Actuator for moving storage container

Abstract

The present disclosure relates to an actuator (70) for moving a storage container (106) wherein the actuator comprises: a base (BS) comprising a support (50) arranged such that the storage container (106) is supported in a first position (P1) on a support plane or in a second position (P2) on the support plane; a slider (71) movable relative to the base in a first direction (A) parallel to the support plane and in a second direction (B) opposite to the first direction; a driver (72) arranged to move the slider (71) in a first direction and a second direction; and an engagement member (75) coupled to the slider. An engagement member (75) is configured to move relative to the slider between a raised position and a lowered position. In the raised position, a portion of the engagement member protrudes above the support plane. In the lowered position, the portion of the engagement member retracts below the support plane.

Description

Technical Field

[0001] The present disclosure relates to an actuator for moving a storage container. The present disclosure also relates to a drawer for a storage container. The present disclosure also relates to a storage and retrieval station for presenting a storage container for picking. The present disclosure also relates to an automated storage and retrieval system including a frame structure. The present disclosure also relates to a method for presenting a storage container for picking from an automated storage and retrieval system. Background Art

[0002] Figure 1 A prior art automatic storage and retrieval system 1 having a frame structure 100 is disclosed, and Figure 2 、 Figure 3 and Figure 4 Three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on the system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also referred to as bins) are stacked one on top of another to form stacks 107. The members 102 may typically be made of metal (e.g., 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. A plurality of container handling vehicles 201, 301, and 401 can operate on the track system 108 to lift and lower storage containers 106 from and into storage rows 105, and to transport storage containers 106 over storage rows 105. The track system 108 includes a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301, and 401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201, 301, and 401 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the rows 105 are accessed by the container handling vehicles 201, 301, and 401 through access openings 112 in the track system 108. The container handling vehicles 201 , 301 , 401 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

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

[0006] Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c that enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. Figure 2 、 Figure 3 and Figure 4 1 , both wheels in each set are fully visible. A first set of wheels 201b, 301b, 401b is arranged to engage two adjacent tracks in a first set of tracks 110, and a second set of wheels 201c, 301c, 401c is arranged to engage two adjacent tracks in a second set of tracks 111. At least one of these sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can be engaged with a respective set of tracks 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 further includes a lifting device for vertically transporting storage containers 106, for example, lifting the storage containers 106 from the storage column 105 and lowering the storage containers 106 into the storage column. The lifting device includes one or more gripping / engaging devices adapted to engage the storage containers 106, and the one or more gripping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the gripping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z that is orthogonal to the first direction X and the second direction Y. Some portions of the gripping devices of the container handling vehicle 301, 401 are located in the Figure 3 and Figure 4 , and are denoted by reference numerals 304 and 404. Figure 2 In FIG, the gripping device of the container handling device 201 is located within the vehicle body 201a and is therefore not shown.

[0008] Conventionally, and also for the purposes of this application, Z=1 identifies the uppermost level below the rails 110, 111 that is available for storage containers, 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, and so on. Figure 1 In the exemplary prior art disclosed in , Z=8 identifies the bottom layer of the storage container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Therefore, as an example, and using Figure 1 The Cartesian coordinate system X, Y, Z shown in Figure 1The storage container identified as 106' in FIG. 1 occupies the storage location at X=17, Y=1, and Z=6. It can be said that the container handling vehicles 201, 301, and 401 travel in the layer at Z=0, and each storage column 105 can be identified by its X and Y coordinates. Figure 1 The storage containers shown in FIG. 1 extending above the rail system 108 are also said to be arranged in the layer Z=0.

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

[0010] Each of the prior art container handling vehicles 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 while transporting the storage container 106 across the track system 108. The storage space may include a cavity disposed within the interior of the vehicle body 201a, 401a, such as Figure 2 and Figure 4 As shown and described, for example, in WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 An alternative construction of a container handling vehicle 301 having a cantilever structure is shown. Such a vehicle is described in detail in, for example, US Pat. No. 317,366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The footprint of the chamber container handling vehicle 201 shown in FIG can cover an area with dimensions in the X and Y directions that are approximately equal to the lateral extent of the storage array 105, such as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" can mean "horizontal."

[0013] Alternatively, the footprint of the cavity container handling vehicle 401 may be larger than the lateral area defined by the storage row 105, such as Figure 1 and Figure 4 As shown and disclosed, for example, in WO 2014 / 090684 A1 or WO 2019 / 206487 A1.

[0014] The track system 108 typically includes a track with grooves in which the wheels of the vehicle travel. Alternatively, the track 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 guide rails. Each track may include one guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, and each track in another perpendicular direction (e.g., the Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one guide rail in a pair of guide rails provided by each track.

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

[0016] In the frame structure 100, the majority of the rows are storage rows 105, i.e. rows 105 in which storage containers 106 are stored in the form of stacks 107. In addition to the storage rows 105, there are also special purpose rows within the frame structure. Figure 1 In the diagram, rows 119 and 120 are dedicated rows used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, allowing them to be transported to access stations (not shown). At these stations, storage containers 106 can be accessed from outside the frame structure 100 or moved into or out of the frame structure 100. In the art, such locations are often referred to as "ports," and the rows in which these ports are located can be referred to as "port rows" 119 and 120. Transport to the access station can occur in any direction (i.e., horizontally, inclined, and / or vertically). For example, a storage container 106 can be placed in a random row or dedicated row 105 within the frame structure 100, then picked up by any container handling vehicle and transported to the port rows 119 and 120 for further transport to the access station. Transport from the port to the access station may require movement in a variety of directions, such as by a delivery vehicle, a cart, or other transport routes. Note that the term "inclined" refers to the transport of storage container 106 with a general transport orientation somewhere between horizontal and vertical.

[0017] exist Figure 1In the embodiment, the first port column 119 can be, for example, a dedicated unloading port column, at which the container handling vehicles 201, 301, 401 can unload the storage containers 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated picking port column, at which the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or transfer station.

[0018] The access station can generally be a picking station or a staging station where product items are removed from or placed into the storage container 106. At the picking station or staging 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 port 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 truck), or to a production facility.

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

[0020] If the port rows 119 , 120 and the access station are located at different levels, the conveying system may comprise a lifting device with a vertical component for transporting the storage containers 106 vertically between the port rows 119 , 120 and the access station.

[0021] The conveying system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1 , the contents of which are incorporated herein by reference.

[0022] When accessing data stored in Figure 1When a storage container 106 is located in one of the rows 105 disclosed in the embodiment of the present invention, one of the container handling vehicles 201, 301, or 401 is instructed to remove the target storage container 106 from its location and transport it to the unloading port row 119. This operation involves moving the container handling vehicle 201, 301, or 401 to a position above the storage row 105 where the target storage container 106 is located, using a lifting device (not shown) of the container handling vehicle 201, 301, or 401 to remove the storage container 106 from the storage row 105, and transporting the storage container 106 to the unloading port row 119. If the target storage container 106 is located deep within the stack 107, that is, one or more other storage containers 106 are located above the target storage container 106, this operation also involves temporarily moving the storage containers located above before lifting the target storage container 106 from the storage row 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle that will subsequently transport the target storage container to the unloading port array 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can include container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage containers 106 from the storage array 105. After the target storage container 106 is removed from the storage array 105, the temporarily removed storage container 106 can be relocated to the original storage array 105. However, the removed storage container 106 can alternatively be relocated to another storage array 105.

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

[0024] In order to monitor and control the automatic storage and retrieval system 1, for example, to monitor and control the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, so that the required storage containers 106 can be transported to the required location at the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] WO2022 / 136299 describes a storage and retrieval station for presenting storage containers from an automated storage and retrieval system for picking. The storage and retrieval station comprises an access module comprising a frame defining a drawer compartment disposed within the frame, and a drawer comprising a drawer bottom and a drawer front. The drawer is movably connected to the frame. A drawer actuator is configured to move the drawer relative to the frame between a presentation position, in which the drawer extends from the drawer compartment, and a retracted position, in which the drawer is retracted into the drawer compartment. The drawer bottom comprises a support on which the storage container can be supported when in a front position or a rear position. The storage and retrieval station comprises a container actuator for moving the storage container from the front position to the rear position. When the storage container is in the front position and the drawer is in the presentation position, the storage container is presented to a picker for picking.

[0026] The storage containers are handled by moving the drawers into and out of the drawer compartments and by moving the storage containers within the drawers. Furthermore, the storage containers are lowered into and lifted from the storage and retrieval stations by means of container handling vehicles. The movement of storage containers to and from the storage and retrieval stations and within the storage and retrieval stations should be as efficient as possible.

[0027] At least the preferred embodiment improves the efficiency of the storage and retrieval station and the automated storage and retrieval system. Summary of the Invention

[0028] This summary is provided to introduce some concepts that are further described herein in a simplified form. This summary is not intended to identify key features or essential features of the invention.

[0029] The present disclosure relates to an actuator for moving a storage container (e.g., a container actuator), wherein the actuator comprises: a base comprising a support member arranged to support the storage container in a first position (e.g., a front position or a forward position) on a (virtual) support plane or in a second position (e.g., a rear position or a rearward position) on the support plane; a slide movable relative to the base in a first direction parallel to the support plane and in a second direction opposite to the first direction; a drive (e.g., a motor) arranged to move the slide in the first direction and the second direction; and an engaging member (e.g., a bump) coupled to the slide. The engaging member is configured to move relative to the slide between a raised position and a lowered position. In the raised position, a portion of the engaging member extends above the support plane (or, for example, above the top surface of the slide), and in the lowered position, the portion of the engaging member retracts below the support plane (or, for example, below the top surface of the slide).

[0030] The engaging member may be arranged to maintain the engaging member in the raised position when an external force is applied to the portion of the engaging member in a first direction.The engaging member may be arranged to move the engaging member from the raised position to the lowered position when an external force is applied to the portion of the engaging member in a second direction.

[0031] The engaging member may be configured to, when the slider is in a lowered position during movement in a first direction, enable the engaging member to slide under a storage container positioned on the support member. The engaging member may be configured to, when the slider is in a raised position during movement in a second direction opposite to the first direction, push the storage container, thereby moving the storage container from the first position to the second position.

[0032] The engagement member may be pivotably connected to the slide for movement between the raised position and the lowered position.

[0033] The engaging member includes an engaging surface located on a portion of the engaging member that extends above the support plane. The engaging member may be arranged such that when the engaging surface engages the storage container during movement of the slider in the first direction, the engaging member is urged to move from a raised position to a lowered position. The engaging surface may be inclined relative to the support plane when the engaging member is in the raised position.

[0034] The engaging member may be biased to the raised position. In one example, the actuator includes a spring arranged to bias the engaging member to the raised position. In another example, the weight of the engaging member is arranged to enable the engaging member to pivot from the lowered position to the raised position.

[0035] The actuator may further comprise a stop arranged to engage with the engagement member to prevent movement of the engagement member when the engagement member is in the raised position.

[0036] The actuator may be configured to receive the storage container in the first position during movement of the slide in the first direction.

[0037] The present disclosure also provides a drawer for storing containers, the drawer comprising an actuator and a drawer front, wherein the actuator is any one of the actuators (or container actuators) described in the present disclosure.

[0038] The present disclosure also provides an access station for presenting storage containers from an automated storage and retrieval system for picking, wherein the access station comprises: an access module comprising a frame defining a drawer compartment, the drawer compartment being disposed within the frame; and a drawer as described herein. An actuator is arranged to move the storage container from a first position (P1) to a second position, wherein the first position is closer to the front of the drawer than the second position. When the storage container is in the first position, the storage container is presented for picking. The engaging member is configured to enable the engaging member to slide under the storage container when the slide is in a lowered position during movement of the slide in the first direction. The engaging member is configured to enable the engaging member to slide under the storage container when the slide is in a raised position during movement of the slide in the second direction so as to push the storage container so as to move the storage container from the first position to the second position.

[0039] The present disclosure also relates to a storage and retrieval station for presenting storage containers of an automated storage and retrieval system for picking, wherein the storage and retrieval station comprises:

[0040] - an access module comprising a frame defining a drawer compartment, the drawer compartment being arranged within the frame;

[0041] - a drawer comprising a drawer bottom and a drawer front, wherein the drawer is movably connected to the frame;

[0042] Therein, the drawer bottom comprises a support on which the storage container can be supported in a front position or a rear position.

[0043] Wherein, the access station includes a container actuator for moving the storage container from the front position to the rear position. The container actuator can be any actuator or container actuator described in the present disclosure.

[0044] When the storage container is in the front position, the storage container is presented for picking up. The container actuator includes a slider and a motor for moving the slider relative to the drawer bottom, wherein the container actuator includes a bump, wherein the bump is configured to, when in a lowered position relative to the slider, slide under the storage container during movement of the slider in a first direction, and wherein the bump is configured to, when in a raised position relative to the slider, push the storage container during movement of the slider in a second direction opposite to the first direction, thereby moving the storage container from the front position to the rear position.

[0045] A picker can be a human. A picker can also be a robot. A picker can remove items from a storage container presented at a storage station. A picker can insert items into a storage container presented at a storage station. When a storage container is in the front position, the storage container in the front position can be presented for picking. Therefore, the front position can be described as the position where the storage container is closest to the picker, while the rear position is the position where the storage container is farthest from the picker.

[0046] The slide can be horizontally aligned with the support member, i.e., the slide and the support member can lie in the same horizontal plane. The support member can include two support sections extending upward from the drawer bottom. The two support sections can be spaced apart. The two support sections can be positioned along the sides of the drawer bottom and extend perpendicular to the drawer front. The slide can be positioned between the two support sections at the top of the drawer bottom. The motor can move the slide relative to the support member.

[0047] When the projection slides under the storage container during movement of the slider in the first direction, the storage container may be stationary when supported by the support member.The drawer front may prevent movement of the storage container in the first direction.

[0048] The access station may include a drawer actuator for moving the drawer relative to the frame between a presented position in which the drawer is extended from the drawer compartment and a retracted position in which the drawer is retracted into the drawer compartment.

[0049] The projection may be pivotally connected to the slide about an axis.

[0050] The axis may be perpendicular to the first direction and the second direction.

[0051] The tab may include an inclined surface, wherein the tab may be configured to be urged downwardly from the raised position to the lowered position when the inclined surface engages the storage container during movement of the slider in the first direction.

[0052] The weight of the projection on one side of the shaft may be higher than the weight on the other side of the shaft, thereby enabling the projection to pivot from the lowered state to the raised state when not affected by external forces.

[0053] The container actuator may include a spring for biasing the tab to its raised position.

[0054] When the tab is in the lowered position, the spring may be compressed.

[0055] The container actuator may include a stop that engages the tab to prevent the tab from moving beyond the raised position.

[0056] Access stations can be configured as:

[0057] - During the movement of the slide in the first direction, another storage container is received in the front position.

[0058] The slide may be defined with a first end position in which the slide is ready to begin moving the storage container from the front position to the rear position and a second end position in which the slide has moved the storage container to the rear position. The first end position is adjacent the front of the drawer and the second end position is approximately midway along the bottom of the drawer.

[0059] According to the above, there is no need to hold the other storage container at a distance above the support to allow the slider to move to its end position. Instead, the other storage container can be lowered onto the support while the slider moves to its end position under the storage container. This saves the container handling vehicle some time, which can be spent on other operations in the automated storage and retrieval system. As a result, the system becomes more efficient. In addition, since the slider can be moved to its end position under the other storage container while the drawer is opening, the drawer can begin to open earlier. The storage and retrieval station also becomes more efficient.

[0060] The access station may include a control system for controlling the drawer actuator and the container actuator. The control system of the access station may be arranged to communicate with the control system of the automatic storage and retrieval system.

[0061] The access station may include a storage container held within a drawer.

[0062] The access module may include a horizontal lower guide plate for supporting the drawer front. The drawer actuator includes a front wheel and a motor for rotating the front wheel. The front wheel is connected to the drawer front. The wheel is configured to travel on the horizontal lower guide plate to move the drawer between a presented position and a retracted position.

[0063] The motor can be fixed to the bottom of the drawer or to the front of the drawer.

[0064] The front wheels may be attached to the underside of the drawer bottom at the rear side of the drawer front.

[0065] The drawer front may include a first drawer connection interface for connecting the drawer bottom to the drawer front at a first height above the horizontal lower guide plate, and wherein the drawer front may include a second drawer connection interface for connecting the drawer bottom to the drawer front at a second height above the horizontal lower guide plate.

[0066] The first drawer connection interface and the second drawer connection interface may comprise holes provided in the drawer front and the drawer bottom.The drawer front and the drawer bottom may be connected to each other via screw-nut type connectors or other types of connectors.

[0067] Rear wheels may be connected to the drawer bottom and configured to support the drawer bottom, and the access module may include wheel guides for guiding the rear wheels.

[0068] The rear wheels can be attached to the underside of the drawer bottom.

[0069] The drawer bottom may comprise two rear wheels, and the access module may comprise two wheel guides, wherein each wheel guide is configured to guide one of the rear wheels.

[0070] The access module may include a first guide connection interface for connecting the wheel guide to the frame at a first guide height above the horizontal lower guide plate, and wherein the access module may include a second guide connection interface for connecting the wheel guide to the frame at a second guide height above the horizontal lower guide plate that is different from the first guide height.

[0071] When the drawer bottom is connected to the first drawer connection interface of the drawer front and the wheel guides are connected to the first guide connection interface of the frame, a drawer having a first depth is formed, such that the access station is adapted to receive a storage container having a first container height.

[0072] The drawer bottom can be oriented in a horizontal plane. The drawer front can be oriented in a vertical plane.

[0073] When the drawer bottom is connected to the second drawer connection interface of the drawer front and the wheel guide is connected to the second guide connection interface of the frame, a drawer having a second depth can be formed, thereby making the access station suitable for receiving storage containers having a second container height different from the first container height.

[0074] Therefore, for different storage containers, it is possible to achieve that the depth of the drawer is approximately equal to the height of the storage container. In addition, for different storage containers, it is possible to achieve that the top of the container is presented at the same height.

[0075] The rear wheel can be a non-powered wheel. Alternatively, the rear wheel can be a motor-driven wheel.

[0076] The present disclosure also relates to an automatic storage and retrieval system comprising a frame structure, wherein the frame structure comprises:

[0077] - upright members;

[0078] a storage volume comprising a storage column arranged between the components, wherein storage containers can be stacked in the storage column;

[0079] - a rail system, provided on top of the upright members;

[0080] Wherein, the automated storage and retrieval system includes a container handling vehicle that moves on a rail system;

[0081] wherein the automated storage and retrieval system comprises a storage and retrieval station according to the foregoing aspects of the present disclosure or any other storage and retrieval station described in the present disclosure, optionally including any optional features thereof;

[0082] Wherein, the drawer compartment is arranged in the frame structure.

[0083] The drawer may be configured to at least partially extend from the frame structure when in the presentation position.

[0084] Container handling vehicles can be configured as:

[0085] - Remove storage containers from a drawer via a storage row;

[0086] - A further storage container is conveyed to the drawer via the one storage row.

[0087] The present disclosure also relates to a method for presenting a storage container from an automated storage and retrieval system for picking, wherein the method comprises the following steps:

[0088] a) receiving a first storage container in a front position of the drawer when the drawer is in a retracted position within the drawer compartment of the access module;

[0089] b) moving the slide relative to the drawer in a first direction, wherein an engagement member (or a projection) of the slide (or coupled thereto) moves relative to the slide into a lowered position by contacting the first storage container, thereby sliding under the first storage container;

[0090] c) moving the drawer relative to the drawer compartment into a presentation position in which the first storage container is presented for picking;

[0091] d) moving the drawer to a retracted position within the drawer compartment;

[0092] e) moving the slide in a second direction relative to the drawer, wherein the tab is in a raised position relative to the slide to engage the first storage container and push the first storage container from a front position to a rear position of the drawer.

[0093] The method may further comprise the following steps:

[0094] f) receiving a second storage container in a front position of the drawer when the drawer is in the retracted position;

[0095] g) moving the slide relative to the drawer in a first direction, wherein the projection of the slide moves into a lowered position relative to the slide by contacting the second storage container, thereby sliding under the second storage container;

[0096] h) moving the drawer relative to the drawer compartment into a presentation position in which the second storage container is presented for picking;

[0097] i) removing a first storage container from a rear position of the drawer when the drawer is in the presentation position;

[0098] j) moving the drawer into a retracted position within the drawer compartment;

[0099] k) moving the slide in a second direction relative to the drawer, wherein the tab is in a raised position relative to the slide to engage the second storage container and push the second storage container from a front position to a rear position of the drawer.

[0100] Method step a) and / or method step f) may comprise the step of receiving a first storage container from a frame structure of the automated storage and retrieval system.

[0101] Method step i) may comprise the step of returning the first storage container to the frame structure of the automated storage and retrieval system.

[0102] The present disclosure also relates to an actuator for moving a storage container, wherein the actuator comprises:

[0103] - a base comprising a support on which the storage container can be supported in a first position or in a second position;

[0104] - a sliding member, arranged above the base;

[0105] - a motor for moving the slide relative to the base;

[0106] wherein the actuator includes a protrusion, wherein the protrusion is configured to, when in a lowered position relative to the slide, slide under the storage container during movement of the slide in a first direction, and wherein the protrusion is configured to, when in a raised position relative to the slide, push the storage container during movement of the slide in a second direction opposite to the first direction, thereby moving the storage container from the first position to the second position. BRIEF DESCRIPTION OF THE DRAWINGS

[0107] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments which will now be described by way of example only, in which:

[0108] Figure 1 It is a three-dimensional diagram of the frame structure of the automatic storage and retrieval system in the prior art.

[0109] Figure 2 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying storage containers therein.

[0110] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath.

[0111] Figure 4 is a perspective view of a prior art container handling vehicle viewed from below, the container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0112] Figure 5 It is a perspective view of a prior art access station.

[0113] Figure 6a A perspective view of a storage and retrieval station according to one embodiment is shown when installed in an automated storage and retrieval system, with a drawer in a presentation position.

[0114] Figure 6b Shown Figure 6a A perspective view of an access station with the drawer in a retracted position.

[0115] Figure 6c Shown Figure 6b A perspective view of an access station with a drawer in a presentation position.

[0116] Figure 7 It is a rear perspective view of the inverted drawer.

[0117] Figure 8 This is a rear perspective view of the drawer.

[0118] Figure 9aThe slide and the tab of a container actuator are shown schematically, with the tab in its lowered position.

[0119] Figure 9b The slide and the tab of a container actuator are shown schematically, with the tab in its raised position.

[0120] Figure 10 A side view of a drawer in a first state is schematically shown.

[0121] Figure 11 A side view of the drawer in a second state is schematically shown.

[0122] Figures 12a to 12f as well as Figures 13a to 13h The operation of the access station is schematically illustrated.

[0123] Figure 14a and Figure 14b Alternative embodiments of the slider and tab of a container actuator are shown with the tab in its lowered and raised positions, respectively. DETAILED DESCRIPTION

[0124] In general, embodiments provide an actuator configured to move a storage container from a first position to a second position. The actuator includes a base configured to support the storage container on a support plane, and a slider configured to move back and forth in a dimension parallel to the support plane. The actuator also includes a coupling member configured to move relative to the slider between a raised position and a lowered position. When the slider moves along a first horizontal direction against a first side of the storage container, the coupling member moves from the raised position to the lowered position by contacting the storage container. Continued movement of the coupling member along the first horizontal direction causes the coupling member to slide beneath the storage container while pressing against the lower side of the storage container. When the coupling member moves past the end of the storage container and no longer presses against the lower side of the storage container, the coupling member returns from the lowered position to the raised position. The coupling member is configured to remain in the raised position when moved along a second horizontal direction opposite to the first horizontal direction against a second side of the storage container opposite the first side, and to move the storage container by pushing the storage container along the second direction. The coupling member can be biased toward the raised position by a biasing force. The biasing force can be less than the weight of the empty storage container, and the drawer is configured to carry the empty storage container so that it does not raise the container when passing from below. At least a portion of the engaging member moves vertically between a raised position and a lowered position. The engaging member can rotate or pivot between the raised position and the lowered position. The movement from the lowered position to the raised position is controlled by the biasing force, and the movement from the raised position to the lowered position is controlled by the horizontal movement of the engaging member against the side surface of the storage container. This passive movement between the raised position and the lowered position is a simplified mechanism to allow the container to move horizontally when only a single direction of movement is required. This can reduce the complexity of the control of the container actuator because the engaging member is effectively controlled by the movement of the slide. Although the storage container and the biasing member also help to control the position of the engaging member, they are also passive, that is, no separate drive mechanism is required to raise or lower the engaging member. This summary is provided to introduce some concepts that will be further described herein in a simplified form. This summary is not intended to identify the key features or essential features of the present invention.

[0125] Hereinafter, embodiments will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the disclosure to the subject matter depicted in the drawings.

[0126] The frame structure 100 of the automatic storage and retrieval system 1 is combined with the above Figures 1 to 3 The prior art frame structure 100 is constructed in a similar manner. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper rail system 108 extending in the X-direction and the Y-direction.

[0127] The frame structure 100 further comprises storage compartments in the form of storage rows 105 arranged between the components 102 , wherein storage containers 106 can be stacked in the form of stacks 107 within the storage rows 105 .

[0128] The frame structure 100 may have any size. In particular, it will be appreciated that the frame structure may be larger than Figure 1 The frame structures disclosed in can be wider and / or longer and / or deeper. For example, the frame structure 100 can have a horizontal extent of more than 700 x 700 columns and a storage depth of more than twelve containers.

[0129] Figure 6a 、 Figure 6b and Figure 6c A first embodiment of the access station 10 is shown. Figure 6a , the access station 10 is shown to include an access module 20 and a drawer 40.

[0130] The access module 20 comprises a frame 21 defining a drawer compartment 25 which is disposed within the frame 21. The drawer compartment 25 is located within the frame 21. Figure 6a As shown, the frame 21 supports six upright members 102 of the frame structure 100 of the automated storage and retrieval system 1 (one of which is partially hidden behind a panel above the access station). Storage containers 106 are moved vertically into and out of the access station 10 using one of the storage columns of the frame structure 100 (shown as storage column 105A in the figure). Figure 6a As further shown, the access station 10 includes a top opening (represented by a dashed rectangle 26 ) through which storage containers are inserted into and removed from the access station 10 .

[0131] The drawer 40 includes a drawer bottom 41 and a drawer front 42. The drawer 40 is movably connected to the frame 21. Two storage containers 106 can be stored in the drawer 40. The two positions of the storage container 106 are referred to as the front position P1 and the rear position P2 (see, for example, FIG. Figure 13a ), wherein the front position P1 is the position closest to the drawer front 42. The drawer 40 can be moved between a presentation position and a retracted position, in which the drawer 40 extends from the drawer compartment 25 (e.g., Figure 6a and Figure 6c As shown), in the retracted position, the drawer 40 is retracted into the drawer compartment 25 (as shown in FIG. Figure 6b In the presentation position, the storage container 106 in the front position P1 is presented to a picker P, which may be a human or a robot, for picking.

[0132] like Figure 6bAs further shown in FIG, the frame 21 includes vertical side guide plates 22 b for guiding the drawer front 42 as it extends outward to the presentation position and retracts to the retracted position. The frame 21 also includes horizontal lower guide plates 22 c for supporting and guiding the lower end of the drawer front 42. These guide plates extend from the front side FS of the access station 10. The rear side RS of the access station is defined as the side opposite the front side FS. The rear side RS of the access station 10 will typically be located within the frame structure 100, while the guide plates located on the front side FS extend from the frame structure 100.

[0133] As will be described in further detail below, the access station 10 includes a drawer actuator 60 for moving the drawer 40 between the retracted position and the presentation position and a container actuator 70 for moving the storage container 106 from the front position P1 to the rear position P2.

[0134] Drawer actuator 60

[0135] Now refer to Figure 7 and Figure 8 The drawer actuator 60 will be described. Figure 7 6 shows a drawer actuator 60 comprising two front wheels 61 connected to each other via an axle 63 and a motor 62 that rotates the axle 63 via a drive belt 64. The front wheels 61 and axle 63 are connected to the underside of the drawer front 42, while the motor 62 is connected to the underside of the drawer bottom 41.

[0136] Figure 7 FIG further shows that the front wheels 61 are located below the drawer bottom 41 on the rear side RS of the drawer front 42 (here, "below" refers to the relative position in the installed position). In this way, the front wheels 61 are hidden behind the drawer front 42 from the picker P. Figure 6c In the drawer, only the drawer front is visible from the position of the picker. Since the distance between the drawer front and the lower guide plate can be kept very small in this way, the risk of being pinched is reduced.

[0137] The drawer 40 also includes two rear wheels 44 connected to the rear side of the underside of the drawer bottom 41, and two side wheels 47 are connected to each side of the drawer bottom 41, which travel perpendicular to the front of the drawer. Therefore, there are two rear wheels 44 and four side wheels 47. In this embodiment, the rear wheels 44 and side wheels 47 are non-powered wheels.

[0138] The front wheels 61 are configured to ride on the horizontal lower guide plate 22c to move the drawer 40 between the presentation position and the retracted position.

[0139] The rear wheels 44 are configured to be positioned on the wheel guides 24 (see FIG. Figure 6a ) or travel within wheel guides.

[0140] The side wheels 47 are configured to move along the vertical side guide plates 22b and / or along the vertical side plates 27 of the access module 20 (see Figure 6b Typically, each vertical side guide plate 22b and the vertical side plate 27 are formed as a one-piece plate element. The side wheels 47 reduce the friction between the drawer and the access module 20.

[0141] The above-described position of the front wheels 61 enables the drawer to be adjusted to accommodate storage containers of different heights, as will be described in detail below.

[0142] Drawer height adjustment

[0143] The storage and retrieval system 1 described above utilizes standard-sized storage containers. For example, the system 1 can be designed for storage containers having a predetermined width and length, determined by the distances between the upright members 102 of the frame structure 100 in the X and Y directions. The heights of the storage containers can vary. In some systems, only first storage containers 106A having a first height H106A are used, while in other systems, only second storage containers 106B having a second height H106B are used, where the first height H106A is greater than the second height H106B. Figure 10 and Figure 11 Different heights are shown in FIG.

[0144] It should be noted that a system 1 can also be configured to use both types of storage containers. Nevertheless, the access station 10 is generally designed to be used for only one type of storage container.

[0145] Figure 10 and Figure 11 The drawer front 42 is shown to include a first drawer connection interface C40A for connecting the drawer bottom 41 to the drawer front 42 at a first height H40A above the horizontal lower guide plate 22c. The drawer front 42 includes a corresponding second drawer connection interface C40B for connecting the drawer bottom 41 to the drawer front 42 at a second height H40B above the horizontal lower guide plate 22c. Figure 10 and Figure 11 When compared, it is apparent that the second height H40B is greater than the first height H40A.

[0146] The first drawer connection interface C40A and the second drawer connection interface C40B may include holes, threaded holes, etc. provided in the drawer front 42 and / or the drawer bottom 41. The drawer front 42 and the drawer bottom 41 may be connected to each other via a threaded type or a screw-nut type connector. However, other types of connectors and connection interfaces may also be used.

[0147] The access module 20 includes a first guide connection interface C24A for connecting the wheel guide 24 to the frame 21 at a first guide height H24A above the horizontal lower guide plate 22c. The access module 20 includes a corresponding second guide connection interface C24B for connecting the wheel guide 24 to the frame 21 at a second guide height H24B. Figure 10 and Figure 11 When compared, it is apparent that the second height H24B is greater than the first height H24A.

[0148] The first guide connection interface C24A and the second guide connection interface C24B may include holes, threaded holes, etc. provided in the frame 21 and / or the wheel guide 24 for fixing the wheel guide 24 to the frame 21 using a threaded type connector or a screw-nut type connector, etc. However, other types of connectors and connection interfaces may also be used.

[0149] like Figure 10 As shown, the drawer 40 has a first depth when the drawer bottom 41 is connected to the first drawer connection interface C40A of the drawer front 42 and the wheel guides 24 are connected to the first guide connection interface C24A of the frame 21. At this point, the access station 10 is adapted to receive a storage container 106 having a first container height H106A.

[0150] like Figure 11 As shown, when the drawer bottom 41 is connected to the second drawer connection interface C40B of the drawer front 42 and the wheel guide 24 is connected to the second guide connection interface C24B of the frame 21, the drawer 40 has a second depth, thereby making the access station 10 suitable for receiving a storage container 106 having a second container height H106B different from the first container height H106A.

[0151] The above design has several advantages. First, it is relatively easy and efficient to adjust the access station 10 according to the height of the storage container used in the access station. The only work required is to fasten the drawer bottom 41 to the desired one of the first drawer connection interface C40A or the second drawer connection interface C40B and fasten the wheel guide 24 to the desired one of the first guide connection interface C24A or the second guide connection interface C24B. In addition, due to the difference in distance between the wheel axle 63 and the motor 62, it may be necessary to select a drive belt 64 of sufficient length depending on whether the drawer 40 has the first depth or the second depth. Alternatively, it may be necessary to reposition the motor 62 so that the same drive belt 64 can be used.

[0152] A second advantage is that the top of the container is presented at the same height, regardless of the height of the storage container. This is advantageous for health, safety and environmental (HSE) reasons as well as for the efficiency of the picking process.

[0153] A third advantage is that storage containers of varying heights can be guided by the upright members of the frame structure 100 during vertical movement into and out of the access station 10 through the top opening 26. Furthermore, the gripping device of the container handling vehicle is guided by these upright members 102 as it is lowered toward or raised from the storage containers in the drawer.

[0154] Container actuator 70

[0155] We will now first refer to Figure 8 The container actuator 70 will be described in detail.

[0156] The figure shows that the drawer bottom 41 includes a support member 50 having two support sections 50a, 50b extending upward from the drawer bottom 41 along the side of the drawer bottom 41. The top surfaces of the support sections 50a, 50b can define a virtual support plane (or be positioned in a virtual support plane) on which the supported container is located when placed in the drawer. The support member 50 includes a weight sensor 56 at the front end (near the front of the drawer) of the drawer bottom 41. The storage container 106 is in the front position P1 or the rear position P2 (see Figure 13a ) can be supported on the support 50. When in the front position P1, the weight sensor 56 can measure the weight of the storage container 106. The storage container 106 is configured to slide along the top surface of the support 50 (along the two support sections 50a, 50b) when moving from the front position P1 to the rear position P2.

[0157] The container actuator 70 is located between the support sections 50a and 50b. The container actuator 70 includes a slide 71, a motor 72, a linear guide 73, and a drive belt 74. The slide 71 is movable along the linear guide 73 by means of the motor 72 and the drive belt 74, that is, relative to the drawer bottom 41.

[0158] The container actuator 70 also includes two protrusions 75 (these two protrusions can also be described as engagement members). Figure 9a and Figure 9b The bump 75 is described in detail. Figure 9a and Figure 9b As shown, the projection 75 has a triangular cross-sectional shape. Figure 9a , the projection 75 is shown in its lowered position, ie, the inclined surface 75i of the projection 75 is aligned with the top surface of the slide 71. Figure 9b In the embodiment shown in FIG. 1 , the projection 75 is in its raised position and projects upwardly relative to the slide 71 .

[0159] exist Figure 8, two arrows are shown, A and B. Direction A is the direction the slide moves toward the drawer front, and direction B is the direction the slide moves away from the drawer front.

[0160] The projection 75 is pivotally connected to the slide 71 about an axis 75p perpendicular to the first direction A and the second direction B, and is thus pivotable between a raised position and a lowered position.

[0161] The container actuator 70 also includes a spring 76 for biasing the projection 75 to the raised position. As shown, when the projection is in the lowered position, the spring 76 is compressed.

[0162] The container actuator 70 also includes a stop 77 that engages the tab to prevent the tab 75 from pivoting beyond a raised position.

[0163] It should be noted that in Figure 9a and Figure 9b In FIG, one corner of the storage container 106 is indicated by a dotted line.

[0164] Figures 12a to 12f and Figures 13a to 13h The functionality of the access station 10 is shown. Figure 13a , three positions are shown. The first or front position P1 in the drawer 40 and the second or rear position P2 in the drawer 40 have been described above. In addition, there is a third position P3 above the first position P1. The third position P3 can be referred to as a waiting position.

[0165] It should be noted that in Figure 10 and Figure 11 In the figure, reference numerals 106A and 106B are used to represent two storage containers with different heights. Hereinafter, these reference numerals are used to represent two storage containers with same height being moved into and removed from the access station 10.

[0166] exist Figure 12a and Figure 13b , the first storage container 106A is received in the front position P1 of the drawer 40 . Figure 13b The drawer 40 is shown in a retracted position within the drawer compartment 25 . Figure 12a 7. The tab 75 and slide 71 are shown moved relative to the drawer 40 in a first direction A (ie, toward the drawer front 42), with the tab in a raised position. Figure 12b FIG. 4 shows that the projection 75 moves to the lowered position relative to the slide 71 due to contact with the first storage container 106A. Due to the friction between the storage container 106A and the support 50, and / or due to the fact that the storage container 106A is prevented from moving further toward the drawer front 42, the storage container 106A is Figure 12bThe biasing force from the spring 76 is counteracted by the force pressing on the storage container 106A, and the projection 75 is pushed to its lowered position and slides under the first storage container 106A, as shown in FIG. Figure 9a and Figure 12c This process is facilitated by the inclined surface 75i of the triangular shaped projection 75, which slides along the edge of the storage container 106 when the projection 75 is pushed into the lowered position.

[0167] When the slider 71 and the projection 75 are moved to their front position (ie, closest to the drawer front 42), the projection 75 passes under the storage container 106A and the spring 76 pushes the projection upward relative to the slider 71. Figure 12d and Figure 9b As shown. The upward / pivoting movement of the projection 75 is stopped by the stop 77.

[0168] Figure 13c 4. The drawer 40 is shown moved relative to the drawer compartments to a presentation position in which the first storage container 106A is presented to a picker P for picking.

[0169] Figure 13d 2. The drawer is shown moved to a retracted position within the drawer compartment 25, and the first storage container 106A is moved from the front position P1 to the rear position P2. The second storage container 106B is also shown in the waiting position P3. Figure 12e 4 shows how the slider 71 moves in a second direction B (opposite to the first direction A) to engage the first storage container 106A and push the first storage container 106A from the front position P1 to the rear position P2 of the drawer 40, with the projection 75 in a raised position relative to the slider 71. When moving in the second direction B, the projection 75 is not pushed downward.

[0170] Figure 12f and Figure 13e 4. The second storage container 106B is shown received in a front position P1 of the drawer 40 when the drawer is in the retracted position.

[0171] The slide 71 now moves again relative to the drawer 40 in the first direction A, similar to Figure 12a The projection 75 of the slide 71 again moves to the lowered position relative to the slide 71 due to contact with the second storage container 106B, and slides under the second storage container 106B. The drawer 40 again moves to the presentation position relative to the drawer compartment, in which the second storage container 106B is presented to the picker P for picking up ( Figure 13f When in the presentation position, the first storage container 106A is taken out from the rear position P2 of the drawer 40 ( Figure 13g ).

[0172] The drawer 40 is again moved to the retracted position within the drawer compartment 25 ( Figure 13h ), and with the projection 75 in the raised position relative to the slider 71, the slider 71 moves in the second direction B relative to the drawer 40 to engage the second storage container 106B and push the second storage container 106B from the front position P1 of the drawer 40 to the rear position P2 (similar to Figure 12e ).like Figure 13h As shown, the third storage container 106C is ready to be moved into the front position again.

[0173] According to the above, it is not necessary to keep the other storage container 106B in the waiting position P3 at a distance above the support 50 in order to allow the slider 71 to move to its end position. Instead, the other storage container 106 can be lowered onto the support 50 while the slider 71 is moved to its end position below the storage container 106. As a result, the container handling vehicles 201, 301, 401 save some time, which can be spent on other operations in the automatic storage and retrieval system 1. Therefore, the system 1 becomes more efficient. In addition, since the slider 71 can be moved to its end position below the other storage container 106 while the drawer 40 is opened, the drawer 40 can start to open earlier. The efficiency of the storage and retrieval station 10 is further improved.

[0174] Alternative Implementations

[0175] It should be noted that in the embodiment described above, the container carrier includes two projections 75 spaced apart from each other, such as Figure 7 It should be noted that there may be one bump or more than two bumps.

[0176] It should also be noted that the projection (or engagement member) 75 does not necessarily need to be triangular in shape with inclined surfaces, and that the spring 76 is not a necessary feature. Figure 14a and Figure 14b , the projection (or engagement member) 75 is shown as an elongated body with approximately 1 / 3 of the elongated body located on one side of the axis 75p and approximately 2 / 3 of the elongated body located on the other side of the axis 75p. Assuming that the entire projection 75 is made of the same material, the projection 75 pivots back to the raised position (at Figure 14a The gray line is in the middle, Figure 14b (black line in the middle). Figure 14a, when the projection 75 encounters the storage container 106 and moves in the first direction A, it pivots to a horizontal or nearly horizontal position, thereby allowing the projection to slide under the storage container 106. When moving in the other direction B, the stopper 77 prevents the projection from moving when in contact with the storage container, and the projection is thereby maintained in a raised position, allowing the projection to push the storage container from the front position P1 to the rear position P2.

[0177] It should be noted that 1 / 3 of the length and 2 / 3 of the length are merely exemplary, and other divisions are possible as long as the required pivoting motion can be achieved.

[0178] As an alternative or in addition to providing a lug with a different length relative to the shaft 75p, a weight element 75w may be fixed or integrated into the lug 75 to enable the lug 75 to pivot back to the raised position when not affected by external forces.

[0179] The projection or engagement member 75 can perform the functions described herein without requiring pivotal movement between the raised and lowered positions. Figure 9a or Figure 9b The described projection or engagement member 75 may not be provided with a pivot 75p (and may not be provided with a stop 77). The projection may be held in position by connection with the slide 71 (or otherwise). Figure 9b The orientation shown is such that the projection does not pivot or rotate even when an external force is applied to the projection. The spring may bias the projection to Figure 9b The raised position shown. The projection can be moved between the raised position and the lowered position on a slide or vertical guide arranged on the projection. The inclined surface 75i of the projection is arranged so that when Figure 9a When interacting with a storage container in the position shown, the projection 75 is moved vertically downward from the raised position due to the horizontal force exerted by the storage container 106 on the inclined surface 75i when the projection 75 moves in the first direction A. In other words, the vertical guide and the inclined surface 75i can be used together to convert the horizontal force exerted by the storage container 106 on the projection 75 in the second direction B into a vertical force acting downward on the projection, thereby moving the projection from the raised position to the lowered position.

[0180] The container actuator 70 can be used not only in the drawer 40. The container actuator 70 can also be used to move a container between two positions in other parts of the automatic storage and retrieval system 1. Figure 7 In the embodiment, the drawer bottom 41 is a substantially flat surface. Other types of flat surfaces, usually referred to as bases BS (see Figure 8The base BS may include a support 50 on which the storage container 106 may be supported when in the first position P1 or the second position P2, and the container actuator 70 may be positioned on the base adjacent to the support 50 or between support sections 50a, 50b. As an example, the base BS may be part of a storage and retrieval station without a drawer, or may be part of a conveyor, etc.

[0181] In the foregoing description, various features of the access station have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a comprehensive understanding of the system and its operating principles. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that are apparent to those skilled in the art to which the disclosed subject matter pertains are intended to fall within the scope of the appended claims.

[0182] This article also describes the following numbered clauses:

[0183] Clause 1. A storage and retrieval station (10) for presenting a storage container (106) from an automated storage and retrieval system (1) for picking, wherein the storage and retrieval station (10) comprises:

[0184] - an access module (20) comprising a frame (21) defining a drawer compartment (25) arranged within the frame (21);

[0185] - a drawer (40) comprising a drawer bottom (41) and a drawer front (42), wherein the drawer (40) is movably connected to the frame (21);

[0186] wherein the drawer bottom (41) includes a support member (50) on which the storage container (106) can be supported in a front position (P1) or a rear position (P2);

[0187] wherein the access station (10) includes a container actuator (70) for moving the storage container (106) from a front position (P1) to a rear position (P2);

[0188] wherein when the storage container (106) is in the front position (P1), the storage container (106) is presented for picking;

[0189] wherein the container actuator (70) includes a slide (71) and a motor (72) for moving the slide (71) relative to the drawer bottom (41), wherein the container actuator (70) includes a protrusion (75), wherein the protrusion (75) is configured to, when in a lowered position relative to the slide (71), enable the protrusion (75) to slide under the storage container (106) during movement of the slide (71) in a first direction (A), and wherein the protrusion (75) is configured to, when in a raised position relative to the slide (71), enable the protrusion to push the storage container (106) during movement of the slide (71) in a second direction (B) opposite to the first direction (A), thereby moving the storage container (106) from a front position (P1) to a rear position (P2).

[0190] Clause 2. The access station (10) according to clause 1, wherein the projection (75) is pivotably connected to the slide (71) about an axis (75p).

[0191] Clause 3. An access station (10) according to clause 1 or 2, wherein the protrusion (75) includes an inclined surface (75i), wherein the protrusion (75) is configured to be pushed downward from a raised position to a lowered position when the inclined surface (75i) engages the storage container (106) during movement of the slide (71) in the first direction (A).

[0192] Clause 4. The access station (10) according to clause 2 or 3, wherein the container actuator (70) comprises a spring (76) for biasing the projection (75) to its raised position.

[0193] Clause 5. The access station (10) of clause 2, wherein the weight of the projection (75) on one side of the shaft (75p) is greater than the weight on the other side of the shaft (75p), thereby enabling the projection (75) to pivot from the lowered state to the raised state when not affected by external forces.

[0194] Clause 6. The access station (10) of any preceding clause, wherein the container actuator (70) includes a stop (77) that engages the projection to prevent the projection (75) from moving beyond the raised position.

[0195] Clause 7. An access station (10) according to any preceding clause, wherein the access station (10) is configured to:

[0196] - During the movement of the slide (71) in the first direction (A), another storage container (106) is received in the front position (P1).

[0197] Clause 8. An automatic storage and retrieval system (1) comprising a frame structure (100), wherein the frame structure (100) comprises:

[0198] - upright member (102);

[0199] - a storage volume comprising a storage column (105) arranged between the components (102, 103), wherein storage containers (106) can be stacked in the storage column (105) in the form of stacks (107);

[0200] - a track system (108) disposed on top of the upright member (102);

[0201] Wherein, the automatic storage and retrieval system (1) includes a container handling vehicle (201, 203) moving on a track system (108);

[0202] wherein the automatic storage and retrieval system (1) comprises a storage and retrieval station (10) according to any of the preceding clauses;

[0203] Wherein, the drawer compartment (25) is arranged in the frame structure (100).

[0204] Clause 9. The automated storage and retrieval system (1) according to clause 8, wherein the container handling vehicle (201, 301) is configured to:

[0205] - removing a storage container (106) from a drawer (40) via a storage row (105A);

[0206] - A further storage container (106) is conveyed to the drawer (40) via the one storage row (105A).

[0207] Clause 10. A method for presenting a storage container (106) from an automated storage and retrieval system (1) for picking, wherein the method comprises the steps of:

[0208] a) receiving a first storage container (106A) in a front position (P1) of the drawer (40) when the drawer (40) is in a retracted position (RP) within the drawer compartment (25) of the access module (20);

[0209] b) moving the slide (71) relative to the drawer (40) in a first direction (A), wherein the projection (75) of the slide (71) moves to a lowered position relative to the slide (71) by contacting the first storage container (106A), thereby sliding under the first storage container (106);

[0210] c) moving the drawer (40) relative to the drawer compartment to a presentation position (PP) in which the first storage container (106A) is presented for picking;

[0211] d) moving the drawer (40) into a retracted position (RP) within the drawer compartment (25);

[0212] e) moving the slide (71) in a second direction (B) relative to the drawer (40), wherein the projection (75) is in a raised position relative to the slide (71) to engage the first storage container (106A) and push the first storage container (106A) from a front position (P1) to a rear position (P2) of the drawer (40).

[0213] Clause 11. The method according to clause 10, further comprising the steps of:

[0214] f) receiving a second storage container (106B) in a front position (P1) of the drawer (40) when the drawer is in the retracted position (RP);

[0215] g) moving the slide (71) relative to the drawer (40) in a first direction (A), wherein the projection (75) of the slide (71) moves to a lowered position relative to the slide (71) by contacting the second storage container (106B), thereby sliding under the second storage container (106B);

[0216] h) moving the drawer (40) relative to the drawer compartment to a presentation position (PP) in which the second storage container (106B) is presented for picking;

[0217] i) removing a first storage container (106A) from a rear position (P2) of the drawer (40) when the drawer (40) is in a presentation position (PP);

[0218] j) moving the drawer (40) into a retracted position (RP) within the drawer compartment (25);

[0219] k) moving the slide (71) in a second direction (B) relative to the drawer (40), wherein the projection (75) is in a raised position relative to the slide (71) to engage the second storage container (106B) and push the second storage container (106B) from the front position (P1) to the rear position (P2) of the drawer (40).

[0220] Clause 12. An actuator (70) for moving a storage container (106), wherein the actuator comprises:

[0221] - a base (BS) comprising a support (50) on which the storage container (106) can be supported in a first position (P1) or a second position (P2);

[0222] - a slide (71) arranged above the base (BS);

[0223] - a motor (72) for moving the slide (71) relative to the base (BS);

[0224] The actuator (70) includes a protrusion (75), wherein the protrusion (75) is configured to be in a lowered position relative to the sliding member (71) so that the protrusion (75) slides under the storage container (106) during the movement of the sliding member (71) along a first direction (A), and wherein the protrusion (75) is configured to be in a raised position relative to the sliding member (71) so that the protrusion pushes the storage container (106) during the movement of the sliding member (71) along a second direction (B) opposite to the first direction (A), thereby moving the storage container (106) from the first position (P1) to the second position (P2).

[0225] Reference Signs List

[0226] 1Automatic storage and retrieval system

[0227] 10 access stations

[0228] 20 access modules

[0229] 21 Framework

[0230] 22b vertical side guide plate

[0231] 22c horizontal lower guide plate

[0232] 24 wheel guides

[0233] 25 drawer compartments

[0234] 26 top opening

[0235] 27 vertical side panels

[0236] 40 drawers

[0237] 41 Drawer bottom

[0238] 42 drawer fronts

[0239] 44 rear wheel

[0240] 47 side wheels

[0241] 50 support pieces

[0242] 50a first support section

[0243] 50b second support section

[0244] 56 weight sensor

[0245] 60 drawer actuator

[0246] 61 front wheel

[0247] 62 motor

[0248] 63 axles

[0249] 64 drive belt

[0250] 70 container actuator

[0251] 71 sliding parts

[0252] 72 motor

[0253] 73 linear guide

[0254] 74 drive belt

[0255] 75 bumps

[0256] 75i inclined surface

[0257] 75p axis

[0258] 75w weight element

[0259] 76 spring

[0260] 77 stopper

[0261] 80 control system

[0262] 100 frame structure

[0263] 102 Vertical members of the frame structure

[0264] 104 storage grid

[0265] 105 storage columns

[0266] 106 storage containers

[0267] Specific location of the 106' storage container

[0268] 107 stacking

[0269] 108 track system

[0270] 110 Parallel tracks in the first direction (X)

[0271] 112 access openings

[0272] 119 First Port Column

[0273] 120 Second port column

[0274] 201 Container handling vehicles of the prior art

[0275] 201a Vehicle body of the container transport vehicle 201

[0276] 201b Drive device / wheel arrangement / first set of wheels in first direction (X)

[0277] 201c Drive device / wheel arrangement / second set of wheels in the second direction (Y)

[0278] 301 Prior Art Cantilever Container Handling Vehicle

[0279] 301a Vehicle body of the container transport vehicle 301

[0280] 301b Drive device in the first direction (X) / first set of wheels

[0281] 301c Drive device in the second direction (Y) / second set of wheels

[0282] 304 clamping device

[0283] 401 Container handling vehicles of the prior art

[0284] 401a Vehicle body of the container transport vehicle 401

[0285] 401b Drive device in the first direction (X) / first set of wheels

[0286] 401c Drive device in the second direction (Y) / second set of wheels

[0287] 404 clamping device

[0288] 404a lifting belt

[0289] 404b clamp

[0290] 404c guide pin

[0291] 404d lifting frame

[0292] 500 control system

[0293] X first direction

[0294] Y second direction

[0295] Z third direction

[0296] BS base

[0297] C24A first guide connection interface

[0298] C24B second guide connection interface

[0299] C40A first drawer connection interface

[0300] C40B second drawer connection interface

[0301] FS front side

[0302] H106A first container height

[0303] H106B Second container height

[0304] H24A first guide height

[0305] H24B Second guide height

[0306] H40A first drawer bottom height

[0307] H40B Second drawer bottom height

[0308] P1 first front position

[0309] P2 second rear position

[0310] P3 third waiting position

[0311] PP presentation position

[0312] RP retracted position

[0313] RS rear side

Claims

1. An actuator (70) for moving a storage container (106), wherein: The actuator comprises: - a base (BS) comprising a support (50) arranged such that the storage container (106) is supported on a support plane in a first position (P1) or in a second position (P2) on said support plane; - a slide movable relative to the base in a first direction (A) parallel to the support plane and in a second direction (B) opposite to the first direction; - a driver (72) arranged to move the slide (71) in the first direction and in the second direction; and - an engagement member (75) coupled to the slide; wherein the engagement member (75) is configured to move relative to the slide between a raised position and a lowered position, wherein, in the raised position, a portion of the engagement member extends above the support plane; In the lowered position, the portion of the engagement member is retracted below the support plane.

2. The actuator according to claim 1, wherein The engagement member (75) is arranged to maintain the engagement member in the raised position when an external force is applied to the portion of the engagement member in the first direction (A), and The engagement member is arranged to move from the raised position to the lowered position when an external force is applied to the portion of the engagement member in the second direction (B).

3. The actuator according to claim 1 or 2, wherein: The engagement member (75) is configured to enable the engagement member (75) to slide under a storage container (106) positioned on the support (50) when the slide (71) is in the lowered position during movement in the first direction (A); and The engaging member (75) is configured to be in the raised position when the sliding member (71) moves in a second direction (B) opposite to the first direction (A) so as to push the storage container (106) so as to move the storage container (106) from the first position (P1) to the second position (P2).

4. An actuator according to any preceding claim, wherein: The engagement member (75) is pivotally connected to the slide (71) so as to move between the raised position and the lowered position.

5. An actuator according to any preceding claim, wherein: The engaging member (75) includes an engaging surface (75i) located on the portion of the engaging member, wherein the engaging member (75) is arranged so that when the engaging surface (75i) engages the storage container (106) during movement of the sliding member (71) along the first direction (A), the engaging member is pushed to move from the raised position to the lowered position, optionally wherein, when the engaging member is in the raised position, the engaging surface is inclined relative to the support plane.

6. An actuator according to any preceding claim, wherein: The engagement member is biased to the raised position, optionally wherein the actuator further comprises a spring (76) arranged to bias the engagement member (75) to the raised position.

7. An actuator according to any preceding claim, wherein: The engagement member (75) is biased to the raised position, wherein the weight of the engagement member is arranged to enable the engagement member (75) to pivot from the lowered position to the raised position.

8. An actuator according to any preceding claim, further comprising a stop (77) arranged to engage the engagement member to prevent movement of the engagement member (75) when the engagement member is in the raised position.

9. The actuator according to any preceding claim, further configured to: - receiving the storage container (106) in the first position (P1) during the movement of the slide (71) in the first direction (A).

10. A drawer for storing containers, the drawer comprising an actuator according to any preceding claim and comprising a drawer front attached to the base.

11. A storage and retrieval station (10) for presenting a storage container (106) for picking from an automated storage and retrieval system (1), wherein: The access station (10) comprises: - an access module (20) comprising a frame (21) defining a drawer compartment (25), said drawer compartment being arranged within said frame (21); and - A drawer (40) according to claim 10; wherein the drawer (40) is movably connected to the frame (21); wherein the actuator (70) is arranged to move the storage container (106) from the first position (P1) to the second position (P2), wherein the first position is closer to the front of the drawer than the second position; wherein, when the storage container (106) is in the first position (P1), the storage container (106) is presented for picking up; wherein the engagement member (75) is configured to enable the engagement member (75) to slide under the storage container (106) when the slider (71) is in the lowered position during movement in the first direction (A); and The engaging member (75) is configured to push the storage container (106) when the slide member (71) is in the raised position during movement along the second direction (B), thereby moving the storage container (106) from the first position (P1) to the second position (P2).

12. An automatic storage and retrieval system (1) comprising a frame structure (100), wherein: The frame structure (100) comprises: - upright member (102); - a storage volume comprising a storage column (105) arranged between the components (102, 103), wherein storage containers (106) can be stacked in the form of stacks (107) in the storage column (105); - a rail system (108) provided on top of the upright member (102); Wherein, the automatic storage and retrieval system (1) comprises container handling vehicles (201, 203) moving on the track system (108); wherein the automatic storage and retrieval system (1) comprises a storage and retrieval station (10) according to claim 11; Wherein, the drawer compartment (25) is arranged in the frame structure (100).

13. The automatic storage and retrieval system (1) according to claim 12, wherein: The container handling vehicle (201, 301) is configured as follows: - removing the storage container (106) from the drawer (40) via a storage row (105A); - transporting another storage container (106) to the drawer (40) via the one storage row (105A).

14. A method for presenting a storage container (106) from an automated storage and retrieval system (1) for picking, wherein: The method comprises: a) receiving a first storage container (106A) in a front position (P1) of a drawer (40) when the drawer is in a retracted position (RP) within a drawer compartment (25) of an access module (20); b) moving the slide (71) relative to the drawer (40) in a first direction (A), wherein an engagement member (75) coupled to the slide (71) moves to a lowered position relative to the slide (71) by contacting the first storage container (106A), thereby sliding under the first storage container (106); c) moving the drawer (40) relative to the drawer compartment to a presentation position (PP) in which the first storage container (106A) is presented for picking; d) moving the drawer (40) into a retracted position (RP) within the drawer compartment (25); e) moving the slide (71) in a second direction (B) relative to the drawer (40), wherein the engagement member (75) is in a raised position relative to the slide (71) to engage the first storage container (106A) and push the first storage container (106A) from the front position (P1) to the rear position (P2) of the drawer (40).

15. The method according to claim 14, wherein The method further comprises: f) receiving a second storage container (106B) in the front position (P1) of the drawer (40) when the drawer is in the retracted position (RP); g) moving the slide (71) relative to the drawer (40) in the first direction (A), wherein the engagement member (75) moves relative to the slide (71) into the lowered position by contacting the second storage container (106B), thereby sliding under the second storage container (106B); h) moving the drawer (40) relative to the drawer compartment to a presentation position (PP) in which the second storage container (106B) is presented for picking; i) when the drawer (40) is in the presentation position (PP), removing the first storage container (106A) from the rear position (P2) of the drawer (40); j) moving the drawer (40) into the retracted position (RP) within the drawer compartment (25); k) moving the slide (71) relative to the drawer (40) in the second direction (B), wherein the engaging member (75) is in the raised position relative to the slide (71) to engage the second storage container (106B) and push the second storage container (106B) from the front position (P1) to the rear position (P2) of the drawer (40).

Images