Automatic storage and retrieval system, container transfer apparatus, and method of using same

Abstract

The invention relates to an automatic storage and retrieval system, comprising: a first space (2); a second space (3); a partition wall (6); a storage volume (104) for storing the storage containers in the form of a vertical stack; and a horizontal track system (108) arranged above a position where the storage container is to be stored. The invention also relates to a container transfer housing (24) configured to allow transfer of a storage container between a first space and a second space and a method of use of the container transfer housing.

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system, a container transfer device for use in the system, and a method for transporting storage containers using the container transfer device.

[0002] Background and Prior Art

[0003] Figure 1 A prior art automatic storage and retrieval system 1 having a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art container handling devices 200 , 300 , 400 suitable for operation on the system 1 are disclosed.

[0004] The frame structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also referred to as containers) are stacked one on top of another to form stacks 107. The members 102 may typically be made of metal, such as extruded aluminum profiles.

[0005] The frame structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 200, 300, 400 can operate to lift and lower storage containers 106 from and into the storage rows 105, and also to transport storage containers 106 over the storage rows 105. The rail system 108 includes: a first set of parallel rails 110 arranged to guide the container handling vehicles 200, 300, 400 to move in a first direction X across the top of the frame structure 100; and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 200, 300, 400 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by the container handling vehicles 200, 300, 400 through access openings 112 in the rail system 108. The container handling vehicles 200 , 300 , 400 can move laterally above the storage row 105 , ie, in a plane parallel to the horizontal XY plane.

[0006] The upright members 102 of the frame structure 100 may be used to guide the containers 106 during raising and lowering of the containers 106 from the row 105. The stack 107 of containers 106 is generally self-supporting.

[0007] Each prior art container handling device 200, 300, 400 includes a handling device body / vehicle body 201, 301, 401 and a first set of wheels and a second set of wheels 202a, 202b, 302a, 302b, 402a, 402b that enable the container handling device 200, 300, 400 to move laterally in the X direction and the Y direction, respectively. Figure 2 , Figure 3 and Figure 4 , two wheels in each set of wheels are fully visible. The first set of wheels 202a, 302a, 402a is arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 202b, 302b, 402b is arranged to engage with two adjacent tracks in the second set of tracks 111. At least one of the sets of wheels 202a, 202b, 302a, 302b, 402a, 402b can be raised and lowered so that the first set of wheels 202a, 302a, 402a and / or the second set of wheels 202b, 302b, 402b can engage with the corresponding set of tracks 110, 111 at any time.

[0008] Each prior art container handling device 200, 300, 400 also includes a lifting device 303, 403 for vertical transportation of containers 106, for example, lifting containers 106 from the storage column 105 and lowering containers 106 into the storage column. The lifting device 303, 403 includes one or more clamping / engaging devices 404 suitable for engaging with the container 106, and the clamping / engaging device 404 can be lowered from the vehicle 200, 300, 400 so that the position of the clamping / engaging device 404 relative to the vehicle 200, 300, 400 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Figure 4 4 shows a gripping device 404 of the container handling device / vehicle 400 in the form of a plurality of claws. The lifting device of the container handling device 200 is located within the vehicle body 201 and is therefore not shown.

[0009] Conventionally and also for the purposes of this application, Z=1 identifies the uppermost level for storing containers below the rails 110, 111, i.e., the level immediately below the rail system 108, Z=2 identifies the second level below the rail system 108, Z=3 identifies the third level, etc. Figure 1 In the exemplary prior art disclosed in , Z=8 identifies the bottommost layer of the container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using Figure 1 The Cartesian coordinate system X, Y, Z shown in Figure 1The container identified as 106' in FIG. 1 occupies the storage position A=17, Y=1, Z=6. It can be said that the container handling device 200, 300, 400 travels in the layer of Z=0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Therefore, Figure 1 The containers shown in FIG. 1 extending above the rail system 108 are also referred to as being arranged in the layer with Z=0.

[0010] The storage volume 104 of the frame structure 100 is generally referred to as a storage grid, wherein the possible storage positions within the grid are referred to as storage units. Each storage column can be identified by a position in the X-direction and the Y-direction, and each storage unit can be identified by a container number in the X-direction, the Y-direction, and the Z-direction.

[0011] Each of the prior art container handling devices 200, 300, 400 includes a storage compartment or storage space for receiving and loading the container 106 when transporting the container 106 across the track system 108. The storage space may include a cavity disposed within the vehicle body 201, 301, 401, such as Figure 2 and Figure 4 As shown in and described, for example, in WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

[0012] Figure 3 An alternative configuration of a container handling device / vehicle 300 having a cantilever configuration is shown. Such a vehicle is described in detail in, for example, NO 317,366, the contents of which are also incorporated herein by reference.

[0013] Figure 2 The footprint of the center cavity vehicle 200 shown in FIG. 2 may cover an area with dimensions in the X and Y directions substantially equal to the lateral extent of the storage column 105, such as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".

[0014] Alternatively, the footprint of the cavity container handling device / vehicle 400 may be larger than the lateral area defined by the storage row 105, such as Figure 1 and Figure 4 As shown in and disclosed, for example, in WO 2014 / 090684 A1 or WO 2019 / 206487 A1.

[0015] The track system 108 typically includes a track with a groove in which the wheels of the vehicle travel. Alternatively, the track may include an element extending upward, wherein the wheels of the vehicle include a flange to prevent derailment. These grooves and the elements extending upward 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., X direction) may include one guide rail, and each track in another vertical direction (e.g., 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 a pair of guide rails provided by each track.

[0016] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108 comprising tracks and parallel guides in both the X-direction and the Y-direction.

[0017] In the frame structure 100, most of the rows are storage rows 105, i.e. rows 105 in which containers 106 are stored in the form of stacks 107. However, some rows may have other purposes. Figure 1 In the embodiment of the present invention, the columns 119 and 120 are such special columns used by the container handling devices 200, 300, 400 to unload and / or pick up the containers 106 so that the containers can be transported to the access station (not shown), where the containers 106 can be accessed from the outside of the frame structure 100 or moved out of or into the frame structure 100. In the art, such positions are generally referred to as "ports", and the columns where the ports are located can be referred to as "port columns" 119, 120. Transportation to the access station can be carried out in any direction (i.e., horizontal, inclined and / or vertical). For example, the container 106 can be placed in a random or special column 105 within the frame structure 100, and then picked up by any container handling device and transported to the port columns 119, 120 for further transportation to the access station. Transportation from the port to the access station may require movement along various different directions with the help of, for example, a delivery vehicle, a trolley or other transportation lines. Note that the term "inclined" refers to the transport of the container 106 in a general transport orientation somewhere between horizontal and vertical.

[0018] exist Figure 1In the embodiment, the first port column 119 can be, for example, an unloading port column, at which the container handling devices 200, 300, 400 can unload the containers 106 to be transported to the access station or the transfer station, and the second port column 120 can be a dedicated picking port column, at which the container handling devices 200, 300, 400 can pick up the containers 106 that have been transported from the access station or the transfer station.

[0019] The access station may typically be a pick-up station or a staging station at which the product items are removed from or positioned in the container 106. In the pick-up station or staging station, the container 106 is typically not removed from the automated storage and retrieval system 1, but is returned again to the frame structure 100 after access. The port may also be used to transfer the container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0020] A conveyor system including conveyors is typically employed to transport containers between the port rows 119, 120 and the access station.

[0021] If the port rows 119, 120 and the access station are located at different levels, the conveyor system may include a lifting device with a vertical component for transporting the containers 106 vertically between the port rows 119, 120 and the access station.

[0022] The conveyor system may be arranged to transfer containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0023] When accessing data stored in Figure 1When a container 106 in one of the plurality of storage columns 105 disclosed in the embodiment of the present invention is removed, one of the plurality of container handling devices 200, 300, 400 is instructed to remove the target container from the location of the target container 106 and transport the target container to the unloading port column 119. This operation involves moving the container handling device 200, 300, 400 to a position above the storage column 105 where the target container 106 is located, removing the container 106 from the storage column 105 using the lifting device of the container handling device 200, 300, 400, and transporting the container 106 to the unloading port column 119. If the target container 106 is located deep within the stack 107, that is, one or more other containers 106 are located above the target container 106, the operation also involves temporarily moving the container located above before lifting the target container 106 from the storage column 105. This step (sometimes referred to as "digging" in the art) can be performed using the same container handling device that is subsequently used to transport the target container to the unloading port column 119, or using one or more other cooperating container handling devices. Alternatively or additionally, the automatic storage and retrieval system 1 may have a container handling device 200, 300, 400 dedicated to the task of temporarily removing a container 106 from a storage column 105. After the target container 106 is removed from the storage column 105, the temporarily removed container 106 may be relocated to the original storage column 105. However, the removed container 106 may be relocated to another storage column 105 instead.

[0024] When a container 106 is to be stored in a row 105, a container handling device 200, 300, 400 is instructed to pick up a container 106 from the pick port row 120 and transport the container to a position above the storage row 105 where the container will be stored. After removing any container 106 that is at or above the target position within the stack 107, the container handling device 200, 300, 400 positions the container 106 to the desired position. The removed container 106 can then be lowered back into the storage row 105 or repositioned to another storage row 105.

[0025] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the position of each container 106 within the frame structure 100, the contents of each container 106, and the movement of the container handling devices 200, 300, 400, so that the required container 106 can be transported to the required position at the required time without the container handling devices 200, 300, 400 colliding with each other, the automatic storage and retrieval system 1 includes a control system 700, which is typically computerized and typically includes a database for keeping track of the containers 106.

[0026] The automatic storage and retrieval systems described above are typically configured to operate in an area at ambient temperature (e.g., about 20°C). However, for certain types of products, the optimal storage temperature may be different. For example, it may be desirable to store food at refrigerator temperatures (typically between 1°C and 4°C) or frozen temperatures (typically below -18°C or below -20°C).

[0027] Furthermore, it may sometimes be desirable to surround an automated storage and retrieval system with an atmosphere that is different from the ambient atmosphere, for example to reduce the risk of fire by lowering the oxygen concentration in the surrounding atmosphere.

[0028] Known automatic storage and retrieval systems have different temperature zones and can control the temperature in these temperature zones. For example, patent publication WO 2015 / 124610 A1 describes a system for receiving and storing processed refrigerated and frozen food products using multiple container handling vehicles running on a track system. In this prior art solution, containers are stacked in two different storage volumes separated by a wall under a common track system. The container handling vehicles can move freely over the two storage volumes at a higher operating temperature (such as room temperature).

[0029] One disadvantage of this prior art solution is that the container handling vehicle is exposed to colder temperatures when storing or retrieving containers in colder areas. This may result in the formation of condensation, which may cause problems with the electronic devices.

[0030] The prior art storage system described in WO 2019 / 001816 A1 shows a system with different temperature zones and means for transporting containers between the different temperature zones. In order to reduce temporary exposure of container handling vehicles to cold air, the solution includes a lift that lowers and raises the container between the access point to the transfer area.

[0031] However, this solution is complex and costly.

[0032] In the article "Wagnerlmpulse" in the magazine "Wagner Group Customer Magazine" (March 2018), a storage facility is described in which the oxygen concentration can be reduced to prevent fires. The lower oxygen concentration is achieved by pressurizing hypoxic air throughout the storage facility.

[0033] The article does not suggest any solution for maintaining such low oxygen concentrations over longer time frames, such as days. For example, the article does not indicate how the storage system can be operated to allow containers to be transported in or out of the storage system without increasing the oxygen concentration. Such operation would require frequent exposure of the storage system to the atmosphere.

[0034] It is an object of the present invention to provide an automated storage and retrieval system and a method of operating the same which solve or at least alleviate one or more of the aforementioned problems associated with the use of prior art storage and retrieval systems.

[0035] Another object of the invention is to provide a solution that allows handling of containers within a storage system that are located in a space where the environment differs from the surrounding environment.

[0036] Another object of the present invention is to provide Figures 1 to 4 The prior art system reconfiguration minimization solution shown in . Summary of the invention

[0037] The invention is set out and described in the independent claims, while the dependent claims describe other preferred / optional features.

[0038] In a first aspect, the invention relates to an automatic storage and retrieval system, comprising: a first space; a second space; a first storage volume located in the first space for storing storage containers in the form of a vertical stack; and a horizontal track system arranged above the location where the storage containers are stored or to be stored. The track system comprises a first set of tracks and a second set of tracks oriented perpendicular to the first set of tracks, the intersections of the tracks forming a grid of grid cells defining grid openings.

[0039] "Storage containers" are defined herein as any form of cargo holder that can be arranged in a vertical stack. Thus, storage containers include, but are not limited to, rectangular boxes having four integral sides and a base. Storage containers may also include boxes having one or more holes or cutout areas, for example, in either of the side surfaces or the base surface.

[0040] The system further includes: a first container handling vehicle configured to lift and lower a storage container through one of the plurality of grid openings and transport the storage container along a rail system; a wall separating the first space from the second space; and a container transfer housing configured to provide a passage to allow the storage container to be transferred between the first space and the second space. The wall includes an opening having a size that at least allows the storage container to pass through the wall, and preferably, the opening has a size that allows the entire first container handling vehicle to pass through.

[0041] The openings in the housing and walls may advantageously be configured to enable transfer of storage containers from one space to another without exposing the first container handling vehicle to significant temperature changes and / or without loss of a particular atmosphere.

[0042] Furthermore, the container transfer housing may be arranged such that its lower portion is flush with the upper portion of the horizontal rail system.

[0043] If the container transfer housing is at least partially arranged in the first space and / or if the rail system extends into the second space (see below), the container transfer housing can be located on top of the rail system.

[0044] In an exemplary configuration, the container transfer housing can be arranged adjacent to the opening. Alternatively, the container transfer housing can be arranged within the opening.

[0045] In an exemplary configuration, the container transfer housing may include a first door configured to open and close a first access point of the container transfer housing and a second door configured to open and close a second access point of the container transfer housing.

[0046] For this exemplary configuration, the automatic storage and retrieval system may also include a door mechanism configured to operate the first door and / or the second door so that when one door is opened, the other door is closed. In addition, the container transfer housing may be designed and positioned so that when one of the first door and the second door is closed, the opening in the wall is also closed. The door mechanism may also be mounted on other parts of the automatic storage and retrieval system, such as a wall. The second door may be positioned / arranged to open and close one side of the opening at the same time.

[0047] Alternatively or additionally, the door mechanism may be configured to operate the first door and the second door so that both doors may be in an open position or a closed position. Thus, both doors may be kept open during normal operation to allow containers / container handling vehicles to be transported between spaces, and both doors may be kept closed in special circumstances such as fire and / or smoke forming in one of the spaces. Thus, the system may act as an effective fire door / fire damper.

[0048] Allowing both doors to be closed also allows other operations to be performed, such as ventilating one of the spaces.

[0049] As an alternative or in addition to the second door, the automated storage and retrieval system may include a wall-mounted door. Similar to the configuration with the first door and the second door, the door mechanism may be configured to operate the first door and / or the wall-mounted door so that when one door is open, the other door is closed. In addition, the container transfer housing may be designed and positioned so that when one of the first door and the wall-mounted door is closed, the opening is also closed.

[0050] In an exemplary configuration, the door mechanism may include a drive shaft motor configured to raise and lower the first door relative to the first access point. The direction of the lift is preferably vertical relative to the track system to minimize space. When the lift is performed vertically, the design of the door is also not affected by the track.

[0051] In an exemplary configuration, the door mechanism may include a first drive shaft and a first cable connecting the first drive shaft to the first door, wherein the drive shaft motor is configured to rotate the first drive shaft, thereby raising and lowering the first door. In this document, a "cable" may be broadly defined as any structure that can be wound around a shaft and used to raise and lower the first door.

[0052] In an exemplary configuration, the first drive shaft, the first cable, and the drive shaft motor can be configured such that: when the drive shaft motor rotates the first drive shaft in one rotational direction, the first door is lowered to close the first access point; and when the drive shaft motor rotates the first drive shaft in an opposite rotational direction, the first door is raised to open the first access point.

[0053] In an exemplary configuration, the door mechanism may include a second cable connecting the first drive shaft to the second door (preferably via the second drive shaft) such that: when the drive shaft motor rotates the first drive shaft in one rotational direction, the second door moves in a direction opposite to the first door. In this way, when the first door is closed, the second door is opened, and vice versa.

[0054] In an exemplary configuration, the door mechanism may include a second drive shaft motor configured to raise and lower the second door relative to the second access point. Using a second drive shaft motor that can be operated independently of the first drive shaft motor is considered to be advantageous because the opening of one access point can be performed after the other access point is completely closed. Therefore, the risk of heat leakage and / or gas leakage between the first space and the second space can be reduced.

[0055] In an exemplary configuration, the door mechanism may include a second cable connecting the second drive shaft to the second door such that when the second drive shaft motor rotates the second drive shaft in one direction, the second door is raised relative to the second access point; and when the second drive shaft motor rotates the second drive shaft in another direction, the second door is lowered relative to the second access point.

[0056] In an exemplary configuration, the second drive shaft, the second cable, and the second drive shaft motor can be configured such that: when the second drive shaft motor rotates the second drive shaft in one rotational direction, the second door is lowered to close the second access point (and preferably also closes the opening through the wall); and when the second drive shaft motor rotates the second drive shaft in the opposite rotational direction, the second door is raised to open the second access point (and preferably also opens the opening through the wall).

[0057] In an exemplary configuration, the container transfer housing and door mechanism may form portions of a container transfer apparatus that is removable as a unit from the rest of the automated storage and retrieval system.

[0058] In an exemplary configuration, the first space can be surrounded by: a partition wall arranged at one side of the first storage volume portion, a floor arranged below the first storage volume portion, a top plate arranged above the first storage volume portion, a second wall arranged at a side of the first storage volume portion away from the partition wall, a third wall extending between the second wall and the partition wall at the other side of the first storage volume portion, and a fourth wall extending between the second wall and the partition wall at another side of the first storage volume portion.

[0059] In an exemplary configuration, the automated storage and retrieval system may include a container transport device disposed in the second space, wherein the container transport device is configured to transport the storage container from inside the container transfer housing to another location in the second space via the second access point.

[0060] Alternatively or additionally, a human operator may remove the storage container from within the container transfer housing and transport the container to another location in the second space.

[0061] In an exemplary configuration, the storage and retrieval system may include a second storage volume accommodated within the second space for storing storage containers in the form of a vertical stack. In this configuration, the horizontal rail system may extend through the opening and over the second storage volume, such that the vertical height from the top portion of the rail system to the top portion of the opening is equal to or higher than the maximum height of the storage containers to be stored, and preferably also higher than the maximum height of the first container handling vehicle.

[0062] In an exemplary configuration, the container transport device may be a second container handling vehicle configured to transport the storage container from the container transfer housing along the horizontal rail system. The second access point is preferably sized large enough to allow the second container handling vehicle to pass through.

[0063] The first container handling vehicle and / or the second container handling vehicle may be a prior art container handling vehicle having a cantilever configuration.

[0064] In an exemplary configuration, the interior volume of the container transfer housing may cover n×m grid openings of the track system, where n and m are integers.

[0065] In an exemplary configuration, the container transfer housing may have an open bottom surface, i.e., a bottom surface that is open toward the storage volume (when present). The automated storage and retrieval system may further include a skirt portion that is attached to the container transfer housing and / or the rail system and / or any frame structure below the rail system, wherein the skirt portion extends at least partially (e.g., completely) around the open bottom surface.

[0066] In an exemplary configuration, the skirt portion may extend below the container transfer housing a distance corresponding to at least a portion of the vertical distance from the open bottom surface to the floor below the first storage volume and the second storage volume (if present). The skirt portion preferably extends a vertical distance corresponding to the depth of two or more storage units, such as the entire distance to the floor or the entire height of the storage column. If the lowest point of the storage column is above the floor of the building, for example to allow cold air to circulate under the stacks of the storage column, the skirt portion extends the entire height of the storage column.

[0067] When the container transfer shell is arranged on top of a horizontal track system covering n×m grid openings (where n and m are integers), the lower edge of the container transfer shell can be arranged just outside the track to form a perimeter of the n×m grid opening area of ​​the track system, thereby allowing container handling vehicles entering the shell to have maximum freedom. The container transfer shell can be attached to the track and / or a frame structure located below the track (see below). If the container transfer shell is configured to allow container handling vehicles to enter, the size of the shell is wider than the size of the grid opening so that the wheels of the vehicle entering the shell can be connected to the track. For example, if the track system includes a double-guide track, the size of the container transfer shell can extend to the midpoint of each track forming the n×m grid openings.

[0068] In an exemplary configuration, the first storage volume and / or the second storage volume (see below) may house upright members between which stacks of containers are stored. The upper ends of the upright members may be connected to intersections of the rail system.

[0069] In an exemplary configuration, the container transfer housing may have a rectangular open bottom surface, and the container transfer housing is arranged in the first space and / or the second space so that the main direction of the rectangular open bottom surface is aligned with the orientation of the first set of tracks and the second set of tracks.

[0070] In an exemplary configuration, the skirt portion may include 2×n X-plates and 2×m Y-plates distributed around the perimeter of the rectangular open bottom surface, such that the upright members, the track system, and the skirt portion form an enclosed space that extends at least partially to the floor above the first storage volume and the second storage volume (if present), such as the depth of 2 or more storage units below the track system. Thus, the width of each X-plate may be equal to or nearly equal to the dimension of the grid opening along the first set of tracks, and the width of each Y-plate may be equal to or nearly equal to the dimension of the grid opening along the second set of tracks.

[0071] In an exemplary configuration, the storage and retrieval system may include a second storage volume portion located within the second space for storing storage containers in the form of vertical stacks, wherein a horizontal rail system extends through the opening and above the second storage volume portion so that the vertical height from the top portion of the rail system to the top portion of the opening is equal to or greater than the maximum vertical height of the storage containers to be stored, and preferably also equal to or greater than the maximum vertical height of the first container handling vehicle and / or the second container handling vehicle (if any).

[0072] In an exemplary configuration, the skirt portion may be provided with an insulating material to reduce heat conduction through the skirt portion, i.e., reduce heat conduction between the interior volume defined by the skirt portion and the external environment of the skirt portion. Reduction of heat conduction through the skirt portion reduces heat conduction between the first space and the second space.

[0073] In an exemplary configuration, the automatic storage and retrieval system may include a cooling unit configured to make a temperature in the first space lower than a temperature in the second space.

[0074] In an exemplary configuration, the partition wall may be provided with a heat insulating layer to reduce heat conduction between the first space and the second space.

[0075] In an exemplary configuration, a vertical cross-section of the second door of the container transfer housing may be larger than a vertical cross-section of the opening of the partition wall.

[0076] In an exemplary configuration, the container transfer housing may be arranged such that direct contact or nearly direct contact is formed between a portion of the second door and the wall.

[0077] In a second aspect, the present invention relates to a container transfer device for transferring a storage container between a first space having a first temperature and / or a first pressure and / or a first atmosphere and a second space having a second temperature and / or a second pressure and / or a second atmosphere different from the first temperature / pressure / atmosphere. The container transfer device includes a container transfer shell and optionally includes a skirt portion attached to the container transfer shell. The skirt portion can be configured (i.e., designed and / or selected materials) so that heat conduction through the skirt portion is reduced, for example, by more than 50%. "Through the skirt portion" in this article means in the thickness direction between the internal volume portion defined by the skirt portion and the surrounding environment of the skirt portion.

[0078] The container transfer shell includes: a first door configured to open and close a first access point of the container transfer shell; a second door configured to open and close a second access point of the container transfer shell; and a door mechanism configured to operate the first door and / or the second door so that when one door is opened, the other door is closed.

[0079] In an exemplary configuration of the second aspect, the container transfer shell and the skirt portion may define an internal volume portion (preferably having at least 5 sides), and at least a portion of the container transfer equipment may be provided with insulating material to reduce heat conduction from the internal volume portion to its surrounding environment.

[0080] In an exemplary configuration of the second aspect, the container transfer housing may have a rectangular open bottom surface having two parallel X sides and two parallel Y sides, wherein the skirt portion includes n X plates arranged at each of the two parallel X sides of the rectangular bottom surface and m Y plates arranged at each of the two parallel Y sides of the rectangular bottom surface, wherein n and m are integers. The n X plates and the m Y plates may be made of a heat insulating material.

[0081] In a third aspect, the invention relates to a method for transferring storage containers between a first space and a second space within an automated storage and retrieval system as described above with respect to the first aspect of the invention.

[0082] The method comprises the following steps:

[0083] - placing the storage container in the container transfer housing using a first container handling vehicle operating in the first space, wherein the storage position of the storage container can be located in a storage row covered by the container transfer housing,

[0084] - removing the storage container from the container transfer housing using a lifting device forming part of a container transport device operating in the second space, and

[0085] - Optionally, the storage container is lowered into the second storage volume using a lifting device.

[0086] Placing the storage container in the container transfer housing may be performed by driving a portion of the first container handling vehicle (eg a boom section when a prior art boom configuration is used as the container handling vehicle) or by driving the entire first container handling vehicle.

[0087] In an exemplary method of the third aspect, the container transfer housing may include: a first door configured to open and close a first access point of the container transfer housing; and a second door configured to open and close a second access point of the container transfer housing. In the exemplary method, the automated storage and retrieval system further includes a door mechanism configured to operate the first door and / or the second door so that when one door is opened, the other door is closed, wherein the container transfer housing is designed and positioned so that when one of the first door and the second door is closed, the opening is also closed.

[0088] The door mechanism may be mounted at various locations on the storage system, such as on the container transfer housing, within the container transfer housing, on a wall, on a track system, below a track system, or a combination thereof.

[0089] The exemplary method may also include the following steps:

[0090] - opening the first door using the door mechanism and then placing the storage container in the container transfer housing, and

[0091] - close the first door using the door mechanism, and

[0092] - preferably after the first door is closed, the second door is opened using the door mechanism,

[0093] After the first door is closed and the second door is opened, the storage container is removed from the container transfer housing using a container transport device, which may include a robot (such as a robot with a multi-jointed arm) and / or a human operator.

[0094] In the exemplary method of the third aspect, the storage and retrieval system may further include a second storage volume located within the second space for storing storage containers in a vertical stack. The horizontal rail system extends through the opening and extends above the second storage volume, so that the vertical height from the top portion of the rail system to the top portion of the opening is equal to or higher than the maximum height of the storage container to be stored.

[0095] Furthermore, the container transport device may be a second container handling vehicle configured to transport the storage container along the horizontal rail system.The vertical height is preferably equal to or higher than the maximum height of the first container handling vehicle and the second container handling vehicle.

[0096] The exemplary method may also include the following steps:

[0097] - Transporting the storage container on the horizontal rail system using a second container handling vehicle so that the lifting device is aligned with the grid openings providing access to the storage row in the second storage volume or with the grid openings providing access to the port row. An access station for further handling of the storage container can be arranged at the lower end of the port row. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] The following drawings depict embodiments of the present invention by way of example only and are attached to facilitate understanding of the present invention.

[0099] Figure 1is a perspective view of a prior art automated storage and retrieval system comprising a track system on which a plurality of remotely operated container handling vehicles are operating and a storage volume for storing stacks of containers.

[0100] Figure 2 is a perspective view of a prior art remotely operated vehicle having a centrally located cavity for carrying a container therein.

[0101] Figure 3 is a perspective view of a prior art remotely operated vehicle having a boom for carrying a container underneath.

[0102] Figure 4 is a perspective view of a prior art remotely operated vehicle having a cavity for carrying an interior arrangement of a container therein, wherein the cavity is offset from its center relative to the X-direction.

[0103] Figure 5 is a side view of an exemplary automated storage and retrieval system according to an embodiment of the present invention, the automated storage and retrieval system comprising: a track system on which a plurality of remotely operated container handling vehicles operate; and two storage volumes separated by a wall for storing stacks of containers, wherein: Figure 5 A and Figure 5 B in the figure shows a preferred arrangement of a container transfer apparatus that allows container handling vehicles to access either an ambient space on one side of the container transfer apparatus or a refrigerated space on the other side of the container transfer apparatus, respectively.

[0104] Figure 6 is a side view of an exemplary automatic storage and retrieval system according to a second embodiment of the present invention, wherein: Figure 6 A and Figure 6 B in the figure shows the arrangement in the environment space Figure 5 Container transfer equipment in.

[0105] Figure 7 A perspective view of a container transfer apparatus is shown that allows container handling vehicles to access ambient and / or refrigerated spaces while avoiding heat leakage.

[0106] Figure 8 is a perspective view of a container transfer apparatus according to one embodiment of the present invention.

[0107] Fig. 9 is a perspective view of a container transfer device according to another embodiment of the present invention, wherein a container handling vehicle is arranged inside the container transfer device. DETAILED DESCRIPTION

[0108] In the following, embodiments of the present invention will be discussed in more detail by way of example only and with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings. In addition, even if certain features are described only with respect to the automatic storage and retrieval system and the container transfer device, it is clear that they are also applicable to the related methods, and vice versa.

[0109] Figure 5 A and Figure 5 B in the figure shows a side view of an automatic storage and retrieval system 1 according to a preferred embodiment of the present invention. The positive X direction, positive Y direction and positive Z direction are respectively directed from the left side of the figure to the right side, to the outside of the figure and from the upper side of the figure to the lower side.

[0110] The storage system 1 is divided into a first space 2 and a second space 3 by a wall 6 aligned in the YZ plane. Both the first space 2 and the second space 3 contain storage volumes 104, 104' located on a common floor 7, wherein each storage volume 104, 104' contains containers 106 stacked in the form of a vertical stack 107. Figure 1 The rail system 108 described in the prior art system in FIG. 1 extends above both spaces 2, 3. The portion of the storage system 1 within the second space 3 also includes one or more port rows 120 for unloading or picking up containers 106 to be transported to / from the access station 150. An operator 151 can perform further handling of the containers 106 at the access station 150. The stack 107 can be vertically supported by the upright members 103 within the volumes 104, 104'.

[0111] If the aim is to maintain the first space 2 at a different temperature than the second space 3, the dividing wall 6 may comprise insulating material, such as expanded foam material (e.g. polystyrene), fibrous material (e.g. glass fiber) and / or other materials or arrangements which interrupt or at least reduce heat conduction between the ambient space and the refrigerated space compared to conventional wall materials.

[0112] If the aim is to prevent the spread of fire from the first space 2 to the second space (or vice versa), the partition wall 6 may comprise (in addition to or instead of insulation) fire-resistant materials such as fire-resistant glass, concrete, plaster, stucco and bricks.

[0113] The storage system 1 further comprises: a container handling vehicle 300 running on top of the rail system 108 in both the first space 2 and the second space 3; and a container transfer device 10 arranged adjacent to one or more openings 40 through the partition wall 6. Figure 5In the embodiment, the container transfer device 10 is shown as being in the first space 2. However, the container transfer device 10 may alternatively be arranged in the second space 3 (see Figure 6 ), or partially arranged in the first space 2 and the second space 3 (not shown), for example, arranged between them.

[0114] The container transfer device 10 is configured to allow one or more container handling vehicles 300 to pick up containers 106 and unload the containers into a stack 107 located within the container transfer device 10 or into a stack within a storage volume 104, 104' located directly below the container transfer device 10, while reducing heat leakage and / or gas leakage between the first space 2 and the second space 3.

[0115] In addition to the floor 7, the storage system 1 also includes: a ceiling / top plate 8; a second vertical wall 9, arranged in the first space 2 and oriented in the YZ plane opposite to the partition wall 6; and two additional walls ( Figure 5 ), are arranged in the XZ plane at the front and rear, thereby enclosing a first space 2.

[0116] The opening 40 is arranged through the wall 6 and is located immediately above a portion of the rail system 108, and has a size in the YZ plane that is large enough to allow the container handling vehicle 300 to move through the opening. It is also conceivable to provide a plurality of such openings 40, for example a plurality of openings 40 associated with the same container transfer device 10, and / or a plurality of openings associated with a plurality of container transfer devices 10, wherein each container transfer device is associated with an opening 40.

[0117] In order to separate the two spaces 2, 3, the container transfer device 10 comprises a container transfer housing 24, which has an openable access point on both sides located in the YZ plane (i.e., parallel to the wall 6), and the container transfer housing has two openable doors 11, 12 configured to close the two openable access points of the housing 24. Figure 7 and Figure 8 As best shown in FIG. 2 , the housing 24 comprises a housing top plate 24 a and two housing walls 24 b arranged in the XZ plane. The housing 24 is open toward the rail system 108 so that storage containers 106 can be stored in a storage row 105 below the container transfer housing 24 .

[0118] When the container transfer device 10 is arranged adjacent to one or more openings 40 and at least one of the first door 11 and the second door 12 closes the corresponding access point of the shell 24, the first space 2 and the second space 3 are isolated, thereby at least reducing gas leakage and / or heat leakage therebetween, and / or avoiding the container handling vehicles 300, 300', 300" from being exposed to different temperature areas.

[0119] Figure 7 A first embodiment of a container transfer device 10 allowing a container 106 to be transferred between a first space 2 and a second space 3 is shown in detail.

[0120] In order to allow controlled opening and closing of the access point of the container transfer housing 24, the first door 11 and the second door 12 can be guided to move in the vertical direction (i.e., the YZ plane) along the first door frame 13 and the second door frame 22, respectively. Therefore, in this exemplary configuration, the opening and closing is achieved by raising and lowering the transport doors 11, 12 and by using door frames 13, 22 in the form of vertical rods 13a, 13b, 22a, 22b, which are arranged at the periphery of the opening side and the length of which is equal to or greater than twice the height of the opening in the opening side of the housing 24. Therefore, controlled vertical movement is achieved, for example, by using a guide structure 23 on each side of the doors 11, 12 to guide the doors 11, 12 to move along the guide rails / recesses in each rod. The type of rods 13a, 13b, 22a, 22b can be the same as the type of upright members 102 used as storage volume parts 104, 104'.

[0121] Still specific reference Figure 8 , the first drive shaft 14 and the second drive shaft 15 are arranged at the corresponding side of the housing 24 with the port across the top end of the rods 13a, 13b, 22a, 22b. One end of the cable 17 (referred to as "main cable 17" in this article) is connected to the reel 18 arranged on the first drive shaft 14, and the other end is connected to the fastening element 19 on the first door 11. In addition, a drive shaft motor 16 is arranged at the end of the first drive shaft 14, allowing controlled rotation. Therefore, by rotating the first drive shaft 14 in the clockwise and counterclockwise directions respectively, while winding the main cable 17 onto / unwinding the reel 18, the opening and closing of the port in the housing 24 away from the wall 6 is achieved.

[0122] In order to achieve opening and closing of the second door 12 using the drive shaft motor 16, the container transfer device 10 of the first embodiment further includes two cables 20 (referred to herein as "slave cables 20"), wherein one end of each slave cable 20 is fixed to the first door 11 and the other end is fixed to the second door 12, and wherein each slave cable 20 is coupled to both the first drive shaft 14 and the second drive shaft 15 via a pulley 21. These pulleys 21 may be connected at the end of each drive shaft 14, 15. In the case where only one slave cable 20 is used to achieve opening / closing of the second door 12, the position of the slave cable may preferably be arranged closer to the middle of the drive shafts 14, 15 to allow uniform guidance along the rods 13a, 13b, 22a, 22b during raising / lowering.

[0123] The container transfer device 10 may also include a controller 25 that provides and / or distributes power to the drive shaft motors 16, 16' via power cables 27. The controller 25 may also provide signal communication with a sensor system 26 (such as a position sensor system) that provides information about the position of the first door 11 and, thereby, also about the position of the second door 12. The signal communication between the controller 25 and the sensor system 26 may be achieved via one or more signal lines 28 or by wireless communication. The controller 25 may also be configured to wirelessly communicate with the control system 109 of the automatic storage and retrieval system 1.

[0124] Figure 8 An example of a position sensor system 26 is shown that includes a lower position sensor 26 a and an upper position sensor 26 b , both connected to one or more signal lines 28 .

[0125] The container transfer apparatus 10 may be removably secured to the rail system 108 via brackets 29 disposed at the lower end of each rod 13a, 13b, 22a, 22b.

[0126] Figures 5 to 9 A container transfer apparatus 10 is shown having a container transfer housing 24 sized to correspond to a 2×2 grid of openings 112 plus the width of the rails of two tracks. However, any size that allows for picking up containers 106 from the housing 24 and unloading the containers into the housing is contemplated.

[0127] In order to further reduce the risk of heat leakage between the first space 2 and the second space 3 during the transfer of the container 106, the container transfer device 10 may also include an insulating skirt 50 fixed or suspended below the container transfer housing 24. The skirt 50 may have any length, but preferably, the entire length of the skirt may extend to the common floor 7 (or at least to the lowest point of the storage row 105) to ensure maximum insulation. Figures 7 to 9 In the embodiment, the skirt portion 50 is attached to the container transfer housing 24 by brackets fixed to the first door frame 13 and the second door frame 22 .

[0128] Figure 7 and Figure 8An example of an insulating skirt 50 for a container transfer housing 24 having a size of 2×2 grid openings is shown. The skirt 50 includes eight plates 50a, 50b extending from the base of the housing 24, wherein four X-plates 50a extend into the storage volume 104', the faces of which are oriented along two parallel tracks 110 in the X direction (i.e., two plates 50a are arranged at the outside of each track 110, wherein each of the two plates 50a is inserted into a separate storage column 105), and four Y-plates 50b extend into the storage volume 104', the faces of which are oriented along two parallel tracks 111 in the Y direction (i.e., two Y-plates 50b are arranged at the outside of each track 111 in the same manner as the X-plates 50a). The width of each X-plate 50a and the width of each Y-plate 50b are equal to or slightly smaller than the width of the corresponding grid opening 112 in the X direction and the Y direction, respectively. The length of each X-plate 50a and the length of each Y-plate 50b at least corresponds to the distance between the base of the container transfer housing 24 and the first layer below the rail system 108. However, in order to achieve maximum thermal insulation between the first space 2 and the second space 3, the X-plates 50a and the Y-plates 50b preferably extend multiple layers below the rail system 108, and more preferably extend to the floor 7 (or are arranged in sections).

[0129] Fig. 9 A second embodiment of a container transfer device 10 allowing a container 106 to be transferred between a first space 2 and a second space 3 is shown.

[0130] The container transfer apparatus 10 of the second embodiment is configured in the same manner as the container transfer apparatus 10 of the first embodiment, except that controlled opening and closing of the open side of the container transfer housing 24 is achieved by using the first drive shaft motor 16' and the second drive shaft motor 16" to achieve controlled rotation of the corresponding first drive shaft 14 and the second drive shaft 15. Therefore, by arranging the first cable reel 18 to the first drive shaft 14 and the second cable reel 21 to the second drive shaft 15, and further attaching the first cable 17 between the first cable reel 18 and the first door 11 and attaching the second cable 18 between the second cable reel 21 and the second door 12, the first door 11 and the second door 12 can be guided to move in the vertical direction (i.e., the YZ plane) along the first door frame 13 and the second door frame 22, respectively.

[0131] Thus, a controlled vertical torque is achieved by independently operating the first drive shaft motor 16 ′ and the second drive shaft motor 16 ″.

[0132] Fig. 9A portion of a storage system 1 of the present invention is shown, which has a partition wall 6 that divides the system 1 into a first space 2 and a second space 3 and has a container transfer device 10 as described above. In order to show the inner volume of the container transfer device 10, the top part and any insulation of the top part have been removed, including the housing top plate 24a, the drive shafts 14, 15 and the drive shaft motors 16', 16". Fig. 9 As can be seen in FIG. 1 , in this exemplary configuration, the container transfer housing 24 has a size of 2×2 grid openings 112, so that the entire container handling vehicle 300 with a cantilever can enter the interior volume of the housing. However, the size of the container transfer housing 24 can be any size n×m, where n and m are integers corresponding to the number of storage columns 105 or grid openings 112.

[0133] In a similar manner to the partition wall 6, if the purpose of the storage system 1 is to maintain the first space 2 and the second space 3 at different temperatures, the container transfer housing 24 can contain insulating materials such as expanded foam materials (e.g., polystyrene), fiber materials (e.g., fiberglass). Alternatively or additionally, the container transfer housing 24 can contain fireproof materials such as fireproof glass, concrete, plaster, stucco, and bricks.

[0134] When the purpose of the system 1 is to maintain a temperature in the first space 2 that is different from the temperature in the second space 3 (for example, the first space 2 is a refrigerated space and the second space 3 is an ambient space), the container transfer device 10 may also include temperature sensors, wherein at least one temperature sensor is arranged on the side of the container transfer housing 24 facing the opening 40, and at least one other temperature sensor is arranged at a certain position in the spaces 2, 3 opposite to the housing 24, so that the temperature difference in the first space 2 and the second space 3 can be monitored in real time during operation. This again enables quick detection of undesired temperature equalization during container transfer, for example due to damaged seals.

[0135] Again specific reference Figure 5 , an exemplary sequence of transporting the container 106 from the first space 2 (e.g., a refrigerated space with a temperature below 5° C.) to the second space 3 (e.g., an ambient space at room temperature) may be performed as follows:

[0136] -( Figure 5 A) The first door 11 is opened toward the first space 2 by operating the drive shaft motors 16 , 16 ′ connected to the first drive shaft 14 .

[0137] If the container transfer apparatus 10 of the first embodiment is used, operation of the drive shaft motors 16 , 16 ′ using the slave cables 20 as described above causes the second door 12 to close, thereby covering the opening 40 toward the second space 3 .

[0138] If the container transfer apparatus 10 of the second embodiment is used, the second door 12 is closed by operating the second drive shaft motor 16 ″. Preferably, the opening of the first door 11 is performed when the second door 12 is closed to minimize heat leakage and / or gas leakage during operation.

[0139] -( Figure 5 A) A first container handling vehicle 300 ″ which may be run on the rail system 108 within the first space 2 picks up a container 106 from the first storage volume 104 and transports the container 106 into the container transfer housing 24 via a first access point.

[0140] -( Figure 5 A) The first container handling vehicle 300" aligns the container 106 with one of the storage rows 105 covered by the container transfer housing 24, lowers the container 106 through the grid opening 112 of the rail system 108 by operating the lifting device 303, and places the container 106 in the space on top of the stack, i.e. in the uppermost container position in the stack 107. If there are no other containers in the storage row 105, the container 106 is placed on the floor 7 (or at the lowest point of the storage row 105 if the storage volume 104 is lifted off the floor 7 of the building).

[0141] -( Figure 5 A) The first container handling vehicle 300 ″ releases the container 106 and retracts the lifting device 303 and moves away from the container transfer housing 24 .

[0142] -( Figure 5 B) Closing the first door 11 by operating the drive shaft motors 16, 16'.

[0143] If the container transfer device 10 of the first embodiment is used, the second door 12 facing the opening 40 and leading to the second space 3 is opened thereby.

[0144] If the container transfer apparatus 10 of the second embodiment is used, the second door 12 is opened by operating the second drive shaft motor 16 ″. Preferably, the opening of the second door 12 is performed after the first door 11 is closed to minimize heat leakage and / or gas leakage during operation.

[0145] -( Figure 5 B) The second container handling vehicle 300' in the second space 3 moves into the container transfer housing 24 via the opening 40 in the wall 6 so that its lifting device 303 is aligned with the grid opening 112 and with the container 106 placed by the first container handling vehicle 300" as described above.

[0146] -( Figure 5B) The second container handling vehicle 300' lifts the container 106 above the rail system 108 using the lifting device 303 and moves away from the container transfer housing 24 to fully enter the second space 3. The second container handling vehicle 300' can then place the container 106 in a second row in the second storage space 104' to further store the container 106 or transport the container to the access station 150 via the port row 120.

[0147] Figure 6 A and Figure 6 B shows the Figure 5 A and Figure 5 The container transfer operation shown in B is a similar container transfer operation, but the container transfer device 10 is completely arranged in the second space 3.

[0148] Therefore, the container transfer operation of transferring the storage container 106 from the second space 3 to the first space 2 in the opposite direction can be performed as follows:

[0149] -( Figure 6 A) The first door 11 is opened toward the second space 3 by operating the drive shaft motors 16 , 16 ′ connected to the first drive shaft 14 .

[0150] If the container transfer apparatus 10 of the first embodiment is used, operation of the drive shaft motors 16 , 16 ′ using the slave cables 20 as described above causes the second door 12 to close, thereby covering the opening 40 to the first space 2 .

[0151] If the container transfer apparatus 10 of the second embodiment is used, the second door 12 is closed by operating the second drive shaft motor 16 ″. Preferably, the second door 12 is closed while the opening of the first door 11 is performed to minimize heat leakage and / or gas leakage during operation.

[0152] -( Figure 6 A) A second container handling vehicle 300 ′, which may be run on the rail system 108 in the second space 3 , picks up a container 106 from the access station 150 or from the second storage volume 104 ′ and transports the container 106 via a first access point into the container transfer housing 24 .

[0153] -( Figure 6A) The second container handling vehicle 300" aligns the container 106 with one of the storage rows 105 covered by the container transfer housing 24, lowers the container 106 through the grid opening 112 of the rail system 108 by operating the lifting device 303, and places the container 106 in the space on top of the stack, i.e. in the uppermost container position in the stack 107. If there are no other containers in the storage row 105, the container 106 is placed on the floor 7 (or at the lowest point of the storage row 105 if the storage volume 104 is lifted off the floor 7 of the building).

[0154] -( Figure 6 A) The second container handling vehicle 300 ′ retracts the lifting device 303 and moves away from the container transfer housing 24 .

[0155] -( Figure 6 B) Closing the first door 11 by operating the drive shaft motors 16, 16'.

[0156] If the container transfer device 10 of the first embodiment is used, the second door 12 facing the opening 40 is thereby opened.

[0157] If the container transfer apparatus 10 of the second embodiment is used, the second door 12 is opened by operating the second drive shaft motor 16 ″. Preferably, the opening of the second door 12 is performed after the first door 11 is closed to minimize heat leakage and / or gas leakage during operation.

[0158] -( Figure 6 B) The first container handling vehicle 300" in the first space 2 moves into the container transfer housing 24 via the opening 40 in the wall 6 so that its lifting device 303 is aligned with the grid opening 112 and with the container 106 placed by the second container handling vehicle 300" as described above.

[0159] -( Figure 6 B) The first container handling vehicle 300 ″ completely enters the first space 2 by lifting the container 106 above the rail system 108 using the lifting device 303 and moving away from the container transfer housing 24 .

[0160] Figure 5 and Figure 6 Also shown is a third container handling vehicle 300 which receives the container 106 from the access station 150 ( Figure 5 A and Figure 6 A), and placing the container 106 on top of the stack 107 adjacent to the pick column 120 ( Figure 5 B and Figure 6 B).

[0161] In order to at least reduce the risk of fire in the first space 2, the system 1 can be equipped with a gas regulating device (not shown). The gas regulating device can include a gas container located outside the first space 2, a gas inlet leading to the first space 2, and a gas pipeline in fluid communication between the gas container and the gas inlet for regulating the gas content in the atmosphere in the first space 2. With this arrangement, gas can flow between the gas container and the first space 2.

[0162] The gas container may include a device for reducing the percentage of a gas element in a gas mixture (such as O2 gas in air). Such a device is known in the art and will not be further described herein.

[0163] In dry air, the concentration of combustible gas oxygen is about 21%. If the oxygen concentration is reduced to 16% or less, the risk of fire is significantly reduced. In air, fires could potentially occur, for example, due to sparks generated by the movement of the container handling vehicle 300 and / or sparks generated by a charging station (not shown) for charging the battery in the vehicle 300 and / or combustion of the contents in the container 106 and / or accidental heating, such as that caused by sunlight shining on the combustible materials in the storage system 1.

[0164] The substantially airtight separation between the first space 2 and the second space 3 ensures that the container handling vehicle 300 can store and retrieve the container 106 in a low oxygen atmosphere, which reduces or negligible the risk of fire, but may pose a risk to human health, and the container handling vehicle receives the container 106 and transports it to a work space where humans can work safely.

[0165] Another example of a range of uses for the storage system 1 that allows for control of gas concentrations is the storage of fresh food. Prior art testing has shown that fruit, such as apples, can be optimally stored for long periods of time in an atmosphere containing 1% O2 and 1% to 2.5% CO2. The O2 gas in the ambient air can be substantially replaced by N2 gas.

[0166] The storage system 1 with cooling facilities for cooling the first space 2 to a temperature below 10° C. and with a gas conditioning device can create nearly ideal conditions for the storage of fresh food.

[0167] This fresh food configuration of the storage facility can supplement fire suppression equipment to reduce the risk of fire.

[0168] In addition to the advantages mentioned above, the storage system 1 of the present invention is also easy to install and maintain, because the entire container transfer device 10 or individual parts of the container transfer device 10 can be easily replaced. This solution is cost-effective, since the installation requires no or almost no reconstruction of the existing storage system 1. As mentioned above, a part of the door frame 13, 22 can use the same type of rods / struts as the upright members 102 of the storage volume 104.

[0169] Mechanical stops may be provided on or at the track system 108 within the interior volume of the container transfer housing 24 to prevent the container handling vehicle 300 from colliding with the doors 11 , 12 .

[0170] In the foregoing description, aspects of the automatic storage and retrieval system and container transfer device according to the present invention have been described with reference to illustrative embodiments. For ease of description, specific numbers, systems and configurations are set forth to provide a comprehensive understanding of the system and its operation. However, this description is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art of the disclosed subject matter are considered to be within the scope of the present invention.

[0171] Reference Numbers / Markers List

[0172] 1 Automatic storage and retrieval system

[0173] 2 First Space / Refrigerated Space

[0174] 3 Second Space / Environmental Space

[0175] 4 Cooling system / refrigerator

[0176] 6 Partition wall / wall

[0177] 7 Floor

[0178] 8 Top Plate

[0179] 9 Outer wall / second wall

[0180] 10 Container transfer equipment

[0181] 11. First Door

[0182] 12 Second Gate

[0183] 13 First door frame

[0184] 14 First drive shaft

[0185] 15 Second drive shaft

[0186] 16 Drive shaft motor

[0187] 16' First Drive Shaft Motor

[0188] 16” Second drive shaft motor

[0189] 17 First cable / main cable

[0190] 18 First Cable Reel / Spool

[0191] 19 Fastening elements / main cable fastening elements

[0192] 20 Second cable / slave cable

[0193] 21 Second cable reel

[0194] 22 Second door frame

[0195] 23 Boot structure

[0196] 24 Container transfer housing / Container transfer housing

[0197] 24a Shell top plate

[0198] 24b Shell wall

[0199] 25 Controller

[0200] 26 Position sensor system

[0201] 26a First position sensor

[0202] 26b Second position sensor

[0203] 27 Power Cable / First Power Cable

[0204] 28 signal lines

[0205] 29 Bracket

[0206] 40 Wall opening

[0207] 50 Insulation skirt

[0208] 50a X-Board

[0209] 50b Y plate

[0210] 40 Wall opening / opening

[0211] 100 Frame structure

[0212] 102 Upright member of storage volume

[0213] 103 Horizontal member of storage volume

[0214] 104 first storage volume portion

[0215] 104' Second storage volume

[0216] 105 Storage Rows

[0217] 106 Containers / Storage Containers / Containers

[0218] 106' Container / Target container / Specific location of target container

[0219] 106” Free storage space for containers / containers

[0220] 107 Stacking

[0221] 108 Track System

[0222] 109 Control System

[0223] 110 Parallel tracks in the first direction (X)

[0224] 111 Parallel tracks in the second direction (Y)

[0225] 112 Grid opening

[0226] 119 First port column / unload column

[0227] 120 Second port column / pickup column

[0228] 150 Access Station

[0229] 151 Operator

[0230] 200 Prior Art Container Handling Device / Remotely Operated Vehicle with Central Chamber

[0231] 201 Transport device body / vehicle body

[0232] 202a Driving device in the first direction (X)

[0233] 202b Driving device in the second direction (Y)

[0234] 300 Container handling vehicle of the prior art / Remotely operated vehicle with cantilever / Container handling vehicle

[0235] 301 Transport device body / vehicle body

[0236] 302a Drive / wheel arrangement, first direction (X)

[0237] 303b Drive / wheel arrangement, second direction (Y)

[0238] 303 Lifting device

[0239] 304 Gripper element

[0240] 305 Guide pin

[0241] 400 PRIOR ART CONTAINER HANDLING DEVICE / REMOTELY OPERATED VEHICLE WITH OFFSET CAVITY

[0242] 401 Transport device body / vehicle body

[0243] 402a Drive / wheel arrangement, first direction (X)

[0244] 402b Drive / wheel arrangement, second direction (Y)

[0245] 403 Lifting device

[0246] 404 Gripper Element

[0247] 405 Guide pin

[0248] X first direction

[0249] Y Second direction

[0250] Z third direction

Claims

1. An automatic storage and retrieval system (1), comprising: - a first space (2) and a second space (3); - a first storage volume (104), located in the first space (2), for storing storage containers (106) in the form of a vertical stack (107); - a horizontal rail system (108) arranged above the location where the storage containers (106) are stored or are to be stored, wherein the rail system (108) comprises a first set of rails (110) and a second set of rails (111) oriented perpendicularly to the first set of rails (110), the intersections of the rails (110, 111) forming a grid of grid cells defining grid openings (112); - a first container handling vehicle (200, 300, 300', 400) configured to lift and lower a storage container (106) through one of the plurality of grid openings (112) and transport the storage container (106) along the rail system (108); - a wall (6) separating the first space (2) from the second space (3), wherein the wall (6) comprises an opening (40) having a size such that the storage container (106) can pass through the wall; and - A container transfer housing (24) configured to provide a passage to allow the storage container (106) to be transferred between the first space (2) and the second space (3).

2. The automatic storage and retrieval system (1) according to claim 1, wherein: The container transfer housing (24) comprises: - a first door (11) configured to open and close a first access point of the container transfer housing (24), and - a second door (12) configured to open and close a second access point of the container transfer housing, And wherein the automatic storage and retrieval system (1) comprises: - a door mechanism (13-18, 20-23, 25, 27) configured to operate the first door (11) and / or the second door (12) so that when one door (11, 12) is opened, the other door (12, 11) is closed, and The container transfer housing (24) is designed and positioned such that when one of the first door (11) and the second door (12) is closed, the opening (40) is also closed.

3. The automatic storage and retrieval system (1) according to claim 2, wherein: The second door (12) is positioned to simultaneously open and close one side of the opening (40).

4. The automatic storage and retrieval system (1) according to claim 3, wherein: The door mechanism (13-18, 20-23, 25, 27) comprises: - A drive shaft motor (16) configured to raise and lower the first door (11) relative to the first access point.

5. The automatic storage and retrieval system (1) according to claim 4, wherein: The door mechanism (13-18, 20-23, 25, 27) comprises: - a first drive shaft (14); and - a first cable (17) connecting the first drive shaft (14) to the first door (11), Wherein, the drive shaft motor (16) is configured to rotate the first drive shaft (14).

6. The automatic storage and retrieval system (1) according to claim 5, wherein: The first drive shaft (14), the first cable (17) and the drive shaft motor (16) are configured such that, When the drive shaft motor (16) rotates the first drive shaft (14) in one rotational direction, the first door (11) is lowered to close the first access point, and When the drive shaft motor (16) rotates the first drive shaft (14) in an opposite rotational direction, the first door (11) is raised to open the first access point.

7. The automatic storage and retrieval system according to any one of claims 2 to 6, wherein: The door mechanism (13-18, 20-23, 25, 27) comprises: - A second drive shaft motor (16") configured to raise and lower the second door (12) relative to the second access point.

8. The automatic storage and retrieval system (1) according to claim 7, wherein: The door mechanism (13-18, 20-23, 25, 27) comprises: - a second drive shaft (15); and - a second cable (20) connecting the second drive shaft (15) to the second door (12) so that: when the second drive shaft motor (16') rotates the second drive shaft (15) in one direction, the second door (12) is raised relative to the second access point; and when the second drive shaft motor (16') rotates the second drive shaft (15) in the other direction, the second door (12) is lowered relative to the second access point.

9. The automatic storage and retrieval system (1) according to claim 8, wherein: The second drive shaft (15), the second cable (20) and the second drive shaft motor (16') are configured such that, When the second drive shaft motor (16') rotates the second drive shaft (15) in one rotational direction, the second door (12) is lowered to close the second access point, and When the second drive shaft motor (16') rotates the second drive shaft (15) in the opposite rotational direction, the second door (12) is raised to open the second access point.

10. The automatic storage and retrieval system (1) according to claim 1, wherein: The automatic storage and retrieval system (1) comprises: - a container transport device (200, 300, 300', 400) arranged in the second space (3), wherein the container transport device (200, 300, 300', 400) is configured to transport a storage container (106) from the inside of the container transfer housing (24) to another location in the second space (3).

11. The automatic storage and retrieval system (1) according to claim 1, wherein: The storage and retrieval system (1) comprises: - a second storage volume (104'), accommodated in the second space (3), for storing storage containers (106) in the form of a vertical stack (107).

12. The automatic storage and retrieval system (1) according to claim 11, - in, The horizontal rail system (108) extends through the opening (40) and above the second storage volume (104') such that the height from the top portion of the rail system (108) to the top portion of the opening (40) is equal to or higher than the height of the storage container (106) to be stored.

13. The automatic storage and retrieval system (1) according to claim 12, - in, The container transport device is a second container handling vehicle (200, 300, 300', 400) configured to transport storage containers (106) from the container transfer housing (24) along the horizontal rail system (108).

14. The automatic storage and retrieval system (1) according to claim 1, - wherein the container transfer housing (24) has an open bottom surface, and - in, The automatic storage and retrieval system (1) comprises a skirt portion (50) which is arranged below the container transfer housing (24) and extends at least partially around the open bottom surface.

15. A container transfer device (10) for transferring a storage container (106) between a first space (2) having a first temperature and a second space (3) having a second temperature different from the first temperature, wherein: The container transfer device (10) comprises: - A container transfer housing (24), comprising: - a first door (11) configured to open and close a first access point of the container transfer housing (24); - a second door (12) configured to open and close a second access point to the container transfer housing (24); and - a door mechanism (13-18, 20-23, 25, 27) configured to operate the first door (11) and / or the second door (12) so that when one door (11, 12) is opened, the other door (12, 11) is closed; and - a skirt portion (50) mountable below the container transfer housing (24), wherein the skirt portion (50) is configured such that heat conduction through the skirt portion (50) is reduced.

16. The container transfer device (10) according to claim 15, - in, The container transfer housing (24) and the skirt portion (50) define an internal volume portion, and - wherein at least a portion of the container transfer device (10) is provided with a heat insulating material to reduce heat conduction from the inner volume to the surrounding environment.

17. A method for transferring a storage container (106) between a first space (2) and a second space (3) in an automatic storage and retrieval system (1) according to any one of claims 1 to 14, in, The method comprises the following steps: - placing the storage container (106) in the container transfer housing (24) using a first container handling vehicle (200, 300, 300', 400); and - removing the storage container (106) from the container transfer housing (24) using a lifting device (303, 403) forming part of a container transport device (200, 300, 400).

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