Access station with security mechanism

Abstract

The present invention relates to an access station for the presentation of storage containers from an automated storage and retrieval system to an operator at the access station. The access station comprises an access module comprising a frame defining a drawer compartment provided therein and a front opening for allowing presentation of a storage container. The access station also comprises a drawer comprising a drawer base and a drawer front. The access station comprises a safety mechanism located above the front opening, the safety mechanism comprising a cover secured to the frame, a safety plate movable relative to the cover between an inoperative position and an operative position, and a safety sensor for detecting movement of the safety plate.

Description

[Technical field]

[0001] The present invention relates to an access station for the provision of storage containers from an automated storage and retrieval system to an operator of the access station.The present invention also relates to a method for preventing drawer closure in an access station of an automated storage and retrieval system.The present invention also relates to a method for retrieving storage containers from an automated storage and retrieval system or for supplying storage containers to an automated storage and retrieval system. [Background technology]

[0002] 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 in rows 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 and lower the storage containers 106 into the storage columns, the container handling vehicles also transporting the storage containers 106 up 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 uprights 102 of the framework 100 may be used to guide the storage containers during their ascent from and descent into the column 105. The stack 107 of containers 106 is typically freestanding.

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a car body 201a, 301a, 401a, respectively, and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c that allow lateral movement of the container handling vehicle 201, 301, 401 in the X and Y directions. 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 and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can be engaged with 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 vertical transport of the storage containers 106 (e.g. for raising the storage containers 106 from the storage column and lowering the storage containers 106 into the storage column 105). The lifting device comprises one or more gripping / engaging devices adapted to engage with the storage containers 106, which can be lowered from the vehicle 201, 301, 401 such that the position of the gripping / engaging devices 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. Parts of the gripping devices of the container handling vehicles 301, 401 are shown in Figures 3 and 4, indicated by reference numbers 304, 404. The gripping devices of the container handling device 201 are located in the vehicle body 201a in Figure 2 and are therefore not shown.

[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 includes 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 include a cavity disposed internally within the vehicle body 201a, 401a, as shown in Figures 2 and 4 and described, for example, in WO 2015 / 193278 and WO 2019 / 206487, 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] 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, 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, as disclosed, for example, in WO 2014 / 090684 or WO 2019 / 206487.

[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 derailment. The grooves and upwardly projecting elements are collectively known as tracks. Each rail may include a single track, or each rail 110, 111 may include two parallel tracks. In other rail systems 108, each rail in one direction (e.g., the X direction) may include one track, and each rail in the other perpendicular direction (e.g., the Y direction) may include two tracks. Each rail 110, 111 may also include two track members fastened together, each track member providing one of a pair of tracks provided by each rail.

[0015] WO 2018 / 146304 shows an exemplary configuration of a rail system 108 with rails and parallel tracks in both the X and Y directions, the contents of which are incorporated herein by reference.

[0016] In the framework 100, the majority of the columns 105 are storage columns 105, i.e. columns 105 where the storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301, 401 to drop off and / or pick up the storage containers 106, so that they can be transported to an access station (not shown) where they can be accessed from outside the framework 100 or transferred to the outside or inside of the framework 100. In the art, such locations are usually called "ports" and the columns where the ports are located may be called "port columns" 119, 120. The transport to the access station may be in any direction, i.e. horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in random or dedicated columns 105 within the framework structure 100 and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Transport from the port to the access station may require movement along a variety of different directions by means such as delivery vehicles, dollies or other transport lines. It should be noted 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 be, for example, a dedicated drop-off port column where the container handling vehicles 201, 301, 401 can drop off storage containers 106 that are 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 that are accessed or transported from the transfer station.

[0018] An access station may typically be a picking or stock station where product items are retrieved 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 rather, once accessed, is returned to the framework 100 again. A port may also be used to transfer a storage container to another storage facility (e.g., to another framework or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[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, 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, 401 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 removing 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 removed storage container 106 may be repositioned back to the original storage column 105. However, the removed storage container 106 may alternatively be transferred 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 located at or above the target location in the stack 107 has been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 in the desired location. The removed storage container 106 may then be placed back into the storage column 105 or transferred to another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1, for example, the location 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 typically includes a control system 500 that is computerized and typically includes a database for tracking the storage containers 106.

[0025] Access stations represent a safety risk because operators are susceptible to hand / finger pinch injuries when parts of the access station are moving. Some access stations are "internal", i.e., the access station is used by operators who are trained on safety while using the access station. However, some access stations are "external", i.e., the access station is used by customers to pick up products that they have ordered. Such external access stations are commonly called pick-up points or pick-up stations. These customers are not trained on safety and therefore additional safety measures should be present to avoid pinch injuries.

[0026] WO 2017 / 211596 describes an access station with a drawer, where when the drawer is closed, a storage container can be lowered into the drawer or retrieved from the drawer, and when the drawer is open, a person can access the storage container. This access station can be used as an internal access station. This access station can also be equipped with a user interface by which a customer can access the access station. This access station can therefore also be used as an external access station. The drawer has a handle for manually opening and closing the drawer.

[0027] The AutoStore SwingPort (https: / / www.youtube.com / watch?v=YycttBTySNg) is equipped with two horizontal sliding covers that completely prevent access to the storage containers while they are being moved. As a result, there is a first waiting period from when the picking operation is finished until the storage container can be moved (because the sliding covers must close), and a second waiting period from when the next storage container is in the picking position until picking can begin (because the sliding covers must open).

[0028] Other access stations include a cover inserted around an access opening to a storage container in a port. When a storage container is moved, if a hand or other object is present, the cover moves relative to other parts of the access station. This relative movement of the cover is detected by a sensor, which subsequently stops movement of the storage container within the access station. In the event of an incident that causes the cover to move, the cover must be returned to its original position before the access station can operate normally again.

[0029] It is an object of the present invention to provide an access station that can automatically open and close access openings to storage containers.

[0030] It is an object of the present invention to provide an access station in which the risk of pinch injuries is reduced.

[0031] One object of the present invention is to provide a more efficient access station. [Prior art documents] [Patent documents]

[0032] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2019 / 206487 [Patent Document 3] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0033] The present invention relates to an access station for the provision of storage containers from an automated storage and retrieval system to an operator at the access station, the access station comprising: an access module comprising a frame defining a drawer compartment provided therein and a front opening for allowing the presentation of a storage container; a drawer comprising a drawer base and a drawer front, the drawer being movably connected to the frame, the drawer base comprising a support capable of supporting a storage container; a first actuator for moving the drawer relative to the frame between an presented position in which the drawer projects through a front opening of the frame and a retracted position in which the drawer is retracted into the drawer compartment; and Equipped with the access station includes a security mechanism located above the front opening; The safety mechanism is a cover fixed to the frame; a safety plate movable relative to the cover between an inoperative position and an operative position; -Safety sensor to detect the movement of the safety plate Equipped with The access station is configured to allow movement of the drawer relative to the frame when the safety sensor detects that the safety plate is in its inoperative position, and the access station is configured to stop or reverse movement of the drawer relative to the frame when the safety sensor detects that the safety plate is in its operative position.

[0034] In one aspect, the cover is secured to the frame above the front opening.

[0035] Thus, as the drawer is moving from the presented position to the retracted position, an object protruding upward from the storage container will push the safety plate from the inactivated position to the activated position, thus stopping or reversing the movement of the drawer.

[0036] In one aspect, the safety plate prevents the storage container from being retrieved from the drawer when the safety plate is in the inactivated position.

[0037] In one aspect, the safety plate is positioned partially above the storage container when the drawer is in the presented position and the safety plate is in the inoperative position.

[0038] As used herein, a storage container has an upper proximal edge and an upper distal edge. The upper proximal edge is more proximal, i.e., closer to the drawer front, than the upper distal edge. When the storage container is located in the drawer, the upper proximal edge is also more proximal, i.e., closer to the operator, than the upper distal edge.

[0039] In one aspect, the safety plate is positioned partially above an upper distal edge of the storage container, the upper distal edge being distal to the drawer front when the drawer is in the presented position and the safety plate is in the inoperative position.

[0040] In one aspect, the safety plate prevents the storage container from being retrieved from the drawer when the safety plate is in the activated position.

[0041] In one aspect, the safety plate is positioned partially above the storage container when the drawer is in the presented position and the safety plate is in the activated position.

[0042] In one aspect, the safety plate is positioned partially above an upper distal edge of the storage container, the upper distal edge being distal to the drawer front when the drawer is in the presented position and the safety plate is in the activated position.

[0043] In one aspect, the presented position is the position of the drawer where the drawer front is furthest away from the front opening.

[0044] In one aspect, the drawer front is vertically aligned with the front opening in the retracted position, or alternatively, the drawer front may be retracted further into the drawer compartment than the front opening.

[0045] In one aspect, the access station includes a control system configured to control the first actuator based on a signal from the safety sensor.

[0046] In one aspect, the access station includes a user interface, and the control system is configured to control the first actuator based on user input from the user interface and a signal from the safety sensor.

[0047] In one aspect, the first actuator is a bi-directional actuator for moving the drawer from the present position to the retracted position and for moving the drawer from the retracted position to the present position. Alternatively, the first actuator comprises two uni-directional actuators, the first actuator for moving the drawer from the present position to the retracted position and the second actuator for moving the drawer from the retracted position to the present position.

[0048] In one aspect, a user interface is used to initiate movement of the drawer from the presented position to the retracted position.

[0049] In one aspect, a user interface is used to initiate movement of the drawer from the retracted position to the presented position.

[0050] In one aspect, a control system is provided in communication with a control system of the automated storage and retrieval system.

[0051] In one aspect, the frame includes a guard that defines an upper boundary of the front opening.

[0052] For external access stations, the purpose of the guard is generally to protect the access station from tampering etc. However, for internal access stations, the purpose of the guard may be to help prevent unintended access to moving parts and to mechanically strengthen the frame.

[0053] In one aspect, the cover at least partially forms a guard and the safety mechanism is configured to operate to prevent an object from being squeezed between the drawer front and the guard during movement of the drawer from the presented position to the retracted position.

[0054] In one aspect, the safety mechanism is also configured to prevent an object from being squeezed between an upper proximal edge of the storage container proximal to the drawer front and the guard while the drawer is moving from the presented position to the retracted position.

[0055] In one aspect, the safety plate is further movable relative to the cover to a container handling position when the drawer is in the presentation position, and when the safety plate is in the container handling position a storage container can be retrieved from the drawer and / or a storage container can be inserted into the drawer, and / or the access station is configured to prevent movement of the drawer relative to the frame when the safety sensor detects that the safety plate is in the container handling position.

[0056] In one aspect, the container handling position and the operating position are the same position. Alternatively, the container handling position is different from the operating position. In one embodiment, the operating position is an intermediate position between the non-operating position and the container handling position.

[0057] In one aspect, the safety plate includes a handle for manually moving the safety plate between the inoperative and operative positions, or for manually moving the safety plate between the inoperative, operative and container handling positions.

[0058] In one aspect, the access module has an upper opening through which the storage container is retractable from the drawer and through which the storage container is receivable by the drawer, and a safety plate at least partially blocks the upper opening in the operating position or the container handling position.

[0059] Thus, unintentional collisions between storage containers and / or unintentional jamming of storage containers in the access station can be prevented.

[0060] The guard, along with other components, may also protect the operator from injury caused by the gripping devices of the storage container and / or container handling vehicle moving vertically above the top opening.

[0061] In one aspect, the safety mechanism includes a releasable lock to prevent the safety plate from moving to the container handling position, and the access station is configured to release the releasable lock when a predetermined condition is met.

[0062] For external access stations, insertion and / or retrieval of storage containers is normally not permitted and the releasable lock may be set as a default to be locked. However, in the event of an accident, an operator may unlock the lock by entering an access code via a user interface, such as by using a key, to move the safety plate to a container handling position, e.g., to remove a jammed storage container. For internal access stations, insertion and / or retrieval of storage containers is normally permitted and the access station may not have a releasable lock or the releasable lock may be set as a default to be unlocked.

[0063] In one aspect, the safety plate is a rectangular flat body that is slidably attached to the cover.

[0064] In one aspect, the safety plate is slidably mounted below the cover.

[0065] In one aspect, the cover includes a guide for guiding the safety plate relative to the cover.

[0066] In one aspect, the safety sensor is an electromagnetic sensor. In one aspect, the sensor has two portions, a first sensor portion secured to the cover and a second sensor portion secured to the safety plate. When the first portion is in contact with the second portion, the safety sensor detects that the safety plate is in the inactivated position.

[0067] According to the above, the safety mechanism provides safety even during container handling operations where a storage container is inserted into or retrieved from the drawer, because the access station requires the flap to be returned to the initial non-operated position before the drawer closes to allow the storage container to be lifted away from the drawer by the container handling vehicle or to allow the storage container to be received into the drawer by the container handling vehicle. In the prior art, the safety mechanism for avoiding pinch injuries must be disabled or physically removed to allow the above container handling operations.

[0068] The term "operator" is used herein to denote a person or robot performing a picking operation, i.e. picking one or more product items from a storage container, or a supply operation, i.e. inserting one or more product items into a storage container. The term "operator" is also used herein to denote a person or robot performing a container supply operation, i.e. inserting a storage container into an access station, or a container retrieval operation, i.e. retrieving a storage container from an access station.

[0069] The terms "container handling" and "container handling operations" are used herein to describe operations of feeding storage containers to and / or retrieving storage containers from an automated storage and retrieval system. The storage containers may be filled with product items or may be empty. Thus, the terms are not used to describe operations performed by container handling vehicles operating on a rail system on a framework structure, which are mobile storage containers already fed into the system.

[0070] In one aspect, the support for the drawer is defined with a forward position and a rearward position, and the access station includes a second actuator for moving the storage container from the forward position to the rearward position, such that when the storage container is in the forward position and when the drawer is in the presentation position, the storage container is presented to the operator.

[0071] In one aspect, the storage container in the rear position is positioned below the top opening when the drawer is in the presentation position.

[0072] In one aspect, the storage container in the forward position is positioned below the top opening when the drawer is in the retracted position.

[0073] In one aspect, the frame includes vertical side guide plates for guiding the side edges of the drawer front as it extends outwardly to the presented position and as it retracts to the retracted position.

[0074] In one aspect, the vertical side guide plates fit snugly against the drawer front to reduce gaps and the risk of potentially crushing fingers / hands during drawer movement. In one aspect, a resilient material is positioned between the guide plates and the drawer front to further reduce gaps and hazards.

[0075] In one aspect, the frame includes a lower horizontal guide plate for guiding the lower edge of the drawer front as it extends outwardly to the presented position and as it retracts to the retracted position, which also fits snugly against the drawer front to reduce the risk of crushing fingers / hands during movement of the drawer.

[0076] The side and lower guide plates are fixed relative to the access module and automated storage and retrieval system and therefore are visible to operators and others working near the system framework, so that when the drawer is moved from the retracted position to the presented position, this movement does not present a surprising obstruction for nearby personnel as the drawer front is moved within the space between the vertical guide plate and the lower horizontal guide plate.

[0077] In one aspect, the side guide plate, the lower guide plate, and the guard together define a boundary of the front opening.

[0078] The invention also relates to a method for preventing drawer closure in an access station of an automated storage and retrieval system, the method comprising the steps of: a) receiving a first storage container within the drawer when the drawer is in a retracted position within the access module; b) moving the drawer to a presentation position where the first storage container is presented to an operator; c1) moving the drawer to a retracted position within the access module if the safety plate is maintained in the inoperative position; and / or c2) Stopping / reversing the movement of the drawer when the safety plate is moved to the operating position. Includes.

[0079] The present invention relates to a method for retrieving or supplying storage containers to an automated storage and retrieval system, the method comprising: a) moving a drawer from a retracted position within an access module to a presented position; b) moving a safety plate of the safety mechanism to a container handling position; c) retrieving the storage container from the drawer or providing the storage container to the drawer; d) moving the safety plate to a deactivated position of the safety mechanism; e) moving the drawer from the present position to the retracted position; f) moving the storage containers between the drawers and the storage columns within the automated storage and retrieval system by the container handling vehicle; Includes.

[0080] When a storage container is removed from the system, steps a) to f) are performed in sequence. When a storage container is supplied to the system, step f) is performed first, then steps a) to e).

[0081] In one aspect, step e) comprises: - stopping or reversing the movement of the drawer from the presented position to the retracted position when the safety plate is moved to the operating position; Further includes: [Brief description of the drawings]

[0082] 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:

[0083] [Figure 1] FIG. 1 is a perspective view of a framework of a prior art automated storage and retrieval system.

[0084] [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a cavity disposed therein for carrying storage containers therein.

[0085] [Diagram 3]FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever beam for carrying storage containers downward.

[0086] [Figure 4] FIG. 4 is a bottom perspective view of a prior art container handling vehicle having an interiorly disposed cavity for carrying storage containers therein.

[0087] [Figure 5A] FIG. 5a is a perspective side view of the access station with the drawer in its presentation position, with a portion of the frame removed to allow the drawer to be viewed.

[0088] [Figure 5B] FIG. 5b is a perspective side view of the access station with the drawer in its retracted position.

[0089] [Figure 6A] FIG. 6a is a perspective side view of the safety mechanism and components of the access module and drawer with the safety plate in the inactivated position.

[0090] [Figure 6B] Figure 6b corresponds to figure 6a, in which the safety plate is moved from its inactivated position towards its activated position.

[0091] [Figure 6C] FIG. 6c corresponds to FIGS. 6a and 6b, with the safety mechanism set in override mode.

[0092] [Figure 7] Figure 7 shows the safety mechanism from below. Note that both the inactivated and activated positions of the safety plate are shown.

[0093] [Figure 8A] FIG. 8a shows the drawer in the presentation position, with the product items protruding from the storage containers.

[0094] [Figure 8B] Figure 8b shows the drawer being moved into a position where the product items contact the safety plate.

[0095] [Figure 8C] Figure 8c shows the drawer being moved to a position where the product item has moved the safety plate into its activated position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0096] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings, in which it should be understood, however, that the drawings are not intended to limit the invention to the subject matter shown in the drawings.

[0097] The framework structure 100 of the automated storage and retrieval system 1 is constructed in similar aspects to the prior art framework structure 100 described above in relation to Figures 1-3, i.e. the framework structure 100 comprises several upright members 102 and comprises a first upper rail system 108 extending in the X and Y directions. The framework structure 100 may also be of the type shown in WO2021198036, WO2021197941, WO2021197942, WO2021198170 or similar storage systems.

[0098] The framework 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.

[0099] The skeleton structure 100 may be of any size. In particular, it is understood that the skeleton structure may be significantly wider and / or longer and / or deeper than disclosed in Figure 1. For example, the skeleton structure 100 may have a horizontal extent of greater than 700 x 700 columns and a storage depth of greater than 12 containers.

[0100] 5a and 5b, there is shown an access station 10. The access station 10 is at least partially integrated into the framework structure 100 of the automated storage and retrieval system 1 shown in FIG.

[0101] (Access module 20, drawer 40 and actuators 71, 72) The access station 10 comprises an access module 20 comprising a frame 21 defining a drawer compartment 25 provided therein. The frame 21 defines a front opening 22 for accessing the drawer compartment 25 from the front and a top opening 26 for accessing the drawer compartment 25 from above. The top opening 26 is positioned below one of the storage columns 105 of the system 1, as shown by the dotted line in Figure 5a. Thus, the column above the top opening 26, shown as column in Figure 5a, is not a storage column 105, but rather column 105 functions as a transport column through which one of the container handling vehicles 201, 301, 401 can insert a storage container into the access station by lowering it through column 105a and further through top opening 26, and / or retrieve a storage container from the access station by raising it through top opening 26 and further through column 105a.

[0102] In Figure 5a, the frame 21 is shown equipped with a lintel 28 for supporting the vertical members 102 of the framework structure 100. In Figure 6a, one vertical member 102 is shown supported by the frame 21.

[0103] The access station 10 further comprises a drawer 40 having a drawer base 41 and a drawer front 42, the drawer 40 being movably connected to the frame 21, the drawer base 41 comprising a support 44 capable of supporting a storage container 106.

[0104] The access station 10 further comprises a first actuator 71 for moving the drawer 40 relative to the frame 21 between a presenting position PP shown in FIG. 5 a, in which the drawer 40 protrudes through the front opening 22 of the frame 21, and a retracted position RP shown in FIG. 5 b, in which the drawer 40 is retracted into the drawer compartment 25.

[0105] In this embodiment, the support 44 of the drawer 40 is defined with a forward position A1 and a rearward position A2. The access station 10 further includes a second actuator 72 for moving the storage container 106 from the forward position A1 to the rearward position A2 relative to the support 44. The support 44 may include rollers, wheels, rails, etc. to facilitate movement of the storage container.

[0106] When the storage container 106 is in the forward position A1 and the drawer 40 is in the present position PP, the storage container 106 is presented to the operator OP. If the storage container is in the rear position A2, the storage container is positioned below the top opening 26 when the drawer 40 is in the present position PP. Generally, the storage container 106 in the rear position A2 is raised through the top opening 26 during the period when the storage container in the forward position A1 is presented to the operator.

[0107] When the drawer 40 is in the retracted position RP, the storage container in the forward position A1 is positioned below the top opening 26. Generally, the storage container is lowered through the top opening 26 to the forward position A1 when the drawer 40 is in the retracted position RP.

[0108] Preferably, when the drawer is in the retracted position RP, the storage container in the forward position A1 is moved to the rear position A2. During the movement of the drawer 40 from the presentation position PP to the retracted position RP, it is also possible to move the storage container in the forward position A1 to the rear position A2.

[0109] The frame 21 comprises a vertical side guide plate 22b which guides the side edges of the drawer front 42 as it extends out to the present position PP and as it retracts to the retracted position RP. The vertical side guide plate fits snugly against the drawer front, thereby reducing the risk of possible crushing of fingers / hands during clearance and drawer movement. The frame 21 also comprises a lower horizontal guide plate 22c which guides the bottom edge of the drawer front 42 as it extends out to the present position PP and as it retracts to the retracted position RP. This lower guide plate fits snugly against the drawer front, thereby also reducing the risk of crushing of fingers / hands during drawer movement.

[0110] The side and lower guide plates are fixed relative to the access module and framework 100 of the automated storage and retrieval system 1 and are therefore visible to the operator and others working near the framework of the system. Thus, when the drawer 40 is moved from the retracted position RP to the presented position PP, this movement does not present a surprising obstruction for nearby personnel as the drawer front 42 is moved within the space between the vertical guide plates and the lower horizontal guide plate.

[0111] In Figure 6a it is seen that the frame 21 is provided with a guard 22d which, together with the side and lower guide plates, defines the front opening. When the drawer 40 is in the retracted position RP, the front 42 of the drawer 40 closes the front opening 22.

[0112] (User Interface 70 and Control System 75) The access station 10 further comprises a user interface 70 and a control system 75. The control system 75 is provided to communicate with the user interface 70, the first actuator 71 and the second actuator 72. The control system 75 is provided to communicate with a control system 500 of the automated storage and retrieval system 1 and / or the container handling vehicles 201, 301, 401. In this way, the lowering / raising of the storage containers through the transport column 105a and the top opening 26 is coordinated with the movement of the drawer 40 between the present position PP and the retracted position RP and the movement of the storage containers between the forward position A1 and the rear position A2.

[0113] (Safety mechanism 60) The access station 10 further includes a safety mechanism 60, shown generally as a bread case structure in Figures 5a and 5b. The safety mechanism 60 is located above the front opening 22.

[0114] Reference is now made to Figure 6a, where it is seen that the safety mechanism 60 comprises a cover 61 fixed to the frame 21. In this embodiment, the cover 61 is fixed to the guard 22d, however, alternatively the cover 61 could be integral with the guard 22d.

[0115] The safety mechanism 60 further comprises a safety plate 62 in the form of a rectangular flat body. In Fig. 7 it is shown that the cover 61 comprises a guide 63 for guiding the sliding of the safety plate 62 relative to the cover 61. The safety plate 62 comprises a handle 66 for manually moving the safety plate 62 relative to the cover 61.

[0116] The safety mechanism 60 further comprises a safety sensor 65 for detecting movement of the safety plate 62. In this embodiment, the safety sensor 65 is an electromagnetic sensor comprising two parts, a first sensor part 65a fastened to the cover 61 and a second sensor part 65b fastened to the safety plate 62. The safety sensor 65 is provided in communication with the control system 75.

[0117] 6a, the storage container 106 is shown with an upper proximal edge 106a proximal to the drawer front 42 and an upper distal edge 106b distal to the drawer front 42. The safety plate 62 is also shown positioned directly above the upper distal edge 106b. Thus, an operator cannot insert a finger into the narrow vertical gap defined between the upper distal edge 106b and the safety plate 62.

[0118] The safety mechanism 60 also includes a releasable lock 67 to prevent the safety plate 62 from moving relative to the cover 61 .

[0119] (Function of safety mechanism 60) It has already been explained how the storage containers 106 are moved within the access station 10 and how the storage containers 106 are moved between the access station 10 and the storage columns 105 in the framework structure 100. Next, the function of the safety mechanism 60 will be explained.

[0120] First, it should be noted that the current access station 10 has two main purposes: First, the access station 10 opens a drawer 40 and presents a storage container 106 to an operator OP for the purpose of picking a product item 80 from or inserting a product item 80 into a presented storage container 106. Second, the access station 10 opens a drawer 40 and presents a storage container to an operator for the purpose of retrieving the entire storage container from the access station, or the access station 10 opens a drawer 40 for the purpose of inserting or feeding a storage container to the access station.

[0121] The safety mechanism during the picking and restocking operation will first be described. Now referring to Figures 6a and 8a, the drawer is in the present position PP. Here, the safety plate 62 is in the inoperative position P1. As the safety plate 62 is located above the upper distal edge 106b, the operator cannot lift the storage container 106 out of the drawer. The safety plate 62 can be locked in this position P1 by the locking mechanism 67 when the drawer is in the present position PP.

[0122] Now the operator inserts the product item 80 into the storage container 106. As shown in Figure 8a, the product item 80 protrudes upwardly from the storage container 106. The operator now initiates closing of the drawer 40 using the user interface 70. It should be noted that as the drawer 40 begins to move, the locking mechanism 67 releases the safety plate 62, thereby allowing it to move. Again, it is not possible for the operator to lift the storage container 106 out of the drawer 40 as the drawer is moving the storage container towards the drawer compartment.

[0123] Reference is now made to Figure 8b, where a product item 80 has been brought into contact with the safety plate 62. The safety plate 62 is still in the inactivated position P1.

[0124] Reference is now made to Figure 8c, where movement of the drawer 40 has caused the product item 80 to push the safety plate 62 into the actuated position P2. The first part 65a of the sensor 65 is now separated from the second part 65b of the sensor, which is communicated to the control system 75. The control system 75 now controls the first actuator 71 to stop or reverse the movement of the drawer 40.

[0125] Referring now to Figure 6b, a finger present in the gap, shown as "GAP", moves the safety plate 62 from the inoperative position P1 (in Figure 6a) to the operative position P2 (in Figure 6b) as the drawer 40 is moving towards the retracted position RP.

[0126] As a result, as previously described, the safety mechanism 60 prevents injury when the access station is used to pick product items from a storage container and / or when the access station is used to insert product items into a storage container.

[0127] Now the safety mechanisms during container delivery / retrieval operations will be described.

[0128] Reference is now made to Figure 6c. As in Figure 6a, the drawer 40 is now in the present position PP. However, the safety plate 62 has now been moved by the handle 66 into the container handling position P3.

[0129] In this container handling position P3, the safety plate 62 is pushed away from the upper distal edge 106b, thereby allowing the storage container 106 to be lifted out of the drawer 40 or allowing the storage container 106 to be inserted into the drawer 40.

[0130] It should be noted that this requires the locking mechanism 67 to be released. This can be done by entering an access code via the user interface, by using a key or the like. It should further be noted that when the safety plate 62 is in the container handling position P3, it is not possible for the operator to initiate movement of the drawer 40 via the user interface. Thus, when the operator has retrieved a storage container from the drawer or inserted a storage container from the drawer, the operator must pull the safety plate 62 to the first position P1 before the operator can initiate movement of the drawer 40 via the user interface.

[0131] It should further be noted in Figure 6c that a safety plate 62 partially blocks the top opening 26. This may be an additional safety measure to prevent movement of storage containers through the top opening 26.

[0132] Alternative Embodiments It should be noted that the locking mechanism 67 is not a required feature. If the access station 10 is an internal access station, the locking mechanism is typically not present or may be turned off, allowing an operator to use the handle 66 to push the safety plate 62 into the container handling position P3 using a key or the like without having to enter an access code. However, in the case of an external access station, the locking mechanism 67 is preferred.

[0133] In the preceding description, various aspects of the access station 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.

[0134] (Explanation of symbols) List of Reference Numbers 1. Prior Art Automatic Storage and Retrieval System 20 Access Module 21 Frame 22 Front opening 22b Vertical side guide plate 22c Lower horizontal guide plate 22d Guard 25 Drawer Compartments 26 Top opening 28 Lintel 40 Drawers 41 Drawer Base 42 Drawer front 44 Support 60 Safety mechanism 61 Cover 62 Safety Plate 63 Guide 65 Safety Sensors 65a First sensor portion 65b Second sensor part 66 Handle 67 Releasable locking mechanism 70 User Interface 71 First Actuator 72 Second Actuator 75 Control System 80 product items 100 Frame structure 102 Upright members of frame structures 104 Storage Grid 105 Storage Column 105a Transport column 106 Storage Container 106a Upper proximal edge 106b Upper Distal Edge 106' Specific location of storage container 107 Stack 108 Rail System 110 Parallel rail in the first direction (X) 112 Access opening 119 First Port Column 120 Second Port Column 201 Prior Art Container Handling Vehicles 201a Body of container handling vehicle 201 201b Driving means / wheel arrangement / first set of wheels in first direction (X) 201c Drive means / wheel arrangement / second set of wheels in second direction (Y) 301 Prior Art Cantilever Container Handling Vehicle 301a Body of container handling vehicle 301 301b Drive means / first set of wheels in first direction (X) 301c Drive means / second set of wheels in second direction (Y) 401 Prior art container handling vehicles 401a Body of container handling vehicle 401 401b Drive means / first set of wheels in first direction (X) 401c Drive means / second set of wheels in second direction (Y) 500 Control System X First Direction Y Second Direction Z third direction A1 Front position A2 rear position OP Operator P1 Inactive position P2 operating position P3 Container handling position PP presentation position RP Retract position

Claims

1. an access station (10) for presentation of a storage container (106) from an automated storage and retrieval system (1) to an operator (OP) at said access station; The access station (10) an access module (20) comprising a frame (21) defining a drawer compartment (25) provided within said frame (21) and a front opening (22) for allowing the presentation of said storage container (106); a drawer (40) comprising a drawer base (41) and a drawer front (42), said drawer (40) being movably connected to said frame (21), said drawer base (41) comprising a support (44) on which said storage container (106) can be supported; - a first actuator (71) and Equipped with the first actuator (71) moves the drawer (40) relative to the frame (21) between a presentation position (PP) in which the drawer (40) protrudes through the front opening (22) of the frame (21) and a retracted position (RP) in which the drawer (40) is retracted into the drawer compartment (25); The access station (10) includes a safety mechanism (60) located above the front opening (22); The safety mechanism (60) a cover (61) fixed to said frame (21); a safety plate (62) movable relative to said cover (61) between an inoperative position (P1) and an operative position (P2); a safety sensor (65) for detecting the movement of said safety plate (62); Equipped with The access station (10) is configured to allow movement of the drawer (40) relative to the frame (21) when the safety sensor (65) detects that the safety plate (62) is in its inoperative position (P1), and the access station (10) is configured to stop or reverse the movement of the drawer (40) relative to the frame (21) when the safety sensor (65) detects that the safety plate (62) is in its operative position (P2).

2. 2. The access station (10) of claim 1, wherein the safety plate (62) prevents the storage container (106) from being retrieved from the drawer (40) when the safety plate (62) is in the inoperative position (P1).

3. 3. The access station (10) of claim 1 or claim 2, wherein the safety plate (62) prevents the storage container (106) from being retrieved from the drawer (40) when the safety plate (62) is in the operating position (P2).

4. The access station (10) of claim 1 or claim 2, further comprising a control system (75) configured to control the first actuator (71) based on a signal from the safety sensor (65).

5. 3. An access station (10) according to claim 1 or claim 2, wherein the frame (21) comprises a guard (22d) defining the upper boundary of the front opening (22).

6. 6. The access station (10) of claim 5, wherein the cover (61) at least partially forms the guard (22d), and the safety mechanism (60) is configured to operate to prevent an object from being squeezed between the drawer front (42) and the guard (22d) during movement of the drawer (40) from the presentation position (PP) to the retracted position (RP).

7. the safety plate (62) is further movable relative to the cover (61) to a container handling position (P3) when the drawer (40) is in the presentation position (PP); When the safety plate (62) is in the container handling position (P3), the storage container (106) can be retrieved from the drawer (40) and / or the storage container (106) can be inserted into the drawer (40), and / or 4. The access station (10) of claim 3, wherein the access station (10) is configured to prevent movement of the drawer (40) relative to the frame (21) when the safety sensor (65) detects that the safety plate (62) is in the container handling position (P3).

8. 3. The access station (10) of claim 1 or claim 2, wherein the safety plate (62) is provided with a handle (66) for manually moving the safety plate (62) between the inoperative position (P1) and the operative position (P2), or for manually moving the safety plate (62) between the inoperative position (P1), the operative position (P2) and the container handling position (P3).

9. 3. The access station (10) of claim 1 or claim 2, wherein the access module (20) has an upper opening (26) through which a storage container (106) can be retrieved from the drawer (40) and through which the storage container (106) can be received by the drawer (40), and the safety plate (62) at least partially blocks the upper opening (26) in the operating position (P2) or the container handling position (P3).

10. 8. The access station (10) of claim 7, wherein the safety mechanism (60) comprises a releasable lock (67) for preventing the safety plate (62) from moving to the container handling position (P3), and the access station (10) is configured to release the releasable lock (67) when a predetermined condition is met.

11. 3. The access station (10) of claim 1 or claim 2, wherein the safety plate (62) is a rectangular flat body slidably mounted on the cover (61).

12. 3. The access station (10) of claim 1 or claim 2, wherein the cover (61) comprises a guide (63) for guiding the safety plate (62) relative to the cover (61).

13. A method for preventing drawer closure in an access station (10) of an automated storage and retrieval system (1), said method comprising: a) receiving a first storage container (106A) into a drawer (40) when said drawer is in a retracted position (RP) within an access module (20); b) moving said drawer (40) to a presentation position (PP) where said first storage container (106A) is presented to said operator (OP); c1) moving said drawer (40) to a retracted position (PP) within said access module (20) when the safety plate (62) is maintained in the inactivated position (P1); and / or c2) stopping / reversing the movement of the drawer (40) when the safety plate (62) has been moved to the operating position (P2). A method comprising:

14. A method for retrieving a storage container (106) from an automated storage and retrieval system (1) or for supplying a storage container (106) to an automated storage and retrieval system (1), the method comprising: a) moving a drawer (40) from a retracted position (RP) to a presented position (PP) within an access module (20); b) moving the safety plate (62) of the safety mechanism (60) to the container handling position (P3); c) retrieving said storage container (106) from said drawer (40) or providing said storage container (106) to said drawer (40); d) moving the safety plate (62) to the inoperative position (P1) of the safety mechanism (60); e) moving said drawer (40) from said presentation position (PP) to said retracted position (RP); f) transferring said storage containers (106) between said drawers (40) and storage columns (105) in said automated storage and retrieval system (1) by a container handling vehicle (201, 301, 401); A method comprising:

15. Step e) is - stopping or reversing the movement of the drawer (40) from the presentation position (PP) to the retracted position (RP) when the safety plate (62) has been moved to the operating position (P2).

15. The method of claim 14, further comprising:

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