Automatic storage and retrieval system with container transfer device and method thereof

Abstract

The present invention relates to an automated storage and retrieval system comprising a first space, a second space, a wall separating the storage system into the first space and the second space, a container transfer channel extending through the wall, and a container carrier arranged within the channel for transporting at least one storage container through the channel. The container transfer channel is adapted to hold and transfer the storage container between the first space and the second space and extends below the level of the rail system. The invention also relates to a container transfer apparatus and a method of using the system and apparatus.

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system, a container transfer device using such a system, and a method for transporting storage containers via the container transfer device. 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 devices 200 , 300 , 400 suitable for operating on such a system 1 .

[0003] The frame structure 100 comprises upright members 102 and a storage volume 104 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 comprises a rail system 108 arranged across the top of the storage volume 104, on which a plurality of container handling devices 200, 300, 400 can operate to lift and lower boxes 106 from the storage row 105 and also to transport the boxes 106 over the storage row 105. The rail system 108 comprises: a first set of parallel rails 110 arranged to guide the container handling devices 200, 300, 400 to move in a first direction X across the top of the frame structure 100; and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling devices 200, 300, 400 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the row 105 are accessed by the container handling devices 200, 300, 400 through access openings 112 in the rail system 108. The container handling devices 200 , 300 , 400 can be moved 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 the boxes 106 during lifting of the boxes 106 from the column 105 and lowering of the boxes 106 into the column. The stack 107 of boxes 106 is generally self-supporting.

[0006] Each prior art container handling device 200, 300, 400 comprises a handling device body / carriage 201, 301, 401 and first and second sets of wheels 202a, 202b, 302a, 302b, 402a, 402b which enable the container handling device 200, 300, 400 to move laterally in the X and Y directions, respectively. In Figures 2, 3 and 4, two wheels of each set of wheels are fully visible. The first set of wheels 202a, 302a, 402a is arranged to engage with two adjacent rails of the first set of rails 110, and the second set of wheels 202b, 302b, 402b is arranged to engage with two adjacent rails of the second set of rails 111. At least one of these sets of wheels 202a, 202b, 302a, 302b, 402a, 402b can be raised and lowered so that the first set of wheels 202a, 302a, 402a and / or the second set of wheels 202b, 302b, 402b can engage with a corresponding set of guide rails 110, 111 at any time.

[0007] Each prior art container handling device 200, 300, 400 further comprises a lifting device 303, 403 for vertical transport of boxes 106, e.g., lifting boxes 106 from and lowering boxes 106 into the storage array 105. The lifting device 303, 403 comprises one or more gripping / engaging devices 404 adapted to engage the boxes 106 and which can be lowered from the device 200, 300, 400 such that the position of the gripping / engaging devices 404 relative to the device 200, 300, 400 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. The gripping devices 404 of the container handling device / vehicle 400 in the form of a plurality of claws are shown in FIG. 4. The lifting device of the container handling device 200 is located within the vehicle body 201 and is therefore not shown.

[0008] Conventionally and also for the purposes of the present application, Z=1 identifies the uppermost level available for storage of boxes below the rails 110, 111, i.e., the level immediately below the rail system 108, Z=2 identifies the second level below the rail system 108, Z=3 identifies the third level, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the bottommost level of boxes. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in a 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 box 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 device 200, 300, 400 travels in the level of Z=0, and each storage column 105 can be identified by its X-coordinate and Y-coordinate. Therefore, the boxes shown in FIG. 1 extending above the rail system 108 are also said to be arranged in the Z=0 level.

[0009] The storage volume of the frame structure 100 is generally referred to as a storage grid 104, wherein the possible storage positions within the storage volume 104 are referred to as storage cells. Each storage column can be identified by a position in the X-direction and the Y-direction, and each storage cell can be identified by a container number in the X-direction, the Y-direction, and the Z-direction.

[0010] Each prior art container handling device 200, 300, 400 includes a storage compartment or space for receiving and loading the box 106 when transporting the box 106 on the rail system 108. The storage space may include a cavity centrally arranged within the vehicle body 201, 301, 401, as presented in Figures 2 and 4, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative arrangement of a container handling device / vehicle 300 having a cantilever configuration. Such a vehicle is described in detail in, for example, NO 317,366, the contents of which are also incorporated herein by reference.

[0012] The footprint of the center cavity vehicle 200 shown in FIG2 may cover an area having dimensions in the X and Y directions substantially equal to the lateral extent of the storage column 105, for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may mean "horizontal".

[0013] Alternatively, the occupied area of ​​the chambered container handling device / vehicle 400 can be larger than the lateral area defined by the storage row 105, as shown in Figures 1 and 4, such as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The guide rail system 108 generally includes guide rails 110, 111 with grooves, and the wheels of the vehicle travel in the grooves. Alternatively, the guide rail may include an element extending upward, wherein the wheel of the vehicle includes a flange to prevent derailment. These grooves and the elements extending upward are collectively referred to as tracks. Each guide rail may include a track, or each guide rail 110, 111 may include two parallel tracks. In other guide rail systems 108, each guide rail in a direction (e.g., X direction) may include a track, and each guide rail in another vertical direction (e.g., Y direction) may include two tracks. Each guide rail 110, 111 may also include two track members fastened together, each track member providing one of a pair of tracks provided by each guide rail.

[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a common configuration of a guide rail system 108 comprising guide rails and parallel rails 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 boxes 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 dedicated columns used by container handling devices 200, 300, 400 to unload and / or pick up boxes 106 so that the boxes can be transported to access stations (not shown) where the boxes 106 can be accessed from the outside of the frame structure 100 or moved out of or into the frame structure 100. In the art, such locations are often referred to as "ports," and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transportation to the access stations may be in any direction, i.e., horizontally, inclined, and / or vertically. For example, boxes 106 may be placed in a random or dedicated row 105 within the frame structure 100, then picked up by any container handling vehicle and transported to a port row 119, 120 for further transport to a storage and retrieval station. Transport from the port to the storage and retrieval station may require movement along a variety of different directions with the aid of, for example, a delivery vehicle, a trolley or other transport line. Note that the term "inclined" refers to the transport of boxes 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, wherein the container handling devices 200, 300, 400 can unload the transported boxes 106 to the access station or transfer station, and the second port column 120 can be a dedicated picking port column, wherein the container handling devices 200, 300, 400 can pick up the boxes 106 that have been transported from the access station or transfer station.

[0018] The access station may typically be a pick-up station or a staging station at which the product items are removed from or positioned in the box 106. In the pick-up station or staging station, the box 106 is typically not removed from the automated storage and retrieval system 1, but is returned again to the frame structure 100 after access. The port may also be used to transfer the box 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 boxes 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 transporting the boxes 106 vertically between the port rows 119, 120 and the access station.

[0021] The conveyor system may be arranged to transfer boxes 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 box 106 stored in one of the columns 105 disclosed in FIG. 1 is to be accessed, one container handling device 200, 300, 400 is instructed to retrieve the target box 106 from its location and transport the target box to the unloading port column 119. This operation involves moving the container handling device 200, 300, 400 to a position above the storage column 105 where the target box 106 is located, retrieving the box 106 from the storage column 105 using the lifting device of the container handling device 200, 300, 400, and transporting the box 106 to the unloading port column 119. If the target box 106 is located deep in the stack 107, i.e., one or more other boxes 106 are located above the target box 106, the operation also involves temporarily moving the boxes located above before lifting the target box 106 from the storage column 105. This step (sometimes referred to as "digging" in the art) can be performed using the same container handling device that is subsequently used to transport the target box to the unloading port column 119, or can be performed using one or more other cooperating container handling devices. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling device 200, 300, 400 dedicated to the task of temporarily removing a box 106 from a storage column 105. After the target box 106 has been removed from the storage column 105, the temporarily removed box 106 may be relocated to the original storage column 105. However, the removed box 106 may be relocated to another storage column 105 instead.

[0023] When a box 106 is to be stored in one of the rows 105, one of the container handling devices 200, 300, 400 is instructed to pick up a box 106 from the pick port row 120 and transport the box to a position above the storage row 105 where it will be stored. After removing any boxes 106 that are at or above the target location within the stack 107, the container handling device 200, 300, 400 positions the box 106 at the desired location. The removed box 106 can then be lowered back into the storage row 105 or relocated 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 box 106 within the frame structure 100, the contents of each box 106 and the movement of the container handling devices 200, 300, 400, so that the required box 106 can be delivered to the required position at the required time without the container handling devices 200, 300, 400 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the boxes 106.

[0025] The automatic storage and retrieval system described above is generally configured to operate in an area with an ambient temperature, such as about 20°C. However, for some types of products, the optimal storage temperature may be different. For example, it may be desirable to store food at refrigerator temperatures, which are typically between 1°C and 4°C, or at freezing temperatures, which are typically below -18°C or below -20°C.

[0026] Furthermore, there may be circumstances where it is desirable to surround the automated storage and retrieval system with an atmosphere different from the ambient atmosphere, for example to create an inert atmosphere and / or an atmosphere having a specific humidity level and / or an atmosphere that reduces the risk of ignition by reducing the oxygen concentration in the surrounding atmosphere.

[0027] Automatic storage and retrieval systems with different temperature zones and temperature control in these temperature zones are known. For example, patent publication WO 2015 / 124610 A1 describes a system for receiving and storing processed refrigerated and frozen food products using a plurality of container handling vehicles running on a rail system. In this prior art solution, boxes are stacked under a common rail system in two different storage volumes separated by a wall. The container handling vehicles are allowed to move freely over the two storage volumes at operating temperatures such as room temperature.

[0028] One disadvantage of this prior art solution is that the container handling vehicle is exposed to colder temperatures when storing or retrieving boxes in colder areas. This can cause condensation to form, which can interfere with electronic equipment.

[0029] The prior art storage system described in WO 2019 / 001816 A1 shows a system with different temperature zones and means for transporting containers between the different temperature zones. In order to reduce temporary exposure of cold air to the container handling vehicle, the solution includes a lift, allowing the box to be raised and lowered between the access point and the transfer area.

[0030] However, this solution is complex and expensive.

[0031] A storage facility in which the oxygen concentration can be reduced to prevent fires is described in the article "Wagner Pulse" in the Wagner Group Customer Magazine (March 2018). The low oxygen concentration is achieved by forcing air with reduced oxygen throughout the storage facility.

[0032] The article does not suggest any solution for maintaining such low oxygen concentrations over long time spans, such as days. For example, the article does not indicate how the storage system can be operated to allow boxes to be transported in or out of the storage system without increasing the oxygen concentration. Such operation would require frequent exposure of the storage system to the atmosphere.

[0033] It is an object of the present invention to provide an automated storage and retrieval system and a method for operating such a system which solves or at least alleviates one or more of the above-mentioned problems associated with the use of prior art storage and retrieval systems.

[0034] Another object of the present invention is to provide a solution that allows tote boxes within a storage system located in a space with an environment different from the surrounding environment. Summary of the invention

[0035] The invention is set forth and characterized in the independent claim, while the dependent claims describe further preferred / optional features.

[0036] In a first aspect, the present invention relates to an automatic storage and retrieval system, the automatic storage and retrieval system comprising a first space, a second space, a wall separating the storage system into the first space and the second space, a container transfer channel extending through the wall, and a container carrier arranged in the channel for transporting at least one storage container through the channel. The container transfer channel is suitable for holding and transferring storage containers between the first space and the second space and extends below the level of a rail system, preferably directly below the level of the rail system.

[0037] The storage and retrieval system may include: a first storage volume portion, arranged in a first space and allowing storage containers to be stored in the form of vertical stacks; a rail system, arranged at least above the location where the storage containers are to be stored; a first container handling vehicle, configured to lift the storage container from the first storage volume portion, transport the storage container along the rail system, and lower the storage container into a container transfer channel; and a container transport device, configured to lift the storage container from the container transfer channel and transport the storage container to another location.

[0038] The rail system may include a first set of rails and a second set of rails oriented perpendicular to the first set of rails, the intersections of the rails forming a grid of grid cells defining grid openings that allow the first container handling vehicle to lift and / or lower the storage container through the grid openings. The rail system may continue to extend into the second space.

[0039] The container carrier is arranged in the container transfer channel and is configured to support at least one storage container in the container transfer channel, and is configured to move in the container transfer channel between a first position in a first space and a second position in a second space of the automatic storage and retrieval system.

[0040] The boundaries of the container transfer channel can be set by tunnels, as further described below.

[0041] The first space may be a closed space, for example a space defined by a wall, three further vertical walls, a roof and a floor, so that unintentional leakage of heat and / or gas to or from the surrounding environment can be avoided.

[0042] In an exemplary configuration, the container carrier is part of a container transfer device, the container transfer device comprising components for defining a tunnel, the tunnel being arranged to define a container transfer passage. The tunnel is configured to allow the container carrier to move within the tunnel when transporting at least one storage container between the first space and the second space. Furthermore, the tunnel and the container carrier are configured such that when the container carrier is arranged in at least one of the first position and the second position, the first space and the second space are isolated from each other. The container transfer passage thus has a vertical cross-sectional area that allows the storage container to be transported through by the container carrier.

[0043] The tunnel may include an intermediate frame portion extending through the wall. Such intermediate frame portion may further include a top portion aligned or nearly aligned with the horizontal rail system. The intermediate frame portion may further include two vertical side walls oriented along the first set of rails.

[0044] The tunnel may also include a first frame portion and a second frame portion, the first frame portion being arranged horizontally adjacent to the middle frame portion and vertically arranged in the first space below the rail system, and the second frame portion being arranged horizontally adjacent to the middle frame portion in the second space. The middle frame portion, the first frame portion and the second frame portion are vertically located below the rail system. To allow storage containers to be moved into and out of the container transfer channel, each of the first transfer structure and the second transfer structure includes an opening toward the rail system.

[0045] In another exemplary configuration, the container carrier includes a carrier base for supporting the storage container and one or more carrier sides oriented parallel to the center plane of the wall and located at the edge of the carrier base. The container carrier may also include a seal arranged at an upper edge of the container carrier so that when the container carrier moves within the tunnel, the seal contacts at least an upper portion of the tunnel. For example, the seal may extend around at least a portion of the periphery of the carrier. Alternatively or additionally, such a seal may be coupled to the inner surface of the tunnel.

[0046] In yet another exemplary configuration, the container carrier and / or tunnel is provided with insulation material to reduce heat conduction through the container transfer channel in at least one location between the first space and the second space. Examples of such insulation materials are polystyrene, fiberglass, mineral wool, cellulose and / or polyurethane foam.

[0047] In yet another exemplary configuration, the width of the container carrier is equal to n times the width of the grid cell, where n is a positive integer.

[0048] In yet another exemplary configuration, the container carrier includes a transport device to allow the container carrier to be moved horizontally between the first position and the second position.

[0049] In yet another exemplary configuration, the container carrier comprises a carrier base for supporting storage containers, and wherein the transport means comprises wheels or tracks arranged at or below the carrier base, thereby allowing the container carrier to move along a container transfer channel, for example along a track.

[0050] In yet another exemplary configuration, the container carrier comprises a sensor configured to record the position of the container carrier relative to the container transfer channel / tunnel.Alternatively or additionally, the sensor may be arranged on the tunnel and may communicate signals with the transport means of the container carrier.

[0051] In yet another exemplary configuration, the transport device includes wheels that allow the carrier to move along the container transfer channel / tunnel, and the container transfer equipment includes a track or guide extending between the first position and the second position, wherein the track and / or wheels are configured such that the wheels are guided by the track during movement.

[0052] In yet another exemplary configuration, the container transfer apparatus includes a drive belt extending between a first position and a second position, a drive motor configured to rotate the drive belt, and a track or guide rail extending between the first position and the second position, wherein the track / guide rail and the transport device (e.g., wheels or tracks) are configured such that when the drive motor rotates the drive belt, the transport device is guided by the track / guide rail.

[0053] In yet another exemplary configuration, a drive belt of the container transfer device is arranged below the carrier base within the container transfer channel.

[0054] In yet another exemplary configuration, wherein the container transfer device comprises a power source configured to supply power to the drive motor. The power source may comprise a battery arranged on at least one of the container carrier and the tunnel. Alternatively or additionally, the power source may comprise a power lead.

[0055] In yet another exemplary configuration, the rail system continues to extend into the second space. In addition, in this configuration, the container transport device is a second container handling vehicle configured to transport the storage container from the container transfer channel along the rail system in the second space.

[0056] In yet another exemplary configuration, the automatic storage and retrieval system comprises a second storage volume contained within the second space and allowing storage containers to be stored in a vertical stack. The container transfer passage thus extends through the wall between the first storage volume and the second storage volume. In addition, the rail system extends above the second storage volume and / or the container transfer passage.

[0057] In yet another exemplary configuration, the container transfer channel and / or tunnel is positioned such that a center plane of the wall intersects a center plane of the container transfer channel / tunnel.

[0058] In yet another exemplary configuration, the container transfer channel is configured to hold multiple storage containers simultaneously, for example in a stacked form. In the latter case, any tunnel is arranged at the uppermost portion of the container transfer channel. The volume of the container transfer channel is similarly increased to accommodate multiple storage containers (and any increase in container carrier size).

[0059] In yet another exemplary configuration, the automatic storage and retrieval system includes a refrigeration unit configured to make the temperature in the first space different from the temperature in the second space. In addition, the wall can be provided with an insulating material to reduce heat conduction between the first space and the second space. For the container carrier and / or tunnel, the insulating material can be, for example, polystyrene, fiberglass, mineral wool, cellulose, polyurethane foam or a combination thereof. The advantage of this specific configuration is that it allows the storage of products whose optimal storage temperature may deviate from the ambient temperature.

[0060] In a second aspect, the present invention relates to a container transfer device for transferring a storage container between a first space having a first temperature and a second space having a second temperature different from the first temperature. Alternatively or additionally, the first space and the second space may have a first gas / gas mixture and a second gas / gas mixture and / or a first pressure and a second pressure.

[0061] The container transfer device may be configured as a separate unit which may be connected between the first storage volume and the second storage volume (eg as a retrofit).

[0062] Therefore, such a container transfer device allows the container to be transported between spaces having different environments, is easy to install and maintain, and ensures low or no heat and / or gas leakage.

[0063] In a second aspect, a container transfer apparatus comprises: a tunnel configured to allow transport of storage containers between a first space and a second space; and a container carrier arranged in the tunnel. The apparatus may also comprise a drive device configured to allow controlled movement of the container carrier in the tunnel.

[0064] The container carrier and / or the tunnel may be provided with insulating material to reduce heat conduction between the first space and the second space when installed in the automated storage and retrieval system of the first aspect of the invention.When installed, the tunnel extends through the wall.

[0065] In an exemplary configuration of the second aspect, the tunnel includes: an intermediate frame portion including a tunnel roof; a first frame portion horizontally disposed adjacent to the intermediate frame portion; and a second frame portion horizontally disposed adjacent to the intermediate frame portion opposite to the first frame portion. Each of the first frame portion and the second frame portion includes a horizontally extending opening to allow a storage container to be lifted through the opening. The opening can be aligned with the tunnel roof of the intermediate frame portion to allow the storage container to be lifted through the opening.

[0066] In another exemplary configuration of the second aspect, the container carrier comprises a seal arranged at an upper edge of the container carrier such that when the container carrier moves within the tunnel, the seal contacts an inner boundary of the tunnel, including an inner surface of the tunnel roof. Alternatively or additionally, such a seal may be fixed to the inner boundary.

[0067] In another exemplary configuration of the second aspect, the container carrier comprises a sensor configured to record the position of the container carrier relative to the tunnel. Alternatively or additionally, such a sensor may be arranged on the tunnel.

[0068] In a third aspect, the present invention relates to a method for transferring storage containers between a first space and a second space within an automated storage and retrieval system as described above with respect to the first aspect of the invention.

[0069] The method may include the following steps:

[0070] - moving the container carrier into the first space so that the first container handling vehicle can place the storage container into the container carrier;

[0071] - lifting the storage container stored in the first storage volume by means of a lifting device forming part of the first container handling vehicle;

[0072] - Transport the storage container to a position immediately above the container carrier using a container handling vehicle;

[0073] - placing the storage container into the container carrier through the grid opening of the rail system using a lifting device;

[0074] - moving the container carrier into the second space so that the storage container is accessible to the container transport device;

[0075] - lifting the storage container from the container carrier using the container transport device; and

[0076] - Transporting the storage container to another location in the second space using the container transport device.

[0077] In another exemplary process of the third aspect, the container transport device is a second container handling vehicle configured to transport at least one storage container along a rail system. In addition, the automated storage and retrieval system includes a second storage volume portion that is contained within the second space and allows for storage of the storage container in a vertical stack. Transporting the storage container to another location within the second space is performed along a rail system that extends into the second space above the second storage volume portion. Alternatively or additionally, the container transport device may be a crane.

[0078] In this exemplary process, the method may further include the step of placing a storage container onto the stack within the second storage volume.

[0079] In addition to solving or at least alleviating the above-mentioned problems, and in addition to providing a solution that allows handling storage containers in an automated storage and retrieval system in a space having an environment that differs from the surrounding environment, at least some exemplary configurations have additional advantages:

[0080] - providing an automated storage and retrieval system that allows safe long-term storage of biological species and / or fresh food;

[0081] -Provide an automated storage and retrieval system that prevents condensation on electronic devices within a container handling vehicle during transfer of storage containers between multiple areas / multiple spaces.

[0082] - To provide an automated storage and retrieval system which significantly reduces the risk of fire in or on the storage system during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The following drawings depict embodiments of the present invention by way of example only and are appended to facilitate understanding of the present invention.

[0084] 1 is a perspective view of a prior art automated storage and retrieval system including a rail system on which a plurality of remotely operated container handling vehicles operate and a storage volume for storing stacks of storage containers.

[0085] 2 is a perspective view of a prior art remotely operated vehicle having a centrally located cavity for carrying a storage container therein.

[0086] 3 is a perspective view of a prior art remotely operated vehicle having a cantilever for carrying a storage container underneath.

[0087] 4 is a perspective view of a prior art remotely operated vehicle having an internally disposed cavity for carrying a storage container therein, wherein the cavity is off-center relative to the X-direction.

[0088] Figure 5 is a side view of an exemplary automatic storage and retrieval system according to the present invention, which includes a rail system and two storage volumes, on which multiple remotely operated container handling vehicles operate, and the two storage volumes are used to store stacks of storage containers, wherein the two storage volumes are separated by a wall.

[0089] Figure 6 is a perspective view of an exemplary automated storage and retrieval system according to the present invention, showing a container handling vehicle, a portion of an exemplary container transfer apparatus, and a wall that separates the system into a first space and a second space.

[0090] Figure 7 is a perspective view of an exemplary automatic storage and retrieval system according to the present invention, showing a portion of a container handling vehicle and an exemplary container transfer device, wherein a carrier for transporting storage containers is arranged in a container transfer channel.

[0091] Figure 8 It is an exploded perspective view of the container transfer equipment.

[0092] Fig. 9 is a perspective view of an exemplary automatic storage and retrieval system according to the present invention, wherein: Fig. 9 A shows a carrier in place in the first space, the carrier allowing a container handling vehicle in the first space to lower a storage container into the carrier, and Fig. 9 B shows a carrier in place in the second space, allowing a container handling vehicle in the second space to pick up a storage container from the carrier. DETAILED DESCRIPTION

[0093] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings. In addition, even if some features are described only with respect to a storage system, a container transfer device or a carrier, it is obvious that they are also applicable to the related methods, and vice versa.

[0094] Figure 5 A side view of an automatic storage and retrieval system 1 according to the present invention is shown. The positive X-direction, Y-direction and Z-direction point from left to right in the figure, from inside to outside in the figure and from top to bottom in the figure, respectively.

[0095] The system 1 of the present invention is divided into a first space 2 and a second space 3 by a partition wall 6 and a box transfer channel 40 (container transfer channel). Both the first space 2 and the second space 3 include storage volumes 104, 104' with a common floor 7. As described in conjunction with the prior art system of FIG. 1, the storage space provided by each storage volume 104, 104' includes boxes 106 (storage containers) in the form of vertical stacks 107.

[0096] A rail system 108 as described in conjunction with the prior art system of Fig. 1 extends over all three spaces 2, 3, 40. The portion of the storage system 1 within the second space 3 also includes one or more port rows 119 for dropping off or picking up boxes 106 to be transported to / from a storage and retrieval station 150. Further handling of the boxes 106 outside the storage system 1 can be performed by an operator 151 (a robotic operator and / or a human operator).

[0097] Figure 5 The depth of the case transfer channel 40 shown in the figure only allows one case 106. However, the case transfer channel 40 can be configured to accommodate a stack 107 of cases that is deeper than one case 106, for example, extending a few (e.g., two or three) case depths, or even extending all the way to the common floor 7.

[0098] The partition wall 6 may comprise an insulating material such as polystyrene, glass fiber, mineral wool, cellulose and / or polyurethane foam. Alternatively or in addition, the partition wall 6 may comprise a fireproof material to avoid or significantly reduce the spread of fire between the first and second spaces 2, 3. Examples of such fireproof materials are fireproof glass, concrete, plaster, plaster and brick.

[0099] The storage system 1 further comprises a box handling vehicle 300 (container handling vehicle) running on top of the rail system 108 in both the first and second spaces 2 , 3 .

[0100] exist Figure 5 In the specific exemplary configuration shown in , the first space 2 includes a refrigerator 4 so that the first space 2 can be cooled to a temperature lower than the second space 3, for example, to a temperature between 1 degree Celsius and 4 degrees Celsius or to a temperature below -18 degrees Celsius.

[0101] The box transfer channel 40 is configured to allow boxes 106 to be picked up and dropped off from both sides of the wall 6 by the box handling vehicles 300 , and is arranged through the first and second grids 104 , 104 ′ just below the rail system 108 .

[0102] In addition to the floor 7 , the system 1 comprises a ceiling / roof 8 , a second vertical wall 9 arranged opposite the partition wall 6 and two additional front and rear walls (not shown), thereby enclosing the first space 2 .

[0103] In order to enable the transport of the box 106 through the box transfer passage 40, a box transfer system 10-12, 20-26 (container transfer equipment) is arranged in the box transfer passage 40. Figures 6 to 8 , the box transfer system 10-12, 20-26 comprises: a tunnel 10-12, which includes a pipe / intermediate frame portion / intermediate passage 10 centered at the position of the wall 6; a first frame portion 11 adjacent to the pipe 10 and arranged in the first space 2; and a second frame portion 12 arranged adjacent to the pipe 10 opposite to the first frame portion 12. The terms "centered" and "adjacent" herein mean relative to Figure 5 The X direction in FIG. 1 , ie the position perpendicular to the horizontal / lateral direction of the wall 6 .

[0104] like Figure 7 and Figure 8As best seen in FIG. 1 , the duct 10 may include a horizontal duct top / tunnel top 10a and two vertical duct walls / tunnel walls 10b aligned in the X direction. Each of the first and second frame sections 11, 12 may include an opening 11a, 12a facing toward a grid opening 112 in the rail system 108 to allow access by a box handling vehicle 300 to drop off / pick up a box 106, and include up to three vertical walls 11b, 12b to improve box stability during operation while receiving a box 106 inserted horizontally through the duct 10.

[0105] The internal cross-sectional area of ​​the tunnels 10 - 12 oriented in a vertical plane (ie, oriented parallel to the wall 6 ) is large enough to allow the box 106 to be transported therein between the first space 2 and the second space 3 .

[0106] like Figures 5 to 9 As shown in , the case transfer system further comprises a case carrier 20 having transport means in the form of a plurality of wheels 21 and carrier transporters 22 - 26 to enable controlled movement between the first and second spaces 2 , 3 through a case transfer channel 40 .

[0107] The carrier transporter 22-26 may include two carrier rails 22 extending along the tunnel 10-12, a plurality of base plates 23 connecting the two carrier rails 22 in a parallel direction, a driving motor 24 fixed to an outer base plate 23 arranged at or near one end of the carrier rails 22, a rotating device 25 fixed at the outer base plate 22 located at the other end of the carrier rails 22, and a driving motor shaft 26 surrounding and contacting the driving motor 24 and the rotating device 25. The wheels 21 of the box carrier 20 are positioned within the two carrier rails 22, and the driving belt is attached under the carrier base 20a of the box carrier 20. Therefore, when the driving motor 24 is operated, the driving motor shaft rotates the driving belt 26, thereby moving the box carrier 20 between the two ends of the carrier rails 22. The moving direction of the box carrier 20 depends on the rotation direction of the rotating shaft.

[0108] The carrier transporter 22-26 may alternatively or additionally comprise a carrier track 22 into which the wheel 21 is guided. In addition, the wheel 21 may be replaced with other transport means, such as sliding pads and / or crawler tracks.

[0109] The plurality of base plates 23 may be replaced by a single base plate extending along the box transfer passage 40. In this configuration, the rails 22 may be formed in the base plate. The advantage of this modified configuration is that little or no risk of heat and / or gas leakage may be achieved between the box transfer passage 40 and the area below.

[0110] Special References Figure 8The carrier 20 may also include two or more vertical carrier walls 20 b arranged at the edges of the carrier base 20 a to improve the stability of the box 106 during transportation through the box transfer channel 40.

[0111] like Figure 7 As can be seen in FIG. 1 , when the carrier 20 is located in the duct 10, i.e. centered relative to the wall 6 in the X direction, the first space 2 is isolated or nearly isolated from the second space 3, thereby preventing or at least significantly reducing heat and / or gas leakage. Fig. 9 As shown in FIG. 1 , when the carrier 20 moves into the first space 2 ( Fig. 9 A) and the second space 3 ( Fig. 9 B), this isolation performance is also fully or largely maintained.

[0112] Thus, during the entire transport operation of the box 106 between the first space 2 and the second space 3 , there is no or at least significantly reduced heat and / or gas leakage.

[0113] exist Figure 7 and Fig. 9 In the drawing, one of the two side walls 10b - 12b of the duct 10, the first frame portion 11 and the second frame portion 12 are removed to better illustrate the inner volume of the tunnel.

[0114] exist Fig. 9 In A, the box carrier 20 has moved to one end of the box transfer channel 40 below the grid opening 112 of the first storage volume portion 104 located horizontally adjacent to the wall 6 in the first space 2. Due to the above-mentioned opening 11a in the first frame portion 11 of the tunnel 10-12, the box handling vehicle 300 can lower the box 106 onto the carrier base 20a through the grid opening 11a. By starting the drive motor 24, the transmission belt 26 transports the box carrier 20 with the box 106 via the pipeline 10 to the second frame portion 12 at the other end of the box transfer channel 40. Due to the opening 12a in the second frame portion 12, the box handling vehicle 300 can lift the box 106 through the grid opening 112 of the second storage volume portion 104' located adjacent to the wall 6 in the second space 3.

[0115] To allow the box 106 to be transported from the second space 3 to the first space 2, the reverse process may be performed.

[0116] exist Figure 6 , Figure 7 and Fig. 9In the specific example shown, the size of the box transfer channel 40 corresponds to one grid unit along the Y direction (i.e., horizontally and parallel to the wall 6). The width of the tunnel 10-12 in this example is therefore equal to or slightly wider than one grid unit. In the X direction (i.e., horizontally and perpendicular to the wall 6), the box transfer channel 40 is approximately three grid units, thereby allowing the box 106 to be placed / picked up through the grid opening 112 adjacent to the wall 6. However, it should be noted that the box transfer channel 40 can have any size along the X and Y directions that allows one or more boxes to be accommodated, and can have any depth (i.e., along the Z direction). If the box receiving space 40 is expanded along the Y direction (width) and / or the X direction (length), the size of the tunnel 10-12 is expanded accordingly.

[0117] At least a portion of the outer surface of the carrier 20 and / or at least a portion of the inner surface of the tunnel 10-12 may include a seal (not shown) to further reduce any heat leakage and / or gas leakage between the first and second spaces 2, 3. In addition, in order to allow monitoring of the position of the carrier 20 relative to the tunnel 10-12 and / or the guide rail system 108, the carrier 20 may include a sensor system (not shown).

[0118] Different types of seals (e.g., rubber seals or brush seals) may be utilized to achieve effective sealing between the tank carrier 20 and the tunnel 10-12 (and additionally or alternatively toward the rail system 108). To increase the effectiveness of the seal, the interior cross-sectional dimensions of the tunnel 10-12 (i.e., in the XZ plane) should match the corresponding exterior cross-sectional dimensions of the tank carrier 20 so that contact is achieved at the joint.

[0119] As for the walls 6, if the intention of the storage system 1 is to maintain the first space 2 and the second space 3 at different temperatures, the carriers 20 and / or the tunnels 10-12 may include insulating materials such as polystyrene, fiberglass or polyurethane foam.

[0120] If fire protection is intended, fire protection materials may be included in one or more of the space dividing components (walls 6, carriers 20, tunnels 10-12). Examples of fire protection materials that may be used are fire-resistant glass, concrete, plaster, stucco and / or bricks.

[0121] The carrier 20 and / or tunnels 10-12 and / or carrier transporters 22-26 may further include a controller (not shown) in signal communication with the drive motor 24. Such a controller may be in wireless signal communication with the control system 109 that controls the box handling vehicle 300 on the rail system 108.

[0122] The sensor system typically includes two position sensors arranged on both sides of the carrier 20 relative to the X direction, thereby allowing the position of the carrier 20 relative to an external structure (such as the guide rail system 108 and / or the tunnel 10-12 arranged above) to be monitored. The position sensors can communicate signals with each other through sensor lines and can further communicate signals with the controller.

[0123] When the storage system 1 is intended to maintain a temperature in the first space 2 that is different from the temperature in the second space 3, for example, the first space 2 is a refrigerated space (equal to or below 4 degrees Celsius) and the second space 2 is an ambient space (approximately 25 degrees Celsius), the carriers 20 and / or the tunnels 10-12 may also include temperature sensors, thereby allowing real-time monitoring of the temperature difference. This will again allow rapid detection of undesirable temperature equalization through the box transfer channel 40 during box transfer, for example due to seal damage. Such temperature sensors may communicate signals with the control system 109.

[0124] In order to at least reduce the risk of fire in the first space 2, the storage system 1 can be equipped with a gas regulating device (not shown). The gas regulating device may include a gas container located outside the first space 2, a gas inlet leading to the first space 2, and a gas pipe in fluid communication between the gas container and the gas inlet. With this arrangement, gas is allowed to flow between the gas container and the first space 2.

[0125] The gas container may include a device for reducing the percentage of a gas element (such as O2 gas in air) in a gas mixture. Such a device is known in the art and therefore will not be further explained herein.

[0126] In dry air, the concentration of combustible gas oxygen is about 21%. If the oxygen concentration drops to 16% or below, the risk of fire is significantly reduced. In air, a fire could theoretically occur, for example, due to sparks from the movement of the box handling vehicle 300 and / or from a charging station (not shown) used to charge the batteries in the vehicle 300, and / or combustion and / or accidental heating of the contents in the box 106 (such as may be caused by sunlight shining on the combustible materials in the storage system 1).

[0127] The airtight separation between the first space 2 and the second space 3 ensures that the box handling vehicle 300 can store and retrieve the boxes 106 located in an oxygen-reduced atmosphere, which has a reduced or negligible fire risk but may pose a risk to human health, and can receive the boxes 106 and deliver them to a work space where personnel can work safely.

[0128] Another example of a use range of the storage system 1 that allows for control of gas concentration is the storage of fresh food. Prior art tests have shown that fruits such as apples are best stored for long periods of time in an atmosphere containing 1% O2 and 1%-2.5% CO2. The O2 gas can be replaced with N2 gas. The storage system 1 can be advantageously used in vertical farming applications.

[0129] The storage system 1 having both a cooling facility for cooling the first space 2 to a temperature below 10° C. and a gas conditioning device can create nearly ideal conditions for the storage of fresh food.

[0130] This fresh food configuration of the storage facility can be supplemented with fire suppression equipment to reduce the fire hazard.

[0131] To further reduce complexity, the carrier 20 may alternatively be equipped with a dedicated motor (not shown) with an internal motor controller. A programmable logic controller (PLC) sends instructions for direction and speed to the motor. When the carrier 20 reaches an end position (e.g., when the openings 11a, 12a of the first or second frame parts 11, 12 are aligned with the grid openings 112 of the guide rail system 108 described above), the sensor system sends instructions to the motor to stop the carrier 20.

[0132] In the foregoing description, various aspects of the automatic storage and retrieval system, container transfer device and method according to the present invention have been described with reference to illustrative embodiments. For the purpose of explanation, specific numbers, systems and configurations are set forth to provide a comprehensive understanding of the system and its operation. However, this description is not intended to be interpreted as limiting. Various modifications and variations of the illustrative embodiments that are obvious to those skilled in the art to which the disclosed subject matter belongs, as well as other embodiments of the system, are considered to fall within the scope of the present invention.

[0133] List of reference numbers / reference letters

[0134] 1Automatic storage and retrieval system

[0135] 2First Space / Refrigerated Space

[0136] 3. Second Space / Environmental Space

[0137] 4Refrigeration system / refrigerator

[0138] 6 partition wall / wall

[0139] 7 Floor

[0140] 8Ceiling / Roof

[0141] 9 Second vertical wall / external wall

[0142] 10 Pipes / Middle frame section / Middle channel

[0143] 10a Tunnel roof / Pipeline roof / Upper part

[0144] 10b Tunnel wall / pipeline wall

[0145] 11The first frame section of the tunnel

[0146] 11a Opening / First frame part opening

[0147] 11b Vertical wall / first frame portion wall

[0148] 12 The second frame section of the tunnel

[0149] 12a The second frame portion is open

[0150] 12b Vertical wall / second frame portion wall

[0151] 20 boxes per rack

[0152] 20a Carrier base

[0153] 20b Carrier wall

[0154] 21Transportation equipment / wheel

[0155] 22 Carrier rails or tracks

[0156] 23 substrate

[0157] 24 drive motor

[0158] 25 wheel mounting / swivel

[0159] 26 transmission belt

[0160] 40 container transfer channels / box transfer channels

[0161] 100 frame structure

[0162] 102 Upright member in storage volume

[0163] 103 horizontal member in the storage volume

[0164] 104 first storage volume portion

[0165] 104' Second storage volume

[0166] 105 storage columns

[0167] 106 Containers / Storage Containers / Boxes

[0168] 106' Specific location of container / target container / target box

[0169] 106” of free storage space for containers / boxes

[0170] 107 Stacking

[0171] 108 rail system

[0172] 109 Control System

[0173] 110 parallel guide rails in a first direction (X)

[0174] 110 parallel guide rails in the second direction (Y)

[0175] 112 grid opening

[0176] 119 First port column / unload column

[0177] 120 Second port column / pickup column

[0178] 150 access stations

[0179] 151 Operator

[0180] 200 Prior Art Container Handling Device / Remotely Operated Vehicle Having Central Cavity

[0181] 201 handling device body / body

[0182] 202a A transport device in a first direction (X)

[0183] 202b transport device in the second direction (Y)

[0184] 300 Prior Art Container Handling Vehicle / Remotely Operated Vehicle with Cantilever / Box Handling Vehicle

[0185] 301 handling device body / body

[0186] 302a Transport device / wheel arrangement in a first direction (X)

[0187] 302b Transport device / wheel arrangement in the second direction (Y)

[0188] 303 lifting device

[0189] 304 clamping element

[0190] 305 guide pin

[0191] 400 Prior Art Container Handling Device / Remotely Operated Vehicle Having Offset Cavity

[0192] 401 handling device body / body

[0193] 402a Transport device / wheel arrangement in a first direction (X)

[0194] 402b Transport device / wheel arrangement in the second direction (Y)

[0195] 403 lifting device

[0196] 404 clamping element

[0197] 405 guide pin

[0198] X first direction

[0199] Y Second direction

[0200] Z third direction

Claims

1. An automatic storage and retrieval system (1), comprising: - a first space (2) and a second space (3); a first storage volume (104) arranged in the first space (2) and allowing storage containers (106) to be stored in a vertical stack (107), - a rail system (108) arranged above the location where the storage container (106) is stored; a container transfer channel (40) for transferring storage containers (106) between the first space (2) and the second space (3), the container transfer channel (40) extending below the level of the rail system (108); a first container handling vehicle (200, 300, 400) configured to lift a storage container (106) from the first storage volume (104), transport the storage container (106) along the rail system (108), and lower the storage container (106) into the container transfer channel (40), wherein the rail system (108) comprises a first set of rails (110) and a second set of rails (111) oriented perpendicularly to the first set of rails (110), the intersections of the rails (110, 111) forming a grid of grid cells defining grid openings (112), the grid openings allowing the first container handling vehicle (200, 300, 400) to lift and / or lower the storage container (106) through the grid openings; - a container transport device (200, 300, 400) configured to lift the storage container (106) from the container transfer channel (40) and transport the storage container (106) to another location; - a wall (6) separating the first space (2) from the second space (3), and - A container carrier (20) configured to move in the container transfer channel (40) between a first position in the first space (2) and a second position in the second space (3) of the automatic storage and retrieval system (1).

2. The automatic storage and retrieval system (1) according to claim 1, wherein: The container carrier (20) is part of a container transfer device (10-12, 20-26), the container transfer device comprising components for defining a tunnel (10-12) for moving the container carrier (20) within the tunnel when transporting at least one of the storage containers between the first space (2) and the second space (3); and Wherein, the tunnel (10-12) and the container carrier (20) are configured so that when the container carrier (20) is arranged in at least one of the first position and the second position, the first space (2) and the second space (3) are isolated from each other.

3. The automatic storage and retrieval system (1) according to claim 2, wherein: The container carrier (20) comprises: - a carrier base (20a) for supporting the storage container (106), - a carrier side portion (20b), oriented parallel to the central plane of said wall (6) and situated at the edge of the carrier base (20a), and - a seal arranged at an upper edge of the container carrier (20) such that the seal contacts an upper portion of the tunnel (10-12) when the container carrier (20) moves within the tunnel (10-12).

4. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein: The container carrier (20) is provided with a heat insulating material to reduce heat conduction between the first space (2) and the second space (3) through the container transfer channel (40).

5. The automatic storage and retrieval system (1) according to any one of the preceding claims, wherein: The container carrier (20) comprises transport means (21) to allow transport of the container carrier (20) between the first position and the second position.

6. The automatic storage and retrieval system (1) according to claim 5, wherein: The container carrier (20) comprises a carrier base (20a) for supporting a storage container (106), and wherein the transport means (21) comprises wheels (21) arranged at or below the carrier base (20a).

7. The automatic storage and retrieval system (1) according to claim 5 or 6, in, The transport means (21) comprises wheels (21), and Wherein, the automatic storage and retrieval system (1) comprises: - a track (22) extending between the first position and the second position, wherein the track (22) and the wheel (21) are configured such that the wheel (21) is guided by the track (22) during movement.

8. The automatic storage and retrieval system (1) according to any one of claims 5 to 7, in, The automatic storage and retrieval system (1) comprises: a drive belt (26) extending between the first position and the second position, a drive motor (24) configured to rotate the drive belt (26), and a track (22) extending between the first position and the second position, and The track (22) and the transport device (21) are configured such that when the drive motor (24) rotates the transmission belt (26), the transport device (21) is guided by the track (22).

9. The automatic storage and retrieval system (1) according to claim 8, in, The container carrier (20) comprises a carrier base (20a) for supporting a storage container (106), and Wherein, the transmission belt (26) is arranged below the carrier base (20a) in the container transfer channel (40).

10. The automatic storage and retrieval system (1) according to any one of the preceding claims, in, The rail system (108) continues to extend into the second space (3), and Wherein, the container transport device is a second container handling vehicle (200, 300, 400), and the second container handling vehicle is configured to transport the storage container (106) from the container transfer channel (40) along the rail system (108) in the second space (3).

11. The automatic storage and retrieval system (1) according to claim 10, comprising: a second storage volume (104') contained in said second space (3) and allowing the storage of storage containers (106) in a vertical stack (107), Wherein, the container transfer channel (40) extends through the wall (6) between the first storage volume (104) and the second storage volume (104).

12. The automatic storage and retrieval system (1) according to any one of the preceding claims, - wherein the automatic storage and retrieval system (1) comprises a refrigeration unit (4) configured to make the temperature in the first space (2) different from the temperature in the second space (3), and -in, The wall (6) is provided with a heat insulating material to reduce heat conduction between the first space and the second space (2, 3).

13. A container transfer device (10-12, 20-26) for transferring a storage container (106) between a first space (2) having a first temperature and a second space (3) having a second temperature different from the first temperature, wherein: The container transfer device (10-12, 20-26) comprises: - a tunnel (10-12) configured to allow transport of storage containers (106) between said first space (2) and said second space (3); - a container carrier (20) arranged in said tunnel (10-12); and - drive means (22-26) configured to allow said container carrier (20) to move in said tunnel (10-12).

14. A method for transferring a storage container (106) between a first space (2) and a second space (3) in an automatic storage and retrieval system (1) according to any one of claims 1 to 12, wherein: The method comprises the following steps: - moving the container carrier (20) into the first space (2); - lifting the storage container (106) stored in the first storage volume (104) by means of a lifting device (303, 403) forming part of a first container handling vehicle (200, 300, 400), - using the container handling vehicle (200, 300, 400) to transport the storage container (106) to a position immediately above the container carrier (20); - using the lifting device (303, 403) to place the storage container (106) into the container carrier (20); - moving the container carrier (20) into the second space (3) so that the storage container (106) can be accessed by the container transport device (200, 300, 400); - lifting the storage container (106) from the container carrier (20) using the container transport device (200, 300, 400); and - using the container transport device (200, 300, 400) to transport the storage container (106) to another location in the second space (3).

15. The method according to claim 14, in, The container transport device is a second container handling vehicle (200, 300, 400), the second container handling vehicle being configured to transport at least one of the storage containers (106) along the rail system (108), The automatic storage and retrieval system (1) comprises a second storage volume (104'), which is contained in the second space (3) and allows the storage of storage containers (106) in a vertical stack (107), wherein transporting the storage container (106) to another location within the second space (3) is performed along the rail system (108), and Wherein, the method comprises the following steps: - placing the storage container (106) onto the stack (107) in the second storage volume (104') by means of a lifting device (303, 403) forming part of the second container handling vehicle (200, 300, 400).

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