Access station for automated storage and retrieval system

Abstract

An access station (600) for an automated storage and retrieval system, where the access station (600) comprises:-a frame structure (620); and-a drawer assembly (610) arranged in the frame structure (620) wherein the drawer assembly (610) comprises:-a drawer (611) for accommodating the storage container (106); -a lower link (612) pivotally coupled to the frame structure (620) at a first end (612a) and pivotally coupled to the drawer (611) at a second end (612b); and-an upper link (613) pivotally coupled at a first end (613a) to the frame structure (620) and at a second end (613b) to the drawer (611); wherein the first end (613a) of the upper link (613) is arranged above the second end (613b) of the upper link (613), and the first end (612a) of the lower link (612) is arranged below the second end (612b) of the lower link (612); wherein the drawer (611) is movable between a receiving position (PR) for receiving the storage container (106) from above and a pickup position (PP) for presenting the storage container (106) to a user.

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system for storage and retrieval of containers, and in particular, to an access station for presenting a cargo holder from the automatic storage and retrieval system to a picker. Background Art

[0002] 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 the system 1 .

[0003] 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 called boxes) are stacked one on top of the other to form stacks 107. The members 102 may typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301, 401 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 201, 301, 401 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 201, 301, 401 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 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201 , 301 , 401 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

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

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a body 201a, 301a, 401a and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. In Figures 2, 3 and 4, two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks of the second set of tracks 111. At least one of the 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 rails 110, 111 at any time.

[0007] Each prior art container handling vehicle 201, 301, 401 further comprises a lifting device for vertically transporting storage containers 106, for example, lifting storage containers 106 from and lowering storage containers 106 into the storage row 105. The lifting device comprises one or more gripping / engaging devices adapted to engage with the storage container 106, and the gripping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the gripping / 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 gripping devices of the container handling vehicle 301, 401 are shown in FIGS. 3 and 4 and are indicated by reference numerals 304, 404. In FIG. 2, the gripping devices of the container handling device 201 are located within the vehicle body 201a and are therefore not shown.

[0008] Conventionally and also for the purposes of the present application, Z=1 identifies the uppermost layer for storing storage containers below the rails 110, 111, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the bottom layer of the lowermost side of the storage 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 the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106' in FIG. 1 occupies the storage position of X=17, Y=1, Z=6. It can be said that the container handling vehicle 201, 301, 401 travels in the layer of Z=0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Therefore, the storage container extending above the rail system 108 shown in FIG. 1 is also referred to as being arranged in the layer of Z=0.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage positions within the grid are referred to as storage cells. Each storage column 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.

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

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever configuration. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0012] The occupied area of ​​the chamber container handling vehicle 201 shown in Figure 2 can cover an area whose dimensions in the X-direction and the Y-direction are approximately equal to the lateral extent of the storage column 105, such as described in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0013] Alternatively, the occupied area of ​​the cavity container handling vehicle 401 can be larger than the lateral area defined by the storage row 105, as shown in Figures 1 and 4 and disclosed in, for example, WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] Track system 108 generally includes a track with a groove, in which the wheel of the vehicle travels. Alternatively, the track may include an element extending upward, wherein the wheel of the vehicle includes a flange to prevent derailment. These grooves and the element extending upward are collectively referred to as guide rails. Each track may include a guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in a direction (e.g., X direction) may include a 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, and each guide rail member provides a guide rail in a pair of guide rails provided by each track.

[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108, which includes tracks and parallel guides in both the X-direction and the Y-direction.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such special columns used by container handling vehicles 201, 301, 401 to unload and / or pick up storage containers 106, so that the storage containers can be transported to access stations (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100, or the storage containers can be moved out of or into the frame structure 100. In the art, such positions are generally referred to as "ports", and the columns in which the ports are located can be referred to as "port columns" 119, 120. The transportation to the access station can be carried out in any direction (i.e., horizontal, inclined and / or vertical). For example, a storage container 106 may be placed in a random or dedicated row 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to a port row 119, 120 for further transport to a storage station. Transport from the port to the storage station may require movement in a variety of different directions by means such as a delivery vehicle, a trolley or other transport routes. It should be noted that the term "inclined" refers to the transport of a storage container 106 with a general transport orientation in a direction between horizontal and vertical.

[0017] In Figure 1, the first port column 119 can be, for example, a dedicated unloading port column, at which 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 dedicated picking port column, at which 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.

[0018] The access station may typically be a pick-up station or a staging station where product items are removed from or positioned in the storage container 106. In the pick-up station or staging station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to the frame structure 100 after access. 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.

[0019] A conveyor system including conveyors is typically employed to transport storage containers between the port rows 119, 120 and the access station.

[0020] 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 vertically transporting the storage containers 106 between the port rows 119, 120 and the access station.

[0021] 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.

[0022] When a storage container 106 stored in one of the plurality of columns 105 disclosed in FIG. 1 is to be accessed, one of the plurality of container handling vehicles 201, 301, 401 is instructed to take out the target storage container from the location of the target storage container 106 and transport the target storage container to the unloading port column 119. This operation involves 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 out 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 located above the target storage container 106, the operation also involves 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 specifically designed for the task of temporarily removing storage containers 106 from the storage row 105. After the target storage container 106 is 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.

[0023] When a storage container 106 is to be stored in a row 105, a container handling vehicle 201, 301, 401 is instructed to pick up a storage container 106 from the pick port row 120 and transport the storage container to a position above the storage row 105 where the storage container will be stored. After removing any storage container 106 located at or above the target position within the stack 107, the container handling vehicle 201, 301, 401 positions the storage container 106 to the desired position. The removed storage container 106 can then be lowered back into the storage row 105 or repositioned to another storage row 105.

[0024] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the position of each storage container 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 required storage containers 106 can be transported to the required locations at the required 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 typically includes a database for keeping track of the storage containers 106.

[0025] WO2017 / 211596 discloses a storage system comprising a pick-up and / or supply station. The pick-up and / or supply station comprises a drawer device, wherein the drawer device comprises a storage container with compartments for temporarily storing product items to be picked up from the storage system or to be supplied to the storage system. The drawer device is configured to be in a closed state or an open state; wherein in the closed state, the compartments are inaccessible to persons, and wherein in the open state, the compartments are accessible to persons. The occupied area of ​​the pick-up and / or supply station in the closed state is smaller than the occupied area in the open state, which may be beneficial when used, for example, in a public environment.

[0026] In some applications, users may prefer to tilt the drawer to provide an ergonomic picking position. The drawer device in WO2017 / 211596 is horizontally oriented in both the open state and the closed state. The drawer device is configured not to be tilted relative to the horizontal plane when in the open position.

[0027] The drawer device in WO2017 / 211596 can move between an open state and a closed state in a sliding manner. The sliding mechanism of the drawer device is prone to wear. The picker must manually close the drawer device after picking up, or an additional mechanism must be provided to close the drawer device. The additional mechanism may complicate the device and increase maintenance requirements.

[0028] An object of the present invention is to provide a storage and retrieval station for an automated storage and retrieval system which alleviates or at least mitigates some of the disadvantages associated with known systems, such as ergonomics. Summary of the invention

[0029] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0030] The present invention relates to a storage and retrieval station for an automatic storage and retrieval system, wherein the storage and retrieval station comprises:

[0031] - frame structure; and

[0032] - drawer assembly, arranged in a frame structure,

[0033] The drawer assembly includes:

[0034] - drawers for accommodating storage containers;

[0035] - a lower link pivotally coupled to the frame structure at a first end and pivotally coupled to the drawer at a second end; and

[0036] - an upper link pivotally coupled to the frame structure at a first end and pivotally coupled to the drawer at a second end;

[0037] wherein the first end of the upper connecting rod is arranged above the second end of the upper connecting rod, and the first end of the lower connecting rod is arranged below the second end of the lower connecting rod;

[0038] Therein, the drawer is movable between a receiving position for receiving a storage container from above and a picking position for presenting the storage container to a user.

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

[0040] The drawer preferably has an open top so that a container handling vehicle can lower a storage container through the row of ports and into the drawer in a receiving position, or retrieve a storage container from the drawer in a receiving position via the row of ports.

[0041] Preferably, the drawer in the receiving position is not accessible from outside the frame structure. Thus, when the drawer is in the receiving position, the user cannot access the contents of the drawer (i.e., the storage containers located in the drawer). The drawer can be pushed toward the receiving position so that the drawer can be returned to the receiving position without the help of the user of the access station (i.e., the picker or the consumer). This allows the access station to continue to operate even if the user forgets to close the drawer after picking. This is particularly important when the user is not trained in the use of the access station and typically only needs to perform a single pick.

[0042] The pick-up position can be arranged in front of the receiving position and extend from the port column. Depending on the orientation of the storage container, the pick-up position can extend up to approximately the width of the storage container or the length of the storage container. However, when the drawer is in the receiving position and the pick-up position, the storage containers placed in the drawer may have a partially overlapping position. Thus, even when open, a storage and access station with a small footprint can be achieved. The storage and access station will occupy a minimum of space in its surroundings. The storage and access station can then be located on a pavement area, in the foyer of a public building or on a public square without disturbing pedestrians.

[0043] The tilting drawer can be automatic.

[0044] The access station may include one or more sensors in communication with the control system. One of the sensors may be configured to detect the presence of a storage container in a drawer. The same sensor or another sensor may be configured to detect the position of the drawer.

[0045] The access station may include an electric motor configured to operate the drawer between a pick-up position and a receiving position. The electric motor may be controlled by a control system. The control system may receive signals from sensors in the access station or from a remotely operated vehicle that delivers storage containers to and retrieves storage containers from the access station.

[0046] The mechanism for opening and closing the drawer of the drawer assembly (i.e., moving the drawer back and forth between the receiving position and the picking position) can be a pivotal coupling or a pivotal connection. Compared with a sliding mechanism, the advantage of a pivotal coupling / pivot connection is lower friction and less wear on the various parts of the mechanism.

[0047] The drawer assembly may include two upper links (eg, in the form of link arms), each upper link coupled to respective opposite sides of the drawer and respective opposite sides of the frame structure.

[0048] In another embodiment, the upper link can be a U-shaped link. The U-shape must be wide enough to allow the storage container to be placed in the drawer, i.e., the width of the U-shape is wider than the width of the storage container or wider than the length of the storage container, depending on how the drawer is configured to receive the storage container.

[0049] The upper link (e.g., a single link arm, one of two link arms, or a U-shaped link, etc.) can be pivotally coupled to the outer surface of the drawer and pivotally coupled to the inner surface of the frame structure. Thus, the dimensions of the drawer and the frame can be designed so that the upper link can be arranged in the space between them and reciprocate in the space, or can be arranged in a space corresponding to the width of the upright member of the frame and reciprocate in the space.

[0050] The drawer assembly may include two lower links (eg, in the form of link arms), each lower link coupled to respective opposite sides of the drawer and respective opposite sides of the frame structure.

[0051] The lower link can be pivotally coupled to the outer surface of the drawer and pivotally coupled to the inner surface of the frame structure. Thus, the drawer and frame can be sized so that the lower link can be arranged in the space between them and moved into the space when the drawer is returned to the receiving position, or can be arranged in a space corresponding to the width of the upright member of the frame and moved into the space.

[0052] The drawer assembly may include only one upper link and / or one lower link, wherein the upper link and the lower link have different contact points with the drawer, for example, the lower link is located on one side and the upper link is located on the other side.

[0053] The upper link and the lower link may be pivotally coupled to the same surface of the drawer.

[0054] The upper link and the lower link may be pivotally coupled to the same surface of the frame structure.

[0055] The upper link should be positioned so that the drawer can receive the storage container from above when in the receiving position, ie, the upper link does not hinder the placement or removal of the storage container into or from the drawer when the drawer is in the receiving position.

[0056] When the drawer is in the receiving position, the lower link does not hinder the storage container from being placed in or removed from the drawer. Therefore, the lower link can be arranged to be independent of the placement / removal of the storage container. For example, the lower link can be positioned on the left side, the right side, both sides or in the middle.

[0057] The lower link can be configured to provide a barrier to the access port column, such as by arranging a plate, panel, grille or other barrier structure between the two link arm portions. The plate, panel, grille or other barrier structure can be made of sheet metal or molded / formed from plastic, for example.

[0058] In one embodiment, the frame structure includes a panel forming a front cover of the access station.When the drawer is moved to the receiving position, a pair of lower connecting arm portions can be stored in slots in the frame structure or pulled back flush with the front of the access station.

[0059] The drawer assembly can be configured to separate the interior of the access station from the exterior of the access station when the drawer is in the receiving position. The gaps between the lower link, the drawer, and the frame structure can preferably be small enough that a hand / fingers cannot be pinched therebetween when the drawer is in the receiving position. By physically separating the interior of the access station from the exterior of the access station, the risk of injury to a user of the access station can be reduced.

[0060] The second end of the upper link and the second end of the lower link are preferably spaced apart in the horizontal direction X, in the vertical direction Y, or in both the horizontal and vertical directions.

[0061] The second end of the upper link is preferably coupled to a rear portion of the drawer, ie, the portion of the drawer closest to the storage section of the automated storage and retrieval system.

[0062] The second end of the lower link is preferably coupled to a front portion of the drawer (as opposed to a rear portion of the drawer), ie, the portion of the drawer closest to where a user would typically be located.

[0063] The second end of the upper link may be coupled to a mid-height portion of the drawer or an upper portion of the drawer. The second end of the upper link is preferably coupled to a lower portion of the drawer.

[0064] The second end of the lower link may be coupled to a mid-height portion of the drawer or an upper portion of the drawer. The second end of the lower link is preferably coupled to a lower portion of the drawer.

[0065] The first end of the upper link may not be arranged directly above the first end of the lower link, that is, at a distance D in the first direction X. A Spaced apart.

[0066] When the drawer is in the receiving position, the second end of the upper link can be flush with the second end of the lower link. The second end of the upper link and the second end of the lower link are preferably spaced apart in the first direction X by a distance D. B Spaced apart.

[0067] The drawer has a support portion on which a storage container can be placed. For example, the support portion can be an upwardly facing surface of the base of the drawer, or a set of shaped portions in the drawer on which the storage container is placed, for example, the set of shaped portions supports the edge of the storage container in the drawer. When the drawer is in the receiving position, the support portion of the drawer is preferably horizontal. When the drawer is in the picking position, the support portion of the drawer is preferably at the drawer inclination angle α. B Inclined relative to the horizontal plane.

[0068] Relative to the horizontal plane P H Drawer tilt angle α B It may be in the range of 5° to 45°, more preferably in the range of 10° to 40°, more preferably in the range of 15° to 35°, more preferably in the range of 20° to 30°, for example 25°.

[0069] The preferred inclination angle range is 20° to 30°. However, the starting point of the inclination angle range can be 5°, 10°, 15°, 20°, 25°. The end point of the inclination angle range can be 25°, 30°, 35°, 40°, 45°.

[0070] When the drawer moves between the receiving position and the picking position, the drawer follows a set path (i.e., the drawer path). The path and the drawer tilt angle can be selected by the following parameters, such as:

[0071] - The horizontal distance D between the first end of the lower link and the first end of the upper link A ,

[0072] - The horizontal distance D between the second end of the lower link and the second end of the upper link B ,

[0073] - Length of upper link L U ,as well as

[0074] - Length of lower link L L .

[0075] The point on the frame structure to which the first end of the upper link is connected (ie, the upper link first connection point) is usually fixed.

[0076] The point on the drawer that is connected to the second end of the upper link (i.e., the upper link second connection point) follows a path between the receiving position and the picking position (i.e., the upper link path). When the upper link first connection point is fixed, the upper link path is defined by an arc. Therefore, the relative height of the upper link second connection point relative to the frame structure varies along the upper link path.

[0077] The point on the frame structure connected to the first end of the lower link (ie, the first connection point of the lower link) is usually fixed.

[0078] The point on the drawer that is connected to the second end of the lower link (i.e., the lower link second connection point) follows a path between the receiving position and the picking position (i.e., the lower link path). When the lower link first connection point is fixed, the lower link path is defined by an arc. Therefore, the relative height of the lower link second connection point relative to the frame structure varies along the lower link path.

[0079] The combination of the upper link path and the lower link path defines a drawer path.

[0080] The radius of the arc defining the upper link path is equal to the length of the upper link. Thus, a longer upper link provides a larger radius, while a shorter upper link provides a smaller radius. Thus, the distance between the upper link second connection point when in the receiving position and the upper link second connection point when in the picking position is never greater than 2 times the length of the upper link.

[0081] Therefore, the length of the upper link should preferably be at least 50% of the length of one side of the drawer.

[0082] The radius of the arc defining the lower link path is equal to the length of the lower link. Thus, a longer lower link provides a larger radius, while a shorter lower link provides a smaller radius. Thus, the distance between the lower link second connection point when in the receiving position and the lower link second connection point when in the picking position is never greater than 2 times the length of the lower link.

[0083] Therefore, the length of the lower link should preferably be at least 50% of the length of one side of the drawer.

[0084] In the receiving position, the first end of the upper link and the second end of the upper link may be arranged to have a horizontal distance D UR, so that when the drawer moves out of the receiving position, the second end of the upper link moves toward a position vertically aligned with the first end of the upper link, and then the second end of the upper link will move downward first.

[0085] In the picking position, the first end of the upper link and the second end of the upper link may be arranged to have a horizontal distance D UP , so that when the drawer moves out of the picking position, the second end of the upper link moves toward a position vertically aligned with the first end of the upper link, and then the second end of the upper link will move downward first.

[0086] The second end of the upper link will move downward when moving toward a position vertically aligned with the first end of the upper link. And the second end of the upper link will move upward when moving away from a position vertically aligned with the first end of the upper link.

[0087] The second end of the upper link will reach its lowest possible point when vertically aligned with the first end of the upper link.

[0088] If the horizontal distance between the first end of the upper link and the second end of the upper link is equal in the picking position and the receiving position (D UP =D UR ), the relative height of the second connection point of the upper link relative to the frame structure is the same in these two positions.

[0089] In the receiving position, the first end of the lower link and the second end of the lower link may be arranged to have a horizontal distance D LR , so that when the drawer moves out of the receiving position, the second end of the lower link moves toward a position vertically aligned with the first end of the lower link, thereby causing the second end of the lower link to move upward first.

[0090] In the picking position, the first end of the lower link and the second end of the lower link may be arranged to have a horizontal distance D LP , so that when the drawer moves out of the picking position, the second end of the lower link moves toward a position vertically aligned with the first end of the lower link, thereby causing the second end of the lower link to move upward first.

[0091] In one embodiment, the second end of the lower link will move upward when moving toward a position vertically aligned with the first end of the lower link, and the second end of the lower link will move downward when moving away from a position vertically aligned with the first end of the lower link.

[0092] The second end of the lower link will reach its highest possible point when vertically aligned with the first end of the lower link.

[0093] If the horizontal distance between the first end of the lower link and the second end of the lower link is equal in the picking position and the receiving position (D LP =D LR), the relative height of the second connection point of the lower link relative to the frame structure is the same in these two positions.

[0094] D LP The closer to D LR , the smaller the change in the relative height of the second connection point of the lower link with respect to the frame structure.

[0095] Value D LP With value D LR The greater the difference between the two, the greater the change in the relative height of the second connection point of the lower link relative to the frame structure.

[0096] D UP The closer to D UR , the smaller the change in the relative height of the second connection point of the upper link relative to the frame structure. UP With value D UR The greater the difference between the two, the greater the change in the relative height of the second connection point of the upper link relative to the frame structure.

[0097] The closer the upper link is to a vertical orientation (i.e., α UP and α UR The smaller the height of the second connection point of the upper link relative to the frame structure, the smaller the change.

[0098] The closer the upper link is to a horizontal orientation (i.e., α UP and α UR The larger the height of the upper link second connection point is, the greater the change in the relative height of the frame structure is.

[0099] From a vertical orientation, when two lengths of upper links provide the same horizontal displacement, the longer upper link has a smaller vertical component than the shorter upper link.

[0100] The length of the upper link can be regarded as the distance between the first end of the upper link and the second end of the upper link, or as the distance between the first connection point of the upper link and the second connection point of the upper link.

[0101] The closer the lower link is to a vertical orientation (i.e., α LP and α LR The smaller the height of the second connection point of the lower link relative to the frame structure, the smaller the change.

[0102] The closer the lower link is to a horizontal orientation (i.e., α LP and α LR The larger the height of the lower link second connection point is, the greater the change in the relative height of the frame structure is.

[0103] From a vertical orientation, when two lengths of lower links provide the same horizontal displacement, the longer lower link has a smaller vertical component than the shorter lower link.

[0104] The length of the lower link can be regarded as the distance between the first end of the lower link and the second end of the lower link, or as the distance between the first connection point of the lower link and the second connection point of the lower link.

[0105] It should be predicated on the drawer path that the drawer is horizontally oriented in the receiving position, ie configured to receive a storage container from above.

[0106] The drawer path is set by combining the upper link path and the lower link path, which provides the desired drawer tilt angle in the picking position. Generally, making the upper link path and the lower link path substantially the same in terms of the change in the relative height of the upper link second connection point / the lower link second connection point relative to the frame structure will result in a smaller drawer tilt angle. Whereas making the upper link path and the lower link path have a larger difference in terms of the change in the relative height of the upper link second connection point / the lower link second connection point relative to the frame structure will result in a larger drawer tilt angle. By reducing the horizontal distance D between the second end of the lower link (i.e., the lower link second connection point) and the second end of the upper link (i.e., the upper link second connection point) B , the drawer tilt angle can be further increased.

[0107] In the picking position, the drawer may have an inclination angle α relative to the horizontal plane. B , the upper link has a pivot angle α relative to the vertical plane UP , and the lower link has a pivot angle α relative to the vertical plane LP The advantage of the storage and retrieval station is that the drawer tilt angle can be smaller than the upper link pivot angle and the lower link pivot angle.

[0108] Drawers are usually box-shaped and have an open top. Drawers may have solid sides or solid grid-like sides. Drawers may be made of metal or other materials to make them strong and durable.

[0109] The drawer may have a handle for enabling a user of the storage and retrieval station to manipulate the drawer to move between the receiving position and the picking position.

[0110] The drawer may be configured to close a front side of the access station, ie a user-facing side of the access station, when the drawer is in the receiving position.

[0111] The drawer is typically configured to receive one storage container, however, in one embodiment, the drawer may be configured to receive two or more storage containers, for example side by side.

[0112] In one aspect, the first end of the upper link may be disposed above the drawer and the first end of the lower link is disposed below the drawer.

[0113] In one aspect, the lower link may have a lower link length and the upper link has an upper link length,

[0114] Wherein, the ratio between the length of the lower connecting rod and the length of the upper connecting rod is in the range of 1:1 to 1:2.

[0115] In one aspect, the drawer may be suspended solely by upper and lower links.

[0116] The frame structure may provide some guidance in the second direction Y without being coupled to the drawer.

[0117] When the drawer moves back and forth between the receiving position and the picking position, the upper link and the lower link can follow the movement of the drawer. The drawer is usually suspended in an approximately horizontal position (e.g., about ±10° of the true horizontal position) within its range of movement.

[0118] The upper link and the lower link may be directly coupled to the drawer. Alternatively, the upper link and the lower link may be indirectly coupled to the drawer, for example, via one or more intermediate components, such as another link.

[0119] In one aspect, the drawer is horizontal when in the receiving position.

[0120] In one aspect, when the drawer is in a position between the picking position and the receiving position, the first end of the upper link and the second end of the upper link may be vertically aligned.

[0121] The drawer assembly may be configured such that the first end of the lower link and the second end of the lower link are vertically aligned when the drawer is in a position between the picking position and the receiving position.

[0122] The drawer assembly is preferably configured so that the first end of the lower link and the second end of the lower link are not vertically aligned when the drawer is in a position where the first end of the upper link and the second end of the upper link are vertically aligned.

[0123] The drawer assembly may be configured such that the first end of the upper link and the second end of the upper link are never vertically aligned when the drawer is in a position between the picking position and the receiving position.

[0124] In one aspect, the frame structure may have a front side and a rear side,

[0125] Wherein, when the drawer is in the receiving position, the second end of the lower link is closer to the rear side of the frame structure than the first end of the lower link.

[0126] The drawer is then configured to remain in the receiving position until the drawer is pulled out of that position, either by a user or by an actuator.

[0127] The drawer is also urged toward the receiving position when the drawer is located between the receiving position and a position where the first end of the lower link and the second end of the lower link are vertically aligned.

[0128] The drawer assembly may be configured such that the first end of the lower link and the second end of the lower link are never vertically aligned when the drawer is in a position between the picking position and the receiving position.

[0129] When the access station is arranged in an automated storage and retrieval system, the rear side of the frame structure usually faces the storage section.

[0130] The rear side of the frame structure is opposite to the front side of the frame structure. The front side of the frame structure generally faces a user of the access station.

[0131] The lower link first connection point may be arranged flush with the front side of the frame structure.

[0132] The upper link first coupling point may be arranged between a front side of the frame structure and a rear side of the frame structure.

[0133] In one aspect, the frame structure may have a front side and a rear side,

[0134] Wherein, when the drawer is in the picking position, the first end of the lower connecting rod is closer to the rear side of the frame structure than the second end of the lower connecting rod.

[0135] The drawer is then configured to remain in the pick-up position until the drawer is pushed out of this position either by a user or by an actuator.

[0136] Then, when the drawer is located between the picking position and the position where the first end of the lower link and the second end of the lower link are vertically aligned, the drawer is also pushed toward the picking position.

[0137] In one aspect, the access station can be configured for vertically aligning a receiving location with a port column of an automated storage and retrieval system for receiving a storage container from the port column.

[0138] The upper portion of the frame structure may form part of a column of ports vertically aligned with the receiving locations.

[0139] The container handling vehicle can then lower the storage container through the port row and into the drawer in the receiving position, or retrieve the storage container from the drawer in the receiving position via the port row.

[0140] In one aspect, the frame structure and / or the drawer assembly may be configured to prevent removal of a storage container from the drawer when the drawer is in the retrieval position.

[0141] This will prevent vandals from stealing storage containers from the system when the access station is located on the pavement area.

[0142] Blocking the removal of a storage container from a drawer when the drawer is in the pick-up position can be achieved by partially blocking the opening of the drawer with a component of the drawer assembly or by using a frame structure. The blocking should allow a user to access the contents of a storage container placed in the drawer while preventing the storage container from being removed due to the area of ​​the storage container being larger than the unblocked area of ​​the drawer.

[0143] This can be achieved by the drawer assembly comprising a tilt limiter, by the tilt limiter being arranged on the frame structure or by a portion of the frame structure providing the tilt limiter, such as a cross member of the frame. The tilt limiter is configured to limit the drawer from moving beyond the pick-up position.

[0144] The tilt limiter may be configured so that the drawer and frame structure engage at a predetermined point of movement, thereby preventing further movement. The predetermined point of movement is typically the pick-up position.

[0145] The tilt limiter can be arranged on the drawer and configured to extend upward relative to the drawer. The tilt limiter can be a separate item connected to the drawer, or it can be a part of the drawer (ie, integrally formed with the drawer).

[0146] The tilt limiter is preferably configured so as not to interfere with alignment of the drawer with the column of the frame structure when the drawer is in the receiving position.

[0147] A stopper may be provided which is located between the two upright members of the frame structure when the drawer is in the receiving position. If the tilt limiter is located in the upper part of the drawer, the tilt limiter may also be used as the stopper. The stopper may prevent the clamping device from moving closer to the drawer when the drawer is not in the receiving position.

[0148] A storage and retrieval station can also include a plurality of drawer assemblies arranged side by side in a frame structure. In this way, a plurality of users can access items simultaneously.

[0149] The present invention also relates to an automatic storage and retrieval system, wherein the automatic storage and retrieval system comprises:

[0150] - a storage and access station as described herein;

[0151] - a track system comprising a first set of parallel tracks arranged in a horizontal plane and extending in a first direction and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, the first set of tracks and the second set of tracks forming a grid in the horizontal plane, the grid comprising a plurality of adjacent access openings;

[0152] a storage section containing a plurality of storage containers arranged in storage rows beneath the rail system,

[0153] wherein each storage row is located vertically below one of the plurality of access openings;

[0154] at least one row of ports located below the rail system and vertically aligned with the receiving position of the access station, the at least one row of ports not containing storage containers; and

[0155] - A container handling vehicle comprising: a gripping device for lifting storage containers stored in a row above a storage section; and a driving device configured to drive the vehicle along a rail system in at least one of a first direction and a second direction.

[0156] A drawer usually corresponds to the area of ​​approximately one access opening of the rail system when viewed in plan.

[0157] In one aspect, the access station may be configured to provide a lower section of the port column.

[0158] In one aspect, the automated storage and retrieval system may include at least two storage and retrieval stations, and preferably, three or four storage and retrieval stations.

[0159] The present invention also relates to a method of presenting a storage container at a storage and retrieval station using an automated storage and retrieval system as described herein,

[0160] The method comprises the following steps:

[0161] - Retrieving storage containers stored in the storage section of the storage and retrieval system by means of a container handling vehicle comprising a gripping device;

[0162] -Move the drawer of the access station to the receiving position;

[0163] - placing the storage container in a drawer of the drawer assembly; and

[0164] -Moving the drawer into a pick-up position to present the storage container to the user.

[0165] In one aspect, after presenting the storage container to the user, the method may further include the following steps:

[0166] - returning the drawer to the receiving position; and

[0167] -Remove storage containers from drawers. BRIEF DESCRIPTION OF THE DRAWINGS

[0168] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate various embodiments of the present invention which will now be described by way of example only, in which:

[0169] FIG. 1 is a perspective view of the framework structure of an automatic storage and retrieval system of the prior art.

[0170] 2 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying storage containers therein.

[0171] 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath.

[0172] 4 is a perspective view of a prior art container handling vehicle viewed from below, the container handling vehicle having an internally disposed cavity for carrying storage containers therein.

[0173] 5 is a perspective view of a storage container and product items stored in the storage container.

[0174] Figure 6a It is a perspective view of a storage and retrieval station for an automatic storage and retrieval system. The storage and retrieval station includes a frame structure and a drawer assembly, wherein the drawers of the drawer assembly are in a receiving position.

[0175] Figure 6b yes Figure 6a A perspective view of a storage and retrieval station in FIG. 1 , wherein the drawer is in a position between a receiving position and a picking position.

[0176] Figure 6c yes Figure 6a A perspective view of a storage and retrieval station in which the drawer is in the picking position.

[0177] Figure 7a yes Figure 6a A horizontal cross section of a storage and access station in the embodiment of the present invention, wherein the drawer is in a receiving position. In addition to the drawer, the drawer assembly also includes an upper link and a lower link that suspend the drawer in the frame structure.

[0178] Figure 7b yes Figure 7a A horizontal cross section of a storage and retrieval station in which the drawer is in a position between a receiving position and a picking position.

[0179] Figure 7c yes Figure 7a Horizontal section of a storage and retrieval station in which a drawer is in the picking position.

[0180] Figure 8a It is a perspective view of a storage and retrieval station. The storage and retrieval station includes a frame structure and a drawer assembly, wherein the drawers of the drawer assembly are in a receiving position.

[0181] Figure 8b yes Figure 8a A perspective view of a storage and retrieval station in FIG. 1 , wherein the drawer is in a position between a receiving position and a picking position.

[0182] Figure 8c yes Figure 8a A perspective view of a storage and retrieval station in which the drawer is in the picking position.

[0183] Figure 9a yes Figure 8a A horizontal cross section of an access station in the embodiment of the present invention, wherein the drawer is in a receiving position. In addition to the drawer, the drawer assembly includes an upper link and a lower link that suspends the drawer in the frame structure.

[0184] Figure 9b yes Figure 9a A horizontal cross section of a storage and retrieval station in which the drawer is in a position between a receiving position and a picking position.

[0185] Fig.9c yes Figure 9a Horizontal section of a storage and retrieval station in which a drawer is in the picking position.

[0186] Fig.10a is a top view of a portion of an automated storage and retrieval system including a plurality of access stations with a drawer in a receiving position and the receiving position vertically aligned with an access opening of a track system above.

[0187] Fig.10b is a top view of a portion of the automated storage and retrieval system of FIG. 14a with the drawer in the picking position. DETAILED DESCRIPTION

[0188] In the following, embodiments of the present invention will be discussed in more detail with reference to the attached drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0189] The frame structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art frame structure 100 described above in conjunction with Figures 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper rail system 108 extending in the X and Y directions.

[0190] The frame structure 100 further comprises storage compartments in the form of storage rows 105 arranged between the components 102 , wherein storage containers 106 can be stacked in the form of stacks 107 within the storage rows 105 .

[0191] The frame structure 100 may be of any size. In particular, it is understood that the frame structure may be wider and / or longer and / or deeper than the frame structure disclosed in Figure 1. For example, the frame structure 100 may have a horizontal extent of more than 700 x 700 columns and a storage depth of more than twelve containers.

[0192] One embodiment of the automatic storage and retrieval system according to the present invention will now be discussed in more detail with reference to the accompanying drawings.

[0193] Fig. 5 shows some examples of product items 80 stored in storage container 106. Storage container 106 shown in Fig. 4 has a height Hf, a width Wf, and a length Lf. Storage container 106 has a horizontal cross-section Af.

[0194] Figures 6a to 6c A perspective view of a storage and retrieval station 600 for the automated storage and retrieval system 1 is shown. The storage and retrieval station 600 includes a frame structure 620 and a drawer assembly 610 disposed in the frame structure 620. The drawer assembly 610 includes a drawer 611 for accommodating a storage container 106.

[0195] This series of figures shows that the drawer 611 is Figure 6a The receiving position P in R Move to Figure 6c Pickup position P in P The order of operations.

[0196] Figures 7a to 7c They are shown as Figures 6a to 6c A horizontal cross-section of access station 600 is shown.

[0197] In addition to the drawer 611, the drawer assembly 610 also includes a lower link 612 that is pivotally coupled to the frame structure 620 at a first end 612a and pivotally coupled to the drawer 611 at a second end 612b. The drawer assembly 610 also includes an upper link 613 that is pivotally coupled to the frame structure 620 at a first end 613a and pivotally coupled to the drawer 611 at a second end 613b.

[0198] Regardless of the position of the drawer 611 , the first end 613 a of the upper link 613 is disposed above the second end 613 b of the upper link 613 , and the first end 612 a of the lower link 612 is disposed below the second end 612 b of the lower link 612 .

[0199] The upper link 613 and the lower link 612 allow the drawer 611 to be in the receiving position P for receiving the storage container 106 from above. R and a pick-up position P for presenting the storage container 106 to a user of the access station 600. P Move between.

[0200] Figures 8a to 8c Shown with Figures 6a to 6c The access station 600 of the same type is a three-dimensional view of the access station 600. The two access stations 600 can be used interchangeably to achieve the same purpose. The two access stations 600 include the same components, but these components may have different configurations.

[0201] Figures 8a to 8c The pick-up position P provided by the access station 600 shown in FIG. P With Figures 6a to 6c The access station 600 shown in FIG. b .

[0202] Figures 8a to 8c Also shown is a drawer 611 from Figure 8a The receiving position P in R Move to Figure 8c Pickup position P in P The order of operations.

[0203] Figures 9a to 9c They are shown as Figures 8a to 8c A horizontal cross-section of access station 600 is shown.

[0204] The first end 613a of the upper link 613 is generally arranged above the drawer 611, and the first end 612a of the lower link 612 is generally arranged below the drawer 611. In the exemplary drawings, the second end 612b of the lower link 612 and the second end 613b of the upper link 613 are both coupled to the lower portion of the drawer 611. Then, the lower link length L of the lower link 612 is L Greater than the vertical extension range of the drawer 611. The upper connecting rod length L of the upper connecting rod 612 U It can also be greater than the vertical extension range of the drawer 611, for example, equal to the length L of the lower connecting rod. L , but it does not have to be set this way.

[0205] Lower connecting rod length L L The length of the upper connecting rod L U The ratio between can be in the range of 1:1 to 1:2. Figures 9a to 9c An example is shown where the ratio is approximately 1:1.

[0206] exist Figures 7a to 7c and Figures 9a to 9c In the embodiment, the drawer 611 is suspended only by the upper link 613 and the lower link 612. However, the frame structure 620 can still provide some guidance in the second direction Y, that is, when the drawer 611 is in the receiving position P R and the picking position P P Some guidance is provided in a second direction orthogonal to the first direction X along which the movement takes place.

[0207] exist Figure 7a and Figure 9a In the two examples shown in FIG. 1 , the drawer 611 is in the receiving position P L The drawer 611 should remain horizontal when in this position to receive the storage container 106 from above without getting stuck.

[0208] The upper link 613 and the lower link 612 can be regarded as oppositely oriented swinging members because they are fixed at one end (i.e., the first end 612a, 613a). These ends can be referred to as the upper link first connection point and the lower link first connection point. These connection points allow the upper link 613 and the lower link 612 to pivot, but cannot move in the vertical direction or the horizontal direction X, Y, Z relative to the frame structure.

[0209] The second end 163b of the upper link 613 and the second end 612b of the lower link 612 can move in the horizontal direction and the vertical direction X, Z and follow an arc path. The arc path is determined by the length L of the lower link. L and the upper connecting rod length L U Decide.

[0210] exist Figure 7a and Figure 9a In the embodiment, the drawer 611 is in the receiving position P R , and there is a distance D between the first end 613a of the upper link 613 and the second end 613b of the upper link 613 UR Then, the upper link 613 has an upper link pivot angle α relative to the vertical direction. UR Then, the second end 613 b of the upper link 613 is closer to the rear side of the frame structure 620 than the first end 613 a of the upper link 613 .

[0211] As the drawer 611 moves closer to the pickup position P P Location (such as Figure 7b and Figure 9b ), the second end 613b of the upper connecting rod 613 moves forward a horizontal distance and moves downward a vertical distance. The first end 613a of the upper connecting rod 613 and the second end 613b of the upper connecting rod 613 are roughly vertically aligned, so the second end 613b is at its lowest possible point.

[0212] exist Figure 7c and Fig.9c In the process, the drawer 611 is in the picking position P P , and there is a distance D between the first end 613a of the upper link 613 and the second end 613b of the upper link 613 UP Then, the upper link 613 has an upper link pivot angle α relative to the vertical direction. UPThen, the first end 613a of the upper link 613 is closer to the rear side of the frame structure 620 than the second end 613b of the upper link 613. The second end 613b of the upper link 613 moves forward by another horizontal distance and moves upward by a vertical distance.

[0213] If the upper link 613 is arranged so that the pivot angle α UP and α UR equal, the second end 613b of the upper connecting rod 613 is at the receiving position P R and the pick-up position P P The relative height with respect to the frame structure 620 is the same in both positions.

[0214] By setting the upper link 613 so that the pivot angle α UP and α UR The difference between the two increases, and the second end 613b of the upper connecting rod 613 is in the receiving position P R and the pick-up position P P The difference between the relative heights of the upper connecting rod 613 and the frame structure 620 will be greater. This effect can be achieved by increasing the length L of the upper connecting rod 613. U When it is desired to make the second end 613b of the upper connecting rod 613 at the receiving position P R and the pick-up position P P The relative heights with respect to the frame structure 620 are substantially the same in both positions, but it is not possible to arrange the drawer assembly so that the pivot angle α LP and α LR In equal cases, this may be useful.

[0215] By arranging the upper link 613 so that when the drawer 611 is in the receiving position P R and the picking position P P During the movement between the first end 613a of the upper link 613 and the second end 613b of the upper link 613 are never vertically aligned, which can further increase the difference between the relative heights of the second end 613b of the upper link 613 relative to the frame structure 620 in the receiving position and the picking position.

[0216] exist Figure 7a and Figure 9a In the embodiment, the drawer 611 is in the receiving position P R , and there is a distance D between the first end 612a of the lower link 612 and the second end 612b of the lower link 612 LR Then, the lower link 612 has a lower link pivot angle α relative to the vertical direction. LR Then, the second end 612 b of the lower link 612 is closer to the rear side of the frame structure 620 than the first end 612 a of the lower link 612 .

[0217] As the drawer 611 moves closer to the pickup position P P Location (such as Figure 7b and Figure 9b ), the second end 612b of the lower connecting rod 612 moves forward a horizontal distance and first moves upward and then moves downward a vertical distance. When the first end 612a of the lower connecting rod 612 and the second end 612b of the lower connecting rod 612 are vertically aligned, the second end 612b is at its highest possible point.

[0218] exist Figure 7c and Fig.9c In the process, the drawer 611 is in the picking position P P , and there is a distance D between the first end 612a of the lower link 612 and the second end 612b of the lower link 612 LP Then, the lower link 612 has a lower link pivot angle α relative to the vertical direction. LP Then, the first end 612a of the lower link 612 is closer to the rear side of the frame structure 620 than the second end 612b of the lower link 612. The second end 612b of the lower link 612 moves forward by another horizontal distance and moves downward by a vertical distance.

[0219] If the lower link 612 is arranged so that the pivot angle α LP and α LR equal, the second end 612b of the upper connecting rod 612 is at the receiving position P R and the pick-up position P P The relative height with respect to the frame structure 620 is the same in both positions.

[0220] By setting the lower link 612 so that the pivot angle α LP With α LR The difference between the two increases, and the second end 612b of the upper link 612 is in the receiving position P R and the pick-up position P P The difference between the relative heights of the frame structure 620 will be greater. This effect can be reduced by increasing the length of the lower link 612. R and the pick-up position P P The relative heights with respect to the frame structure 620 are substantially the same in both positions, but it is not possible to arrange the drawer assembly so that the pivot angle α LP and α LR All things being equal, this could be significant.

[0221] By arranging the lower link 612 so that when the drawer 611 is in the receiving position P R and the picking position P PDuring the movement between the first end 612a of the lower link 612 and the second end 612b of the lower link 612 are never vertically aligned, which can further increase the difference between the relative heights of the second end 612b of the lower link 612 relative to the frame structure 620 in the receiving position and the picking position.

[0222] When the drawer 611 is in the picking position P P When the drawer can preferably have a drawer tilt angle α B . Pick up position P P It may then be tilted, thereby making it easier and more ergonomic for a user of the access station 600 to access the contents of the drawer.

[0223] Drawer tilt angle α B It can be set by the configuration of the lower link 612 and the upper link 613 .

[0224] By configuring the upper link 613 and the lower link 612 so that the relative heights of the second end 613b of the upper link 613 and the second end 612b of the lower link 612 relative to the frame structure 620 are at the receiving position P R and the picking position P P The changes between them are basically the same, which can make the drawer tilt angle α B The relative heights of the second end 613b of the upper link 613 and the second end 612b of the lower link 612 relative to the frame structure 620 are at the receiving position P. R and the picking position P P There can be significant variations between the two, as long as the variations are essentially the same.

[0225] By configuring the upper link 613 so that the second end 613b of the upper link 613 is at a height relative to the frame structure 620 at the receiving position P R The ratio is in the pick-up position P P Medium-low, you can increase the drawer tilt angle α B The greater the height difference, the greater the drawer tilt angle α B The more it can be increased.

[0226] By configuring the lower link 612 so that the second end 612b of the lower link 612 is at a height relative to the frame structure 620 at the receiving position P R The ratio is in the pick-up position P P Medium-high, can increase the drawer tilt angle α B The greater the height difference, the greater the drawer tilt angle α B The more it can be increased.

[0227] By reducing the horizontal distance D between the second end 612b of the lower link 612 and the second end 613b of the upper link 613 B, the drawer tilt angle α can be further increased B This effect.

[0228] The drawer 611 can be pushed to the receiving position P R .exist Figure 7a and Figure 9a In the embodiment, the lower connecting rod 612 is arranged so that the second end 612b of the lower connecting rod 612 moves out of the receiving position P R The drawer 611 and its contents are pushed downward by gravity. Therefore, the force generated will hinder the part from moving upward and leaving the receiving position P. R This effect can be enhanced by a heavier drawer 611. As long as the second end 612b of the lower link 612 is closer to the rear of the frame structure 620 than the first end 612a of the lower link 612, the drawer 611 can be pushed to the receiving position P. R .

[0229] The drawer 611 can be pushed to the pickup position P P .exist Figure 7c and Fig.9c In the embodiment, the lower connecting rod 612 is arranged so that the second end 612b of the lower connecting rod 612 moves out of the picking position P P The drawer 611 and its contents are pushed downward by gravity. Therefore, the force generated will hinder the part from moving upward and leaving the picking position P. P This effect can be enhanced by a heavier drawer 611. As long as the first end 612a of the lower link 612 is closer to the rear of the frame structure 620 than the second end 612b of the lower link 612, the drawer 611 can be pushed to the picking position P. P .

[0230] When the first end 612a of the lower link 612 and the second end 612b of the lower link 612 are vertically aligned, the two ends are equally close to the rear side of the frame structure 620. In this position, the drawer 611 is neither pushed to the receiving position P nor pushed to the receiving position P. R , and will not be pushed to the pickup position P PHowever, depending on the position of the second connection point of the lower link on the drawer 611, when the first end 612a of the lower link 612 and the second end 612b of the lower link 612 are vertically aligned, the drawer 611 may also be pushed to the receiving position P R Or pick up position P P Arranging the second connection point of the lower link closer to the front side of the drawer 611 can facilitate the drawer 611 to be pushed to the receiving position P R Instead of picking up position P P Arranging the second connection point of the lower link closer to the rear side of the drawer 611 can facilitate the drawer 611 to be pushed to the picking position P P Instead of receiving position P R .

[0231] Figure 7c and Fig.9c It is shown that the frame structure 620 can partially block the opening in the top of the drawer 611. Therefore, when the drawer 611 is in the picking position P P When the drawer 611 is opened, the frame structure can prevent the storage container 106 placed in the drawer 611 from being taken out. Then, the size of the storage container 106 should be designed to fit in the drawer 611, and the gap between them is smaller than the area where the opening is blocked.

[0232] The upper portion 620a of the frame structure 620 may form the lower portion of the port column 119. The upper portion 620a of the frame structure 620 is preferably aligned with the receiving position P R Align vertically.

[0233] Fig.10a A top view of a portion of an automated storage and retrieval system 1 is shown. The automated storage and retrieval system 1 may include:

[0234] - an access station 600 as described herein;

[0235] - A rail system 108, comprising a rail system arranged in a horizontal plane P H The first set of parallel tracks 110 extending in the first direction X and arranged in the horizontal plane P H The second set of parallel tracks 111 extending in a second direction Y orthogonal to the first direction X, the first set of tracks 110 and the second set of tracks 111 are in a horizontal plane P H A grid is formed therein, the grid comprising a plurality of adjacent access openings 112;

[0236] a storage section containing a plurality of storage containers 106 arranged in storage rows 105 beneath a rail system 108 , wherein each storage row 105 is located vertically beneath one of a plurality of access openings 112 ;

[0237] at least one port row 119, located below the rail system 108 and in contact with the receiving position P of the access station 600 R vertically aligned, the at least one port row 119 being free of storage containers 106; and

[0238] - A container handling vehicle 201; 301; 401, comprising: a gripping device 304 for lifting storage containers 106 stored in a column 105 above a storage section; and a driving device 201b, 201c; 301b, 301c; 401b, 401c, configured to drive the vehicle 301 to move along the rail system 108 in at least one of a first direction X and a second direction Y.

[0239] like Fig.10a As shown in , multiple access stations 600 can be arranged side by side as part of the same automatic storage and retrieval system 1. Fig.10a In the embodiment, three access stations 600 are arranged side by side, however, any other number of access stations 600 can be used in the same automatic storage and retrieval system 1. The access stations 600 can be arranged side by side or in a spaced manner.

[0240] exist Fig.10a , the drawer 611 is in its receiving position P R , which contains a storage container 106. Fig.10a As shown in R It can be vertically aligned with the port columns 119, 120 of the automatic storage and retrieval system 1. Fig.10a As shown in R It can be vertically aligned with the access opening 112 in the rail system 108 of the automated storage and retrieval system 1. In this way, a container handling vehicle 201; 301; 401 traveling on the rail system 108 can transport storage containers to / from the access station 600.

[0241] Fig.10b yes Fig.10a A top view of the automatic storage and retrieval system in FIG. 1 , wherein the drawer 611 is in its picking position P P .like Fig.10b As shown in , each picking position P P It is not vertically aligned with the port columns 119, 120 of the automated storage and retrieval system 1. Therefore, the container handling vehicles 201; 301; 401 traveling on the rail system 108 cannot access the storage containers 106 placed in the drawer 611. However, the storage containers 106 can be accessed by the user of the access station 600.

[0242] The above automatic storage and retrieval system can be operated as follows:

[0243] - Retrieving a storage container 106 stored in a storage section of the storage and retrieval system 1 by means of a container handling vehicle 201; 301; 401 comprising a gripping device 304;

[0244] - Move the drawer 611 of the access station 600 to the receiving position P R ,

[0245] - placing the storage container 106 in the drawer 611 of the drawer assembly 610; and

[0246] - Move drawer 611 to pick-up position P P , to present the storage container 106 to the user.

[0247] After presenting the storage container 106 to the user, the method may further include the following steps:

[0248] - Return the drawer 611 to the receiving position P R ;as well as

[0249] - Remove the storage container 106 from the drawer 611.

[0250] In the foregoing description, various aspects of the transport vehicle and the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For illustrative purposes, specific numbers, systems, and configurations are set forth to provide a comprehensive understanding of the system and its operating principles. However, the 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 apparent to those skilled in the art to which the disclosed subject matter belongs are considered to be within the scope of the present invention.

[0251] Reference Numbers List

[0252] 1. Automatic storage and retrieval system of the prior art

[0253] 100 Frame structure

[0254] 102 Vertical members of the frame structure

[0255] 104 Storage Grid

[0256] 105 Storage Rows

[0257] 106 Storage Container

[0258] 106' Storage Container Location

[0259] 107 Stacking

[0260] 108 Track System

[0261] 110 Parallel tracks in the first direction (X)

[0262] 112 Access opening

[0263] 119 First port column

[0264] 120 Second port column

[0265] 201 Container handling vehicle of the prior art

[0266] 201a Body of container transport vehicle 201

[0267] 201b Drive device / wheel arrangement / first set of wheels in first direction (X)

[0268] 201c Drive device / wheel arrangement / second set of wheels in second direction (Y)

[0269] 301 Prior art cantilever container handling vehicle

[0270] 301a Body of the container transport vehicle 301

[0271] 301b Driving device in the first direction (X) / first set of wheels

[0272] 301c Drive device in the second direction (Y) / second set of wheels

[0273] 304 Clamping device

[0274] 401 Container handling vehicle of the prior art

[0275] 401a Body of container transport vehicle 401

[0276] 401b Driving device in first direction (X) / first set of wheels

[0277] 401c Drive device in the second direction (Y) / second set of wheels

[0278] 404 Clamping device

[0279] 404a Lifting belt

[0280] 404b Clamp

[0281] 404c Guide pin

[0282] 404d lifting frame

[0283] 500 Control System

[0284] 600 Access Station

[0285] 610 Drawer Assembly

[0286] 611 Drawer

[0287] 612 Lower Link

[0288] 612a First end of lower link

[0289] 612b Second end of lower link

[0290] 612' Plate / Cover

[0291] 613 Upper connecting rod

[0292] 613a First end of upper link

[0293] 613b Second end of upper link

[0294] 620 frame structure

[0295] 620a Upper part of the frame structure

[0296] 621 Display

[0297] X first direction

[0298] Y Second direction

[0299] Z third direction

[0300] P H Horizontal plane

[0301] P R Receiving location

[0302] P P Pickup location

[0303] W f Width of storage container

[0304] L f Length of storage container

[0305] H f Height of storage container

[0306] A f Area of ​​storage container

[0307] L U Length of upper link

[0308] L L Length of lower link

[0309] D A Horizontal distance between the first end of the lower link and the first end of the upper link

[0310] D B The horizontal distance between the second end of the lower link and the second end of the upper link

[0311] D UR In the receiving position, the horizontal distance between the first end of the upper link and the second end of the upper link is

[0312] D UP In the pick-up position, the horizontal distance between the first end of the upper link and the second end of the upper link

[0313] D LR In the receiving position, the horizontal distance between the first end of the lower link and the second end of the lower link is

[0314] D LP In the pick-up position, the horizontal distance between the first end of the lower link and the second end of the lower link

[0315] α B Drawer tilt angle

[0316] α UR Upper link pivot angle relative to vertical in receiving position

[0317] α UP Upper link pivot angle relative to vertical in pick-up position

[0318] α LR Lower link pivot angle relative to vertical in receiving position

[0319] α LP Lower link pivot angle relative to vertical in pick-up position

Claims

1. A storage and retrieval station (600) for an automatic storage and retrieval system, wherein: The access station (600) comprises: - a frame structure (620); and - a drawer assembly (610), arranged in said frame structure (620), Wherein, the drawer assembly (610) comprises: - a drawer (611) for accommodating a storage container (106); - a lower link (612) pivotally coupled to the frame structure (620) at a first end (612a) and pivotally coupled to the drawer (611) at a second end (612b); and - an upper link (613) pivotally coupled to the frame structure (620) at a first end (613a) and pivotally coupled to the drawer (611) at a second end (613b); wherein the first end (613a) of the upper connecting rod (613) is arranged above the second end (613b) of the upper connecting rod (613), and the first end (612a) of the lower connecting rod (612) is arranged below the second end (612b) of the lower connecting rod (612); The drawer (611) can be in a receiving position (P) for receiving a storage container (106) from above. R ) and a pickup position (P) for presenting the storage container (106) to the user P ) 2. The access station (600) according to claim 1, in, The first end (613a) of the upper connecting rod (613) is arranged above the drawer (611), and the first end (612a) of the lower connecting rod (612) is arranged below the drawer (611).

3. The access station (600) according to claim 1 or 2, in, The lower connecting rod (612) has a lower connecting rod length (L L ), and the upper link (613) has an upper link length (L U ), Wherein, the length of the lower connecting rod (L L ) and the upper connecting rod length (L U ) is in the range of 1:1 to 1:

2.

4. The access station (600) according to any one of the preceding claims, in, The drawer (611) is suspended only by the upper connecting rod (613) and the lower connecting rod (612).

5. Access station (600) according to any one of the preceding claims, in, The drawer (611) is in the receiving position (P R ) is horizontal.

6. Access station (600) according to any one of the preceding claims, in, When the drawer (611) is in the picking position (P P ) and the receiving position (P R ), the first end (613a) of the upper connecting rod (613) is vertically aligned with the second end (613b) of the upper connecting rod (613).

7. Access station (600) according to any one of the preceding claims, in, The frame structure (620) has a front side and a rear side, Wherein, when the drawer (611) is in the receiving position (P R ), the second end (612b) of the lower link (612) is closer to the rear side of the frame structure (620) than the first end (612a) of the lower link (612).

8. Access station (600) according to any one of the preceding claims, in, The frame structure (620) has a front side and a rear side, Wherein, when the drawer (611) is in the picking position (P P ), the first end (612a) of the lower link (612) is closer to the rear side of the frame structure (620) than the second end (612b) of the lower link (612).

9. Access station (600) according to any one of the preceding claims, in, The access station (600) is configured to allow the receiving location (P R ) is vertically aligned with a port column (119) of the automatic storage and retrieval system for receiving a storage container (106) from the port column.

10. Access station (600) according to any one of the preceding claims, in, The frame structure (620) and / or the drawer assembly (610) are configured to: when the drawer (611) is in the picking position (P P ), preventing the storage container (106) from being removed from the drawer (611).

11. An automatic storage and retrieval system (1), wherein: The automatic storage and retrieval system (1) comprises: - An access station (600) according to any one of the preceding claims; - a track system (108) comprising a track arranged in a horizontal plane (P H ) and extending in a first direction (X) and a first set of parallel tracks (110) arranged in the horizontal plane (P H ) and extending in a second direction (Y) orthogonal to the first direction (X), the first group of tracks (110) and the second group of tracks (111) being arranged in the horizontal plane (P H ) forming a grid in the cavity, the grid comprising a plurality of adjacent access openings (112); a storage section containing a plurality of storage containers (106) arranged in a storage row (105) below the rail system (108), Wherein, each of the storage rows (105) is located vertically below one of the access openings (112); - at least one port row (119) located below the rail system (108) and in contact with the receiving position (P) of the access station (600) R ) are vertically aligned, and at least one of the port columns (119) does not store a storage container (106); and - A container handling vehicle (201; 301; 401), comprising: a clamping device (304) for lifting storage containers (106) stored in the column (105) above the storage section; and a driving device (201b, 201c; 301b, 301c; 401b, 401c) configured to drive the vehicle (301) to move along the track system (108) in at least one of the first direction (X) and the second direction (Y).

12. The automatic storage and retrieval system according to claim 11, in, The access station (600) is configured to provide a lower section of the port column (119).

13. The automatic storage and retrieval system according to claim 11 or 12, in, The automatic storage and retrieval system comprises: - at least two of the storage and retrieval stations (600), preferably, the automatic storage and retrieval system comprises three or four of the storage and retrieval stations (600).

14. A method for presenting a storage container (106) at a storage and retrieval station (600) using an automated storage and retrieval system according to any one of claims 11 to 13, in, The method comprises the following steps: - removing a storage container (106) stored in a storage section of the storage and retrieval system by means of a container handling vehicle (201; 301; 401) comprising a gripping device (304); - moving the drawer (611) of the access station (600) to a receiving position (P P ); - placing the storage container (106) in the drawer (611) of the drawer assembly (610); and - moving the drawer (611) to the pick-up position (P P ) to present the storage container (106) to the user.

15. The method according to claim 14, in, After presenting the storage container (106) to the user, the method further comprises the following steps: - Returning the drawer (611) to the receiving position (P R );as well as - Removing the storage container (106) from the drawer (611).

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