Vertically movable lifting frame for transporting a cargo holder to / off a storage space of an

Abstract

A movable frame (30) for transporting a cargo holder (106) to / out of a storage space of an automated storage and retrieval system (1) is disclosed wherein the frame (30) comprises a frame body (32) wherein at least one outer section of the frame body (32) is made of a polymeric material.

Description

Technical Field

[0001] The present disclosure relates to a movable frame for transporting cargo holders to and from a storage space of an automated storage and retrieval system. In particular, but not by way of limitation, the present disclosure relates to a vertically movable lift frame suspended from a remotely operated vehicle that travels atop upright members of the 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 、 Figures 3a to 3b Three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on such a system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and a storage space comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also called boxes) are stacked one on top of another to form container stacks 107. The members 102 may typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged across the top of the frame structure 100. A plurality of container handling vehicles 301 and 401 can operate on the rail system 108 to lift and lower storage containers 106 from a storage array 105 and transport storage containers 106 over the storage array 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide the container handling vehicles 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 301 and 401 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the array 105 are accessed by the container handling vehicles 301 and 401 through access openings 112 in the rail system 108. The container handling vehicles 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 out of and lowering the storage containers into the row 105. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a 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 vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. In Figures 2 to 3b each set of wheels, two wheels are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails in the first set of rails 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails in the second set of rails 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 further comprises a lifting device 304, 404 (visible in Figures 3a to 3b ) having a lifting frame portion 304a, 404a for transporting storage containers 106 vertically, e.g. lifting storage containers 106 from and lowering storage containers 106 into storage columns 105. The lifting device 304, 404 comprises one or more gripping / engaging devices adapted to engage with a storage container 106, and which can be lowered from the vehicle 201, 301, 401 so that the position of the gripping / engaging device relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z (e.g. seen in Figure 1 ) which is orthogonal to the first direction X and the second direction Y. A part of the gripping device of the container handling vehicle 301, 401 is shown in Figure 3a and Figure 3b and denoted with reference numerals. In Figure 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 level under the rails 110, 111 which can be used 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, etc. In Figure 1 the exemplary prior art disclosed in, Z=8 identifies the bottommost level of storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in Figure 1 , it can be said that the storage column 105 having the position X=2, Y=3, Z=2 is located 2 units to the right of the origin, 3 units in the forward direction and 2 levels above the bottommost level of storage containers.Figure 1 The storage container identified 106’ occupies a storage position with X = 18, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in a layer with Z = 0, and that each storage column 105 can be identified by its X and Y coordinates. Thus, Figure 1 The storage containers extending above the rail system 108 as shown in Fig. 1 are also referred to as being arranged in a layer with Z = 0.

[0009] The storage space of the framework structure 100 is often referred to as the grid 104, where the possible storage locations within the grid are referred to as storage cells. Each storage column can be identified by a position in the X and Y directions, while each storage cell can be identified by a container number in the X, Y and Z directions.

[0010] Each prior art container handling vehicle 201, 301, 401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space can comprise a cavity arranged inside the vehicle body 201 a, as shown in Figure 2 and Figure 3b as described in, e.g., WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Figure 3a An alternative configuration of a container handling vehicle 301 with a cantilevered configuration is shown. Such vehicles are described in detail in, e.g., NO317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The footprint of the cavity-style container handling vehicle 201 shown in Fig. 1 can cover an area in the X and Y directions with dimensions substantially equal to the lateral extent of a storage column 105, e.g., as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein can mean “horizontal”.

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

[0014] The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails can comprise upwardly protruding elements, wherein the wheels of the vehicles comprise flanges preventing derailing. These grooves and upwardly protruding elements are collectively referred to as tracks. Each rail can comprise one track, or each rail can comprise two parallel tracks; in other rail systems 108, each rail in one direction can comprise one track, and each rail in the other, perpendicular direction, can comprise two tracks. The rail system can also comprise double-tracked rails in one of the X- or Y-directions, and single-tracked rails in the other of the X- or Y-directions. Double-tracked rails can comprise two rail members fastened together, each having one track.

[0015] WO2018 / 146304A1, the content of which is incorporated herein by reference, shows a typical configuration of a rail system 108 comprising rails and parallel tracks in both the X- and Y-directions.

[0016] In the framework structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 can have other purposes. In Figure 1 The columns 119 and 120 are in this example such dedicated columns where the container- handling vehicles 201,301,401 use to drop off and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside the framework structure 100, or brought out of or into the framework structure 100. Such locations are typically referred to as “ports” within the art, and the columns in which they are located can be referred to as “port columns” 119,120. The transport to the access station can be in any direction, i.e. horizontal, tilted and / or vertical. For example, a storage container 106 can be placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container-handling vehicle and transported to a port column 119,120 for further transportation to an access station. The transportation from the port to the access station can require movement in various different directions by means of, for example, a delivery vehicle, a cart, or other transport means. It is noted that the term “tilted” denotes transport of a storage container 106 with a general transport orientation that is somewhere between horizontal and vertical.

[0017] In Figure 1In an embodiment, the first port column 119 can be a dedicated drop-off port column at which the container handling vehicles 201, 301 can drop off storage containers 106 to be transported to an access station or a transfer station, and the second port column 120 can be a dedicated pick-up port column at which the container handling vehicles 201, 301, 401 can pick up storage containers 106 transported from an access station or a transfer station.

[0018] An access station can typically be a pick station or a restock station at which product items are removed from a storage container 106 or positioned into a storage container. In a pick or restock station, the storage containers 106 are typically not removed from the automated storage and retrieval grid 1, but are returned into the grid 100 after access. The ports can also be used for transferring storage containers to another storage facility (e.g. to another grid structure or to another automated storage and retrieval system), to a transport vehicle (such as a train or a lorry) or to a production facility.

[0019] A conveyor system, typically comprising conveyors, is often employed to transport the storage containers between the port columns 119, 120 and the access stations.

[0020] If the port columns 119, 120 and the access stations are located at different levels, the conveyor system can comprise lifting devices with vertical components for transporting the storage containers 106 vertically between the port columns 119, 120 and the access stations.

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

[0022] When a storage container 106 is to be accessed, i.e. have its content deposited into or removed from it, the container handling vehicle 201, 301, 401 on which the storage container 106 is located is brought to an access station. The access station can be located at the same level as the port column 119, 120 on which the container handling vehicle 201, 301, 401 is operating, or it can be located at a different level. The access station can be located at the same grid structure as the port column 119, 120 on which the container handling vehicle 201, 301, 401 is operating, or it can be located at a different grid structure. Figure 1When a storage container 106 in one of the columns 105 disclosed above is to be retrieved, one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from the position of the target storage container and transport it to the drop-off port column 119. This operation comprises moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within the stack 107, i.e. with one or more other storage containers 106 located above the target storage container 106, the operation also comprises temporarily moving the storage containers 106 located above the target storage container out of the way before lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging”, can be performed with the same container handling vehicle that is later used for transporting the target storage container to the drop-off port column 119, or by one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 that are dedicated to the task of temporarily removing storage containers 106 from storage columns 105. After the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 can instead be repositioned into other storage columns 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 the storage container 106 from the pick-up port column 120 and transport it to a position above the storage column 105 where the storage container is to be stored. After the storage containers 106 located above the target position within the stack 107 have been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 at the desired position. The removed storage containers 106 can then be lowered back into the storage column 105 or repositioned into other storage columns 105.

[0024] In order to monitor and control the automated storage and retrieval system 1, e.g. to monitor and control the position of individual storage containers 106 within the framework structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401 so that a desired storage container 106 can be delivered to the desired position at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 (not shown) having access to the inventory of the storage and retrieval system 1, i.e. the contents of each storage container 106, and to a database with the current positions of the container handling vehicles 201, 301, 401 and the storage containers 106. Figure 1The control system is typically computerized and typically comprises a database for keeping track of the storage containers 106.

[0025] WO2022 / 128942A1 describes a container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system, the container handling vehicle comprising a vehicle body and at least one lifting device for lifting a storage container relative to the grid. The lifting device comprises a lifting belt drive assembly, a lifting frame and a plurality of lifting belts.

[0026] The lifting frames of the prior art, such as the frame described in WO2022 / 128942A1, are well suited for use in storage systems located in temperate conditions. However, it has proven that the lifting frames of the prior art are not ideal for use in storage systems comprising a plurality of storage zones with different temperatures. More specifically, the lifting frames of the prior art suffer from condensation and icing when repeatedly exposed to varying ambient temperatures from above room temperature to well below 0°C. This has a negative impact on the various components of the lifting frame, e.g. movable mechanical components, motors and / or electronic components.

[0027] In view of the above, it would be desirable to provide a solution to address or at least mitigate one or more of the above-mentioned problems of the prior art. SUMMARY

[0028] This summary is provided to introduce some concepts of this document in a simplified form. This summary is neither intended to identify key features or essential features of the invention, nor is it intended to determine a critical or important part of the invention.

[0029] The summary of the application is set out and characterised in the independent claims, while the dependent claims describe other optional features of the application.

[0030] A first aspect of the present disclosure relates to a vertically movable lifting frame suspended on a remotely operated vehicle running on top of upright members of an automated storage and retrieval system, the lifting frame being used for transporting a cargo holder to / from a storage space of the system, wherein at least one outer section of the lifting frame body is made of a polymeric material.

[0031] By providing a lifting frame body according to the above, the thermal conductivity of the lifting frame of the present disclosure is significantly lower compared to the lifting frames known from the prior art, which are typically mainly made of metal, such as aluminium. As a result, the risk of condensate / ice accumulation on the lifting frame is also significantly reduced. In a related matter, polymeric materials are intrinsically more difficult to wet than metals, and therefore the amount of condensation on a polymeric surface is less than on a corresponding metal surface.

[0032] Furthermore, a lightweight polymer material of lower density can be chosen, thereby reducing the overall weight of the lifting frame, and thus reducing the wear on vehicle components such as the lifting motor and the lifting belt.

[0033] Furthermore, the assembly of the lifting frame can be simplified by manufacturing the lifting frame body, typically by using a technique such as injection molding and partly using a polymer material. More specifically, the use of polymer to manufacture parts of the frame body can simplify the overall frame design and reduce the number of components of the lifting frame (up to 25% reduction) compared to a standard lifting frame. In related cases, the technique of manufacturing the lifting frame body using a polymer material, such as the injection molding mentioned above, is very precise, thereby making it possible to reduce the need for final fine-tuning of the body, typically a precision machining work.

[0034] In one aspect, the lifting frame of the present disclosure can be used in the context of a frame structure comprising upright members.

[0035] In another aspect, the lifting frame of the present disclosure can be used in the context of a storage space comprising storage columns for storing stacks of goods holders. These storage columns are arranged in rows between upright members.

[0036] In another aspect, the lifting frame of the present disclosure can be used in the context of a rail system arranged across and forming part of a frame structure. Here, a plurality of remotely operated vehicles travel on the rail system and lift and lower goods holders from and into storage columns and are also used for transporting goods holders above the storage columns. During this transport, the remotely operated vehicles move laterally, i.e. in a plane parallel to the horizontal plane.

[0037] In this context, the lifting frame of the present disclosure can be used with various types of container handling vehicles, e.g. a cantilever based container handling vehicle or a container handling vehicle with a cavity arranged internally.

[0038] In one aspect, the lifting frame of the present disclosure can be used in the context of a SDG based rail system. Here, SDG stands for single / double grid. This design is implemented with a single rail track along one axis and a double rail track along the other axis. The use of a single rail in one direction requires a cell between meeting robots.

[0039] In one aspect, the goods holder adapter of the present disclosure can be used in the context of a DDG based rail system. Here, DDG stands for double / double grid. This design is implemented with a double rail track in all directions to allow robots to pass each other in all directions.

[0040] For the purposes of the present application, the term "container handling vehicle" used in the "BACKGROUND" section of the present application is synonymous with the term "remote operated vehicle" used in the rest of the text of the present application, and is defined as an autonomous wheeled vehicle running on rails arranged across the top of a framework structure that is part of an automated storage and retrieval system.

[0041] Similarly, the terms "storage container" and "storage bin" used in the "BACKGROUND" section of the present application are synonymous with the term "cargo holder" used in the rest of the text of the present application, and are defined as a container for storing an article. In a relevant context, the cargo holder of the present application can be any of a bin, a suitcase, a pallet, a tray or the like. Different types of cargo holders can be used in the same automated storage and retrieval system.

[0042] The relative terms "upper", "lower", "under", "over", "higher", and the like should be understood in their normal meaning and as shown in a Cartesian coordinate system. When referring to the rail system, "upper" or "over" should be understood as being closer to the surface rail system (relative to another component), while the term "lower" or "under" should be understood as being further away from the rail system (relative to another component). BRIEF DESCRIPTION OF DRAWINGS

[0043] The following drawings are appended in order to facilitate the understanding of the present application. The drawings illustrate embodiments, which will now be described by way of example only, and in which:

[0044] Figure 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0045] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0046] Figure 3a is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers thereunder.

[0047] Figure 3b is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein, viewed from below.

[0048] Figure 4 is a perspective view showing a lifting frame of the present disclosure suspended on a remote operated vehicle and engaged with a cargo holder positioned in a storage column.

[0049] Figure 5is a cross-sectional perspective view showing a portion of the assembled lifting frame according to an embodiment.

[0050] Figure 6 is a perspective top view showing a first body portion of the lifting frame body according to an embodiment, the first body portion comprising a central portion, a first peripheral portion and a second peripheral portion.

[0051] Figure 7 is a perspective top view showing a second body portion according to an embodiment, wherein the central portion is coupled together with the first peripheral portion and the second peripheral portion. Also shown are various components of the lifting frame. DETAILED DESCRIPTION

[0052] SUMMARYIn general, the present disclosure describes a frame of a gripping mechanism of a container handling vehicle of an automated storage and retrieval system, the frame being movable relative to the container handling vehicle, thereby allowing the container handling vehicle to retrieve containers stored in storage spaces of the automated storage and retrieval system. At least an outer section of the frame body is made of a polymeric material. Thereby, the risk of condensate / ice build-up on the frame body can be reduced when the gripping mechanism is moved into and out of a refrigerated storage space of the automated storage and retrieval system. The summary is not intended to identify key or essential features of the application.

[0053] In the following, embodiments will be discussed in more detail with reference to the enclosed drawings. It should be understood, however, that the drawings are not intended to restrict the disclosure to the subject matter depicted in the drawings.

[0054] The frame structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in connection with Figures 1 to 3b The frame structure 100 comprises a plurality of upright members 102, wherein the frame structure 100 further comprises a first upper rail system 108 in the X- and Y-directions.

[0055] The frame structure 100 further comprises storage compartments in the form of storage columns 105 arranged between the members 102, wherein storage containers 106 can be stacked within the storage columns 105 in the form of stacks 107.

[0056] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be wider and / or longer and / or deeper than the frame structure disclosed in Figure 1 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.

[0057] The various aspects of the present disclosure will now be discussed in more detail with reference to the drawings. Figures 4 to 7

[0058] Figure 41 is a perspective view showing a lifting frame 30 of the present disclosure suspended from a remotely operated vehicle 51 and engaged with a cargo holder 106 positioned in a storage column 105. More specifically, the vertically movable lifting frame 30 is suspended from a remotely operated vehicle 51, which is used in an automated storage and retrieval system (incorporated into a storage column 105). Figure 1 Discussion) runs on top of the upright member 102. Figure 4 1 , the lifting frame 30 engages with cargo holders 106 positioned in a storage row 105 defined by a set of upright members 102. Functionally, the lifting frame 30 is part of the remotely operated vehicle 51 shown. The lifting frame 30 is suspended from the remotely operated vehicle 51 by means of lifting straps. Energy is supplied to the lifting frame 30 using at least one lifting strap. Communication between the remotely operated vehicle 51 and the lifting frame 30 is achieved using at least one additional lifting strap.

[0059] As described above, the remotely operated vehicle 51 is in the storage space of the automatic storage and retrieval system (both in Figure 1 ) and removes cargo holders from and places cargo holders into storage rows 105. In a preferred embodiment, the storage space, comprised of multiple parallel, vertically extending storage rows (each of which is configured to hold a stack of cargo holders), is a multi-temperature storage space, i.e., a storage space comprising multiple storage areas with different temperatures. In this multi-temperature storage space, at least one subspace of the multi-temperature storage space is refrigerated. In one embodiment, the subspaces of the multi-temperature storage space are maintained at sub-zero temperatures.

[0060] Figure 5 is a cross-sectional perspective view illustrating a portion of an assembled lift frame according to one embodiment.

[0061] Lift frame 30 includes a lift frame body 32, typically comprising a first body portion 32a and a second body portion 32b. At least one exterior section of lift frame body 32 is fabricated from a polymer material. Here, lift frame body 32 comprises an outer shell structure and internal components. Regardless of their location, all sections of the lift frame body should provide structural stability and support for the components of the lift frame. Furthermore, it is contemplated that different polymer materials could be used to manufacture the lift frame body section(s). For example, thermosetting or thermoplastic polymers could be used, as could different polymer resins. Furthermore, polymer-based composite materials comprising a polymer matrix could also be used.

[0062] By providing a lifting frame body 32 according to the above, the thermal conductivity of the lifting frame 30 is significantly lower compared to the thermal conductivity of the lifting frames known in the art, which are typically made of metal, such as aluminium. In a preferred embodiment, the thermal conductivity of the polymeric material is below 0.5 W / m K. The thermal conductivity of the polymer can be measured according to any suitable method of ISO 22007-1 :2017 or by using differential scanning calorimetry (DSC).

[0063] (https: / / www.mt.com / hk / en / home / supportive_content / matchar_apps / MatChar_UC26.html)

[0064] Hence, the risk of condensate / ice accumulation at the lifting frame is also significantly reduced. In a related case, polymeric materials are intrinsically more difficult to wet than metals, and hence, for a given atmospheric condition, the amount of condensation on a polymeric surface is less than the amount of condensation on a corresponding metal surface.

[0065] Furthermore, a lightweight polymeric material with a lower density can be chosen, thereby reducing the overall weight of the lifting frame, and hence, the wear and tear on vehicle components, such as the lifting motor and the lifting belt.

[0066] Still referring to Figure 5 , all external sections of the lifting frame body 32 can be made of polymeric material. In other words, any lifting frame material used for the core of the lifting frame can be coated with a suitable polymeric material. In another related embodiment, the lifting frame body 32 is entirely made of polymeric material.

[0067] As can be seen from Figure 5 , a cavity 34 is arranged inside the lifting frame body 32, said cavity 34 being a central cavity shaped as a parallelepiped. The central cavity 34 accommodates lifting frame components, such as a motor and / or a circuit board (not shown). In order to keep the lifting frame components at an acceptable temperature, the cavity 34 can be thermally insulated by means of a suitable material and / or provided with heating elements (not shown). A guide pin 47 is also shown.

[0068] Figure 6 A first body portion 32a of a lifting frame body (32; shown in Figure 5 ) according to an embodiment is shown, said first body portion 32a comprising a central portion 39, a first peripheral portion 41 and a second peripheral portion 43. Referring to Figure 4 , when said lifting frame 30 is suspended on said vehicle 51, the first body portion 32a is coupled to the remotely operated vehicle 51 by means of a lifting belt (not shown). The second body portion (32b; shown in Figure 5is attached to the lower side of the first body part 32a.

[0069] Reference is made to Figure 5 and Figure 6 The chamber 34 is arranged between the first body part 32a and the second body part 32b such that the top of the chamber 34 is defined by the first body part 32a and the bottom of the chamber is defined by the second body part 32b. In the transverse direction, the chamber 34 can have variable dimensions. The first body part 32a has a central part 39, a first peripheral part 41 and a second peripheral part 43. The second peripheral part 43 is mirror-symmetrical with respect to the first peripheral part 41. Also shown are through-holes 45 for receiving guide pins (47; discussed in connection with Figure 6 The parts discussed in connection with Figure 5 are not discussed further for the sake of brevity.

[0070] The lifting frame body 32 can be manufactured by means of molding, preferably by means of injection molding. By using a technique such as injection molding and partly using a polymer material for manufacturing the lifting frame body 32, the assembly of the lifting frame can be simplified. More specifically, using a polymer for manufacturing the plurality of parts of the frame body can simplify the overall frame design and reduce the number of components of the lifting frame (up to 25% reduction). Using injection molding and using a polymer material for manufacturing the lifting frame body is a very precise technique, whereby the need for final fine modifications of the body, typically precision machining work, can be reduced. Advantageously, when using a polymer material for manufacturing the lifting frame body 32, in particular when using injection molding, the dimensions of the chamber 34 can be adjusted as needed.

[0071] Figure 7 is a perspective top view showing the first body part 32a according to an embodiment, wherein the central part 39 is coupled together with the first peripheral part 41 and the second peripheral part 43. Also shown is the chamber 34 accommodating a lifting frame component such as a circuit board. Also shown are various components of the lifting frame. In the distal corner sections of at least one of the peripheral parts 41, 43, there are arranged vertical through-holes 45 for receiving a vertically extending pin 47 for guiding the lifting frame. Here, the term "distal" is to be interpreted as being furthest away from the chamber 34. The lifting frame 30 further comprises four clamping elements 35 for engaging with recesses arranged in the body of a goods holder (not shown). The clamping elements 35 are arranged at the distal side of the peripheral parts 41, 43. The lifting frame further comprises an elongated element 48 passing through the central part 39, the first peripheral part 41 and the second peripheral part 43 to couple these parts 39, 41, 43 together. The elongated element 48 is typically made of metal, preferably of aluminum. For the sake of brevity, the parts discussed in connection with Figures 5 to 6The part of the discussion is not discussed further.

[0072] In the foregoing description, various aspects of a lifting frame, a remotely operated vehicle, and an automated storage and retrieval system have been described with reference to the illustrative implementations. For purposes of explanation, specific numbers, systems, and configurations were set forth in order to provide a thorough understanding of the system and its working principles. The description was presented in the context of specific embodiments, however, it is not intended to be exhaustive or to limit the application to the precise form disclosed. Many modifications and variations are possible in light of the disclosure to the skilled practitioner in the art, and it was contemplated that the system can be practiced otherwise than as specifically described. The scope of the application is defined by the appended claims, and all equivalents and modifications that are within the scope of these claims are intended to be embraced by the claims.

[0073] Although the framework of the present disclosure has been described in the context of a lifting frame for suspension on a remotely operated vehicle 51 that runs on top of upright members 102 of an automated storage and retrieval system 1, it will be appreciated that the framework can also be used in other types of automated storage and retrieval systems. In these other systems, a goods holder is retrieved from a storage space of the automated storage and retrieval system 1 by moving the framework away from the remotely operated vehicle 51, gripping the goods holder 106 in the storage space with the framework, and moving the framework back towards the remotely operated vehicle 51. For example, the framework can be used in an automated storage and retrieval system in which the remotely operated vehicle 51 runs underneath the storage space (in which case the framework can be vertically movable so that it can be raised into the storage space to grip the goods holder and then lowered outside the storage space), or in which the remotely operated vehicle 51 runs to the side of the storage space (in which case the framework can be horizontally movable so that it can be moved horizontally in one direction to grip the goods holder and then moved horizontally in a second, opposite direction).

[0074] Examples of the present disclosure are set out in the following numbered clauses.

[0075] 1. A vertically movable lifting frame (30) for suspension on a remotely operated vehicle (51) that runs on top of upright members (102) of an automated storage and retrieval system (1), the lifting frame (30) being for transporting a goods holder (106) to / from a storage space of the system (1), wherein the lifting frame (30) comprises a lifting frame body (32), wherein at least one outer section of the lifting frame body (32) is made of a polymeric material.

[0076] 2. The vertically movable lifting frame (30) according to clause 1, wherein all outer sections of the lifting frame body (32) are made of a polymeric material.

[0077] 3. The vertically movable lift frame (30) according to any of the preceding clauses, wherein the lift frame body (32) is made entirely of a polymeric material.

[0078] 4. The vertically movable lift frame (30) according to any of the preceding clauses, wherein the polymeric material has a thermal conductivity lower than 0.5 W / m-K.

[0079] 5. The vertically movable lift frame (30) according to any of the preceding clauses, wherein at least one chamber (34) is arranged inside the lift frame body (32).

[0080] 6. The vertically movable lift frame (30) according to any of the preceding clauses, wherein the lift frame body (32) comprises a first body portion (32a) coupled to the remotely operated vehicle (51) by means of a lift belt when the lift frame (30) is suspended on the vehicle (51), and a second body portion (32b) attached to the lower side of the first body portion (32a).

[0081] 7. The vertically movable lift frame (30) according to clause 6 when dependent on clause 5, wherein the at least one chamber (34) is arranged between the first body portion (32a) and the second body portion (32b) such that the top of the chamber (34) is delimited by the first body portion (32a) and the bottom of the chamber is delimited by the second body portion (32b).

[0082] 8. The vertically movable lift frame (30) according to any of clause 7, wherein the at least one chamber (34) is a central chamber and is shaped as a parallelepiped.

[0083] 9. The vertically movable lift frame (30) according to clause 8, wherein the central chamber (34) houses lift frame components such as motors and / or circuit boards.

[0084] 10. The vertically movable lift frame (30) according to clause 9, wherein the central chamber (34) is thermally isolated.

[0085] 11. The vertically movable lift frame (30) according to any of clauses 9-10, wherein the central chamber (34) is provided with a heating element.

[0086] 12. The vertically movable lifting frame (30) according to any one of the clauses 6 to 11, wherein at least one of the first body portion (32a) and the second body portion (32b) has a central portion (39), a first peripheral portion (41) and a second peripheral portion (43).

[0087] 13. The vertically movable lifting frame (30) according to clause 12, wherein the second peripheral portion (43) is mirror-symmetrical with respect to the first peripheral portion (41).

[0088] 14. The vertically movable lifting frame (30) according to any one of the clauses 12 to 13, wherein in a distal corner section of at least one of the peripheral portions (41, 43) a vertical through hole (45) is arranged, the through hole (45) being for receiving a vertically extending pin (47) for guiding the lifting frame (30).

[0089] 15. The vertically movable lifting frame (30) according to any one of the preceding clauses, wherein the lifting frame (30) further comprises at least one clamping element (35) for engaging with a corresponding recess arranged in a body of the goods holder (106), the at least one clamping element (35) being arranged at a distal side of at least one of the peripheral portions (41, 43).

[0090] 16. The vertically movable lifting frame (30) according to any one of the clauses 12 to 15, wherein the lifting frame (30) further comprises an elongated element (48) passing through the central portion (39) and the first and second peripheral portions (41, 43) to couple these portions (39, 41, 43) together.

[0091] 17. The vertically movable lifting frame (30) according to any one of the preceding clauses, wherein the lifting frame (30) is made by means of molding, preferably by means of injection molding.

[0092] 18. A remotely operated vehicle (51) comprising a vertically movable lifting frame (30) according to any one of the preceding clauses, the remotely operated vehicle (51) operating above a storage space of an automated storage and retrieval system (1).

[0093] 19. An automated storage and retrieval system (1) comprising a storage space (104) and a remotely operated vehicle (51) operating above the storage space (104), the remotely operated vehicle (51) comprising a vertically movable lifting frame (30) according to any one of the preceding clauses, wherein the storage space (104) is a multi-temperature storage space.

[0094] 20. The automated storage and retrieval system (1) of clause 19, wherein at least one sub-space of the multi-temperature storage space (104) is used for refrigeration.

[0095] 21. The automated storage and retrieval system (1) of clause 19, wherein at least one sub-space of the multi-temperature storage space (104) is kept at sub-zero temperature.

[0096] 22. A method of handling a goods holder (106) stored in a storage space (104) of an automated storage and retrieval system (1), the storage space (104) being a multi-temperature storage space (104), wherein at least one sub-space of the multi-temperature storage space (104) is used for refrigeration, preferably at least one sub-space of the multi-temperature storage space is kept at sub-zero temperature, the method comprising: - lowering a vertically movable lifting frame (30) comprising a lifting frame body (32) to the sub-space such that the lifting frame (30) is exposed to sub-zero temperature, wherein at least one outer section of the lifting frame body (32) is made of a polymeric material, - engaging the goods holder (106) by means of a gripping element (35) of the lifting frame (30), - raising the vertically movable lifting frame (30) together with the engaged goods holder (106).

[0097] List of reference signs

[0098] 1 storage and retrieval system

[0099] 30 lifting frame

[0100] 32 frame body portion

[0101] 32a first body portion

[0102] 32b second body portion

[0103] 34 chamber

[0104] 35 gripping element

[0105] 39 central portion

[0106] 41 first peripheral portion

[0107] 43 second peripheral portion

[0108] 45 through hole

[0109] 47 guide pin

[0110] 48 elongated element

[0111] 51 remote operated vehicle

[0112] 102 upstanding members of a framework structure

[0113] 104 storage grid / storage space

[0114] 105 storage column

[0115] 106 storage container; cargo holder

[0116] 106’ specific location of a storage container

[0117] 107 stack of storage containers

[0118] 108 rail system

[0119] 110 parallel rails in a first direction (X)

[0120] 111 parallel rails in a second direction (Y)

[0121] 112 access opening

[0122] 119 first port column

[0123] 201 container handling vehicle belonging to the prior art

[0124] 201a vehicle body of the container handling vehicle 201

[0125] 201b drive arrangement / wheel arrangement, first direction (X)

[0126] 201c drive arrangement / wheel arrangement, second direction (Y)

[0127] 301 container handling vehicle based on a jib belonging to the prior art

[0128] 301a vehicle body of the container handling vehicle 301

[0129] 301b drive arrangement in a first direction (X)

[0130] 301c drive arrangement in a second direction (Y)

[0131] 401 container handling vehicle belonging to the prior art

[0132] 401a vehicle body of the container handling vehicle 401

[0133] 401b drive arrangement in a first direction (X)

[0134] 401c drive arrangement in a second direction (Y)

[0135] 500 control system

[0136] X first direction

[0137] Y second direction

[0138] Z third direction

Claims

1. A movable frame (30) for transporting a cargo holder (106) to / from a storage space of an automated storage and retrieval system (1), wherein: The frame (30) includes a frame body (32), wherein at least one outer section of the frame body (32) is made of a polymer material.

2. The frame according to claim 1, wherein The frame is a vertically movable lifting frame and is used to be suspended on a remotely operated vehicle (51) that runs on top of an upright member (102) of the system (1), and wherein the frame body is a lifting frame body.

3. A frame (30) according to any one of the preceding claims, wherein Substantially all of the outer sections of the frame body (32) are made of a polymer material.

4. A frame (30) according to any one of the preceding claims, wherein The entire outer section of the frame body (32) is made of polymer material.

5. The frame (30) according to any one of the preceding claims, wherein The frame body (32) is made entirely of polymer material.

6. A frame (30) according to any one of the preceding claims, wherein The thermal conductivity of the polymer material is lower than 0.5 W / m·K.

7. A frame (30) according to any one of the preceding claims, wherein At least one chamber (34) is arranged inside the frame body (32).

8. The frame (30) according to claim 7, wherein The at least one chamber (34) is a central chamber and is formed in the shape of a parallelepiped.

9. The frame (30) according to any one of claims 7 to 8, wherein The at least one central chamber (34) houses frame components such as a motor and / or a circuit board.

10. The frame (30) according to any one of claims 7 to 9, wherein The central chamber (34) is thermally isolated.

11. The frame (30) according to any one of claims 7 to 10, wherein The central chamber (34) is provided with a heating element.

12. The frame (30) according to any one of the preceding claims, wherein The frame body (32) includes a first body portion (32a) configured to be coupled to the remotely operated vehicle (51) optionally via a lifting strap; and a second body portion (32b) attached to an underside of the first body portion (32a).

13. A frame (30) according to claim 12 when dependent on claim 7, wherein The at least one chamber (34) is arranged between the first body portion (32a) and the second body portion (32b) such that a top of the chamber (34) is defined by the first body portion (32a) and a bottom of the chamber is defined by the second body portion (32b).

14. The frame (30) according to any one of claims 12 to 13, wherein At least one of the first body portion (32a) and the second body portion (32b) has a central portion (39), a first peripheral portion (41), and a second peripheral portion (43).

15. The frame (30) according to claim 14, wherein The second peripheral portion (43) is mirror-symmetrical with respect to the first peripheral portion (41).

16. The frame (30) according to any one of claims 14 to 15, wherein A vertical through hole (45) is arranged in a distal corner section of at least one of the peripheral portions (41, 43), the through hole (45) being used to receive a vertically extending pin (47) for guiding the frame (30).

17. The frame (30) according to any one of the preceding claims, wherein The frame (30) also includes at least one clamping element (35) for engaging with a corresponding recess disposed in the body of the cargo holder (106).

18. Frame (30) according to claim 17 when appended to claim 14, said at least one clamping element (35) being arranged at one side of a distal end of at least one of said peripheral portions (41, 43).

19. A frame (30) according to any one of claims 14 to 18 when dependent on claim 14, wherein The frame (30) further includes an elongated member (48) passing through the central portion (39), the first peripheral portion (41), and the second peripheral portion (41) to couple these portions (39, 41, 43) together.

20. The frame (30) according to any one of the preceding claims, wherein The frame (30) is produced by molding, preferably by injection molding.

21. A remotely operated vehicle (51) comprising a frame (30) according to any one of the preceding claims.

22. An automated storage and retrieval system (1) comprising a storage space and a remotely operated vehicle (51) according to claim 21.

23. The automated storage and retrieval system (1) according to claim 22, wherein the remotely operated vehicle (51) is configured to operate above the storage space.

24. The automatic storage and retrieval system (1) according to any one of claims 22 to 23, wherein: The storage space (104) is a multi-temperature storage space.

25. The automatic storage and retrieval system (1) according to claim 24, wherein: At least one subspace in the multi-temperature storage space (104) is configured for refrigeration.

26. The automatic storage and retrieval system (1) according to any one of claims 24 to 25, wherein: At least one subspace in the multi-temperature storage space (104) is configured to be maintained at a sub-zero temperature.

27. A method for transporting a cargo holder (106) stored in a storage space (104) of an automated storage and retrieval system (1), the method comprising: moving a movable frame (30) comprising a frame body (32) and a clamping element (35) to a subspace of the storage space, wherein at least one outer section of the frame body (32) is made of a polymer material; engaging the cargo holder (106) with the clamping element (35); and The movable frame (30) with the engaged cargo holder (106) is moved away from the subspace.

28. The method according to claim 27, wherein The movable frame is a vertically movable lifting frame, the frame body is a lifting frame body, moving to the subspace includes lowering the vertically movable lifting frame to the subspace, and moving away from the subspace includes lifting the vertically movable lifting frame.

29. The method according to any one of claims 27 to 28, wherein The storage space (104) is a multi-temperature storage space (104), wherein a subspace in the multi-temperature storage space (104) is used for refrigeration, preferably, the subspace in the multi-temperature storage space is maintained at a sub-zero temperature, and wherein the frame (30) is moved to the subspace so that the frame (30) is exposed to the sub-zero temperature.

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