Access station for an automated storage and retrieval system

Abstract

An access station, an automated storage and retrieval system and a method for using the same are disclosed. The access station (500) comprises a frame structure (520), a drawer (510) arranged in the frame structure (520) and comprising a compartment (511) for accommodating a cargo holder (106), wherein the drawer (510) is movable between a receiving position for receiving the cargo holder (106) from above, at which the drawer (510) is retracted into the frame structure (520) to prevent a user from accessing the compartment (511), and a pick-up position for presenting the cargo holder (106) to a user, and a barrier (530) operating with the drawer (510) to provide a safety zone (Z S ) above the receiving position, wherein the barrier (530) is configured to block movement of the drawer located at the receiving position when an object (304) is located in the safety zone (Z S ), and wherein the barrier (530) is configured to block the object (304) from moving into the safety zone (Z S ) when the drawer (510) is at least partially outside the receiving position.

Description

Technical Field

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

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

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

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

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

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

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, such as raising the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are lowerable from the vehicles 201, 301, 401 such that the position of the clamping / engaging devices relative to the vehicles 201, 301, 401 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the clamping devices of the container handling vehicles 301, 401 are shown in Figures 3 and 4 by reference numerals 304, 404. The clamping devices of the container handling device 201 are located within the vehicle body 201a in Figure 2 and are therefore not visible in the figure.

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

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

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

[0011] Figure 3 shows an alternative construction 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.

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

[0013] Alternatively, the cavity container transport vehicle 401 may have a coverage area 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.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle run. Alternatively, the tracks may include upwardly projecting elements, with the vehicle wheels including flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, and each track in another perpendicular direction (e.g., the Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.

[0015] The contents of WO2018 / 146304A1, which is incorporated herein by reference, show a typical construction of the track system 108, which includes a track and parallel guide rails in the X and Y directions.

[0016] In the frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301, 401 to drop 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 the frame structure 100, or transferred out of or into the frame structure 100. In the art, such a location is commonly referred to as a "port," and the columns where the ports are located may be referred to as "port columns" 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in random or dedicated columns 105 within frame structure 100, 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 in various different directions via means such as transport vehicles, trolleys, or other transport pipelines. It should be noted that the term "inclined" implies transport of storage container 106 with a general transport direction somewhere between horizontal and vertical.

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

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

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

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

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

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

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

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the corresponding storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, 401, so that the desired storage 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 600, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] WO2017 / 211596 discloses a storage system for storing product articles. The storage system includes a grid structure and a plurality of storage boxes configured to store items in vertical compartments within the grid structure. Each storage box is configured to contain at least one product article. The storage system includes a pick-up station and / or a supply station, wherein product articles are configured to be picked up from one of the storage boxes and / or wherein product articles are configured to be supplied to one of the storage boxes. The pick-up station and / or supply station includes a drawer arrangement, wherein the drawer arrangement includes a storage container with compartments for temporarily storing product articles to be picked up from or supplied to the storage system. The drawer arrangement is configured to be in a closed state or an open state; wherein in the closed state, it prevents human access to the compartments, and in the open state, it allows human access to the compartments.

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

[0027] The invention is set forth and its features are shown in the independent claims, while other features of the invention are described in the dependent claims.

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

[0029] -Frame structure;

[0030] - Drawers, arranged within the frame structure and including compartments for accommodating cargo holdings.

[0031] The drawer is movable between a receiving position for receiving goods from above and a picking position for presenting the goods to the user; in the receiving position, the drawer retracts into the frame structure to prevent the user from approaching the compartment; and

[0032] - A blocking element, operating in conjunction with the drawer, is used to provide a safe area above the receiving position.

[0033] The blocking element is configured to block the movement of the drawer located at the receiving position when the object is in the safe area.

[0034] The blocking element is configured such that when the drawer is at least partially outside the receiving position, the blocking element moves to a safe area.

[0035] Therefore, the barrier prevents objects (e.g., grippers from the load handling unit) from moving downwards through the safe area, while allowing the user (i.e., the pick-up device or consumer) access to the compartment and any goods held therein.

[0036] The barrier prevents objects falling from the port array (such as cargo holders like storage containers) from injuring the user's hands.

[0037] The blocking element prevents accidental injury to the user's hand from the clamping device.

[0038] Therefore, a security mechanism is provided to prevent injury to users, especially those who are not trained in using the pickup station, such as customers picking up orders. This pickup station is therefore particularly suitable as a publicly accessible pickup point, such as a curbside pickup point located outside a building / warehouse.

[0039] The stopper can be connected to the drawer directly or indirectly, for example, via an intermediate component. This connection allows the stopper to move as the drawer moves.

[0040] Cargo holdings can be, for example, storage containers, boxes, handling boxes, pallets, or similar items.

[0041] Users will be located outside the framework structure.

[0042] The receiving position can preferably be arranged inside the frame structure. The receiving position can typically be vertically oriented.

[0043] The drawer preferably has an open top.

[0044] In one aspect, the blocking element can be configured to be located outside the safe area when the drawer is in the receiving position.

[0045] The blocking element can be configured to be located between two upright members of the frame structure when the drawer is in the receiving position.

[0046] In one aspect, the blocking element can be configured to be located inside the safety area when the drawer is at least partially outside the receiving position.

[0047] In one aspect, the drawer can be arranged to slide between a receiving position and a picking position.

[0048] In one aspect, the drawer may be a conveyor extending from a receiving position to a picking position, wherein the conveyor is arranged to transport a goods holding item between the receiving position and the picking position.

[0049] In one aspect, the drawer may be a tilting drawer, which is arranged to tilt between the receiving position and the picking position.

[0050] The receiving position of the tilting drawer can preferably be upright. However, if the receiving position is tilted less than the picking position, the receiving position can be tilted.

[0051] In one aspect, the access station may include a tilt limiter configured to limit the pivoting movement of the tilt drawer beyond the pickup position.

[0052] The tilt limiter can be configured to engage the drawer mechanism and the frame structure at a predetermined point of pivoting motion, thereby preventing further pivoting motion. The predetermined point of pivoting motion will typically be the pickup position.

[0053] In one aspect, a tilt limiter can be arranged on a tilt drawer.

[0054] 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 goods holding item, removal of the goods holding item from the compartment is prevented.

[0055] This will prevent saboteurs from stealing cargo holdings from the system when the storage station is used as a curbside pickup point.

[0056] Alternatively, a tilt limiter can be positioned at the bottom of the front end of the drawer (i.e., the foot). Then, after the intended tilt, the tilt limiter will abut against the base of the frame structure.

[0057] Alternatively, tilt limiters can be placed on the frame structure.

[0058] The tilting drawer has a tilt angle α between the receiving position and the picking position.

[0059] The tilt angle α can be relative to the horizontal plane P H The range is 15° to 60°, more preferably 20° to 55°, even more preferably 25° to 50°, even more preferably 30° to 45°, even more preferably 35° to 40°, for example 32.5°.

[0060] The preferred tilt angle range is 30° to 40°. Alternatively, this range may have starting points of 10°, 15°, 20°, 25°, 30°, and 35°. Alternatively, this range may have ending points of 35°, 40°, 45°, 50°, 55°, and 60°.

[0061] A tilt limiter can be arranged 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 made part of the tilt drawer (i.e., integrated with the tilt drawer). The tilt angle can then be set by the length of the tilt limiter.

[0062] 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.

[0063] In one aspect, the tilt drawer may have a horizontal axis of rotation arranged below the center of the tilt drawer. More preferably, the axis of rotation may be arranged at the lower end of the tilt drawer.

[0064] The axis of rotation of the tilting drawer is preferably located above the base of the frame structure.

[0065] Therefore, a tilting drawer is realized in which, when the tilting drawer is tilted, the portion of the tilting drawer above the middle section (i.e., the upper portion) has a longer range of motion than the portion of the tilting drawer below the middle section (i.e., the lower portion). When the base of the tilting drawer is substantially the same size as the base of the frame structure, the upper portion of the tilting drawer can then move at least partially to the outside of the frame structure, while the lower portion of the tilting drawer remains inside the frame structure.

[0066] In one aspect, the tilt drawer may have a horizontal axis of rotation arranged in the horizontal central portion of the tilt drawer and / or frame structure.

[0067] By arranging the horizontal axis of rotation in the horizontal center portion of the tilting drawer and / or frame structure (i.e., the portion having a horizontal distance to the vertical side surface), the vertical clearance between the frame structure and the tilting drawer can be kept to a minimum when the drawer is in the receiving position.

[0068] In one aspect, the safety area may have a safety height extending upward from the drawer by at least 0.5 meters, preferably at least 0.75 meters, and more preferably at least 1.0 meter.

[0069] The safe height is preferably greater than arm length. This prevents injury if a user places their arm inside the access station for any reason.

[0070] In one aspect, the storage station can be configured for vertical alignment of the receiving position with the port column of the automated storage and retrieval system, such that when the drawer is in the receiving position, the goods holding item can be introduced from the port column into the compartment, and wherein, when the drawer is not in the receiving position, a blocking element prevents the goods holding item from being introduced from the port column into the compartment.

[0071] In one aspect, the blocking element can be attached to the drawer as an improvement.

[0072] This will allow for improvements to existing pickup stations. Furthermore, pickup stations previously used inside warehouses (where users are trained pickers) can be converted in this way to be suitable for use as curbside pickup points (where users are untrained).

[0073] Curbside pickup points can be located on road surfaces, in the lobbies of public buildings, or in public squares, ideally positioned to avoid obstructing pedestrians. Curbside pickup points can also be part of commercial buildings (e.g., grocery stores or other shops). They can also be located in commercial premises (e.g., in garden nursery distribution centers, etc.).

[0074] In one aspect, the drawer can be biased toward the receiving position.

[0075] This will allow the access station to continue operating even if the user forgets to close the drawer after picking something up. This is particularly relevant when the user is not trained in using the access station and typically only picks up once.

[0076] The biasing device can be a spring, a damper, a counterweight suitably located in the drawer, or any combination thereof. The biasing device can be arranged in the lower part of the drawer.

[0077] In one aspect, the frame structure and / or drawers can be configured to prevent the removal of cargo holdings from the compartment when the drawer is in the pick-up position.

[0078] This will prevent saboteurs from stealing cargo holdings from the system when the storage station is used as a curbside pickup point.

[0079] The access station may include a limiter configured to engage the drawer and frame structure at a predetermined point of movement, thereby preventing further movement of the drawer. This predetermined point of movement will typically be the pick-up position. The limiter may be located on the drawer and / or the frame structure.

[0080] The predetermined position is preferably configured such that when the drawer is in this position, the frame structure at least partially blocks access to the compartment. By limiting the available access opening of the compartment to an area smaller than any size of the goods holding item, removal of the goods holding item from the compartment is prevented.

[0081] In one aspect, the blocking element may be arranged on the drawer and configured to extend vertically upward above the drawer.

[0082] If the drawer moves in a sliding manner, the vertical range of the blocking element will remain the same, regardless of the drawer's position.

[0083] If the drawer can be pivotally moved, the blocking element should have a vertical range whenever it is outside the receiving position or at least partially outside the receiving position.

[0084] The blocking element can be a separate item attached to the drawer, or it can be integrated into a part of the drawer.

[0085] The blocking element should be rigid enough to withstand any anticipated loads, such as the weight of the clamping device or the cargo holder containing its contents.

[0086] The safety height can be set by the length of the blocking element.

[0087] In one aspect, the blocking element is arranged on the frame structure and connected to the drawer by a connecting device, wherein movement of the drawer away from the receiving position causes the blocking element to be deployed into the safe area and to block entry into the safe area.

[0088] The blocking element attached to the frame structure (520) can be moved in a sliding or pivoting manner.

[0089] The connecting device can be a single piece, such as an elongated flexible transfer element. Alternatively, the connecting device can be an assembly including an elongated flexible transfer element, a pulley, any type of gear, or a combination thereof.

[0090] The connecting device can be slidably connected to the blocking member, for example, through a groove in the blocking member.

[0091] In one aspect, the barrier may include a biasing device for biasing the barrier out of a safe area to allow an object to enter the safe area.

[0092] The biasing device can be a spring, a damper, a counterweight, or any combination thereof. Alternatively, the blocking element can be arranged such that it is pushed out of the safe area by its own weight, for example, by hinged to the frame structure using a horizontal axis of rotation.

[0093] In one aspect, the access station may include a sensor for sensing the presence of an object in a secure area, an electric motor for operating a stop between a position outside the secure area and a position inside the secure area, an electronic lock for locking a drawer in a receiving position, and a control system for communicating with the sensor, the electric motor, and the electronic lock.

[0094] The control system can be configured to lock the drawer in the receiving position when the barrier is outside the safe zone, and to unlock the drawer when the barrier is inside the safe zone.

[0095] The control system can be configured to keep the blocking element inside a safe area when the drawer is at least partially outside the receiving position.

[0096] The control system can be configured to keep the barrier outside the safe zone when the sensor detects an object in the safe zone.

[0097] The sensor can be configured to distinguish the obstruction from other objects.

[0098] The present invention also relates to an automatic storage and retrieval system, wherein the automatic storage and retrieval system comprises:

[0099] - Access stations as described in this article;

[0100] - A track system comprising a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, the first set of tracks and the second set of tracks forming a grid in the horizontal plane including a plurality of adjacent access openings;

[0101] - Storage section, comprising multiple cargo holding units arranged in storage columns located below the track system.

[0102] Each storage column is vertically positioned below one of the multiple access openings;

[0103] - At least one port column, located below the track system and vertically aligned with the receiving position of the access station, wherein the at least one port column has no cargo holdings; and

[0104] - A container handling vehicle, comprising: a clamping device for lifting cargo holdings stored in a column above a storage section; and a drive mechanism configured to drive the vehicle along a track system in at least one of a first direction and a second direction.

[0105] In one aspect, the automated storage and retrieval system may include at least two access stations, preferably three or four.

[0106] These multiple storage stations can preferably be arranged side-by-side on a road surface, in the lobby of a public building, or in a public square, ideally positioned to avoid obstructing pedestrian traffic. Storage stations can also be part of a commercial building (e.g., a grocery store or other shop). Storage stations can also be located in commercial premises (e.g., in a garden nursery distribution plant, etc.). Storage stations can also be part of a large vending machine. Storage stations can be part of a luggage storage area.

[0107] In one aspect, the method includes the following steps:

[0108] - Goods holdings stored in the storage section of the storage and retrieval system are retrieved by a container handling vehicle including a clamping device;

[0109] - To move the cargo holding device held by the clamping device into the safe area, wherein the drawer of the storage station has been moved to the receiving position, which is arranged below the safe area;

[0110] - Place the cargo holding parts in the drawer compartment;

[0111] -Retract the clamping device to a position outside the safe area; and

[0112] - Move the drawer to the pickup position to present the goods holding item to the user.

[0113] Users can then pick up one or more product items from the cargo holder while reducing the risk of injury.

[0114] Furthermore, when the clamping device is inside a secure area to deliver the goods, there is no risk of the user opening the drawer.

[0115] In one aspect, after presenting the goods holding document to the user, the method may further include the following steps:

[0116] - Return the drawer to the receiving position;

[0117] - To move the clamping device into a safe area; and

[0118] -The cargo holding device is used to retrieve the cargo holdings from the compartment back to a position outside the safe area. Attached Figure Description

[0119] The following figures are provided to aid in understanding the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, in which:

[0120] Figure 1 is a perspective view of the framework structure of a prior art automatic storage and retrieval system;

[0121] Figure 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0122] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0123] Figure 4 is a perspective view of a prior art container handling vehicle having an internal cavity for carrying storage containers therein.

[0124] Figure 5 is a perspective view of the storage container and the product items stored in the storage container;

[0125] Figure 6aIt is a perspective view of a storage station including drawers, frame structure and blocking elements, wherein the drawers include compartments for holding goods and are located in a receiving position;

[0126] Figure 6b yes Figure 6a A 3D view of the access station, where the drawer is located at the pickup position;

[0127] Figure 7 yes Figure 6a A breakdown diagram of the access station;

[0128] Figure 8a It is a horizontal cross-section of the storage station, in which the goods holding item is positioned in the compartment of the drawer by a clamping device, the drawer is in the receiving position, the clamping device is located inside the safe area of ​​the storage station, and the blocking element prevents the drawer from moving.

[0129] Figure 8b yes Figure 8a The horizontal cross-section of the access station, wherein the drawer is partially located outside the receiving position, the clamping device is located above the safe area, and the blocking element prevents the clamping device from moving into the safe area;

[0130] Figure 8c yes Figure 8a The horizontal cross-section of the access station, wherein the drawer is located at the pickup position, the clamping device is located above the safe area, and the blocking element prevents the clamping device from moving into the safe area;

[0131] Figure 9a It is a horizontal cross-section of a storage station with a tilting drawer, wherein the goods holding item is positioned in the compartment of the tilting drawer by a clamping device, the tilting drawer is in a receiving position, the clamping device is located inside the safe area of ​​the storage station, and a blocking element prevents the tilting drawer from moving.

[0132] Figure 9b yes Figure 9a A three-dimensional view of the horizontal cross-section of the access station, without any clamping devices;

[0133] Figure 10a yes Figure 9a The horizontal cross-section of the access station, wherein the tilting drawer is partially located outside the receiving position, the clamping device is located above the safe area, and the blocking element prevents the clamping device from moving into the safe area;

[0134] Figure 10b yes Figure 10a A three-dimensional view of the horizontal cross-section of the access station, without any clamping devices;

[0135] Figure 11a yes Figure 9aThe horizontal cross-section of the access station, wherein the tilting drawer is located at the pickup position, the clamping device is located above the safe area, and the blocking element prevents the clamping device from moving into the safe area;

[0136] Figure 11b yes Figure 11a A three-dimensional view of the horizontal cross-section of the access station, without any clamping devices;

[0137] Figure 12a It is a horizontal cross-section of the storage station, in which the goods holding item is positioned in the compartment of the drawer by a clamping device, the drawer is located in the receiving position, the clamping device is located inside the safe area of ​​the storage station, and the blocking element is connected to the drawer by a connecting device and prevents the drawer from moving.

[0138] Figure 12b yes Figure 12a The horizontal cross-section of the access station, wherein the drawer is partially located outside the receiving position, the clamping device is located above the safe area, and the blocking element prevents the clamping device from moving into the safe area;

[0139] Figure 12c yes Figure 12a The horizontal cross-section of the access station, wherein the drawer is located at the pickup position, the clamping device is located above the safe area, and the blocking element prevents the clamping device from moving into the safe area;

[0140] Figure 13a It is the horizontal cross-section of the storage station, in which the goods holding item is positioned in the drawer compartment by a clamping device, the drawer is located in the receiving position, the clamping device is located inside the safe area of ​​the storage station, the blocking element is connected to the frame structure, and the control system operates the blocking element and the drawer.

[0141] Figure 13b yes Figure 13a The horizontal cross-section of the access station, wherein the drawer is located in the receiving position, the clamping device is located above the safe area, and the blocking element is positioned inside the safe area to prevent the clamping device from moving into the safe area; and

[0142] Figure 13c yes Figure 13a The horizontal cross-section of the access station includes a drawer located at the pickup position, a clamping device located above the safe area, and a blocking element to prevent the clamping device from moving into the safe area. Detailed Implementation

[0143] 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.

[0144] The frame structure 100 of the automatic storage and retrieval system 1 is constructed in a similar manner to the prior art frame structure 100 described above in conjunction with Figures 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and also includes a first track system 108 extending in the upper part in the X and Y directions.

[0145] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102 and 103, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0146] 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.

[0147] 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.

[0148] Figure 5 illustrates an embodiment of product article 80 stored in storage container 106. The storage container 106 shown in Figure 4 has a height Hf, a width Wf, and a length Lf. The storage container 106 has a horizontal area Af.

[0149] 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 510 arranged in the frame structure 520. The drawers 510 include compartments 511 adapted to accommodate cargo holdings.

[0150] exist Figure 6a In the middle, drawer 510 retracts into frame structure 520. This position of drawer 510 can be referred to as receiving position P. R Because it allows cargo holdings (e.g., storage containers 106, boxes, handling boxes, pallets, trays, or the like) to be typically received from above in compartment 511. Storage station 500 is preferably configured such that when drawer 510 is in the receiving position P... R To prevent users from approaching compartment 511.

[0151] Figure 6b yes Figure 6a A 3D view of the access station. Figure 6b In this position, drawer 510 is pulled out from frame structure 520. In this position, drawer 510 exposes compartment 511 (and therefore also the goods holding parts located in compartment 511) to the outside of frame structure 520. This position can be referred to as pickup position P. PBecause it allows users of the access station 500 to approach compartment 511 and thus pick up item 80 from the cargo holder located in compartment 511.

[0152] Drawer 510 can be received at position P R and pick position P P The drawer 510 can move between the two locations. The drawer 510 can be positioned in any suitable manner at the receiving position P. R and pick position P P Move between them. Figure 6a and Figure 6b The embodiment shows that drawer 510 can slide in the receiving position P. R and pick position P P The movement then preferably follows a horizontal path. Figures 9a to 11b The alternative movement of drawer 510 is shown.

[0153] The access station 500 also includes a stop 530. The stop 530 operates together with the drawer 510, such that movement of the drawer 510 causes the stop 530 to move.

[0154] The stopper 530 may be part of the drawer 510 or a separate item attached to the drawer 510. The stopper 530 may also be improved if the access station 500 did not initially include this feature. Alternatively, such as Figures 12a to 12c As shown, the blocking member 530 can be indirectly connected to the drawer 510 via, for example, an intermediate component of the connecting device 532.

[0155] Drawer 510 has a rear end and a front end. When connected to an automated storage and retrieval system, the rear end of drawer 510 typically faces the storage side of access station 500, while the front end typically faces the retrieval side of access station 500. The retrieval side can be accessed by the user of access station 500.

[0156] The blocking element 530 can preferably be arranged at the rear end of the drawer 510.

[0157] The blocking member 530 can be configured to extend vertically upward in the Z direction above the drawer 510.

[0158] Figure 7 It shows Figure 6a and Figure 6b A breakdown diagram of the access station.

[0159] The frame structure 520 may be an assembly of several components (e.g., beams, supports, panels, and / or rails) that provide support for the drawer 510. The frame structure 520 may also be configured such that the drawer 510 can be positioned in the receiving position P. R and pick position P PThe drawer 510 is appropriately movable; provides an appropriate height for the drawer 510; forms at least a portion of the port array above the 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 drawer 510. The drawer 510 can be configured to, when in the receiving position P... R Furthermore, 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.

[0160] Figure 8a A horizontal cross-section of access station 500 is shown. As shown, when drawer 510 is in the receiving position P... R At this time, the cargo holding parts can be placed in the compartment 511 of the drawer 510 by the clamping device 304.

[0161] The blocking element 530 is located inside the access station 500 and at the receiving position P. R The safe zone Z is provided above. S .

[0162] exist Figure 8a In the middle, the clamping device 304 is located in the safe area Z. S Inside. Drawer 510 faces the pickup position P. P The movement (i.e., the opening of drawer 510) will be blocked by stopper 530. If drawer 510 is pulled toward the pickup position P, P Then the blocking member 530 will meet the clamping device 304. The size of the clamping device 304 is such that the clamping device 304 is within the port row 119 or in the receiving position P. R Lateral movement within the upper frame structure 520 leaves very little space. Therefore, as long as the clamping device 304 is located in the safe zone Z... S In the middle, the blocking member 530 holds the drawer 510 in the receiving position P. R .

[0163] exist Figure 8a In the middle, the clamping device 304 is used as a clamping device located in the safe area Z. S An embodiment of the object in the drawer will cause the stopper 530 to prevent the drawer 510 from moving. However, when other objects are in the safe area Z S In this case, the blocking member 530 can also block the movement of the drawer 510. Another embodiment of the object can be a cargo holding member. The object may be intentionally (e.g., as part of system operation) or unintentionally (e.g., due to system malfunction) located in the safe area Z. S middle.

[0164] like Figure 8aAs shown, the blocking member 530 does not interfere with access to the compartment 511. When the drawer 510 is in the receiving position P R When the clamping device 304 places the goods holder in the drawer 510 or removes the goods holder from the drawer, the blocking member 530 does not obstruct the clamping device 304. Figure 8a In this configuration, the blocking member 530 is flush with the frame structure 520. The frame structure 520 may, for example, have a recess for receiving the blocking member 530.

[0165] Figure 8b It shows Figure 8a The horizontal cross-section of the access station 500. The clamping device 304 is located in the safety zone Z. S Above. Therefore, the stop 530 does not obstruct the drawer 510 in the receiving position P. R and pick position P P The movement between them. Figure 8b In the middle, drawer 510 is partially located at receiving position P. R Externally, and the barrier 530 is located in the safe area Z. S middle.

[0166] When the blocking element is in the safe zone Z S When the object is in the middle, the blocking member 530 moves the blocking clamping device 304 (and other objects) to the safe area Z. S middle.

[0167] Safe Zone Z S It has a height, namely the safety height H. S Safety height H S Drawer 510 can be located at receiving position P R and pick position P P The horizontal range of the barrier 530 is set during travel. Safety height H S It can extend upward from drawer 510 by at least 0.5 meters, preferably at least 0.75 meters, and more preferably at least 1.0 meter.

[0168] Figure 8c It shows Figure 8a The horizontal cross-section of the access station 500. Drawer 510 is located at the pick-up position P. P And the blocking element 530 is located in the safe zone Z. S In the middle. The blocking member 530 will thus block the clamping device 304 (and other objects) from moving to the safe area Z. S middle.

[0169] Drawer 510 can be oriented toward receiving position P R bias.

[0170] When drawer 510 is in the pickup position P P At times, such as Figure 8c As shown, a goods holding item placed in compartment 511 of drawer 510 is presented to the user of access station 500. The user can then access the contents of the goods holding item. However, preferably, the user should not be able to remove the goods holding item from drawer 510. Therefore, frame structure 520 and / or drawer 510 can be configured such that when drawer 510 is in the pick-up position P... P This prevents the removal of the goods holding item from compartment 511. This can be achieved by making the available opening of drawer 510 in the pick-up position P. P Compared to receiving position P R To achieve this, such as... Figure 8c and Figure 8a As shown respectively. Figure 8c The available opening in the drawer is smaller than the size of the cargo holder (i.e., area Af if the cargo holder is storage container 106), such that when drawer 510 is in the pick-up position P... P At that time, the goods holding parts cannot be removed from drawer 510.

[0171] like Figure 8c As shown, when the blocking member 530 engages with the frame structure 520, the blocking member 530 can restrict the drawer 510 from moving further beyond the pickup position P. P .

[0172] Figure 9a , Figure 10a and Figure 11a A horizontal cross-section of access station 500 is shown, wherein drawer 510 is a tilting drawer 510'. Besides Figure 9a , Figure 10a and Figure 11a The tilting drawer 510' shown is arranged in the receiving position P R and pick position P P In addition to the tilt between them, this access station 500 may include Figures 8a to 8c Any feature of the 500 access stations.

[0173] Figure 9b , Figure 10b and Figure 11b They are shown respectively Figure 9a , Figure 10a and Figure 11a A perspective view of the horizontal cross-section of the access station without the clamping device 304.

[0174] exist Figures 9a to 9b In this configuration, a cargo holder in the form of a storage container 106 is positioned in compartment 511 of a tilting drawer 510' using a clamping device 304. The tilting drawer 510' is located in the receiving position P. R Furthermore, the clamping device 304 is located in the secure area Z of the access station 500. SIn this way, the blocking element 530 prevents the tilting drawer 510' from moving.

[0175] exist Figures 10a to 10b In the middle, the tilting drawer 510' is partially located in the receiving position P. R Externally, and the clamping device 304 is located in the safe area Z. S Above it. The blocking element 530 is located in the security zone Z of the access station 500. S In the middle. The blocking element 530 thus prevents the clamping device 304 (and other objects) from moving to the safe area Z. S middle.

[0176] exist Figures 11a to 11b In the middle, the tilting drawer 510' is located at the pick-up position P. P And the clamping device 304 is located in the safe area Z. S Above it. The blocking element 530 is located in the security zone Z of the access station 500. S In the middle. The blocking element 530 thus prevents the clamping device 304 (and other objects) from moving to the safe area Z. S middle.

[0177] like Figures 11a to 11b As shown, when the blocking member 530 engages with the frame structure 520, the blocking member 530 can prevent the drawer 510 from tilting further beyond the pick-up position P. P The stopper 530 can therefore be used as a tilt limiter.

[0178] The tilting drawer 510' can be tilted toward the receiving position P by means of counterweight 513, spring 514, damper 515 or any combination thereof. R bias.

[0179] like Figure 11a As shown, the tilting drawer 510' is in the receiving position P. R and pick position P P There is an angle α between them. The tilting drawer 510' may have a horizontal axis of rotation R arranged at the lower end of the tilting drawer 510'. A .

[0180] When the tilting drawer 510' is in the pick-up position P P At times, such as Figure 11a As shown, a goods holding item placed in compartment 511 of tilt drawer 510' is presented to the user of access station 500. The user can then access the contents of the goods holding item. However, the user preferably cannot remove the goods holding item from tilt drawer 510'. Therefore, frame structure 520 and / or tilt drawer 510' can be configured such that when tilt drawer 510' is in the pick-up position P... PThis prevents the removal of the goods holding items from compartment 511. This can be achieved by making the available opening of the tilting drawer 510' in the pick-up position P. P Compared to receiving position P R To achieve this, such as... Figure 11a and Figure 9a As shown respectively. Figure 11a The available opening is smaller than the size of the cargo holder (i.e., area Af if the cargo holder is storage container 106), such that when the tilting drawer 510' is in the pick-up position P P At that time, the goods holding parts cannot be removed from the tilted drawer 510'.

[0181] Access station 500 is preferably configured to receive location P R Vertical alignment with the port row 119 of the automatic storage and retrieval system. Thus, when drawer 510 is in the receiving position P... R At this time, the cargo holding piece can be introduced into compartment 511 from port row 119. Furthermore, the blocking element 530 prevents the drawer 510 (or tilt drawer 510') from being in the receiving position P. R The cargo holding piece is then introduced from port column 119 into compartment 511.

[0182] Frame structure 520 can form part of the port column above drawer 510, for example, Figure 8a As shown. Then, the port column formed by the frame structure 520 is preferably configured to be vertically aligned with the port column 119 of the automatic storage and retrieval system. Therefore, the access station 500 can be configured to provide the lower segment of the port column 119.

[0183] The port array formed by the frame structure 520 and the port array 119 of the automatic storage and retrieval system preferably have matching horizontal cross sections. Thus, the cargo holder and clamping device 304, configured to move within the port array 119 of the automatic storage and retrieval system, will also be configured to move within the port array formed by the frame structure 520.

[0184] Figure 12a , Figure 12b and Figure 12c A horizontal cross-section of access station 500 is shown, wherein a stop 530 is indirectly connected to drawer 510. In addition, this access station 500 may include... Figures 8a to 8c Any feature of the 500 access stations.

[0185] Figure 12a A horizontal cross-section of access station 500 is shown. As shown, when drawer 510 is in the receiving position P... R At this time, the cargo holding parts can be placed in the compartment 511 of the drawer 510 by the clamping device 304.

[0186] The blocking element 530 is located inside the access station 500 and at the receiving position P. R The safe zone Z is provided above. S .

[0187] like Figures 12a to 12c As shown, the stop 530 can be indirectly connected to the drawer 510 via an intermediate component in the form of a connecting device 532. A first end of the connecting device 532 can be connected to the drawer 510, preferably to the rear end of the drawer 510. A second end of the connecting device 532 can be connected to the stop 530.

[0188] like Figures 12a to 12c As shown, the blocking member 530 can be pivotally connected to the frame structure 520 and arranged at the receiving position P. R Above. Then, the blocking member 530 can pivot inside the access station 500. Receiving position P R The vertical distance between the pivot point 533 of the blocking member 530 and the safety height H can be limited. S The blocking member 530 is preferably connected to the frame structure 520 at its distal end.

[0189] The blocking member 530 may include a biasing device for biasing the blocking member 530 toward a vertical orientation, i.e., causing the blocking member 530 to have a vertical orientation in its longitudinal direction. When in a vertical orientation, the distal end of the blocking member 530 connected to the frame structure 520 is preferably the lowest point of the blocking member 530, such as... Figure 12a As shown. The connecting device 532 is preferably configured such that when the drawer 510 is in the receiving position P. R The blocking element 530 is allowed to have a vertical orientation.

[0190] When in a vertical orientation, the blocking member 530 is preferably flush with the frame structure 520, allowing objects to enter the safe area Z. S For example, such as Figure 12a As shown, the clamping device 304 is located in the safety area Z. S Internally. The frame structure 520 may, for example, have a recess for receiving the blocking member 530. For example... Figure 12a As shown, the blocking element 530 does not interfere with the access compartment 511. When the drawer 510 is in the receiving position P R When the clamping device 304 places the goods holder in the drawer 510 or removes the goods holder from the drawer, the blocking member 530 does not obstruct the clamping device 304.

[0191] The second end of the connecting device 532 can be connected to the stop 530 in several ways so that the stop 530 operates together with the drawer 510, such that movement of the drawer 510 moves the stop 530. Thus, the drawer 510 is moved from the receiving position P. RTowards pickup position P P Movement will make Figures 12a to 12c The blocking element 530 shown pivots.

[0192] If pivoting the entire 180° is preferably not permitted, the stop 530 is pivotally connected to the frame structure 520. The stop can be restricted to pivoting beyond a predetermined point. This predetermined point is preferably a point where the stop 530 has a substantially horizontal orientation. In this orientation, the stop 530 will block a larger horizontal area of ​​the port array. This orientation of the stop 530 can be achieved by allowing the stop 530 to pivot approximately 90° relative to a vertical orientation. However, the stop 530 can be allowed to pivot more (e.g., 135°) or less (e.g., 45°). If the stop 530 can pivot greater than 0° and less than 180°, it can block a portion of the horizontal area of ​​the port array to some extent, thereby preventing objects from entering the safety area Z. S .

[0193] like Figures 12a to 12c As shown, the connecting device 532 can be flexible. The flexible connecting device 532 can be, for example, a wire, chain, rope, or the like. Alternatively, the connecting device 532 can be rigid. The rigid connecting device 532 can be, for example, a connector rod.

[0194] like Figures 12a to 12c As shown, the connecting device 532 can be slidably connected to the blocking member 530. Alternatively, the connecting device 532 can be fixedly connected to the blocking member 530. When the connecting device 532 is fixedly connected to the blocking member 530, the connecting device 532 is preferably connected to the distal end of the blocking member 530, which is opposite to the distal end of the blocking member 530 connected to the frame structure 520.

[0195] The rigid connection device 532 is preferably pivotally connected to the drawer 510 and the stop 530 at the relatively distal end of the connection device 532.

[0196] exist Figure 12a In the middle, drawer 510 faces the pickup position P. P The movement (i.e., the opening of drawer 510) will be blocked by stopper 530. If drawer 510 is pulled toward the pickup position P, P Then the blocking member 530 will meet the clamping device 304. The size of the clamping device 304 is such that the clamping device 304 is within the port row 119 or in the receiving position P. R Lateral movement within the upper frame structure 520 leaves very little space. Therefore, as long as the clamping device 304 is located in the safe zone Z... S In the middle, the blocking member 530 holds the drawer 510 in the receiving position P. R .

[0197] Figure 12b It shows Figure 12a The horizontal cross-section of the access station 500. The clamping device 304 is located in the safety zone Z. S Above. Therefore, the blocking member 530 does not obstruct the drawer 510 in the receiving position P. R With pick position P P Movement between. Figure 12b In the middle, drawer 510 is partially located at receiving position P. R Externally, and the barrier 530 is located in the safe area Z. S Above.

[0198] When the barrier is in the safe zone Z S When above, the blocking member 530 moves the blocking clamping device 304 (and other objects) to the safe area Z. S middle.

[0199] Figure 12c It shows Figure 12a The horizontal cross-section of the access station 500. Drawer 510 is located at the pick-up position P. P And the blocking element 530 is located in the safe zone Z. S Above. The blocking member 530 will therefore block the clamping device 304 (and other objects) from moving to the safe area Z. S middle.

[0200] exist Figures 12a to 12c In the middle, the blocking component 530 is arranged in the safety area Z. S Above, however, this blocking element 530 can also be arranged in the safety area Z. S middle.

[0201] Figure 13a , Figure 13b and Figure 13c A horizontal cross-section of access station 500 is shown, wherein the stop 530 is not physically connected to drawer 510. Access station 500 may include features for sensing objects in security area Z. S The presence of a sensor (not shown) in the area is used to keep the barrier 530 in the safe zone Z. S External location and security zone Z S An internal motor (not shown) operates between positions to lock drawer 510 in the receiving position P. R The access station 500 includes an electronic lock (not shown) and a control system 600 for communicating with sensors, motors, and the electronic lock. In addition, this access station 500 may include... Figures 8a to 8c Any feature of the 500 access stations.

[0202] The control system can be configured to lock the drawer in the receiving position when the barrier is outside the safe zone, and to unlock the drawer when the barrier is inside the safe zone.

[0203] The control system can be configured to keep the blocking element inside a safe area when the drawer is at least partially outside the receiving position.

[0204] The control system can be configured to keep the barrier outside the safe zone when the sensor detects an object in the safe zone.

[0205] The sensor can be configured to distinguish the obstruction from other objects.

[0206] The control system 600 is shown as a wireless control system 600. However, a cable can be used instead.

[0207] exist Figure 13a In the middle, the object in the form of clamping device 304 is in the safe area Z. S Inside, the sensor detects the object and transmits the signal to the control system 600. The control system 600 locks the drawer 510 in the receiving position P using an electronic lock. R The control system 600 further keeps the blocking element 530 in the safe area Z. S External position. Once the clamping device 304 has placed the item in the compartment 511 of the drawer 510, the clamping device 304 can be retracted to the safe area Z. S The position above.

[0208] exist Figure 13b In the middle, the clamping device 304 retracts to the safe area Z. S Above. The sensor no longer detects the safe zone Z. S An object is detected and sends a signal to the control system 600. The control system 600 then moves the obstruction 530 from the safe area Z. S The external position is released, and the stop 530 is moved to the safe area Z by the motor. S Internal movement. The sensor detected safe area Z. S An internal barrier 530 is configured to be recognized and thus distinguished from other objects. When the barrier 530 is within the safe zone Z... S When inside, it will prevent other objects from entering the safe area Z. S When the blocking element 530 is in the safe zone Z S When inside, the control system 600 moves drawer 510 from receiving position P. R Release. Then, the user can open drawer 510, that is, move drawer 510 from receiving position P. R Towards pickup position P P move.

[0209] exist Figure 13c In the middle, drawer 510 is in the pickup position P. P That is, at least partially at the receiving location P R External control system 600 then keeps the blocking element 530 in the safe area Z. S Inside, until drawer 510 is in the receiving position P R .

[0210] Drawer 510 has been returned to the receiving position P. R Then, the control system 600 will move the blocking element 530 from the safe area Z. S The internal position is released, and the blocking element 530 is moved to the safe area Z by the motor. S External position. Then, the clamping device 304 can approach the safe area Z. S And take out the cargo holding parts from compartment 511 of drawer 510.

[0211] The automated storage and retrieval system may include any one or any number of the aforementioned storage stations 500 and combinations thereof. The automated storage and retrieval system may additionally include a track system 108, wherein the track system comprises components arranged on a horizontal plane P. H The first set of parallel tracks 110 extending in the first direction X and arranged in the horizontal plane P H A second set of parallel tracks 111 extends in a second direction Y orthogonal to the first direction X, and the first set of tracks 110 and the second set of tracks 111 are in the horizontal plane P. H The system forms a grid comprising multiple adjacent access openings 112. The automated storage and retrieval system may further include storage sections comprising multiple cargo holders arranged in storage columns 105 located below the track system 108, wherein each storage column 105 is vertically positioned below one of the multiple access openings 112. The automated storage and retrieval system may further include a receiving position P located below the track system 108 and adjacent to the access station 400. R At least one vertically aligned port column 119, which has no cargo holding piece. The automated storage and retrieval system may additionally include container transport vehicles 201, 301, 401, which include clamping devices 304 for lifting cargo holding pieces stored in the storage section above the storage section, and drive units 201b, 201c; 301b, 301c; 401b, 401c configured to drive vehicle 301 along the track system 108 in at least one of the first direction X and the second direction Y.

[0212] The above-mentioned access station 500 can be operated as follows:

[0213] - Goods holdings stored in the storage section of the storage and retrieval system are retrieved by container handling vehicles 201, 301, and 401, including clamping device 304;

[0214] - Allow the goods held by clamping devices 304, 404 to enter the safe area Z of storage station 500. S In this case, drawer 510 of access station 500 has been moved to receiving position P. R Receiver location P R Arranged in safe area Z S Below;

[0215] - Place the cargo holding parts in compartment 511 of drawer 510;

[0216] -Retract clamping devices 304 and 404 to the safe area Z S External location;

[0217] - Move drawer 510 to the pickup position P P The Chinese side will present the goods holding documents to the user;

[0218] - Return drawer 510 to the receiving position P R ;

[0219] - Allow clamping devices 304 and 404 to enter the safe zone Z S ;as well as

[0220] -The cargo holding item is retrieved from compartment 511 and returned to the safe area Z using clamping devices 304 and 404. S External location.

[0221] In the foregoing description, various aspects of the delivery vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for purposes of explanation in order to provide a thorough understanding of the system and its operation. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that will be apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of the invention.

[0222] List of reference numerals in the attached figures

[0223] 1. Existing automated storage and retrieval systems

[0224] 80 products and items

[0225] 100 Frame Structure

[0226] 102. Upright members of a frame structure

[0227] 104 Storage Grid

[0228] 105 Storage Columns

[0229] 106 Storage Containers

[0230] 106' Storage container in a specific location

[0231] 107 Stacking

[0232] 108 orbital system

[0233] 110 Parallel track in the first direction (X)

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

[0235] 112 Access Opening

[0236] 119 First Port Column

[0237] 120 Second Port Column

[0238] 201 Container handling vehicles of the prior art

[0239] 201a Container Handling Vehicle 201 Body

[0240] 201b Drive mechanism / wheel arrangement / first set of wheels in the first direction (X)

[0241] 201c Drive mechanism / wheel arrangement / second set of wheels in the second direction (Y)

[0242] 301 Prior art cantilever container handling vehicles

[0243] 301a Container Handling Vehicle 301 Body

[0244] 301b Drive unit / first set of wheels in the first direction (X)

[0245] 301c Drive unit / second set of wheels in the second direction (Y)

[0246] 304 clamping device

[0247] 401 Container handling vehicles of the prior art

[0248] 401a Container Handling Vehicle 401 Body

[0249] 401b Drive mechanism / first set of wheels in the first direction (X)

[0250] 401c Drive unit / second set of wheels in the second direction (Y)

[0251] 404 clamping device

[0252] 500 access stations

[0253] 510 drawers

[0254] 510' tilt drawer

[0255] 511 Compartment for holding cargo

[0256] 513 counterweight

[0257] 514 Spring

[0258] 515 damper

[0259] 520 Frame Structure

[0260] 530 blocking component

[0261] 532 Connecting device for blocking components

[0262] 533 Pivot point for blocking components

[0263] 600 Control System

[0264] X First Direction

[0265] Y second direction

[0266] Z Third-party direction

[0267] H S safe height

[0268] Z S safe zone

[0269] P R Receiving location

[0270] P P Pick up location

[0271] Lf storage container length

[0272] Hf Height of the storage container

[0273] Af is the area of ​​the storage container.

[0274] R A axis of rotation

[0275] α tilt angle

Claims

1. An access station (500) for an automated storage and retrieval system, wherein, The access station (500) includes: - Frame structure (520); - A drawer (510) is arranged in the frame structure (520) and includes a compartment (511) for accommodating cargo holding parts. The drawer (510) is located in a receiving position (P) for receiving the goods holding item from above. R ) and the pickup location (P) used to present the goods holding item to the user. P The drawer (510) moves between the receiving positions and retracts into the frame structure to prevent the user from approaching the compartment (511); and - A blocking element (530), operating together with the drawer (510), for use in the receiving position (P) R A safe zone (Z) is provided above. S ), The blocking element (530) is configured such that when the safe area (Z) S When an object is present in the receiver (P), it obstructs the receiver located at the receiving position. R The movement of the drawer (510) and The blocking member (530) is configured such that when the drawer (510) is at least partially located in the receiving position (P) R When an object is outside the safe zone (Z), it is blocked from moving into the safe zone. S )middle.

2. The access station (500) according to claim 1. in, The blocking member (530) is configured such that when the drawer (510) is in the receiving position (P) R When located in the safe zone (Z) S )external.

3. The access station (500) according to claim 1 or 2. in, The blocking member (530) is configured such that when the drawer (510) is at least partially located in the receiving position (P) R When outside the safe zone (Z), S )internal.

4. The access station (500) according to claim 1 or 2. in, The drawer (510) is arranged in the receiving position (P) R ) and the pickup position (P) P Slide between ).

5. The access station (500) according to claim 1 or 2. in, The drawer (510) is arranged in the receiving position (P) R ) and the pickup position (P) P The tilted drawer is tilted between the two sides.

6. The access station (500) according to claim 1 or 2. in, The security zone (Z) S It has a safe height (H) S The safety height extends upward from the drawer (510) by at least 0.5 meters.

7. The access station (500) according to claim 1 or 2. in, 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 such that when the drawer is in the receiving position (P... R When the drawer is not in the receiving position (P), the cargo holding item can be introduced from the port column (119) into the compartment (511), and wherein the drawer is not in the receiving position (P) R When the cargo holder is introduced from the port column (119) into the compartment (511), the blocking member (530) prevents the cargo holder from being introduced from the port column (119) into the compartment (511).

8. The access station (500) according to claim 1 or 2. in, The blocking element (530) is attached to the drawer (510) as a modification part.

9. The access station (500) according to claim 1 or 2. in, The drawer (510) faces the receiving position (P). R )bias.

10. The access station (500) according to claim 1 or 2. in, The frame structure (520) and / or the drawer (510) are configured such that when the drawer (510) is in the pickup position (P) P This prevents the removal of the cargo holding parts from the compartment (511).

11. The access station (500) according to claim 1 or 2. in, The blocking member (530) is arranged on the drawer (510) and configured to extend upward in a vertical direction (Z) above the drawer (510).

12. The access station (500) according to claim 1 or 2. in, The blocking member (530) is arranged on the frame structure (520) and connected to the drawer (510) via a connecting device (532), wherein the drawer (510) is away from the receiving position (P). R The movement of the barrier (530) causes it to be deployed into the safe area (Z). S And blocking the safe area (Z) S ) entry.

13. The access station (500) according to claim 12. in, The blocking element (530) includes a biasing device for biasing the blocking element (530) out of the safe region (Z). S ), to allow objects to enter the safe zone (Z) S ).

14. The access station (500) according to claim 6, wherein, The safety height extends upward from the drawer (510) by at least 0.75 meters.

15. The access station (500) according to claim 14, wherein, The safety height extends upward from the drawer (510) by at least 1.0 meter.

16. An automatic storage and retrieval system, comprising: - Access station according to any one of claims 1 to 15; - Track system (108), including a track system arranged on a horizontal plane (P H The first set of parallel tracks (110) extending in the first direction (X) and arranged in the horizontal plane (P) H The first set of parallel tracks (110) and the second set of parallel tracks (111) extend in a second direction (Y) orthogonal to the first direction (X), and the first set of parallel tracks (110) and the second set of parallel tracks (111) are in the horizontal plane (P). H A grid consisting of multiple adjacent access openings (112) is formed in the grid. - A storage section comprising multiple cargo holders arranged in storage columns (105) located below the track system (108). Each of the storage columns (105) is vertically located below one of the access openings (112); - At least one port column (119) is located below the orbital system (108) and adjacent to the receiving position (P) of the access station (500). R Vertically aligned, at least one port column (119) has no cargo holding piece; and - A container handling vehicle, comprising: a clamping device for lifting cargo holdings stored in the storage column (105) above the storage section; and a drive mechanism configured to drive the container handling vehicle along the track system (108) in at least one of the first direction (X) and the second direction (Y).

17. The automatic storage and retrieval system according to claim 16, in, The automated storage and retrieval system includes: - At least two access stations (500).

18. The automatic storage and retrieval system according to claim 17, wherein, The automated storage and retrieval system includes three or four storage stations (500).

19. A method for presenting a cargo holding item at a storage station (500) using a storage station (500) according to any one of claims 1 to 15, in, The method includes the following steps: - Retrieve cargo holdings stored in the storage section of the storage and retrieval system using a container handling vehicle that includes clamping devices; - Allow the cargo holder held by the clamping device to enter the safe area (Z). S ), wherein the drawer (510) of the access station (500) has been moved to the receiving position (P) R The receiving location (P) R Arranged in the safe area (Z) S Below; - Place the cargo holder in the compartment (511) of the drawer (510); - Retract the clamping device to the safe area (Z) S External location; and - Move the drawer (510) to the pickup position (P) P The product holding information can be presented to the user.

20. The method according to claim 19, in, After presenting the goods holding device to the user, the method further includes the following steps: - Return the drawer (510) to the receiving position (P) R ); - Allow the clamping device to enter the safe area (Z) S );as well as - The cargo holder is retrieved from the compartment (511) and returned to the safe area (Z) by means of the clamping device. S (External location)

Images