Double-ended access station for automated storage and retrieval system and method of use thereof

Abstract

The present invention relates to an access station for an automated storage and retrieval system and a method for operating such an access station, the access station comprising a receiving area for receiving storage containers from the automated storage and retrieval system, a first picking location for presenting the storage containers to a picker, the first picking location being located on a first side of the receiving area, a second picking location for presenting the storage containers to the picker, the second picking location being located on a second side of the receiving area opposite the first side, and a primary carriage for transporting the storage containers between the picking locations and the receiving area.

Description

[Technical field]

[0001] FIELD OF THEINVENTION The present invention relates to an automated storage and retrieval system for the storage and retrieval of containers, and in particular to an access station for presenting storage containers from the automated storage and retrieval system to a picker. [Background technology]

[0002] Background and Prior Art FIG. 1 discloses a prior art automated storage and retrieval system 1 having a framework structure 100, and FIGS. 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.

[0003] The framework structure 100 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 structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of the framework structure 100, on which a plurality of container handling vehicles 201, 301, 401 can be operated to raise the storage containers 106 from the storage columns 105, lower the storage containers 106 into the storage columns and transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 201, 301, 401 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the framework structure 100 may be used to guide the storage containers while raising the containers from the columns 105 and lowering the containers into the columns. The stacks 107 of containers 106 are typically freestanding.

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a body 201a, 301a, 401a and a first and second set of wheels 201b, 201c, 301b, 301c, 401b, 401c enabling lateral movement of the container handling vehicle 201, 301, 401 in the X and Y directions, respectively. In figures 2, 3 and 4 two wheels of each set are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage two adjacent rails of the first set of rails 110 and the second set of wheels 201c, 301c, 401c are arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised or lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device for transporting the storage container 106 vertically, e.g. for raising the storage container 106 from the storage column and lowering the storage container 106 into the storage column 105. The lifting device comprises one or more gripping / engagement devices adapted to engage with the storage container 106, which can be lowered from the vehicle 201, 301, 401 such that the position of the gripping / engagement device relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z, perpendicular to the first direction X and the second direction Y. Part of the gripping device of the container handling vehicle 301, 401 is shown in Figures 3 and 4, indicated by reference numbers 304, 404. The gripping device of the container handling device 201 is located in the vehicle body 201a in Figure 2.

[0008] Conventionally, and for the purposes of this application, Z=1 identifies the top layer available for storage containers below the rails 110, 111, 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=7 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 position X=17, Y=1, Z=5. The container handling vehicles 201, 301, 401 can be said to be moving in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in FIG. 1 that extend above the rail system 108 are also said to be located at layer Z=0.

[0009] The storage volume of the framework structure 100 is often referred to as a grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column 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 201, 301, 401 comprises a storage compartment or space for receiving and housing the storage containers 106 as they are transported across the rail system 108. The storage space may comprise an internally disposed cavity within the vehicle body 201a, as shown in Figures 2 and 4 and described, for example, in WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail, for example, in Norwegian patent no. 317366, the contents of which are also incorporated herein by reference.

[0012] The cavity container handling vehicle 201 shown in Figure 2 may have 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 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the cavity container handling vehicle 401 may have a footprint larger than the lateral area defined by the storage column 105 as shown in Figures 1 and 4, for example as disclosed in WO 2014 / 090684 A1 or WO 2019 / 206487 A1.

[0014] Rail systems 108 typically include rails with grooves along which the vehicle wheels run. Alternatively, the rails 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 may include one track, or each rail may include two parallel tracks. In other rail systems 108, each rail in one direction may include one track and each rail in the other perpendicular direction may include two tracks.

[0015] WO 2018 / 146304 A1, 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.

[0016] In the framework structure 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 201, 301, 401 to drop off and / or pick up the storage containers 106 so that they can be accessed from outside the framework structure 100 or transported to an access station (not shown) where they can be transferred outside or inside the framework structure 100. In the art, such locations are usually called "ports" and the columns where the ports are located are sometimes called "port columns" 119, 120. The transport to the access station may be in any direction, i.e. horizontal, inclined and / or vertical. For example, the 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 the port columns 119, 120 for further transport to the access station; once the storage containers 106 are lowered through the port columns 119, 120, transport from the port to the access station may require movement along a variety of different directions by means such as delivery vehicles, trolleys or other transport lines. Note that the term "inclined" refers to transport of storage containers 106 having a general transport direction somewhere between horizontal and vertical.

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

[0018] An access station may typically be a picking or stock station where products are removed from or placed into a storage container 106. At a picking or stock station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to the framework structure 100 again once accessed. A port may also be used to transfer a storage container to another storage facility (e.g., to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

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

[0020] If the port columns 119, 120 and the access stations are located at different levels, the conveyor system may include a lift device having a vertical component for vertically transporting the storage containers 106 between the port columns 119, 120 and the access stations.

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

[0022] When a storage container 106 stored in one of the columns 105 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container located above 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 that is 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 in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 dedicated to the task of temporarily retrieving the storage container 106 from the storage column 105. Once the target storage container 106 has been retrieved from the storage column 105, the temporarily retrieved storage container 106 may be relocated to the original storage column 105. However, the retrieved storage container 106 may alternatively be relocated to another storage column 105.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301, 401 is 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 positioned at or above the target location in the stack 107 has been removed, the container handling vehicle 201, 301, 401 places the storage container 106 in the desired location. The removed storage container 106 may then be placed back into the storage column 105 or relocated to another storage column 105.

[0024] In order to monitor and control the automated storage and retrieval system 1, for example, the position of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301, 401 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500 that is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] Figure 32 shows an example of a product 80 stored in a storage container 106. The storage container 106 shown in Figure 32 has a height Hf, a width Wf, and a length Lf. The storage container 106 has a horizontal cross section Af.

[0026] An access station for picking storage containers is disclosed in WO 2020 / 074717. This access station comprises an inlet conveyor and an outlet conveyor. The access station therefore has a footprint that exceeds the width / length of the storage column. There is therefore a certain distance between the picking zones of two adjacent access stations.

[0027] The access stations disclosed in WO 2020 / 074717 also have many moving or rotating components, particularly associated with the conveyors, that are subject to wear and require regular maintenance.

[0028] It is therefore an object of the present invention to provide an access station by which storage containers can be accessed in different ways.

[0029] A further object of the invention is to reduce the complexity of an access station, especially with regard to the number of moving components. [Prior art documents] [Patent documents]

[0030] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2019 / 206487 Summary of the Invention [Means for solving the problem]

[0031] Summary of the Invention The invention is set forth and characterized in the independent claims, while the dependent claims describe further characteristics of the invention.

[0032] The present invention relates to an access station for providing a storage container, comprising: a receiving area for receiving the storage container from the automated storage and retrieval system; a first picking location for presenting the storage container to a picker, the first picking location being disposed on a first side of the receiving area; a second picking location for presenting the storage container to the picker, the second picking location being disposed on a second side of the receiving area opposite the first side; a guide frame disposed in a horizontal plane and extending between a first picking location and a second picking location; a primary carriage for transporting the storage container along the guide frame.

[0033] The primary carriage may be configured to transport the storage container to both the first pick location and the second pick location.

[0034] Thus, the flexibility of the access station is increased since multiple operations can be performed simultaneously at the same access station. The double-ended configuration also provides contingency in case a continued operation is prevented at one of the ends, i.e., at either the first picking location or the second picking location. Because the first picking location and the second picking location share one receiving area, the footprint of the access station can be smaller than that of two access stations each having one picking location.

[0035] The access station offers the possibility to perform automated picking at a first picking location and human picking / intervention at a second picking location.

[0036] The access station may further comprise an access cabinet for interfacing with a human picker, the access cabinet being positioned at the second picking location.

[0037] A human picker may remove and / or add storage containers to the storage retrieval system through an access cabinet. The access cabinet may also allow a human to inspect the storage containers and their contents.

[0038] The access station may further comprise an access cabinet for interfacing with a human picker located at the first picking location.

[0039] The access cabinet may be provided with a hatch that allows access to the interior of the access cabinet when a storage container is presented therein. The hatch typically slides open. The access cabinet may then extend the length of approximately two storage columns outside the framework structure. Instead of sliding open, the hatch may pivot between an open position and a closed position. The access cabinet may then extend the length of approximately one storage column outside the framework structure. For layout purposes, the access cabinet may extend the length of up to three storage columns outside the framework structure, if desired.

[0040] The receiving area may include only one receiving position.

[0041] By having a receiving area that includes only one receiving location, a compact access station can be achieved. This may allow room for a greater number of storage containers to be stored in the system. However, providing additional receiving locations may provide greater access opportunities for larger storage systems.

[0042] A receiving area may define an area that is larger than the sum of the receiving positions contained in it, especially when the receiving area includes only one receiving position, and part of the receiving area may be located, for example, below one or several storage columns.

[0043] The receiving area may include a plurality of receiving locations.

[0044] By having a receiving area with several receiving positions, the traffic on the rail system can be better organized: container handling vehicles can be lined up at different receiving positions at the same time.

[0045] The receiving area may include two or more receiving positions, preferably three or four receiving positions.

[0046] The receiving locations may be spaced apart, however the access station will be more compact the closer the receiving locations are located to one another, and in at least one embodiment the receiving locations are located in a row, each adjacent to another one of the receiving locations.

[0047] Each receiving location is positioned in vertical alignment with a port column, or access opening, of the automated storage and retrieval system.

[0048] Alternatively, the access station may comprise a framework structure having upright members and a rail system, in which case the framework structure of the access station should be configured to connect with the framework structure of the automated storage and retrieval system, e.g., with respect to the height and arrangement of the rail system.

[0049] An access station having a receiving area including a plurality of receiving locations is used in combination with an automated storage and retrieval system having a framework structure with a plurality of port columns, where the arrangement of the receiving locations corresponds to the arrangement of the port columns.

[0050] By adapting the width of the receiving locations to the width of one port column, two or more receiving locations can be arranged in a space-efficient manner, i.e., side-by-side, without spacing. Such an arrangement of receiving locations can provide a compact access station. The width of the port column can be seen as the width of the storage container plus the width of the rails of the rail system (half the rail width arranged on either side of the storage container), and thus, when the receiving locations correspond to the width of the port column, they can be arranged in a side-by-side relationship corresponding to the positions of the port columns, allowing the receiving locations to be provided in adjacent rows of storage columns.

[0051] It is possible for container handling vehicles facing in opposite directions (eg, "north" and "south" vehicles) to deliver storage containers to the same receiving location.

[0052] Using the receiving location closest to the picking location, i.e. the first picking location, is preferred as it requires the shortest movement of the primary carriage and is therefore fastest, minimizing the time of use of the storage and retrieval system resource that is the access station. However, if a container handling vehicle is not readily available at the first receiving location, it may be beneficial to utilize other receiving locations available to the container handling vehicle, even if the primary carriage has to travel a longer distance. If the first receiving location is occupied by the first container handling vehicle, any subsequent container handling vehicle may use any one of the other port columns.

[0053] A cantilevered container handling vehicle may be used to deliver and retrieve storage containers to / from a receiving area. Such a container handling vehicle typically covers two access openings. When the cantilevered container handling vehicle is oriented to cover the access openings above the first and second receiving locations, another container handling vehicle typically utilizes a third receiving location in case of simultaneous operation.

[0054] For delivery and retrieval of storage containers to / from the receiving area, single-cell container handling vehicles may be used instead of or in addition to the cantilever container handling vehicles. Such container handling vehicles typically cover only one access opening. In case of simultaneous operation of the single-cell container handling vehicles, all receiving positions can be utilized.

[0055] The container handling vehicle may also have different configurations that may cover other numbers or portions of the access openings.

[0056] The access station may further comprise: A secondary carriage for transporting storage containers along the guide frame.

[0057] The primary and secondary carriages are configured to move along the same path.

[0058] The primary carriage may be configured to transport the storage container to a first picking location, and the secondary carriage may be configured to transport the storage container to a second picking location.

[0059] The primary carriage is a primary carriage base movable along the guide frame; a primary carriage displacement motor configured to move the primary carriage along the guide frame; a first storage container support connected to the primary carriage base; a transport device for moving a storage container disposed on the first storage container support; and The secondary carriage is a secondary carriage base movable along the guide frame; a secondary carriage displacement motor configured to move the secondary carriage along the guide frame; a second storage container support connected to the secondary carriage base; Equipped with The secondary carriage is configured to receive a storage container moved from the first primary carriage by the transport device.

[0060] An advantage of this access station is that it allows for an increased frequency of storage containers being presented to pickers, thus increasing the throughput of storage containers within the storage and retrieval system.

[0061] Between each storage container presented to the picker, the primary carriage does not have to move beyond the receiving area to receive the next storage container presented to the picker, i.e. the travel distance is kept to a minimum. By keeping the movement of the primary carriage as short as possible, time can be saved. This can be achieved by a transport device moving the storage container from the first storage container support to the second storage container support. The primary carriage then does not have to move to an intermediate position to deliver the already presented storage container before it can receive the subsequent storage container.

[0062] The transfer device may transfer the storage container from the first storage container support to the second storage container support when the primary and secondary carriages are stationary or while the primary and secondary carriages are moving together.

[0063] The transfer device may be arranged, for example, on a carriage base of the primary carriage, or alternatively, the transfer device may be arranged on the first storage container support.

[0064] By transferring the storage container from the first storage container support to the second storage container support while the primary and secondary carriages are moving together, e.g., in unison, the primary carriage is ready to receive the subsequent storage container when it reaches the receiving area. In this way, time can be saved, especially when a container handling vehicle is waiting ready to deliver the subsequent storage container.

[0065] With an access station with multiple receiving positions, a first container handling vehicle can deliver / recover a storage container from a first receiving position while a second container handling vehicle is preparing to deliver / recover a storage container from a second receiving position. Thus, a container handling vehicle can always wait ready to deliver / recover a storage container from a primary carriage or a secondary carriage. The advantage of this is that the primary carriage does not have to wait for a container handling vehicle to switch places. Thus, no time is wasted for the primary carriage.

[0066] To achieve efficient utilization of the container handling vehicles, a container handling vehicle that delivers a subsequent storage container to a primary carriage will typically also retrieve a preceding storage container from a secondary carriage.

[0067] The primary and secondary carriages may also be configured to move independently of one another.

[0068] The primary and secondary carriages may be configured to move in a reciprocating manner.

[0069] By providing the primary and secondary carriages with respective displacement motors, they can move along the guide frame independently of each other.

[0070] One of the primary and secondary carriages may move along the guide frame and the other of the primary and secondary carriages may remain stationary. Furthermore, the primary and secondary carriages may simultaneously move along the guide frame towards or away from each other.

[0071] In this way, the primary carriage may move from the receiving area towards the picking position independently of the secondary carriage. While the primary carriage carries the subsequent storage container from the receiving area towards the picking position, the secondary carriage may carry the already picked storage container towards the receiving position previously occupied by the primary carriage. The container handling vehicle already in position with the lift device lowered towards the access station can then retrieve the storage container supported by the secondary carriage. Alternatively, the secondary carriage can move towards another receiving position in the receiving area simultaneously with the primary carriage receiving the further subsequent storage container. A second container handling vehicle then typically retrieves the storage container from the secondary carriage.

[0072] In this manner, the secondary carriage can move toward and engage the primary carriage while the primary carriage is disposed in the picking position. Transfer of the storage container from the first storage container support to the second storage container support can then commence immediately after picking has been performed from that storage container.

[0073] The primary and secondary carriage displacement motors can be similar or even identical motors. The displacement motors may be disposed on the primary and secondary carriage bases, preferably at least partially within a volume defined by the respective carriage bases. Alternatively, the displacement motors may be disposed on the guide frames. Any motor of suitable size may be used, for example an electric motor such as a brushless DC motor.

[0074] The displacement motors and any other motors located on the primary and / or secondary carriages may be powered by batteries located on the respective carriage bases, or the motors may be connected to one or several external power sources.

[0075] The displacement motor may be connected to at least one of the wheels of each of the primary and secondary carriages by a gear or belt drive, or alternatively, the displacement motor may be a direct drive mechanism.

[0076] For stability, the displacement motor may be located as low as possible and centrally in the carriage base.

[0077] The primary and secondary carriage displacement motors preferably communicate directly or indirectly with a control system such that collisions between the primary and secondary carriages are avoided.

[0078] The access station may preferably be configured for signal communication with the control system.

[0079] The access stations may be configured to handle storage containers and / or consolidation bins.

[0080] The transport device may comprise a conveyor.

[0081] The conveyor may include motorized rollers. Such rollers may be disposed on the first storage container support and configured to support the storage container prior to transfer. Furthermore, the conveyor may include a belt.

[0082] The conveyor is a rail projecting rearwardly in a direction from the primary carriage toward the secondary carriage, the rail having a length that exceeds a length or width of the storage container; a slider connected to the rail and configured to interact with the storage container; a transfer motor configured to move the slider relative to the first storage container support in a direction toward the secondary carriage to provide a thrust force to a storage container disposed on the first storage container support; It may comprise:

[0083] The rails may preferably extend inside the periphery of the secondary carriage base when the primary and secondary carriages are connected to one another or at least moved proximate to one another.

[0084] The rail may be disposed in a central portion of the primary carriage base and have a longitudinal axis parallel to the direction of movement of the primary carriage.

[0085] The rails are preferably located below the level of the first storage container support. Furthermore, the rails may be located in gaps in the first storage container support.

[0086] The rails may be telescoping.

[0087] The rail may comprise a belt and typically two belt wheels located at each end. The belt may be configured to be operated by a transfer motor, either directly or indirectly through a second belt. The belt may further be connected to a slider such that the slider is operated by the transfer motor. The transfer motor then typically communicates with a control system. The belt may be in the form of a chain.

[0088] Alternatively, the rail may be a linear actuator. A less preferred alternative is a double acting hydraulic cylinder.

[0089] The slider is connected to the rail, i.e., directly connected to the rail or indirectly connected to the rail via at least one intermediate component. The slider may be releasably connected to the rail.

[0090] The sliders may be configured to move back and forth along the rail. Alternatively, a set of sliders may move in a first direction along a first side of the rail, and upon reaching the end of the rail, rotate to an opposite second side of the rail and move in a second direction along the second side of the rail, the second direction being opposite to the first direction. The first slider then typically rotates from the first side of the rail to the second side of the rail as the second slider rotates from the second side of the rail to the first side of the rail.

[0091] If the slider is fixed to a rail, the transport motor may be configured to move the slider by providing a reciprocating motion of the rail.

[0092] The slider may have an initial position that allows at least half of the length or width of the storage container to be supported on the first storage container support while the storage container is disposed between the slider and the secondary carriage.

[0093] The slider may have a trailing position that allows less than half the length or width of the storage container to be supported on the first storage container support while the storage container is positioned between the slider and the secondary carriage.

[0094] The slider may have a vertically extending portion disposed at least partially at the same vertical height as a storage container supported on the first storage container support.

[0095] The transport motor is preferably electrically powered.

[0096] In the case where the transfer device comprises a double-acting hydraulic cylinder, the transfer motor may be a hydraulic pump that supplies hydraulic pressure to the cylinder.

[0097] The access station further comprises: Latch for releasably connecting a primary carriage to a secondary carriage The present invention may also include:

[0098] By mounting the primary carriage to the secondary carriage, the risk of the storage container falling during displacement of the storage container from the first storage container support to the second storage container support is reduced, particularly when displacement of the storage container occurs during movement of the primary and secondary carriages.

[0099] The latches may preferably be configured such that the primary and secondary carriages can be positioned in their respective adjacent receiving positions while connected, such that a storage container can be simultaneously received / received from the first and second storage container supports.

[0100] The latch is a first coupling portion disposed at a rear end of the primary carriage base; a second coupling portion disposed at a front end of the secondary carriage base; and The rear end of the primary carriage faces the front end of the secondary carriage.

[0101] The latch may be a snap lock system, for example where the first coupling is a profile including a retaining lip and the second coupling is a resilient or biased barb, in which case the latch should preferably include a lever or pulling / pushing device to disengage the second coupling from the first coupling.

[0102] The latch in the form of a snap lock system may include a sensor for connection detection. The sensor may detect the connection by a return motion. The sensor may be in signal communication with a control system, either directly or indirectly via the access station or any of its components.

[0103] The first storage container support and the second storage container support may comprise rollers, sliding surfaces, continuous tracks, or any combination thereof.

[0104] The first storage container support and the second storage container support may preferably have a perimeter with a substantially equal footprint compared to the footprint of the storage container. In this manner, the first storage container support and the second storage container support may provide stable support for the storage container, particularly when the weight of one or more products within the storage container is not uniformly distributed.

[0105] The first storage container support and the second storage container support may comprise vertical side panels arranged parallel to their direction of movement, which is typically also the direction of storage container transfer between the two carriages. The vertical side panels may prevent unintended movement of the storage container. This is particularly advantageous during transfer of the storage container from the primary carriage to the secondary carriage.

[0106] The vertical side panels may be provided with rollers or sliding surfaces to reduce friction when the storage containers contact the vertical side panels during transport.

[0107] Where the vertical side panels are provided with rollers, the rollers may be configured to be powered to move the storage container across the first storage container support.

[0108] The sliding surface may be made of a different material than the vertical side panels, preferably having lower friction. A suitable material may be a polymer such as polyoxymethylene (POM). The sliding surface may be a plate attached to the vertical side panels or a coating applied to the vertical side panels.

[0109] The first storage container support and the second storage container support may comprise end stops arranged perpendicular to their direction of movement, which is typically also the direction of storage container transfer between the two carriages. The end stops may be arranged at the end of the first storage container support facing away from the secondary carriage and at the end of the second storage container support facing away from the primary carriage. The end stops may prevent unintended movement of the storage container. This is particularly advantageous during transfer of the storage container from the primary carriage to the secondary carriage.

[0110] The end stops may be formed from the same plate as the vertical side panels.

[0111] The guide frame may include a first guide path;

[0112] Both the primary carriage and the secondary carriage are configured to move along a first guide path.

[0113] A guide frame having only one guide path makes the guide frame less complicated.

[0114] However, the guide frame may include two guide paths, a first guide path and a second guide path. The primary carriage may be configured to move along the first guide path, and the secondary carriage may be configured to move along the second guide path. In this case, the second guide path typically has a different vertical height than the first guide path. The first storage container support and the second storage container support can still be configured to have the same vertical height.

[0115] The primary carriage is At least two sets of wheels connected to each side of the primary carriage base and The secondary carriage is At least two sets of wheels connected to each side of the secondary carriage base The device may further include:

[0116] The rear set of wheels of the secondary carriage may project rearwardly from the secondary carriage or at least the second storage container support. This wheel configuration may provide improved stability to the secondary carriage during transport of the storage container.

[0117] At least one of the wheel sets, i.e., the set of wheels, may be mounted on a straight axle so that both wheels rotate in unison. This is preferred for the wheel set connected to the primary carriage displacement motor or the secondary carriage displacement motor.

[0118] The primary carriage displacement motor may be disposed on the primary carriage base and configured to rotate at least one of the wheels connected to the primary carriage base; The secondary carriage displacement motor may be disposed on the secondary carriage base and configured to rotate at least one of the wheels connected to the secondary carriage base.

[0119] The primary carriage is a primary drive belt disposed on the guide frame, the primary drive belt extending at least from the picking position to the receiving area and connected to the primary carriage base; and a primary carriage displacement motor disposed on the guide frame and configured to operate the primary drive belt to move the primary carriage along the guide frame; The secondary carriage is a secondary drive belt disposed on the guide frame, the secondary drive belt extending at least from the picking position to the receiving area and connected to the secondary carriage base; and A secondary carriage displacement motor is disposed on the guide frame and configured to operate the secondary drive belt to move the secondary carriage along the guide frame.

[0120] An advantage of having the primary carriage displacement motor and the secondary carriage displacement motor located on the guide frame is that there are fewer components located on the primary carriage base and the secondary carriage base, and as a result their weight and complexity can be reduced.

[0121] The primary and secondary drive belts may be arranged parallel, side by side or spaced apart, at the same vertical height.

[0122] Each of the primary drive belt and the secondary drive belt may be disposed on two belt wheels disposed on opposite ends of the guide frame.

[0123] Alternatively, the primary and secondary drive belts may be chains.

[0124] The secondary carriage may be configured to carry two or more storage containers. By configuring the secondary carriage to support two or more storage containers, the secondary carriage may be able to buffer the storage containers during periods of reduced container handling vehicle availability. During periods of increased container handling vehicle availability, the two or more container handling vehicles may substantially simultaneously retrieve the storage containers from the secondary carriage and the primary carriage, respectively.

[0125] The first storage container support may be pivotally connected to the primary carriage base by a pivot connection; The access station is A tilting device for tilting the first storage container support and The primary carriage may have a receiving state in which the first storage container support is disposed substantially parallel to a horizontal plane, and a picking state in which the first storage container support is inclined at a predetermined inclination angle α relative to the horizontal plane.

[0126] The primary carriage is in the receiving state when the first storage container support receives a storage container and when the storage container is retrieved from the first storage container support, typically by a container handling vehicle.

[0127] The primary carriage is in the receiving state when the storage container is transferred from the first storage container support to the second storage container support.

[0128] The primary carriage is typically moved to a picking state when positioned at the picking location to provide an ergonomic working position for the picker.

[0129] The second storage container support preferably has the same vertical height as the first storage container support in the received state.

[0130] The tilt device is a tilt motor disposed on the primary carriage base to provide torque; a drive crank coupled to the tilt motor for transmitting torque from the tilt motor; a coupler link pivotally coupled at a first end to the drive crank and at an opposite second end to the first storage container support; You may prepare, The coupler link is responsive to operation of the tilt motor to tilt the first storage container relative to the horizontal plane P. H is configured to provide a thrust force to an underside of the first storage container support such that the underside of the first storage container support tilts relative to the

[0131] The tilt device is a ramp portion disposed at least partially below the guide frame; a follower connected to and extending from the first storage container support for interaction with the ramp; and The primary carriage is configured such that the first storage container support is in a horizontal plane P H In a receiving state, the first storage container support is disposed substantially parallel to the horizontal plane P H a picking state inclined at a predetermined inclination angle α with respect to the The follower and the ramp are configured to interact to move the primary carriage to the picking state in response to movement of the primary carriage from the receiving area to the picking position.

[0132] The first storage container support may comprise a plate having an upper surface for positioning the storage container and an opposite lower surface for positioning the follower. It may be preferred that the follower extends longitudinally generally perpendicular to the lower surface of the first storage container support.

[0133] The follower may be configured to follow a surface of the ramp such that as the vertical height of the ramp changes, the follower moves the first storage container away from the horizontal plane P HA thrust may be provided to the underside of the first container support so as to tilt relative to the

[0134] The follower may include a distal end with a follower wheel.

[0135] Alternatively, the distal end may be provided with rollers, balls, or a sliding surface.

[0136] The follower may, at least in the received state, extend through the primary carriage base.

[0137] The follower may also preferably extend through the primary carriage base in the picking state.

[0138] The ramp may be provided by a fixed bracket.

[0139] The interaction between the follower and the ramp may be direct or indirect, for example via an intermediate component.

[0140] The ramp may have a first portion disposed at least partially below the guide frame, the first portion being in contact with a horizontal plane P H is inclined relative to

[0141] The tilt angle of the first portion affects the horizontal movement required for the primary carriage to enter the picking state, and therefore also affects the opposite horizontal movement required for the primary carriage to enter the receiving state.

[0142] The first portion of the ramp may have a constant slope and thus follow a substantially straight line. The first portion of the ramp may have a gradual slope and thus follow a curved line.

[0143] The ramp may include a second portion disposed at least partially below the picking position, the second portion being below the horizontal plane P H The first portion is inclined differently with respect to the first portion.

[0144] The second portion of the ramp may preferably be located adjacent to the first portion of the ramp.

[0145] The second portion is preferably in a horizontal plane P H The first portion may not be inclined more than the second portion.

[0146] The second part is the horizontal plane P H , i.e., substantially parallel to the horizontal plane P H It is not necessary for the inclination to be inclined with respect to the

[0147] The substantially horizontal second portion may allow horizontal movement of the primary carriage while maintaining the tilt angle α of the storage container support. Thus, the primary carriage may be transitioned to a predetermined tilt angle α of the picking state of the primary carriage before it reaches the picking position. The picker may then more quickly recognize the items coming forward.

[0148] The second portion of the ramp may have a constant slope and thus follow a substantially straight line. The second portion of the ramp may have a gradual slope and thus follow a curved line.

[0149] The second portion may be slightly curved to smooth the transition from one type of motion to another.

[0150] The predetermined tilt angle α can be adjusted depending on the particular needs of the picker and the height of the access station above the ground.

[0151] The tilt angle α may be adjusted by the length of the follower and also by the vertical height of the ramp.

[0152] The pivot connection between the primary carriage base and the first storage container support is in a horizontal plane P H A rotation axis C substantially disposed within R and the coupler link may have an axis of rotation CR may be connected remotely from

[0153] Rotation axis C R The distance between the axis of rotation C and the coupler link affects the maximum tilt angle. R The shorter the distance between the coupler link, the larger the maximum tilt angle.

[0154] The length of the drive crank also affects the maximum lean angle: increasing the length of the drive crank increases the maximum lean angle.

[0155] Rotation axis C R may be located proximate to the front surface of the primary carriage base.

[0156] The coupler link may preferably comprise a recess configured to receive a pivot point of the drive crank, for example in the primary carriage receiving state.

[0157] The pivot connection between the primary carriage base and the first container support is in a horizontal plane P H A rotation axis C substantially disposed at R and the follower may have a rotation axis C R is placed at a distance from

[0158] The distance between the pivot and the follower affects the horizontal movement required for the primary carriage to enter the picking state, and therefore also affects the opposite horizontal movement required for the primary carriage to enter the receiving state. As the distance between the pivot and the follower decreases, the horizontal movement required for the primary carriage to enter the picking state decreases.

[0159] Rotation axis C R may be positioned proximate the front of the primary carriage base, i.e., offset from the center of gravity of the first container support, which causes the first container support to return to its received state under its own weight.

[0160] Rotation axis C Rmay be positioned near the center of the primary carriage base, i.e., substantially at the center of gravity of the first container support. This causes a see-saw behavior of the first container support. By moving the axis of rotation closer to the center of the primary carriage base, less force may be required from the follower to tilt the first storage container support. The follower may be movably connected to the ramp, such that the first storage container support may be forced into the receiving state by the follower in response to changes in the vertical height of the ramp while moving the primary carriage horizontally.

[0161] The inclination angle α is the horizontal plane P H 4. The angle can be within the range of 2° to 60°.

[0162] The range of the inclination angle α is the horizontal plane P H 2° to 60°, more preferably 3° to 50°, even more preferably 4° to 45°, even more preferably 5° to 40°, even more preferably 6° to 35°, even more preferably 7° to 30°, even more preferably 8° to 25°, even more preferably 9° to 20°, such as 15°. The ability to tilt the storage container may, among other things, allow a human operator to more easily view and / or access products within the storage container.

[0163] The preferred tilt angle α may be in the range of 10° to 20°. Alternatively, the range may have a starting point of 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9° or 15°. Alternatively, the range may have an end point of 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50° or 60°.

[0164] The predetermined tilt angle α can be adjusted depending on the particular needs of the picker and the height of the access station above the ground.

[0165] The present invention also relates to an automatic storage and retrieval system. an access station as described herein; a rail system comprising a first set of parallel rails disposed in a horizontal plane and extending in a first direction, and a second set of parallel rails disposed in the horizontal plane and extending in a second direction perpendicular to the first direction, the first and second sets of rails forming a grid pattern in the horizontal plane with a plurality of adjacent access openings defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails; a plurality of stacks of storage containers disposed within storage columns positioned below a storage section of the rail system, each storage column positioned vertically below an access opening; at least one port column located below the delivery section of the rail system and vertically aligned with a receiving location of the access station, the at least one port column being a void of the storage container; a container handling vehicle comprising a lifting device for lifting storage containers stacked in a stack above the storage section and a drive means configured to drive the vehicle along the rail system in at least one of a first direction and a second direction; Equipped with.

[0166] The automatic storage and retrieval system an inspection means for inspecting a storage container presented at a first picking location; The inspection may also include inspecting the contents of the storage container.

[0167] One purpose of the inspection may be to detect errors in the storage container or its contents. Some examples of relevant errors may be incorrect contents in a bin (incorrect items or number of items in a bin compared to what is registered in the system), damaged goods, damaged bins, deformed bins, soiled bins, and soiled contents.

[0168] The automatic storage and retrieval system a robotic picker configured to pick a product from a storage container presented at a first picking location; The device may further include:

[0169] The access station may be arranged such that a portion of the access station is partially surrounded by the storage column. This may typically be the case when the first picking location is operated by a robotic picker. The receiving area, the first picking location, and the robotic picker may then be partially surrounded by the storage column, typically by a rail system above. The access station may then be divided between a human zone and a machine zone to improve the safety of the humans working in the warehouse.

[0170] Alternatively, the access station may be positioned such that both the first picking location and the second picking location are accessible to personnel working in the warehouse. The rail system may then have a cantilevered portion that extends above at least the receiving area of ​​the access station.

[0171] The inspection means may be located on the robotic picker.

[0172] The automatic storage and retrieval system At least two port columns, preferably three or four port columns The device may further include:

[0173] The number of port columns associated with an access station typically corresponds to the number of receiving positions of the access station.

[0174] The automatic storage and retrieval system At least two access stations arranged side by side, preferably three or four access stations, even more preferably five access stations The device may further include:

[0175] A greater number of access stations contributes to an increased throughput of items in the storage and retrieval system.

[0176] The access stations are suitable to be arranged side-by-side in a space-efficient manner.

[0177] When multiple access stations are arranged side-by-side, one robotic picker can pick items from multiple adjacent first picking locations.

[0178] By adapting the width of the access station to the width of one storage column, two or more access stations can be arranged in a space-efficient manner, i.e. side-by-side, without spacing. Such an arrangement of the access stations may allow the human picker to be more efficient, since the distance between the access stations is shorter. The width of the storage column can be seen as the width of the storage container (half the width of the rails arranged on both sides of the storage container) plus the width of the rails of the rail system, and therefore, if the access stations correspond to the width of the storage column, the access stations can be arranged in a side-by-side relationship corresponding to the position of the storage column, allowing the access stations to be provided in adjacent rows of the storage column.

[0179] Multiple access stations arranged side by side may present different types of containers. As an example, some of the access stations may present storage containers that house products to be picked. Some of the other access stations may present consolidation bins in which orders are placed. Access stations that present storage containers typically have a higher throughput than access stations that present consolidation bins.

[0180] When several access stations are arranged side by side, their accessibility can be improved if their access cabinets extend at different lengths from the framework structure. The access cabinets can then partially surround the picker. If necessary, the access stations may also be at different heights.

[0181] The present invention also provides a method of presenting a storage container to an access station and returning a storage container using the automated storage and retrieval system described herein, comprising the steps of: The method further comprising: delivering the storage container to a receiving area by a container handling vehicle; moving the storage container to a first picking location for presentation to a robotic picker; If the robotic picker is unable to pick the product from the storage container, moving the storage container to a second picking location for presentation to a human picker; picking the product from the storage container at a second picking location; and returning the storage container to the receiving area for retrieval by a container handling vehicle; or If a robotic picker can pick products from a storage container, picking the product from a storage container at a first picking location; and returning the storage container to the receiving area for retrieval by the container handling vehicle; The present invention relates to a method comprising the steps of:

[0182] When the storage container is moved to the first picking location, the method includes: checking the storage container for errors; If an error is detected, moving the storage container to a second picking location to correct the detected error; or If no errors are detected, returning the storage container to the receiving area for retrieval by the container handling vehicle; It may further include.

[0183] The inspection of the storage container and / or the contents of the storage container for errors can be performed by visual inspection by a human picker or operator, or alternatively, the inspection of the storage container and / or the contents of the storage container for errors can be performed by an inspection means provided at the first picking location or a robotic picker positioned by the first picking location.

[0184] Inspection prevents containers with errors from being returned to storage locations in the system, thus improving system quality control. In this way, future undesirable occurrences such as incorrect items being picked or items not being available in time causing storage containers to become clogged can be prevented.

[0185] The access station can remain operational at the first picking location while the erroneous storage container is further inspected and corrected, if necessary, at the second picking location.

[0186] The access station If provided with a secondary carriage for transporting the storage container along the guide frame, the primary carriage is configured to transport the storage container to a first picking location; the secondary carriage is configured to transport the storage container to a second picking location; The method includes, after picking and / or inspecting the storage container for errors, Transferring the storage container from the primary carriage to the secondary carriage. Further includes:

[0187] Thus, the primary carriage can be immediately made available for continued operation and delivery to the first picking location.

[0188] If the primary and secondary carriages are not already in the receiving area, the method includes: While transporting the storage container, the primary and secondary carriages are guided along the guide frame to the receiving area A. R at least partially to It may further include.

[0189] The method comprises: moving the primary carriage to a first receiving position; placing a second storage container on the first storage container support by the first container handling vehicle; moving the primary carriage to a picking position to present the second storage container to the picker; It may further include.

[0190] If the receiving area includes multiple receiving locations, subsequent storage containers may be received at alternating receiving locations.

[0191] Subsequent storage containers may be received from different container vehicles.

[0192] The method comprises: moving the secondary carriage to a first receiving position; retrieving the first storage container from the second storage container support by the first container handling vehicle; It may further include.

[0193] The first storage container is preferably retrieved from the second storage container support by the same container handling vehicle that places the second storage container on the first storage container support. Thus, the first storage container is also preferably retrieved from the second storage container support at the same receiving location at which the second storage container is received by the first storage container support.

[0194] The method comprises: delivering the storage container to a first storage container support via a first port column by a first cantilevered container handling vehicle facing a first direction, e.g., south; retrieving the storage container from the second storage container support via the second port column by a second cantilevered container handling vehicle facing in a second direction opposite the first direction, e.g., north; It may further include.

[0195] If the receiving area includes multiple receiving locations, the second storage container can be received by the primary carriage and the first storage container can be retrieved from the primary carriage simultaneously at each receiving location, which operation requires two container handling vehicles.

[0196] Alternatively, the second storage container can be received by the primary carriage and the first storage container can be retrieved from the secondary carriage in succession at the same receiving location, this operation requiring only one container handling vehicle.

[0197] The access station may comprise a latch for releasably connecting the primary carriage to the secondary carriage; The method comprises: connecting the primary carriage to the secondary carriage by a latch prior to transporting the first storage container; releasing the primary carriage from the secondary carriage by the latch after transferring the first storage container; It may further include. [Brief description of the drawings]

[0198] The following drawings are included to facilitate an understanding of the invention and illustrate embodiments of the invention, herein described by way of example only:

[0199] [Figure 1] FIG. 1 is a perspective view of a framework structure of a prior art automatic storage and retrieval system. [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein. [Diagram 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam for carrying storage containers downward. [Figure 4] FIG. 4 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein. [Diagram 5] FIG. 5 is a perspective view of one access station within a framework structure of a storage column, with a storage container presented to a picker, one container handling vehicle waiting to retrieve the storage container from the access station, and one container handling vehicle waiting to deliver the storage container to the access station. [Figure 6] FIG. 6 is a vertical cross-sectional view of an access station (with the framework structure of the storage column omitted), which includes a guide frame, a primary carriage, a secondary carriage, and an access cabinet. [Figure 7] FIG. 7 is a side view of an access station having picking positions and receiving areas between which the primary and secondary carriages can move (the framework structure of the storage columns has been omitted). [Figure 8]FIG. 8 is a vertical cross-sectional view of an access station in which the receiving area includes four receiving locations vertically aligned with corresponding port columns. [Figure 9] Figure 9 is a vertical cross-sectional view of the access station with a first storage container being transferred from the primary carriage to the secondary carriage while moving toward the receiving area, and a second storage container being lowered through the first port column by a first container handling vehicle (not shown in Figure 9) for delivery when the primary carriage is in the first receiving position. [Figure 10] FIG. 10 is an enlarged vertical cross-sectional view of a portion of the access station of FIG. 9 with the primary carriage in a first receiving position and the transport device of the primary carriage having transferred a first storage container to the secondary carriage. [Figure 11] FIG. 11 is a vertical cross-sectional view of the access station of FIG. 9 with the primary carriage in a first receiving position and the transfer device retracted ready to receive a second storage container. [Figure 12] Figure 12 is a vertical cross-sectional view of the access station of Figure 9 with the primary carriage in a first receiving position and a first container handling vehicle (not shown in Figure 12) lowering a second storage container onto the primary carriage. [Figure 13] FIG. 13 is a vertical cross-sectional view of the access station of FIG. 9 similar to FIG. 12, with the second storage container on the primary carriage released from the lift device and the first storage container carried by the secondary carriage. [Figure 14] FIG. 14 is a vertical cross-sectional view of the access station of FIG. 9 with the primary carriage moving towards the picking position and the secondary carriage in the second receiving position about to move to the first receiving position. [Figure 15] FIG. 15 is a vertical cross-sectional view of the access station of FIG. 9 with the primary carriage in a picking position and the secondary carriage in a first receiving position. [Figure 16]FIG. 16 is a vertical cross-sectional view of the access station of FIG. 9 where the second storage container is presented to a picker and the first storage container is retrieved by a first container handling vehicle (not shown in FIG. 16). [Figure 17] Figure 17 is a vertical cross-sectional view of the access station of Figure 9 with the secondary carriage approaching the primary carriage for transfer of the second storage container and the third storage container being lowered through the third port column by a second container handling vehicle (the container handling vehicle shown in Figure 17) for delivery to a third receiving location. [Figure 18] FIG. 18 is a side view of an access station with two oppositely facing container handling vehicles delivering storage containers to different port columns of the same access station. [Figure 19] FIG. 19 is a perspective view of four access stations arranged side by side. [Figure 20] FIG. 20 is a plan view of the four access stations of FIG. [Figure 21] FIG. 21 is a rear view of the four access stations of FIG. [Figure 22] FIG. 22 is a perspective view of an exemplary embodiment of a primary carriage comprising a primary carriage base, a primary carriage displacement motor, a first storage container support, a transfer device, and a tilt device. [Figure 23] 23 is another perspective view of the primary carriage of FIG. 22. FIG. [Figure 24] FIG. 24 is a side view of the primary carriage of FIG. 22 tilted. [Diagram 25] FIG. 25 is a front view of an exemplary embodiment of a secondary carriage comprising a secondary carriage base, a secondary carriage displacement motor, and a second storage container support. [Figure 26] FIG. 26 is a perspective view of the secondary carriage of FIG. 25. [Figure 27a] FIG. 27a is a side view of the latch in the unconnected state. [Figure 27b] FIG. 27b is a side view of the latch in a connected state. [Figure 28] 10 is a vertical cross-sectional view of the access station of FIG. 9, in which a primary carriage is moved along a guide frame by a primary drive belt and a secondary carriage is moved along a guide frame by a secondary drive belt. [Figure 29] FIG. 29 is a perspective view of a double-ended access station including a receiving area, a first picking location, and a second picking location. [Diagram 30] FIG. 30 is a perspective view of the access station of FIG. [Diagram 31] FIG. 31 is a perspective view of the access station of FIG. [Diagram 32] FIG. 32 is a perspective view of a storage container and a product stored therein. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0200] Detailed Description of the Invention Embodiments of the invention will now be described in more detail with reference to the accompanying drawings, in which it will be understood, however, that the drawings are not intended to limit the invention to the subject matter shown in the drawings.

[0201] The framework structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art framework structure 100 described above in relation to Figures 1 to 3, i.e. several upright members 102, and further the framework structure 100 comprises a first upper rail system 108 in the X-direction and the Y-direction.

[0202] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, with the storage containers 106 being stackable in stacks 107 within the storage columns 105.

[0203] The framework structure 100 can be of any size. In particular, it is understood that the framework structure can be significantly wider and / or longer and / or deeper than is disclosed in Figure 1. For example, the framework structure 100 can have a horizontal extent of greater than 700 x 700 columns and a storage depth of greater than 12 containers.

[0204] The automated storage and retrieval system 1 can communicate with one or several access stations 400 as shown in Figures 5 to 21.

[0205] These access stations 400 may be arranged within the framework structure 100 of the storage and retrieval system 1 such that the container handling vehicles 201 , 301 , 401 can move over at least a portion of the access stations 400 .

[0206] The access station 400 may comprise its own framework structure 100. The framework structure 100 of the access station 400 and the framework structure 100 of the storage and retrieval system 1 may then be connected such that the rail system 108 may be extended over the framework structure 100.

[0207] The access stations 400 may also comprise their own framework structures 100 and rail systems 108. The rail systems 108 of the access stations 400 and the rail systems 108 of the storage and retrieval system 1 can then be connected such that the container handling vehicles 201, 301, 401 can move over at least a portion of the access stations 400.

[0208] 5 shows a perspective view of the access station 400. When associated with the automated storage and retrieval system 1, the access station 400 may be used for the presentation of the storage containers 106 from the automated storage and retrieval system 1 to the picker 600. Different types of container handling vehicles 201, 301, 401 may be used to deliver the storage containers 106 from storage locations in the automated storage and retrieval system 1 to the access station 400 (not limited to the type shown in FIGS. 2, 3 and 4). The container handling vehicles 201, 301, 401 deliver and retrieve the storage containers 106 from above the access station 400 via one or several port columns 119, 120, 121, 122. With several port columns 119, 120, 121, 122 (four port columns are shown in the embodiment), several container handling vehicles 201, 301, 401 can simultaneously service the same access station 400 (depending on the type of container handling vehicle, this may be two, three or four container handling vehicles).

[0209] The access station 400 may move the received storage container 106 to a position where the picker 600 may be granted limited access to the presented storage container 106, preferably only to the open side of the presented storage container 106, preferably only when the storage container 106 reaches the picking location and is properly presented at the access opening. Access may be granted, for example, by an automatically operated hatch. After the products 80 are picked by the picker 600, the presented storage container 106 may be returned for storage in the automated storage and retrieval system 1. The access station 400 may then move the storage container 106 to a position where it may be retrieved by some type of container handling vehicle 201, 301, 401.

[0210] The access station 400 may have an access interface portion in the form of an access cabinet 490. The access cabinet 490 provides an interface to a picker 600. Although the figure shows a human picker, the access station 400 is also suitable for a robotic picker. The access cabinet 490 is typically located outside the framework structure 100. This contributes to a safe working environment for the picker 600, whether human or robotic.

[0211] In FIG. 5, one container handling vehicle 301 is waiting to retrieve a storage container 106 from an access station 400 and one container handling vehicle 301 is waiting to deliver a storage container 106 to the access station 400.

[0212] 6 shows a vertical cross section of the access station 400. The access station 400 includes an access cabinet 490 and a horizontal plane P H and extending in a first direction X partially inside the access cabinet 490, a primary carriage 420 movable along the guide frame 410, and a secondary carriage 230 movable along the guide frame 410 independently of the primary carriage 420.

[0213] 6 , the primary carriage 420 is shown inside the access cabinet 490 and without the storage container 106, and the secondary carriage 430 is outside the access cabinet 490, also without the storage container 106. The primary carriage 420 is inclined towards the access cabinet 490 at a tilt angle similar to the tilt of the access face of the access cabinet 490, such that the storage container 106 carried by the primary carriage 420 is aligned with the access opening of the access cabinet 490.

[0214] 7 shows a side view of the access station 400 without the access cabinet 490. The access station 400 is configured to be placed in the framework structure 100 of the automated storage and retrieval system 1 or in the framework structure 100 of the access station 400 itself, in a receiving area A. R Reception area A R is also configured for delivery and retrieval of the storage containers 106 from the container handling vehicles 201, 301, 401 described above.

[0215] The access station 400 also includes a receiving area A, configured for placement within the access cabinet 490. R Picking area A in front of P has.

[0216] The primary carriage 420 and the secondary carriage 430 are located in the receiving area A. R and picking area A P 4. The movable member 410 can move along the guide frame 410 between the movable member 410 and the guide frame 410.

[0217] The guide frame 410 may be supported by legs that position the guide frame 410 at an appropriate height. Alternatively, the guide frame 410 can be attached to the framework structure 100 at an appropriate height.

[0218] FIG. 8 shows a vertical cross section of the access station 400, with the receiving area A R is disposed within the framework structure 100. Receiving area A R There are four receiving positions P R1 , P R2 , P R3 , P R4 The first receiving position P R1 is vertically aligned with the first port column 119. The second receiving position P R2 is vertically aligned with the second port column 120. The third receiving position P R3is vertically aligned with the third port column 121. The fourth receiving position P R4 is vertically aligned with the fourth port column 122. Additional port columns and receiving locations may be provided as desired.

[0219] In Figure 8, picking area A P is located in the access cabinet 490. P is picking area A P , i.e., the closest point to the picker 600. P Equipped with.

[0220] In the configuration of the access station 400 of FIG. 8, the secondary carriage 430 is positioned at the fourth receiving position P to provide access to the primary carriage 420. R4 , only the secondary carriage 430 can move to all reception positions P R The guide frame 410 has access to a further receiving position P R without the need to add R , i.e. the fourth receiving position P R4 At this time, both the primary carriage 420 and the secondary carriage 430 can be extended beyond all of the receiving positions P R Therefore, the receiving area A R A portion, typically the rear portion, of the receiving area A does not need to be aligned with the port columns 119, 120, 121, 122. Instead, R The space above the rear of the vehicle can be used to store storage containers 106 .

[0221] Figures 8-17 show the sequence of how a storage container 106 can be delivered to an access station 400, presented to a picker 600, and then retrieved from the access station 400. Figures 8-17 show vertical cross sections of the same access station 400.

[0222] In FIG. 8 , the primary carriage 420 is at picking location P 1 , where the primary carriage 420 presents the first storage container 106 a to the picker 600 . P The secondary carriage 430 is located in picking area A. P 1 and connected to the primary carriage 420 by latch 470, the secondary carriage 430 is ready to receive the first storage container 106a from the primary carriage 420. The second storage container 106b has been lowered through the first port column 119 by the first container handling vehicle 301 ready to be received by the primary carriage 420.

[0223] 9, picking from the first storage container 106a has been completed. The primary carriage 420 is about to begin the transfer of the first storage container 106a to the secondary carriage 430, so that the transfer begins when the primary carriage 420 reaches the first receiving position P R1 The primary carriage 420 and the secondary carriage 430 may be completed, or at least initiated, before reaching the receiving area A. R The second storage container 106b is held stationary in the first port column 119 by the first container handling vehicle 301.

[0224] The primary carriage 420 is equipped with a transport device 460 for moving the storage container 106 carried by the primary carriage 420, and the secondary carriage 430 is configured to accept the storage container 106 moved from the primary carriage 420 by the transport device 460.

[0225] The primary carriage 420 may include a first coupling portion 471 and the secondary carriage 430 may include a second coupling portion 472, together forming a latch 470 for releasably connecting the primary carriage 420 to the secondary carriage 430. During transfer of the storage container 106 from the primary carriage 420 to the secondary carriage 430, the primary carriage 420 can be releasably connected to the secondary carriage 430, preferably by the latch 470.

[0226] In Figure 10, a first storage container 106a is being transferred from the primary carriage 420 to the secondary carriage 430. The primary carriage 420 and secondary carriage 430 are decoupled by a latch 470. The primary carriage 420 is moved to a first receiving position P below a second storage container 106b, which is held stationary in the first port column 119 by the first container handling vehicle 301. R1 The slider 461 is extended and therefore the primary carriage 420 is not yet ready to receive the second storage container 106b.

[0227] 11, the slider 461 is retracted so that the primary carriage 420 is ready to receive a second storage container 106b that is held stationary in the first port column 119 by the first container handling vehicle 301. The latch 470 can release the primary carriage 420 from the secondary carriage 430.

[0228] In FIG. 12, the primary carriage 420 is positioned at a first receiving position P for receiving the second storage container 106b from the first container handling vehicle 301. R1 The secondary carriage 430 is in the first receiving position P R1 Receiving area A waiting for the R is located.

[0229] In FIG. 13, the primary carriage 420 is positioned at a first receiving position P R1The first container handling vehicle 301 disengages the gripping device 304 from the second storage container 106b and lifts the gripping device 304 within the first port column 119. The secondary carriage 430 is transported by the primary carriage 420 to the first receiving position P R1 Receiving area A waiting to be emptied R is located.

[0230] If a second container handling vehicle 301 is available to retrieve the first storage container 106a, it will be transported to another receiving position P via one of the other port columns 120, 121, 122. R2 , P R3 , P R4 The above-mentioned steps can be performed simultaneously in one of the steps.

[0231] In FIG. 14, the primary carriage 420 is at picking location P carrying the second storage container 106b. P The secondary carriage 430 is moving toward the first receiving position P carrying the first storage container 106a. R1 The gripping device 304 of the first container handling vehicle 301 is stationary in the first port column 119.

[0232] In FIG. 15, the primary carriage 420 is at picking location P preparing to provide the second storage container 106b to the picker 600. P The secondary carriage 430 is in the first receiving position P carrying the first storage container 106a. R1 A first container handling vehicle 301 (not shown in FIG. 15) is about to lower its gripping device 304 towards the first storage container 106a. The second storage container 106b is at picking position P P 4. It is preferred that the carriage 420 be tilted before reaching the carriage 420.

[0233] In FIG. 16, the primary carriage 420 is at picking location P 1 , which provides the second storage container 106 b to the picker 600 . P The first container handling vehicle 301 is retrieving the first storage container 106a via the first port column 119. The secondary carriage 430 is no longer carrying a storage container 106 and is about to move towards the primary carriage 420 to receive the second storage container 106b from the primary carriage 420.

[0234] In FIG. 17, the primary carriage 420 is at picking location P 1 , which provides the second storage container 106 b to the picker 600 . P The secondary carriage 430 is located in picking area A. P 17 is in the second container handling vehicle 301 and connected to the primary carriage 420 by latch 470, ready to receive the second storage container 106b from the primary carriage 420. The third storage container 106c has been lowered through the third port column 121 by the second container handling vehicle 301 and is ready to be received by the primary carriage 420. Thus, the situation in Figure 17 is similar to that in Figure 8 and the sequence can be repeated.

[0235] Alternatively, the secondary carriage 430 may be positioned at a third receiving position P R3 , receives the third storage container 106c from the second container handling vehicle 301, and then moves to receiving area A R , e.g. the fourth receiving position P R4 , and the primary carriage 420 moves to the third receiving position P R3 The primary carriage 420 can then be transported to the third receiving position P so that the second storage container 106b can be retrieved by the second container handling vehicle 301. R3The secondary carriage 430 can then be connected to the primary carriage 420 by the latch 470. The primary carriage 420 and the secondary carriage 430 can then move to picking area A. P The third storage container 106c can be transferred from the secondary carriage 430 to the primary carriage 420 while the primary carriage 420 and the secondary carriage 430 are moving together toward the picking position P. The third storage container 106c can be transferred from the secondary carriage 430 to the primary carriage 420 while the primary carriage and the secondary carriage 430 are moving together toward the picking position P. P , and the primary carriage 420 is transferred to the picking position P P The third storage container 106c can be presented to the picker 600 as soon as it reaches the picking position P. Any tilt of the third storage container 106c may cause the primary carriage 420 to P This sequence requires that the transfer device 460 be configured for the displacement of a storage container 106 disposed on the second storage container support 432 in addition to or instead of being configured for the displacement of a storage container 106 disposed on the first storage container support 422.

[0236] FIG. 18 shows a side view of the access station 400 illustrating a different situation from the preceding sequence of FIGS.

[0237] In FIG. 18, the primary carriage 420 and the secondary carriage 430 are moving the first storage container 106a from the primary carriage 420 to the secondary carriage 430 while receiving area A. R The first container handling vehicle 301 is lowering a second storage container 106b via the second port column 120. The second container handling vehicle 301, pointed in the opposite direction to the first container handling vehicle 301, is ready to lower a third storage container 106c via the third port column 121. After transferring the first storage container 106 to the secondary carriage 430, the primary carriage 420 moves to the second receiving position P R2or at a third receiving position P R3 The third storage container 106c may be received from the second container handling vehicle 301 at

[0238] At least two receiving positions P R , the access station 400 can be serviced by cantilever container handling vehicles 301 with opposite orientations.

[0239] Fig. 19 shows a perspective view of several access stations 400. Figs. 20 and 21 show respective top and rear views of the same access stations 400. As shown, the access stations 400 may have a substantially horizontal interface towards the picker 600. Alternatively, the access stations 400 may be arranged to face a horizontal plane P H The picker 600 may have an interface facing the picker 600 that is angled relative to the picker 600. The angled interface allows for a more ergonomic working position for the human picker and a better overview of the contents of the storage container 106. In some facilities it may be preferable to position different access stations 400 to present the storage containers 106 to pickers of different heights.

[0240] The access station 400 may be manufactured in a preferred height and equipped with adjustable feet. The height of the access station 400 may preferably be adapted to the average height of a human picker. The height of the access station 400 may also preferably be adjusted to the height H of the storage container 106. f can be adapted to

[0241] The access station 400 can be produced with a suitable width. The width of the access station 400 is preferably equal to or greater than the length L of the storage container 106 depending on the orientation of the storage container 106 in the access station 400 (e.g., based on which side of the storage system it is located on). f or width W f The access station 400 may be provided with a smaller width when the storage containers 106 are oriented with their shortest side across the width of the access station 400.

[0242] By adapting the width of the access station 400 to the width of one storage column 105, two or more access stations 400 can be arranged in a space-efficient manner, i.e. side-by-side, without spacing. Such an arrangement of the access stations 400 may allow the human picker to be more efficient, since the distance between the access stations 400 is shorter. The width of the storage column can be seen as the width of the storage container 106 (half the width of the rails arranged on both sides of the storage container 106) added with the width of the rails 110, 111 of the rail system 108, and therefore, if the access station 400 corresponds to the width of the storage column, the access station can be arranged in a side-by-side relationship that corresponds to the position of the storage column and allows for the provision of the access station 400 in adjacent rows of the storage column.

[0243] 19, 20, and 21 show four access stations 400 arranged side by side. Two access stations 400 with inclined access cabinets 490 are arranged in the middle, and one access station 400 has horizontal access cabinets 490 arranged on both sides. The horizontal access cabinets 490 are longer than the inclined access cabinets 490. In this way, the access cabinets 490 can partially surround the picker 600 standing in front of the two central access stations 400. As an example, the storage container 106 to be picked can be presented to the intermediate access station 400, and the consolidation bin to be picked can be presented to the access stations 400 on both sides. Alternatively, all access stations 400 can present the storage container 106 to be picked.

[0244] 22 and 23 show two perspective views of the primary carriage 420, and FIG. 24 shows a side view of the same primary carriage 420.

[0245] The primary carriage 420 is configured to transport the storage container 106. The primary carriage 420 includes a primary carriage base 421 movable along the guide frame 410, a primary carriage displacement motor 440a configured to move the primary carriage 420 along the guide frame 410, and a first storage container support 422 connected to the primary carriage base 421.

[0246] The primary carriage base 421 may include at least two sets of wheels 442 connected to opposite sides of the primary carriage base 421. The wheels 442 are configured to move along the guide frame 410, preferably along a guide path 411 provided on the guide frame 410.

[0247] In Fig. 22, one of the wheels 442 is shown connected via a drive belt 441a to a primary carriage displacement motor 440a, which in this example is located at least partially within a volume defined by the primary carriage base 421. The primary carriage displacement motor 440a is typically an electric motor powered by a battery or an external source (not shown). A battery requires less infrastructure but does require occasional charging, whereas an external power source reduces the size and weight of the primary carriage 420.

[0248] The first storage container support 422 is connected to the primary carriage base 421 either as an integral part of the primary carriage base 421 or as a separate unit. In the example of FIG. 22, the first storage container support 422 comprises rollers disposed on a plate 427 coupled to the primary carriage base 421. The plate 427 may be considered as part of the primary carriage base 421, part of the first storage container support 422, or an intermediate component between the two. The two rows of rollers are disposed along the first direction X with a gap 423 between them. The rollers are configured to support the storage container 106 while facilitating the transfer of the supported storage container 106 to the secondary carriage 430.

[0249] The footprint of the first storage container support 422 may be larger than the footprint of the primary carriage base 421. The footprint of the first storage container support 422 is preferably f 10, the storage container 106 can be adequately supported while keeping the footprint size small.

[0250] 23, the primary carriage 420 may include a vertical side panel 424 configured to prevent movement of the supported storage container 106 in the second direction Y. The vertical side panel 424 may be a bent portion of a plate 427 on which rollers are disposed. The vertical side panel 424 may be provided with a sliding surface 425 to reduce friction between the vertical side panel 424 and the storage container 106. The vertical side panel 424 and the sliding surface 425 facilitate transfer of the supported storage container 106 to the secondary carriage 430.

[0251] The primary carriage 420 may include end stops 426 configured to prevent the supported storage containers 106 from moving in the first direction X beyond a given point. The end stops 426 may be bent portions of the plate 427 on which the rollers are disposed or may be bent portions of the vertical side panels 424.

[0252] The primary carriage 420 includes a transfer device 460 for moving the storage container 106 from the primary carriage 420 to the secondary carriage 430. The transfer device 460 may be a conveyor integrated into the first storage container support 422, for example in the form of rollers of the first storage container support 422 that are powered to rotate. Alternatively, the conveyor may be a separate unit located on a plate 427 between two rows of rollers forming the first storage container support 422, for example as shown in Figures 22 and 23.

[0253] If the transfer device 460 is not integrated into the first storage container support 422, the transfer device 460 is preferably configured such that the storage container 106 can be placed on the first storage container support 422 without being obstructed by the transfer device 460.

[0254] The conveyor forming the transport device 460 shown in Figures 22 and 23 comprises a rail 462 projecting rearwardly from the primary carriage 420, a slider 461 connected to the rail 462 and configured to interact with the storage container 106, and a transport motor 462 configured to move the slider 461 relative to the first storage container support 422.

[0255] The rails 462 protrude in a direction toward the secondary carriage 430. When the primary carriage 420 and the secondary carriage 430 move toward each other, the rails 462 should preferably protrude into the second storage container support 432 of the secondary carriage 430. The rails 462 may extend along the length L of the storage container 106 depending on the orientation of the storage container 106 relative to the rails 462. f or width W f Length L exceeds r It is preferred that the compound has the formula:

[0256] 22 and 23, the rail 462 is longer than the first storage container support 421. A first end of the rail 462 is disposed on a forward side of the first storage container support 422 and a second end of the rail 462 is disposed on a rearward side of the first storage container support 422.

[0257] The rails 462 are preferably positioned such that the center points of the storage containers 106 supported on the first storage container support 422 are vertically aligned with the rails 462 .

[0258] The slider 461 is slidably connected to the rail 462 such that the slider 461 can be moved in a first direction X relative to the rail 462. In Figure 23 the slider is shown to have a vertical portion that reaches a vertical height at which the storage container 106 is located when at least a portion of the storage container 106 is supported on the first storage container support 422. As the slider 461 is moved along the rail 462, the slider 461 abuts the storage container 106 when supported on the first storage container support 422.

[0259] 23, the illustrated position of the slider 461 on the rail 462 can be considered the initial position of the slider 461. Moving the slider 461 from the initial position in the first direction X toward the rear of the primary carriage 420 displaces the storage container 106 supported on the first storage container support 422 from the first storage container support 422 before the slider 461 reaches its next position at the opposite end of the rail 462. When the secondary carriage 430 is moved close enough to the primary carriage 420, the storage container 106 disengaged from the first storage container support 422 is transferred to the second storage container support 432.

[0260] 23 moves back and forth between an initial position and a subsequent position. Other types of sliders may move in a continuous path around the rail 461, i.e., moving from an initial position to a subsequent position along the top surface of the rail 462 and from a subsequent position to the initial position along the bottom surface of the rail 462.

[0261] The slider 461 adjusts the length L of the storage container 106 depending on the orientation of the storage container 106 relative to the slider 461. f or width W f The slider 461 may have a width extending in the second direction Y that covers at least half of the storage container 106. The wider the slider 461, the less the risk of rotating the storage container 106 during transport.

[0262] The rail 462 may comprise a belt or chain to which the slider 461 may be attached. Movement of the belt or chain in turn causes the slider 461 to move.

[0263] The transfer motor 463 is configured to move the slider 461 along the rail 462 and provide thrust through the slider 461 to the storage container 106 disposed on the first storage container support 422 .

[0264] 23, the transport motor 463 is connected to the rail via a belt 464. Thus, the chain or belt arranged on the rail 462, and therefore also the slider 461, can be operated by the transport motor 463.

[0265] 23, the transport motor 463 is located on a bracket attached to the plate 427. Alternatively, the transport motor 463 can be located on the primary carriage base 421. The transport motor 462 is typically an electric motor powered by a battery or an external power source (not shown). A battery requires less infrastructure, while an external power source reduces the size and weight of the primary carriage 420.

[0266] 22 shows that the primary carriage 420 may include a first coupling 471. The first coupling 471 is disposed on the primary carriage base 421. The first coupling 471 is disposed on the rear side of the primary carriage 420 such that when the first coupling 471 is disposed in the access station 400, it can interact with the secondary carriage 430, and in particular with a second coupling 472 disposed in the secondary carriage 430.

[0267] The first coupling portion 471 may be bent or extruded sheet metal with a horizontal portion extending in a first direction X followed by a vertical portion extending in a third direction Z to form a retaining lip. The first coupling portion 471 may extend in a second direction Y the entire length of the primary carriage base 421 to provide a large interface towards the second coupling portion 472.

[0268] 22 and 24 show that the primary carriage 420 may include a tilt device 450. The tilt device 450 may include a tilt motor 451, a drive crank 452, and a coupler link 453. The coupler link 453 may have a recess 454.

[0269] The tilt device 450 is configured to move the primary carriage 420 between a receiving state and a picking state. In the receiving state, the first storage container support 422 is tilted relative to a horizontal plane P H In the picking state, as shown in FIGS. 22, 23, and 24, the first storage container support 422 is disposed substantially parallel to the horizontal plane P H It is inclined at a predetermined inclination angle α with respect to the

[0270] In FIG. 22, to move between the receiving state and the picking state, the first storage container support 422 and plate 427 rotate about a rotation axis C. R It is shown how the object can rotate around the axis of rotation C. R may be preferably disposed at the front end of the primary carriage 420. In FIG. R is the horizontal plane P H and facing in a second direction Y.

[0271] The tilt motor 451 is mounted in the primary carriage base 421, preferably around the axis of rotation C of the primary carriage 420. R 4, so that the tilt device 450 is disposed on the opposite side of the rotation axis C R A thrust force can be provided to the first storage container support 422 and the plate 427 at a distance from the axis of rotation C. This thrust force can rotate the first storage container support 422 and the plate 427 around the axis of rotation C. R Rotate around the center.

[0272] The tilt motor 451 is typically an electric motor powered by a battery or an external power source (not shown). A battery requires less infrastructure, while an external power source reduces the size and weight of the primary carriage 420.

[0273] The tilt motor 451 is configured to provide a torque. The drive crank 452 is coupled to the tilt motor 451 and configured to transfer the torque from the tilt motor 451. The coupler link 453 may be pivotally coupled to the drive crank 452. The first storage container support 422 may be pivotally coupled directly or indirectly (e.g., via the plate 427) to the coupler link 453. Thus, the coupler link 453 may provide a direct or indirect thrust to the first storage container support 422 in response to the torque from the tilt motor 451 via the drive crank 452.

[0274] FIG. 25 shows a front view of the secondary carriage 430, and FIG. 26 shows a perspective view of the same secondary carriage 430.

[0275] The secondary carriage 430 is configured to transport the storage container 106. The secondary carriage 430 includes a secondary carriage base 431 movable along the guide frame 410, a secondary carriage displacement motor 440b configured to move the secondary carriage 430 along the guide frame 410, and a second storage container support 432 connected to the secondary carriage base 431.

[0276] The secondary carriage base 431 may include at least two sets of wheels 442 connected to opposite sides of the secondary carriage base 431. The wheels 442 are configured to move along the guide frame 410, preferably along a guide path 411 provided on the guide frame 410.

[0277] In Fig. 26, one of the wheels 442 is shown connected via a drive belt 441b to a secondary carriage displacement motor 440b, which in this example is at least partially disposed within a volume defined by the secondary carriage base 431. The secondary carriage displacement motor 440b is typically an electric motor powered by a battery or an external power source (not shown). A battery requires less infrastructure but does require occasional recharging, whereas an external power source reduces the size and weight of the secondary carriage 430.

[0278] The second storage container support 432 is connected to the secondary carriage base 431 either as an integral part of the secondary carriage base 431 or as a separate unit. In the example of FIG. 25, the second storage container support 432 comprises rollers disposed on a plate 437 connected to the secondary carriage base 431. The plate 437 may be considered as part of the secondary carriage base 431, part of the second storage container support 432, or an intermediate component between the two. The two rows of rollers are disposed along the first direction X with a gap 433 between them. The rollers are configured to support the storage container 106 while facilitating receipt of the storage container 106 transferred from the primary carriage 420.

[0279] The second storage container support 432 may have a footprint larger than the footprint of the secondary carriage base 431. The footprint of the second storage container support 432 is preferably larger than the footprint of the storage container A so that the storage container 106 can be adequately supported while keeping the footprint size small. f is substantially equal to the area of

[0280] 25, the secondary carriage 430 may include a vertical side panel 434 configured to prevent movement of the supported storage container 106 in the second direction Y. The vertical side panel 434 may be a bent portion of a plate 437 on which rollers are disposed. The vertical side panel 434 may be provided with a sliding surface 435 to reduce friction between the vertical side panel 434 and the storage container 106. The vertical side panel 434 and the sliding surface 435 facilitate receipt of the storage container 106 transferred from the primary carriage 420.

[0281] The secondary carriage 430 may include an end stop 436 configured to prevent the supported storage container 106 from moving in the first direction X beyond a given point. The end stop 436 may be a bend in the plate 437 on which the rollers are disposed or may be a bend in the vertical side panel 434.

[0282] The secondary carriage 430 may comprise one or several second couplings 472. In the example of Fig. 25 and Fig. 26, the secondary carriage 430 comprises two second couplings 472. These second couplings 472 are spaced apart in the second direction Y on the secondary carriage base 431. In this example with one first coupling 471, the distance between the second couplings 472 must not exceed the extent of the first coupling 471 in the second direction Y. The second couplings 472 are arranged on the front side of the secondary carriage 430 so that when the second couplings 472 are arranged in the access station 400, they can interact with the primary carriage 420, and in particular with the primary couplings 471 arranged in the primary carriage 420.

[0283] The second coupling portion 472 may have a profile configured to engage a retaining lip of the first coupling portion 471 such that relative horizontal movement in the first direction X is prevented.

[0284] The profile of the second coupling 472 may be resilient or biased into a given position so that the first coupling 471 and the second coupling 472 can snap together when pressed together. FIG. 26 shows that the profile may be pivotally connected to the secondary carriage base 431 and biased downwards by a spring. The profile may also be connected to a mechanism configured to pull the profile upwards, so that the first coupling 471 and the second coupling 472 can be connected and disconnected.

[0285] The profile of the second coupling portion 472 may be chamfered to provide a vertical force vector on the profile in response to the first coupling portion 471 and the second coupling portion 472 being forced together horizontally, where the biasing force should be lower than the expected vertical force vector.

[0286] Latch 470 is shown in an unconnected state in FIG. 27a and in a connected state in FIG. 27b.

[0287] Figure 28 shows a vertical cross section of the access station 400. Figure 28 shows an alternative configuration of how the primary carriage 420 and secondary carriage 430 may be moved along the guide frame 410.

[0288] The primary carriage 420 is driven, for example, by belt wheels 444 arranged on both ends of the guide frame 410, or at least by a primary drive belt 443a at the picking position P P From receiving area A R The primary carriage 420 may include a primary drive belt 443a disposed on the guide frame 410, arranged to extend to the primary carriage base 421. The primary drive belt 443a is typically connected to the primary carriage base 421. A primary carriage displacement motor 440a may be disposed on the guide frame 410 and configured to operate the primary drive belt 443a to move the primary carriage 420 along the guide frame 410, for example by being connected to one of the belt wheels 444.

[0289] The secondary carriage 430 is driven, for example, by belt wheels 444 arranged on both ends of the guide frame 410, or at least by a secondary drive belt 443b at the picking position P P From receiving area A R The secondary carriage 430 may include a secondary drive belt 443b disposed on the guide frame 410 arranged to extend to the secondary carriage base 431. The secondary drive belt 443b is typically connected to the secondary carriage base 431. A secondary carriage displacement motor 440b may be disposed on the guide frame 410 and configured to operate the secondary drive belt 443b to move the secondary carriage 430 along the guide frame 410, for example by being connected to one of the belt wheels 444. Thus, the secondary drive belt 443b can be operated independently of the primary drive belt 443a, and vice versa.

[0290] The primary drive belt 443a and the secondary drive belt 443b may be arranged parallel, side by side or spaced apart, at the same vertical height.

[0291] In the configuration of Figure 28, no additional motors are required to rotate the wheels.

[0292] Instead of connecting the primary drive belt 443a to the primary carriage base 421, a number of belt wheels 444 may be disposed on the primary carriage base 421 configured to receive the primary drive belt 443a. To operate the primary drive belt 443a in this configuration, the primary carriage displacement motor 440a may be disposed on the primary carriage base 421 and connected to one of the belt wheels 444 of the primary carriage base 421.

[0293] Instead of connecting the secondary drive belt 443b to the secondary carriage base 431, a number of belt wheels 444 configured to receive the secondary drive belt 443b may be disposed on the secondary carriage base 431. To operate the secondary drive belt 443b in this configuration, a secondary carriage displacement motor 440b may be disposed on the secondary carriage base 431 and connected to one of the belt wheels 444 of the secondary carriage base 431.

[0294] 29 shows a perspective view of an access station 400. The access station 400 may comprise any one of the features described in connection with the preceding access station 400.

[0295] The access station 400 in FIG. P1 A first picking position P located within P1 and the second picking area A P2 A second picking position P located within P2 The first picking position P P1 and the second picking location P P2 This configuration of the access station 400 having is referred to as a double-ended access station 400 .

[0296] The access station 400 has a number of receiving positions P R Reception area A having R In this case, five receiving positions P R1 ~P R5 There is one receiving position P R It is also possible to have only

[0297] The double-ended access station 400 has a first picking position P P1 and the second picking position P P2 The first picking position P P1 and the second picking location PP2 is the receiving area A R The primary carriage 420 used in the double-ended access station 400 is typically of the type described above. The primary carriage 420 is located at the first picking position P P1 and the second picking location P P2 The storage container 106 may be configured to present both to the

[0298] The access station 400 may further comprise a secondary carriage 430 movable along the guide frame 410. The primary carriage 420 used in the double-ended access station 400 is typically of the type described above. When the access station 400 comprises a secondary carriage 430, the first carriage is typically positioned at the first picking position P P1 The secondary carriage 430 is typically configured to present the storage container 106 at a second picking location P P2 10. The storage container 106 is configured to present

[0299] First picking position P P1 may be adapted for human picking or robotic picking as shown. P2 may be adapted for robotic picking or for human picking as shown. P is preferably provided with an access cabinet 490.

[0300] Figure 30 shows a perspective view of the access station 400 of Figure 29. It is shown how multiple access stations 400 in a double-ended configuration can be arranged side-by-side. In this example, four access stations 400 are arranged side-by-side. However, any number of access stations 400 can be arranged side-by-side, for example, three or two access stations 400.

[0301] FIG 31 shows a perspective view of the access station 400 of FIG 29. The robotic picker 600 is located at the first picking position P P1 1 and 2. The access stations 400 are arranged adjacent to each other and are configured for picking operations from four access stations 400 arranged side by side.

[0302] In operation, the double-ended access station 400 operates in the same manner as the other access stations 400, i.e., in reception area A. R and transfers the storage containers 106 to a first picking location P P1 After picking has occurred, the storage containers 106 are transported to receiving area A for collection. R Then, the second picking position P P2 is the first picking position P P1 It can act as a backup to

[0303] First picking position P P1 is typically operated by a robotic picker 600. The robotic picker 600 picks up the first picking position P P1 If the product 80 to be picked from the storage container 106 presented at the second picking location P P2 The second picking position P P2 At the second picking location P P2 The picking at the first picking position P P1 The picking can be performed in parallel with the picking at the first picking position P P1 or the second picking position P P2 Once picked at either the storage container 106 can be returned to the receiving area by the container handling vehicle 201, 301, 401 for collection.

[0304] As a quality improvement measure, the first picking position P P1 The picking operation performed at the first picking location P may include inspecting the presented storage container 106 for errors. This inspection may be performed by a human picker, a robotic picker 600, or a robotic picker at the first picking location P. P1 This can be performed by other inspection means arranged in

[0305] If an error is detected, the erroneous storage container 106 is moved, typically by a human, to a second picking location P for correction. P2 Some examples of relevant errors can be incorrect contents in a bin (incorrect items or number of items in a bin compared to what is registered in the system), damaged goods, damaged bins, deformed bins, soiled bins, and soiled contents.

[0306] If a secondary carriage 430 is used, the secondary carriage 430 is positioned at the second picking position P P2 The incorrect storage container 106 can be transferred from the primary carriage 420 to the secondary carriage 430 so that the storage container 106 can be delivered at

[0307] If a secondary carriage 430 is used, the secondary carriage 430 is located in the receiving area A. R 1, so that the storage container 106 can be delivered to the first picking location P P1 After being picked at , the storage container 106 can be transferred from the primary carriage 420 to the secondary carriage 430.

[0308] When the secondary carriage 430 is used, the storage container 106 is moved to the second picking position P P2 The first picking position P P1 If picking is not possible at the primary carriage 420, the item can be transferred to the secondary carriage 430.

[0309] In the preceding description, various aspects of the delivery vehicle and automated storage and retrieval system of the present invention 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. [Explanation of symbols]

[0310] 1. Prior Art Automatic Storage and Retrieval System 100 Framework Structure 102 Upright members of framework structures 104 Storage Grid 105 Storage Column 106 Storage Container 106a First storage container 106b Second storage container 106c Third Storage Container 106' Specific location of storage container 107 Stack 108 Rail System 110 Parallel rail in the first direction (X) 111 Parallel rail in the second direction (Y) 112 Access opening 119 First Port Column 120 Second Port Column 121 Third Port Column 122 Fourth Port Column 201 Prior art container handling vehicle 201a Body of container handling vehicle 201 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Prior Art Cantilever Container Handling Vehicle 301a Body of container handling vehicle 301 301b Driving means in the first direction (X) 301c second direction (Y) driving means 304 Grasping Device 401 Prior art container handling vehicle 401a Body of container handling vehicle 401 401b Driving means in the first direction (X) 401c Driving means in the second direction (Y) 400 Access Station 410 Guide Frame 411 Guide Route 420 Primary Carriage 421 Primary Carriage Base 422 First storage container support 423 Gap in First Storage Container Support 424 Vertical side panel for first storage container 425 Slideway for vertical panels 426 End stop for first storage container support 427 Primary Carriage Plate 430 Secondary Carriage 431 Secondary Carriage Base 432 Second storage container support 433 Gap in second storage container support 434 Vertical side panel for second storage container 435 Slideways for vertical panels 436 End stop for second storage container support 437 Secondary Carriage Plate 440a Primary carriage displacement motor 440b Secondary carriage displacement motor 441a Drive belt for primary carriage displacement motor 441b Drive belt for secondary carriage displacement motor 442 Carriage Wheels 443a Primary drive belt for primary carriage 443b Secondary drive belt for secondary carriage 444 Belt Wheel 450 Tilt Device 451 Incline Motor 452 Drive crank for tilt device 453 Coupler Link for Tilting Devices 454 Coupler Link Recess 460 Transport Device 461 Transport Device Slider 462 Transport Device Rails 463 Transport motor for transport device 464 Drive belt for transport motor 470 Latch 471 First joint of latch 472 Secondary joint of latch 490 Access cabinet with hatch 500 Control System 600 Picker X First Direction Y Second Direction Z third direction P H horizontal plane Lr Rail length Wf Width of storage container Lf Length of storage container Hf Storage container height Af Storage container area P P Picking Location P P1 1st picking position P P2 Second picking position A P Picking Area A P1 First picking area A P2 Second Picking Area A R Reception area P R ,P R1+nReceiving position (1st, 2nd, 3rd, etc.) α Incline angle C R Rotation axis

Claims

1. An access station (400) for the presentation of a storage container (106), comprising: The access station (400) A receiving area (A) for receiving the storage containers (106) from the automated storage and retrieval system (1). Ｒ )and, a first picking location (P) for presenting said storage container (106) to a picker; Ｐ１ ), wherein the first picking position (P Ｐ１ ) is the receiving area (A Ｒ A first picking position (P Ｐ１ )and, A second picking location (P) for presenting said storage container (106) to a picker. Ｐ２ ), wherein the second picking position (P Ｐ２ ) is the receiving area (A Ｒ a second picking position (P Ｐ２ )and, Horizontal plane (P Ｈ ) and the first picking position (P Ｐ１ ) and the second picking position (P Ｐ２ ) a guide frame (410) extending between the a primary carriage (420) for transporting a storage container (106) along said guide frame (410); An access station (400) comprising:

2. The access station (400) further comprises an access cabinet (490) for interfacing with a human picker, the access cabinet (490) being adapted to access the second picking location (P Ｐ２ 2. The access station (400) of claim 1, wherein the access station (400) is located in a wireless LAN (100).

3. The receiving area (A Ｒ ) is a set of receiving positions (P Ｒ The access station (400) according to any one of claims 1 to 2, comprising:

4. The access station (400) a secondary carriage (430) for transporting a storage container (106) along said guide frame (410); The access station (400) of claim 1 further comprising:

5. The primary carriage (420) transports the storage container (106) to the first picking location (P Ｐ１ ) configured to transport the The secondary carriage (430) moves the storage container (106) to the second picking location (P Ｐ２ 5. The access station (400) of claim 4, configured to transport a

6. The primary carriage (420) comprises: a primary carriage base (421) movable along said guide frame (410); a primary carriage displacement motor (440a) configured to move the primary carriage (420) along the guide frame (410); a first storage container support (422) connected to the primary carriage base (421); a transfer device (460) for displacing a storage container (106) positioned on the first storage container support (422); Equipped with The secondary carriage (430) a secondary carriage base (431) movable along said guide frame (410); a secondary carriage displacement motor (440b) configured to move the secondary carriage (430) along the guide frame (410); a second storage container support (432) connected to the secondary carriage base (431); Equipped with The access station (400) of claim 4, wherein the secondary carriage (430) is configured to receive a storage container (106) displaced from the first primary carriage (420) by the transport device (460).

7. An automated storage and retrieval system (1), comprising: An access station (400) for the presentation of a storage container (106), said access station (400) comprising: a receiving area (A R ) for receiving the storage containers (106) from the automated storage and retrieval system (1); a first picking location (P P1 ) for presenting said storage container (106) to a picker, said first picking location (P P1 ) being located on a first side of said receiving area (A R ); a second picking location (P P2 ) for presenting said storage container (106) to a picker, said second picking location (P P2 ) being arranged on a second side of said receiving area (A R ) opposite said first side; a guide frame (410) disposed in a horizontal plane (P H ) and extending between said first picking position (P P1 ) and said second picking position (P P2 ); a primary carriage (420) for transporting a storage container (106) along said guide frame (410); An access station (400) comprising: A rail system (108), the rail system (108) being arranged in a horizontal plane (P Ｈ ) and a first set of parallel rails (110) extending in a first direction (X), and the horizontal plane (P Ｈ and a second set of parallel rails (111) disposed within said horizontal plane (P) and extending in a second direction (Y) perpendicular to said first direction (X), said first and second sets of rails (110, 111) being spaced apart from each other by a plurality of adjacent access openings (112) defined by a pair of adjacent rails (110a, 110b) of said first set of rails (110) and a pair of adjacent rails (111a, 111b) of said second set of rails (111). Ｈ a rail system (108) forming a grid pattern within the a plurality of stacks (107) of storage containers (106) arranged in storage columns (105) located below a storage section of said rail system (108), each storage column (105) being located vertically below an access opening (112); Located below the delivery section of the rail system (108) and at the receiving position (P Ｒ at least one port column (119) vertically aligned with the storage container (106), said at least one port column (119) being a void of the storage container (106); a container handling vehicle (301), said container handling vehicle (301) comprising a lifting device (304) for lifting storage containers (106) stacked in said stack (107) above said storage section, and drive means (301b, c) configured to drive said vehicle (301) along said rail system (108) in at least one of said first direction (X) and said second direction (Y); An automatic storage and retrieval system (1).

8. The automatic storage and retrieval system (1) comprises: The first picking position (P Ｐ１ ) means for inspecting said storage container (106) presented in The automated storage and retrieval system (1) of claim 7, further comprising:

9. The automatic storage and retrieval system (1) comprises: The first picking position (P Ｐ１ a robotic picker (600) configured to pick products (80) from said storage containers (106) presented at said The automated storage and retrieval system (1) of claim 7, further comprising:

10. 10. The automated storage and retrieval system (1) according to claim 9, wherein the inspection means is arranged on the robotic picker (600).

11. The automatic storage and retrieval system (1) comprises: At least two port columns (119, 120), preferably three or four port columns (119, 120, 121, 122) The automated storage and retrieval system (1) according to claim 7, comprising:

12. The automatic storage and retrieval system (1) comprises: At least two access stations (400) arranged side by side, preferably three or four access stations (400), even more preferably five access stations (400) The automated storage and retrieval system (1) according to claim 7, comprising:

13. A method for presenting a storage container (106) to an access station (400) and returning said storage container (106) using an automated storage and retrieval system (1), comprising: The automatic storage and retrieval system (1) comprises: An access station (400) for the presentation of a storage container (106), said access station (400) comprising: a receiving area (A R ) for receiving the storage containers (106) from the automated storage and retrieval system (1); a first picking location (P P1 ) for presenting said storage container (106) to a picker, said first picking location (P P1 ) being located on a first side of said receiving area (A R ); a second picking location (P P2 ) for presenting said storage container (106) to a picker, said second picking location (P P2 ) being arranged on a second side of said receiving area (A R ) opposite said first side; a guide frame (410) disposed in a horizontal plane (P H ) and extending between said first picking position (P P1 ) and said second picking position (P P2 ); a primary carriage (420) for transporting a storage container (106) along said guide frame (410); An access station (400) comprising: a rail system (108) arranged in a horizontal plane (P H ) and comprising a first set of parallel rails (110) extending in a first direction (X) and a second set of parallel rails (111) arranged in the horizontal plane (P H ) and extending in a second direction (Y) perpendicular to the first direction (X), the first and second sets of rails (110, 111) forming a grid pattern in the horizontal plane (P H ) comprising a plurality of adjacent access openings (112) defined by a pair of adjacent rails (110a, 110b) of the first set of rails (110) and a pair of adjacent rails (111a, 111b) of the second set of rails (111); a plurality of stacks (107) of storage containers (106) arranged in storage columns (105) located below a storage section of said rail system (108), each storage column (105) being located vertically below an access opening (112); at least one port column (119) located below a delivery section of the rail system (108) and vertically aligned with a receiving position (P R ) of the access station (400), the at least one port column (119) being a void of a storage container (106); a container handling vehicle (301), said container handling vehicle (301) comprising a lifting device (304) for lifting storage containers (106) stacked in said stack (107) above said storage section, and drive means (301b, c) configured to drive said vehicle (301) along said rail system (108) in at least one of said first direction (X) and said second direction (Y); Equipped with The method comprises: The storage container (106) is transported to the receiving area (A) by a container handling vehicle (301). Ｒ ) The storage container (106) is placed at the first picking location (P Ｐ１ ) If the robotic picker (600) is unable to pick a product (80) from the storage container (106), The storage container (106) is then moved to the second picking location (P Ｐ２ ), The second picking position (P Ｐ２ picking the product from the storage container (106) at The storage container (106) is transported to the receiving area (A) for collection by a container handling vehicle (301). Ｒ ), or If the robotic picker (600) is able to pick a product (80) from the storage container (106), The first picking position (P Ｐ１ picking the product from the storage container (106) at The storage container (106) is transported to the receiving area (A) for collection by a container handling vehicle (301). Ｒ ) back to step A method comprising:

14. The method further comprises: transferring the storage container (106) to the first picking location (P Ｐ１ ), and then inspecting the storage container (106) for errors; If an error is detected, The storage container (106) is moved to the second picking location (P Ｐ２ ), or If no errors are detected, The storage container (106) is transported to the receiving area (A) for collection by a container handling vehicle (301). Ｒ ) back to step The method of claim 13, comprising:

15. The access station (400) a secondary carriage (430) for transporting a storage container (106) along said guide frame (410); Equipped with The primary carriage (420) transports the storage container (106) to the first picking location (P Ｐ１ ) configured to transport the The secondary carriage (430) moves the storage container (106) to the second picking location (P Ｐ２ ) configured to transport the The method further comprises, after the step of picking from the storage container (106) and / or inspecting the storage container (106) for errors, transferring said storage container (106) from said primary carriage (420) to said secondary carriage (430); The method of any one of claims 13 to 14, further comprising:

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