Lift device assembly for handling shipping containers stored within a storage container - Patents.com

Abstract

The present invention relates to a lift device assembly for handling shipping containers stored within a storage container, a shipping container coupler for use in the lift device assembly, a container handling vehicle using the lift device assembly, a storage and retrieval system in which the container handling vehicle operates, a method for lifting shipping containers from a storage container using the shipping container coupler, and a computer readable medium having stored thereon a computer program including instructions for performing the method steps.

Description

[Technical field]

[0001] The present invention relates to a connector for releasably connecting to a container, to an assembly comprising such a connector, and to a storage system. The present invention also relates to a method for handling a container using the assembly. [Background technology]

[0002] FIG. 1 discloses an automated storage and retrieval system 100 having a framework / storage grid 101 supported on a floor / platform 700, and FIGS. 2, 3 and 4 disclose three different prior art container handling vehicles 200, 300, 350 suitable for operating on such a storage grid 101.

[0003] The framework 101 comprises upright members 102 and a storage volume comprising storage columns 105 arranged side by side between the upright members 102. In these storage columns 105, storage containers 106, also known as bins, are stacked on top of each other to form stacks 107. The members 102 may typically be made of metal, for example extruded aluminum profiles.

[0004] The framework 101 of the automated storage and retrieval system 100 comprises a rail system 108 disposed across the top of the framework 101, on which a plurality of container handling vehicles 200, 300, 350 may be operated to raise storage containers 106 from storage columns 105, lower storage containers 106 into storage columns, and also transport storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 disposed to guide movement of the container handling vehicles 200, 300, 350 in a first direction X across the top of the framework 101, and a second set of parallel rails 111 disposed perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 200, 300, 350 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the storage columns 105 are accessed by the container handling vehicles 200, 300, 350 through access openings 112 in the rail system 108. The container handling vehicles 200, 300, 350 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal XY plane.

[0005] Uprights 102 of framework 101 may be used to guide storage containers 106 during ascent from and descent into a column of containers 105. A stack 107 of containers 106 is typically freestanding.

[0006] 2-4, each prior art container handling vehicle 200, 300, 350 includes a vehicle body 201, 301, 351 and first and second sets of wheels 202a, 202b, 302a, 302b, 352a, 352b that allow lateral movement of the container handling vehicle 200, 300, 350 in the X and Y directions, respectively. In FIGS. 2 and 3, two wheels in each set of four wheels are visible, whereas in FIG. 4, three wheels in each set of four wheels are visible. The first set of wheels 202a, 302a, 352a are positioned to engage two adjacent rails of the first set of rails 110, and the second set of wheels 202b, 302b, 352b are positioned to engage two adjacent rails of the second set of rails 111. At least one set of wheels 202a, 302a, 352a, 202b, 302b, 352b can be raised and lowered so that the first set of wheels 202a, 302a, 352a and / or the second set of wheels 202b, 302b, 352b can be engaged with the respective set of rails 110, 111 at any time.

[0007] Each prior art container handling vehicle 200, 300, 350 also comprises a lift device 210, 360 for vertically transporting the storage container 106, for example to raise the storage container 106 from the storage column and to lower the storage container 106 into the storage column 105. The lift device 210, 360 comprises one or more gripper elements 362 adapted to engage with the storage container 106, the gripping elements 362 being capable of being lowered from the vehicle 200, 300, 350, whereby the position of the gripping elements 362 relative to the vehicle body 201, 301, 351 can be adjusted in a third direction Z, perpendicular to the first direction X and the second direction Y. The lift devices 210, 360 of the container handling vehicle 200, 350 are shown in Fig. 2 and Fig. 4. The lift device of the container handling vehicle 300 shown in Fig. 3 is located in the vehicle body 301.

[0008] Conventionally, and for purposes of this application, Z=1 identifies the top layer of storage containers, i.e., the layer immediately below the rail system 108, Z=2 identifies the second layer below the rail system 108, and Z=3 identifies the third layer. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the bottom layer of storage containers. Similarly, X=1···n and Y=1···n identify the location of each storage column 105 in the horizontal plane. Thus, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, the storage container identified as 106′ in FIG. 1 can be said to occupy storage positions X=19, Y=1, and Z=3. The container handling vehicles 200, 300 can be said to be moving in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The possible storage locations within the framework / storage grid 101 are referred to as storage cells. Each storage column 105 may be identified by a location in the X and Y directions, and each storage cell may be identified by a container number in the X, Y and Z directions.

[0010] Each prior art container handling vehicle 200 , 300 , 350 includes a storage bay or space for receiving and housing the storage container 106 as it is transported across the rail system 108 .

[0011] The storage space may be beneath the cantilever structure of the container handling vehicle 200, as shown in Figure 2. Such vehicles are described in detail, for example, in Norwegian Patent No. 317366, the contents of which are also incorporated herein by reference.

[0012] In another configuration, the storage space may comprise a cavity disposed internally within the vehicle body 301, 351, as shown in Figures 3 and 4 and described, for example, in International Publication No. WO 2015 / 193278 (Patent Document 1) and International Publication No. WO 2019 / 206487 (Patent Document 2), the contents of which are incorporated herein by reference.

[0013] The container handling vehicle 300 shown in FIG. 3 may have a centrally located cavity and a footprint covering an area having dimensions in the X and Y directions approximately equal to the lateral extent of the storage column 105, for example, as described in WO 2015 / 193278, the contents of which are incorporated herein by reference.

[0014] Alternatively, the hollow container handling vehicle 350 may have a footprint larger than the lateral area defined by the storage column 105 as shown in Figures 1 and 4, as disclosed, for example, in WO 2014 / 090684, EP 2962962 or WO 2019 / 206487.

[0015] It should be noted that the term "lateral" as used herein can mean "horizontal."

[0016] FIG. 1 illustrates container handling vehicles, including multiple cantilever vehicles 200 (FIG. 3) and multiple hollow vehicles 350 (FIG. 4), that extend beyond the footprint of a single storage column 105.

[0017] The rail system 108 typically includes rails 110, 111 having grooves in which the vehicle wheels run. Alternatively, the rails 110, 111 may include upwardly projecting elements, and the vehicle wheels may include flanges to prevent them from running off. These grooves and upwardly projecting elements are collectively known as tracks. Each rail 110, 111 may include one track, or each rail 110, 111 may include two parallel tracks. Each rail 110, 111 may also include two track members fastened together, each track member providing one of the pair of tracks provided by each rail.

[0018] WO 2018 / 146304, the contents of which are incorporated herein by reference, shows an exemplary configuration of a rail system 108 with rails and parallel tracks in both the X and Y directions.

[0019] In the framework 100, the majority of the columns 105 are storage columns 105, i.e. columns 105 where the storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 200, 300, 350 to drop off and / or pick up the storage containers 106, so that they can be transported to an access station (not shown) that can be accessed from outside the framework 100, or transferred outside or inside the framework 100. In the art, such locations are usually called "ports" and the columns where the ports are located may be called "port columns" 119, 120. The transport to the access station may be in any orientation, being horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within the framework structure 100 and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "inclined" refers to the transportation of storage containers 106 having a general transport direction somewhere between horizontal and vertical.

[0020] In FIG. 1 , the first port column 119 may be, for example, a drop-off port column where the container handling vehicles 200, 300, 350 can drop off storage containers 106 to be transported to the access and distribution station 500, and the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 200, 300, 350 can pick up storage containers 106 transported from the access and distribution station.

[0021] The access and distribution stations may typically be picking or stocking stations where products are removed from or placed into storage containers 106. At picking or stocking stations, the storage containers 106 are typically not removed from the automated storage and retrieval system 100, but are returned to the framework 100 again once accessed. Ports may also be used to transfer storage containers to another storage facility (e.g., to another framework or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0022] When a target storage container 106' stored in one of the columns 105 disclosed in Figure 1 is to be accessed, one of the container handling vehicles 200, 300, 350 is directed to retrieve the target storage container 106' from its location and transport it to the drop-off port column 119. This action involves moving the container handling vehicle 200, 300, 350 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 lift device 210, 360 of the container handling vehicle 200, 300, 350, 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., one or more other storage containers 106 are located above the target storage container 106', the operation also includes temporarily displacing the above-located storage container 106 before lifting the target storage container 106' from the storage column 105. This step, sometimes referred to in the art as "mining", may be performed by the same container handling vehicle subsequently used to transport the target storage container to the drop-off port column 119, or one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage retrieval system 100 may have a container handling vehicle dedicated to the task of temporarily removing the storage container from the storage column 105. Once the target storage container 106' is removed from the storage column 105, the temporarily removed storage container 106 may be repositioned back to the original storage column 105. However, the removed storage container 106 may alternatively be relocated to another storage column 105.

[0023] If the storage container 106' is to be stored in one of the columns 105, one of the container handling vehicles 200, 300, 350 is directed to pick up the storage container 106' from the pickup port column 120 and transport it to a position above the storage column 105 where the storage container is to be stored. After any storage container 106 located at or above the target location in the storage column stack 107 is removed, the container handling vehicle 200, 300, 350 places the target storage container 106' in the desired location. The removed storage container 106 may then be placed back into the storage column 105 or transferred to another storage column.

[0024] To monitor and control the automated storage and retrieval system 100, for example, the location of each storage container 106 within the framework 101, the contents of each storage container 106, and the movements of the container handling vehicles 200, 300, 350 so that the desired storage containers 106' can be delivered to the desired locations at the desired times without the container handling vehicles 200, 300, 350 colliding with each other, the automated storage and retrieval system 100 includes a control system 600 that is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] To facilitate storage and retrieval of inventory and / or other items stored with the storage containers 106, the items may be picked from the storage containers and placed into shipping containers adapted for handling by systems external to the framework 101 as described above.

[0026] For particularly large storage systems, the number of storage container retrievals per hour can be in the tens of thousands, which typically correspond to hundreds or thousands of customer orders, each of which may contain several different items. To allow efficient handling and delivery of the different items in each customer order and at the same time avoid the installation of an excessive number of expensive conveyor belts and automated handling systems, the items must be continuously consolidated into shipping containers and set aside until the moment of dispatch.

[0027] One problem with current integrated systems is the need for large external areas to store the integrated shipping containers. However, the availability of such temporary storage is often low, as it is important for operational and economic reasoning that the space occupied by the storage system must be as large as possible.

[0028] Thus, an object of the present invention is to allow for the effective consolidation of items from storage containers into shipping containers with little or no need to use the area surrounding the framework / storage grid 101 to store these consolidated shipping containers prior to shipment. [Prior art documents] [Patent documents]

[0029] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2019 / 206487 [Patent Document 3] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0030] The invention is set out in the independent claims, with the dependent claims describing particular optional features of the invention.

[0031] In a first aspect, the present invention relates to a lift device assembly for handling shipping containers stored within a storage container.

[0032] The lift device assembly includes a shipping container coupler including a coupler frame having a coupler frame lower surface and a coupler frame upper surface, and a shipping container coupling mechanism secured to the coupler frame and protruding from the coupler frame lower surface to enable releasable coupling to a corresponding coupling structure within the interior volume of the shipping container.

[0033] The interlocking structure may form part of the inner surface of the shipping container, such as a recess / hole. The interlocking structure may alternatively or additionally constitute a specific structure having a profile configured to engage with a shipping container interlocking mechanism, such as a wedge / plate protruding inwardly from the inner surface. Shipping container interlocking mechanisms configured to grip the contours of the shipping container may also be envisioned.

[0034] The lift device assembly further includes a lift device comprising a lift frame having a lift frame lower surface and a lift frame upper surface, at least a coupler, preferably a plurality of grippers connected to the lift frame for releasably connecting to the coupler frame, and, optionally, attachment points / mounts / elements for attaching the lift bands to the lift frame.

[0035] The lift frame is configured such that the lift frame lower surface can be positioned adjacent the connector frame upper surface at one or more coupling locations.

[0036] It is noted that the lift bands may be any device that ensures that the lift frames are suspended from the vehicle / crane and allows their / their lower ends to be raised / lowered by a lift motor that forms part of the vehicle / crane.

[0037] Because a shipping container may be stored within a storage container, the maximum horizontal cross-sectional area of ​​the outer profile of the shipping container must be less than the minimum horizontal cross-sectional area of ​​the inner profile of the storage container, and the vertical height of the shipping container must be less than or equal to the vertical height of the storage container.

[0038] Thus, the structure of the lift device and the coupler is configured such that when the lift device grips and controls the coupler, they can be guided to nest together.

[0039] In an advantageous configuration of the first aspect of the invention, the connector frame further comprises a plurality of recesses and / or through-holes, the number of recesses and / or through-holes being at least equal to the number of grippers of the lifting device. Furthermore, the position of each recess and / or through-hole may be such that each gripper is aligned with a corresponding recess and / or through-hole when the lifting frame lower surface is placed in a coupling position above the connector frame upper surface. The predetermined coupling position is preferably in a horizontal position above the connector, and the vertical central axis of the lifting frame lower surface is aligned with the vertical central axis of the connector frame upper surface.

[0040] It should be noted that a gripper is defined as any mechanism capable of establishing a releasable connection to a corresponding recess / through-hole. The gripper may be, for example, a remotely operable claw designed to enter the recess / through-hole in a closed state and abut a vertical wall of the recess / through-hole in an open state.

[0041] In another advantageous configuration, the lift device further comprises a sensor configured to detect when the lower surface of the lift frame is in contact with and / or proximity to the upper surface of the connector frame.

[0042] The lift device may further include a robotic sensor configured to detect when the lift frame top surface is in proximity to a vehicle / crane during operation.

[0043] The sensors and / or robot sensors are preferably equipped with transmitters to enable transmission of a sensed signal to a remote control system. Additionally, the sensors / robot sensors may be in the form of capacitance sensors (mutual capacitance and / or self-capacitance) to indicate direct contact or proximity with the hitch frame or vehicle / crane.

[0044] For example, a lift device may include four sensors located at or near the four edges of the underside of the lift frame.

[0045] Similarly, the lift device may include four robotic sensors located at or near the four corners of the upper surface of the lift frame.

[0046] In yet another advantageous configuration, a plurality of grippers, such as claws and / or hooks, protrude from a lower surface of the lift frame, and the lift device further includes a gripper actuation mechanism disposed at least partially within the lift frame, the gripper actuation mechanism being configured in this preferred example to actuate at least one of the plurality of grippers.

[0047] In yet another advantageous configuration, the lift device further comprises a plurality of guide pins, preferably located at corners of the lift frame, protruding from the lift frame lower surface for insertion into the receiving recesses of the storage container. The guide pins are preferably located at corners of the lift frame. Furthermore, the storage container is arranged to store the shipping container therein. In this exemplary configuration, the coupler frame further comprises a plurality of guide pin receiving recesses and / or through holes extending between the coupler frame lower surface and the upper surface and oriented perpendicularly to the surface of the coupler frame. The position of each guide pin receiving recess and / or through hole is such that each guide pin passes through a corresponding guide pin receiving recess and / or through hole when the lift frame lower surface is located in a coupled position above the coupler frame upper surface.

[0048] In yet another advantageous configuration, the horizontal cross-sectional area of ​​the lift frame lower surface is at least equal to the horizontal cross-sectional area of ​​the connector frame upper surface.

[0049] In yet another advantageous configuration, the shipping container coupling mechanism includes at least two gripper paddles / plates for gripping the shipping container oriented perpendicular to the underside of the connector frame and positioned at equal and opposite distances from a vertical center plane (CP) intercepting the center point of the surface.

[0050] Each of the gripper paddles, in this exemplary configuration, includes a protrusion disposed below the underside of the connector frame for insertion into a corresponding interlocking structure / formation on the shipping container, which may be a recess / opening / through-hole in the interior volume of the shipping container and / or an interior ledge in the contour of the shipping container onto which the protrusion may be disposed.

[0051] The opposite configuration, ie, a recess on each gripper paddle and a corresponding protrusion such as a wedge or tab from the interior wall of the shipping container, may also be feasible.

[0052] Each gripper paddle may further include an upper end pivotally or resiliently connected to the coupler frame.

[0053] The gripper paddles are positioned inside the grippers of the lifting device as the paddles are intended to pick up smaller shipping containers within the larger storage container. When in the coupled position, the grippers of the lifting device are positioned around the peripheral area / opening frame of the storage container and the gripper paddles of the coupler are hinged to the coupler frame inside the grippers.

[0054] In yet another advantageous configuration, the shipping container interlocking mechanism may further comprise a displacement system for displacing the two gripper paddles in opposite directions from the vertical centre plane CP until the protrusions engage respective interlocking structures / formations of the shipping container. The displacement system is preferably also configured such that the protrusions can disengage to release the shipping container.

[0055] The displacement system may further comprise a motor, preferably located at or near the central plane CP, a control system configured to control the operation of the motor, a first link, such as a first arm indirectly connected at least at one end to the motor and at the other end to one of the two gripper paddles, and a second link, such as a second arm indirectly connected at least at one end to the motor and at the other end to the other of the two gripper paddles. The motor may be configured to displace the first and second links in opposite directions away from the vertical central plane CP. For example, the motor may have a swivel pivot connecting the first and second links to a rotating element of the motor.

[0056] Further, the displacement system may include a rotating element, such as a disk, connecting the first and second links to the shaft of the motor, the motor, rotating element and link being configured such that opposing displacements of the first and second links are achieved by rotating the rotating element clockwise or counterclockwise from 0 degrees to 180 degrees, for example 90 degrees (± 30 degrees as required). The ends of the links are connected to the motor such that the first and second links / arms are parallel to each other when in the extended position.

[0057] The control system may be divided into a lower portion on the lower surface of the coupler frame and an upper portion on the upper surface of the coupler frame. The upper portion may include one or more lift device connectors / electrical contacts in signal communication with the lower portion. Additionally, the lift frame may include one or more coupler connectors / electrical contacts in signal communication with the one or more lift device connectors. In this particular configuration of the control system, the gripper paddles, when connected, may be remotely controlled via the lift device.

[0058] In a second aspect, the present invention relates to a shipping container coupler for use in a lift device assembly according to the above description.

[0059] The coupler comprises a coupler frame having a coupler frame lower surface and a coupler frame upper surface, and a shipping container coupling mechanism secured to the coupler frame and protruding from the coupler frame lower surface to enable releasable coupling to a corresponding coupling structure / formation within the interior volume of the shipping container, e.g., in or at an interior wall. The coupler, in this second aspect, is configured to be gripped from the coupler frame upper surface by a plurality of grippers of a lifting device.

[0060] The coupler may further comprise a connector / electrical contact on the coupler frame top surface for receiving power and optionally signals from the lift device when in a coupled position below the lift device and gripped by the lift device grippers. The power and signals are for operating gripper members / paddles of the shipping container coupling mechanism to grip inner surface formations and / or contoured ledges of the shipping container. Alternatively, signal communication may be transmitted wirelessly between the coupler or a receiver in the coupler and one or more remote control systems. Further remote control systems may be in a central control system for the container handling vehicles and / or storage systems.

[0061] The coupler should also be configured to allow for a switch of control signals when the coupler is picked up, such that the gripper paddles are commanded by a vehicle signal to pivot in and out to grip the shipping container. When the coupler is attached, the grippers of the lift device remain in a stationary gripping position.

[0062] In an advantageous configuration of the second aspect of the invention, the shipping container interlocking mechanism comprises a gripper paddle configured to pivot or be resiliently displaced outwardly into contact with an interlocking structure / formation of the shipping container.

[0063] In another advantageous configuration, the connector is configured so that it does not extend laterally / horizontally any further than the periphery of the lift device it is intended to be connected to.

[0064] All other configurations of the coupler described in relation to the first aspect also apply to the second aspect.

[0065] In a third aspect, the present invention relates to a container handling vehicle comprising a drive means configured to move along a base such as a rail system, a lift device assembly according to the above description, a storage container space for receiving and accommodating a storage container, a lift motor for lifting the storage container into the storage container space, and a lift band having one end connected to an attachment point / mount of the lift device and another end connected to the lift motor.

[0066] Alternatively, the container handling vehicle may be a crane suspended from a rail system.

[0067] In a fourth aspect, the present invention relates to a storage and retrieval system comprising a framework and a rail system. The framework comprises a plurality of vertical upright members defining a plurality of storage columns for storing stacks of storage containers. The rail system is disposed on top of the framework and comprises vertical rails, intersections of the rails forming a grid of grid cells. The rails define grid openings to the plurality of storage columns.

[0068] The storage and retrieval system further comprises a container handling vehicle comprising a drive means, such as motorized wheels, configured to move along the rail system, a lift device assembly according to the above description, a storage container space for receiving and accommodating the storage container, a lift motor for lifting the storage container into the storage container space, and a lift band connected at one end to an attachment point / mount and at the other end to the lift motor. The lift motor may be located at least above or to the side of the container space. The latter arrangement is typically the case for cantilever vehicles (see above). Vehicle configurations in which the lift motor is located close to the rail system may also be envisaged.

[0069] In an advantageous configuration of the fourth aspect of the invention, the storage and retrieval system further comprises a control system and a robotic picking device in signal communication with the control system. The robotic picking device comprises a robot base, a first robot segment / arm rotatably connected to the robot base, and a manipulating end configured to enable releasable connection to a delivery container. The robotic picking device is configured such that the manipulating end can be moved to a position within at least reach of a storage container to be delivered to the access and distribution station.

[0070] The robotic picking device is preferably located adjacent to the exterior of the storage and retrieval system.

[0071] In a fifth aspect, the present invention relates to a method of lifting a shipping container from a storage container through the use of a shipping container coupler when the shipping container is disposed within an interior volume of the storage container.

[0072] The lifting is performed by a container handling vehicle comprising a storage container space for receiving and accommodating the storage container, a drive means configured to move the vehicle along a base, a lift device for lifting and lowering the storage container, a lift motor for lifting the storage container into the storage container space, and a lift band connected at one end to an attachment point / mount of the lift device and at the other end to the lift motor. The lift motor may be located at least partially above or to a side of the storage container space.

[0073] The lift device includes a lift frame having a lower lift frame surface and an upper lift frame surface, and a plurality of grippers protruding from the lower lift frame surface.

[0074] The coupler further comprises a coupler frame having a coupler frame lower surface and a coupler frame upper surface, and a shipping container coupling mechanism secured to the coupler frame and protruding from the coupler frame lower surface to enable releasable coupling to corresponding coupling structures / formations within the interior volume of the shipping container, for example, at an inner wall of the shipping container and / or a contour of the shipping container.

[0075] The method involves the following steps: - lowering the lift device so that the lower surface of the lift frame contacts or is adjacent to the upper surface of the connector frame; - gripping the coupling by manipulating a gripper of a lifting device to form a lifting device assembly; - raising the lifting device with the coupling connected; - moving a container handling vehicle to a position where the lift device assembly is above a storage container housing the shipping container; - lowering the lift device assembly to a position where the coupler can connect with the shipping container; - connecting a coupler to a shipping container; - raising the shipping container from within the storage container by use of a lift motor until the shipping container is at least partially within the storage container space (thereby separating the shipping container from the storage container); Includes.

[0076] In an advantageous example of the fifth aspect of the invention, the storage containers housing the shipping containers to be lifted are stored in a storage and retrieval system comprising, in addition to the container handling vehicle as described above, a framework comprising a plurality of vertical uprights and a rail system arranged on top of the framework corresponding to the base as described above. The uprights define a plurality of storage columns for storing stacks of storage containers. The rail system comprises vertical rails, the intersections of which form a grid of grid cells. The rails thus define grid openings to the plurality of storage columns. Movement of the vehicle is therefore restricted in the direction of the rails in the rail system.

[0077] In this particular configuration, the shipping container coupler may be initially supported on the rail system.

[0078] In another advantageous example of the fifth aspect, the storage and retrieval system further comprises a port column mounted by the vertical uprights, and an access and dispensing station disposed at a lower end of the port column.

[0079] In this particular configuration, the method comprises: - moving the container handling vehicle into a position where the shipping container is directly above the port column; - transporting the delivery container to an access and distribution station, for example by using a lift device of the vehicle; Further includes:

[0080] Alternatively, the shipping containers may be transported to the access and distribution station through the use of a conveyor belt.

[0081] In yet another advantageous embodiment, the method comprises the steps of: - reconnecting the container handling vehicle to the coupler, if necessary; - moving the container handling vehicle into a position such that the coupler is directly above the port column; - lowering the coupler into the port column until the coupler is in a gripping position with a shipping container located at a lower end of the port column; - connecting the shipping container to a coupler; - lifting the shipping container at least partially into a storage container space of the container handling vehicle; Further includes:

[0082] Alternatively, the vehicle is moved to a location at the end of a conveyor belt that transports the shipping containers from the access and distribution station.

[0083] In a sixth aspect, the present invention relates to a computer readable medium having stored thereon a computer program comprising instructions for carrying out the method steps described above. [Brief description of the drawings]

[0084] The following drawings illustrate alternative embodiments of the present invention and are included to facilitate an understanding of the present invention. However, the features disclosed in the drawings are for illustrative purposes only and should not be construed in a limiting sense.

[0085] [Figure 1] FIG. 1 is a perspective view of a prior art automated storage and retrieval system.

[0086] [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a cantilever beam for carrying storage containers downward.

[0087] [Diagram 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0088] [Figure 4]FIG. 4 is a perspective view of a prior art container handling vehicle having a cavity disposed therein for carrying a storage container, the cavity being offset from center relative to the X direction.

[0089] [Diagram 5] FIG. 5 is a perspective side view of the prior art container handling vehicle of FIG. 2 with its lift device aligned above a coupler frame of a shipping container coupler for releasably connecting to a shipping container stored within a storage container.

[0090] [Figure 6] FIG. 6 is a perspective side view of the prior art container handling vehicle of FIG. 2 with the lift device coupled to the coupler frame and the resulting assembly placed in contact with storage containers, including shipping containers.

[0091] [Figure 7] FIG. 7 is a top-down cross-sectional view of a lift frame of a lift device, a coupler frame of a shipping container coupler, a shipping container and a storage container, with the frames and containers vertically aligned with one another.

[0092] [Figure 8] FIG. 8 is a cross-sectional view of a lift device assembly according to an embodiment of the invention, in which the lift device is releasably connected to a coupler, which in turn is releasably connected to a shipping container.

[0093] [Figure 9] FIG. 9 is a cross-sectional view of a lift device assembly in accordance with an embodiment of the present invention connected to a shipping container and raised so that the shipping container is above a storage container.

[0094] [Figure 10] FIG. 10 is a perspective side view of a lift device assembly according to an embodiment of the present invention, where the coupler is connected to a shipping container.

[0095] [Figure 11] FIG. 11 is a perspective view of a portion of a storage and retrieval system according to another embodiment of the invention including a first type of robotic picking device for picking shipping containers within a storage container.

[0096] [Figure 12] FIG. 12 is another perspective view of a portion of the storage and retrieval system shown in FIG.

[0097] [Figure 13] FIG. 13 is a perspective view of a portion of a storage and retrieval system according to a further embodiment of the invention including a second type of robotic picking device for picking shipping containers within the storage containers. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0098] Different embodiments will now be described in more detail with reference to the attached drawings. It should be understood, however, that the drawings are not intended to limit the scope of the invention to the subject matter shown in the drawings. Moreover, even if some of the features are described only in relation to the system, it is clear that they are also valid for the method and vice versa.

[0099] FIG. 5 shows a perspective view of a cantilever type container handling vehicle 200 comprising a car body 201, a first set of wheels 202a for movement in an X direction, a second set of wheels 202b for movement in a Y direction, a cantilever beam 203 extending from the top of the car body 201, and a lifting device 210 suspended below the cantilever beam 203 configured to releasably grasp and lift both the storage container 106 and the coupler 1, as will be further described below.

[0100] The lift device 210 includes a lift frame 211 having a lower surface 211' and an upper surface 211'' oriented in the X, Y plane, grippers 212 such as claws or hooks protruding from the lower surface 211', lift bands 213 (attached at their lower ends to attachment points 213' on the upper surface 211'' and at their upper ends to a lift mechanism (not shown) disposed at least partially within the cantilever beam 203), and guide pins 215 oriented in the Z direction and attached to the four lateral corners of the lift frame 211.

[0101] Shown below the lift device 210 is the coupler 1 configured to releasably connect to a shipping container 20, the size of which is such that it can fit into the storage container 106. As can be seen in Figure 5, the height of the shipping container 20 can also be less than the height of the storage container 106.

[0102] Hereinafter, storage containers 106 and shipping containers 20 will be referred to as bins and totes, respectively.

[0103] With further reference to Figures 7-9, coupler 1 comprises a coupler frame 2 having a lower surface 2' and an upper surface 2'', a shipping container coupling mechanism 3 for releasably connecting to a gripping structure / formation 21 on an interior wall or rim of a tote 20, a rotating disk 6 rotatably connected to a motor 5, and links / arms 9, 9a, 9b connecting the gripper paddle 3 to the rotating disk 6.

[0104] In Figures 7-9, these gripping structures 21 are recesses / openings located in the interior wall of the tote below the opening rim 22 of the tote.

[0105] The shipping container coupling mechanism 3 may include two container gripper paddles 3 (a first paddle 3a and a second paddle 3b), hereinafter referred to as tote paddles, where each tote paddle 3a, 3b has a protrusion 3' at its lower end, such as a ledge, rib or crease, and the upper end 3'' of the paddle 3 is pivotally and / or resiliently attached to the coupler frame 2. Furthermore, the length and design of each tote paddle 3 is positioned such that when the coupler frame 2 is adjacent the opening frame / upper rim 22 of the tote 20, the protrusion 3' is vertically aligned (at the same height) with the recess / opening 21 in the interior wall of the tote 20.

[0106] An actuator system 5-9, which also forms part of the coupler 1, is disposed with the coupler frame 2 and / or below the lower surface 2'. The actuator system 5-9 is configured such that it can remotely displace the first and second tote paddles 3a, 3b in opposite directions.

[0107] In the particular embodiment shown in Figures 6-9, the actuator systems 5-9 include a motor 5, a control system 7 that enables control of the operation of the motor 5 and signal communication with the control system 600, a rotating disk 6 connected to the motor 5, and two links / displacement arms 9a, 9b that connect the rotating disk 6 to each of the tote paddles 3a, 3b.

[0108] The motor 5, rotating disc 6 and control system 7 are fixed to the coupler frame 2a by a motor support 8 in the form of an angle bracket. The motor 5 may be, for example, a DC motor.

[0109] The two links / displacement arms 9a, 9b are configured and sized in the following manner in Figures 6 to 9:

[0110] A first end of the first link 9a and a first end of the second link 9b are pivotally connected to the rotating disk 6 on either side of the axis of rotation of the disk 6, and a second end of the first link 9a and a second end of the second link 9b are pivotally connected to the first tote paddle 3a and the second tote paddle 3b.

[0111] The particular configuration with oppositely positioned first ends of links 9a, 9b on rotating disk 6 results in equal length and oppositely directed displacement of links 9a, 9b and therefore equal pivoting of tote gripper paddles 3a, 3b.

[0112] By adjusting the position, angle and length of the tote paddle 3 so that the protrusions 3' are aligned at the same vertical level (same height) as the recesses / openings 21 in the tote 20, and ensuring rotation of the rotating disk 6 by the motor 5 which causes a horizontal bias of the tote paddle 3, the actuator system 5-9 enables switching between a locked position in which the protrusions 3' are inside their respective recesses / openings 21, and a released position in which the protrusions 3' are removed from their respective recesses / openings 21.

[0113] The degree of rotation of the rotating disc 6 by the motor 5 must be sufficient to ensure insertion of the protrusions 3' into the recesses / openings 12. The rotation is preferably in the range of 70-100°, for example 90°.

[0114] The motor 5 can be remotely controlled via a coupler control system 7 arranged on or in the coupler frame 2. The coupler system 7 includes a lift device connector 7'' in the form of electrical pins for transmitting power and any control signals from the lift device 210 when it is in a coupled position below the lift device 210 and gripped by the gripper 212. Said power and signals transmitted via the lift device 210 enable the driving and regulation of the motor 5, which again operates the gripper paddle to connect to the gripping structure 21 of the tote 20 via the rotating disk 6 and the link 9. The coupler control system 7 can also include a separate transmission system 7' configured for wireless transmission of signals to and from one or more remote control systems 600.

[0115] In Figures 7-9 a gripper 212 in the form of a claw is shown connected to the connector frame 2 via a recess 10 located in horizontal alignment with the claw on the upper surface 2''. The gripping action of the claw 212 is achieved by a gripper actuation mechanism 212' located within the lift frame 211.

[0116] 7, the coupling assembly 1, 210 of the lift device 210 and the coupler 1 is placed on top of the opening frame of the bin 106. The guide pins 215 of the lift device 210 protruding from the corners of the lift frame 211 are aligned with the bin 106 and contribute to guiding the assembly.

[0117] Additionally, the lift device 210 may include one or more vehicle sensors 216 and one or more coupler sensors 217, which protrude from the corners of the upper surface 211'' and the lower surface 211', respectively. The vehicle sensors 216 may indicate proximity and / or contact with the vehicle 200, 300, 350 to which the lift device 210 is connected. Similarly, the coupler sensors 217 may indicate proximity and / or contact with the coupler frame 2. Both types of sensors 216, 217 may include transmitters that allow for transmission of a sensed signal to the remote control system 600. Additionally, the coupler sensors 217 / vehicle sensors 216 may be in the form of capacitive sensors (mutual capacitance and / or self-capacitance) to indicate direct contact or proximity with the coupler frame 211 or the vehicle / crane 200, 300, 350.

[0118] The connector 1 may also include additional tote guide plates 4 that protrude from the bottom surface 2' to ensure accurate alignment with the opening frame of the tote 20. Thus, the lower ends of the tote guide plates 4 should be positioned such that they correspond to the size of the opening frame 22 of the tote 20. The guide plates 4 may be resiliently connected to the connector frame 2.

[0119] In certain cases where a tote 20 is to be picked up from or inserted into a storage container 106 (hereinafter referred to as a bin) that is taller and slightly wider than the tote 20, it may be advantageous for the coupler frame 2 to be angled inwardly in the direction from the upper surface 2'' to the lower surface 2' to avoid undesirable jamming between the coupler frame 2 and the opening frame of the bin 106.

[0120] One specific example of an operation using the coupler 1 in a storage and retrieval system 100 as described above and shown in Figures 1-10 is a consolidation method for consolidating totes 20 within a bin 106, the totes 20 containing items / products to be delivered to an end customer.

[0121] Such operations may include the following steps:

[0122] 1. A container handling vehicle 200, 300, 350 is instructed by the control system 600 to pick up an available coupler 1 located on, at or above the rail system 108 and within reach of the vehicle 200, 300, 350.

[0123] 2. Once the coupler 1 is successfully coupled beneath the lift device 210 of the vehicle 200, 300, 350, the vehicle 200, 300, 350 is instructed to move to a position on the rail system 108 where the lift device assembly 1, 210 (including the lift device 210 and coupler 1) is aligned directly above the storage column 105 where the bin 106 containing the target tote 20 is positioned at the top of the stack 107.

[0124] 3. The vehicle 200, 300, 350 lowers the assembly 1, 210 into the tote-in-bin arrangement 20, 106 until the protrusions 3' of the tote paddles 3 are aligned with the respective gripping structures 12 of the tote 20. The assembly 1, 210 is preferably designed such that this alignment is achieved when the bottom of the assembly 1, 120 is adjacent the perimeter / opening frame of the bin 106.

[0125] 4. The coupler control system 7 instructs the motor 5 to rotate the rotating element 6, thereby moving the links 9a, 9b outward in the opposite direction (see FIG. 8), so that the protrusions 3′ couple with the gripping structure 12. The command may be sent from a transmitter in the vehicle 200, 300, 350 via an electrical connector between the lift device 210 and the coupler 1 (see, for example, FIG. 7), or may be sent directly from the control system 600 to a receiver on the coupler control system 7. Such a receiver may form an integral part of the motor 5.

[0126] 5. The vehicle 200, 300, 350 lifts the assembly 1, 210 along with the tote 20 so that the bottom of the tote 20 is positioned a fixed distance above the rail system 108.

[0127] 6. The vehicle 200, 300, 350 moves to a position where the assembly 1, 210 with the target tote 20 is directly above the storage column 105 in the consolidated area of ​​the rail system 108 with an empty bin 106 at the top of the stack 107.

[0128] 7. Place the target tote 20 in the empty bin 106. The placement includes: Lowering the assembly 1, 210 so that the target tote 20 is at least partially, and preferably completely, within the bin 106; By separating the projection 3' from the gripping structure 21 by rotating the rotating element 6 in the opposite direction as in point 4.

[0129] 8. When one or more of the products stored in the target tote 20 are to be retrieved from the storage and retrieval system 100, using the same procedure as points 1-5 (or similar to points 2-5 if the vehicle 200, 300, 350 in question already has a coupling 1 connected to the lift device 210), the vehicle 200, 300, 350 is moved to the storage column 105 at point 7 and the target tote 20 is picked up from the bin 106.

[0130] 9. The vehicle 200, 300, 350 is moved to a position where the assembly 1, 210 with the target tote 20 is located directly above a dedicated drop-off port column 119 (see FIG. 1 ) and the target tote 20 is lowered through the port column 119 to the access and dispensing station 500 located at the lower end of the port column.

[0131] 10. The target tote 20 is picked up by a human operator and / or a robotic picking device 400 and placed on an appropriate transport mechanism, such as a conveyor system 503, for further transport to the end customer.

[0132] 11. The empty tote 20 is transported by the transport mechanism at point 10 to a location within reach of a human operator and / or robotic picking device 400.

[0133] 12. Via the pickup port column 120, an empty tote 20 is elevated to a position some distance above the rail system 108 by use of vehicles 200, 300, 350 and placed in the storage column 105 by running any of points 1-9 in the opposite direction.

[0134] The target tote 20 may be transported directly from the storage column 105 at point 2 to the drop-off port column 119 (thus omitting steps 6-8).

[0135] Furthermore, throughout operational steps 1-12, only one port column 119 or 120 may be used.

[0136] Other mechanisms for transporting the target totes 20 from the vehicles 200, 300, 350 to the access and dispensing station 500 may be envisioned, including separate bin transport devices such as vertical bin lifts and / or inclined conveyor belts.

[0137] In an alternative consolidation method in accordance with the present invention, the robotic picking device 400 is positioned at or above the level of the rail system 108, thereby allowing consolidation of totes 20 within bins 106 to be performed at least in part by the robotic picking device 400. Such an alternative configuration may also allow for direct transfer of products between totes 20 and / or bins 106.

[0138] In another alternative integration method according to the present invention, the vehicle 200, 300, 350 does not pick up the coupler before performing steps 8 and 9, but instead uses the vehicle's lift device 210 to pick up the bin 106 containing the target tote 20 and delivers the tote-in-bin configuration 20, 106 to the drop-off port column 119 for further transportation to the access and dispensing station 500.

[0139] 11-13 show two different embodiments of product handling systems 400, 500 positioned adjacent to the drop-off port column 119 of the automated storage and retrieval system 100. The product handling systems 400, 500 include a robotic picking device 400 and an access and dispensing station 500.

[0140] The robotic picking device 400 comprises a robot base 401, two or more robot segments 402-404, and a manipulation end 405 configured to grasp and release a tote 20, for example by use of a second coupler 406 similar to coupler 1 described above.

[0141] 11 and 12, the access and dispensing station 500 includes a container basket 501 configured to temporarily store / hold bins 106 and a storage system access opening 502 through which the container basket 501 may be guided, for example, by use of a dedicated container basket displacement mechanism (not shown). The container basket 501 may also be configured to allow for temporary storage of only totes 20. Configurations in which the container basket 501 may store either bins 106 or smaller totes 20 may also be envisioned.

[0142] The station 500 of Figures 11 and 12 further includes a conveyor system 503 disposed at least partially outside the framework 101 of the storage and retrieval system 100. The conveyor system 503 may include a first conveyor belt 503a and a second conveyor belt 503b disposed parallel to one another. As shown in Figure 11, by locating an end of each of the conveyor belts 503a, 503b next to the access opening 502, simultaneous transport of totes 20 to and from the container basket 501 is permitted, thereby improving the overall efficiency of the product handling systems 400, 500.

[0143] With particular reference to FIG. 12, the robotic picking device 400 in this first embodiment includes: a robot base 401 fixed on a platform / floor 700; a first robot segment 402, which is connected in a vertical orientation to the robot base 401, whereby its displacement parallel to the platform / floor 700 in the direction into and out of the storage system 100 is controlled; a second robot segment 403 connected horizontally to the first robot segment 402 so as to allow a controlled vertical displacement; a manipulation end 405 at least indirectly connected to the second robot segment 403.

[0144] The above-mentioned second connector 406 on the operating end 405 includes a handle 15 disposed on the upper portion of its connector frame 2 .

[0145] Hereinafter, vertical / horizontal orientation is measured relative to the platform / floor 700 of the robot base 401. It should also be noted that the conveyor system 503 and / or the storage volume framework 101 of the storage and retrieval system 100 may be supported on the same platform / floor 700 or on other platforms located at different vertical levels.

[0146] The controlled horizontal and vertical displacement may be achieved by known displacement devices such as electric linear actuators and / or hydraulic cylinders. The connecting end of the second robot segment 403 may be guided, for example, along a vertical rod forming part of the first robot segment 402.

[0147] The robotic picking device 400 is further positioned such that the handling end 405 can be manipulated to be centered above the container basket 501 .

[0148] With the particular configuration described above, and with the second coupler 406 connected to the operating end 405 of the robotic picking device 400, any tote 20 stored in the respective bin 106 can be stored again in the container basket 501 and picked up via remote operation of the second coupler 406 and at least one of the first and second robot segments 402, 403 when the container basket 501 is positioned in a pick-up position outside the access opening 502.

[0149] It should be noted that bins 106 designed to house totes 20 may remain within the container basket 501 at all times during operation. Alternatively, the container basket 501 may be designed to temporarily store the target totes 20, as described above.

[0150] 13 shows a second embodiment of a product handling system 400, 500 using the second coupling 406 described above. The second embodiment is substantially identical in structure and operation to the first embodiment, except for the use of a different type of robotic picking device 400, namely an articulated type robotic picking device.

[0151] The articulated robotic picking device 400 comprises a robot base 401 connected to a fixed platform / floor 700 and a vertical rotation axis C oriented preferably perpendicular to the platform / floor 700. RB a first robot segment 402 rotatably connected to the robot base 401 using a horizontal rotation axis, preferably oriented parallel to the platform / floor 700; a second robot segment 403 rotatably connected to the first robot segment 402 using a horizontal rotation axis, preferably oriented parallel to the platform / floor 700; a third robot segment 404 rotatably connected to the second robot segment 403; and a manipulation end 405, which forms part of or is rotatably coupled to the third robot segment 403 and a second coupler 406 as described above, which is preferably removably connected to the manipulation end 405.

[0152] All joints, i.e., rotatable connection points as described above, are equipped with a rotation mechanism that operates remotely and / or autonomously, thereby enabling the articulated robotic picking device 400 to pick up totes 20 with product articles from within bins 106 located inside the container basket 501 or directly from the container basket 501 and place the totes 20 on a conveyor belt 503a that transports the totes 20 away from the framework 101. Similarly, the articulated configuration enables the robotic picking device 400 to pick empty totes 20 from a conveyor belt 503b that transports the totes 20 towards the framework 101 and place the empty tote 20 in a bin 106 located inside the container basket 501 or directly in the container basket 501.

[0153] In the preceding description, various aspects of a coupler for releasably coupling to a container, a lift device assembly including such a coupler, a product handling system for handling totes, an automated storage and retrieval system, and related methods have been described with reference to exemplary embodiments. For purposes of explanation, specific numbers, systems and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the exemplary embodiments, as well as other embodiments of the system that are apparent to those skilled in the art to which the disclosed subject matter pertains, are deemed to be within the scope of the present invention.

[0154] (Reference Number:) 1 Shipping Container Couplers / Couplers 2 Coupler frame 2' Bottom side of coupler frame 2'' Coupler frame top 3. Shipping container connection mechanism / gripper paddle / tote paddle 3' protrusion 3'' Upper end of gripper element 3 4 Shipping Container Guide Plates / Tote Guide Plates 5 motor (for displacing the gripper element 3) 6 Rotating element / rotating disk (rotatably connected to the motor 5) 7 Coupler Control System 7' Lift Device Connector / Electrical Pins 8 Motor Support / Angle Bracket 9 Gripper element displacement means 9a First displacement link 9b Second Displacement Link 10 Gripper receiving recess or through hole 11 Guide pin receiving recess 15 Connected Devices 20 Shipping Containers / Totes 20' Incoming Shipping Container / Incoming Tote 21 Gripping structures / recesses / openings in shipping containers 22 Opening frame / upper rim 100 Storage and Recovery System 101 Framework / Storage Grid 102 Upright members of frame structures 105 Storage Column 106 Storage Container 106' Specific Location of Storage Container / Target Storage Container 107 Stack 108 Rail System 110 Parallel rail in the first direction (X) 111 Parallel rail in the second direction (Y) 112 grid cells 115 Grid Opening 119 1st Port Column / Drop-off Port Column 120 Second Port Column / Pickup Port Column 200 Container handling vehicle with cantilever beam 201 Body of vehicle 200 202a Drive means / wheel arrangement, first direction (X) 202b Drive means / wheel arrangement, second direction (Y) 203 Cantilever beam 210 Storage container lift device / lift device 211 Lift Frame 211' Lift frame underside 211'' Lift Frame Top 212 Gripper / Claw / Hook 212' Gripper operating mechanism / jaw or hook operating mechanism 213 Lift mechanism / lift band 213' Mounting points / mounting elements / mounting mounts 215 Guide pin 216 Vehicle Sensor 217 Coupler Sensor 300 Container handling vehicle having a central cavity occupying a single cell 301 Body of vehicle 300 302a Drive means / wheel arrangement, first direction (X) 302b Drive means / wheel arrangement, second direction (Y) 350 Container handling vehicle having an internal cavity occupying multiple cells 400 Robot Picking Device 401 Robot Base 402 First Robot Segment 403 Second Robot Segment 404 3rd Robot Segment 405 Operation end 406 Second Coupler 500 Access and Distribution Stations 501 Container Support / Container Basket 502 Storage System Access Opening 503 Conveyor System 503a First conveyor belt 503b Second Conveyor Belt 600 Control System 700 Floors X First Direction Y Second Direction Z third direction C RB Rotating robot base axis

Claims

1. A lift device assembly (1, 210) for handling shipping containers (20) stored in a storage container (106), said lift device assembly (1, 210) comprising: A shipping container coupler (1), comprising: a coupler frame (2) having a coupler frame lower surface (2') and a coupler frame upper surface (2''); a shipping container coupling mechanism (3) fixed to the coupler frame (2), the shipping container coupling mechanism (3) protruding from the coupler frame underside (2') to allow releasable coupling to a corresponding coupling structure (21) within the interior volume of a shipping container (20); A shipping container coupler (1), A lift device (210) and Equipped with The lift device (210) comprises: a lift frame (211) having a lift frame lower surface (211') and a lift frame upper surface (211''); a plurality of grippers (212) connected to the lift frame (211) for releasably connecting to the coupler (1); Equipped with The lift frame (211) is configured such that the lift frame lower surface (211') can be placed adjacent to the connector frame upper surface (2'') in a coupled position, a lift device assembly (1, 210).

2. The connector frame (2) further comprises a plurality of recesses and / or through holes (10); the number of said recesses and / or through holes (10) is at least equal to the number of said grippers (212); A lift device assembly (1, 210) as described in claim 1, wherein the position of each recess and / or through hole (10) is such that when the lift frame lower surface (211') is placed in a connected position above the connector frame upper surface (2''), each gripper (212) is aligned with a corresponding recess and / or through hole (10).

3. The lift device assembly (1, 210) of claim 1, wherein the lift frame (210) further comprises mounting mounts (213') for mounting lift bands (213).

4. The lift device assembly (1, 210) of claim 1, further comprising a sensor (217) configured to detect when the lift frame lower surface (211') is in contact with and / or proximity to the connector frame upper surface (2'').

5. The plurality of grippers (212) protrude from the lower surface (211') of the lift frame, The lift device assembly (1, 210) of claim 1, wherein the lift device (210) further comprises a gripper operating mechanism (212') disposed at least partially within the lift frame (211).

6. the lift device (210) further comprises a plurality of guide pins (214), said plurality of guide pins (214) projecting from said lift frame underside (211') for insertion into a receiving recess of a storage container (106), said storage container being arranged to hold said shipping container (20) therein; The coupler frame (2) further comprises a plurality of guide pin receiving recesses and / or through holes (11) extending between the coupler frame lower surface and the upper surface (2', 2''); A lift device assembly (1, 210) as described in claim 1, wherein the position of each guide pin receiving recess and / or through hole (11) is such that when the lift frame lower surface (211') is positioned in the coupled position above the connector frame upper surface (2''), each guide pin (214) passes through a corresponding guide pin receiving recess and / or through hole (11).

7. The lift device assembly (1, 210) of claim 1, wherein a cross-sectional area of ​​the lift frame lower surface (211') is at least equal to a cross-sectional area of ​​the connector frame upper surface (2'').

8. The shipping container coupling mechanism (3) comprises two gripper paddles (3) for gripping the shipping container (20), The two gripper paddles (3) are arranged at equal and opposite distances from a vertical central plane (CP) oriented perpendicular to the connector frame underside (2'), The lift device assembly (1, 210) of claim 1, wherein each of the gripper paddles (3) is provided with a protrusion (3') located below the connector frame underside (2') for insertion into a corresponding coupling structure (21) of the shipping container (20).

9. The shipping container coupling mechanism (3) further comprises a displacement system (5-9), The lift device assembly (1, 210) of claim 8, wherein the displacement system (5-9) is for displacing the two gripper paddles (3) in opposite directions from the vertical central plane until the protrusions (3') engage with the respective connecting structures (21).

10. The displacement system (5 to 8) A motor (5); a control system (7) configured to control the operation of said motor (5); a first link (9, 9a) connected at one end to said motor (5) and at the other end to one of said two gripper paddles (3); a second link (9, 9b) connected at one end to the motor (5) and at the other end to the other of the two gripper paddles (3); Equipped with 10. The lift device assembly (1, 210) of claim 9, wherein the motor (5) is configured to displace the first and second links (5) in opposite directions away from the vertical center plane.

11. said displacement system (5-8) further comprises a rotating element (6) connecting said first and second links (9, 9a, 9b) to a shaft of said motor (5); A lift device assembly (1, 210) as described in claim 10, wherein the motor (5), the rotating element (6) and the links (9, 9a, 9b) are configured such that displacement in opposite directions of the first and second links (9, 9a, 9b) is achieved by rotating the rotating element (6) clockwise or counterclockwise between 0 degrees and 180 degrees.

12. The control system (7) A lower portion (7') on the lower surface (2') of the connector frame; An upper portion (7'') on the connector frame upper surface (2''); is divided into the upper portion includes one or more lift device connectors (7'') in signal communication with the lower portion (7'); The lift device assembly (1, 210) of claim 10, wherein the lift frame (211) comprises one or more coupling connectors in signal communication with the one or more lift device connectors (7'').

13. A shipping container coupler (1) for use in a lift device assembly (1, 210) according to any one of claims 1 to 12, said coupler (1) comprising: a coupler frame (2) having a coupler frame lower surface (2') and a coupler frame upper surface (2''); a shipping container coupling mechanism (3) fixed to the coupler frame (2); Equipped with the shipping container coupling mechanism (3) protrudes from the connector frame underside (2') to allow releasable coupling to a corresponding coupling structure (21) within the interior volume of the shipping container (20); the connector (1) is configured to be gripped from the connector frame top surface (2'') by a plurality of grippers (212) of a lifting device (210); The coupler (1) further comprises electrical contacts (7'') on its coupler frame top surface (2'') for receiving electrical power from the lifting device (210) when the coupler (1) is in a coupled position below the lifting device (210) and gripped by the gripper (212) of the lifting device (210); The power is for operating the shipping container coupling mechanism (3) to releasably couple to an inner surface of a shipping container (20).

14. 14. The shipping container coupler (1) of claim 13, wherein the shipping container coupling mechanism (3) comprises a gripper paddle arranged to pivot outwardly into contact with a coupling structure (21) of the shipping container (20).

15. 14. The shipping container coupler (1) according to claim 13, wherein the coupler (1) is configured so as not to extend laterally any further than the periphery of the lifting device (210) to which it is intended to be coupled.

16. A storage and recovery system (100), comprising: a framework (101) comprising a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing stacks (107) of storage containers (106); a rail system (108) disposed on the framework (101), the rail system (108) comprising vertical rails (110, 111), intersections of the vertical rails forming a grid of grid cells (112), the rails defining grid openings (115) into the plurality of storage columns (105); Container handling vehicles (200, 300, 350) and Equipped with The container handling vehicle (200, 300, 350) a drive means (202a, 202b, 302a, 302b) configured to move along said rail system (108); A lift device assembly (1, 210) according to any one of claims 1 to 12, a storage container space for receiving and housing a storage container (106); a lift motor for lifting the storage container (106) into the storage container space; a lift band (213) connected at one end to a mounting mount (213') and at the other end to the lift motor; A storage and retrieval system (100).

17. The storage and recovery system (100) comprises: A control system (600); a robotic picking device (400) in signal communication with the control system (600); Further equipped with The robotic picking device (400) comprises a robot base (401), a first robot segment (402) rotatably connected to the robot base (401), and a manipulation end (405, 406) configured to enable a releasable connection to the shipping container (20); 17. The storage and retrieval system (100) of claim 16, wherein the robotic picking device (400) is configured such that the operating end (405, 406) is movable to a position at least within reach of the storage container (106) to be delivered to an access and distribution station (500).

18. A method for lifting a shipping container (20) disposed within a storage container (106) using a container handling vehicle (200, 300, 350) and a shipping container coupler (1), comprising: The vehicle (200, 300, 350) comprises a storage container space for receiving and storing a storage container (106), drive means (202a, 202b, 302a, 302b) configured to move the vehicle (200, 300, 350) along a rail system (108), a lift device (210) for lifting and lowering the storage container (106), a lift motor for lifting the storage container (106) into the storage container space, and a lift motor (202b) having one end connected to the lift device (210) and the other end connected to the front. and a lift band (213) connected to the lift motor, said lift device (210) comprising a lift frame (211) and a number of grippers (212) protruding from a lift frame underside (211'), said coupler (1) comprising a coupler frame (2) and a shipping container coupling mechanism (3) fixed to said coupler frame (2), said shipping container coupling mechanism (3) for enabling a releasable coupling to a corresponding coupling structure (21) within an interior volume of a shipping container (20) or on a contour of said shipping container (20), The method comprises: lowering the lift device (210) into contact with or close proximity to a connector frame (2) of the connector (1); gripping the connector (1) by operating the gripper (212) to form a lift device assembly (1, 210); Raising the lifting device (210) with the connector (1) connected to the lifting device (210); moving the container handling vehicle (200, 300, 350) along the rail system (108) to a position where the lift device assembly (1, 210) is above a storage container (106) housing a distribution container (20); lowering the lift device assembly (1, 210) to a position where the coupler (1) can be connected to the shipping container (20); connecting the coupler (1) to the shipping container (20) by operating the shipping container coupling mechanism (3); raising the shipping container (20) from within the storage container (106) using the lift motor until the shipping container (20) is at least partially within the storage container space; A method comprising:

19. The storage container (106) is stored in a storage and recovery system (100), the storage and recovery system (100) comprising: The container handling vehicle (200, 300, 350); a framework (101) comprising a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing stacks (107) of storage containers (106); the rail system (108) disposed on the framework (101); Equipped with the rail system (108) comprises vertical rails (110, 111) whose intersections form a grid of grid cells (112), the rails defining grid openings (115) into the plurality of storage columns (105); 20. The method of claim 18, wherein the step of moving the container handling vehicle (200, 300, 350) to a position where the lift device assembly (1, 210) is above a storage container (106) housing a shipping container (20) is limited by the orientation of the rails (110, 111).

20. The storage and recovery system (100) comprises: A port column (119, 120); an access and distribution station (500) disposed at the lower end of said port columns (119, 120); Further equipped with The method comprises: moving the container handling vehicle (200, 300, 350) to a position where the shipping container (20) is above the port column (119, 120); transporting said shipping container (20) to said access and distribution station (500); 20. The method of claim 19, further comprising:

21. The method comprises: reconnecting said container handling vehicle (200, 300, 350) to said coupler (1); moving the container handling vehicle (200, 300, 350) to a position such that the coupler (1) is above one of the at least one port columns (119, 120); lowering the connector (1) into the port column (119) until the connector (1) is in a gripping position with a shipping container (20) located at the lower end of the port column (119); connecting said shipping container (20) to said connector (1); lifting the shipping container (20) at least partially into the storage container space of the container handling vehicle (200, 300); 21. The method of claim 20, further comprising:

22. A computer readable medium storing a computer program comprising instructions for performing the method steps of any one of claims 18 to 21.

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