Delivery module, automated storage and retrieval system, and method of operating system

Abstract

The invention relates to an automated storage and retrieval system, comprising at least one transfer module (60) for transferring storage containers (6) between a harbor train (61) and an access station (64), the transfer module (60) being arranged below the harbor train (61), wherein the transfer module (60) comprises a harbor station for receiving the storage containers (6) dropped from and picked up by the harbor train (61), a first conveyor and a second conveyor each arranged on one side of the harbor station (74), the first conveyor being adapted to transfer the storage containers (6) to the access station (64), the second conveyor being adapted to transfer the storage containers (6) from the access station (64). Lateral displacement means are arranged for transferring the storage containers (6) between the harbor station and the first conveyor and between the second conveyor and the harbor station. The invention also relates to such a transfer module and to a method of operating an automated storage and retrieval system (1) comprising such a transfer module (60).

Description

[0001] This application is a divisional application of the invention patent application with application number 201980028084.0 (corresponding PCT international application number PCT / EP2019 / 060473) and the invention title "Automatic storage and retrieval system including a transfer module and method of operating the system". Technical Field

[0002] The present invention relates to an automated storage and retrieval system and a method of operating such an automated storage and retrieval system, the system including a relay module for transferring stored containers between port trains and storage and retrieval stations. Background Technology

[0003] Figure 1 The framework structure of a typical prior art automated storage and retrieval system is disclosed1, while Figure 2A-2C Different container loading and unloading vehicles for this system were disclosed.

[0004] The frame structure 1 includes multiple upright members 2 and multiple horizontal members 3 supported by the upright members 2. Members 2 and 3 can typically be made of metal, such as extruded aluminum profiles.

[0005] The frame structure 1 defines a storage grid 4 comprising rows of storage columns 5, wherein the storage columns 5 for storing storage containers 6 (also referred to as boxes) are stacked one by one to form a stack 7. Each storage container 6 can typically hold multiple product items (not shown), and depending on the application, the product items within the storage container 6 can be the same or can be different product types. The frame structure 1 prevents horizontal movement of the containers 6 in the stack 7 and guides vertical movement of the containers 6, but typically does not otherwise support the storage containers 106 during stacking.

[0006] A track system 8 is arranged in a grid pattern on top of the storage column 5. On this track system 8, multiple container handling vehicles 9 are operated to lift storage containers 6 from the lower storage containers 6 into the storage column 5, and also to transport the storage containers 6 above the storage column 5. The track system 8 includes: a first set of parallel tracks 10 arranged to guide the movement of the container handling vehicles 9 in a first direction X on top of the frame structure 1; and a second set of parallel tracks 11 arranged perpendicular to the first set of tracks 10 to guide the movement of the container handling vehicles 9 in a second direction Y, perpendicular to the first direction X. In this way, the track system 8 defines a grid column 12 on which the container handling vehicles 9 can move laterally above the storage column 5, i.e., in a plane parallel to the horizontal XY plane.

[0007] Each container handling vehicle 9 includes a vehicle body 13 and a first set of wheels 14 and a second set of wheels 15, which enable the container handling vehicle 9 to move laterally, that is, to move along the X and Y directions. Figure 2A In the middle, the two wheels of each group of wheels in the first group 14 and the second group 15 are visible, while... Figure 2B and 2C In this configuration, only two wheels from one set of wheels 14 are visible. The first set of wheels 14 is arranged to engage with two adjacent tracks of the first set of tracks 10, and the second set of wheels 15 is arranged to engage with two adjacent tracks of the second set of tracks 11. Each set of wheels in the first set of wheels 14 and the second set of wheels 15 can be raised and lowered such that the first set of wheels 14 and / or the second set of wheels 15 can engage with their respective sets of tracks 10, 11 at any time.

[0008] Each container handling vehicle 9 also includes a lifting device 16 (see...) Figure 2B and 2C The lifting device is used for vertically transporting the storage container 6, for example, raising the storage container 6 from the storage row 5 and lowering the storage container 6 into the storage row 5. The lifting device can be arranged inside the main body 13 (e.g., Figure 2A (as shown) or arranged on the outside of the main body 13 (such as Figure 2B and 2C (As shown). The lifting device 16 may include a lifting frame 18 adapted to engage the storage container 6. The lifting frame 18 can be lowered from the vehicle body 13 such that the position of the lifting frame relative to the vehicle body 13 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y.

[0009] Conventionally, and also for the purposes of this application, Z=1 identifies the uppermost layer of grid 4, that is, the layer immediately below orbital system 8; Z=2 is the second layer below orbital system 8; Z=3 is the third layer; and so on. Figure 1 In the exemplary prior art mesh 4 disclosed herein, Z=8 identifies the bottommost layer of mesh 4. Therefore, as an example, and using... Figure 1 The Cartesian coordinate system X, Y, Z shown can be said to be in Figure 1 The storage container marked 7' occupies a grid position or grid cell X=10, Y=2, Z=3. It can be said that the container loading and unloading vehicle 9 travels in the Z=0 layer, and each grid column can be identified by its X and Y coordinates.

[0010] Each container handling vehicle 9 includes a storage compartment or space for receiving and storing the storage container 6 during transport on top of the grid 4. The storage space may include a centrally located cavity within the vehicle body 13. Figure 2A), for example as described in WO2014 / 090684A1, whose contents are incorporated herein by reference. Alternatively, as Figure 2B and 2C As disclosed in [the document], the storage room or space may be arranged on the side of the main body, that is, the container loading and unloading vehicle 9 may have a cantilever structure, as described in NO317366, the contents of which are also incorporated herein by reference.

[0011] Container handling vehicle 9 may have an area of ​​22 (see Figure 4 The occupied area 22 is approximately equal to the extent of the grid column 12 in the X and Y directions, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. Alternatively, the container handling vehicle 9 may have an occupied area greater than the extent of the grid column 12 in the X and Y directions, for example, as disclosed in WO2014 / 090684A1.

[0012] like Figure 3 As shown, track system 8 can be a monorail system. Alternatively, as... Figure 4 As shown, the track system 8 can be a dual-track system, thereby allowing a container handling vehicle 9 with an area 22 that substantially corresponds to the lateral area defined by the grid column 12 to travel along a row of grid columns 12, even if another container handling vehicle 9 is located above a grid column 12 adjacent to that row.

[0013] In a storage grid, most grid columns 12 are storage columns 5, i.e., grid column 5, where storage containers 6 are stored in a stack. However, a grid typically has at least one grid column that is not used for storing storage containers, but rather includes a location where container handling vehicles can place and / or pick up storage containers, allowing them to be transported to a retrieval station where they can be accessed from outside the grid or moved out of or into the grid. In the art, such a location is often referred to as a "port," and the grid column containing the port may be called a "port column."

[0014] Figure 1 Grid 4 includes two port columns 19 and 20. The first port column 19 may be a dedicated drop-off port column, where the container handling vehicle 9 can drop off storage containers to be transferred to a storage station or transfer station (not shown), and the second port column 20 may be a dedicated pick-up port column, where the container handling vehicle 9 can pick up storage containers that have been transferred to grid 4 from the storage station or transfer station.

[0015] Storage and retrieval stations are typically pick-up or storage stations where product items are retrieved from or placed within storage containers. Storage containers are not usually removed from the automated storage and retrieval system at these stations; instead, they are returned to the grid once retrieved. Ports can also be used to move storage containers in or out of the grid, for example, to transfer containers to another storage facility (e.g., to another grid or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0016] A conveyor system, including conveyors, is typically used to move and store containers between port terminals and storage stations.

[0017] If the port station and the storage station are located at different heights, the conveyor system may include a lifting device for vertically transporting the stored containers between the port station and the storage station.

[0018] Conveyor systems can be arranged to transfer storage containers between different grids, as described in, for example, WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0019] WO2016 / 198467A1 (the contents of which are incorporated herein by reference) discloses a device with a teleporter (in WO2016 / 198467A1). Figure 5 (a and 5b) and frame mounting rails (in WO2016 / 198467A1) Figure 6 Examples of prior art access systems (a) and (b) for transferring storage containers between port stations and workstations, where operators can access the storage containers at the workstations.

[0020] When you need to access the stored Figure 1When storing container 6 in grid 4 as disclosed, one of the container handling vehicles 9 is instructed to retrieve the target storage container from its position in grid 4 and transfer it to drop-off port 19. This operation involves moving the container handling vehicle 9 to the grid position above the storage column where the target storage container is located, retrieving the storage container from the storage column using the lifting device (not shown) of the container handling vehicle, and transferring the storage container to drop-off port 19. If the target storage container 6 is located deep within the stack 7, i.e., one or more other storage containers are located above the target storage container, the operation also involves temporarily moving the aforementioned placed storage container before raising the target storage container from the storage column. This step is sometimes referred to in the art as “digging”, and it can be performed with the same container handling vehicle 9 subsequently used to transfer the target storage container to drop-off port 19, or with one or more other cooperating container handling vehicles 9. Alternatively or additionally, the automated storage and retrieval system may have a container handling vehicle 9 specifically designed for the task of temporarily retrieving the storage container 6 from the storage column. Once the target storage container is removed from the storage column, the temporarily removed storage container 6 can be placed back into the original storage column. However, the removed storage container 6 can alternatively be placed into another storage column.

[0021] When storage container 6 is stored in grid 4, one of the container handling vehicles 9 is instructed to pick up the storage container from pick-up port 20 and transport it to the grid position above the storage column where the storage container will be stored. After removing any storage container located at or above the target position within the storage column stack, the container handling vehicle 9 positions the storage container 6 in the desired location. The removed storage container can then be lowered back into the storage column or repositioned into another storage column.

[0022] In order to monitor and control the automated storage and retrieval system (e.g., to monitor and control the position of each storage container within grid 4, the contents of each storage container 6, and the movement of the container handling vehicles 9 so that the desired storage containers can be delivered to the desired locations at the desired times without the container handling vehicles 9 colliding with each other), the automated storage and retrieval system includes a control system, which is typically computerized and includes a database for keeping track of the storage containers.

[0023] A problem associated with known automated storage and retrieval systems is that the areas surrounding pick-up and drop-off ports can become congested with container handling vehicles directed to drop off or pick up stored containers. This can severely hinder the operation of automated storage and retrieval systems. In smaller systems, this can be mitigated by adding ports to the grid, as this allows container handling vehicles to be allocated to a greater number of ports to avoid congestion. However, adding ports typically necessitates increasing the infrastructure for conveyor systems. This requires space, which may not always be available. Furthermore, adding conveyor system infrastructure is costly.

[0024] Another problem with existing automated storage and retrieval systems is that separate drop-off ports 19 and pick-up ports 20 require container handling vehicles 9 to move to the storage column after unloading to retrieve new storage containers 6. Similarly, when container handling vehicles 9 are sent to pick-up ports 20 to retrieve storage containers, they must not have any storage containers 6. This leads to inefficiency and exacerbates congestion around the ports, as container handling vehicles 9 move around the grid without any storage containers 6 as a payload. Furthermore, drop-off ports 19 and pick-up ports 20 can occupy space on the grid that could be used for other purposes, such as the movement of container handling vehicles 9.

[0025] In view of the above, it is desirable to provide an automated storage and retrieval system and a method for operating the system, which solves or at least mitigates one or more of the aforementioned problems associated with the use of existing storage and retrieval systems.

[0026] In addition to the above, US 2018 / 086573 also describes a port train for vertically conveying containers via a clamping system and a conveyor for conveying containers from a storage station.

[0027] In addition to the above, US 2012 / 177465 also describes a method and system for storing containers in a storage rack, wherein the containers are retrieved from the storage rack by a transport vehicle that can move horizontally along a platform that can also move vertically to transfer the containers to and from a conveyor. Summary of the Invention

[0028] This invention relates to an automated storage and retrieval system, comprising: - A track system comprising: a first set of parallel tracks arranged in a horizontal plane and extending in a first direction; and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, the first and second sets of tracks forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks. - Multiple storage columns, each arranged to store its own stack of storage containers, wherein the storage columns are located below the track system, and each storage column is located vertically below the grid opening; - Multiple container handling vehicles for lifting and moving stacked storage containers, each configured to move on a track system above the storage column. - At least one port column, which forms a downward vertical projection of a grid opening through which container handling vehicles can lower and pick up stored containers. The system is characterized by comprising at least one transfer module for transferring stored containers between a port column and a storage station, the transfer module being arranged below the port column, and wherein the transfer module comprises: - Port station, used to receive storage containers dropped off from and picked up by port trains. - The first and second conveyors are located on one side of the port station. - The first conveyor is suitable for transporting storage containers to the storage and retrieval station. - The second conveyor is suitable for conveying storage containers from the storage station. - Lateral displacement device, arranged for conveying storage containers between the port station and the first conveyor and between the second conveyor and the port station.

[0029] Therefore, according to the present invention, at least one transfer module can be installed in a grid with a port station arranged at the lower end of a port column, thereby allowing the picking and dropping of storage containers through the port column.

[0030] The lower end of the port column, and therefore the port station, can be located anywhere below the top layer of the grid (i.e., Z=1, the layer immediately below the track system), so that the transfer module is flush with the track system. The port station can be further located at any distance below the track system, such as Z=2, 3, 4, 5, 6, 7, 8, 9, 10, etc. In some respects, the grid may only have a certain height, for example, Z=5, but the port station can be located at a distance further below the lowest layer of the grid, such as Z=6, or any arbitrary distance below Z=5. For example, the port station can be located at ground level, such as Z=6, allowing operators to access the storage station. The conveyor can be arranged such that the storage containers are transported a certain distance in length and height, allowing the transfer module to be arranged at a similar height to the track system.

[0031] Advantageously, storage containers can be transported in a loop between the transfer module and the retrieval station, allowing them to be retrieved via the same column where they were stored. Furthermore, the loop can include multiple circulating storage containers, thus acting as a buffer to help reduce congestion on the track system around the port area. Container handling vehicles can pick up new storage containers immediately or quickly after storing existing ones at the port station, avoiding the need for vehicles to travel to a separate pick-up port without a payload.

[0032] At least one transfer module can be arranged in an existing grid pattern, thereby allowing existing storage columns to be repurposed to form port columns, with at least one transfer module positioned below the port column. Advantageously, the transfer modules can be positioned below any existing type of track system, whether single-rail or double-rail. The transfer modules typically occupy an area corresponding to a horizontal dimension of a 3x1Y grid cell or a 1x3Y grid cell. The port station can occupy the area of ​​the middle grid cell, while the remainder of the transfer modules occupies the remaining grid cell areas on either side. Thus, the first and second conveyors are arranged on one side of the port station, potentially causing them to be positioned at certain vertical and horizontal distances from the port station. In some aspects, the port station can be arranged with two conveyors positioned on one side of the port station, such that a lateral displacement device travels past the near-side conveyor to reach the far-side conveyor. In another aspect, the port station can be arranged with two conveyors, each positioned on the lateral side of the port station, such that a lateral displacement device moves in either direction in the lateral direction to reach the conveyor. The positions on the conveyors on the port station side define the first and second conveyor positions, which may also include areas corresponding to a grid cell. In some aspects of the invention, the first and second conveyor positions may also be arranged at the lower end of the port column, thereby allowing for the storage and retrieval of stored containers. In some aspects, the first and second conveyors may extend at least 3X x 0.5Y grid cells, each grid cell such that the transfer module has an area corresponding to a 3X x 1.5Y grid cell in terms of X and Y dimensions, and vice versa. In other aspects, the conveyors may extend such that the transfer module has an area corresponding to a 3X x 2Y grid cell; in still other aspects, the transfer module may occupy an area of ​​up to 3X x 3Y grid cells within a certain range. In still other aspects, the transfer module may include more than three grid cells within a certain range, for example, 5X x 1Y or 1X x 5Y.

[0033] In all respects, at least one transfer module is configured to be adjacent to or separate from the storage grid, with a track system arranged between the at least one transfer module and the storage grid. Thus, storage containers can be transferred to the at least one transfer module via the track system. In some respects, the at least one transfer module may not be attached to the storage grid via the track system, but port access vehicles can move in a horizontal plane above the track system and transport storage containers from the storage grid to the transfer module.

[0034] Preferably, the port station may include guiding devices, such as guide plates, for guiding the storage containers onto the lateral displacement device as they descend through the port column. The port station may also include guiding devices arranged to guide the storage containers as they are transferred between the conveyor and the port station via the lateral displacement device, thereby ensuring that the storage containers are in an aligned orientation, which facilitates engagement of the lifting device with the container.

[0035] In one aspect of the invention, the conveyor may include rollers with an integrated motor mounted between parallel rails. Advantageously, the rollers allow lateral displacement devices to be arranged parallel to the longitudinal direction of the rollers. Therefore, the storage container can be easily moved perpendicular to the conveying direction of the conveyor. In other aspects of the invention, different types of conveyors may be used that also allow movement of the storage container perpendicular to the conveying direction of the conveyor (such as a conveyor, wheel, ball, or any similar device that is obvious to those skilled in the art based on the disclosure of the invention herein). Although a first conveyor may be adapted to convey storage containers to a retrieval station, and a second conveyor may be adapted to convey storage containers from a retrieval station, their operating directions may be reversed if necessary.

[0036] In one aspect of the invention, the lateral displacement device may include any of the following: a track-mounted trolley, a belt, conveyor rollers, and conveyor balls. Preferably, the lateral displacement device may include a track-mounted trolley because this aspect provides a high degree of reliability regarding the orientation of the storage containers as they move between the conveyor and the port station.

[0037] In some aspects of the invention, the access station can be any type of access station in which storage containers can be accessed from outside the automated storage and retrieval system, or moved out of or into the grid. In some aspects, the access station can be located at a distance from the transfer module, such that storage containers are conveyed to the access station along a conveyor. The access station can include any picking device known in the art. In some aspects of the invention, the conveyor can also convey storage containers to multiple access stations.

[0038] In one aspect of the invention, each transfer module may include sensors for measuring: the weight of the storage container, whether the storage container is located at a first conveyor position and / or a second conveyor position, the speed of the lateral displacement device, and the speed of the roller conveyor. Power supply may be provided via cables laid within the frame of the transfer module. Each transfer module may include a control unit to control and measure the various components, sensors, and electrical actuators within the module. The control unit, power supply, and sensor network of the transfer module are adapted to connect to another transfer module, allowing power to be distributed, measurements, and control to be performed from a single transfer module or control unit in the automated storage system.

[0039] In one aspect of the invention, the container handling vehicle can be arranged to transport stored containers between a storage train and at least one transfer module. The container handling vehicle can transport stored containers independently, or in some aspects, the container handling vehicle can be configured in a train-like arrangement to simultaneously retrieve / store and transport stored containers.

[0040] In one aspect of the invention, multiple transfer modules can be arranged in series, wherein each of the multiple transfer modules has a respective first conveyor cooperating to form a first continuous conveyor, and each of the multiple transfer modules has a respective second conveyor cooperating to form a second continuous conveyor. Advantageously, each transfer module has its own port column, which can then be linked together for cargo transfer via a storage and retrieval station. Thus, multiple storage containers can be continuously and / or simultaneously placed and picked up at the transfer modules, minimizing congestion. Furthermore, the continuous conveyors can act as buffers holding containers as they are transferred to the storage and retrieval station. The continuous conveyors can preferably include the conveyors of each transfer module arranged in series. However, additional conveyors can be arranged between the conveyors of each transfer module to allow for greater distances between the transfer modules. In some aspects of the invention, the transfer modules can be arranged adjacent to each other, such that the port columns are arranged in consecutive rows of grid cells in the track system. In other aspects of the invention, the transfer modules can be spaced apart by any number of grid cells, and thus conveyors can be arranged between the transfer modules to form a continuous conveyor. Therefore, the conveyors can be arranged to cover distances of 0.5, 1, 1.5, 2, 2.5, 3, 3.5, 4, ..., 10, ... 15 grid cells or more in the guide rail system.

[0041] On one hand, the sensors of each of the multiple transfer modules can be connected to a control unit via signals, which tracks the position of the storage containers along the continuous conveyor. Advantageously, the storage containers can thus be transferred to a specific port column, and potential collisions between storage containers being transferred on the continuous conveyor via a lateral conveyor and storage containers moving on the conveyor can be avoided.

[0042] In one aspect of the invention, the rail system may include at least one transfer area for temporarily storing storage containers when transferring between multiple storage columns and at least one transfer module, wherein container loading and unloading vehicles are arranged to transfer storage containers between storage columns and at least one transfer area.

[0043] The transfer zone is defined as a 2D area (along the Z and Y directions) on the top (i.e., the track) of the guide rail system, and storage containers can be stored from Z=0 to Z=X either below or on top of the guide rail system, where X is the number of the lowest storage location in the grid.

[0044] Compared to providing more ports to alleviate congestion, it is easier to increase the number of transfer columns in the transfer zone of a rail system. Furthermore, the transfer columns in the transfer zone(s) can be located inside the rail system, for example, at a certain distance within the circumference of the rail system, thus allowing container handling vehicles to access the transfer columns from both the X and Y directions. On the other hand, ports are typically located around the rail system, and therefore usually only accessible from one direction. The transfer columns are preferably standard columns, and the positions of the transfer zones with transfer columns in the rail system can be manipulated on a computer, allowing the positions of the transfer zones and thus the transfer columns to be programmed to the most convenient locations, and these positions can be continuously changed. In the rail system, the transfer columns can be a row of 1, 2, 3, 4, 5, 6, ..., 10, ..., 15 grid cells. A grid cell is an area defined by two pairs of opposing bars in the X and Y directions.

[0045] A transfer zone comprises multiple adjacent individual transfer columns. These transfer columns can further extend along more than one row, for example, two, three, or more parallel rows, whether adjacent or non-adjacent. Therefore, preferably, the position of the transfer zone (i.e., the transfer columns) is always temporary. This makes it possible to free up space on the rail system based on the operation of container handling vehicles and / or other vehicles moving on the rail system. For example, if the target storage container is below, i.e., at Z=8, and the temporary transfer column is at Z=6, then the transfer zone and thus the transfer columns can be easily repositioned so that the container handling equipment can access the container at Z=8.

[0046] Furthermore, this temporary location of the transfer zone allows for flexibility and provides maximum storage capacity within the grid system.

[0047] It may be advantageous if the transfer column forms a transfer area and multiple transfer modules form a port area, wherein the transfer area is adjacent to the port area. Alternatively, the transfer area can be arranged at a certain distance from the port area.

[0048] In one aspect of the invention, container handling vehicles can be used to transfer storage containers between storage columns and transfer columns in a transfer area.

[0049] In one aspect of the invention, container handling vehicles can be used to transfer storage containers between the transfer train and the port train of the transfer module. Advantageously, each container handling vehicle can arrive with its own storage container to simultaneously drop off and pick up the storage container at the port train.

[0050] In one aspect of the invention, a port access vehicle can be arranged to transport storage containers between at least one transfer area and at least one transfer module on or in a plane above the track system. The port access vehicle may include: multiple vehicle sections connected to each other in a train-like configuration, each vehicle section configured to carry at least one storage container; and multiple container lifting and holding devices capable of simultaneously transporting multiple storage containers between a transfer area including at least one transfer module and a port area. The train-like configuration allows the port access vehicle to easily adapt to changing conditions within the track system. The port access vehicle can operate on the track system, for example, arranged to travel along a grid of tracks. Alternatively, the port access vehicle can operate on a single or double rail arranged in a parallel horizontal plane above the track system.

[0051] In one aspect of the invention, the access station may include: - Pick-up station - A first conveyor and a second conveyor are arranged on one side of the pickup station, and each conveyor is adapted to be arranged in series with the first and second conveyors of the transfer module to form a first continuous conveyor and a second continuous conveyor. - A lateral displacement device arranged for transferring storage containers between the pickup station and the first and second conveyors.

[0052] Therefore, advantageously, the access station can include a construction similar to that of the transfer module. However, the access station transfer module typically includes panels covering the top, sides, and ends of the transfer module frame, as well as closable openings at the pickup station for health and safety purposes. In some aspects, the pickup station can include an interface suitable for human-machine interaction. In other aspects, the pickup station can include an interface suitable for a robotic pickup, advantageously avoiding costly health and safety requirements. The conveyor and lateral displacement device of the access station transfer module can include features and functions similar to those of the aforementioned standard transfer module.

[0053] Therefore, the first and second conveyors are arranged on one side of the pickup station, which may result in them being positioned at certain vertical and horizontal distances from the pickup station. In some aspects, the pickup station can be arranged with two conveyors arranged on one side of the pickup station, such that the lateral displacement device travels past the near-side conveyor to reach the far-side conveyor. In another aspect, the pickup station can be arranged with two conveyors, each arranged on the lateral side of the pickup station, such that the lateral displacement device moves in either lateral direction to reach a conveyor.

[0054] In one aspect of the invention, the lateral displacement device may include a liftable beam movable in a direction perpendicular to the conveying directions of the first and second conveyors. Preferably, a set of guide rails may extend at the first conveyor position, the port station, and the second conveyor position, such that the liftable beam moves along the guide rails. Each guide rail is preferably arranged between the conveyors, such as between conveyor rollers, and may also be arranged through slots in the conveyor rails. A trolley may be arranged below the set of guide rails, which may move along the set of guide rails by means of belts, wheels, or any other means familiar to those skilled in the art. The trolley may further support the liftable beam, wherein means for lifting the beam are arranged on the trolley, such as an electric motor driving a lever, a hydraulic piston, or any other lifting device familiar to those skilled in the art. Thus, the liftable beam may be arranged to lift at least one container and move it between the second conveyor position, the port station, and the first conveyor position. In other aspects of the invention, based on the disclosure of the invention herein, it will be apparent to those skilled in the art that other means for lifting and storing containers may be used, such as platforms, poles, supports, and other support devices.

[0055] In one aspect of the invention, the liftable beam can be arranged to simultaneously move two adjacent storage containers. Therefore, the length of the liftable beam is sufficient to move the storage container from the second conveyor position to the port station, and simultaneously move the storage container from the port station to the first conveyor position.

[0056] In one aspect of the invention, the lateral displacement device may include a weighing mechanism. The weighing mechanism may include electronic weighing mechanisms known in the art. Advantageously, weighing of the container on the lateral displacement device can provide information to the control unit of the automated storage system regarding the location where the storage container should be placed in the grid.

[0057] The present invention further relates to a transfer module for transferring stored containers between a port column and a storage station, the transfer module being adapted to be arranged below the port column, and wherein the transfer module comprises: - Port station, used to receive storage containers dropped off from and picked up by port trains. - The first and second conveyors are located on one side of the port station. - The first conveyor is suitable for transporting storage containers to the storage and retrieval station. - The second conveyor is suitable for conveying storage containers from the storage station. - Lateral displacement device, arranged for conveying storage containers between the port station and the first conveyor and between the second conveyor and the port station.

[0058] In one aspect of the invention, the lateral displacement device may include a liftable beam that can move in a direction perpendicular to the conveying direction of the first and second conveyors.

[0059] Therefore, the first and second conveyors are arranged on one side of the port station, which may result in them being positioned at certain vertical and horizontal distances from the port station. In some aspects, the port station can be arranged with two conveyors arranged on one side of the port station, such that the lateral displacement device travels past the near-side conveyor to reach the far-side conveyor. In another aspect, the port station can be arranged with two conveyors, each arranged on the lateral side of the port station, such that the lateral displacement device moves in either direction in the lateral direction to reach the conveyor.

[0060] In one aspect of the invention, the liftable beam can be arranged to move two adjacent storage containers simultaneously.

[0061] In one aspect of the invention, the lateral displacement device may include a weighing mechanism.

[0062] The present invention further relates to a method for operating an automated storage and retrieval system, the automated storage and retrieval system comprising: - A track system comprising: a first set of parallel tracks arranged in a horizontal plane and extending in a first direction; and a second set of parallel tracks arranged in a horizontal plane and extending in a second direction orthogonal to the first direction, the first and second sets of tracks forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks; - Multiple storage container stacks arranged in storage columns below the track system, wherein each storage column is located vertically below the grid opening; - Multiple container handling vehicles for lifting and moving stacked storage containers, each configured to move on a track system above the storage column. - At least one transfer module, comprising: a port station arranged at the lower end of a port column; a first conveyor and a second conveyor arranged on one side of the port station; and a lateral displacement device arranged for transferring storage containers between the port station and the first conveyor and between the second conveyor and the port station, wherein the method includes: - Transferring storage containers between storage columns and port columns; and - Using a lateral displacement device, the storage container is transferred from the port station to the first conveyor, and then from the second conveyor to the port station. - Using the first conveyor, the storage container is transferred from the transfer module to the retrieval station; and - The storage container is transferred from the storage station to the transfer module using a second conveyor.

[0063] Therefore, the storage containers circulate between the transfer module and the storage station, ensuring that they can be stored and retrieved via the same column. Thus, the first and second conveyors are arranged on one side of the port station, potentially at certain vertical and horizontal distances from the station. In some aspects, the port station can be arranged with two conveyors on one side, such that the lateral displacement device travels past the near-side conveyor to reach the far-side conveyor. In another aspect, the port station can have two conveyors, each located on the lateral side of the station, such that the lateral displacement device moves in either direction in the lateral direction to reach the conveyor.

[0064] In one aspect of the invention, the method may further include the following steps: - A storage container is transferred from the port station to the first conveyor using a lateral displacement device, while another storage container is transferred from the second conveyor to the port station.

[0065] In one aspect of the invention, the method may further include the step of transferring storage containers between storage trains and port trains using container handling vehicles.

[0066] In one aspect of the present invention, the method may further include the following steps: - Multiple transfer modules are arranged in the track system and connected in series with the first and second transfer machines, such that the first transfer machines form a first continuous transfer machine and the second transfer machines form a second continuous transfer machine.

[0067] In one aspect of the present invention, the method may further include the following steps: - An operation control system to define at least one transfer area for temporary storage of storage containers during transit between storage columns and multiple transfer modules. - Utilizing a container handling vehicle that operates on a rail system to retrieve storage containers from the transfer area, store them in the transfer area, and horizontally transport the storage containers on the rail system; and - The step of transferring storage containers between the transfer area and multiple transfer modules includes using a port access vehicle configured to carry multiple storage containers, wherein the port access vehicle operates on a rail system or in a horizontal plane above the horizontal plane of the rail system.

[0068] Port access vehicles may include: multiple vehicle sections connected to each other in a train-like configuration, each vehicle section configured to carry at least one storage container; and multiple container lifting and holding devices capable of simultaneously transferring multiple storage containers between a transfer area and multiple transfer modules, wherein the port access vehicle can be arranged to transfer storage containers between the transfer area and multiple transfer modules in a plane located above a guide rail system. The train-like configuration allows the port access vehicle to easily adapt to changing conditions in a grid or track system. The port access vehicle can operate on a track system, for example, arranged to travel along a grid track system. Alternatively, the port access vehicle can operate on a single or double rail in a parallel horizontal plane arranged above the track system.

[0069] The control system can typically be computerized and includes a database for keeping track of the stored containers.

[0070] In one aspect of the invention, the method further includes the following steps: - An access station is provided outside the grid, the access station including a pickup station, a first conveyor and a second conveyor respectively arranged on opposite sides of the pickup station, and a lateral displacement device arranged for transferring the storage container between the pickup station and the first and second conveyors. - The first and second conveyors of the access station are arranged with the first and second conveyors of the transfer module to form a first continuous conveyor and a second continuous conveyor.

[0071] The term “horizontal” as used in this article can mean “horizontal”.

[0072] In the following description, numerous specific details are introduced by way of example only to provide a thorough understanding of embodiments of the claimed systems and methods. However, those skilled in the art will recognize that these embodiments may be implemented without one or more of these specific details or in conjunction with other components, systems, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the disclosed embodiments. Attached Figure Description

[0073] The following figures are attached to facilitate understanding of the invention.

[0074] Figure 1 A perspective view of the grid for existing automated storage and retrieval systems.

[0075] Figure 2A , Figure 2B and Figure 2C A perspective view of existing container loading and unloading vehicles.

[0076] Figure 3 This is a top view of a single-rail grid in the prior art.

[0077] Figure 4 This is a top view of a dual-rail grid system in the prior art.

[0078] Figure 5 This is a perspective view of a transmission module according to one aspect of the present invention.

[0079] Figure 6 This is another perspective view of a transmission module according to one aspect of the present invention.

[0080] Figure 7 This is a perspective view of a transmission module according to one aspect of the invention, showing details of the lateral displacement device in the raised position.

[0081] Figure 8 This is a perspective view of a transmission module according to one aspect of the invention, showing details of the lateral displacement device in the lower position.

[0082] Figure 9A and 9B A perspective view showing the operation sequence of the transfer module below the track system and the transfer module access station.

[0083] Figure 10A and 10B A perspective view of the sequence of operations of the transfer module below the track system.

[0084] Figure 11A and 11B This is a perspective view of another operational sequence of the transfer module below the track system.

[0085] Figure 12 This is a perspective view of multiple transmission modules arranged in series, whose conveyors form a first continuous conveyor and a second continuous conveyor.

[0086] Figure 13 A perspective view of multiple transfer modules arranged in series below the track system and having multiple container loading and unloading vehicles on the track system.

[0087] Figure 14 A perspective view of one side of a port access vehicle on a track system above multiple transfer modules.

[0088] Figure 15 A perspective view of two port access vehicles on a track system above multiple transfer modules.

[0089] Figure 16 A perspective view of another side of the port access vehicle on a track system above multiple transfer modules.

[0090] Figure 17 This is a top view of a storage grid, which has a transfer module and a transfer area in and adjacent to the grid.

[0091] In the accompanying drawings, unless otherwise expressly stated or understood from the context, similar reference numerals are used to indicate similar parts, elements or features. Detailed Implementation

[0092] In the following, various embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings. Furthermore, even if some features are described only with respect to the system, it will be apparent that they are also valid for the method and the delivery module, and vice versa; that is, any features described only with respect to the method are also valid for the system and the delivery module.

[0093] Figure 5This is a perspective view of a single transfer module 60. The transfer module 60 may include a frame 84, such as an extruded aluminum profile, used in a frame structure similar to that used in grid 4. The frame 84 may contain electrical wiring for powering and controlling the various functions of the transfer module 60. Although not shown in the figures, a control unit panel with means for power supply and control may be placed at the remote end of the transfer module 60, where the operator can easily access the panel. Each transfer module 60 is typically manufactured independently and can be installed in an automated storage and retrieval system with minimal modifications.

[0094] The frame 84 of the transfer module 60 is illustrated as occupying the space of three consecutive grid cells 12. The intermediate grid cell 88 is adapted to be positioned at the lower end of the port column 61, allowing the storage container 6 to be lowered or raised via the intermediate grid cell 88, and to lower or raise the liftable platform acting as the lateral displacement device 65, or to rise from that platform. The first grid cell 87 and the second grid cell 89 are located on either side of the intermediate grid cell 88, and above the first conveyor 62 and the second conveyor 63, respectively. Dashed ellipses marked below the first grid cell 87 and the second grid cell 89 indicate the positions of the first conveyor 66 and the second conveyor 67. Figure 5 As indicated by the smaller arrow, the lateral displacement device 65 is adapted to move the storage container 6 between the first conveyor position 66, the second conveyor position 67 and the port station 74. Figure 5 The port station is located below the intermediate grid cell and can be defined as a position on the transfer module arranged to receive storage containers dropped from and picked up by the port column. Figure 5 The larger arrows indicate the conveying directions of the first conveyor 62 and the second conveyor 63, as they each convey the storage container 6 from the first conveyor position 66 to the access station 64, and from the access station 64 to the second conveyor position 67.

[0095] The conveyors 62 and 63 in the attached diagram are illustrated as conveyor rollers with integrated motors mounted between conveyor rails 85. Figure 5 In this respect, conveyors 62 and 63 are illustrated as extending beyond the first grid cell 87 and the second grid cell 89 by a certain distance. For a single transmission module 60, the distance by which conveyors 62 and 63 extend beyond the first grid cell 87 and the second grid cell 89 is typically equal to the length of one grid cell. Therefore, Figure 5 The transmission module occupies an area of ​​3×2 grid cells. Figures 10 and 11 illustrate the basis for the series arrangement. Figure 5 Multiple transfer modules 60 with similar aspects. Extended conveyors 62, 63 leave space for a grid cell between each transfer module 60, thereby facilitating operator access to the continuous conveyors 62, 63.

[0096] Figure 5 Guide plates 76 are further shown, arranged on each side of port station 74, to guide the storage container 6 to an aligned position as it is lowered through port column 61 and placed onto lateral displacement device 65. Guide plates 76 are also arranged to guide the storage container 6 as it moves between conveyors 62, 63 and port station 74. Thus, the storage container 6 is aligned in port station 74, facilitating engagement of lifting device 16 for retrieval of the container. Guide fences 82 are also shown on each side of conveyors 62, 63 to hold the storage container 6 in a fixed orientation as it is conveyed. Figure 5 The transfer module also exemplifies the aspect of installing baffles 83 in the first grid cell 87 and the second grid cell 89, which prevent falling objects or storage containers 6 from mistakenly descending directly from the overhead track system 8 onto the conveyors 62, 63. In various aspects of the invention, port columns 61 can be allocated above either the first grid cell 87 and / or the second grid cell 89, thereby directly lowering the storage containers 6 onto the conveyors 62, 63. In other aspects of the invention, such as Figure 15 and Figure 16 As shown, any one of the first grid cell 87, the second grid cell 88, or the intermediate grid cell 89 can be arranged at the lower end of the port column 61. Therefore, as those skilled in the art will understand, the use of the barrier plate 83 depends on these aspects.

[0097] Figure 6 One aspect of the invention is illustrated, wherein the transfer module 60 is in Figure 5 Another perspective view shows this. Figure 6 The transfer module in the diagram shows the connection with... Figure 5 Similar features to the first grid cell 87 and the second grid cell 89, but the conveyors 62 and 63 do not extend beyond the first grid cell 87 and the second grid cell 89, and therefore occupy only 3×1 grid cells.

[0098] exist Figure 5-8 Several aspects of the lateral displacement device 65 are also illustrated. Figure 5 In the image, a guide rail 81 with a lateral displacement device 65 is shown at one distal end of the transfer module 60, below the first conveyor 62. Although in Figure 6 The perspective view shows the other distal end of the transfer module 60, but the guide rail 81 therein is shown below the second conveyor 63. Therefore, the guide rail 81 extends the length of the transfer module 60 and is arranged between the transfer rollers, such that... Figure 7 and Figure 8 The guide rail trolley 71 shown can move along the guide rail 81. Figure 5Slots are shown in the conveyor rails 85, which are arranged to allow the lifting beam 75 on the trolley 71 to move laterally along the transfer module 60 and through conveyors 62, 63. Figure 5 and Figure 6 In the image, the lifting beam 75 is shown in its raised position above the first conveyor 62 and the port station 74.

[0099] Figure 7 and Figure 8 The transfer module 60 is shown from another angle, with the lateral displacement device 65 shown in more detail. In these figures, guide rails 81 can be seen extending along the length of the transfer module 60 below conveyors 62 and 63. A rail-mounted trolley 71 is shown mounted on guide rails 81 below the intermediate grid unit 88 and the second grid unit 89, and thus has a length suitable for simultaneously lifting two storage containers 6. A drive belt 77 extending along the length of the transfer module 60 is also shown, with pulleys at each end. Although not shown, the drive belt is fixed to the trolley 71 and is therefore arranged to move the trolley 71 along the guide rails 81. An electric motor or similar drive unit can be arranged to be connected to one of the pulleys or mounted on the trolley 71 to move the trolley along the guide rails 81. A guide chain 79 connects the trolley 71 to the frame of the transfer module; this guide chain 79 contains cables for powering, controlling, and communicating with the trolley 71, while protecting and holding the cables in place as the trolley 71 moves back and forth along the rails 81. The cable is typically connected to the weighing device and other sensor devices on the trolley (not shown), as well as the lifting motor 80.

[0100] like Figure 7 and Figure 8 As shown, the lifting motor 80 typically includes an electric motor mechanically connected to a lifting rod 78 extending along the trolley 71 and coupled to two lifting shafts 86 extending across the trolley. A lifting beam 75 is mounted on cams at the ends of the lifting shafts 86, and thus rotation of the lifting shafts raises or lowers the lifting beam 75. However, based on the description of the invention herein, it will be apparent to those skilled in the art that many other types of lifting mechanisms can be used. Figure 7 The lifting beam 75 in the raised position is shown, wherein the lifting beam 75 is as follows: Figure 5 and 6 The lifting beam 75 extends above the conveyor rollers. When the storage container 6 needs to be transferred between positions within the transfer module 60, the raised position of the lifting beam 75 is used. In the raised position, the lifting motor 80 is shown, with the lifting rod 78 pointing towards... Figure 7 The right-side pull causes the cam on the lifting shaft 86 to be in the raised position, thereby pushing the lifting beam 75 above the conveyors 62 and 63. Conversely, Figure 8 It shows a similar perspective. Figure 7Similar to aspects of the present invention, but the lifting beam 75 is in a lower position. Figure 8 The lifting motor 80 in the figure has rotated the lifting rod to the left, so that the cam on the lifting shaft 86 is in the lower position. The lower position of the lifting beam 75 is used to allow the trolley to move under the conveyors 62, 63 and the port station 74 without colliding with or carrying the storage container 6.

[0101] Figure 5-8 The transfer module 60 shown can also be modified to serve as an access station 64. As shown in Figures 9-11, 13, 15, and 16, the transfer module 60 can be used as a human-machine interface by covering the access station transfer module 64 with a cover. In other aspects not shown herein, the access station transfer module 64 may have varying degrees of cover coverage depending on factors such as health and safety requirements.

[0102] As shown in Figures 9-11, 13, 15, and 16, the storage station transfer module 64 is typically arranged with a transfer module 60 located in the track system 8, such that the first conveyor 62 and the second conveyor 63 of the transfer module 60 each form a first continuous conveyor 68 and a second continuous conveyor 69. In these respects, the port station 74 of the storage station transfer module 64 serves as a pick-up station 70, where items are picked up from the storage container 6 currently located at the pick-up station 70 and placed therein. A lateral displacement device 65 transports the storage container 6 from the first continuous conveyor 68 to the pick-up station 70, and from the pick-up station 70 to the second continuous container 69.

[0103] The operational sequence of a transfer module 60 and a transfer module access station 64 according to one aspect of the invention, installed in an automated storage and retrieval system, will now be described with reference to Figures 9-11. However, it will be apparent to those skilled in the art that a similar sequence of operation for the transfer module 60 applies to other aspects of the invention, and that any form of access station 64 can be used; similarly, a similar sequence can also be applied to multiple transfer modules 60 arranged in series.

[0104] In these figures, relative to, Figure 2B and Figure 2C The container loading and unloading vehicle 9 shown illustrates one aspect of the invention; however, it will be apparent to those skilled in the art that other methods can also be used. Figure 2A The container handling vehicle 9 shown, or any other container handling vehicle 9 operating on or above the track system 8.

[0105] Figure 9-11 shows a transfer module 60 arranged at the lower end of the three grid columns 12 of the track system 8. Figures 13 to 17As shown, at least one transfer module 60 typically includes a portion of storage grid 4 or is arranged adjacent to storage grid 4. In Figures 9-11, transfer module 60 is arranged with access station transfer module 64 located outside the track system 8. The conveyors of transfer module 60 and access station transfer module 64 each form consecutive conveyors 68, 69, thereby allowing the transfer of storage containers 6 between them. The conveying direction of conveyors 68, 69 and the conveying direction of lateral displacement device 65 are indicated by arrows forming loops. The embodiment in Figures 9-11 takes a port column 61 arranged above a port station of the transfer module as an example, and the storage container 6 is placed on and retrieved from said port station 74. However, based on the disclosure of the invention herein, it will be apparent to those skilled in the art that the storage container 6 can also be placed directly from the container handling device 9 on the track system 8 onto any of the conveyors 68, 69 on each side of the port station 74. In this respect, although the port column 61 can be on either side of the port station 74, a similar sequence as described below is applied.

[0106] exist Figure 9A The image shows a container handling vehicle 9 holding a storage container 6 on a track system 8, located above port column 61 and port station 74 of transfer module 60. The storage container 6 held by the container handling vehicle 9 may have been moved from another column in the system, typically storage column 5. Figure 9A The storage container 6 located at the second conveyor position 67 and the storage container 6 in the pick-up station 70 are further shown. Although not visible in Figures 9-11, the storage station transfer module 64 may contain the storage container 6 on one side of the pick-up station 70, whether the container has recently arrived at the first continuous conveyor 68 from the transfer module 60 or recently moved from the pick-up station 70 to the second continuous conveyor 69.

[0107] The downward arrow from the container handling vehicle 9 indicates the direction of travel of the storage container 6, which will descend via port train 61 and arrive at port station 74. Figure 9B The image shows a storage container 9 being lowered to port station 74 via a lifting device 16 of a container handling vehicle 9. A guide plate 76 ensures the storage container 9 is lowered into port station 74 in the correct orientation. After the storage container 9 is securely placed in port station 74, the lifting device 16 releases its engagement with the storage container 9. Thus, as... Figure 10A As indicated by the arrow, the lifting device 16 is raised at port station 74 to a safe distance above the storage container 9. Preferably, the lifting device 16 is not completely retracted onto the container handling vehicle 9, but can wait for a new storage container 9 within a safe distance in port column 61 above port station 74.

[0108] Once the lifting device 16 has been withdrawn to a safe distance, the storage container 9 in the port station 74 and the storage container 9 in the second conveyor position 67 are raised via the liftable beam 75 of the lateral displacement device 75. Then, the storage container 9 is simultaneously conveyed along the arrow direction to a grid cell, thereby generating... Figure 10B The displacement is shown. Therefore, the storage container 6 is moved from port station 74 to the first conveyor position 66, and the storage container 6 is moved from the second conveyor position 67 to port station 74.

[0109] Meanwhile, similar displacement of storage container 6 typically occurs in the storage station transfer module 64, wherein at least one storage container 6 moves from or to the pickup station 70 in the direction indicated by the arrow.

[0110] like Figure 10B As shown, with the aid of guide plate 76, the storage container 6 is moved to a position in preparation for engagement with the lifting device 16 of the container loading and unloading vehicle 9 on the upper track system 8 within the port station. The lifting device 16 descends to engage with the storage container 6, as... Figure 10B The arrow above the lifting device 16 is shown. Figure 11A The image shows a lifting device 16 that engages with the storage container 6 in port station 74. Subsequently, the storage container 6 on the first continuous conveyor 68 is transferred to the retrieval station 64, and another storage container 6 is transferred from the retrieval station 64 along the second continuous conveyor 69 to the second conveyor position 67, as shown below. Figure 11B As shown. Simultaneously, the storage container 6 in port station 74 is lifted to the container handling vehicle 9 via the lifting device 16. The container handling vehicle 9 then transfers the storage container 6 to a column in grid 4. Then, another container handling vehicle 9 can access port column 61, as... Figure 9A As shown, repeat the process.

[0111] Figure 12 This illustrates one aspect of the invention, in which multiple transfer modules 60 are arranged in series, with a first conveyor 62 and a second conveyor 63 each forming a first continuous conveyor 68 and a second continuous conveyor 69. Large arrows at the ends of the continuous conveyors 68 and 69 indicate their transfer directions. Similar to... Figure 5 As shown, each transfer module 60 includes an extended conveyor, thus leaving space for a grid cell between each transfer module 60. This space between each transfer module 60 facilitates operator access. The smaller arrows indicate the transfer direction of the lateral displacement device 65 of the transfer module 60. Figure 13 The text shows the relationship with... Figure 12Similarly, a series of transfer modules 60 are arranged below the track system 8, and the transfer module access station 64 is located outside the track system 8. Furthermore, Figure 13 It shows according to Figure 2B and 2C The four container handling vehicles 9 are arranged in a train-like configuration on the track system 8, with each container handling vehicle 9 oriented above the port column 61 of the transfer module 60 by its lifting device 16.

[0112] In some aspects of the invention, the plurality of container loading and unloading vehicles 9 can be used as follows Figure 13 The train-like configuration shown can be used for arrival; however, the container handling vehicle 9 can also arrive independently in this configuration.

[0113] Since container handling vehicle 9 can independently reach port train 61, therefore... Figure 13 The placement and retrieval of the storage container 6 at the cascaded transfer modules 60 shown are not necessarily synchronized. Therefore, each transfer module 60 may include sensors to detect when the storage container 6 is at the second conveyor position 67 and when there is space on the first continuous conveyor 68 to move the storage container 6 to the first conveyor position 66. Control units of the transfer modules 60 may also be connected to synchronize the movement of the lateral displacement devices 65. By synchronizing the lateral displacement devices 65, an optimal sequence for moving the storage container 6 between conveyors 68, 69 and port station 74 can be achieved, wherein the storage container 6 moves simultaneously at different positions on the transfer modules 60, thereby minimizing the risk of collision.

[0114] Figure 14 One aspect of the invention is shown, in which a port access vehicle 46 comprising multiple vehicle vehicles 45 is shown on a track system 8 above a plurality of transfer modules 60 arranged in series. Figure 14 The transfer module 60 is equipped with an access station 64, which is located outside the track system 8. For example... Figure 14 The multiple vehicle vehicles 45 shown are arranged to travel in a straight line along at least one row 40 of the grid column on or above the track system 8. Figure 14 The multi-vehicle transport vehicle 45 includes a driven transport vehicle arranged at each end of a trolley assembly comprising multiple trolleys. The trolleys include lifting devices that allow them to raise and hold the storage container 6 within the trolley body as the transport vehicles move along the track system 8.

[0115] exist Figure 14As shown, multiple vehicle transport vehicles 45 are arranged to travel along a row including port column 61 above a series-arranged transfer module 60. Therefore, the port access vehicle 45 can retrieve multiple storage containers 6 from the column arranged in grid 4 along the same row on the same track system 8 as port column 61, where storage containers 6 can be stored and retrieved simultaneously. Thus, the transfer module 60 will operate in a similar sequence to that described in Figures 9-11; storage containers 6 are simultaneously stored on port station 74, while lateral displacement device 65 moves the containers between conveyors 68, 69 and port station 74.

[0116] exist Figure 15 In the diagram, two multi-vehicle vehicles 45 are shown on track system 8, arranged to travel along rows extending above each of the first continuous conveyor 68 and the second continuous conveyor 69. Rows including port column 61 can also be served by port access vehicles 45 or container handling vehicles 9. Figure 15 The multiple vehicle-mounted vehicles 45 can be arranged to retrieve multiple storage containers 6 from columns arranged in grid 4 and simultaneously convey them downwards onto conveyors 68 and 69. The movement of the storage containers 6 in the transfer module 60 is similar to the sequence described with respect to Figures 9-11, but in this respect, the port column 61 is also arranged above conveyors 68 and 69. Therefore, the storage containers 6 can be directly stored and retrieved between conveyors 68 and 69 and multiple vehicle-mounted vehicles 45.

[0117] Figure 16 Another aspect of the invention is illustrated, wherein port access vehicles 45, 46 are arranged to travel along a lifting guide structure, such as a monorail, supported by upright members. In the disclosed example, port access vehicle 46 comprises an assembly of multiple vehicle segments. Each vehicle segment includes a horizontal bar or frame extending above the lifting guide structure, and the horizontal bar supports storage container lifting and holding devices on both sides of the vehicle body. Therefore, in Figure 16 The port access vehicle 46 can retrieve the storage container 6 from the storage column in grid 4 and transfer it to the transfer module 60. Similar to... Figure 15 In terms of port access vehicles 46, the storage containers 6 can be transported and retrieved directly from conveyors 68 and 69.

[0118] Port access vehicles 45 and 46 can be arranged to transport storage containers 6 between the storage column 5 in the transfer area 35 and the transfer module 60. Therefore, multiple storage containers 6 can be temporarily stored in the transfer area 35, allowing the port access vehicles 45 and 46 to retrieve and store multiple storage containers 6 in the transfer area 35, and to transport the containers 6 between the transfer module 60 and the transfer area 35 for storage and retrieval. The port access vehicles 45 and 46 can work in conjunction with a container handling vehicle 9, which transports the storage containers to the transfer module 60 when the port access vehicles 45 and 46 pick up storage containers 6 in the transfer area 35. In various aspects, the container handling vehicle 9 can... Figure 13 In the train-like configuration shown, the storage container 6 is transferred between the transfer area 35 and the transfer module 60, or the container loading and unloading vehicle 9 can be operated independently.

[0119] The storage column 5 in the transfer area 35 is preferably a standard column 5, and therefore the position of the transfer area 35 in the grid can be continuously changed. For example... Figure 17 As shown in the dark gray area, the width of the transfer zone 35 can be at least one row, and it can be located at a point in grid 4 along the same row as the transfer module 60. Therefore, the position of the transfer zone 35 and the transfer column is preferably always temporary. This makes the possible release areas in grid 4 dependent on the operation of the container handling vehicle 9 and / or other vehicles moving on the track system 8.

[0120] Figure 17 This is a top view of the grid 4 of the automated storage and retrieval system according to the present invention, indicating the possible locations and shapes of the transfer zones 35 and the transfer modules 60. Dark gray shaded areas indicate the transfer zones 35, and light gray shaded areas indicate the transfer modules 60. Each transfer module 60 includes a port column 61, and each transfer zone 35 includes transfer columns arranged in rows. White grid cells indicate the storage columns 5 defining the grid storage zone 25. As previously described, the automated container handling vehicle 9 operates on the grid 4 or the guide rail system 8, i.e., transferring 30 storage containers 6 between the storage columns 5 and the transfer zones 35, and is shown as black grid cells. As previously described, thick arrows extending along the transfer zones 35 indicate the operation of the port access vehicle 45, i.e., transferring storage containers between the transfer zones 35 and the transfer modules 60. Dark gray grid cells indicate the port access vehicle operating on the grid between the transfer zones 35 and the transfer modules 60.

[0121] exist Figure 17In the disclosed example of part A, a top view similar to that disclosed in Figures 9-11 is shown. Thus, a transfer module 60 arranged outside the storage grid 4 below the track system 8 is shown. Arrows indicate the direction of transport of the storage containers 6 on the transfer module 60 according to the aforementioned sequence of operations, and the conveyors 68, 69 that transport the containers to and from the storage station 64. Since the transfer module 60 in this example is separate, it is typically served only by the container handling vehicle 9, which can store and retrieve the storage containers 6 via the port column 61.

[0122] Figure 17 The example in section B shows a transfer module 60 integrated into grid 4. In this respect, the transfer module 60 may be pre-installed with grid 4, or the storage column 5 may be removed to make room for the transfer module 60. Furthermore, the access station 64 is shown arranged at a distance from the transfer module 60, and thus, the continuous conveyors 68, 69 are arranged to extend that distance between the transfer module 60 and the access station 64. Figure 17 Examples in part C and Figure 17 The example in Part B is similar, but access station 64 is arranged adjacent to transfer module 60 and on the edge of grid 4, so no additional conveyors are needed within a certain distance between them.

[0123] exist Figure 17 Part D shows yet another example where multiple transfer modules are arranged adjacent to grid 4. Transfer area 35 is arranged in grid 4 along the same row as the port column 61 of transfer module 60. In this respect, as... Figure 13 Disclosed, multiple container handling vehicles can be arranged in a train-like configuration to retrieve and store the storage containers 6 at the transfer module 60, and to transport the retrieved and stored containers 6 at the transfer area 35. In this respect, the multiple transfer modules 60 are arranged in series, forming a continuous conveyor 68, 69 leading to the storage station 64. Arrows extending across the transfer modules 60 indicate the direction of transport of the storage containers 6.

[0124] Figure 17 The example in Part E illustrates another aspect of the invention, wherein a plurality of transfer modules 60 are arranged both within and extending outside the grid 4. Furthermore, transfer columns 60 are arranged in conjunction with, for example, Figure 16 The port access vehicle 46 shown is adjacent to the container. As previously discussed, in this embodiment, the storage container 6 can be directly stored by the port access vehicle 45 onto the continuous conveyors 68, 69.

[0125] exist Figure 17Part F shows an example of a multi-vehicle port access vehicle 45 used in conjunction with transfer area 35. Port access vehicle 45 may include, for example... Figure 14 and 15 The disclosed multiple vehicle-mounted vehicles, each of which is a row of service vehicles on the transfer module 60, are similar to those in the port access vehicle 45.

[0126] In the foregoing description, various aspects of the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. However, this description is not intended to be interpreted in a limiting sense. It will be apparent to those skilled in the art that various modifications and variations to the illustrative embodiments and other embodiments of the system are considered to fall within the scope of the invention as defined by the appended claims.

[0127] Figure label:

Claims

1. A transfer module for transferring stored containers between a port column and a storage station, the transfer module being adapted to be arranged below the port column, and wherein, The transmission module includes: - A port station, which can be arranged at the lower end of the port column for receiving storage containers that are dropped from the port column and picked up by the port column. - The first and second conveyors are arranged on one side of the port station; The first conveyor is adapted to transport the storage container to the storage station; The second conveyor is adapted to convey storage containers from the access station; and - A lateral displacement device is arranged to transfer the storage container between the port station and the first conveyor and between the second conveyor and the port station. The lateral displacement device includes a lifting beam capable of moving in a direction perpendicular to the conveying directions of the first and second conveyors. The lifting beam is arranged to lift at least one storage container and move the storage container between a second conveyor position, the port station, and a first conveyor position, the first conveyor position being a position on a first conveyor on one side of the port station, and the second conveyor position being a position on a second conveyor on the other side of the port station.

2. The transmission module according to claim 1, wherein, The lifting beams are arranged to move two adjacent storage containers simultaneously.

3. The transfer module according to claim 1 or 2 further includes a set of guide rails extending at the first conveyor position, the port station, and the second conveyor position, wherein... The lifting beam is configured to move along the set of guide rails.

4. The transmission module according to claim 3, wherein, The first and second conveyors include rollers, and each of the set of guide rails is arranged to pass through a slot between the conveying rollers.

5. The transmission module according to any one of the preceding claims, wherein, The lateral displacement device includes a weighing mechanism.

6. The transfer module according to any one of the preceding claims further includes a sensor configured to measure the weight of the storage container, whether the storage container is located at the first conveyor position and / or the second conveyor position, or the speed of the lateral displacement device.

7. The transmission module according to any one of the preceding claims, wherein, The first and second conveyors are adapted to be arranged in series with corresponding first and second conveyors in the additional transfer module to form corresponding first and second continuous conveyors, and The first continuous conveyor is adapted to transport the storage container to the access station, and the second continuous conveyor is adapted to transport the storage container from the access station.

8. An automated storage and retrieval system, comprising: - Multiple storage columns, each of which is arranged to store a corresponding stack of storage containers; - Container handling vehicles used to lift and move storage containers stacked in the stack; - Port columns, forming a projection of grid openings, through which container loading and unloading vehicles can lower and pick up stored containers. - Access station, and - A transfer module according to any one of claims 1-7 is used for transferring storage containers between the port column and the storage station.

9. The automated storage and retrieval system according to claim 8, wherein, The container handling vehicle is arranged to transport the storage containers between the storage column and the transfer module.

10. The automated storage and retrieval system of claim 8 or 9, further comprising a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, the first set of tracks and the second set of tracks forming a grid pattern comprising a plurality of adjacent grid cells in the horizontal plane, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks, wherein... The storage columns are located below the track system, with each storage column situated vertically below the grid opening; and The container loading and unloading vehicle is configured to move on the track system above the storage column.

11. The automated storage and retrieval system according to claim 10, wherein, The track system includes at least one transfer area for temporarily storing storage containers during transit between multiple storage columns and multiple transfer modules, wherein the container loading and unloading vehicles are arranged to transport the storage containers between the storage columns and the at least one transfer area.

12. The automated storage and retrieval system according to claim 11, wherein, The port access vehicle is arranged to transport the storage container between the at least one transfer area and the at least one transfer module.

13. The automated storage and retrieval system according to claim 12, wherein, The port access transport vehicle includes multiple transport vehicle sections. The transport vehicle sections are connected in a train-like configuration; and Each of the transport vehicle sections is configured to carry at least one storage container.

14. The automated storage and retrieval system according to any one of claims 8-13, wherein, The access station includes: - Pick-up station; - A first conveyor and a second conveyor are arranged on one side of the pickup station, and each is adapted to be arranged in series with the first conveyor and the second conveyor (63) in the transfer module, respectively; and - A lateral displacement device, arranged for transferring storage containers between the pickup station and the first and second conveyors.

15. A method of operating an automated storage and retrieval system according to any one of claims 9 to 14, wherein, The method includes: - Transferring the storage containers between the storage column and the port column; and - Using the lateral displacement device of the transfer module, the storage container is transferred from the port station of the transfer module to the first conveyor of the transfer module, and the storage container is transferred from the second conveyor of the transfer module to the port station of the transfer module. - Using the first continuous conveyor, the storage container is transferred from the transfer module to the access station; and - The storage container is transferred from the storage station to the transfer module using the second continuous conveyor.

16. The method of claim 15, further comprising: - The storage container is transferred from the port station to the first conveyor using the lateral displacement device, while another storage container is transferred from the second conveyor to the port station.

17. The method according to claim 15 or 16, wherein the method further comprises: - The control system defines at least one transfer area for temporary storage of storage containers during transit between storage columns and multiple transfer modules; - Storage containers are horizontally transported to the transfer area on the track system using container handling vehicles; as well as The storage containers are transferred between the transfer area and multiple transfer modules using port access vehicles.

18. An automated storage and retrieval system, comprising: - Multiple storage columns, each of which is arranged to store a corresponding stack of storage containers; - Container handling vehicles used to lift and move storage containers stacked in the stack; - Port columns, which form the projection of a grid opening through which container handling vehicles can lower and pick up stored containers. - Access station, and - A transfer module for transferring storage containers between the port column and the storage station, the transfer module being arranged below the port column. The transmission module includes: - A port station, located at the lower end of the port column, for receiving storage containers that are dropped from the port column and are to be picked up by the port column. - The first and second conveyors are arranged on one side of the port station. The first conveyor is adapted to transport the storage container to the access station. The second conveyor is adapted to convey storage containers from the access station; and - A lateral displacement device arranged for conveying storage containers between the port station and the first conveyor and between the second conveyor and the port station.

19. The automated storage and retrieval system according to claim 18, wherein, The container handling vehicle is arranged to transport the storage containers between the storage column and the transfer module.

20. The automated storage and retrieval system of claim 18 or 19, further comprising a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, the first set of tracks and the second set of tracks forming a grid pattern comprising a plurality of adjacent grid cells in the horizontal plane, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks, wherein, The storage columns are located below the track system, wherein each storage column is located vertically below the grid opening; The container loading and unloading vehicle is configured to move on the track system above the storage column.

21. The automated storage and retrieval system according to claim 20, wherein, The track system includes at least one transfer area for temporarily storing storage containers during transit between multiple storage columns and multiple transfer modules, wherein the container loading and unloading vehicles are arranged to transport the storage containers between the storage columns and the at least one transfer area.

22. The automated storage and retrieval system according to claim 21, wherein, The port access vehicle is arranged to transport the storage container between the at least one transfer area and the at least one transfer module.

23. The automated storage and retrieval system according to claim 22, wherein, The port access transport vehicle includes multiple transport vehicle sections. The transport vehicle sections are connected in a train-like configuration; and Each of the transport vehicle sections is configured to carry at least one storage container.

24. The automated storage and retrieval system according to any one of claims 18-23, wherein, The transfer module also includes sensors configured to measure the weight of the storage container, whether the storage container is located at the first conveyor position and / or the second conveyor position, or the speed of the lateral displacement device.

25. The automated storage and retrieval system according to any one of claims 18-24, wherein, The port station includes a guiding device for guiding the storage containers onto the lateral displacement device.

26. The automated storage and retrieval system according to any one of claims 18-25, wherein, The port station includes a barrier plate located above the first and second conveyors.

27. The automated storage and retrieval system according to any one of claims 18-26, wherein, The access station includes: - Pick-up station; - A first conveyor and a second conveyor are arranged on one side of the pickup station, and each is adapted to be arranged in series with the first conveyor and the second conveyor in the transfer module, respectively; and - A lateral displacement device arranged for transferring storage containers between the pickup station and the first and second conveyors.

28. The automated storage and retrieval system according to any one of claims 18-27, wherein, The system also includes a plurality of transmission modules arranged in series, wherein each of the plurality of transmission modules has a first conveyor that cooperates to form a first continuous conveyor, and each of the plurality of transmission modules has a second conveyor that cooperates to form a second continuous conveyor.

29. A method of operating an automated storage and retrieval system according to any one of claims 18 to 28, wherein, The method includes: - Transferring the storage containers between the storage column and the port column; and - Using the lateral displacement device of the transfer module, the storage container is transferred from the port station of the transfer module to the first conveyor of the transfer module, and the storage container is transferred from the second conveyor of the transfer module to the port station of the transfer module. - Using the first continuous conveyor, the storage container is transferred from the transfer module to the access station; and - The storage container is transferred from the storage station to the transfer module using the second continuous conveyor.

30. The method of claim 29, further comprising: - The storage container is transferred from the port station to the first conveyor using the lateral displacement device, while another storage container is transferred from the second conveyor to the port station.

31. The method according to claim 29 or 30, wherein the method further comprises: - The control system defines at least one transfer area for temporary storage of storage containers during transit between storage columns and multiple transfer modules; - Storage containers are horizontally transported to the transfer area on the track system using container handling vehicles; as well as The storage containers are transferred between the transfer area and multiple transfer modules using port access vehicles.

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