This includes an automatic storage and retrieval system for a transfer column with side openings and a blocking element, as well as a method for operating the blocking element.

Abstract

This invention relates to an automated storage and retrieval system for containers, and more particularly to an automated storage and retrieval system comprising a transfer column having side openings. A stopper is provided in the side opening to guide a lifting device in a first position and to allow a cargo holder to be transferred through the side opening in a second position. The invention also relates to a method for moving the stopper between the first and second positions to transfer the cargo holder between the side openings.

Description

Technical Field

[0001] Figure 1 discloses a prior art automated storage and retrieval system 1 with a frame structure 100. Figures 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301 and 401 suitable for operation on such system 1.

[0002] The frame structure 100 includes upright members 102 and storage volumes comprising storage rows 105 arranged between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 can typically be made of metal (e.g., extruded aluminum profiles).

[0003] The frame structure 100 of the automated storage and retrieval system 1 includes a guide rail system 108 arranged on top of the frame structure 100, through which multiple container handling vehicles 201, 301, and 401 can operate to lift and lower storage containers 106 from storage columns 105 into and from the storage columns, and also transport storage containers 106 above the storage columns 105. The guide rail system 108 includes: a first set of parallel guide rails 110 arranged to guide the container handling vehicles 201, 301, and 401 to move in a first direction X on top of the frame structure 100; and a second set of parallel guide rails 111 arranged perpendicular to the first set of guide rails 110 to guide the container handling vehicles 201, 301, and 401 to move in 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 openings 112 in the guide rail 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.

[0004] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the process of lifting the containers out of the column 105 and lowering the containers into the column. The stack 107 of the containers 106 is typically self-supporting.

[0005] 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 are arranged to engage with two adjacent rails in the first set of guide rails 110, and the second set of wheels 201c, 301c, 401c are arranged to engage with two adjacent rails in the second set of guide rails 111. At least one set of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered, such that the first set of wheels 201b, 301b, and 401b and / or the second set of wheels 201c, 301c, and 401c can engage with the corresponding set of guide rails 110 and 111 at any time.

[0006] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for the vertical transport of 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 with the storage container 106, and these clamping / engaging devices can be lowered from the vehicles 201, 301, 401 such that their position relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the clamping device of the container handling vehicles 301, 401 is indicated by reference numerals 304, 404 in Figures 3 and 4. The clamping device of the container handling device 201 is located within the vehicle body 201a in Figure 2.

[0007] Generally, and for the purposes of this application, Z=1 represents the uppermost layer of available storage containers below guide rails 110, 111, i.e., the layer immediately below guide rail system 108; Z=2 represents the second layer below guide rail system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=7 represents the bottommost layer of storage containers. Similarly, X=1…n and Y=1…n represent the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG1, it can be said that the storage container identified as 106' in FIG1 occupies the storage position portion of X=17, Y=1, Z=5. It can be said that container transport vehicles 201, 301, 401 travel in the layer of Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, it can also be said that the storage containers extending above guide rail system 108 shown in FIG1 are arranged in the layer of Z=0.

[0008] The storage volume of the frame structure 100 is generally 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, and each storage cell can be identified by its container number in the X, Y, and Z directions.

[0009] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 when transporting it on the rail system 108. The storage space may include a cavity centrally arranged within the vehicle body 201a, as shown in Figures 2 and 4, and the contents of which are described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, are incorporated herein by reference.

[0010] Figure 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.

[0011] The area occupied by the cavity container transport vehicle 201 shown in Figure 2 can cover an area in the X and Y directions that is approximately equal in size to the lateral extent of the storage column 105, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0012] Alternatively, the area occupied by the cavity container transport vehicle 401 may be larger than the lateral area defined by the storage column 105, as shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0013] The guide rail system 108 typically includes guide rails with grooves in which the wheels of a vehicle travel. Alternatively, the guide rails may include upwardly projecting elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as tracks. Each guide rail may include one track, or each guide rail 110, 111 may include two parallel tracks. In other guide rail systems 108, each guide rail in one direction may include one track, and each guide rail in another perpendicular direction may include two tracks. Each guide rail 110, 111 may also include two track members fastened together, each track member providing one of the tracks in a pair provided by each guide rail.

[0014] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) illustrates a common configuration of a guide rail system 108, which includes guide rails and parallel tracks in both the X and Y directions.

[0015] In frame structure 100, most columns 105 are storage columns 105, i.e., containers 106 are stored in columns 105 for stacking 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 moved in or out of frame structure 100. In the art, such a location is commonly referred to as a "port," and the columns containing the ports 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, and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to the retrieval station. Transport from the port to the retrieval station may require movement along various directions via means such as delivery vehicles, trolleys, or other transport lines. Note that the term "inclined" indicates that the transport of storage container 106 has a conventional transport orientation between horizontal and vertical.

[0016] In Figure 1, the first port column 119 may be a dedicated unloading port column, where container handling vehicles 201 and 301 can unload storage containers 106 that are 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 storage containers 106 that have been transported from the storage station or transfer station.

[0017] The storage and retrieval station is typically a picking station or a storage station where product items are removed from or placed into storage container 106. At the picking station or storage station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but is returned to frame structure 100 after storage and retrieval. The port can also be used to transfer storage containers to another storage facility (e.g., another frame structure or another automated storage and retrieval system), transport vehicles (e.g., trains or trucks), or production facilities.

[0018] Storage containers are typically transported between port lines 119 and 120 and the access station using a conveyor system that includes a conveyor.

[0019] If port columns 119, 120 and access stations are located at different heights, the conveying system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0020] The transfer 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.

[0021] When access is required for a storage container 106 stored in one of the multiple columns 105 disclosed in Figure 1, one of the multiple 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 includes 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 devices (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 includes temporarily moving the storage containers located above the target storage container before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle specifically designed for the task of temporarily removing storage 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 into the initial storage column 105. However, the removed storage container 106 can alternatively be relocated to another storage column 105.

[0022] When storage container 106 is to be stored in one of the multiple columns 105, one of the multiple container handling vehicles 201, 301, and 401 is instructed to pick up storage container 106 from pick-up port column 120 and transport it to a position above the storage column 105 where it will be stored. After removing any storage container 106 located at or above the target position within the stack 107, container handling vehicles 201, 301, and 401 position the storage container 106 to 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.

[0023] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301, 401, so that the desired storage container 106 can be delivered to the desired location at a desired time without collision between the container transport vehicles 201, 301, 401, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0024] As the lifting device of a container handling vehicle running on a guide rail system moves up and down along the transfer train, it needs guidance to ensure secure movement and avoid getting stuck or jammed between the upright members of the frame structure. The distance between the container handling vehicle and the lifting device can increase problems related to uneven lifting.

[0025] There has been an expectation that storage containers can be horizontally transferred through the side openings of a transfer column. Therefore, the object of the present invention is to provide a solution to the aforementioned problem. Specifically, the object of the present invention is to provide a system and method that enable storage containers to move horizontally through the side openings of a transfer column, and also enable a lifting device to be guided traveling above the side openings. Summary of the Invention

[0026] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0027] Compared to prior art solutions, the system according to the invention does not physically stack storage containers on top of each other. Instead, cargo holders (e.g., storage containers or other cargo support elements) can be stored in separate storage locations such as shelves. This different approach has the technical advantage of avoiding digging (e.g., for storage containers requiring high-frequency access and / or for partially consolidated orders) compared to prior art solutions. However, to achieve this, cargo holders can be supplied from the side (i.e., horizontally) into the storage location, unlike prior art solutions where supplies are only from the top.

[0028] This invention relates to an automated storage and retrieval system including a two-dimensional guide rail system. The two-dimensional guide rail system includes: a first set of parallel guide rails arranged to guide container transport vehicles to move in a first direction on top of a frame structure; and a second set of parallel guide rails arranged perpendicular to the first set of guide rails to guide the container transport vehicles to move in a second direction perpendicular to the first direction on top of the frame structure. Multiple container transport vehicles operate on the guide rail system for storing and retrieving cargo holders in the automated storage and retrieval system. The frame structure includes:

[0029] - Transfer column, including side openings for the cargo retainer to pass through.

[0030] - An adjustable stop for blocking the side opening, the stop including a guide surface for guiding the lifting device of the container handling vehicle vertically through the side opening in the transfer column, wherein the stop can move between the following positions:

[0031] • In the first position, the guide surface is positioned to vertically guide the lifting device and prevent the cargo retainer from moving horizontally through the side opening, and

[0032] • Second position, in which the guide surface is positioned to not guide the lifting device and in which the stop is positioned to allow the cargo retainer to move horizontally through the side opening.

[0033] Cargo holders can be storage containers. Alternatively, cargo holders can be boxes, handling containers, pallets, trays, or the like. Different types of cargo holders can be used in the same system.

[0034] To provide a side opening of sufficient size for transferring cargo retainers, it may be necessary to reconfigure the frame structure at the location of the side opening. Increasing the height of the side opening results in the container handling vehicle's lifting mechanism potentially no longer being guided by the frame structure, as the lifting device's dimensions are smaller than the distance between the materials of the upright members. This system addresses this issue by allowing the cargo retainer to move horizontally through the side opening of the transfer column or by guiding the lifting mechanism as it travels vertically through the side opening.

[0035] In other words, the adjustable stop can be configured such that:

[0036] - When in the first position, the path through the side opening is blocked, and the guide surface is positioned to guide the lifting device to move vertically past the guide surface, and

[0037] - When in the second position, the path through the side opening is unobstructed, thus allowing the cargo retainer to move horizontally through the side opening. Therefore, in the first position, the guide surface is in the guide position, and in the second position, the guide surface is in the non-guide position.

[0038] The stop can be motorized, such as a motorized actuator, or alternatively a spring-loaded actuator or other actuator configured to return to the first position after being forced into the second position.

[0039] The lifting device can be larger than the cargo holder in all directions in the horizontal plane, and the lifting device can be guided by upright members of the frame structure in those sections of the transfer column that do not have side openings. The cargo holder can also be guided when it is carried by the lifting device.

[0040] The side openings can open toward the adjacent columns.

[0041] The frame structure includes upright members that define the horizontal extent of the transfer column. In a preferred embodiment, the transfer column is defined by four upright members, one of which is arranged at each corner, thereby forming a rectangular or square cross-section of the transfer column. That is, the maximum horizontal extent of the transfer column is defined by the upright members.

[0042] The frame structure may also include horizontal members, and the vertical and horizontal members may form a rectangular frame that defines the cross-sectional area of ​​the side openings.

[0043] Adjacent columns may include multiple vertically spaced storage locations, each including a support for holding the cargo retainer. Preferably, the cargo retainer is supported from below within the storage location. However, the cargo retainer may also be suspended from a frame or support at each storage location, for example.

[0044] The storage location can be adjusted by moving one or more supports between a position configured to support the cargo holder and a position that allows the cargo holder to pass vertically through the storage location.

[0045] The storage location section can be configured to have additional side openings similar to the side openings facing the transfer column. Additional side openings can be arranged on one, two, or three of the other four sides. This makes it possible to retrieve and insert the cargo holder horizontally or laterally into the storage location section. This possibility can be further advantageous when the storage location section is located at the edge of the automated storage and retrieval system so that a robotic operator or human operator can retrieve or insert the cargo holder from a location outside the automated storage and retrieval system.

[0046] The blocking member may include a pair of first and second blocking members disposed at two opposite edges of the side opening, wherein the pivot axis of each of the first and second blocking members may extend vertically, and wherein the blocking members may rotate about the axis to move between a first position and a second position, respectively. The blocking members may be motorized or driven by, for example, an actuator motor, or configured to be operable between the first and second positions by means of an external device, as will be further described below.

[0047] The first and second obstructing members may include support portions that, when the obstruction is in the second position, extend into one of the plurality of storage locations, allowing the support portions to support the cargo holder from below. Thus, the support portions of the obstructing members form part of a lower support for the cargo holder. A third obstructing member (and possibly one or more additional support portions) may be arranged at opposite ends of the storage location compared to the aforementioned obstructing members. These third obstructing members and possible additional support portions do not form part of the obstruction, but are preferably rotatable such that, when the obstruction is in the first position, these third obstructing members and possible additional support portions are also in a position that does not restrict the cross-sectional area of ​​the storage location. Thus, when in this position, the cargo holder can pass vertically through the storage location.

[0048] The blocking member may include a blocking member disposed at the lower portion of the side opening, the pivot axis of the blocking member being horizontally extended, and the blocking member being rotatable about the horizontal axis to move between a first position and a second position, respectively.

[0049] The obstructing member can be a plate, and in a first position, the plate can extend in a vertical plane, and in a second position, the plate can extend in a horizontal plane.

[0050] The plate may include guide surfaces on both sides. That is, the plate may include guide surfaces located on the direction of the plate oriented toward the transfer column when the blocking member is in the first position and on the opposite side.

[0051] In the first aspect, the plate can extend horizontally into adjacent columns. In the second aspect, the plate can extend horizontally into transfer columns.

[0052] When in the horizontal position, the plate can form part of a support platform for the cargo holder. In other words, when in the first position, the blocking member is configured to support the cargo holder from below by blocking the cross-sectional area of ​​the lower portion of the storage location section.

[0053] The support of the storage location section can be connected to the blocking member, such that when the blocking member is in the second position, the support member is in the position configured to support the cargo holder.

[0054] The container handling vehicle may include a lifting device, and the lifting device may include: a main part (i.e., a lifting frame) connected to the body of the container handling vehicle by means of a lifting belt; and a horizontal telescopic part including a gripper, and the horizontal telescopic part may be configured to move between a retracted position located below the main part and an extended position located outside the vertical projection of the main part.

[0055] The main section may include stabilizing devices for securing the main section within the transfer column. This prevents the lifting device from getting stuck in the transfer column when subjected to torque from cargo retainers carried by the telescopic section. The stabilizing devices may be directly arranged in each corner of the main section. Alternatively, as disclosed in WO2020 / 200631A1 (Applicant: Automated Storage Technology Co., Ltd.), the system may include a guide shuttle arranged to guide the main section of the lifting device and any accompanying storage containers as the main section rises and falls within the transfer column. The guide shuttle may be arranged above the lifting device and may include stabilizing or guiding elements arranged to interact with one of the four column profiles of the upright member of the frame structure to stabilize and maintain the horizontal alignment of the main section and any accompanying cargo retainers during the lifting and / or lowering of the main section.

[0056] The upright members of the frame structure are characterized by having internal guiding surfaces arranged to interact with the stabilizing device of the lifting device or the guiding element of the guide shuttle.

[0057] The stabilizing device may include a fixed roller or an extendable roller for engaging with an upright member.

[0058] The hindering component may include a friction-reducing device. This friction-reducing device may be in the form of a roller, a ball, or a surface or smooth surface comprising a material with a low coefficient of friction.

[0059] The storage position section may include a shifter or a ball screw mechanism for moving the stopper between a first position and a second position by moving the support member through a side opening between the storage position section and the transfer column in an adjacent column. A moving belt may be used instead of a shifter or a ball screw mechanism.

[0060] The system may also include:

[0061] - An additional guide rail system is located at a height lower than the top of the frame structure;

[0062] - A delivery vehicle having a supporting surface and running on an additional rail system, wherein the delivery vehicle with the supporting surface is configured to support a cargo retainer from below; and

[0063] The side opening faces the additional guide rail system.

[0064] Delivery vehicles with supporting surfaces can be configured to move from an additional rail system and through a side opening into a transfer column for transferring cargo retainers to or receiving cargo retainers from a lifting device of a container handling vehicle running on a rail system on top of the frame structure.

[0065] The present invention also describes a method for transferring a cargo holder through a side opening in a transfer column of an automated storage and retrieval system, the automated storage and retrieval system comprising a two-dimensional guide rail system including: a first set of parallel guide rails arranged to guide a container transport vehicle to move in a first direction on top of a frame structure; and a second set of parallel guide rails arranged perpendicular to the first set of guide rails to guide the container transport vehicle to move in a second direction perpendicular to the first direction on top of the frame structure, wherein a plurality of container transport vehicles operate on the guide rail system for storing and retrieving cargo holders in the automated storage and retrieval system, and wherein the frame structure includes: a transfer column including a side opening; and an adjustable stop for blocking the side opening, the stop including a guide surface for guiding a lifting device of the container transport vehicle vertically through the side opening; and wherein the method includes the following steps:

[0066] - Move the blocking element from a first position to a second position, wherein in the first position, the guide surface is positioned to vertically guide the lifting device in the transfer column and block the cargo holder from moving horizontally through the side opening, and in the second position, the guide surface no longer guides the lifting device but allows the cargo holder to move horizontally through the side opening.

[0067] The side opening may open toward adjacent columns, and the container transport vehicle may include a lifting device, wherein the lifting device may include: a main portion connected to the vehicle body via a lifting belt; and a horizontal telescopic portion including a gripper, wherein the horizontal telescopic portion may be configured to move between a retracted position located below the main portion and an extended position located outside the vertical projection of the main portion, and wherein the method may include the following steps:

[0068] - Move the telescopic section horizontally from the transfer column and through the side opening, thereby moving the blocking member from the first position to the second position;

[0069] - Move the cargo holder to an adjacent column or from an adjacent column;

[0070] - Return the stretch section to the transfer column.

[0071] When the telescopic section returns to the transfer column, the blocking element can return to the first position. This can be accomplished using a motorized actuator, a spring actuator, or a spring-biased actuator that ensures the blocking element returns to the first position.

[0072] The system may also include: an additional guide rail system located at a height lower than the top of the frame structure; a delivery vehicle having a support surface and running on the additional guide rail system, and the delivery vehicle having the support surface may be configured to support the cargo retainer from below; and a side opening may open toward the additional guide rail system, and the method may include the following steps:

[0073] - This moves the delivery vehicle with the supporting surface from the additional guide rail system and through the side opening into the transfer column, thereby moving the blocking element from the first position to the second position;

[0074] -A lifting device that transfers cargo retainers to or receives cargo retainers from a container handling vehicle that runs on a guide rail system on top of the frame structure.

[0075] - This moves the delivery vehicle with the supporting surface from the transfer column and through the side opening to the additional guide rail system, causing the blocking element to return to the first position.

[0076] The system may also include: an additional guide rail system located at a height lower than the top of the frame structure; a container handling vehicle having a lifting device and running on the additional guide rail system; and a side opening that can open toward the additional guide rail system. The method may include the following steps:

[0077] - This moves the container handling vehicle from the additional guide rail system and through the side opening into the transfer column, thereby moving the blocking element from the first position to the second position;

[0078] - Move the cargo holder to a lower position in the transfer column, or receive the cargo holder from that lower position;

[0079] - This causes the container handling vehicle to move from the transfer column and through the side opening to the additional guide rail system, causing the blocking element to return to the first position.

[0080] When the delivery vehicle with the supporting surface returns to the additional guide rail system, the stop can advantageously return to the first position. This can be accomplished using a motorized actuator, a spring actuator, or a spring-biased actuator that ensures the stop returns to the first position.

[0081] Adjacent columns may include multiple vertically spaced storage locations, each storage location having a support for supporting a cargo holder. The storage location may include a shifter, and the method may include the following steps:

[0082] - Operate the shifter to move the stopper between a first position and a second position by moving the support through the side opening between the adjacent column and the transfer column.

[0083] After the cargo retainer has been moved through the side opening, the stop can advantageously return to the first position. This can be accomplished using a motorized actuator, a spring actuator, or a spring-biased actuator that ensures the stop returns to the first position.

[0084] The present invention also describes an automated storage and retrieval system including a two-dimensional guide rail system comprising: a first set of parallel guide rails arranged to guide container transport vehicles to move in a first direction on top of a frame structure; and a second set of parallel guide rails arranged perpendicular to the first set of guide rails to guide container transport vehicles to move in a second direction perpendicular to the first direction on top of the frame structure, wherein multiple container transport vehicles operate on the guide rail system for storing and retrieving cargo holders in the automated storage and retrieval system, and wherein the frame structure includes:

[0085] - A subsystem including a storage column and at least one transfer column, the system including a movable pillar and / or horizontal support configured to allow access to a storage location portion within the storage column via the side, top and / or bottom.

[0086] The subsystem may be a second subsystem, and the automated storage and retrieval system may also include a first subsystem comprising a plurality of upright members forming storage columns, wherein cargo holders are stacked on top of each other.

[0087] The two-dimensional guide rail system can be shared by the first subsystem and the second subsystem because it can extend above both subsystems. In other words, the cargo retainer can be transferred between the first and second subsystems using the same container handling vehicle running on the guide rail system above both subsystems.

[0088] The storage locations in the second subsystem preferably include supports on which cargo holders can be stored. That is, multiple storage locations can be vertically spaced apart such that only one cargo holder is supported in each storage location (i.e., the cargo holders are not physically stored on top of each other as in the first subsystem). This arrangement eliminates the need for digging because the storage locations can be accessed via the sides, top, and / or bottom of the storage column.

[0089] The second subsystem can be used for cargo holders with temporary items (e.g., during order consolidation) or items with high-frequency access, while the first subsystem is used for cargo holders with regular items.

[0090] This invention can be used in concepts related to cargo retainer systems, as well as in vertical agriculture and e-grocery applications.

[0091] The relative terms “up,” “down,” “below,” “above,” “higher,” etc., should be understood in their normal sense and as seen in a Cartesian coordinate system. When referring to a guide system, “up” or “above” (as opposed to the terms “down” or “below”) should be understood as a position closer to the surface guide system (relative to another component), while “down” or “below” should be understood as a position further away from the guide system (relative to another component). Attached Figure Description

[0092] The following figures are provided to facilitate understanding of the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only. In the figures:

[0093] Figure 1 is a perspective view of the framework structure of an existing automated storage and retrieval system.

[0094] Figure 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0095] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0096] Figure 4 is a perspective view of a prior art container handling vehicle having a storage space including cavities arranged inside the vehicle body.

[0097] Figure 5 This is an example of an automated storage and retrieval system according to the invention, wherein the automated storage and retrieval system is divided into two subsystems, wherein the first subsystem is a relatively large conventional storage system in which storage containers are stacked on top of each other, and the second subsystem shows a relatively small system for accommodating transfer columns and barriers with side openings;

[0098] Figures 6A to 6C It shows Figure 5 An overview view of possible subsystems, where storage containers can move from the transfer column and laterally through side openings in the transfer column, wherein in Figure 6A In the middle, the storage containers are arranged on the support members of the storage positions in adjacent columns, in Figure 6B middle, Figure 6A The storage container is arranged in the side opening and is located in the middle position between the storage position section and the transfer column in the adjacent column, while... Figure 6C In the middle, the storage container has been completely moved through the side opening and is in the transfer column;

[0099] Figure 7A and Figure 7B A first embodiment of a blocking member according to the invention is shown, the blocking member comprising a pair of first and second blocking members rotatable about a vertical axis, the blocking members being arranged at two opposite edges of a side opening and including support portions, wherein... Figure 7A The diagram shows a blocking member in a first position, in which the blocking member guides the lifting device in the transfer column and the support portion does not extend into the storage position portion. Figure 7B A blocking member in a second position is shown, in which the blocking member allows the storage container to pass through the side opening and the support portion extends into the storage location portion, such that the support portion can support the storage container from below;

[0100] Figures 8A to 8D A second embodiment of the blocking member according to the invention is shown, the blocking member comprising a pair of first and second blocking members disposed at two opposite edges of a side opening located on a long side, and wherein the blocking members are rotatable about a pivot axis to move between a first position and a second position, wherein Figures 8A to 8C The diagram shows a blocking member in a first position, in which the blocking member guides the lifting device in the transfer column and the support portion does not extend into the storage position portion. Figure 8D A blocking member in a second position is shown, in which the blocking member allows the storage container to pass through the side opening and the support portion extends into the storage location portion, such that the support portion can support the storage container from below;

[0101] Figure 8E yes Figures 8A to 8D An alternative to the implementation method described herein, in which the side opening is located on the short side;

[0102] Figure 8F An example of a mechanism for moving the obstructing member of a blocking element between a first position and a second position is shown;

[0103] Figures 9A to 9DA third embodiment of the blocking member is shown, wherein the blocking member includes a blocking member hinged to the lower portion of a side opening, and wherein the side opening is located at the long side of the transfer column, wherein the pivot axis of the blocking member extends horizontally along the long side, and the blocking member is rotatable about the horizontal axis to move between a first position and a second position, and wherein the blocking member extends into a storage position portion when in the second position, and wherein... Figure 9A The blocking element in the first position is shown. Figure 9B From Figure 9A The view from the opposite side shows the blocking element in the second position. Figure 9C A storage container is shown supported on a blocking member in the second position, and Figure 9D A stopper is shown in an inclined position to allow the storage container supported on it to slide off.

[0104] Figures 10A to 10H Another example of a third embodiment of the blocking element is shown, wherein the blocking element is arranged at the short side of the transfer column, and wherein... Figure 10A The obstructing member of the blocking element in the first position is shown. Figure 10B and Figure 10C The blocking element is shown in the first position, and the storage container is to pass vertically through the storage location section. Figure 10D The diagram shows the stopper in its inclined, intermediate position about to enter its horizontally extended second position, where... Figure 10E In the middle, the blocking component is in the second position, in Figure 10F In the middle, the storage container that has already entered from above is supported on the barrier. Figure 10G In the middle, the storage container will be moved through the side opening on the short side, in Figure 10H In the middle, the storage container has been completely moved through the side opening on the short side;

[0105] Figure 11A and Figure 11B It shows the relationship with Figures 10A to 10H Different possibilities exist, in which the side openings are arranged on the long side, and in which... Figure 11A This shows the storage container that will be moved through a side opening on the long side, while Figure 11B This shows that the storage container has been moved through the side opening on the long side;

[0106] Figure 12 yes Figures 10A to 10G An alternative to Figure 11, wherein the pivot axis of the obstructing member extends horizontally along the long side, and the obstructing member can rotate about the horizontal axis to move between a first position and a second position;

[0107] Figures 13A to 13BA fourth embodiment of the blocking member is shown, wherein the blocking member includes a blocking member disposed at the lower portion of a side opening, and wherein the side opening is located at the short side of a transfer column, wherein the pivot axis of the blocking member extends horizontally along the short side, and the blocking member is rotatable about a horizontal axis to move between a first position and a second position, and wherein the blocking member extends into the transfer column when in the second position, and wherein... Figure 13A The diagram shows a stopper in the first position guiding a storage container as it is raised or lowered in a transfer column, and... Figure 13B More details about the obstructing components are shown;

[0108] Figures 14A to 14D A fifth embodiment of the blocking member is shown, wherein the blocking member includes a blocking member, and wherein the pivot axis of the blocking member extends horizontally along its short side, and the blocking member is rotatable about the horizontal axis to move between a first position and a second position. The blocking member is connected to a horizontally movable support member, and the blocking member is connected to the horizontally movable support member. A storage location includes a shifter for moving the support member and the blocking member between the first and second positions by moving the support member through a side opening between adjacent columns and transfer columns; wherein in... Figure 14A In the middle, the support has begun to move from the adjacent column toward the transfer column, so that the blocking member is about to enter the second position, and... Figure 14B In the middle, the support member has moved further toward the transfer column and the blocking member is in the second position, and... Figure 14C In the middle, the support components and storage containers have been moved to the transfer column. Figure 14D This is a view taken from the opposite side compared to Figure 14;

[0109] Figures 15A to 15E A lifting device for a container handling vehicle is shown, wherein the lifting device includes a main part connected to the vehicle body via a lifting belt and a horizontal telescopic part including grippers, and wherein the horizontal telescopic part can be configured to move between a retracted position located below the main part and an extended position located outside the vertical projection of the main part, wherein in Figure 15A In the middle, the horizontal telescopic part is in the retracted position. Figure 15B In the middle, the horizontal telescopic part is in the extended position, in Figure 15C In the middle, the storage container is supported by the support of the storage position section and the transfer column is empty. Figure 15D In the middle, the lifting device has entered the transfer column and the telescopic part is in the extended position above the storage container. Figure 15E In the middle, the lifting device has been lowered, so that the clamp of the telescopic part has engaged with the clamping hole on the storage container at the storage position, and the telescopic part can now retract to the retracted position while carrying the storage container.

[0110] Figure 16A and Figure 16B This is a perspective view of an exemplary moving mechanism for moving the telescopic portion between a retracted position and an extended position, and a stabilizing device for securing the main portion in the transfer column during the extension of the telescopic portion to prevent tilting of the lifting device on the main portion; wherein in Figure 16A In the middle, the telescopic part is in the fully extended position, and... Figure 16B In the middle, the telescopic part is partially extended;

[0111] Figure 17A and Figure 17B An example of a blocking element with a vertical axis of rotation is shown, wherein in Figures 15A to 15E as well as Figure 16A and Figure 16B When the telescopic lifting device moves, the blocking member can move between a first position and a second position, wherein... Figure 17A In the middle, the blocking component is in the first position, and... Figure 17B In the middle, the blocking component is in the second position;

[0112] Figure 18 Details of the main part of the lifting device are shown, which has a stabilizing device located at the corner to secure the main part in the transfer column during the extension of the telescopic part to prevent the lifting device from tilting.

[0113] Figure 19 is a copy of Figure 13 in WO2020 / 200631A1 (Applicant: Automatic Storage Technology Co., Ltd.), which is included to illustrate an alternative method of stabilizing the main part (lifting frame) of the lifting device in the transfer column, including a guide shuttle for stabilizing wheels that interact with the upright members mounted above the main part;

[0114] Figures 20A to 20C An example of an automated storage and retrieval system is shown, which also includes an additional guide rail system (ABCD) located at a height lower than the top of the frame structure (100), wherein a delivery vehicle with a supporting surface runs on the additional guide rail system, and wherein a side opening with a blocking element opens toward the additional guide rail system, and wherein Figure 20A The image shows the delivery vehicle positioned on an additional guide rail system outside the transfer train. Figure 20B It shows that the delivery vehicle will pass through the side opening to enter the transfer line, and... Figure 20C In the process, the delivery vehicle is in the transfer column, ready to transfer the storage containers to the lifting device of the container handling vehicle running on the guide rail system on the top of the frame structure or to receive the storage containers from the lifting device.

[0115] Figure 21Another example of an automated storage and retrieval system is shown, which includes an additional rail system (ABCD) located at a height lower than the top of the frame structure (100), wherein a container with a lifting device is transported on the additional rail system outside the transfer column, and wherein a side opening with a blocking element is open toward the additional rail system.

[0116] Figures 22A to 22C It shows Figures 9A to 9D An example of a blocking member includes two obstructing members arranged at the lower portion of a side opening, wherein the side opening is located at the long side of a transfer column, wherein the pivot axis of the obstructing members extends horizontally, and the obstructing members are rotatable about the horizontal axis to move between a first position and a second position, and wherein the obstructing members are arranged such that one obstructing member extends into a storage position portion when in the second position, and the other obstructing member extends into the transfer column when in the second position, wherein... Figure 22A The image shows a blocking element in its second position, wherein two blocking members extend into the storage position section and the transfer column, respectively. Figure 22B A stopper in a first position is shown, wherein both blocking members extend vertically and block the side opening, and Figure 22C The illustration shows a storage container supported on a barrier member, wherein the barrier member is tilted so that the storage container can move between the storage location and the transfer column by gravity. Detailed Implementation

[0117] 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 therein. For example, in the drawings, the cargo holder is shown in the form of a storage container. However, it will be apparent that other types of cargo holders, such as boxes, handling containers, pallets, trays, or the like, may be used in addition to storage containers.

[0118] 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, namely, a plurality of upright members 102, and the frame structure 100 also includes a first upper guide rail system 108 in the X and Y directions.

[0119] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102, wherein storage containers 106 can be stacked in the form of stacks 107 within the storage columns 105.

[0120] 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.

[0121] Figure 4 is a perspective view of a prior art container handling vehicle having a storage space including cavities arranged inside the vehicle body 401a.

[0122] Figure 5 This is an example of an automated storage and retrieval system 1 according to the present invention. The automated storage and retrieval system 1 is divided into two subsystems, wherein the first subsystem 11' is a relatively large conventional storage system in which storage containers 106 are stacked on top of each other, while the second subsystem 1" shows a relatively small system.

[0123] Figures 6A to 6C It shows Figure 5 An overview view of the possible subsystem 1”, in which the storage container 106 can move from the transfer column 60 and laterally through the side opening 60 in the transfer column 60. Figure 6A In this arrangement, storage containers are placed on support members 80 of storage location sections 81 in adjacent columns 70. Figure 6B middle, Figure 6A The storage container 106 is arranged in the side opening 60 and is positioned between the storage location 81 and the transfer column 50 in the adjacent column 70. Figure 6C In the middle, the storage container 106 has been completely moved through the side opening 60 and is in the transfer column 50.

[0124] Further reference Figures 6A to 6C The side opening 60 opens toward the adjacent column 70, which is in the form of a storage column having a plurality of vertically spaced storage positions 81, each storage position having a support member 80 for supporting the storage container 106 from below. The frame structure 100 includes an upright member 102 defining the horizontal range of the transfer column 50 and a plurality of horizontal members 103 supported by the upright member 102.

[0125] like Figure 6AAs shown, a two-dimensional guide rail system 108 is illustrated, comprising: a first set of parallel guide rails 110 arranged to guide a container transport vehicle 301 to move on top of a frame structure 100 in a first direction X; and a second set of parallel guide rails 111a, 111b arranged perpendicular to the first set of guide rails 110a, 110b to guide the container transport vehicle 301 to move on top of the frame structure 100 in a second direction Y perpendicular to the first direction X, wherein the container transport vehicle 301 runs on the guide rail system 108 for storing and retrieving storage containers 106 in an automated storage and retrieval system 1. The disclosed frame structure 100 has a transfer column 50 including a side opening 60. An adjustable stop 90 (shown in more detail below) is provided to block the side opening 60. The stop 90 includes a guide surface for guiding the lifting device 16 of the container transport vehicle 301 vertically through the side opening 60.

[0126] The blocking element 90 can move between the following positions:

[0127] - In a first position, the guide surface is positioned to vertically guide the lifting device 16 and prevent the storage container 106 from moving horizontally through the side opening 60, and

[0128] - Second position, in which the guide surface is positioned so as not to guide the lifting device 16, but to allow the storage container 106 to move horizontally through the side opening 60.

[0129] Figure 7A and Figure 7B A first embodiment of a blocking member 90 according to the invention is shown, the blocking member comprising a pair of first and second blocking members 91 rotatable about a vertical axis. The blocking members 91 are arranged at two opposite edges of a side opening 60 and include support portions 93. Figure 7A In the middle, the obstructing member 91 is in the first position, in which the obstructing member can guide the lifting device 16 in the transfer column 70 (in Figure 7A and Figure 7B (Not shown in the image), and the support portion 93 does not extend into the storage location portion 81. Figure 7A In the diagram, the distance D1 between the two obstructing members 91 is indicated by arrow D1.

[0130] exist Figure 7B In the middle, the obstructing member 91 of the blocking member 90 is in a second position, in which the obstructing member allows the storage container 106 (not shown) to pass through the side opening 60. The support portion 93 extends into the storage position portion 81, such that the support portion 93 can support the storage container 106 from below (as when...). Figure 7A and Figure 7B The orientation of the support portion 93 in the middle is shown in comparison (as shown in the previous example). Figure 7B In the diagram, the distance D2 between these two obstructing components 91 is indicated by arrow D2. When... Figure 7A and Figure 7B When comparing the distances between the obstructing components 91, it can be seen that distance D2 is greater than distance D1, which means that in Figure 7B In the middle, the side opening 60 has a larger horizontal range so that the storage container 106 can pass through it, while... Figure 7A In the middle, the obstruction component is too close, and it is used as a guide for vertically guiding the lifting device through the side opening 60.

[0131] Figures 8A to 8D A second embodiment of the blocking member 90 according to the invention is shown, the blocking member comprising a pair of first blocking members and second blocking members 91 arranged at two opposite edges of a side opening 60. The side opening 60 is located on the long side of a transfer column 50. The blocking members 91 are rotatable about a pivot axis to move between a first position and a second position.

[0132] Figure 8B yes Figure 8A A detailed view of part A in the image. Figures 8A to 8C A blocking member 91 is shown in a first position, in which the blocking member is configured to guide the lifting device 16 in the transfer column 50, and the support portion 93 does not extend into the storage position portion 81. Figure 8C As shown, in this configuration, the obstruction member 91 allows the storage container 106 to pass vertically through the storage location section 81.

[0133] Figure 8D A blocking member 91 is shown in a second position in which the blocking member allows the storage container 106 to pass through the side opening 60, and a support portion 93 extends into the storage location portion 81 such that the support portion 93 can support the storage container 106 from below.

[0134] Figure 8E yes Figures 8A to 8D An alternative implementation of the present invention, wherein the side opening 60 is located on the short side of the transfer column 50.

[0135] Figure 8F An example of a mechanism for moving the blocking member 91 of the blocking member 90 between a first position and a second position is shown. The mechanism includes a helical gear having a first portion 94 and a second portion 95. The first portion 94 is rotatably connected to a motor 96. The second portion 95 is rotatably connected to the pivot axis of the blocking member 91 in a worm gear arrangement. When the motor 96 rotates the first portion 94, the helical gear transmits movement to the second portion 95 and thus to the blocking member 91. Thus, the blocking member 90 can be operated between the first position and the second position while the blocking member 91 rotates.

[0136] Figures 9A to 9D A third embodiment of the blocking member 90 is shown. The blocking member 90 includes a blocking member 92 hinged to the lower portion of a side opening 60, wherein the side opening 60 is located at the long side of the transfer column 50. The pivot axis of the blocking member 92 extends horizontally along the long side, and the blocking member is rotatable about the horizontal axis to move between a first position and a second position.

[0137] exist Figure 9A The diagram shows a blocking member 90 in a first position, in which a blocking member 92 covers the side opening 60. The blocking member 92 is shown as a pivot plate pivoting about a horizontal axis. When the blocking member 92 is in the upright position, it guides the storage container 106 to move vertically in the transfer column 50 and blocks the side opening 60 of the transfer column 50. In the second position, the plate extends horizontally to allow the storage container 106 to pass through the side opening 60. A plurality of vertically spaced storage positions 81 are arranged in adjacent columns 70, each storage position having a support member 80 for supporting the storage container 106.

[0138] Figure 9B The obstruction member 92 of the stop 90 in the second position extends into the storage position portion 81. This is done to reduce friction on the guide surface of the stop 90 and improve guidance of the lifting device 16 of the container handling vehicle 301 (see [link]). Figure 9A Friction reduction device 89 in the form of roller 89 can be provided on the guide surface.

[0139] Figure 9C The obstruction member 92 supported by the obstruction member 90 in the second position is shown. Figure 9C The storage container 106 is located below the storage container 106.

[0140] Figure 9D A blocking member 92 of a blocking member 90 in an inclined position is shown, allowing a storage container 106 supported on the blocking member to slide between a storage position portion 81 in an adjacent column 70 and a transfer column 50. By tilting the blocking member 92 (i.e., the guide surface) having rollers 89, the blocking member 92 can force the storage container 106 into the transfer column 50 by gravity. The blocking member 90 may be motor-driven, such that when the motor is actuated, the blocking member 90 can move between a first position and a second position, and vice versa, allowing any storage container 106 supported on the blocking member to slide off. Alternatively, the blocking member 90 may be spring-loaded, causing it to return to another position after being forced into either the first or second position.

[0141] Allows the storage container to move horizontally through the side opening.

[0142] Figures 10A to 10H Another example of a third embodiment of the blocking member 91 is shown, in which the blocking member 91 is arranged on the short side of the transfer column 50.

[0143] Figure 10A The obstruction member 92 of the blocking member 90 in the first position is shown.

[0144] Figure 10B and Figure 10C The stop 90 is shown in the first position, and the storage container 106 is about to pass vertically through the storage position section 81.

[0145] Figure 10D The image shows the stop 90, in its inclined intermediate position, about to enter its horizontally extended second position. Figure 10E In the middle, the blocking component 90 is in the second position.

[0146] exist Figure 10F In the middle, the storage container 106, which has already entered from above, is supported on the blocking member 90.

[0147] exist Figure 10G In the middle, the storage container 106 will be moved through the side opening 60 on the short side.

[0148] exist Figure 10H In the middle, the storage container 106 has been completely moved through the side opening 60 on the short side.

[0149] refer to Figure 10H Regardless of its appearance, the storage location section 81 can be configured with additional side openings 60 similar to the side openings 60 facing the transfer column 50. These additional side openings 60 can be arranged on one, two, or three of the other four sides. This makes it possible for the storage container 106 to be retrieved from and inserted into the storage location section 81 horizontally or laterally. This possibility can be further advantageous when the storage location section 81 is located at the edge of the automated storage and retrieval system 1, allowing a robot operator or human operator to retrieve or insert the storage container 106 from outside the automated storage and retrieval system 1.

[0150] Figure 11A and Figure 11B It shows the relationship with Figures 10A to 10H Different possibilities exist, in which the side opening 60 is arranged on the long side, and in which... Figure 11A It is shown that the storage container 106 will be moved through the side opening 60 on the long side, while Figure 11B It is shown that the storage container 106 has been moved through the side opening 620 on the long side.

[0151] Figure 12 yes Figures 10A to 10G as well as Figure 11A and Figure 11B An alternative arrangement is provided in which the pivot axis of the blocking member 92 of the blocking member 90 extends horizontally along its long side, and the blocking member 92 can rotate about the horizontal axis to move between a first position and a second position.

[0152] Figures 13A to 13B A fourth embodiment of the blocking member 90 is shown. The blocking member 90 includes a blocking member 92 disposed at the lower portion of a side opening 60, and the side opening 60 is located at the short side of the transfer column 50. The pivot axis of the blocking member 92 extends horizontally along the short side, and the blocking member 92 can rotate about the horizontal axis to move the blocking member 90 between a first position and a second position.

[0153] exist Figure 13A and Figure 13B In the middle, the blocking component 90 is in the first position. Figure 13A In the storage location section 81, the support member 80 supports the storage container 106, and the obstruction member 92 of the blocking member 90 guides the lifting device 16 of the container transport vehicle carrying the storage container 106, which raises or lowers in the transfer column 50. Figure 13B In this diagram, storage container 106 in transfer column 50 is removed to better illustrate the blocking member 92. The blocking member 90 may be motor-driven, such that when the motor is actuated, the blocking member 90 can move between a first position and a second position, and vice versa, thereby blocking the side opening 60 and allowing the storage container 106 to pass through the side opening 60. Alternatively, the blocking member 90 may be spring-loaded, such that it returns to another position after being forced into either the first or second position.

[0154] Figures 14A to 14D A fifth embodiment of the blocking member 90 is shown. In this embodiment, the blocking member 90 includes a blocking member 92 whose pivot axis extends horizontally along its short side, and the blocking member 92 is rotatable about the horizontal axis to move the blocking member 90 between a first position and a second position. The blocking member 92 of the blocking member 90 is connected to a horizontally movable support member 80 of a storage position portion 81, and the storage position portion 81 includes a shifter (not shown) for moving the support member 80, and thus the blocking member 90, between its first and second positions by moving the support member 80 through a side opening 60 between adjacent columns 70 and transfer columns 50.

[0155] exist Figure 14A In the middle, the support member 80 on which the storage container 106 of the storage position section 81 is located has begun to move from the adjacent column 70 toward the transfer column 50, so that the blocking member 90 is about to enter the second position.

[0156] exist Figure 14B In the middle, the support member 80 and the storage container 106 of the storage position section 81 have moved further toward the transfer column 50, and the blocking member 90 is in the second position.

[0157] exist Figure 14C In the middle, the support 80 and the storage container 106 have been moved to the transfer column 50.

[0158] The storage position section 81 may include a shifter or ball screw device for linearly moving the stop 90 between a first position and a second position by moving the support 80 through the side opening 60 between the adjacent column 70 and the transfer column 50.

[0159] Figure 14D Is with Figure 14C Compared to a view viewed from the opposite side.

[0160] Figure 15A Figure 15 shows a lifting device 16 of a container transport vehicle 301, wherein the lifting device 16 includes: a main portion 17 connected to the body of the container transport vehicle 301 by a lifting belt 18; and a horizontal telescopic portion 20 including a clamp 20. The main portion 17 may include a stabilizing device (not shown) for stably holding the lifting device 16 in the transfer column 50 during the extension of the telescopic portion 19. (Refer to the following...) Figure 16A and Figure 16B The stabilizing device will be described in more detail later.

[0161] The lifting belt 18 may have means for signal and communication transmission between the container handling vehicle and the lifting device 16.

[0162] The horizontal telescopic portion 19 can be configured to move between a retracted position located below the main portion 17 and an extended position located outside the vertical projection of the main portion 17. In the embodiments described herein, the telescopic portion 19 can typically extend into the adjacent column 70 to allow the storage container 106 to be retrieved or placed on the support 80 of the storage location portion 81 in the adjacent column 70.

[0163] exist Figure 15A In the middle, the horizontal telescopic part 19 is in the retracted position.

[0164] exist Figure 15B In the middle, the horizontal telescopic part 19 is in the extended position.

[0165] exist Figure 15C The image shows that storage container 106 is located at storage location 81, and transfer column 70 is empty.

[0166] exist Figure 15DIn the middle, the lifting device 16 has entered the transfer column 50, and the telescopic part 19 is in the extended position above the storage container 106.

[0167] exist Figure 15E In the middle, the lifting device 16 has been lowered, so that the clamp 20 of the telescopic part 19 has engaged with the clamping hole 21 on the storage container 106 located at the storage position part 81, and the telescopic part 19 can now retract to the retracted position below the main part 17 while carrying the storage container 106.

[0168] refer to Figures 15A to 15E The order in which the storage container 106 is placed at the storage location 81 in the adjacent column 70 may therefore include the following steps:

[0169] - Lower the lifting device 16 together with the storage container 106 to the desired position.

[0170] -Optional: Actuate the stabilizing device to make lateral contact with the vertical member.

[0171] - By extending the telescopic portion 19, the stabilizing device will now support the entire lifting device 16, preventing the lifting device from tipping forward and wedging due to the torque from the storage container 106 carried by the extended telescopic portion 19.

[0172] - When the telescopic part extends, the lifting device 16 is lowered, so that the storage container 106 is placed at the storage position 81.

[0173] -Disengage the storage container 106 from the clamp 20 of the telescopic part 19.

[0174] - Raise the lifting device 16 upwards until the clamp 20 is completely detached from the storage container 106.

[0175] -Retract the telescopic portion 19 back to its position below the main portion 17.

[0176] Optionally, the storage container 106 stored in another storage location 81 can be removed using the above sequence, or the lifting device 16 can be removed to the body of the container transport vehicle 301.

[0177] Figure 16A and Figure 16B This is a perspective view of an exemplary moving mechanism for moving the telescopic portion 19 between a retracted position and an extended position. Additionally, the drawing shows a stabilizing device on the main portion 17 for securing the main portion 17 within the transfer column 50 during the extension of the telescopic portion 19 to prevent tilting of the lifting device 16.

[0178] exist Figure 16A In the middle, the telescopic part 19 is in the fully extended position, and... Figure 16B In the middle, the telescopic part 19 extends out partially.

[0179] Figure 17A and Figure 17B An example of a blocking member 90 with a blocking member 91 having a vertical axis of rotation is shown, wherein in Figures 15A to 15E as well as Figure 16A and Figure 16B When the telescopic portion 19 of the lifting device 16 moves, the blocking member 90 can move between the first position and the second position.

[0180] exist Figure 17A In the first position, the blocking member 90 is aligned with the recess 31 in the upright member 102. The telescopic portion 19 is in the retracted position below the main part 17 of the lifting device 16.

[0181] exist Figure 17B In the second position, the blocking member 90 is not aligned with the recess 91 in the upright member 102. In this position, the telescopic portion 19 of the lifting device is in the extended position and extends into the storage position portion 81 of the adjacent column.

[0182] Figure 18 Details of the main part 17 of the lifting device 16 are shown, which has a stabilizing device 22 located at a corner to secure the main part 17 in the transfer column 50 during the extension of the telescopic part 19 to prevent the lifting device 16 from tilting.

[0183] Figure 19 is a copy of Figure 13 in WO2020 / 200631A1 (applicant: Automatic Storage Technology Co., Ltd., with modifications to the reference numerals compared to WO2020 / 200631A1), which is included to illustrate an alternative manner of stabilizing the main part 17 in the transfer column, including a guide shuttle 40 for a stabilizing wheel that interacts with the upright member 102 mounted above the main part 17.

[0184] Figures 20A to 20CAn example of an automated storage and retrieval system 1 is shown, which also includes an additional guide rail system 75 located at a height lower than the top of the frame structure 100, wherein delivery vehicles 501 having support surfaces for supporting storage containers 106 from below operate on the additional guide rail system 75. The additional guide rail system 75 can be configured in the same manner as the guide rail system 108 on the top of the frame structure 100, i.e., the additional guide rail system 75 can include: a first set of parallel guide rails 110 arranged to guide one or more delivery vehicles 501 to move in a first direction X; and a second set of parallel guide rails 111 arranged perpendicular to the first set of guide rails 110 to guide one or more delivery vehicles 501 to move in a second direction Y perpendicular to the first direction X. The position and spacing of this additional guide rail system can correspond to the guide rail system 108 of the frame structure 100. One or more delivery vehicles 501 can move laterally in a plane parallel to the horizontal XY plane.

[0185] The disclosed delivery vehicle 501 has a body 501a and a first set of wheels 501b and a second set of wheels 501c, which enable the delivery vehicle 501 to move laterally in the X and Y directions, respectively. The first set of wheels 201b, 301b, and 401b are arranged to engage with two adjacent rails of the first set of guide rails 110, and the second set of wheels 501c is arranged to engage with two adjacent rails of the second set of guide rails 111. At least one set of wheels 501 and 501c can be raised and lowered, such that the first set of wheels 501b and / or the second set of wheels 501c can engage with the corresponding set of guide rails 110 and 111 at any time.

[0186] A blocking member 90, including a pair of obstructing members 91, is arranged in a side opening 60. The side opening 60 is arranged between the transfer column 60 and the additional guide rail system 75. Figure 20A The delivery vehicle 501 is shown on an additional guide rail system 75 located outside the transfer column 50. Figure 20B The illustration shows a delivery vehicle 501 about to enter transfer column 50 through side opening 60. Delivery vehicle 501 can be configured to move stop 90 between a first position and a second position as it enters through side opening 60. Figure 20C In the middle, delivery vehicle 501 is located within transfer column 50 and is ready to transfer storage container 106 to a guide rail system on top of frame structure 100. Figures 20A to 20C The container handling vehicle 301 (not shown) is operating on or receiving storage containers 106 from the lifting device 16.

[0187] Figure 21Another example of the automated storage and retrieval system 1 is shown, which includes an additional rail system 75 located at a height lower than the top of the frame structure 100, wherein a container transport vehicle 301 with a lifting device runs on the additional rail system 75 outside the transfer column 50. The side opening 60 includes a stop 90 that opens toward the additional rail system 75. The additional rail system 75 can be connected to the above-mentioned... Figures 20A to 20C The description is similar and will not be repeated here. Similarly, the stop 90 may include a pair of obstructing members 91 located on two opposite edges of the side opening 60, or the stop may include an obstructing member 92 rotatable about a horizontal axis. Furthermore, the stop 90 may be arranged to move between a first position and a second position via a motor mechanism. Alternatively, the stop may be configured to move between the first and second positions as it interacts with a container transport vehicle 301 entering the side opening 60. Typically, the stop 90 may be in the first position, and when the container transport vehicle 301 enters the side opening 60, the stop 90 may be in the second position. When the container transport vehicle 301 has delivered or removed the storage container to a lower position in the transfer column 50, such as port P, the container transport vehicle leaves the side opening 60 and the stop 90 returns to the first position. The stop 90 may return to the first position by, for example, motor or spring force.

[0188] Figures 22A to 22C It shows Figures 9A to 9D An example of a blocking member is provided, comprising two obstructing members 92 disposed at the lower portion of a side opening 60, wherein the side opening 60 is located at the long side of the transfer column 50. The pivot axis of the obstructing members 92 extends horizontally, and the obstructing members 92 are rotatable about one of the horizontal axes to move the obstructing member 90 between a first position and a second position. The obstructing members 90 are arranged such that one obstructing member 92 extends into a storage position portion 81 when in the second position, and the other obstructing member 92 extends into the transfer column 50 when in the second position.

[0189] Figure 22A The image shows a stopper 90 in a second position, in which two obstruction members 92 extend into the storage position portion 81 and the transfer column 50, respectively.

[0190] Figure 22B The image shows a blocking member 90 in a first position, in which both blocking members 92 extend vertically and block the side opening 60.

[0191] Figure 22CThe diagram shows a storage container 106 supported on a blocking member 92, wherein the blocking member 92 is tilted such that the storage container 106 can be moved between the storage position portion 81 and the transfer column 50 by gravity. The blocking member 90 may include a motor and / or a moving mechanism (not shown) for tilting one or both blocking members 92.

[0192] In the foregoing description, various aspects of the automated storage and retrieval system and method according to the invention have been described with reference to illustrative embodiments. For example, as mentioned above, storage containers have been shown in the drawings; however, other types of cargo holders, such as boxes, handling containers, pallets, trays, or the like, may be used alternatively.

[0193] For illustrative purposes, specific figures, systems, and configurations have been described to provide a comprehensive understanding of the system and its operation. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations to 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 as defined in the appended claims.

[0194] List of reference numerals in the attached figures

[0195] 1. Automatic storage and retrieval system

[0196] 1' First Subsystem

[0197] 1” Second Subsystem

[0198] 16 Lifting Devices

[0199] 17 Main Components (Lifting Frame)

[0200] 18 Lifting Belt

[0201] 19 Telescopic Part

[0202] 20 clamps

[0203] 21. Clamping holes on storage containers

[0204] 22 Stabilizers / Rollers

[0205] 30. The inner surface of the obstructing component

[0206] 31 Recesses in upright members

[0207] 40 Guide Shuttle

[0208] 50 Transfer Columns

[0209] 60 side opening

[0210] 70 adjacent columns

[0211] 75 Additional guide rail system

[0212] 80 Support components

[0213] 81 Storage Location Section

[0214] 89 Friction Reduction Device / Roller

[0215] 90 blocking components

[0216] 91 A pair of obstructing components (which can rotate about a vertical axis)

[0217] 92 Obstruction component (rotatable about a horizontal axis) / plate

[0218] 93 support section

[0219] 94 Helical Gear, Part 1 / Worm Gear

[0220] 95 helical gear, Part 2 / worm gear

[0221] 96 motor

[0222] 100 Frame Structure

[0223] 102. Upright members of a frame structure

[0224] 103 Horizontal members of frame structures

[0225] 104 Storage Grid

[0226] 105 Storage Columns

[0227] 106 Storage Containers

[0228] Specific location of 106' storage container

[0229] 107 Stacking

[0230] 108 guide rail system

[0231] 110 Parallel guide rails in the first direction (X)

[0232] 110a First guide rail in the first direction (X)

[0233] 110b Second guide rail in the first direction (X)

[0234] 111 Parallel guide rails in the second direction (Y)

[0235] 111a First guide rail in the second direction (Y)

[0236] 111b Second guide rail in the second direction (Y)

[0237] 112 Access Opening

[0238] 119 First Port Column

[0239] 120 Second Port Column

[0240] 201 Container handling vehicles of the prior art

[0241] 201a Container Handling Vehicle 201 Body

[0242] 201b, first set of wheels, first direction (X)

[0243] 201c second set of wheels, second direction (Y)

[0244] 301 Prior art cantilever container handling vehicles

[0245] 301a Container Handling Vehicle 301 Body

[0246] 301b First set of wheels, first direction (X)

[0247] 301c second set of wheels, second direction (Y)

[0248] 401 Container handling vehicles of the prior art

[0249] 401a Container Handling Vehicle 401 Body

[0250] 401b First set of wheels, first direction (X)

[0251] 401c second set of wheels, second direction (Y)

[0252] 501 delivery vehicle

[0253] P port

[0254] X First Direction

[0255] Y second direction

[0256] Z Third-party direction

Claims

1. An automatic storage and retrieval system (1), comprising a two-dimensional guide rail system (108), the two-dimensional guide rail system comprising: A first set of parallel guide rails (110a, 110b) is arranged to guide container handling vehicles (201, 301, 401) to move in a first direction (X) on the top of the frame structure (100); and a second set of parallel guide rails (111a, 111b) is arranged perpendicular to the first set of parallel guide rails (110a, 110b) to guide the container handling vehicles (201, 301, 401) to move in a second direction (Y) perpendicular to the first direction (X) on the top of the frame structure (100), wherein a plurality of container handling vehicles (201, 301, 401) operate on the guide rail system (108) for storing and retrieving cargo holders in the automated storage and retrieval system (1), and wherein the frame structure (100) comprises: - Transfer column (50) includes a side opening (60) through which the cargo retainer passes. - An adjustable stop (90) for blocking the side opening (60), the stop (90) including a guide surface for guiding the lifting device (16) of the container handling vehicle (201, 301, 401) vertically through the side opening (60) in the transfer column (50), wherein the stop (90) is movable between the following positions: • In the first position, the guide surface is positioned to vertically guide the lifting device (16) and prevent the cargo retainer from moving horizontally through the side opening (60), and • Second position, in which the guide surface is positioned not to guide the lifting device (16), and in the second position, the stop (90) is positioned to allow the cargo retainer to move horizontally through the side opening (60).

2. The system (1) according to claim 1, wherein, The side opening (60) opens toward the adjacent column (70).

3. The system (1) according to any one of the preceding claims, wherein, The frame structure (100) includes upright members (102) that define the horizontal range of the transfer column (50).

4. The system (1) according to claim 3, wherein, The frame structure (100) further includes a horizontal member (103), wherein the vertical member (102) and the horizontal member (103) form a rectangular frame that defines the cross-sectional area of ​​the side opening (60).

5. The system (1) according to claim 2, wherein, The adjacent columns (70) include a plurality of vertically spaced storage locations (81), each storage location including a support (80) for supporting a cargo holder.

6. The system (1) according to claim 5, wherein, The support (80) of the storage location (81) is adjustable between a position in which the support is configured to support the cargo holder (106) and a position in which the cargo holder is allowed to pass vertically through the storage location (81).

7. The system (1) according to claim 5 or 6, wherein, The blocking member (90) includes a pair of first blocking members and second blocking members (91) arranged at two opposite edges of the side opening (60), wherein the pivot axis of each of the first blocking member and the second blocking member (91) extends vertically, and wherein the first blocking member and the second blocking member (91) are rotatable about the pivot axis to move between the first position and the second position, respectively.

8. The system (1) according to claim 7, wherein, The first obstruction member and the second obstruction member (91) include a support portion (93) that extends into one of the plurality of storage positions (81) when the obstruction member (90) is in the second position, such that the support portion (93) can support the cargo holder from below.

9. The system (1) according to claim 1, wherein, The blocking member (90) includes a blocking member disposed at the lower portion of the side opening (60), wherein the pivot axis of the blocking member extends horizontally and the blocking member is rotatable about the horizontal pivot axis to move between the first position and the second position, respectively.

10. The system (1) according to claim 9, wherein, The obstruction member is a plate (92), wherein, in the first position, the plate (92) extends in a vertical plane, and in the second position, the plate (92) extends in a horizontal plane.

11. The system (1) according to claim 10, wherein, The plate (92) includes guide surfaces on both sides.

12. The system (1) according to claim 10 or 11, wherein, The plate (92) extends into the adjacent column (70) in a horizontal position.

13. The system (1) according to claim 10, wherein, The plate (92) forms part of a support platform for a cargo retainer when it is in a horizontal position.

14. The system (1) according to claim 10, wherein, The plate (92) extends into the transfer column (50) when it is in a horizontal position.

15. The system (1) according to claim 5, wherein, The support (80) of the storage location (81) is connected to the blocking member (90) such that when the blocking member (90) is in the second position, the support (80) is in a position configured to support the cargo holder.

16. The system (1) according to claim 1, wherein, The container handling vehicle (201, 301, 401) includes a lifting device (16), wherein the lifting device (16) includes: a main part (17) connected to the body (201a, 301a, 401a) of the container handling vehicle (201, 301, 401) by means of a lifting belt (18); and a horizontal telescopic part (19) including a clamp (20), wherein the horizontal telescopic part (19) is configured to move between a retracted position located below the main part (17) and an extended position located outside the vertical projection of the main part (17).

17. The system (1) according to claim 16, wherein, The main part (17) includes a stabilizing device (22) for securing the main part (17) in the transfer column (50).

18. The system (1) according to claim 17, wherein, The stabilizing device (22) includes a fixed roller or an extendable roller for engaging with the upright member (102) of the frame structure (100).

19. The system (1) according to claim 9, wherein, The obstructing component includes a friction reduction device.

20. The system (1) according to claim 5, wherein, The storage location (81) includes a shifter for moving the blocker (90) between the first position and the second position by moving the support (80) through the side opening (60) between the storage location (81) and the transfer column (50) in the adjacent column (70).

21. The system (1) according to claim 1, further comprising: - An additional guide rail system (75) is located at a height lower than the top of the frame structure (100); - A delivery vehicle (501) having a supporting surface and running on the additional guide rail system (75), wherein the delivery vehicle (501) having the supporting surface is configured to support the cargo retainer from below; and The side opening (60) is open toward the additional guide rail system (75).

22. The system (1) according to claim 21, wherein, The delivery vehicle (501) having the supporting surface is configured to move from the additional guide rail system (75) and through the side opening (60) into the transfer column (50) to transfer the cargo holder to the lifting device (16) of the container handling vehicle (201, 301, 401) running on the guide rail system (108) on the top of the frame structure (100) or to receive the cargo holder from the lifting device.

23. A method for transferring a cargo holder in a transfer column (50) via a side opening (60) in an automated storage and retrieval system (1), the automated storage and retrieval system (1) comprising a two-dimensional guide rail system (108) comprising: A first set of parallel guide rails (110a, 110b) is arranged to guide container transport vehicles (201, 301, 401) to move in a first direction (X) on top of the frame structure (100); and a second set of parallel guide rails (111a, 111b) is arranged perpendicular to the first set of parallel guide rails (110a, 110b) to guide the container transport vehicles (201, 301, 401) to move in a second direction (Y) perpendicular to the first direction (X) on top of the frame structure (100), wherein multiple container transport vehicles... The method operates on the guide rail system (108) for storing and retrieving cargo holders in the automatic storage and retrieval system (1), and wherein the frame structure (100) includes: a transfer column (50) including a side opening (60); and an adjustable stop (90) for blocking the side opening (60), the stop (90) including a guide surface for guiding the lifting device (16) of the container handling vehicle (201, 301, 401) vertically through the side opening (60); and wherein the method includes the following steps: - Move the blocking member (90) from a first position to a second position, wherein in the first position, the guide surface is positioned to vertically guide the lifting device (16) in the transfer column (50) and block the cargo holder from moving horizontally through the side opening (60), and in the second position, the guide surface no longer guides the lifting device (16) but allows the cargo holder to move horizontally through the side opening (60).

24. The method according to claim 23, wherein, The side opening (60) opens toward the adjacent column (70), and the container transport vehicle (201, 301, 401) includes a lifting device (16), wherein the lifting device (16) includes: a main part (17) connected to the body (201a, 301a, 401a) of the container transport vehicle by means of a lifting belt (18); and a horizontal telescopic part (19) including a clamp (20), wherein the horizontal telescopic part (19) is configured to move between a retracted position located below the main part (17) and an extended position located outside the vertical projection of the main part (17), and wherein the method includes the following steps: - Move the telescopic portion (19) horizontally from the transfer column (50) and through the side opening (60) to move the blocking member (90) from the first position to the second position; - Transfer the cargo holder to the adjacent column (70) or from the adjacent column; - Return the telescopic section (19) to the transfer column (50).

25. The method according to claim 23, wherein, The system (1) further includes: an additional guide rail system (75) located at a height lower than the top of the frame structure (100); and a delivery vehicle (501) having a support surface and running on the additional guide rail system (75), wherein the delivery vehicle (501) having the support surface is configured to support a cargo retainer from below; and wherein the side opening (60) is open toward the additional guide rail system (75), and the method includes the following steps: - The delivery vehicle (501) with the supporting surface is moved from the additional guide rail system (75) and through the side opening (60) into the transfer column (50), thereby moving the blocking member (90) from the first position to the second position; -The lifting device (16) that transfers the cargo holder to the container handling vehicle (201, 301, 401) running on the guide rail system (108) on the top of the frame structure (100) or receives the cargo holder from the lifting device. - Move the delivery vehicle (501) with the supporting surface from the transfer column (50) and through the side opening (60) to the additional guide rail system (75), so that the blocking member (90) returns to the first position.

26. The method according to claim 23, wherein, The system (1) further includes: an additional guide rail system (75) located at a height lower than the top of the frame structure (100); a container handling vehicle (301) having a lifting device and operating on the additional guide rail system (75), wherein the side opening (60) is open toward the additional guide rail system (75), and the method includes the following steps: - Move the container handling vehicle (301) from the additional guide rail system (75) and through the side opening (60) into the transfer column (50), thereby moving the blocking member (90) from the first position to the second position; - To move the cargo holder (106) to a lower position in the transfer column (50), or to receive the cargo holder (106) from the lower position. - Move the container transport vehicle (301) from the transfer column (50) and through the side opening (60) to the additional guide rail system (75), so that the blocking member (90) returns to the first position.

27. The method according to claim 24, wherein, The adjacent columns (70) include a plurality of vertically spaced storage locations (81), each storage location having a support (80) for supporting a cargo holder, each storage location (81) including a shifter, and wherein the method includes the following steps: - Operate the shifter to move the stop (90) between the first position and the second position by moving one or more of the supports through the side opening (60) between the adjacent column (70) and the transfer column (50).

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