Goods holder rotating station and method for removing goods from goods holder

Abstract

The invention relates to a cargo holder rotating station (2) for an automated storage and retrieval system (1). The station comprises a receptacle (4) configured with an opening (6) to receive the cargo holder (106) from above when the receptacle (4) is in an upright position. The receiver (4) is arranged to rotate about a horizontal axis from an upright position such that the received cargo holder rotates such that one or more cargoes are dumped from the cargo holder (106) onto an underlying surface through a top side of the cargo holder (106). The receiver (4) comprises locking means arranged to lock the cargo holder (106) in position within the receiver during rotation of the receiver (4).

Description

[0001] The present invention mainly relates to a goods retainer rotating station for transferring the contents of a goods retainer of a storage and retrieval system. Background Art

[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and FIGS. 2, 3a to 3b disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on the system 1.

[0003] The frame structure 100 includes upright members 102 and a storage volume including storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as bins) are stacked one on top of the other to form a container stack 107. The members 102 can generally be made of metal (such as extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 301, 401 can operate to lift storage containers 106 from the storage rows 105 and lower the storage containers 106 into the storage rows, and also transport the storage containers 106 above the storage rows 105. The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111, wherein the first set of parallel tracks is arranged to guide the container handling vehicles 301, 401 to move across the top of the frame structure 100 in a first direction X, and the second set of parallel tracks is arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 can be accessed by the container handling vehicles 301, 401 through access openings 112 in the track system 108. The container handling vehicles 301, 401 can move laterally above the storage rows 105, i.e., laterally in a plane parallel to the horizontal X-Y plane.

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

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

[0007] Each of the prior art container handling vehicles 201, 301, 401 further includes a lifting device 304, 404 (visible in FIGS. 3a to 3b) having a lifting frame portion 304a, 404a and for the vertical transportation of the storage container 106, for example, lifting the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting devices 304, 404 include one or more gripping / engaging devices adapted to engage the storage container 106, and the gripping / engaging device can be lowered from the vehicles 201, 301, 401 so that the position of the gripping / engaging device relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z (visible in FIG. 1, for example) orthogonal to the first direction X and the second direction Y. The portions of the gripping devices of the container handling vehicles 301, 401 are shown and labeled with reference numerals in FIGS. 3a and 3b. In FIG. 2, the gripping device of the container handling device 201 is located within the vehicle body 201a.

[0008] Conventionally and also for the purposes of the present application, Z = 1 identifies the uppermost layer available for storing containers below the tracks 110, 111, i.e., the layer immediately below the track system 108, Z = 2 identifies the second layer below the track system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the lowermost bottom layer of the storage containers. Similarly, X = 1…n and Y = 1…n identify the positions of each storage column 105 in the horizontal plane. Thus, by way of 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 = 18, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer of Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Thus, the storage containers extending above the track system 108 shown in FIG. 1 are also said to be arranged in the layer of Z = 0.

[0009] The storage volume part of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage positions within this grid are called storage units. Each storage column can be identified by its position in the X direction and the Y direction, while each storage unit can be identified by the container label in the X direction, Y direction, and Z direction.

[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 can include a cavity arranged inside the vehicle body 201a, as shown in FIGS. 2 and 3b and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] FIG. 3a shows an alternative configuration of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0012] The occupied area of the cavity-type container handling vehicle 201 shown in FIG. 2 can cover an area that is approximately equal in size to the lateral extent of the storage column 105 in the X direction and the Y direction, as described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term “lateral” used herein can refer to “horizontal”.

[0013] Alternatively, the occupied area of the cavity-type container handling vehicle 401 can be larger than the lateral area defined by the storage column 105, as shown in FIG. 3b and disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The track system 108 generally includes tracks having grooves in which the wheels of the vehicle run. Alternatively, the tracks may include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guides. Each track may include one guide, or each track may include two parallel guides; in other track systems 108, each track in one direction may include one guide, and each track in another perpendicular direction may include two guides. The track system may also include double-guide tracks in one of the X and Y directions and single-guide tracks in the other of the X and Y directions. The double-guide tracks may include two track members fastened together, each track member having one guide.

[0015] WO2018 / 146304A1 (the content of which is incorporated herein by reference) shows a typical configuration of a track system 108 that includes tracks and parallel guides in both the X and Y directions.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which the 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 dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, so that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100, or removed from or moved into the frame structure 100. In the art, such locations are generally referred to as "ports", and the columns where the ports are located may 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 directions). For example, the storage container 106 can be placed in a random column or a dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may need to move in various different directions by means of, for example, a delivery vehicle, a trolley, or other transportation lines. Note that the term "inclined" refers to the transportation of the storage container 106 having a generally transportation orientation in a direction between horizontal and vertical.

[0017] In FIG. 1, the first port column 119 may be, for example, a dedicated offloading port column where container handling vehicles 201, 301 can offload storage containers 106 to be transported to a storage or transfer station, and the second port column 120 may be a dedicated pickup port column where container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from a storage or transfer station.

[0018] A storage station may generally be a pickup station or a stocking station where product items are removed from or positioned into the storage container 106. In the pickup or stocking station, the storage container 106 is generally not removed from the automated storage and retrieval system 1 but is returned to the frame structure 100 after access. The ports can 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 a truck), or to a production facility.

[0019] A conveyor system including conveyors is generally used to transport the storage containers between the port columns 119, 120 and the storage station.

[0020] If the port columns 119, 120 and the storage station are at different heights, the conveyor system may include a lifting device having a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the storage station.

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

[0022] When accessing a storage container 106 stored in one of the multiple columns 105 disclosed in FIG. 1, one of the multiple container handling vehicles 201, 301, 401 is instructed to retrieve 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 vehicles 201, 301 to a position above the storage column 105 where the target storage container 106 is located; using the lifting devices (not shown) of the container handling vehicles 201, 301, 401 to retrieve the storage container 106 from the storage column 105; and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, this operation also involves: temporarily moving the storage containers 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 will subsequently be used to transport the target storage container to the unloading port column 119, or using one or more other cooperative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back to the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

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

[0024] In order to monitor and control an automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, such that the required storage container 106 can be delivered to the required position at the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500 (as shown in FIG. 1), which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] In addition to the access stations discussed above, transfer stations are also known in the art. At a transfer station, an item stored in a storage bin is removed from the automated storage and retrieval system 1 without the storage bin leaving the system.

[0026] In this context, AT524109 discloses a main storage system and an associated transfer station where the stored item is transferred from a bin to a suitcase for further transfer. The bin itself remains within the main storage system. Thus, this solution is very complex due to the use of the suitcase as an intermediate storage means. In addition, the solution of AT524109 has a relatively low throughput due to the need to use a picking robot or a manual picker.

[0027] In view of the above, it is desirable to provide a solution to solve or at least mitigate one or more of the above problems belonging to AT524109.

[0028] Other documents forming the technical background are WO2019238642, US11104527, and CN115258716A. Summary of the Invention

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

[0030] Accordingly, the present invention relates to a goods holder rotating station for an automated storage and retrieval system, the station comprising:

[0031] - a receiver configured with an opening to receive a goods holder from above when the receiver is in an upright position, the receiver being arranged to rotate about a horizontal axis from the upright position such that the received goods holder rotates, thereby causing one or more goods to be tipped from the goods holder over the top side of the goods holder onto a surface below, wherein the receiver includes locking means arranged to lock the goods holder in place within the receiver during rotation of the receiver.

[0032] On a general level, the invention according to the above promotes the rapid removal of articles accommodated in a goods retainer from the storage system shown in FIG. 1.

[0033] More specifically, a completed, pre-picked order (accommodating all ordered articles) can be rapidly transferred from the goods retainer to another retainer, such as a retainer suitable for handling in a conventional parcel delivery service. In relevant cases, articles can also be efficiently removed in batches with the aid of a transfer station. The articles accommodated in the goods retainer located in the transfer station can be removed into a movable article receiving device such as a wheeled container (as Figure 7a or Figure 7b shown), or directly onto a conveyor belt (as Figure 8 shown), for further handling outside the storage system. These advantages are achieved without the intervention of a human operator, thus enabling a fully automated article removal solution.

[0034] Furthermore, this rotational movement of the goods retainer about the axis of the goods retainer should be interpreted as different from the pivoting movement described in the prior art (WO2019238642, US11104527). In this case, the pivoting movement disclosed in WO2019238642 and US11104527 requires a reciprocating movement, i.e., a back-and-forth movement, of the corresponding receiver / goods retainer assembly, while the rotational movement of the goods retainer of the present invention requires a complete rotation. Thus, the rotation of the received goods retainer, i.e., the goods leaving the goods retainer via its top side, contributes to achieving a space-efficient tipping process with good process control.

[0035] For the purposes of the present application, the term "container handling vehicle" used in the "Background Art" section of the present application is synonymous with the term "remotely operated vehicle" used in the remainder of the text of the present application, and defines an autonomous wheeled vehicle operating on a track system arranged on top of a frame structure, which track system is part of an automated storage and retrieval system.

[0036] Similarly, the terms "storage container" and "storage bin" used in the "Background Art" section of the present application are synonymous with the term "goods retainer" used in the remainder of the text of the present application, and define a receiver for storing articles. In relevant cases, the goods retainer of the present application can be any one of a box, suitcase, pallet, tray, or the like. Different types of goods retainers can be used in the same automated storage and retrieval system.

[0037] In addition, the term "lifting frame member" used in the "Background Art" section of the present application and the term "gripper assembly" used in the remainder of the text of the present application both define a device for vertically transporting storage containers, such as lifting a storage container from a storage row and lowering a storage container into a storage row.

[0038] Relative terms such as "upper", "lower", "below", "above", "higher", etc. shall be understood in their ordinary meanings and as shown in a Cartesian coordinate system. When referring to an orbital system, "upper" or "above" shall be understood as a position closer to the surface orbital system (relative to another component), while the terms "lower" or "below" shall, conversely, be understood as a position farther from the orbital system (relative to another component). Brief Description of the Drawings

[0039] The following drawings are attached for ease of understanding the present invention. The drawings illustrate embodiments of the present invention, which will now be described only by way of example, in which:

[0040] FIG. 1 is a perspective view of the frame structure of an automated storage and retrieval system of the prior art.

[0041] FIG. 2 is a perspective view of a container handling vehicle of the prior art, which has a centrally arranged cavity for carrying a storage container therein.

[0042] FIG. 3a is a perspective view of a container handling vehicle of the prior art, which has a cantilever for carrying a storage container below.

[0043] FIG. 3b is a perspective view of a container handling vehicle of the prior art as seen from below, which has an internally arranged cavity for carrying a storage container therein.

[0044] Figure 4 is a perspective view of a gripper assembly of the prior art engaged with a standard cargo retainer.

[0045] Figure 5 shows an engagement with Figure 4 a perspective view of a gripper assembly similar to the gripper assembly in

[0046] Figure 6 is Figure 4 a schematic top view of the standard cargo retainer shown in , in which a plurality of items are stored in the standard cargo retainer.

[0047] Figure 7a shows an exemplary station according to an embodiment of the present invention, which has a shaft connected to a receiver, the receiver being in a first rotational position. The station is arranged above a wheeled container.

[0048] Figure 7b shows Figure 7a a station in Figure 7b , where the receiver is in a second rotational position.

[0049] Figure 8 shows an exemplary station according to another embodiment of the present invention, the station having a shaft connected to a receiver, the receiver being in a first rotational position. The transfer station is arranged above a conveyor belt. Detailed description

[0050] Hereinafter, embodiments of the present invention will be discussed in more detail only by way of example and with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein.

[0051] The frame structure 100 of the automated storage and retrieval system 1 is constructed according to the frame structure 100 of the prior art described above in connection with FIGS. 1 to 3b, i.e., a plurality of upright members 102, wherein the frame structure 100 further includes a first upper track system 108 in the X and Y directions.

[0052] The frame structure 100 further includes storage compartments in the form of storage columns 105 arranged between the members 102, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0053] The frame structure 100 can be of any size. Specifically, it should be understood that the frame structure can be wider and / or longer and / or deeper than the frame structure disclosed in FIG. 1. For example, the frame structure 100 can have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0054] Now reference will be made to Figures 4 to 8 discuss the various embodiments of the present invention in more detail.

[0055] Figure 4 is a perspective view showing the engagement of the gripper assembly 30 with the cargo holder 106. More specifically, the vertically displaceable gripper assembly 30 is suspended on a remotely operated vehicle 505 that runs on top of the upright members 102 of the automated storage and retrieval system (discussed in connection with FIG. 1). In Figure 4 the gripper assembly 30 engages with a cargo holder 106 positioned in a storage column 105 defined by a set of the upright members (102; discussed in connection with FIG. 1). Functionally, the gripper assembly 30 is part of the remotely operated vehicle 505 shown. The gripper assembly 30 is suspended on the remotely operated vehicle 505 by means of a lifting belt, as discussed in more detail in connection with Figure 5 .

[0056] Figure 5A perspective view of an exemplary gripper assembly 30 is shown. The gripper assembly 30 may include a rectangular base plate 30a and a circumferentially extending edge 30b disposed at the periphery of the base plate 30a, the edge 30b being perpendicular to the base plate 30a. In addition, the gripper assembly 30 may include a pair of gripper elements 35 located on each long side. These gripper elements 35 are for engaging corresponding recesses disposed in the body of the cargo holder discussed in connection with Figure 6 Vertical guide pins 39 are provided in the corners of the base plate 30a.

[0057] The gripper assembly 30 may be suspended on a remotely operated vehicle ( Figure 5 not shown in the figure) by means of lifting belts 53. One lifting belt 53a may be used to supply energy to the gripper assembly 30, while the other lifting belt 53b is for communication between the remotely operated vehicle and the gripper assembly 30. In another embodiment, a single lifting belt supplies both energy and is used for communication. By way of example, the communication is carried out via a wired high-speed data bus.

[0058] Figure 6 is a top view of a fully loaded cargo holder 106 before engagement with the gripper assembly. The shown cargo holder 106 has an open proximal side. Here, the term "proximal" should be interpreted as being closest to the gripper assembly when the cargo holder is located in the Figure 4 storage row. A particular cargo holder 106 may be identified by means of a bar code 55, for example, which is arranged on an edge 57 defining the open side of the cargo holder 106. In such a system including an identifiable cargo holder, the gripper assembly may include means (not shown) for identifying the cargo holder 106 based on the information provided in the bar code 55. Thus, the traceability of the cargo holder and its contents is greatly improved. The recesses 38 for the gripper elements of the gripper assembly 30 discussed previously for receiving Figure 5 are disposed in the body of the cargo holder 106.

[0059] Figure 7a An exemplary cargo holder rotating station 2 according to an embodiment of the present invention is shown, the station 2 being disposed above a wheeled container 8.

[0060] The shown cargo holder rotating station 2 is for transferring the cargo holder from the automated storage and retrieval system 1 shown in FIG. 1. Generally, the station 2 is provided within the storage and retrieval system 1 and at a peripheral location of the storage and retrieval system.

[0061] The station 2 includes a receiver 4 configured with an opening 6 that receives the cargo holder 106 from above when the receiver 4 is in an upright position. This is the first rotational position of the receiver 4. As discussed in connection with Figure 4As discussed, the received goods holder 106 is introduced from above by means of a standard remotely operated vehicle, such that the receiver 4 needs to be positioned in alignment with the access opening 112 discussed in connection with FIG. 1.

[0062] At a general level, the present invention facilitates the rapid removal of items contained in the goods holder 106 from the system shown in FIG. 1.

[0063] More specifically, a completed, pre-picked order (containing all ordered items) can be rapidly transferred from the goods holder to another holder, such as a holder suitable for handling in a conventional parcel delivery service. In relevant cases, items can also be efficiently removed in batches with the aid of a transfer station. Items contained in a goods holder positioned in the transfer station can be removed into a movable item receiving device such as a wheeled container (as Figures 7a to 7b shown), or directly onto a conveyor belt (as Figure 8 shown), for further handling outside the storage system. These advantages are achieved without the intervention of a human operator, thus enabling a fully automated item removal solution.

[0064] In one embodiment, the station 2 can also include an inclination sensor (not shown) for determining the rotational position of the receiver. By way of example, the inclination sensor can be in the form of a gyroscope. More specifically, if the inclination sensor detects that the receiver 4 is in an incorrect position, i.e., deviated from a strictly horizontal position, this information is communicated to the remotely operated vehicle, such that the lowering of the goods holder into the container by means of the remotely operated vehicle can be stopped. All generated data is typically processed in a processing unit located at the station. In an alternative embodiment, the data is processed in the processing unit of the gripping unit and / or the remotely operated vehicle. In relevant cases, all communication between the station and other components (such as the gripping unit / remotely operated vehicle) is effected by means of communication protocols known to those skilled in the art.

[0065] The receiver 4 is arranged to rotate about a horizontal axis so as to tip one or more goods from the goods holder 106 onto a surface below, such that the contents of the goods holder 106 leave the goods holder 106 under the action of gravity.

[0066] In Figure 7a the illustrated embodiment, the surface is part of the wheeled container 8. The tipping occurs when the receiver 4 reaches a second rotational position. Figure 7b The goods holder rotation station 2 is shown in the said second rotational position. For the sake of brevity, the components discussed above in connection with Figure 7a are not discussed further in connection with Figure 7a Figure 7b ​​

[0067] Reference Figure 7a , the receiver 4 is generally columnar. In the illustrated embodiment, the receiver 4 provides a central section of the shaft 5. By way of example, the receiver can be rotated by means of a rod, a gear or a belt driving a non-driven shaft. In another embodiment, the receiver 4 can be rotated by means of a drive shaft. In fact, the shaft includes a first shaft portion 5a and a second shaft portion 5b, both of which are fixedly connected to one end of the receiver 4.

[0068] The receiver includes locking means (not visible in Figures 7a to 7b ), which are arranged to lock the cargo holder 106 in place within the receiver 4 during rotation of the receiver 4. In one embodiment, the locking means includes a vertically movable pin for insertion into a vertically extending recess (38; shown and discussed in connection with Figure 6 ) provided at the edge section 30b of the cargo holder 106. The movable pin is attached to the receiver 4 and is adapted to cooperate with the said recess. In another embodiment, the locking means can include a horizontally extending hole provided in the cargo holder and a horizontally movable pin (not shown) for insertion into the horizontally extending hole provided in the cargo holder. In yet another embodiment (not shown), the locking means includes a snap-fit mechanism provided at the inner bottom of the receiver. In another embodiment, the locking means includes a clamping device (not shown) arranged to clamp the short side of the cargo holder against the wall of the receiver 4.

[0069] The cargo holder 106, which remains locked in place within the receiver 4 after its contents have been transferred, returns to the first rotational position. Subsequently, the empty cargo holder 106 is lifted out of the receiver 4 by means of a remotely operated vehicle (505; shown and briefly discussed in connection with Figure 4 ).

[0070] In addition, the receiver 4 includes at least one sensor for determining the position of the cargo holder 106 relative to the receiver 4. The sensor can include holes provided in the corner portions of the receiver for receiving guide pins (39; shown and discussed in connection with Figure 5 ) of a gripper assembly that engages the cargo holder introduced into the receiver. The sensor also includes a detector associated with the said holes for detecting the presence of the guide pins in the holes.

[0071] Figure 8 An exemplary cargo holder rotating station 2 in the first rotational position according to another embodiment of the present invention is shown. Figure 8 The station of Figures 7a to 7b is very similar to the station shown in Figure 8 . One main difference is that the station 2 of is arranged above the conveyor belt 9. For the sake of brevity, the above in connection withFigures 7a to 7b The components discussed are no longer combined Figure 8 Further discussion

[0072] In one embodiment (as Figure 9 shown), the station includes a guide 11 for guiding one or more goods from a goods holder between the goods holder and a lower surface. In Figure 9 it, the guide is a slide 11 that connects the receiver 4 of the goods holder rotating station 2 to a box / suitcase / case 13 arranged on a conveyor belt 9 on the lower side. For the sake of brevity, the components discussed above in connection with Figures 7a to 7b and Figure 8 are no longer combined Figure 9 Further discussion

[0073] In another related embodiment (not shown), the guide can be funnel-shaped or shaped such that the cross-section of the guide tapers continuously towards the lower surface. The guide is typically attached to a wheeled container or a conveyor belt located below the receiver.

[0074] In another embodiment, a movable hatch can be arranged at the bottom of any guide. In this way, the hatch in the first extended state can prevent the items from the receiver from leaving the guide. Only when the hatch adopts the second retracted state will these items reach their destinations (wheeled container, conveyor belt, box / suitcase / case arranged on the conveyor belt).

[0075] In the foregoing description, various aspects of the goods holder rotating station according to the present invention have been described with reference to illustrative embodiments. For purposes of illustration, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its working principles. However, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art to which the disclosed subject matter pertains are considered to be within the scope of the present invention.

[0076] List of reference numerals

[0077] 1 Storage and retrieval system

[0078] 2 Goods holder rotating station

[0079] 4 Receiver

[0080] 5a, 5b Parts of the axis

[0081] 6 Opening

[0082] 8 Wheeled container

[0083] 9 Conveyor belt

[0084] 11 Guide, slider

[0085] 13 Box

[0086] 30 Gripper assembly

[0087] 30a Base plate

[0088] 30b Edge

[0089] 35 Gripper element

[0090] 38 Recess

[0091] 39 Guide pin

[0092] 53 Lifting belt

[0093] 53a Lifting belt for supplying energy

[0094] 53b Lifting belt for communication

[0095] 55 Barcode

[0096] 57 Edge of the cargo holder

[0097] 102 Upright member of the frame structure

[0098] 104 Storage grid

[0099] 105 Storage column

[0100] 106 Storage container, cargo holder

[0101] 106’ Specific position of the storage container

[0102] 107 Stack of storage containers

[0103] 108 Track system

[0104] 110 Parallel tracks in the first direction (X)

[0105] 111 Parallel tracks in the second direction (Y)

[0106] 112 Access opening

[0107] 119 First port column

[0108] 201 Container handling vehicle belonging to the prior art

[0109] 201a Vehicle body 201 of the container handling vehicle

[0110] 201b Driving device / wheel device, first direction (X)

[0111] 201c Drive device / wheel device, second direction (Y)

[0112] 301 Existing art cantilever-based container handling vehicle

[0113] 301a Vehicle body of container handling vehicle 301

[0114] 301b Drive device in the first direction (X)

[0115] 301c Drive device in the second direction (Y)

[0116] 401 Existing art container handling vehicle

[0117] 401a Vehicle body of container handling vehicle 401

[0118] 401b Drive device in the first direction (X)

[0119] 401c Drive device in the second direction (Y)

[0120] 480 Transmitter array

[0121] 490 Receiver array

[0122] 500 Control system

[0123] 505 Remotely operated vehicle

[0124] X First direction

[0125] Y Second direction

[0126] Z Third direction

Claims

1. A goods retainer rotating station (2) for a grid-based automated storage and retrieval system (1), the station (2) comprising: - A receiver (4) configured with an opening (6) to receive a goods holder (106) from above when the receiver (4) is in an upright position, the receiver (4) being arranged to rotate about a horizontal axis from the upright position such that the received goods holder rotates, whereby one or more goods are tipped from the goods holder (106) over the top side of the goods holder (106) onto a surface below, wherein the receiver (4) includes locking means arranged to lock the goods holder (106) in place within the receiver (4) during rotation of the receiver (4).

2. The station (2) according to claim 1, wherein, The receiver (4) includes at least one sensor for determining the position of the goods holder (106) relative to the receiver (4).

3. The station (2) according to claim 2, wherein, The sensor includes a hole arranged in a corner portion of the receiver (4), the hole being for receiving a guide pin (39) of a gripper assembly (30) that engages with the goods holder (106) introduced into the receiver (4), wherein the sensor further includes a detector associated with the hole for detecting whether the guide pin (39) is present in the hole.

4. The station (2) according to any one of the preceding claims, wherein, The locking means includes a vertically movable pin for insertion into a vertically extending recess (38) arranged at an edge section (30b) of the goods holder (106).

5. The station (2) according to any one of the preceding claims, wherein, The locking means includes a horizontally extending hole arranged in the goods holder and a horizontally movable pin for insertion into the horizontally extending hole arranged in the goods holder (106).

6. The station (2) according to any one of the preceding claims, wherein, The locking means includes a snap-fit mechanism arranged at the inner bottom of the receiver (4).

7. The station (2) according to any one of the preceding claims, wherein, The locking means includes a clamping device arranged to clamp a short side of the goods holder (106) against a wall of the receiver (4).

8. The station (2) according to any one of the preceding claims, wherein, The station (2) further includes an inclination sensor for determining the rotational position of the receiver (4).

9. The station (2) according to any one of the preceding claims, wherein, The station (2) further includes a guide (11) for guiding one or more goods from the goods holder (106) between the goods holder (106) and the surface below.

10. The station (2) according to claim 9, wherein, The guide (11) is funnel-shaped.

11. The station (2) according to claim 10, wherein, The cross-section of the guide (11) tapers continuously towards the surface below.

12. The station (2) according to any one of claims 9 to 11, wherein, The surface is part of a wheeled container (8) or part of a conveyor belt (9).

13. The station according to claim 12, wherein, The guide (11) is attached to the wheeled container (8) or the conveyor belt (9).

14. The station (2) according to any one of the preceding claims, wherein, The axis of rotation of the goods holder (106) passes through the goods holder (106).

15. The station (2) according to claim 14, wherein, The axis of rotation of the goods holder (106) passes through the centroid of the goods holder (106).

16. The station (2) according to claim 14 or claim 15, wherein, The axis of rotation of the goods holder (106) substantially coincides with the axis of rotation of the receiver (4).

17. A grid-based storage and retrieval system (1), the grid-based storage and retrieval system (1) comprising a frame structure (100), the frame structure comprising vertically extending members (102) and a horizontal track grid (110, 111) provided at the upper ends of the vertical members (102), wherein, A remotely operated vehicle for handling a goods retainer (106) runs on top of the grid, the frame structure (100) defining a storage volume for storing the goods retainer (106), and the grid-based storage and retrieval system (1) includes a goods retainer rotating station (2) according to any one of claims 1 to 16.

18. The grid-based storage and retrieval system (1) according to claim 17, wherein,The goods retainer is inserted into the receiver from above by means of the remotely operated vehicle.

19. A method for retrieving goods from a goods holder (106) of an automated storage and retrieval system (1), the method comprising: - When the receiver (4) is in the upright position, lower the goods retainer (106) into the receiver (4), - Lock the goods retainer (106) in place within the receiver (4), - Rotate the receiver (4) from the upright position about a horizontal axis so that the received goods retainer rotates, causing one or more goods to be tipped from the goods retainer (106) over the top side of the goods retainer (106) onto a surface below.

20. The method according to claim 19, comprising: - Lower the goods retainer (106) into the receiver (4) by means of a remotely operated vehicle running on top of a horizontal track grid (110, 111) covering the storage volume for storing the goods retainer (106).

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