Automatic storage and retrieval system comprising container handling vehicle of first type, crane and gantry arrangement, and method of transferring storage containers

Abstract

An automatic storage and retrieval system (1) comprising a track system (108) and:-a port column (119, 120) through which storage containers (106) can be transferred between an upper end and a lower end of the port column (119, 120); -a container handling vehicle (30) of a first type operating on a track system having a container carrier (35) for supporting storage containers (106); -a crane (501) comprising a first lifting device (503a), where the first lifting device (503a) is configured to transfer the storage containers (106) stored in the stack (107) of storage containers to the container carrier (35) of the container handling vehicle (30) of the first type; -a gantry arrangement (600) arranged at a port region (50) in which an upper end of the port row (119, 120) is arranged, where the gantry arrangement (600) comprises a first cross-member (601), a crane crane assembly (604) comprising a first crane crane (603a) suspended from the first cross-member (601) and a first lifting frame (504), where the first crane crane (603a) is suspended from the first cross-member (601), and where the first lifting frame (504) is suspended from the first cross-member (601). The lift frame (504) is liftable to a height above an uppermost portion of a storage container (106) carried by a container carrier (35) of a container handling vehicle (30) of a first type and is configured to transfer the storage container (106) between the container carrier (35) and the port column (119, 120).

Description

[0001] The present invention relates to an automatic storage and retrieval system, comprising a two-dimensional track system, a first type of container handling vehicle operating on the track system, and the automatic storage and retrieval system comprises:

[0002] - a crane comprising a first lifting device comprising a first lifting frame suspended from a lifting belt, wherein the first lifting device is configured to transfer storage containers stored in a stack of storage containers to a container carrier of a container handling vehicle of a first type;

[0003] A gantry arrangement is arranged at a port area of ​​the rail system, where the upper end of the port column is arranged, wherein the gantry arrangement includes a first cross member and a first lifting frame, the first lifting frame being able to rise to a level above the uppermost part of a storage container carried by a container carrier of a first type of container handling vehicle, and the gantry arrangement is constructed to transfer storage containers between the container carrier and the port column.

[0004] The invention further relates to a method for transferring a storage container from a storage location in a stack of storage containers to an end region of a rail system of an automated storage and retrieval system. Background Art

[0005] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100 , and FIGS. 2 , 3 and 4 disclose three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on such a system 1 .

[0006] The frame structure 100 comprises a plurality of upright members 102 and comprises a storage volume comprising a plurality of storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106, also called boxes, are stacked one on top of another to form stacks 107. These members 102 may typically be made of metal, such as extruded aluminum profiles.

[0007] 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 201, 301, 401 can be operated to lift and lower storage containers 106 from and into the storage array 105, and also to transport storage containers 106 over the storage array 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301, 401 to move across the top of the frame structure 100 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of parallel rails 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the array 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201 , 301 , 401 are movable laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0008] Upright members 102 of frame structure 100 may be used to guide storage containers during raising and lowering of containers from row 105 and into row 105. Stack 107 of containers 106 is generally self-supporting.

[0009] Each prior art container handling vehicle 201, 301, 401 comprises a body 201a, 301a, 401a, and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and in the Y direction, respectively. In Figures 2, 3 and 4, the two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent tracks of the first set of parallel tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks of the second set of parallel tracks 111. At least one of these sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with a corresponding set of parallel tracks 110, 111 at any one time.

[0010] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting storage containers 106, such as lifting storage containers 106 from storage rows 105 and lowering storage containers 106 into storage rows 105. The lifting device includes one or more clamping / engaging devices suitable for engaging storage containers 106, and the clamping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the clamping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Portions of the clamping devices of the container handling vehicles 301, 401 are indicated by reference numerals 304, 404 in Figures 3 and 4. The clamping devices of the container handling vehicle 201 are located within the vehicle body 201a in Figure 2 and are therefore not shown. The lifting device may include a lifting frame 404d suspended from lifting belts 404a. These lifting belts 404a can provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a clamp engagement device / clamp 404b for connecting to a clamp recess of the storage container 106. A guide pin 404c helps align the clamp 404b relative to the clamp recess of the storage container 106.

[0011] Typically, and also for the purposes of this application, Z=1 represents the uppermost level available for storage containers below the rails 110, 111, i.e., the level directly below the rail system 108, Z=2 represents the second level below the rail system 108, Z=3 represents the third level, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 represents the lowest level of storage containers. Similarly, X=1...n and Y=1...n represent the position of each storage column 105 in a horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG. 1, the storage container identified as 106' in FIG. 1 can be referred to as occupying storage position X=17, Y=1, Z=6. The container handling vehicles 201, 301, 401 can be referred to as traveling in level Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, the storage containers extending above the rail system 108 shown in FIG. 1 are also referred to as being arranged in level Z=0.

[0012] The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage positions within this grid are referred to as storage cells. Each storage row can be identified by a position in the X and Y directions, and each storage cell can be identified by a container number in the X, Y and Z directions.

[0013] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading storage containers 106 when transporting the storage containers 106 across the track system 108. The storage space may include a cavity centrally arranged within the vehicle body 201a, 401a, as shown in Figures 2 and 4, and as described in, for example, WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0014] Figure 3 shows an alternative construction of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0015] The hollow container handling vehicle 201 shown in Figure 2 may have a footprint that covers an area whose dimensions in the X and Y directions are approximately equal to the lateral extent of the storage row 105, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".

[0016] Alternatively, the hollow container handling vehicle 401 can have a footprint that is larger than the lateral area defined by the storage row 105, as shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0017] The track system 108 typically includes a track with a groove in which the wheels of the vehicle run. Alternatively, the track may include an upwardly protruding element, wherein the wheels of the vehicle include a flange to prevent derailment. These grooves and upwardly protruding 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., 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.

[0018] WO 2018 / 146304 A1, the contents of which are incorporated herein by reference, shows a typical construction of a rail system 108 comprising a track and parallel guides in the X and Y directions.

[0019] In the frame structure 100, most of the rows 105 are storage rows 105, i.e., rows 105 in which storage containers 106 are stored in stacks 107. However, some rows 105 may have other purposes. In FIG. 1 , rows 119 and 120 are such dedicated rows that are used by container handling vehicles 201, 301, 401 to put down and / or pick up storage containers 106 so that they can be transported to access stations (not shown) where storage containers 106 can be accessed from the outside of the frame structure 100 or transferred out or into the frame structure 100. In the art, such positions are generally referred to as "ports", and the rows where the ports are located may be referred to as "port rows" 119, 120. Transport to the access stations may be performed in any direction, i.e., horizontal, inclined and / or vertical. For example, storage containers 106 can be placed in random or dedicated rows 105 within the frame structure 100, then picked up by any container handling vehicle and transported to the port rows 119, 120 for further transportation to the access station. Transportation from the port to the access station may require movement along various different directions by means such as conveying vehicles, carts or other transportation routes. It should be noted that the term "inclined" means the transportation of storage containers 106 with a general transportation direction somewhere between horizontal and vertical.

[0020] In Figure 1, the first port column 119 can be, for example, a unloading port column, where the container handling vehicles 201, 301, 401 can unload the storage containers 106 to be transported to the access station or the transfer station, and the second port column 120 can be a picking port column, where the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or the transfer station.

[0021] The access station may generally be a pick-up station or a deposit station where product items are removed from or positioned in the storage container 106. In the pick-up station or the deposit station, the storage container 106 is generally not removed from the automated storage and retrieval system 1, but once access is completed, the storage container is returned again to the frame structure 100. The port may also be used to transfer the storage 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.

[0022] Storage containers are typically transported between the port rows 119, 120 and the access station using a conveyor system comprising a plurality of conveyors.

[0023] If the port rows 119, 120 and the access station are located at different heights, the conveyor system may include a lifting device with a vertical component for vertically transporting the storage containers 106 between the port rows 119, 120 and the access station.

[0024] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0025] The storage system may also use port rows 119, 120 to transfer storage containers between a rail system 108 located on top of the frame structure 100 and a container transfer vehicle, which is a so-called first type of container handling vehicle or delivery vehicle as used herein, arranged below the lower end of the port row. Such storage systems and suitable container transfer vehicles are disclosed in WO2019 / 238694A1 and WO2019 / 238697A1, the contents of which are incorporated herein by reference.

[0026] A potential disadvantage of using container transfer vehicles to retrieve and deliver storage containers from and to the lower end of a port column is the time dependency between one or more container transfer vehicles and the container handling vehicles used to retrieve / deliver storage containers through the port column.

[0027] When a storage container 106 stored in one of the columns 105 disclosed in FIG1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to take the target storage container 106 out of its position and transport it to the unloading port column 119. This operation includes moving the container handling vehicle 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, taking the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, that is, one or more other storage containers 106 are positioned above the target storage container 106, the operation also includes temporarily moving the storage container located above 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 that is subsequently used to transport the target storage container to the unloading port row 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 that are dedicated to the task of temporarily removing storage containers 106 from storage rows 105. Once the target storage container 106 has been removed from the storage row 105, the temporarily removed storage container 106 can be relocated to the original storage row 105. However, the removed storage container 106 can be relocated to other storage rows 105 instead.

[0028] When a storage container 106 is to be stored in one of the rows 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up a storage container 106 from the pick-up port row 120 and transport it to a location above the storage row 105 where the storage container is to be stored. After any storage container 106 located at or above the target location within the stack 107 has been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage row 105 or repositioned to another storage row 105.

[0029] In order to monitor and control the automatic storage and retrieval system 1, such as monitoring and controlling the positions of the corresponding storage containers 106 within the frame structure 100, the contents of each storage container 106; and the movement of the container handling vehicles 201, 301, 401, so that the desired storage container 10 can be transported to the desired location at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized, and which typically includes a database for tracking the storage containers 106.

[0030] It is an object of the present invention to provide a more efficient system in which storage containers stacked in a stack of storage containers can be transferred to a port area more quickly. Summary of the invention

[0031] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0032] The present invention relates to an automated storage and retrieval system, comprising a two-dimensional track system, the two-dimensional track system comprising a first set of parallel tracks in a horizontal plane and a second set of parallel tracks in a horizontal plane, the first set of parallel tracks being arranged to guide a container handling vehicle to move across the top of a frame structure in a first direction, the second set of parallel tracks being arranged perpendicular to the first set of parallel tracks to guide the container handling vehicle to move in a second direction perpendicular to the first direction, the frame structure defining a plurality of storage columns for accommodating vertically stacked storage containers, wherein the automated storage and retrieval system comprises:

[0033] - a port column through which storage containers can be transferred between an upper end and a lower end of the port column;

[0034] a container handling vehicle of a first type operating on the rail system, the container handling vehicle of the first type comprising a first set of wheels for moving in a first direction on the rail system and a second set of wheels for moving in a second direction on the rail system, and a container carrier for supporting a storage container, the container carrier being configured to receive the storage container from above;

[0035] - a crane comprising a first lifting device comprising a first lifting frame suspended from a lifting belt, wherein the first lifting frame is capable of being lifted to a height above an uppermost portion of a storage container carried by a container carrier of a container handling vehicle of a first type and is configured to transfer storage containers stored in a stack of storage containers to a container carrier of a container handling vehicle of the first type;

[0036] - a gantry arrangement arranged at a port area of ​​the rail system, at which the upper end of the port column is arranged, wherein the gantry arrangement comprises a first cross member, a crane trolley assembly, the crane trolley assembly comprising a first crane trolley suspended from the first cross member, and a first lifting frame suspended from the crane trolley by a lifting belt, wherein the lifting frame is capable of being lifted to a height above an uppermost part of a storage container carried by a container carrier of a first type of container handling vehicle and is configured to transfer the storage container between the container carrier and the port column.

[0037] The fact that the first lifting frame of the container handling vehicle and the first lifting frame of the gantry arrangement are capable of being lifted to a height above the uppermost part of a storage container carried by a container carrier of a first type of container handling vehicle should be understood as meaning that the lowermost part of the storage container carried by the first lifting frame is located in a plane above the uppermost part of the storage container carried by the container carrier.

[0038] The crane is preferably configured to perform high speed excavation operations.

[0039] The first type of container handling vehicles has a configuration that provides maximum stability for transporting storage containers over long distances.

[0040] The gantry layout structure is:

[0041] - removing a storage container from a container carrier of a container handling vehicle of the first type;

[0042] - positioning the storage container on a container carrier of a container handling vehicle of a first type;

[0043] - Serves as a buffer for storage containers to be picked up by the operator.

[0044] In one aspect, the crane may be a container handling vehicle of the second type operating on the rail system, and the crane may include a first set of wheels for moving in a first direction on the rail system and a second set of wheels for moving in a second direction on the rail system.

[0045] In one aspect, the gantry arrangement can be in a fixed position above the port area.

[0046] In one aspect, the crane may include a first boom section, and the first lifting device may be suspended from the first boom section.

[0047] Instead of a cantilevered section, the first lifting device and any additional one or more lifting devices may possibly be supported by a section comprising a supporting end.

[0048] In one aspect, the crane can be configured to pick up storage containers from two different stacks on different sides of the crane. This operation / operations do not have to occur simultaneously / concurrently, but can be performed, for example, by rotating the first boom section 180 degrees relative to the vehicle body.

[0049] In one aspect, the crane may include a second boom section and a second lifting device, the second boom section may be arranged on an opposite part of the crane body relative to the first boom section, and the second lifting device may be suspended from the second boom section. This may be advantageous because it may be possible to operate in different stacks simultaneously and / or by simultaneously removing or placing storage containers on one or more transport vehicles.

[0050] In one aspect, the second lifting device can be configured to operate simultaneously with the first lifting device.

[0051] In one aspect, the crane may include:

[0052] a third boom section and a third lifting device, the third boom section being arranged perpendicularly to the first boom section and the second boom section, the third lifting device being suspended from the third boom section; and

[0053] a fourth boom section, which is arranged perpendicularly to the first and second boom sections and on the opposite side of the vehicle body to the third boom section, and a fourth lifting device, from which the fourth lifting device is suspended.

[0054] The first cantilever segment, the second cantilever segment, the third cantilever segment and the fourth cantilever segment can form a cross-shaped cross section together. Obviously, instead of a cross-shaped cross section, the first cantilever segment, the second cantilever segment, the third cantilever segment and the fourth cantilever segment may also form a part of a circular or square upper portion, forming a circular or square cross section respectively.

[0055] In one aspect, the first crane trolley is movable along the first cross member.

[0056] In one aspect, the crane crane is movable between a position where it can transfer storage containers to and from the port rows and a position where it can transfer storage containers to and from a buffer stack of storage containers.

[0057] In one aspect, the gantry arrangement includes a second crane trolley assembly including a second crane trolley suspended from the first cross member. The second crane trolley may be movable along the first cross member.

[0058] In one aspect, the gantry arrangement may include a second cross member parallel to the first cross member, and the crane trolley assembly including the crane trolley may be suspended from the second cross member.

[0059] The crane hoist assembly may be a second crane hoist assembly if only one crane hoist is suspended from the first cross member, or a third crane hoist assembly if a first crane hoist and a second crane hoist are suspended from the first cross member.

[0060] In one aspect, all lifting frames of the crane hoist assembly in the gantry arrangement can be capable of rising to a height above the uppermost portion of a storage container carried by a container carrier of a first type of container handling vehicle, and they can be configured to transfer storage containers between the container carrier and the port column.

[0061] A guiding solution is described which ensures that a lifting frame suspended from a crane trolley assembly is always guided, preventing or minimizing horizontal movements. The solution has a first vertical range of movement and a second vertical range of movement.

[0062] For example, if the crane trolley assembly is arranged above a rail system of an automated storage and retrieval system, guidance of the lifting frame is also ensured when the lifting frame is located above the rail system. A first vertical range of movement may be above the rail system and a second vertical range of movement may be below the rail system, guided against upright members of the frame structure, wherein the upright members may be arranged in each corner of the lifting frame.

[0063] The present invention relates to a crane trolley assembly, comprising:

[0064] - a crane trolley configured to move guided along beams or cross members arranged along a gantry;

[0065] - a lifting frame configured for connection to the storage container to lift the storage container from above through a first vertical range of motion and a second vertical range of motion of the lifting frame;

[0066] - a plurality of lifting straps suspending the lifting frame below the crane trolley for raising and lowering the lifting frame through at least a second vertical range of motion; and

[0067] - Stabilizers extending under the crane trolley;

[0068] wherein a lower end of the stabilizer is configured to interact with the lift frame to stabilize the lift frame during a first vertical range of motion of the lift frame, and wherein the stabilizer and lift frame are configured to move vertically relative to each other when in a second vertical range of motion of the lift frame.

[0069] As the lifting frame continues to move vertically below the reach of the lower end of the stabilizer, the distance between the stabilizer and the lifting frame increases.

[0070] The stabilizer may have a maximum reach that is shorter than the maximum reach of the lifting straps.

[0071] The stabilizer can be considered as a guide or a guiding arm.

[0072] The first vertical range of motion and the second vertical range of motion may be consecutive ranges of motion, i.e. the second vertical range of motion follows the first vertical range of motion, or vice versa. In other words, the first vertical range of motion and the second vertical range of motion do not overlap each other. The first vertical range of motion starts at the crane hoist and extends downwards for a first distance, while the second vertical range of motion starts at the end of the first distance and extends downwards for a second distance.

[0073] The stabilizer may be configured to stabilize lifting and lowering of the lifting frame by guiding movement of the lifting frame in a vertical direction below the crane trolley while limiting horizontal movement of the lifting frame during a first vertical range of motion of the lifting frame when a lower end of the stabilizer interacts with the lifting frame.

[0074] The invention also relates to a method for transferring a storage container from a storage position in a stack of storage containers to an end region of a rail system of an automatic storage and retrieval system as described above, wherein the method comprises the following steps:

[0075] - picking up a storage container from the stack using a first lifting device of the crane and raising the first lifting device together with the storage container to a raised position;

[0076] - positioning a container carrier of a first type of container handling vehicle directly beneath a raised first lifting device;

[0077] - lowering the first lifting device with the storage container to lower the storage container onto the container carrier of the first type of container handling vehicle;

[0078] - a gantry arrangement for moving a container handling vehicle of the first type with the storage container to a port area of ​​the rail system;

[0079] - either a) moving the container handling vehicle of the first type so that the container carrier is directly below the crane crane assembly of the gantry arrangement, or b) positioning the crane crane assembly of the gantry arrangement directly above the container carrier of the container handling vehicle of the first type; and

[0080] - Picking up the storage container from the container carrier using the first lifting frame of the crane crane assembly.

[0081] These steps of the method are carried out in reverse order to transfer the storage container from the access station to the storage location in the stack.

[0082] The method may include the step of lowering a storage container through the port array to a lower end of the port array.

[0083] The method may include the step of positioning the storage container in a stack of storage containers at the port area.

[0084] The method may comprise the step of temporarily storing the storage container at a crane trolley assembly of a gantry arrangement.

[0085] A gantry arrangement is further described, which is arranged at a height above the rail system of an automatic storage and retrieval system as defined above, wherein the gantry arrangement includes a first cross member and a first lifting device, which can be lifted to a height above the uppermost part of a storage container carried by a container carrier of a first type of container handling vehicle and is configured to transfer storage containers between the container carrier and the port column of the rail system.

[0086] The automated storage and retrieval system may include a plurality of upright members, with each storage column being defined by four upright members.

[0087] A track system may be arranged on top of the upright members, and the track system may include a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of parallel tracks. The first set of tracks and the second set of tracks provide a horizontal grid-based track system defining a plurality of grid cells.

[0088] In this specification, the term "storage container" is intended to mean any cargo holder unit having a floor and a plurality of side portions, which are adapted to be releasably connected to a container lifting device, such as a box, a case, a basket or the like. These side portions may preferably include gripping recesses. These side portions are preferably side walls. The height of these side walls may vary depending on the intended use of the automatic storage and retrieval system and the cargo to be stored. The gripping recesses may be arranged at the upper edges of these side walls. The outer horizontal perimeter of the storage container is preferably rectangular.

[0089] The relative terms "upper", "lower", "below", "above", "higher" etc. should be understood in their normal sense as seen in a Cartesian coordinate system.

[0090] The present invention may be used in conjunction with storage containers and systems as described above. However, other areas where the disclosed automated storage and retrieval systems and methods may be used are in vertical farming, micro-distribution or grocery / e-grocery stores. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] The following drawings are provided to aid in the understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, in which:

[0092] FIG1 is a perspective view of a frame structure of an automatic storage and retrieval system of the prior art;

[0093] FIG. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying a storage container therein;

[0094] FIG3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath;

[0095] FIG. 4 is a perspective view from below of a prior art container handling vehicle having an internally arranged cavity for carrying a storage container therein;

[0096] FIG5 is a perspective view of the container handling vehicle of FIG4 without the side panels and the top panel;

[0097] Fig. 6A is an overview of an automated storage system with a port area according to the present invention, wherein the system comprises a plurality of container handling vehicles of a first type, a crane and a gantry arrangement;

[0098] Figure 6B yes Fig. 6A A magnified view of the port area in which three gantry arrangements are arranged;

[0099] Figure 6C It is from Fig. 6A and Figure 6B Seen from different angles Fig. 6A and Figure 6B A further magnified view of the port area in FIG.

[0100] Fig. 7A is a side perspective view of a gantry arrangement at a port area of ​​an automated storage and retrieval system;

[0101] Figure 7B It's from the other side. Fig. 7A A side perspective view of the gantry arrangement in FIG.

[0102] Figure 7C yes Fig. 7A and Figure 7B A side view of the gantry arrangement in FIG.

[0103] Fig.7D is relative to Figure 7C Vertical angle of view Fig. 7A , Figure 7B and Figure 7C Another side view of the gantry arrangement in FIG.

[0104] Fig. 7E yes Fig. 7A , Figure 7B , Figure 7C and Fig.7D Top view of the gantry arrangement in;

[0105] Figure 7F is from Fig. 7A , Figure 7B , Figure 7C , Fig.7D and Fig. 7E A side perspective view from below of the gantry arrangement;

[0106] Figure 7G to Figure 7J are different views of a crane trolley assembly according to a first embodiment, the crane trolley assembly comprising a stabilizer for stabilizing a lifting frame suspended from the crane trolley by lifting straps within a first vertical range of motion, wherein Fig. 7A is a perspective view of the lifting frame in the first vertical motion range, Figure 7H yes Figure 7G Side view of Fig.7I is perpendicular to Figure 7H Another side view of Figure 7J is a perspective view of the lifting frame within a second vertical range of motion below the first vertical range of motion;

[0107] Figures 7K to 7M are different views of a crane trolley assembly according to a second embodiment, the crane trolley assembly comprising a stabilizer for stabilizing a lifting frame suspended from a lifting belt from a lower end of the stabilizer, wherein the lifting frame is stabilized by the stabilizer when in a first vertical motion range, wherein Figure 7K is a perspective view of the lifting frame in a second vertical motion range below the first vertical motion range, Figure 7L Observed from the first angle Figure 7K A side view of Figure 7L Observed from the second angle Figure 7K Side view of

[0108] Figure 8 is a side perspective view of a portion of a storage and retrieval system showing a plurality of container handling vehicles of a first type cooperating with two cranes;

[0109] Fig. 9A is a side perspective view of an exemplary crane having four lifting devices;

[0110] Fig. 9B yes Fig. 9A A side view of the crane in;

[0111] Fig.10 is a side perspective view of an exemplary first type of container handling vehicle. DETAILED DESCRIPTION

[0112] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0113] The frame structure 100 of the automatic storage and retrieval system 1 can be constructed in a similar manner to the frame structure 100 of the prior art described above in conjunction with Figure 1. That is, the frame structure 100 can include a plurality of upright members 102 and a first upper track system 108 extending in the X direction and the Y direction.

[0114] The frame structure 100 may include storage compartments arranged between the components 102 in the form of storage rows 105 , wherein storage containers 106 may be stacked in stacks 107 within the storage rows 105 .

[0115] 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 longer and / or deeper than that disclosed in Figure 1. For example, the frame structure 100 can have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0116] The prior art container handling vehicle includes a cavity for receiving a storage container, see Figures 2, 4 and 5, and has certain advantageous features. In particular, when the storage container is received in the cavity, the guidance / support provided to the storage container enables the vehicle to achieve increased acceleration / deceleration relative to the cantilever container handling vehicle 301 shown in Figure 3.

[0117] Fig. 6A1 is an overview of an automated storage system 1 with a port area 50 according to the present invention, wherein the system 1 comprises a plurality of first type container handling vehicles 30, a plurality of cranes 501 and a plurality of gantry arrangements 600. The system 1 also comprises a plurality of prior art cantilever container handling vehicles 301. The gantry arrangement 600 is arranged at the port area 50 of the system 1. The port area 50 of the system 1 is where the upper ends of the port rows 119, 120 are arranged. The port rows 119, 120 serve as transfer passages through which storage containers 106 can be transferred between the upper and lower ends of the port rows 119, 120. The cranes 501 are preferably configured to perform high-speed excavation operations, however, they are not designed to move quickly between position A and position B on top of the rail system 108. However, the first type of container handling vehicles 30 cannot perform excavation, but are designed to have maximum stability in order to quickly transfer storage containers between position A and position B on top of the rail system 108. The prior art cantilever container handling vehicle 301 picks up a storage container 106 from the stack below and brings the storage container 106 to the port area 50 by itself.

[0118] Thus, in order to make the system 1 effective, the crane 501 is preferably arranged at a relatively large distance from the port area 50, so that the first type of container handling vehicle 30 receives the storage container 106 from the crane 501 and transfers the storage container to the port area 50, while the cantilever container handling vehicle 301 of the prior art is preferably arranged at a relatively close distance from the port area 50.

[0119] Figure 6B yes Fig. 6A An enlarged view of the port area 50 in FIG. 5 , wherein three gantry arrangements 600 are arranged in the port area 50 .

[0120] Figure 6C It is from Fig. 6A and Figure 6B Seen from different angles Fig. 6A and Figure 6B A further enlarged view of the port area 50 in FIG.

[0121] Fig. 7Ais a side perspective view of a gantry arrangement 600 at a port area 50 of an automated storage and retrieval system 1. The access station 150 is arranged below the port rows 119, 120. The gantry arrangement 600 comprises a first cross member 601, a crane trolley assembly 604, the crane trolley assembly comprising a first crane trolley 603a suspended from the first cross member 601, and a first lifting frame 504 suspended from the crane trolley 603a by a lifting belt 505. Two additional crane trolleys comprising a second crane trolley 603b and a third crane trolley 603c are suspended from the first cross member 601. Further disclosed is a gantry arrangement 600 having a second cross member 602 parallel to the first cross member 601. Two crane trolleys comprising a fourth crane trolley 603d and a fifth crane trolley 605e are suspended from the second cross member 602.

[0122] Ports (ie, access stations 150) may be arranged at the lower portion of the port columns 119, 120, and the lifting frame 504 of the crane trolley assembly 604 may be raised and lowered between a docking position at the crane trolley 603a and the port.

[0123] Also disclosed are details of a first type of container handling vehicle 30. The first type of container handling vehicle 30 is disclosed as a transport vehicle 30 with a container carrier 35 for supporting a storage container 106. The container carrier 35 is configured to receive a storage container 106 from above.

[0124] The lifting frame 504 of the crane hoist assembly 604 in the gantry arrangement 600 is capable of lifting to a height above the uppermost portion of a storage container 106 carried by a container carrier 35 of a first type of container handling vehicle 30, and is constructed to transfer storage containers 106 between the container carrier 35 and the port columns 119, 120.

[0125] The gantry arrangement 600 is arranged in a fixed position within the port area 50 and in a fixed position above the port rows 119 , 120 .

[0126] Figure 7B It's from the other side. Fig. 7A Side perspective view of the gantry arrangement in.

[0127] Figure 7C yes Fig. 7A and Figure 7B Side view of the gantry arrangement in.

[0128] Fig.7D is relative to Figure 7C Vertical angle of view Fig. 7A , Figure 7B and Figure 7CAnother side view of the gantry arrangement in FIG. A conveyor system including a conveyor 140 is used at the lower part of the port rows 119 , 120 to transport storage containers 106 between the port rows 119 , 120 and the access station 150 .

[0129] Fig. 7E yes Fig. 7A , Figure 7B , Figure 7C and Fig.7D Top view of the gantry arrangement in the.

[0130] Figure 7F is from Fig. 7A , Figure 7B , Figure 7C , Fig.7D and Fig. 7E A side perspective view of the gantry arrangement viewed from below.

[0131] Figure 7G to Figure 7J 6 is a different view of a crane trolley assembly 604' according to the first embodiment, which has a stabilizer 620' for stabilizing the lifting frame 504 suspended from the lifting belt 505 within the first vertical motion range R1 and the second vertical motion range R2. The crane trolley 603a is configured to be used along the crane 600 ( Figure 7G to Figure 7J Not shown, see for example Fig. 7A ) of beams 601, 602 ( Figure 7G to Figure 7J Not shown, see for example Fig. 7A ) guides movement and is characterized by a lifting frame 504 that is configured to be connected to the storage container 106 ( Figure 7G to Figure 7J The storage container is not shown, see for example Fig. 7A ) to lift the storage container 106 from above through the first vertical motion range R1 and the second vertical motion range R2 of the lifting frame 504.

[0132] The crane trolley assembly 604' features a plurality of lifting belts 505 that suspend the lifting frame 504 below the crane trolley 603a for lifting and lowering the lifting frame 504 through at least a second vertical range of motion R2, and a stabilizer 620' extending below the crane trolley 603a. The lower end 620L' of the stabilizer 620' is configured to interact with the lifting frame 504 to stabilize the lifting frame 504 during the first vertical range of motion R1 of the lifting frame 504. The stabilizer 620' and the lifting frame 504 are configured to move vertically relative to each other when in the second vertical range of motion R2 of the lifting frame 504. As the lifting frame 504 continues to move vertically below the reach of the lower end 620L' of the stabilizer 620', the distance between the stabilizer 620' and the lifting frame 504 increases.

[0133] The stabilizer 620' is configured to stabilize the lifting and lowering of the lifting frame 504 by guiding the movement of the lifting frame 504 in the vertical direction under the crane trolley 603a during the first vertical movement range R1 of the lifting frame 504 while limiting the horizontal movement of the lifting frame 504 when the lower end 620L' of the stabilizer 620' interacts with the lifting frame 504. The lifting frame 504 is provided with a socket 507 to position the lower end 620L' of the stabilizer 620', whereby the side of the socket 507 engaged with the lower end 620L' of the stabilizer limits the horizontal movement of the lifting frame 504 during the first vertical movement range R1.

[0134] Depending on the use of the crane hoist assembly, the stabilizer 620 ′ may have a maximum reach that is shorter than the maximum reach of the lifting belt 505 .

[0135] The first vertical motion range R1 and the second vertical motion range R2 are successive motion ranges, i.e., the second vertical motion range R2 follows the first vertical motion range R1, and vice versa. In other words, the first vertical motion range R1 and the second vertical motion range R2 do not overlap each other. The first vertical motion range is closer to the crane crane than the second vertical motion range R2.

[0136] The lifting frame 504 is preferably rectangular and includes guides 506 at its corners for adjusting the frame structure 100 ( 100 ) of the automatic storage and retrieval system 1 during the second vertical motion range R2. Figure 7G to Figure 7J Not shown, but see for example Fig. 7A ) storage column 105 ( Figure 7G to Figure 7J Not shown, but see for example Fig. 7A ) guide the lifting frame 504. These guides 506 help align the clamp 508 relative to the clamping recess of the storage container 106.

[0137] The crane trolley 603a is disclosed as having a first lateral motion arrangement 608 for moving along the first beam 601 and / or the second beam 602. The lateral motion arrangement 608 is shown in the form of wheels 608 driven by wheel motors 608'. The crane trolley 603a can thus move along the first beam 601 and / or the second beam 602 in a horizontal plane. Similarly, the first beam 601 and / or the second beam 602 may include a second lateral motion arrangement (not shown) for moving in a vertical direction within the same horizontal plane.

[0138] The stabilizer 620' includes an extendable mechanism for moving the lower end 620L' relative to the crane trolley 603a. Figure 7G to Figure 7J The extendable mechanism of the stabilizer 620 ′ in FIG. 5 is shown as a telescopic mechanism. The stabilizer 620 ′ is arranged between the lifting belts 505 .

[0139] A plurality of lifting belts 505 are arranged to be wound onto and unwound from a reel 611. The reel 611 is positioned at the crane crane 603a.

[0140] Figures 7K to 7M 6 is a different view of a crane trolley assembly 604" according to a second embodiment, which includes a stabilizer 620" for stabilizing a lifting frame 504 suspended from a lifting belt 505 from a lower end 620L" of the stabilizer 620", wherein the lifting frame 504 is stabilized by the stabilizer 620" when in a first vertical motion range R1, wherein Figure 7K is a perspective view of the lifting frame 504 in the second vertical motion range R2 below the first vertical motion range R1, Figure 7L Observed from the first angle Figure 7K A side view of Figure 7L Observed from the second angle Figure 7K Side view of.

[0141] The crane trolley 603a is configured to move along the crane 600 ( Figures 7K to 7M Not shown, see for example Fig. 7A ) of beams 601, 602 ( Figures 7K to 7M Not shown, see for example Fig. 7A ) guides movement and is characterized by a lifting frame 504 that is configured to be connected to the storage container 106 ( Figures 7K to 7M The storage container is not shown, see for example Fig. 7A ) to lift the storage container 106 from above through the first vertical motion range R1 and the second vertical motion range R2 of the lifting frame 504.

[0142] The crane trolley assembly 604" is characterized by a plurality of lifting belts 505 that suspend the lifting frame 504 below the crane trolley 603a for lifting and lowering the lifting frame 504 through at least a second vertical range of motion R2, and a stabilizer 620" extending below the crane trolley 603a. A lower end 620L" of the stabilizer 620' is configured to interact with the lifting frame 504 to stabilize the lifting frame 504 during a first vertical range of motion R1 of the lifting frame 504. The stabilizer 620" and the lifting frame 504 are configured to move vertically relative to each other when in the second vertical range of motion R2 of the lifting frame 504. As the lifting frame 504 continues to move vertically below the reachable range of the lower end 620L" of the stabilizer 620", the distance between the stabilizer 620" and the lifting frame 504 increases.

[0143] The stabilizer 620″ is configured to stabilize the lifting and lowering of the lifting frame 504 by guiding the lifting frame 504 to move in the vertical direction under the crane trolley 603a during a first vertical motion range R1 of the lifting frame 504 while restricting the horizontal motion of the lifting frame 504 when the lower end 620L″ of the stabilizer 620″ interacts with the lifting frame 504. The lower end 620L″ of the stabilizer 620″ is fixedly connected to the stabilizer 620″, that is, the lower end 620L″ of the stabilizer 620″ moves together with the stabilizer 620″.

[0144] Depending on the use of the crane hoist assembly, the stabilizer 620" may have a maximum reach that is shorter than the maximum reach of the lifting belt 505.

[0145] The first vertical motion range R1 and the second vertical motion range R2 are successive motion ranges, i.e., the second vertical motion range R2 follows the first vertical motion range R1, and vice versa. In other words, the first vertical motion range R1 and the second vertical motion range R2 do not overlap each other. The first vertical motion range is closer to the crane hoist than the second vertical motion range R2.

[0146] The lifting frame 504 is preferably rectangular and includes guides 506 at its corners for adjusting the frame structure 100 ( 100 ) of the automatic storage and retrieval system 1 during the second vertical motion range R2. Figures 7K to 7M Not shown, but see for example Fig. 9A ) storage column 105 ( Figures 7K to 7M Not shown, but see for example Fig. 9A ) guides the lifting frame 504 within the storage container 106. The guide 506 helps align the clamp 508 relative to the clamping recess of the storage container 106 (see, for example, Figure 7G Detail of the guide 506 and the clamp 508 in FIG. 5 ).

[0147] The crane trolley 603a is disclosed as having a first lateral motion arrangement 608 for moving along the first beam 601 and / or the second beam 602. The lateral motion arrangement 608 is shown in the form of wheels 608 driven by wheel motors 608'. The crane trolley 603a can thus move along the first beam 601 and / or the second beam 602 in a horizontal plane. Similarly, the first beam 601 and / or the second beam 602 may include a second lateral motion arrangement (not shown) for moving in a vertical direction within the same horizontal plane.

[0148] The stabilizer 620" includes an extendable mechanism for moving the lower end 620L" relative to the crane trolley 603a. Figures 7K to 7M The extendable mechanism of the stabilizer 620" in FIG. 6 is shown as being extendable through the stabilizer 620" of the crane trolley 603a.

[0149] A plurality of lift belts 505 are arranged to be wound onto and unwound from a reel 611. The reel 611 is positioned at a lower end 620L" of the stabilizer 620". A lift motor 607 is also arranged at a lower end 620L" of the stabilizer 620".

[0150] Figure 8 is a side perspective view of a portion of a storage and retrieval system 1 showing a plurality of container handling vehicles 30 of a first type cooperating with two cranes 501 .

[0151] Fig. 9A 501 with four lifting devices 503a, 503b, 503c, 503d. Each of the lifting devices 503a, 503b, 503c, 503d is suspended from a corresponding boom section 502a, 502b, 502c, 502d and includes a lifting frame 504 suspended from a lifting belt 505.

[0152] As disclosed, the crane 501 features a first boom section 502a. A first lifting device 503a is suspended from the first boom section 502a. In addition, the crane 501 features a second boom section 502b that is located on an opposite side of the body 501 of the crane 501 compared to the first boom section 502a. A second lifting device 503b is suspended from the second boom section 502b. In this way, the crane 501 is configured to pick up storage containers 106 from two different stacks 107 on different sides of the crane 501.

[0153] The crane 501 is also characterized by a third boom section 502c arranged perpendicularly to the first boom section 502a and the second boom section 502b, and a third lifting device 503c suspended from the third boom section 502c; and a fourth boom section 502d and a fourth lifting device 503d suspended from the fourth boom section 502d, the fourth boom section being arranged perpendicularly to the first boom section 502a and the second boom section 502b and being located on the opposite side of the vehicle body 501a compared to the third boom section 502c.

[0154] When viewed from above, the crane 501 has a cross-shaped cross section. The boom sections 502a, 502b, 502c, 502d are arranged in the same horizontal plane.

[0155] The crane 501 is shown as a second type of container handling vehicle 501 operating on the rail system 108. The second type of container handling vehicle 501 includes a first set of wheels 501b for moving in a first direction X on the rail system 108 and a second set of wheels 501c for moving in a second direction Y on the rail system 108.

[0156] Fig. 9B yes Fig. 9A As shown, the lifting frame 504 suspended from the lifting device 503b extends downwardly below the rail system 108 to illustrate that the lifting frame 504 can remove the storage containers 106 stored in a stacked form below the rail system 108.

[0157] Fig.10 is a side perspective view of an exemplary first type of container handling vehicle 30. Fig. 7A As discussed, the first type of container handling vehicle 30 is in the form of a transport vehicle 30 with a container carrier 35 for supporting a storage container 106. The container carrier 35 is configured to receive the storage container 106 from above. The transport vehicle 30 includes a body 30a. A first set of wheels 30b for moving along a first direction X on a rail system 108 and a second set of wheels 30c for moving along a second direction Y on the rail system 108 are mounted on the body of the transport vehicle 30a.

[0158] Refer to Figure 6 to Fig.10 , a method for transferring a storage container 106 from a storage position in a stack 107 of storage containers to a port area 50 of a rail system 108 of an automated storage and retrieval system 1 will be described. The method comprises the following steps:

[0159] - picking up the storage container 106 from the stack 107 using the first lifting device 503a of the crane 501 and raising the first lifting device 503a together with the storage container 106 to a raised position;

[0160] - positioning the container carrier 35 of the first type of container handling vehicle 30 directly below the raised first lifting device 503a;

[0161] - lowering the first lifting device 503a with the storage container 106 to lower the storage container 106 onto the container carrier 35 of the container handling vehicle 30 of the first type;

[0162] - moving a container handling vehicle 30 of the first type with the storage container 106 to a gantry arrangement 600 at the port area 50 of the rail system 108 ;

[0163] - either a) moving the container handling vehicle 30 of the first type so that the container carrier 35 is directly below the first crane crane assembly 604 of the gantry arrangement 600, or b) positioning the first crane crane assembly 604 of the gantry arrangement 600 directly above the container carrier 35 of the container handling vehicle 30 of the first type; and

[0164] - Picking up the storage container 106 from the container carrier 35 using the first lifting frame 504 .

[0165] The method may further include the step of lowering the storage container 106 through the port rows 119, 120 to the lower end of the port rows 119, 120. The access station 150 may preferably be arranged below and / or near the lower end of the port rows 119, 120.

[0166] The storage containers 106 can be arranged in a stack 107 of storage containers at the port region 50 .

[0167] In the case of, for example, “hot items”, i.e., frequently used items stored in storage containers 106, such storage containers 106 may be arranged in stacks 107 of storage containers 106 within the port area 50, or they may be temporarily stored in any crane hoist assembly 604 of the gantry arrangement 600.

[0168] In the foregoing description, various aspects of the independent claims have been described. For the purpose of explanation, specific numbers, systems and configurations have been set forth in order to provide a thorough understanding of the system and its operation. However, this description is not intended to be interpreted in a restrictive sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art to which the disclosed subject matter belongs are deemed to fall within the scope of the invention as defined in the appended claims.

[0169] List of reference numerals

[0170]

[0171]

[0172]

Claims

1. An automated storage and retrieval system (1), comprising a two-dimensional track system (108), the two-dimensional track system comprising a first set of parallel tracks (110) in a horizontal plane and a second set of parallel tracks (111) in the horizontal plane, the first set of parallel tracks being arranged to guide a container handling vehicle (201, 301, 401, 501) to move across the top of a frame structure (100) in a first direction (X), the second set of parallel tracks being arranged perpendicular to the first set of parallel tracks (110) to guide the container handling vehicle (201, 301, 401, 501) to move in a second direction (Y) perpendicular to the first direction (X), the frame structure (100) defining a plurality of storage columns (105) for accommodating vertically stacked storage containers (106), in, The automatic storage and retrieval system (1) comprises: - a row of ports (119, 120) through which a storage container (106) can be transferred between an upper end and a lower end of the row of ports (119, 120); a first type of container handling vehicle (30) operating on the track system (108), the first type of container handling vehicle (30) comprising a first set of wheels (30b) for moving on the track system (108) in the first direction (X) and a second set of wheels (30c) for moving on the track system (108) in the second direction (Y), and a container carrier (35) for supporting a storage container (106), the container carrier (35) being configured to receive the storage container (106) from above; a crane (501) comprising a first lifting device (503a), the first lifting device comprising a first lifting frame (504) suspended from a lifting belt (505), wherein the first lifting frame (504) is capable of being raised to a height above the uppermost part of a storage container (106) carried by the container carrier (35) of the container handling vehicle (30) of the first type, and is configured to transfer the storage container (106) stored in a stack (107) of storage containers to the container carrier (35) of the container handling vehicle (30) of the first type; - a gantry arrangement (600) arranged at a port area (50) of the rail system (108), the upper end of the port row (119, 120) being arranged at the port area (50), wherein the gantry arrangement (600) comprises a first cross member (601), a crane trolley assembly (604), the crane trolley assembly comprising a first crane trolley (603a) suspended from the first cross member (601), and a first lifting frame (504) suspended from the crane trolley (603a) by a lifting belt (505), wherein the lifting frame (504) is capable of being lifted to a height above the uppermost part of a storage container (106) carried by the container carrier (35) of the first type of container handling vehicle (30) and is configured to transfer a storage container (106) between the container carrier (35) and the port row (119, 120).

2. The automatic storage and retrieval system according to claim 1, wherein: The crane (501) is a second type of container handling vehicle (501), which operates on the track system (108) and includes a first set of wheels (501b) for moving along the first direction (X) on the track system (108) and a second set of wheels (501c) for moving along the second direction (Y) on the track system (108).

3. The automatic storage and retrieval system (1) according to claim 1 or 2, wherein: The gantry arrangement (600) is located in a fixed position above the port area (50).

4. The automatic storage and retrieval system (1) according to any one of the preceding claims 1 to 3, wherein: The crane (501) comprises a first boom section (502a), and wherein the first lifting device (503a) is suspended from the first boom section (502a).

5. The automatic storage and retrieval system (1) according to claim 4, wherein: The crane (501) is configured to pick up storage containers (106) from two different stacks (107) on different sides of the crane (501).

6. The automatic storage and retrieval system (1) according to claim 4 or 5, wherein: The crane (501) comprises a second boom section (502b) and a second lifting device (503b), wherein the second boom section (502b) is arranged on an opposite part of a body (501a) of the crane (501) relative to the first boom section (502a), and wherein the second lifting device (503b) is suspended from the second boom section (502b).

7. The automatic storage and retrieval system (1) according to claim 6, wherein: The second lifting device (503b) is configured to operate simultaneously with the first lifting device (503a).

8. The automatic storage and retrieval system (1) according to claim 6 or 7, wherein: The crane (501) comprises: - a third boom section (502c) and a third lifting device (503c), the third boom section being arranged perpendicularly to the first boom section (502a) and the second boom section (502b), the third lifting device (503c) being suspended from the third boom section (502c); and - a fourth boom section (502d) and a fourth lifting device (503d), wherein the fourth boom section is arranged perpendicularly to the first boom section (502a) and the second boom section (502b) and is located on the opposite side of the vehicle body (501a) compared to the third boom section (502c), and the fourth lifting device (503d) is suspended from the fourth boom section (502d).

9. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein: The first crane trolley (603a) is movable along the first cross member (601).

10. The automatic storage and retrieval system (1) according to claim 9, wherein: The crane trolley (603a) is capable of moving between a position where the crane trolley can transfer a storage container (106) to and from the port rows (119, 120) and a position where the crane trolley can transfer a storage container (106) to and from a buffer stack (60) of storage containers (106).

11. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein: The gantry arrangement (600) comprises a second crane trolley assembly (604) comprising a second crane trolley (603b) suspended from the first cross member (601).

12. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein: The gantry arrangement (600) comprises a second cross member (602) parallel to the first cross member (601), and a crane trolley assembly (604) comprising a crane trolley (603d, 603e, 603f) is suspended from the second cross member (602).

13. The automatic storage and retrieval system (1) according to any one of the preceding claims 11 to 12, wherein: The lifting frame (504) is capable of being lifted to a height above the uppermost portion of a storage container (106) carried by the container carrier (35) of the first type of container handling vehicle (30), and is configured to transfer the storage container (106) between the container carrier (35) and the port arrays (119, 120).

14. A method for transferring a storage container (106) from a storage position in a stack (107) of storage containers to a port area (50) of a rail system (108) of an automated storage and retrieval system (1) according to any one of the preceding claims 1 to 13, wherein: The method comprises the following steps: - picking up a storage container (106) from the stack (107) using the first lifting device (503a) of the crane (501) and lifting the first lifting device (503a) together with the storage container (106) to a raised position; - positioning the container carrier (35) of the first type of container handling vehicle (30) directly below the raised first lifting device (503a); - lowering the first lifting device (503a) with the storage container (106) to lower the storage container onto the container carrier (35) of the container handling vehicle (30) of the first type; - moving a container handling vehicle (30) of the first type with the storage container (106) to the gantry arrangement (600) at the port area (50) of the rail system (108); - either a) moving the first type of container handling vehicle (30) so that the container carrier (35) is directly below the crane crane assembly (604) of the gantry arrangement (600), or b) positioning the crane crane assembly (604) of the gantry arrangement (600) directly above the container carrier (35) of the first type of container handling vehicle (30); and - Picking up the storage container (106) from the container carrier (35) using the first lifting frame (504) of the crane crane assembly (604).

15. The method of claim 14, comprising the step of lowering the storage container (106) through the row of ports (119, 120) to the lower end of the row of ports (119, 120).

16. The method according to claim 14 or 15, comprising the step of positioning the storage container (106) in a stack of storage containers at the port area (50).

17. The method according to claim 14, 15 or 16, comprising the step of temporarily storing the storage container (106) at the crane trolley assembly (604) of the gantry arrangement (600).

Images