached Figure Description

[0279] The accompanying drawings are provided to aid in understanding the invention. The drawings illustrate embodiments of the invention, which will now be described by way of example only. In the drawings:

[0280] Figure 1 is a perspective view of the framework structure of a prior art automatic storage and retrieval system;

[0281] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0282] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0283] Figure 4 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0284] Figure 5 It is a three-dimensional view of an access station within the framework of the storage column, in which storage containers are presented to the picker, a container transport vehicle is waiting to retrieve storage containers from the access station, and a container transport vehicle is waiting to transport storage containers to the access station.

[0285] Figure 6 This is a vertical cross-sectional view of the access station (the frame structure of the storage column is omitted), which includes a guide frame, a main bracket, a secondary bracket, and access cabinets;

[0286] Figure 7 This is a side view of the access station (the frame structure of the storage column is omitted). The access station has a pick-up position and a receiving area, and the main carriage and the sub-carrier can move between the pick-up position and the receiving area.

[0287] Figure 8 It is a vertical cross-sectional view of the access station, wherein the receiving area includes four receiving positions vertically aligned with the corresponding port column;

[0288] Figure 9 This is a vertical cross-sectional view of the storage station, in which the first storage container will be transferred from the main tray to the sub-tray during its journey toward the receiving area, and when the main tray is in the first receiving position, the second storage container will be transported by means of the first container transport vehicle. Figure 9 (not shown) Lower the column through the first port for transport;

[0289] Figure 10 yes Figure 9 A vertical cross-sectional view and enlarged view of a portion of the access station, wherein the main bracket is in the first receiving position and the transfer device of the main bracket has transferred the first storage container to the sub-bracket;

[0290] Figure 11 yes Figure 9 A vertical cross-sectional view of the access station, in which the transfer device has been retracted, so that the main bracket is in the first receiving position and ready to receive the second storage container;

[0291] Figure 12 yes Figure 9 A vertical cross-sectional view of the storage station, wherein the main bracket is in the first receiving position, and the first container transport vehicle ( Figure 12 (Not shown in the image) The second storage container has been lowered onto the main tray;

[0292] Figure 13 It is similar to Figure 12 of Figure 9 The vertical cross-sectional view of the storage station shows that the second storage container on the main bracket has been released from the lifting device, and the first storage container is supported by the auxiliary bracket.

[0293] Figure 14 yes Figure 9 A vertical cross-sectional view of the access station, wherein the main bracket moves toward the pickup position, and the sub-bracket is in the second receiving position and is about to move to the first receiving position;

[0294] Figure 15 yes Figure 9 The vertical cross-sectional view of the access station shows the main bracket in the pickup position and the auxiliary bracket in the first receiving position.

[0295] Figure 16 yes Figure 9 A vertical cross-sectional view of the storage station, wherein the second storage container is presented to the picker, and the first storage container is transported by a first container vehicle. Figure 16 (Not shown in the image) Take it out;

[0296] Figure 17 yes Figure 9 A vertical cross-sectional view of the storage station, in which the sub-carrier has approached the main carrier to transfer the second storage container, and the third storage container is transported by means of the second container transport vehicle. Figure 17 The container handling vehicle shown descends through the third port column to deliver the container to the third receiving position;

[0297] Figure 18This is a side view of the access station, in which two container handling vehicles oriented in opposite directions transport storage containers to different port columns of the same access station;

[0298] Figure 19 It is a 3D diagram of four access stations arranged side by side.

[0299] Figure 20 yes Figure 19 A top view of the four access stations;

[0300] Figure 21 yes Figure 19 Rear view of the four access stations;

[0301] Figure 22 This is a perspective view of an exemplary embodiment of the main bracket, which includes a main bracket base, a main bracket shifting motor, a first storage container support, a transfer device, and a tilting device.

[0302] Figure 23 yes Figure 22 Another perspective view of the main bracket;

[0303] Figure 24 It is tilted. Figure 22 Side view of the main bracket;

[0304] Figure 25 This is a front view of an exemplary embodiment of the sub-carrier, which includes a sub-carrier base, a sub-carrier shifting motor, and a second storage container support.

[0305] Figure 26 yes Figure 25 A three-dimensional view of the sub-bracket;

[0306] Figure 27a This is a side view of the latch in the disconnected state;

[0307] Figure 27b This is a side view of the latch in the connected state; and

[0308] Figure 28 yes Figure 9 The vertical cross-sectional view of the access station, wherein the main bracket moves along the guide frame by means of the main drive belt, and the sub-bracket moves along the guide frame by means of the sub-drive belt.

[0309] Figure 29 It is a three-dimensional view of a dual-end access station including the receiving area, the first pickup position, and the second pickup position;

[0310] Figure 30 yes Figure 29 A 3D view of the access station;

[0311] Figure 31 yes Figure 29 A 3D view of the access station; and

[0312] Figure 32 is a perspective view of the storage container and the product items stored in the storage container. Detailed Implementation

[0313] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0314] The frame structure 100 of the automatic storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in conjunction with Figures 1 to 3, that is, the frame structure includes a plurality of upright members 102, and the frame structure 100 also includes a first track system 108 at the upper part along the X and Y directions.

[0315] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102, wherein the storage containers 106 are stackable into a stack 107 within the storage columns 105.

[0316] 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 Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0317] Automatic storage and retrieval system 1 can be integrated with, for example, Figures 5 to 21 One or more access stations 400 are shown in the diagram.

[0318] These access stations 400 can be arranged within the frame structure 100 of the storage and retrieval system 1, so that container handling vehicles 201, 301, 401 can move on at least a portion of the access station 400.

[0319] Access stations 400 may include their own frame structure 100. The frame structure 100 of access stations 400 may then be connected to the frame structure 100 of storage and retrieval system 1, such that the track system 108 may extend on top of the frame structure 100.

[0320] The access stations 400 may also include their own frame structure 100 and track system 108. The track system 108 of the access stations 400 can then be connected to the track system 108 of the storage and retrieval system 1, so that the container handling vehicles 201, 301, 401 can move on at least a portion of the access stations 400.

[0321] Figure 5A perspective view of the access station 400 is shown. When combined with the automated storage and retrieval system 1, the access station 400 can be used to present storage containers 106 from the automated storage and retrieval system 1 to a picker 600. Different types of container handling vehicles 201, 301, and 401 can be used to transport storage containers 106 from storage locations within the automated storage and retrieval system 1 to the access station 400 (not limited to those types shown in Figures 2, 3, and 4). Container handling vehicles 201, 301, and 401 transport and retrieve storage containers 106 from above the access station 400 through one or more port columns 119, 120, 121, and 122. With a plurality of port columns 119, 120, 121, and 122 (four port columns are shown in this embodiment), a plurality of container handling vehicles 201, 301, and 401 can simultaneously serve the same access station 400 (depending on the type of container handling vehicle, this could be two, three, or four container handling vehicles).

[0322] The retrieval station 400 can move the received storage container 106 to a position where a picker 600 can have limited access to the presented storage container 106, preferably only to the open side of the presented storage container 106, and preferably only when the storage container 106 reaches the pick-up position and is properly presented to the retrieval opening. For example, access can be permitted by automatically operating the hatch. After the product 80 has been picked up by the picker 600, the presented storage container 106 can be returned for storage in the automated storage and retrieval system 1. The retrieval station 400 can then move the storage container 106 to a position where the storage container can be retrieved by some type of container handling vehicle 201, 301, 401.

[0323] The access station 400 may have an access interface portion in the form of an access cabinet 490. The access cabinet 490 provides an interface to the picker 600. The attached figure shows a human picker; however, the access station 400 is also suitable for a robotic picker. The access cabinet 490 is typically located outside the frame structure 100. This helps to provide a safe working environment for the picker 600 (whether human or robotic).

[0324] exist Figure 5 In the process, a container handling vehicle 301 is waiting to retrieve storage container 106 from storage station 400, and a container handling vehicle 301 is waiting to transport storage container 106 to storage station 400.

[0325] Figure 6 The vertical section of access station 400 is shown. Access station 400 includes access cabinets 490 arranged in horizontal plane P. HThe storage cabinet 490 includes a guide frame 410 extending in the first direction X, a main bracket 420 movable along the guide frame 410, and a secondary bracket 230 movable along the guide frame 410, which is independent of the main bracket 420.

[0326] exist Figure 6 In this configuration, the main bracket 420 is inside the access cabinet 490 and is shown without the storage container 106, while the secondary bracket 430 is outside the access cabinet 490 and also without the storage container 106. The main bracket 420 is tilted toward the access cabinet 490 at an angle similar to the tilt of the access surface of the access cabinet 490, such that the storage container 106 carried by the main bracket 420 will be aligned with the access port of the access cabinet 490.

[0327] Figure 7 A side view of the access station 400 is shown without the access cabinet 490. The access station 400 has a receiving area A. R The receiving area is configured to be arranged within the frame structure 100 of the automated storage and retrieval system 1 or within the frame structure 100 of the access station 400 itself. Receiving Area A R It is also equipped with storage containers 106 for transporting and retrieving container handling vehicles 201, 301, and 401 from above.

[0328] Access station 400 also has the ability to receive in area A R Pick-up area A ahead P This pickup area is configured to be placed in the storage cabinet 490.

[0329] The main bracket 420 and the secondary bracket 430 can be along the guide frame 410 in the receiving area A R With pick area A P Move between.

[0330] The guide frame 410 may be supported by legs that position the guide frame 410 at an appropriate height. Alternatively, the guide frame 410 may be attached to the frame structure 100 at an appropriate height.

[0331] Figure 8 The vertical cross-section of access station 400 is shown, in which the receiving area A R Arranged within the frame structure 100. Receiving area A R Includes four receiving locations P R1 P R2 P R3 P R4 First receiving position P R1 Vertically aligned with the first port column 119; second receiving position P R2 Vertically aligned with the second port column 120; third receiving position P R3Vertically aligned with the third port column 121; and the fourth receiving position P R4 Vertically aligned with the fourth port column 122. Additional port columns and receiving positions can also be provided as needed.

[0332] exist Figure 8 In the middle, pick up area A P Located in locker 490. Pickup area A P Including placement in pickup area A P The pickup position P, which is the furthest point (i.e., the closest point to the pickup operator 600). P .

[0333] exist Figure 8 With the access station 400 configured, only the sub-bracket 430 can access all receiving positions P. R Because the sub-bracket 430 cannot move beyond the fourth receiving position P. R4 This allows the main carriage 420 to enter the fourth position. The guide frame 410 can extend beyond the final receiving position P. R That is, the fourth receiving position P R4 Without needing to add an additional receiving location P R Then, both the main bracket 420 and the auxiliary bracket 430 can enter all receiving positions P. R Therefore, receiving area A R A portion (usually the rear) does not need to be aligned with port columns 119, 120, 121, and 122. Instead, the receiving area A... R The space above the rear can be used to store the storage container 106.

[0334] Figures 8 to 17 The sequence of how storage container 106 is transported to access station 400, presented to picker 600, and then retrieved from access station 400 is shown. Figures 8 to 17 A vertical cross-section of the same access station 400 is shown.

[0335] exist Figure 8 In the middle, the main bracket 420 is in the pickup position P. P This presents the first storage container 106a to the picker 600; the secondary bracket 430 is located in the pick-up area A. P In addition, the secondary bracket 430 is connected to the main bracket 420 by means of a latch 470, and is ready to receive the first storage container 106a from the main bracket 420; and the second storage container 106b has been lowered through the first port column 119 by the first container transport vehicle 301, ready to be received by the main bracket 420.

[0336] exist Figure 9In the process, the retrieval from the first storage container 106a is completed; the main carriage 420 is about to begin transferring the first storage container 106a to the auxiliary carriage 430, so that the transfer can be completed when the main carriage 420 reaches the first receiving position P. R1 Previously completed or at least started; main bracket 420 and auxiliary bracket 430 facing receiving area A R The second storage container 106b is moved; and the second storage container 106b remains stationary in the first port column 119 via the first container transport vehicle 301.

[0337] The main tray 420 includes a transfer device 460 for displacing the storage container 106 carried by the main tray 420, and the sub-tray 430 is configured to receive the storage container 106 displaced from the main tray 420 by means of the transfer device 460.

[0338] The main tray 420 may include a first connecting portion 471, and the sub-tray 430 may include a second connecting portion 472, together forming a latch 470 for releasably connecting the main tray 420 to the sub-tray 430. During the transfer of the storage container 106 from the main tray 420 to the sub-tray 430, the main tray 420 may preferably be releasably connected to the sub-tray 430 by means of the latch 470.

[0339] exist Figure 10 In the middle, the first storage container 106a has been transferred from the main bracket 420 to the sub-bracket 430; the main bracket 420 and the sub-bracket 430 are disconnected by means of latch 470; the main bracket 420 is in the first receiving position P. R1 Below the second storage container 106b, which remains stationary in the first port column 119 via the first container transport vehicle 301; and with the slide 461 extending, so that the main bracket 420 is not yet ready to receive the second storage container 106b.

[0340] exist Figure 11 In the middle, the slider 461 retracts, so the main carriage 420 is ready to receive the second storage container 106b held stationary in the first port column 119 by the first container transport vehicle 301; and the latch 470 can release the sub-carrier 430 from the main carriage 420.

[0341] exist Figure 12 In the middle, the main bracket 420 is in the first receiving position P. R1 Thus, the second storage container 106b is received from the first container transport vehicle 301; and the sub-carrier 430 is in the receiving area A. R In the middle, waiting for the first receiving position P R1 Vacant.

[0342] exist Figure 13 In the middle, the main bracket 420 is already at the first receiving position P. R1The second storage container 106b is received; the first container transport vehicle 301 has disconnected the clamping device 304 from the second storage container 106b and raised the clamping device 304 in the first port column 119; and the sub-carrier 430 is in the receiving area A. R In the middle, waiting for the main bracket 420 to move to the first receiving position P R1 Vacant.

[0343] If the second container handling vehicle 301 is available to retrieve the first storage container 106a, this can be done at another receiving location P via one of the other port columns 120, 121, 122. R2 P R3 P R4 One of them is completed simultaneously.

[0344] exist Figure 14 In the middle, the main bracket 420 carries the second storage container 106b facing the pickup position P. P Movement; Sub-carrier 430 is about to carry the first storage container 106a toward the first receiving position P R1 The first container transport vehicle 301 moves; and the clamping device 304 of the first container transport vehicle 301 is stationary in the first port column 119.

[0345] exist Figure 15 In the middle, the main bracket 420 is in the pickup position P. P The second storage container 106b is prepared to be presented to the picker 600; the sub-carrier 430 carrying the first storage container 106a is in the first receiving position P. R1 ; and the first container handling vehicle 301 ( Figure 15 (Not shown) The clamping device 304 is about to descend toward the first storage container 106a. The second storage container 106b is preferably lowered when it reaches the pick-up position P. P Previously, the main bracket was tilted at 420 degrees.

[0346] exist Figure 16 In the middle, the main bracket 420 is in the pickup position P. P This presents the second storage container 106b to the picker 600; the first container transport vehicle 301 retrieves the first storage container 106a through the first port column 119; and the sub-carrier 430, which no longer carries the storage container 106, is about to move toward the main carrier 420 to receive the second storage container 106b from the main carrier 420.

[0347] exist Figure 17 In the middle, the main bracket 420 is in the pickup position P. P This presents the second storage container 106b to the picker 600; the sub-carrier 430 is located in the pick-up area A. PAnd by means of latch 470 connected to the main bracket 420, the sub-bracket 420 is ready to receive the second storage container 106b from the main bracket 420; and the third storage container 106c has been lowered through the third port column 121 by the second container transport vehicle 301, ready to be received by the main bracket 420. Therefore, Figure 17 The situation in the middle is similar to Figure 8 The situation is as described above, and the order can be repeated.

[0348] Alternatively, the sub-bracket 430 can be moved to the third receiving position P. R3 The third storage container 106c is received from the second container transport vehicle 301 and then moved to the receiving area A. R Different parts, such as the fourth receiving position P R4 This allows the main bracket 420 to enter the third receiving position P. R3 Then, the main bracket 420 can be moved to the third receiving position P. R3 This allows the second storage container 106b to be removed by the second container transport vehicle 301. Then, the sub-carrier 430 can be connected to the main carrier 420 by means of a latch 470. Then, the third storage container 106c can be transferred from the sub-carrier 430 to the main carrier 420, while the main carrier 420 and the sub-carrier 430 together face the pickup area A. P Proceeding. The third storage container 106c is preferably positioned when the main carriage reaches the pickup position P. P Previously transferred to the main tray 420, so that once the main tray 420 reaches the pickup position P P The third storage container 106c can then be presented to the picker 600. Preferably, it can be positioned at the pick-up location P from the main carriage 420. P No tilting was performed on the third storage container 106c prior to this. This sequence requires the transfer device 460 to be configured, in addition to or instead of being configured to displace the storage container 106 positioned on the first storage container support 422, to displace the storage container 106 positioned on the second storage container support 432.

[0349] Figure 18 A side view of access station 400 is shown, illustrating its relationship with... Figures 8 to 17 The aforementioned order may differ.

[0350] exist Figure 18 In the middle, the main bracket 420 and the auxiliary bracket 430 are in the receiving area A RThe first container carrier 420 moves the first storage container 106a from the main carrier 420 to the auxiliary carrier 430; the first container transport vehicle 301 lowers the second storage container 106b through the second port column 120; and the second container transport vehicle 301, oriented in the opposite direction to the first container transport vehicle 301, prepares to lower the third storage container 106c through the third port column 121. After the first storage container 106a is transferred to the auxiliary carrier 430, the main carrier 420 can be in the second receiving position P. R2 Receive the second storage container 106b from the first container handling vehicle 301, or at the third receiving location P. R3 The third storage container 106c is received from the second container handling vehicle 301.

[0351] By having at least two receiving positions P R The storage station 400 can be served by a cantilevered container handling vehicle 301 with relative orientation.

[0352] Figure 19 A three-dimensional view of several access stations 400 is shown. Figure 20 and Figure 21 A corresponding top and rear view of the same access station 400 is shown. As shown, access station 400 may have a substantially horizontal interface facing the picker 600. Alternatively, access station 400 may have an interface facing the picker 600 relative to a horizontal plane P. H An angled interface. An angled interface will allow the human picker to have a more ergonomic working position and a better view of the contents of the storage container 106. In some installations, it may be preferable to arrange different access stations 400 to present the storage container 106 to the picker at different heights.

[0353] The access station 400 can be manufactured with a preferred height and equipped with adjustable legs. The height of the access station 400 is preferably adapted to the average height of the manual picker. The height of the access station 400 is also preferably adapted to the height H of the storage container 106. f .

[0354] Access station 400 can be manufactured with a preferred width. Depending on the orientation of storage container 106 within access station 400 (e.g., based on which side of the storage system the storage container is arranged on), the width of access station 400 can preferably be adapted to the length L of storage container 106. f Or width W f If the shortest side of the storage container 106 is oriented along the width direction of the access station 400, the access station 400 can be configured to have a smaller width.

[0355] By adapting the width of access station 400 to the width of a storage column 105, two or more access stations 400 can be arranged side-by-side in a space-efficient manner, i.e., without spacing. This arrangement of access stations 400 allows for greater efficiency for manual pickers due to the shorter distance between them. The width of a storage column can be considered as the width of storage container 106 plus the additional width of tracks 110, 111 of the track system 108 (half the width of the tracks arranged on each side of storage container 106). Therefore, when access stations 400 correspond to the width of a storage column, they can be arranged side-by-side in a manner corresponding to the position of the storage column, and access stations 400 can be positioned in adjacent rows of the storage column.

[0356] Figure 19 , Figure 20 and Figure 21 Four access stations 400 are shown arranged side by side. Two access stations 400 with tilted access cabinets 490 are arranged in the middle, and one access station 400 with a horizontal access cabinet 490 is arranged on each side. The horizontal access cabinets 490 are longer than the tilted access cabinets 490. In this way, the access cabinets 490 can partially surround the picker 600 standing in front of the two central access stations 400. As an example, the storage container 106 to be picked up can be presented in the middle access station 400, and the merge box to be picked up can be presented in the two side access stations 400. Alternatively, all access stations 400 can present the storage container 106 to be picked up.

[0357] Figure 22 and Figure 23 Two perspective views of the main bracket 420 are shown. Figure 24 A side view of the same main bracket 420 is shown.

[0358] The main carriage 420 is configured for transporting the storage container 106. The main carriage 420 includes a main carriage base 421 movable along a guide frame 410; a main carriage shifting motor 440a configured to move the main carriage 420 along the guide frame 410; and a first storage container support 422 connected to the main carriage base 421.

[0359] The main bracket base 421 may include at least two sets of wheels 442 connected to both sides of the main bracket base 421. The wheels 442 are configured to move along the guide frame 410, and preferably along the guide path 411 provided in the guide frame 410.

[0360] exist Figure 22The diagram illustrates how one of the wheels 442 is connected to the main bracket shifting motor 440a via a drive belt 441a. In this example, the main bracket shifting motor 440a is at least partially arranged within a volume defined by the main bracket base 421. The main bracket shifting motor 440a is typically an electric motor powered by a battery or an external source (not shown). A battery would require less infrastructure but would need to be charged periodically, while an external power source would reduce the size and weight of the main bracket 420.

[0361] The first storage container support 422 is connected to the main bracket base 421, either as an integral part of the main bracket base 421 or as a separate unit. Figure 22 In the example, the first storage container support 422 includes rollers arranged on a plate 427 connected to the main bracket base 421. The plate 427 can be considered as part of the main bracket base 421, part of the first storage container support 422, or an intermediate component between the two. Two rows of rollers are arranged along a first direction X, with a gap 423 between them. These rollers are configured to support the storage container 106 and simultaneously facilitate the transfer of the supported storage container 106 to the sub-bracket 430.

[0362] The coverage area of ​​the first storage container support 422 can be larger than the coverage area of ​​the main bracket base 421. Preferably, the coverage area of ​​the first storage container support 422 is substantially equal to the area A of the storage container. f This allows the storage container 106 to be properly supported while keeping the size of the covered area reduced.

[0363] like Figure 23 As shown, the main support 420 may include a vertical side panel 424 configured to prevent the supported storage container 106 from moving along the second direction Y. The vertical side panel 424 may be a curved portion of a plate 427 on which rollers are arranged. To reduce friction between the vertical side panel 424 and the storage container 106, the vertical side panel 425 may be provided with a sliding surface 425. The vertical side panel 424 and the sliding surface 425 facilitate the transfer of the supported storage container 106 to the sub-support 430.

[0364] The main support 420 may include an end stop 426 configured to prevent the supported storage container 106 from moving beyond a given point in a first direction X. The end stop 426 may be a curved portion of a plate 427 on which rollers are arranged or a curved portion of a vertical side panel 424.

[0365] The main support 420 includes a transfer device 460 for moving the storage container 106 from the main support 420 to the secondary support 430. The transfer device 460 may be a conveyor integrated into the first storage container support 422, for example, in the form of a powered roller rotating the first storage container support 422. Alternatively, the conveyor may be a separate unit, for example, arranged on the plate 427 between the two rows of rollers forming the first storage container support 422. Figure 22 and Figure 23 As shown.

[0366] If the transfer device 460 is not integrated into the first storage container support 422, the transfer device 460 is preferably configured such that the storage container 106 can be placed on the first storage container support 422 without being blocked by the transfer device 460.

[0367] form Figure 22 and Figure 23 The conveyor of the transfer device 460 shown includes: a track 462 extending rearward from the main bracket 420; a slider 461 connected to the track 462 and configured to interact with the storage container 106; and a transfer motor 462 configured to move the slider 461 relative to the first storage container support 422.

[0368] Track 462 will extend toward the sub-bracket 430. When the main bracket 420 and the sub-bracket 430 move closer together, track 462 will preferably extend into the second storage container support 432 of the sub-bracket 430. Depending on the orientation of the storage container 106 relative to track 462, track 462 preferably has a length L exceeding that of the storage container 106. f Or width W f Length L r .

[0369] exist Figure 22 and Figure 23 In this configuration, track 462 is longer than the first storage container support 421. The first end of track 462 is disposed on the front side of the first storage container support 422, and the second end of track 462 is disposed on the rear side of the first storage container support 422.

[0370] The track 462 is preferably arranged such that the center point of the storage container 106 supported on the first storage container support 422 is vertically aligned with the track 462.

[0371] The slider 461 is slidably connected to the track 462, allowing the slider 461 to move relative to the track 462 along a first direction X. Figure 23The diagram shows a slider having a vertical portion reaching a vertical height, at least a portion of which is positioned when the storage container 106 is supported on the first storage container support 422. As the slider 461 moves along the track 462, it will encounter the storage container 106 when it is supported on the first storage container support 422.

[0372] exist Figure 23 In this context, the position shown for slider 461 on track 462 can be considered the initial position of slider 461. Moving slider 461 from its initial position toward the rear of main bracket 420 along the first direction X will remove storage container 106 supported on the first storage container support 422 from the first storage container support 422, after which slider 461 will reach a subsequent position at the other end of track 462. If sub-bracket 430 moves sufficiently close to main bracket 420, storage container 106 removed from the first storage container support 422 will be transferred to second storage container support 432.

[0373] Figure 23 The slider 461 shown will move in a reciprocating motion between an initial position and a subsequent position. Other types of sliders can move along a continuous path around track 461, that is, from the initial position to the subsequent position along the top side of track 462, and from the subsequent position to the initial position along the bottom side of track 462.

[0374] The slider 461 may have a width extending along the second direction Y, which covers the length L of the storage container 106. f Or width W f At least half, depending on the orientation of the storage container 106 relative to the slider 461. As the width of the slider 461 increases, the risk of the storage container 106 rotating during transfer is reduced.

[0375] The guide rail 462 may include a belt or chain, to which the slider 461 may be attached. Movement of the belt or chain will in turn cause the slider 461 to move.

[0376] The transfer motor 463 is configured to move the slider 461 along the track 462 and to provide thrust on the storage container 106 positioned on the first storage container support 422 via the slider 461.

[0377] exist Figure 23 In this configuration, the transfer motor 463 is connected to the track via a belt 464. Therefore, the chain or belt arranged on the track 462, and thus the slider 461, can be operated by means of the transfer motor 463.

[0378] exist Figure 23In this configuration, the transfer motor 463 is mounted on a bracket attached to the plate 427. Alternatively, the transfer motor 463 may be mounted on the base 421 of the main bracket. The transfer motor 462 will typically be an electric motor powered by a battery or an external source (not shown). A battery will require less infrastructure, while an external power source will reduce the size and weight of the main bracket 420.

[0379] Figure 22 The main bracket 420 is shown to include a first connecting portion 471. The first connecting portion 471 is disposed on the base 421 of the main bracket. The first connecting portion 471 is disposed on the rear side of the main bracket 420 such that when disposed in the access station 400, the first connecting portion 471 can interact with the sub-bracket 430, and in particular with a second connecting portion 472 disposed on the sub-bracket 430.

[0380] The first connecting portion 471 may be a metal plate that has been bent or extruded to include a horizontal portion extending along a first direction X and a vertical portion extending along a third direction Z to form a retaining lip. The first connecting portion 471 may extend along the entire length of the main bracket base 421 in a second direction Y to provide a large interface toward the second connecting portion 472.

[0381] Figure 22 and Figure 24 The main bracket 420 is shown to include a tilting device 450. The tilting device 450 may include a tilting motor 451, a drive crank 452, and a coupling link 453. The coupling link 453 may have a recess 454.

[0382] The tilting device 450 is configured to move the main bracket 420 between a receiving state and a picking state. In the receiving state, the first storage container support 422 is substantially parallel to the horizontal plane P. H Arrangement, especially Figure 10 As shown. In the picking state, the first storage container support 422 is positioned relative to the horizontal plane P. H Inclined at a predetermined tilt angle α, such as Figure 22 , Figure 23 and Figure 24 As shown.

[0383] exist Figure 22 The diagram shows how the first storage container support 422 and plate 427 are arranged around the axis of rotation C. R Pivot to move between the receiving and picking states. Rotation axis C R It can preferably be arranged in the front end of the main bracket 420. Figure 22 In the middle, the axis of rotation C R Arranged on horizontal plane P H And oriented along the second direction Y.

[0384] The tilting motor 451 is arranged in the base 421 of the main bracket, preferably on the main bracket 420 at the axis of rotation C. R On the opposite side, the tilting device 450 can be positioned on the first storage container support 422 and plate 427 at a distance C from the axis of rotation. R A thrust is provided at a distance. This thrust causes the first storage container support 422 and plate 427 to rotate about the axis of rotation C. R Rotate.

[0385] The tilt motor 451 will typically be an electric motor powered by a battery or an external source (not shown). A battery will require less infrastructure, while an external power source will reduce the size and weight of the main bracket 420.

[0386] A tilting motor 451 is configured to provide torque. A drive crank 452 is coupled to the tilting motor 451 and configured to transmit torque from the tilting motor 451. A coupler link 453 is pivotally coupled to the drive crank 452. A first storage container support 422 is pivotally coupled directly or indirectly (e.g., via plate 427) to the coupler link 453. Thus, the coupler link 453 can provide thrust on the first storage container support 422 directly or indirectly in response to torque from the tilting motor 451 via the drive crank 452.

[0387] Figure 25 A front view of the sub-bracket 430 is shown, and Figure 26 It is a 3D view of the same bracket 430.

[0388] Sub-carrier 430 is configured for transporting storage container 106. Sub-carrier 430 includes: sub-carrier base 431 movable along guide frame 410; sub-carrier shift motor 440b configured to move sub-carrier 430 along guide frame 410; and second storage container support 432 connected to sub-carrier base 431.

[0389] The sub-bracket base 431 may include at least two sets of wheels 442 connected to both sides of the sub-bracket base 431. The wheels 442 are configured to move along the guide frame 410, and preferably along a guide path 411 provided in the guide frame 410.

[0390] exist Figure 26The diagram illustrates how one of the wheels 442 is connected to the sub-carrier shift motor 440b via a drive belt 441b. In this example, the sub-carrier shift motor 440b is at least partially arranged within a volume defined by the sub-carrier base 431. The sub-carrier shift motor 440b will typically be an electric motor powered by a battery or an external source (not shown). A battery would require less infrastructure but would need to be recharged from time to time, while an external power source would reduce the size and weight of the sub-carrier 430.

[0391] The second storage container support 432 is connected to the sub-bracket base 431, either as an integral part of the sub-bracket base 431 or as a separate unit. Figure 25 In the example, the second storage container support 432 includes rollers arranged on a plate 437 connected to the sub-carrier base 431. The plate 437 can be considered part of the sub-carrier base 431, part of the second storage container support 432, or an intermediate component between the two. Two rows of rollers are arranged along a first direction X, with a gap 433 between them. The rollers are configured to support the storage container 106 and simultaneously facilitate receiving the storage container 106 transferred from the main carrier 420.

[0392] The coverage area of ​​the second storage container support 432 can be larger than the coverage area of ​​the sub-bracket base 431. Preferably, the coverage area of ​​the second storage container support 432 is substantially equal to the area A of the storage container. f This allows the storage container 106 to be properly supported while keeping the size of the covered area reduced.

[0393] like Figure 25 As shown, the sub-carrier 430 may include a vertical side panel 434 configured to prevent the supported storage container 106 from moving along the second direction Y. The vertical side panel 434 may be a curved portion of a plate 437 on which rollers are arranged. To reduce friction between the vertical side panel 434 and the storage container 106, the vertical side panel 435 may be provided with a sliding surface 435. The vertical side panel 434 and the sliding surface 435 facilitate receiving the storage container 106 transferred from the main carrier 420.

[0394] The sub-bracket 430 may include an end stop 436 configured to prevent the supported storage container 106 from moving beyond a given point in a first direction X. The end stop 436 may be a curved portion of a plate 437 on which rollers are arranged or a curved portion of a vertical side panel 434.

[0395] The sub-bracket 430 may include one or more second connecting portions 472. Figure 25 and Figure 26In this example, the sub-bracket 430 includes two second connecting portions 472. These second connecting portions 472 are arranged on the sub-bracket base 431 and spaced apart in the second direction Y. In this example, with a first connecting portion 471, the distance between these second connecting portions 472 should not exceed the range of the first connecting portion 471 in the second direction Y. The second connecting portions 472 are arranged on the front side of the sub-bracket 430 such that when arranged in the access station 400, the second connecting portions 472 can interact with the main bracket 420, and in particular with the main connecting portion 471 arranged on the main bracket 420.

[0396] The second connecting portion 472 may have a profile configured to latch with the retaining lip of the first connecting portion 471, thereby preventing relative horizontal movement along the first direction X.

[0397] The profile of the second connecting part 472 can be elastic or biased to a given position, so that the first connecting part 471 and the second connecting part 472 can be snapped together when forcefully pushed together. Figure 26 The profile is shown to be pivotally connected to the sub-bracket base 431 and biased downward by a spring. The profile can also be connected to a mechanism configured to pull the profile upward, allowing the first coupling 471 and the second coupling 472 to be connected and disconnected.

[0398] The profile of the second connecting portion 472 can be chamfered to provide a vertical force vector on that profile in response to the first connecting portion 471 and the second connecting portion 472 being pushed together in the horizontal direction. Then, the bias force will be lower than the expected vertical force vector.

[0399] Latch 470 Figure 27a It is shown as being in a disconnected state, and in Figure 27b It is shown as being in a connected state.

[0400] Figure 28 The vertical cross-section of access station 400 is shown. Figure 28 Alternative configurations are shown of how the main bracket 420 and the sub-bracket 430 can move along the guide frame 410.

[0401] The main support 420 may include a main drive belt 443a disposed on the guide frame 410, for example by means of pulleys 444, which are disposed at opposite ends of the guide frame 410 or at least arranged such that the main drive belt 443a is positioned from the pickup position P. P Extending to receiving area A RThe main drive belt 443a is typically connected to the base 421 of the main carriage. The main carriage shifting motor 440a may be arranged on the guide frame 410 and configured (e.g., by connection to a pulley 444) to operate the main drive belt 443a to move the main carriage 420 along the guide frame 410.

[0402] The secondary bracket 430 may include a secondary drive belt 443b, which is arranged on the guide frame 410, for example by means of pulleys 444, which are arranged at opposite ends of the guide frame 410 or at least arranged such that the secondary drive belt 443b is positioned from the pickup position P. P Extending to receiving area A R The secondary drive belt 443b is typically connected to the base 431 of the secondary bracket. The secondary bracket shifting motor 440b may be arranged on the guide frame 410 and configured (e.g., by connection to a pulley 444) to operate the secondary drive belt 443b to move the secondary bracket 430 along the guide frame 410. Therefore, the secondary drive belt 443b can operate independently of the main drive belt 443a, and vice versa.

[0403] The main drive belt 443a and the auxiliary drive belt 443b can be arranged side by side or spaced apart at the same vertical height.

[0404] exist Figure 28 In this configuration, no additional motor is needed to rotate the wheels.

[0405] As an alternative to connecting the main drive belt 443a to the main bracket base 421, a plurality of pulleys 444 may be arranged on the main bracket base 421, which is configured to receive the main drive belt 443a. In this configuration, for operating the main drive belt 443a, a main bracket shifting motor 440a may be arranged on the main bracket base 421 and connected to one of the pulleys 444 of the main bracket base 421.

[0406] As an alternative to connecting the secondary drive belt 443b to the secondary bracket base 431, a plurality of pulleys 444 may be arranged on the secondary bracket base 431, which is configured to receive the secondary drive belt 443b. In this configuration, in order to operate the secondary drive belt 443b, a secondary bracket shifting motor 440b may be arranged on the secondary bracket base 431 and connected to one of the pulleys 444 of the secondary bracket base 431.

[0407] Figure 29 A perspective view of access station 400 is shown. Access station 400 may include any of the features described above regarding access station 400.

[0408] Figure 29 The access station 400 includes the one located in the first pickup area A P1The first pick position P in P1 and located in the second pickup area A P2 The second pick position P in P2 Having the first pickup position P P1 Second pick position P P2 This configuration of the access station 400 is called a dual-end access station 400.

[0409] Access station 400 also includes multiple receiving locations P R Receiving area A R In this case, there are five receiving positions P. R1 To P R5 It can also have only one receiving location P. R .

[0410] The dual-end configuration access station 400 also includes a main carriage 420, which can be positioned along the first pickup position P. P1 With the second pickup position P P2 The guide frame 410 extends between them and moves. First pickup position P P1 Second pick position P P2 Arranged in receiving area A R The opposite sides. The main tray 420 used in the dual-end access station 400 will typically have the type described above. The main tray 420 can be configured to be in the first pickup position P P1 Second pick position P P2 Storage container 106 is present in both locations.

[0411] Access station 400 may additionally include a sub-carrier 430 movable along guide frame 410. The main carrier 420 used in the double-ended access station 400 typically has the type described above. When access station 400 includes sub-carrier 430, the first carrier will typically be configured at the first pickup position P. P1 Storage container 106 is presented at the location, and the sub-carrier 430 is typically configured at the second pickup position P. P2 Storage container 106 is presented here.

[0412] First pickup position P P1 It is suitable for manual picking operations or robotic picking operations as shown in the figure. Second picking position P P2 It is suitable for robotic picking operations or manual picking operations as shown in the figure. The picking position P is suitable for manual picking operations. P Preferably, a storage cabinet 490 is provided.

[0413] Figure 30 It shows Figure 29 A 3D view of the access station 400. Figure 30This illustration shows how multiple access stations 400 with a dual-end configuration can be arranged side-by-side. In this example, four access stations 400 are arranged side-by-side. However, any number of access stations 400 can be arranged side-by-side, such as three or two access stations 400.

[0414] Figure 31 It shows Figure 29 A 3D view of access station 400. Robotic picker 600 is near the first pick-up position P. P1 The system is configured to perform pick-up operations from four access stations 400 arranged side-by-side.

[0415] During operation, the access station 400 with a dual-end configuration can be used in the same way as other access stations 400, that is, by receiving from area A R The system receives the storage containers 106 to be picked up and transports these storage containers 106 to the first pickup location P. P1 The contents of these storage containers are then presented to the picker. After the pick-up is performed, the storage container 106 can be returned to the receiving area A. R To be retrieved. Then, the second pickup position P. P2 It can be used as the first pick-up position P P1 The alternative.

[0416] First pickup position P P1 This will typically be handled by robot picker 600. If robot picker 600 cannot retrieve the item from the first pick-up position P... P1 If the product item 80 to be picked up is picked up from the storage container 106, then the storage container 106 can be moved to the second picking position P. P2 At the second pickup position P P2 At point P, product item 80 can be picked up by a human picker. P2 The pickup can be performed at the first pickup position P. P1 The picking is performed in parallel. At the first picking position P... P1 At or at the second pick-up position P P2 When picking up products, storage container 106 can return to the receiving area to be retrieved by means of container handling vehicles 201, 301, and 401.

[0417] As a quality improvement measure, at the first pickup position P P1 The pickup operation occurring at the location may involve checking for errors in the presented storage container 106. This check can be performed by a human pickup operator, a robotic pickup operator 600, or positioned at the first pickup location P. P1 Other inspection devices at the location are executed.

[0418] If an error is detected, the faulty storage container 106 can be taken to the second pickup location P. P2 Corrections are made, usually manually. Some examples of related errors may include: incorrect contents in a box (the items in the box are incorrect or the quantity of items is incorrect compared to what is registered in the system), damaged goods, damaged boxes, deformed boxes, dirty boxes, and dirty contents.

[0419] When using the sub-carrier 430, the faulty storage container 106 can be transferred from the main carrier 420 to the sub-carrier 430, so that the sub-carrier 430 can be used at the second pickup position P. P2 Container 106 is used for conveying and storing.

[0420] When using the sub-carrier 430, the pickup position P can be moved from the first pickup position. P1 After being picked up, the storage container 106 is transferred from the main tray 420 to the sub-tray 430, so that the sub-tray 430 can be in the receiving area A. R Container 106 is used for conveying and storing.

[0421] When using the sub-carrier 430, if at the first pickup position P P1 If pickup is not possible at the second pickup position P, the storage container 106 can be moved from the main tray 420 to the sub-tray 430, allowing the sub-tray 430 to be used at the second pickup position P. P2 Storage container 106 is presented here.

[0422] In the foregoing description, various aspects of the transport vehicle and automated storage and retrieval system according to the invention have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for illustrative purposes to provide a thorough understanding of the system and its operation. However, this description is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that will be apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of the invention.

[0423] List of reference numerals

[0424] 1. Existing automated storage and retrieval systems

[0425] 100 Frame Structure

[0426] 102. Upright members of a frame structure

[0427] 104 Storage Grid

[0428] 105 Storage Columns

[0429] 106 Storage Containers

[0430] 106a First storage container

[0431] 106b Second storage container

[0432] 106c Third storage container

[0433] 106' Specific location of the storage container

[0434] 107 Stacking

[0435] 108 orbital system

[0436] 110 Parallel orbits in the first direction (X)

[0437] 111 Parallel track in the second direction (Y)

[0438] 112 Access Port

[0439] 119 First Port Column

[0440] 120 Second Port Column

[0441] 121 Third Port Column

[0442] 122 Fourth Port Column

[0443] 201 Container handling vehicles of the prior art

[0444] 201a The body of container handling vehicle 201

[0445] 201b First direction (X) drive mechanism / wheel arrangement,

[0446] 201c Second direction (Y) drive mechanism / wheel arrangement,

[0447] 301 Prior art cantilever container handling vehicles

[0448] 301a The body of container handling vehicle 301

[0449] 301b A driving device in the first direction (X)

[0450] 301c Drive device in the second direction (Y)

[0451] 304 clamping device

[0452] 401 Container handling vehicles of the prior art

[0453] 401a The body of container handling vehicle 401

[0454] 401b A driving device in the first direction (X)

[0455] 401c Drive device in the second direction (Y)

[0456] 400 access station

[0457] 410 Bootstrap Framework

[0458] 411 Boot path

[0459] 420 Main bracket

[0460] 421 Main bracket base

[0461] 422 First storage container support

[0462] 423 Gap in the first storage container support

[0463] 424 Vertical side panel for the first storage container

[0464] 425 Sliding surface for vertical panels

[0465] 426 End stop for the first storage container support

[0466] 427 Main bracket plate

[0467] 430 Sub-bracket

[0468] 431 Sub-bracket base

[0469] 432 Second storage container support

[0470] 433 Gap in the second storage container support

[0471] 434 Vertical side panel for a second storage container

[0472] 435 Sliding surface for vertical panels

[0473] 436 End stop for a second storage container support

[0474] 437 Sub-bracket plate

[0475] 440a Main support shift motor

[0476] 440b Sub-carrier Shift Motor

[0477] 441a Drive belt for main carriage shift motor

[0478] 441b Drive belt for auxiliary bracket shift motor

[0479] 442 Wheels for brackets

[0480] 443a Main drive belt for main bracket

[0481] 443b Sub-drive belt for sub-bracket

[0482] 444 pulley

[0483] 450° tilting device

[0484] 451 Tilting Motor

[0485] 452 Drive crank for tilting device

[0486] 453 Connector rod for tilting device

[0487] 454 Recess in the connecting rod of the connector

[0488] 460 Transfer Device

[0489] 461 Sliding element of the transfer device

[0490] 462 Track of the transfer device

[0491] 463 Transfer motor of the transfer device

[0492] 464 Drive belt for transferring motors

[0493] 470 latch

[0494] 471 First connecting part of the latch

[0495] 472 Second connecting part of the latch

[0496] 490 Storage cabinet with hatch

[0497] 500 Control System

[0498] 600 Pickup Operators

[0499] X First Direction

[0500] Y Second Direction

[0501] Z Third Direction

[0502] P H horizontal plane

[0503] L r track length

[0504] Wf is the width of the storage container.

[0505] Lf is the length of the storage container.

[0506] Hf Height of the storage container

[0507] Af is the area of ​​the storage container.

[0508] P P Pick up location

[0509] P P1 First pickup position

[0510] P P2 Second pickup position

[0511] A P Pick up area

[0512] A P1 First Pickup Area

[0513] A P2 Second Pickup Area

[0514] A R Receiving area

[0515] P R P R1+n (First, second, third, etc.) Receiving positions

[0516] α Inclination angle

[0517] C R axis of rotation

Claims

1. An access station (400) for presenting a storage container (106). wherein The access station (400) includes: - Receiving area ( A R ), used to receive storage containers (106) from the automated storage and retrieval system (1); - First pickup position ( P P1 ), used to present the storage container (106) to the picker, the first pick-up location ( P P1 Arranged in the receiving area ( A R On the first side; - Second pickup position ( P P2 ), used to present the storage container (106) to the picker, the second pick-up location ( P P2 Arranged in the receiving area ( A R On the second side opposite to the first side; - Guide frame (410), arranged in a horizontal plane ( P H In the first pickup position () P P1 ) and the second pickup position ( P P2 Extending between; and - Main bracket (420) for transporting storage container (106) along the guide frame (410). An inspection device is provided at the first pickup position to inspect the position at the first pickup position. P P1 The storage container (106) is presented. The access station is arranged such that when the storage container (106) is moved to the first pickup position ( P P1 Afterwards, the inspection device checks the storage container (106) for errors, and if an error is detected, moves the storage container (106) to the second pickup position. P P2 To correct detected errors, or, if no errors are detected, to return the storage container (106) to the receiving area. A R It is removed by means of a container transport vehicle (301).

2. The access station (400) according to claim 1. in, The retrieval station (400) also includes a retrieval cabinet (490) for interfacing with a human retrieval operator, the retrieval cabinet (490) being located at the second retrieval position. P P2 ) place.

3. The access station (400) according to claim 1 or 2. in, The receiving area ( A R ) includes multiple receiving locations ( P R ).

4. The access station (400) according to claim 1 or 2. in, The access station (400) also includes: - Sub-carrier (430) for transporting storage container (106) along the guide frame (410).

5. The access station (400) according to claim 4. in, The main carrier (420) is configured to transport the storage container (106) to the first pickup location. P P1 );and The sub-carrier (430) is configured to transport the storage container (106) to the second pickup position. P P2 ).

6. The access station (400) according to claim 4. in, The main bracket (420) includes: - The base of the main bracket (421) is movable along the guide frame (410); - A main bracket shifting motor (440a) is configured to move the main bracket (420) along the guide frame (410); - A first storage container support (422) is connected to the base of the main bracket (421); and - Transfer device (460) for displacing the storage container (106) positioned on the first storage container support (422); The sub-bracket (430) includes: - The base of the sub-bracket (431) is movable along the guide frame (410); - A sub-bracket shifting motor (440b) configured to move the sub-bracket (430) along the guide frame (410); and - A second storage container support (432) is connected to the base of the sub-bracket (431); and The sub-bracket (430) is configured to receive a storage container (106) displaced from the main bracket (420) by means of the transfer device (460).

7. An automatic storage and retrieval system (1), comprising: - Access station (400) according to any one of claims 1 to 6; - Track system (108), including those arranged in a horizontal plane ( P H ) in and along the first direction ( X The first set of parallel tracks (110) extending from the horizontal plane and arranged in the horizontal plane ( P H ) in and along the first direction ( X The second orthogonal direction ( Y The second set of parallel tracks (111) extends from the first set of parallel tracks (110) and the second set of parallel tracks (111) in the horizontal plane. P H A grid pattern is formed in the grid pattern, the grid pattern including a plurality of adjacent access ports (112) defined by a pair of adjacent tracks (110a, 110b) in the first set of parallel tracks (110) and a pair of adjacent tracks (111a, 111b) in the second set of parallel tracks (111). - Multiple stacks (107) consisting of storage containers (106) arranged in storage columns (105) below the storage section of the track system (108), wherein each of the storage columns (105) is located vertically below an access port (112); - At least one port column (119) is located below the transport section of the track system (108) and adjacent to a 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 vehicle (301) includes: a lifting device (304) for lifting storage containers (106) stacked in the form of the stack (107) above the storage section; and a drive mechanism (301b, 301c) configured to move in the first direction ( X ) and the second direction ( Y The container handling vehicle (301) is driven along the track system (108) in at least one direction.

8. The automatic storage and retrieval system (1) according to claim 7. in, The automatic storage and retrieval system (1) further includes: - Robot picker (600), configured to pick up from the first pick-up location ( P P1 The storage container (106) presents the product (80).

9. The automatic storage and retrieval system (1) according to claim 8. in, The inspection device is arranged on the robot picker (600).

10. The automatic storage and retrieval system (1) according to any one of claims 7 to 9. in, The automatic storage and retrieval system (1) includes: - At least two port columns (119, 120).

11. The automatic storage and retrieval system (1) according to any one of claims 7 to 9. in, The automatic storage and retrieval system (1) includes: - At least two access stations (400) arranged side by side.

12. The automatic storage and retrieval system (1) according to claim 11, wherein, The automatic storage and retrieval system (1) includes three or four port columns (119, 120, 121, 122).

13. The automatic storage and retrieval system (1) according to claim 12, wherein, The automated storage and retrieval system (1) includes three, four, or five storage stations (400) arranged side by side.

14. A method for presenting a storage container (106) at a storage station (400) and returning the storage container (106) using an automated storage and retrieval system (1) according to any one of claims 7 to 13, in, The method includes the following steps: - A storage container (106) is transported to the receiving area by means of a container handling vehicle (301). A R ); - Move the storage container (106) to the first pickup position ( P P1 ), to be presented to the robot picker (600); and In the event that the robotic picker (600) is unable to pick up the product (80) from the storage container (106), - Move the storage container (106) to the second pickup position ( P P2 (), to be presented to the human picker; - At the second pickup position ( P P2 Pick up product items from the storage container (106) at the location; and - Return the storage container (106) to the receiving area ( A R ) to be removed by means of a container transport vehicle (301); or If the robotic picker (600) is able to pick up the product (80) from the storage container (106), - At the first pickup position ( P P1 Pick up product items from the storage container (106) at the location; and - Return the storage container (106) to the receiving area ( A R ), to be removed by means of a container transport vehicle (301), Among them, when the storage container (106) is moved to the first pickup position ( P P1 After that, the method includes the following steps: - Check for errors in the storage container (106); and In the event of an error, - Move the storage container (106) to the second pickup position ( P P2 To correct the detected errors; or Without detecting an error, - Return the storage container (106) to the receiving area ( A R ), to be removed by means of a container transport vehicle (301).

15. The method according to claim 14, in, The access station (400) includes: - Sub-carrier (430) for transporting storage container (106) along the guide frame (410); The main bracket (420) is configured to transport the storage container (106) to the first pickup location. P P1 ); The sub-carrier (430) is configured to transport the storage container (106) to the second pickup position. P P2 ); The method further includes the following steps after picking up from the storage container (106) and / or after checking for errors in the storage container (106): - Transfer the storage container (106) from the main bracket (420) to the sub-bracket (430).

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