Access station for an automated storage and retrieval system

Abstract

A storage station (500), an automated storage and retrieval system, and a method of using the same are disclosed. The storage station (500) includes a frame structure (520) and a tilting drawer (510) arranged in the frame structure (520), wherein the tilting drawer (510) includes a compartment (511) for receiving a cargo tray (106), and wherein the tilting drawer (510) is pivotable between a receiving position for receiving the cargo tray (106) from above and a tilted picking position for presenting the cargo tray (106) to a user.

Description

Technical Field

[0001] This invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to a storage and retrieval station that presents the storage containers to a user from the automated storage and retrieval system. Background Technology

[0002] Figure 1 An existing automated storage and retrieval system 1 with a frame structure 100 is disclosed. Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201, 301, and 401 suitable for operation on such system 1 are disclosed.

[0003] 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).

[0004] 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 and into storage columns 105, and also transport storage containers 106 above 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.

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

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

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, such as lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage with the storage container 106, and these clamping / engaging devices can be lowered from the vehicles 201, 301, 401, allowing adjustment of the position of the clamping / engaging devices relative to the vehicles 201, 301, 401 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... Figure 3 and Figure 4 The reference numerals 304 and 404 are used to indicate this in the accompanying drawings. The clamping device of the container handling vehicle 201 is located at... Figure 2 It is located inside vehicle body 201a, and therefore is not visible in the diagram.

[0008] Generally, and for the purposes of this application, Z=1 indicates the uppermost layer below guide rails 110, 111 that can be used for storage containers, i.e., the layer immediately below guide rail system 108; Z=2 indicates the second layer below guide rail system 108; Z=3 indicates the third layer, and so on. Figure 1 In the exemplary prior art disclosed, Z = 7 represents the bottommost layer of the storage container. Similarly, X = 1…n and Y = 1…n represent the position of each storage column 105 in the horizontal plane. Therefore, as an example, and using… Figure 1 The Cartesian coordinate system X, Y, Z shown can be said to be in Figure 1The storage container marked 106 occupies storage positions X=17, Y=1, Z=5. It can be said that container transport vehicles 201, 301, and 401 travel in the layer at Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, it can also be said that... Figure 1 The storage container shown extends above the guide rail system 108 and is arranged in a layer with Z=0.

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

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 during transport on the rail system 108. The storage space may include cavities internally arranged within the vehicle body 201a, 401a, such as… Figure 2 and Figure 4 As shown, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of these applications are incorporated herein by reference.

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

[0012] Figure 2 The occupied area of ​​the cavity container transport vehicle 201 shown 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”.

[0013] Alternatively, the area occupied by the cavity container transport vehicle 401 can be larger than the lateral area defined by the storage column 105, such as... Figure 1 and Figure 4 As shown and disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The guide rail system 108 typically includes guide rails with grooves in which the vehicle's wheels travel. Alternatively, the guide rails may include upwardly projecting elements, where the vehicle's wheels include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as tracks. Each guide rail may include one track, or each guide rail 110, 111 may include two parallel tracks. In other guide rail systems 108, each guide rail in one direction (e.g., the X direction) may include one track, and each guide rail in another perpendicular direction (e.g., the Y 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 two tracks provided by each guide rail.

[0015] 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.

[0016] In the frame structure 100, most columns 105 are storage columns, meaning that containers 106 are stored in columns 105 in a stacked manner 107. However, some columns 105 may serve other purposes. Figure 1 In this configuration, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, enabling the containers to be transported to retrieval stations (not shown) where they can be accessed from outside the frame structure 100 or moved in or out of it. In the art, such locations are commonly referred to as "ports," and the columns containing the ports may be referred to as "port columns" 119 and 120. Transport to the retrieval station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to port columns 119 and 120 for further transport to the retrieval station. Transport from the port to the retrieval station may require movement along various different directions via transport vehicles, trolleys, or other transport routes. Note that the term "tilt" indicates that the transport of storage container 106 has a conventional transport orientation between horizontal and vertical.

[0017] exist Figure 1 In the first port column 119, for example, it can be a dedicated unloading port column, in which container handling vehicles 201, 301, and 401 can unload storage containers 106 to be transported to the storage station or transfer station, and the second port column 120 can be a dedicated picking port column, in which container handling vehicles 201, 301, and 401 can pick up storage containers 106 transported from the storage station or transfer station.

[0018] 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.

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

[0020] 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.

[0021] 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.

[0022] When you need to access the stored Figure 1When a storage container 106 is in one of the multiple columns 105 disclosed herein, one of a plurality of container handling vehicles 201, 301, 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, 301, 401 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, 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 container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the initial storage column 105. However, the removed storage container 106 can alternatively be relocated to another storage column 105.

[0023] 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 the container is to 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.

[0024] 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 the desired time without the container transport vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] WO201 / 7211596 discloses a storage system for storing product items. The storage system includes a grid structure and a plurality of storage bins configured to store items in vertical compartments within the grid structure. Each storage bin is configured to hold at least one product item. The storage system includes picking stations and / or supply stations, where product items are configured to be picked from one of the plurality of storage bins, and / or where product items are configured to be supplied to one of the plurality of storage bins. The picking stations and / or supply stations include drawer arrangements, wherein the drawer arrangements include storage containers with compartments for temporarily storing product items to be picked from or supplied to the storage system. The drawer arrangements are configured to be in a closed state or an open state; wherein in the closed state, access to the compartments is prevented, and in the open state, access to the compartments is permitted.

[0026] The purpose of this invention is to make the above-mentioned type of access station more robust. Summary of the Invention

[0027] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0028] This invention relates to an access station for an automated storage and retrieval system, wherein the access station comprises:

[0029] -Frame structure; and

[0030] - A drawer, arranged within a frame structure, wherein the drawer is a slanted drawer and includes a compartment for accommodating cargo trays.

[0031] The tilting drawer can pivot between a receiving position for receiving cargo pallets from above and a tilting picking position for presenting cargo pallets to the user.

[0032] Therefore, an access station with very few moving parts is provided. Pivoting movement requires very few surfaces to slide against each other, thus reducing wear. As a result, the maintenance requirements of the access station will be minimal.

[0033] If an external load, such as that applied from a person sitting on a tilted drawer, is applied to the tilted drawer in the picking position, the external load will be more evenly distributed between the frame structure and the tilted drawer compared to a sliding drawer arrangement. A person can only sit on a tilted drawer when it is in the tilted picking position. Therefore, the access station is less susceptible to damage.

[0034] Therefore, this access station is particularly suitable as a publicly accessible pickup point, such as a roadside pickup point or a pickup point placed outside a building / warehouse.

[0035] The access station may include a pivoting connection that connects a tilting drawer to a frame structure. The pivoting connection between the tilting drawer and the frame structure may define the axis of rotation of the tilting drawer. The pivoting connection may be a shaft extending through the tilting drawer to connect at opposite sides of the frame structure.

[0036] Cargo pallets can be, for example, storage containers, boxes, suitcases, pallets, trays, or the like.

[0037] Alternatively, the pivoting connection can be a stud that connects the tilting drawer to the frame structure. Alternatively, the pivoting connection can be a curved runner.

[0038] Slanted drawers preferably have an open top.

[0039] The receiving location can preferably be arranged inside the frame structure.

[0040] The receiving position is preferably upright. However, if the tilt of the receiving position is less than that of the picking position, the receiving position may be tilted.

[0041] Alternatively, slanted drawers have open sides, allowing cargo trays to be received from the side.

[0042] In one aspect, the tilting drawer may have a horizontal axis of rotation arranged below the center of the tilting drawer. More preferably, the axis of rotation may be arranged at the lower end of the tilting drawer.

[0043] The axis of rotation of the tilting drawer is preferably located above the base of the frame structure.

[0044] This results in a tilting drawer in which, when tilted, the portion of the drawer above the center (i.e., the upper part) moves further than the portion below the center (i.e., the lower part). Then, while the lower part of the tilting drawer remains within the frame structure and the base of the tilting drawer and the base of the frame structure are substantially the same size, the upper part of the tilting drawer can move at least partially outside the frame structure.

[0045] In one respect, a tilting drawer may have a horizontal axis of rotation arranged in the horizontal central portion of the tilting drawer and / or frame structure.

[0046] By arranging the horizontal axis of rotation in the horizontal center portion of the tilting drawer and / or frame structure (i.e., the portion with a horizontal distance from the vertical side surface), the vertical clearance between the frame structure and the tilting drawer can be kept to a minimum when the tilting drawer is in the receiving position.

[0047] When in the receiving position, the compartments of the tilting drawer may not be accessible to the user.

[0048] When the cargo rack included in the tilting drawer tilts at the picking position, it provides an ergonomic picking position for the user (i.e., the picker or consumer).

[0049] The slanted drawer (and therefore the cargo tray) has only a short travel distance between the receiving position and the slanted picking position. When in both the receiving and slanted picking positions, the cargo tray housed in the compartment of the slanted drawer will have partial overlap. Therefore, it achieves a storage station with a small footprint, both when open and when not in use. The storage station will occupy minimal space in its surrounding environment. Therefore, it can be located in sidewalk areas, lobbies of public buildings, or public squares without obstructing pedestrian traffic.

[0050] In one aspect, the storage station can be configured to receive a location vertically aligned with the port column of the automated storage and retrieval system for receiving cargo pallets from the port column.

[0051] The container handling vehicle can then lower the cargo pallet through the port column and into the compartment in the receiving position, or remove the cargo pallet from the compartment in the receiving position via the port column.

[0052] The compartment in the receiving position is preferably not accessible from the outside of the frame structure. Therefore, when the compartment is in the receiving position, the user will not be able to access the contents of the compartment (i.e., the cargo racks located in the compartment).

[0053] In one respect, a tilting drawer can be biased toward the receiving position.

[0054] This allows the retrieval station to continue operating even if the user forgets to close the tilt drawer after picking. This is especially important when the user has not been trained to use the retrieval station and there is typically only one pick to be performed.

[0055] The biasing device can be a spring, a damper, a counterweight suitably located in the tilt drawer, or any combination thereof. The biasing device can be arranged in the lower part of the tilt drawer.

[0056] In one respect, tilt drawers can be automatic.

[0057] The storage station may include one or more sensors that communicate with the control system. The sensors may be configured to detect the presence of cargo trays in the compartments of a tilting drawer. The sensors may also be configured to detect the position of the tilting drawer.

[0058] The retrieval station may include an electric motor configured to operate a tilting drawer between a picking position and a receiving position. The electric motor may be controlled by a control system. The control system may receive signals from sensors in the retrieval station or from remotely operated vehicles delivering and retrieving pallets from the retrieval station.

[0059] In one aspect, the frame structure and / or tilt drawers can be configured to prevent the removal of cargo trays from the compartment when the tilt drawers are in the picking position.

[0060] When the storage station is used as a roadside pickup point, this will prevent vandals from stealing cargo pallets from the system.

[0061] In one aspect, the access station may include a tilt limiter configured to restrict the pivoting movement of a tilting drawer beyond the picking position.

[0062] The tilt limiter can be configured to engage the drawer mechanism with the frame structure at a predetermined point of pivoting movement, thereby preventing further pivoting movement. The predetermined point of pivoting movement is typically the picking position.

[0063] In one respect, tilt limiters can be arranged on tilt-type drawers.

[0064] The predetermined position is preferably configured such that when the tilted drawer is in this position, the frame structure at least partially obstructs access to the compartment. By limiting the available access opening of the compartment to an area smaller than the external dimensions of the cargo tray, the cargo tray is prevented from being removed from the compartment.

[0065] When the storage station is used as a roadside pickup point, this will prevent vandals from stealing cargo pallets from the system.

[0066] Alternatively, the tilt limiter can be positioned at the bottom (i.e., the foot) of the drawer. After the intended tilt, the tilt limiter will then abut the base plate of the frame structure.

[0067] Alternatively, tilt limiters can be placed on the frame structure.

[0068] The tilting drawer has a tilt angle α between the receiving position and the picking position.

[0069] Inclination angle α relative to horizontal plane P H It can be in the range of 15° to 60°, more preferably in the range of 20° to 55°, even more preferably in the range of 25° to 50°, even more preferably in the range of 30° to 45°, even more preferably in the range of 35° to 40°, for example 32.5°.

[0070] The preferred tilt angle range is 30° to 40°. Alternatively, the starting point of this range can be 10°, 15°, 20°, 25°, 30°, or 35°. Alternatively, the ending point of this range can be 35°, 40°, 45°, 50°, 55°, or 60°.

[0071] A tilt limiter can be placed on a tilt drawer and configured to extend upward relative to the tilt drawer. The tilt limiter can be a separate item attached to the tilt drawer or part of the tilt drawer (i.e., integrally formed with the tilt drawer). The tilt angle can then be set by the length of the tilt limiter.

[0072] The tilt limiter is preferably configured so as not to obstruct the alignment of the tilt drawer compartments with the columns of the frame structure when the tilt drawer is in the receiving position.

[0073] The stopper can be configured such that when the tilt drawer is in the receiving position, it is located between two upright members of the frame structure. The tilt limiter can also be used for this purpose if it is located at the top of the drawer. When the tilt drawer is not in the receiving position, the stopper can prevent the clamping device from moving towards the compartment of the tilt drawer.

[0074] The present invention also relates to an automatic storage and retrieval system, wherein the automatic storage and retrieval system comprises:

[0075] - An access station according to any one of the preceding claims;

[0076] - A guide rail system, comprising a first set of parallel guide rails arranged in a horizontal plane and extending in a first direction and a second set of parallel guide rails arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, the first set of guide rails and the second set of guide rails forming a grid in the horizontal plane, the grid including a plurality of adjacent access openings;

[0077] - Storage section, comprising multiple cargo racks arranged in storage columns located below the guide rail system.

[0078] Each storage column is vertically positioned below one of the multiple access openings;

[0079] - At least one port column, located below the guide rail system and vertically aligned with the receiving position of the storage station, wherein the at least one port column has no cargo tray; and

[0080] - A container handling vehicle, comprising: a clamping device for lifting a cargo pallet stored in a storage column above a storage section; and a drive device configured to drive the vehicle along a guide rail system in at least one of a first direction and a second direction.

[0081] In one respect, the access station can be configured to provide the lower segment of the port column.

[0082] In one aspect, an automated storage and retrieval system may include:

[0083] - At least two access stations, preferably three or four access stations.

[0084] Multiple storage stations can preferably be arranged side-by-side on sidewalks, in the lobbies of public buildings, or in public squares, ideally positioned to avoid obstructing pedestrian traffic. Storage stations can also be part of commercial buildings (such as grocery stores or other shops). Storage stations can also be located in commercial premises (such as in garden nurseries distributing plants). Storage stations can also be part of large vending machines. Storage stations can be part of luggage storage facilities.

[0085] An access station may also include multiple slanted drawers arranged side by side in the frame structure.

[0086] The present invention also relates to a method for presenting cargo pallets at a storage and retrieval station using an automated storage and retrieval system as described herein, wherein the method includes the following steps:

[0087] - Using container handling vehicles including clamping devices, goods pallets stored in the storage section of the storage and retrieval system are removed;

[0088] - Move the tilting drawer of the access station to the receiving position;

[0089] - Place the cargo rack in the compartment of the slanted drawer; and

[0090] - Tilt the tilting drawer to the picking position to present the goods pallet to the user.

[0091] Placing cargo pallets in the compartments of sloping drawers is typically done by lowering them.

[0092] In one aspect, after presenting the cargo pallet to the user, the method may further include the following steps:

[0093] - Return the tilting drawer to its receiving position; and

[0094] -Remove the cargo pallet from the compartment.

[0095] Receiving cargo pallets from the compartment can be done with the help of clamping devices. Attached Figure Description

[0096] The following figures are provided to facilitate understanding of the invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, in which:

[0097] Figure 1 This is a three-dimensional diagram of the framework structure of an existing automated storage and retrieval system;

[0098] Figure 2 This is a perspective view of a prior art container handling vehicle having a cavity for carrying an internal arrangement of storage containers therein;

[0099] Figure 3 This is a perspective view of a prior art container handling vehicle having cantilever arms for supporting storage containers underneath;

[0100] Figure 4 This is a perspective view of a prior art container handling vehicle having a cavity for carrying an internal arrangement of storage containers therein;

[0101] Figure 5 It is a three-dimensional view of the storage container and the products stored in the storage container;

[0102] Figure 6a This is a perspective view of the storage station. The storage station includes a frame structure and a tilting drawer with compartments for cargo pallets, wherein the tilting drawer is located in the receiving position;

[0103] Figure 6b yes Figure 6a A 3D view of the storage station, where the tilting drawer is located at the picking position;

[0104] Figure 7a yes Figure 6a The horizontal cross-section of the storage station. The storage station includes a frame structure and a tilting drawer having a compartment for a cargo pallet, wherein the tilting drawer is in a receiving position and the cargo pallet is positioned in the compartment of the tilting drawer by means of a clamping device;

[0105] Figure 7b yes Figure 7a A three-dimensional view of the horizontal cross-section of an access station without clamping devices;

[0106] Figure 8a yes Figure 6a The horizontal cross-section of the access station in the middle, wherein the tilting drawer is partially located outside the receiving position, and the clamping device is raised above the tilting drawer;

[0107] Figure 8b yes Figure 8a A three-dimensional view of the horizontal cross-section of an access station without clamping devices;

[0108] Figure 9a yes Figure 6a The horizontal cross-section of the storage station, in which the tilting drawer is located at the picking position;

[0109] Figure 9b yes Figure 9a A three-dimensional view of the horizontal cross-section of an access station without clamping devices;

[0110] Figure 10a It is a horizontal section of the storage station, which includes a tilting drawer and a frame structure with a tilt limiter, wherein the tilting drawer is located in a receiving position and the cargo tray is positioned in the compartment of the tilting drawer by means of a clamping device;

[0111] Figure 10b yes Figure 10a A three-dimensional view of the horizontal cross-section of an access station without clamping devices;

[0112] Figure 11a yes Figure 10a The horizontal cross-section of the access station in the middle, wherein the tilting drawer is partially located outside the receiving position, and the clamping device is raised above the tilting drawer;

[0113] Figure 11b yes Figure 11a A three-dimensional view of the horizontal cross-section of an access station without clamping devices;

[0114] Figure 12a yes Figure 10a The horizontal cross-section of the storage station, wherein the tilting drawer is located at the picking position and is prevented from tilting further by a tilt limiter; and

[0115] Figure 12b yes Figure 12a A three-dimensional view of the horizontal cross-section of an access station without clamping devices;

[0116] Figure 13 This is a perspective view of a part of an automated storage and retrieval system, which includes multiple storage and retrieval stations, particularly three storage and retrieval stations arranged side by side.

[0117] Figure 14a yes Figure 13 A top view of the automatic storage and retrieval system, wherein the tilting drawer is in its receiving position, and the receiving position is vertically aligned with the access opening of the upper guide rail system; and

[0118] Figure 14b yes Figure 13 A top view of the automated storage and retrieval system, with the tilting drawer in its picking position. Detailed Implementation

[0119] 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.

[0120] The frame structure 100 of the automatic storage and retrieval system 1 is combined with the above. Figures 1 to 3 The frame structure 100 described in the prior art is constructed in a similar manner. That is, the frame structure 100 includes a plurality of upright members 102, and also includes a first upper guide rail system 108 extending in the X and Y directions.

[0121] The frame structure 100 also includes storage compartments in the form of storage columns 105 disposed between members 102 and 103, wherein storage containers 106 can be stacked into a stack 107 within the storage columns 105.

[0122] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be larger than... Figure 1 The frame structure disclosed herein is significantly wider and / or longer and / or deeper. For example, frame structure 100 may have a horizontal range of more than 700x700 columns and a storage depth of more than twelve containers.

[0123] An embodiment of the automatic storage and retrieval system according to the invention will now be discussed in more detail with reference to the accompanying drawings.

[0124] Figure 5 An example of product item 80 stored in storage container 106 is shown. Figure 4 The storage container 106 shown has a height of Hf, a width of Wf, and a length of Lf. The horizontal cross-section of the storage container 106 is Af.

[0125] Figure 6a A perspective view of a storage station 500 suitable for an automated storage and retrieval system is shown. The storage station 500 includes a frame structure 520 and drawers in the form of tilting drawers 510 arranged in the frame structure 520. The tilting drawers 510 include compartments 511 adapted to accommodate cargo pallets.

[0126] exist Figure 6a In the middle, the tilting drawer 510 retracts into the frame structure 520. This position of the tilting drawer 510 can be referred to as the receiving position P. R This is because it allows cargo pallets (such as storage containers 106, boxes, suitcases, pallets, trays, or the like) to be typically received from above in compartment 511. Storage station 500 is preferably configured such that when the tilting drawer 510 is in the receiving position P... R This prevents users from accessing compartment 511.

[0127] Figure 6b yes Figure 6a A 3D view of the access station. Figure 6b In this position, the tilting drawer 510 tilts outward from the frame structure 520. In this position, the tilting drawer 510 exposes the compartment 511 (and therefore also the cargo rack located in the compartment 511) to the outside of the frame structure 520. This position can be referred to as the picking position P. P This is because it allows users of the storage station 500 to access compartment 511 and thus pick items 80 from the cargo racks located in compartment 511.

[0128] The tilting drawer 510 can be connected to the frame structure 520 by means of a pivoting connector. The pivoting connector between the tilting drawer 510 and the frame structure 520 can define the axis of rotation R of the tilting drawer. A The pivoting connection can be achieved by means of a pivoting connection device 530. The pivoting connection device 530 can be, for example, a shaft extending through the tilting drawer 510 to connect at opposite sides of the frame structure 520. Alternatively, the pivoting connection device 530 can be a stud connecting the tilting drawer 510 to the frame structure 520.

[0129] like Figure 6b As shown, the axis of rotation R A It can be positioned below the center of the tilting drawer 510, particularly at the lower end of the tilting drawer 510. However, the axis of rotation R... A Preferably, it is positioned above the base of the frame structure 520. This creates a gap between the lower end of the tilting drawer 510 and the base of the frame structure 520. Therefore, some space is provided for the tilting drawer 510 to rotate within the frame structure 520.

[0130] Thus, a tilting drawer 510 is achieved in which, when the tilting drawer 510 is tilted, the portion of the tilting drawer 510 above the center (i.e., the upper part) moves further than the portion of the tilting drawer 510 below the center (i.e., the lower part). Then, while the lower part of the tilting drawer 510 remains within the frame structure 520 and when the base of the tilting drawer 510 and the base of the frame structure 520 are substantially the same size, the upper part of the tilting drawer 510 can move at least partially outside the frame structure 520.

[0131] like Figure 6b As shown, the axis of rotation R A It can be arranged in the horizontal center section of the slanted drawer 510 and / or the frame structure 520.

[0132] By rotating the horizontal axis R A Arranged in the horizontal center portion (i.e., the portion having a horizontal distance from the vertical side surface) of the tilting drawer 510 and / or frame structure 520, when the tilting drawer 510 is in the receiving position P R At this time, the vertical clearance between the frame structure and the tilting drawer can be kept to a minimum. This will help when the tilting drawer 510 is in the receiving position P. R This makes it difficult for users to access the internal workings of access station 500.

[0133] like Figure 6b As shown, the tilting drawer 510 can rotate around the horizontal axis R. A Rotation allows the tilting drawer 510 to be in the receiving position P. R With picking position P P Pivoting between them. Alternatively, the pivoting connection can be a curved groove (not shown).

[0134] The frame structure 520 may be an assembly of several components (such as beams, supports, panels, and / or rails) that provide support for the tilt drawer 510. The frame structure 520 may also be configured such that the tilt drawer 510 can be positioned in the receiving position P. R With picking position P P The device allows for appropriate movement between the tilting drawer 510 and the external environment; provides an appropriate height for the tilting drawer 510; forms at least a portion of the port array above the tilting drawer 510; and / or defines the interior of the access station 500, which is at least partially separated from the exterior of the access station 500. The interior of the access station 500 is preferably configured to accommodate the tilting drawer 510. The tilting drawer 510 can be configured to be in the receiving position P. RFurthermore, the interior of access station 500 is separated from the exterior of access station 500. By physically separating the interior of access station 500 from the exterior of access station 500, the risk of injury to users of access station 500 can be reduced.

[0135] Access station 500 may have a display 521. Display 521 is typically used to provide information to users of access station 500.

[0136] The tilting drawer 510 has a rear end and a front end. When connected to an automated storage and retrieval system, the rear end of the tilting drawer 510 typically faces the storage side of the storage station 500, while the front end typically faces the picking side of the storage station 500. The picking side can be accessed by the user of the storage station 500.

[0137] Figure 7a It shows Figure 6a The horizontal cross-section of the access station 500 in the middle, and Figure 7b It shows Figure 7a A perspective view of the horizontal cross-section of the access station without clamping device 304.

[0138] exist Figures 7a to 7b In the middle, a cargo tray in the form of a storage container 106 is located in the compartment 511 of a tilting drawer 510 by means of a clamping device 304. The tilting drawer 510 is located in the receiving position P. R Furthermore, the clamping device 304 is located directly above the tilting drawer 510.

[0139] During use, the tilt drawer 510 may fail because the user forgets to rotate it back to the receiving position P. R And left in the picking position P P In the middle. This can be achieved by the control system automatically returning the tilting drawer 520 to the receiving position P after a predetermined time period using an electric actuator or similar device. R To resolve this, alternatively, the tilting drawer 510 can be oriented toward the receiving position P. R It is mechanically biased.

[0140] like Figure 7a As shown, the tilt drawer 510 can be tilted toward the receiving position P by means of a spring 514 connecting the rear end of the tilt drawer 510 to the base of the frame structure 520 and / or a damper 515 connecting the front end of the tilt drawer 510 to the base of the frame structure 520. R Mechanically biased. Alternatively or additionally, the tilting drawer 510 can be tilted toward the receiving position P by means of a counterweight 513 arranged at the rear end of the tilting drawer 510. R Mechanically biased, such as Figure 7b As shown.

[0141] Figure 8a It shows Figure 7a The horizontal cross-section of the access station 500 in the middle, and Figure 8b It shows Figure 8a A perspective view of the horizontal cross-section of the access station without clamping device 304.

[0142] exist Figures 8a to 8b In the middle, the tilting drawer 510 is partially located in the receiving position P. R Externally, the clamping device 304 is raised above the tilting drawer 510.

[0143] Figure 9a It shows Figure 7a The horizontal cross-section of the access station 500 in the middle, and Figure 9b It shows Figure 9a A perspective view of the horizontal cross-section of the access station without clamping device 304.

[0144] exist Figures 9a to 9b In the middle, the tilting drawer 510 is located at the picking position P. P Furthermore, the clamping device 304 is raised above the tilting drawer 510.

[0145] When the tilting drawer 510' is in the picking position P P At times, such as Figure 9a As shown, a goods tray located in compartment 511 of the tilting drawer 510 is presented to the user of the retrieval station 500. The user can then access the contents of the goods tray. However, the user should preferably not be able to remove the goods tray from the tilting drawer 510. Therefore, the frame structure 520 and / or the tilting drawer 510 can be configured such that when the tilting drawer 510 is in the picking position P... P This prevents the cargo pallet from being removed from compartment 511. This can be achieved by tilting drawer 510 at the picking position P. P The available opening is smaller than that at the receiving position P. R This can be achieved using openings, such as... Figure 9a and Figure 7a As shown. Figure 9a The available opening is smaller than the size of the cargo tray (i.e., area Af in the case of the cargo tray being storage container 106), such that when the tilting drawer 510 is in the picking position P... P At that time, the cargo tray cannot be removed from the tilting drawer 510.

[0146] A handle can be mounted on the tilting drawer 510. The user of the storage station 500 can use the handle to open and close the tilting drawer 510, i.e., at the picking position P. P With receiving location P R 510 tilting drawers that can be moved between.

[0147] like Figure 9a As shown, the tilting drawer 510 is in the receiving position P R With picking position P P There can be an angle of inclination α between them. The angle of inclination α is relative to the horizontal plane P. H It can be in the range of 15° to 60°, more preferably in the range of 20° to 55°, even more preferably in the range of 25° to 50°, even more preferably in the range of 30° to 45°, even more preferably in the range of 35° to 40°, for example 32.5°.

[0148] The preferred tilt angle range is 30° to 40°. Alternatively, the starting point of this range can be 10°, 15°, 20°, 25°, 30°, or 35°. Alternatively, the ending point of this range can be 35°, 40°, 45°, 50°, 55°, or 60°.

[0149] Access station 500 may include tilt limiters 512 and 522. Tilting limiters 512 and 522 may be configured to cause engagement between the tilt drawer 510 and the frame structure 520 at a predetermined point of pivoting movement, thereby preventing further pivoting movement of the tilt drawer 510. The predetermined point of pivoting movement is typically the picking position P. P .

[0150] like Figures 9a to 9b As shown, the tilt limiter 512 can be arranged on the tilt drawer 510.

[0151] The predetermined position is preferably configured such that when the tilted drawer 510 is in this position, the frame structure 520 at least partially obstructs access to the compartment 511, making it impossible to remove the cargo tray.

[0152] like Figures 9a to 9b As shown, the tilt limiter 512 can be arranged on the tilt drawer 510 and configured to extend upward relative to the tilt drawer 510. The tilt limiter 512 can be a separate item attached to the tilt drawer 510 or made part of the tilt drawer 510 (i.e., integrally formed with the tilt drawer). The tilt angle α can then be set by the length of the tilt limiter 512.

[0153] like Figures 7a to 7b As shown, the tilt limiter 512 is preferably configured such that when the tilted drawer is in the receiving position P R The alignment of the compartments 511 of the tilting drawer 510 with the columns of the frame structure 520 is not obstructed.

[0154] Alternatively, a tilt limiter can be positioned at the bottom (i.e., foot) of the front end of the tilting drawer 510. Then, after a predetermined tilt (not shown), the tilt limiter will abut against the base of the frame structure 520.

[0155] Alternatively, the tilt limiter 522 can be formed as part of the frame structure 520, such as Figures 10a to 12b As shown.

[0156] like Figures 10a to 12b As shown, the frame structure 520 may include a front panel that is inclined relative to a vertical plane to form a tilt limiter 522 in the front of the tilt drawer 520. The tilt of the front panel may generally correspond to a predetermined tilt angle α.

[0157] The tilt limiter 522 formed by the frame structure 520 can prevent objects from being placed in front of the access station 500 so that the tilt drawer 510 cannot be opened.

[0158] Figures 10a to 12b The access station 500 in the middle may include Figures 7a to 9b Any one of the multiple features of the 500 access stations in the system.

[0159] The access station 500 can be automatic, causing the tilting drawer 510 to open and close automatically, i.e., at the receiving position P. R With picking position P P It moves automatically between them.

[0160] Access station 500 is preferably configured to receive location P R The port row 119 of the automatic storage and retrieval system is vertically aligned. In this way, when the tilting drawer 510 is in the receiving position P... R At that time, the cargo pallet can be introduced from port column 119 into compartment 511.

[0161] The frame structure 520 may form part of the port column above the slanted drawer 510, for example, as Figure 6a As shown. Then, the port column formed by the frame structure 520 can preferably be configured for vertical alignment with the port column 119 of the automatic storage and retrieval system. Therefore, the access station 500 can be configured to provide the lower section of the port column 119, such as... Figure 13 As shown.

[0162] The port column formed by the frame structure 520 of the automated storage and retrieval system and the port column 119 preferably has a matching horizontal cross section. In this way, the cargo tray and clamping device 304 configured for movement in the port column 119 of the automated storage and retrieval system will also be configured for movement in the port column formed by the frame structure 520.

[0163] The automated storage and retrieval system may include any one of the plurality of storage stations 500 described above, or any number and combination of the aforementioned storage stations 500. The automated storage and retrieval system may further include a guide rail system 108, wherein the guide rail system includes components arranged in a horizontal plane P. H The first set of parallel guide rails 110 extending in the first direction X and arranged in the horizontal plane P H A second set of parallel guide rails 111 extends in a second direction Y orthogonal to the first direction X. The first set of guide rails 110 and the second set of guide rails 111 are in the horizontal plane P. H The system forms a grid, which includes a plurality of adjacent access openings 112. The automated storage and retrieval system may further include storage sections comprising a plurality of cargo racks arranged in storage columns 105 located below the rail system 108, wherein each storage column 105 is vertically located below one of the multiple access openings 112. The automated storage and retrieval system may further include at least one port column 119 located below the rail system 108 and adjacent to the receiving position P of the access station 400. R Vertically aligned, at least one port column 119 has no cargo trays. The automated storage and retrieval system may additionally include container handling vehicles 201, 301, 401, which include: a clamping device 304 for lifting cargo trays stored in column 105 above the storage section; and drive units 201b, 201c; 301b, 301c; 401b, 401c, configured to drive vehicle 301 along guide rail system 108 in at least one of a first direction X and a second direction Y.

[0164] Figure 13 This is a 3D diagram of a part of an automatic storage and retrieval system. (Example) Figure 13 As shown, multiple storage and retrieval stations 500 can be arranged side-by-side as part of the same automated storage and retrieval system. Figure 13 In this configuration, three access stations 500 are arranged side by side; however, any other number of access stations 500 may be used in the same automated storage and retrieval system. The access stations 500 may be arranged side by side or spaced apart.

[0165] Figure 14a yes Figure 13 A top view of the automatic storage and retrieval system, in which the tilting drawer 510 is in its receiving position P. R .like Figure 14a As shown, each receiving position P R All can be vertically aligned with port columns 119 and 120 of the automatic storage and retrieval system. For example... Figure 14a As shown, each receiving position P RAll of them can be vertically aligned with the access opening 112 in the guide rail system 108 of the automated storage and retrieval system. Thus, container handling vehicles 201, 301, and 401 traveling on the guide rail system 108 can deliver cargo pallets to / retrieve cargo pallets from the access station 500.

[0166] Figure 14b yes Figure 13 A top view of the automated storage and retrieval system, in which the tilting drawer 510 is in its picking position P. P .like Figure 14b As shown, each picking position P P All of them may not be vertically aligned with the port rows 119, 120 of the automated storage and retrieval system. Therefore, the cargo racks located in compartment 511 may not be accessible by the container handling vehicles 201, 301, 401 traveling on the guide rail system 108.

[0167] The above-mentioned automatic storage and retrieval system can operate as follows:

[0168] -The container handling vehicles 201, 301, 401, including clamping device 304, retrieve cargo pallets stored in the storage section of the storage and retrieval system;

[0169] - Move the tilting drawer 510 of the access station 500 to the receiving position P. R ;

[0170] - Place the cargo pallet in compartment 511 of the tilting drawer 510;

[0171] - Tilt the tilt drawer 510 to the picking position P P To present the cargo pallet to the user;

[0172] - Return the tilting drawer 510 to the receiving position P R ;as well as

[0173] -Remove the cargo pallet from compartment 511.

[0174] In the foregoing description, various aspects of the transport vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. Specific quantities, systems, and configurations have been set forth for ease of explanation in order to provide a comprehensive understanding of the system and its operation. However, this description is not intended to be construed as limiting. Various modifications and variations of the illustrative embodiments and 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.

[0175] List of reference numerals

[0176] 1. Existing automated storage and retrieval systems

[0177] 80 products and items

[0178] 100 Frame Structure

[0179] 102. Upright members of a frame structure

[0180] 104 Storage Grid

[0181] 105 Storage Columns

[0182] 106 Storage Containers

[0183] 106' Specific location of the storage container

[0184] 107 Stacking

[0185] 108 guide rail system

[0186] 110 Parallel guide rails in the first direction (X)

[0187] 111 Parallel guide rails in the second direction (Y)

[0188] 112 Access Opening

[0189] 119 First Port Column

[0190] 120 Second Port Column

[0191] 201 Container handling vehicles of the prior art

[0192] 201a The body of container handling vehicle 201

[0193] 201b Drive unit / wheel arrangement / first set of wheels in the first direction (X)

[0194] 201c Drive unit / wheel arrangement / second set of wheels in the second direction (Y)

[0195] 301 Prior art cantilever container handling vehicles

[0196] 301a The body of container handling vehicle 301

[0197] 301b Drive unit / first set of wheels in the first direction (X)

[0198] 301c Drive unit / second set of wheels in the second direction (Y)

[0199] 304 clamping device

[0200] 401 Container handling vehicles of the prior art

[0201] 401a The body of container handling vehicle 401

[0202] 401b Drive unit / first set of wheels in the first direction (X)

[0203] 401c Drive unit / second set of wheels in the second direction (Y)

[0204] 404 clamping device

[0205] 500 access stations

[0206] 510 Slanted Drawer

[0207] 511 Compartment, used for cargo pallets

[0208] 512 Tilt limiter for tilt drawers

[0209] 513 counterweight

[0210] 514 Spring

[0211] 515 damper

[0212] 520 Frame Structure

[0213] 521 Monitor

[0214] 522 Tilting limiter for frame structures

[0215] 530 Pivoting Connection Device

[0216] 600 Control System

[0217] X First Direction

[0218] Y Second Direction

[0219] Z Third Direction

[0220] P R Receiving location

[0221] P P Picking location

[0222] Lf is the length of the storage container.

[0223] Hf Height of the storage container

[0224] Af is the area of ​​the storage container.

[0225] R A axis of rotation

[0226] α Inclination angle

Claims

1. An access station (500) for an automated storage and retrieval system, wherein, The access station (500) includes: -Frame structure (520); and - A drawer, arranged in the frame structure (520), wherein the drawer is a slanted drawer (510), the slanted drawer including a compartment (511) for accommodating a cargo tray, wherein the slanted drawer (510) is capable of receiving the cargo tray from above ( P R ) and the tilted picking position used to present the cargo pallet to the user ( P P Pivoting between the tilting drawer (510) and / or the frame structure (520), wherein the tilting drawer (510) has a horizontal axis of rotation arranged in the horizontal central portion of the tilting drawer (510) and / or the frame structure (520). R A ).

2. The access station (500) according to claim 1. in, The tilting drawer (510) has a horizontal axis of rotation arranged below the center of the tilting drawer (510). R A ).

3. The access station (500) according to claim 1, wherein, The access station (500) is configured to enable the receiving location ( P R The port column (119) of the automatic storage and retrieval system is vertically aligned with the port column for receiving cargo pallets from the port column.

4. The access station (500) according to claim 1, wherein, The tilting drawer (510) is oriented toward the receiving position ( P R )bias.

5. The access station (500) according to claim 1, wherein, The access station includes a configuration to limit the pivoting movement of the tilting drawer beyond the picking position. P P ) tilt limiters (512, 522).

6. The access station (500) according to claim 5. in, The tilt limiters (512, 522) are arranged on the tilt drawer (510).

7. The access station (500) according to claim 1, wherein, The frame structure (520) and / or the tilting drawer (510) are configured such that when the tilting drawer (510) is in the picking position ( P P When this occurs, the cargo tray is prevented from being removed from the compartment (511).

8. The access station (500) according to claim 1, wherein, The tilting drawer (510) is automatic.

9. An automatic storage and retrieval system, comprising: - An access station according to any one of the preceding claims; -Guide rail system (108), including rails arranged in a horizontal plane ( P H In the first direction () X The first set of parallel guide rails (110) extending on the horizontal plane and arranged on the horizontal plane ( P H ) in and with the first direction ( X The second orthogonal direction ( Y The second set of parallel guide rails (111) extends on the first set of parallel guide rails and the second set of parallel guide rails (110, 111) in the horizontal plane. P H A grid is formed in the grid, the grid including a plurality of adjacent access openings (112). - Storage section, including multiple cargo racks arranged in storage columns (105) located below the guide rail system (108), Each storage column (105) is vertically located below one of the access openings (112) of the plurality of access openings; - At least one port column (119), located below the rail system (108) and adjacent to the receiving position of the access station (500) P R Vertically aligned, the at least one port column (119) has no cargo trays; and - A container handling vehicle (201; 301; 401) includes: a clamping device (304) for lifting a cargo pallet stored in the storage column (105) above the storage section; and a drive device (201b, 201c; 301b, 301c; 401b, 401c) configured to move along the guide rail system (108) in the first direction ( X ) and the second direction ( Y The vehicle (301) is driven in at least one of the directions.

10. The automatic storage and retrieval system according to claim 9, in, The access station (500) is configured to provide the lower section of the port column (119).

11. The automatic storage and retrieval system according to claim 9 or 10, in, The automated storage and retrieval system includes: - At least two of the aforementioned access stations (500).

12. The automatic storage and retrieval system according to claim 11, wherein, The automated storage and retrieval system includes three or four of the storage and retrieval stations (500).

13. A method for presenting a cargo pallet at a storage station (500) using an automated storage and retrieval system according to any one of claims 10 to 12, wherein, The method includes the following steps: - Cargo pallets stored in the storage section of the storage and retrieval system are retrieved by means of container handling vehicles (201; 301; 401) including clamping devices (304); - Move the tilting drawer (510) of the access station (500) to the receiving position ( P R ); - Place the cargo tray in the compartment (511) of the tilting drawer (510); and - Tilt the tilting drawer (510) to the picking position ( P P This is to present the cargo tray to the user.

14. The method according to claim 13, in, After presenting the cargo pallet to the user, the method further includes the following steps: - Return the tilting drawer (510) to the receiving position ( P R );as well as - Remove the cargo tray from the compartment (511).

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