Container access station for automatic storage and collection system

Abstract

To provide an effective storage and collection system occupying less space in a humanistic environment capable of accessing an item in a storage container by a human operator.SOLUTION: An environment of a storage grid / delivery rail where a remote-controlled vehicle is operated, and a humanistic environment where a human operator (20) can access a storage container (106) located at a public place or a place that can be accessed by a consumer, are separated.SELECTED DRAWING: Figure 6A

Description

Technical Field

[0001] The present invention relates to an automatic storage and retrieval system for storing and retrieving containers, and more particularly to a vehicle lift for lifting a delivery vehicle having a storage container into an access station from a rail system.

Background Art

[0002] FIG. 1 discloses a typical prior art automatic storage and retrieval system 1 with a framework structure 100, and FIGS. 2 and 3 disclose two different prior art container handling vehicles 201, 301 suitable for operating on such a system 1.

[0003] The framework structure 100 includes an upright member 102, a horizontal member 103, and a storage volume including storage columns 105 arranged in a row between the upright member 102 and the horizontal member 103. Among these storage columns 105, storage containers 106, also known as containers, are stacked to form a stack 107 in such a manner that one storage container is placed on top of another. The members 102, 103 may typically be made of a metal such as an extruded aluminum profile.

[0004] The framework structure 100 of the automatic storage and retrieval system 1 includes a rail system 108 disposed across the top of the framework structure 100, on which a plurality of container handling vehicles 201, 301 are operated to lift the storage container 106 from the storage column 105 and lower the storage container 106 into the storage column 105, and further to transport the storage container 106 above the storage column 105. The rail system 108 includes a first set of parallel rails 110 configured to guide the movement of the container handling vehicles 201, 301 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 configured perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 201, 301 in a second direction Y perpendicular to the first direction X. The container 106 stored in the column 105 is accessed by the container handling vehicle through an access opening 112 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage column 105, that is, they can move laterally in a plane parallel to the horizontal X-Y plane.

[0005] The upright member 102 of the framework structure 100 can be used to guide the storage container when lifting the container out of the column 105 and when lowering the container into the column 105. The stack 107 of containers 106 is typically self-supporting.

[0006] Each of the conventional container handling vehicles 201 and 301 includes a vehicle body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c that enable movement in the X and Y directions of the container handling vehicles 201 and 301, respectively, in the lateral direction. In FIGS. 2 and 3, the two wheels of each set can be fully seen. The first set of wheels 201b, 301b is configured to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c is configured to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be lifted or lowered, so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage the respective sets of rails 11 0, 111 at any simultaneous timing.

[0007] Each of the conventional container handling vehicles 201 and 301 further includes a lifting device (not shown) for vertically transporting the storage container 106, for example, lifting the storage container 106 from the storage column 105 or lowering the storage container 106 into the storage column 105. The lifting device includes one or more gripping / engaging devices adapted to engage the storage container 106, and the gripping / engaging device can be lowered from the vehicles 201, 301, so that the position of the gripping / engaging device relative to the vehicles 201, 301 can be adjusted in a third direction Z that is orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is shown in FIG. 3 and is indicated by reference numeral 304. The gripping device of the container handling device 201 is located within the vehicle body 301a in FIG. 2.

[0008] For both the prior art and the purposes of the present application, Z = 1 identifies the topmost layer of the storage container, i.e., the layer immediately below the rail system 108, Z = 2 identifies the second layer below the rail system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the bottommost layer on the bottom side of the storage container. Similarly, X = 1...n and Y = 1...n identify the positions of each storage column 105 in the horizontal plane. As a result, for example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106’ in FIG. 1 occupies the storage position X = 10, Y = 2, Z = 3. It can be said that the container handling vehicles 201, 301 move within the layer Z = 0, and each storage column 105 can be identified by its X and Y coordinates.

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

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or storage space for receiving and accommodating the storage container 106 when transporting the storage container 106 across the rail system 108. The storage space can comprise a cavity disposed centrally within the vehicle body 201a, as shown in FIG. 2 and as described, for example, in WO2015 / 193278A1, the contents of which are hereby incorporated by reference.

[0011] FIG. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described, for example, in NO317366, the contents of which are also hereby incorporated by reference.

[0012] The container handling vehicle 201 having a central cavity shown in FIG. 2 can have an installation area covering an area having dimensions in the X and Y directions generally equal to the lateral extent of the storage column 105, as disclosed, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral direction" as used herein may mean "horizontal direction".

[0013] Alternatively, the container handling vehicle 101 having a central cavity can have an installation area larger than the horizontal area defined by the storage column 105, as disclosed, for example, in WO2014 / 090684A1.

[0014] The rail system 108 typically comprises rails with grooves into which the wheels of the vehicle are inserted. Alternatively, the rails can comprise elements protruding upwards, where the wheels of the vehicle are provided with flanges to prevent derailment. These grooves and the upwards protruding elements are collectively known as tracks. Each rail can comprise one track or each rail can comprise two parallel tracks.

[0015] WO2018146304, the contents of which are incorporated herein by reference, shows a typical configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0016] Within the framework structure 100, most of the columns 105 are storage columns 105, that is, columns 105 in which storage containers 106 are stored within the stack 107. However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are special-purpose columns used by container handling vehicles 201, 301 to lower and / or load storage containers 106, so that the storage containers 106 can be transported to an access location (not shown) where access to the storage containers 106 from outside the framework structure 100 or transfer of the storage containers 106 to outside or into the framework structure 100 can be carried out. In the art, such a location is usually referred to as a "port", and the columns where the ports are located can be referred to as "port columns" 119, 120. The transportation to the access station can be in any direction, horizontal, inclined, and / or vertical. For example, the storage container 106 can be placed in a random or dedicated column 105 within the framework structure 100, then loaded onto any container handling vehicle, and transported to the port columns 119, 120 for further transportation to the access station. Note that the term "inclined" means the transportation of the storage container 106 having a general transportation direction at some position between horizontal and vertical.

[0017] In FIG. 1, the first port column 119 may be, for example, a dedicated unloading port column where the container handling vehicles 201, 301 can unload the storage container 106 to be transported to the access station or transfer station, and the second port column 120 may be a dedicated loading port column where the container handling vehicles 201, 301 can load the storage container 106 transported from the access station or transfer station.

[0018] The access station may typically be a picking station or a stocking station, where product items are removed from or placed into the storage container 106. Within the picking station or stocking station, the storage container 106 is not typically removed from the automated storage and retrieval system 1, but is returned back into the framework structure 100 when accessed. Ports may be used to transfer the storage container to another storage facility (e.g., another framework structure, or another automated storage and retrieval system), to a transport vehicle (e.g., a train or a large truck), or to production equipment.

[0019] Typically, a conveyor system with conveyors is employed to transfer the storage container between the port columns 119, 120 and the access station.

[0020] If the port columns 119, 120 and the access station are located at different levels, the conveyor system can include a lifting device with vertical components for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0021] The conveyor system can be configured to transfer the storage container 106 between different framework structures, as described, for example, in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0022] When a storage container 106 stored within one column of the columns 105 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its location and transport the target storage container 106 to the disembarkation port column 119. This operation involves moving the container handling vehicles 201, 301 to a location 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 vehicles 201, 301, and transporting the storage container 106 to the disembarkation port column 119. When the target storage container 106 is located deep within the stack 107, i.e., when one or more of the other storage containers 106 are disposed above the target storage container 106, this operation further involves temporarily moving the storage containers disposed above before lifting the target storage container 106 out of the storage column 105. This step, which is sometimes referred to as digging in the art, can be performed using the same container handling vehicle that will later be used to transport the target storage container to the disembarkation port column 119, or using one or more other cooperating container handling vehicles. As an alternative or in addition, the automated storage and retrieval system 1 can have a dedicated container handling vehicle for the task of temporarily removing a storage container from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container can be repositioned into the original storage column 105. However, alternatively, the removed storage container may be relocated to another storage column.

[0023] If storage container 106 is to be stored within one of the columns of column 105, one of the container handling vehicles 201, 301 is instructed to board storage container 106 from boarding port column 120 and to transport this container 106 to a location above storage column 105, the location where this storage container 106 is to be stored. After any storage container located at or above the target position within storage column stack 107 has been removed, container handling vehicles 201, 301 position storage container 106 at the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column.

[0024] For example, for the purpose of enabling delivery of the desired storage container 106 to the desired location at the desired timing without the container handling vehicles 201, 301 colliding with each other, the automatic storage and retrieval system 1 monitors and controls the location of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301. To this end, the automatic storage and retrieval system 1 typically includes a computerized control system 500 that typically includes a database for tracking storage containers 106.

Summary of the Invention

Problems to be Solved by the Invention

[0025] An object of the present invention is to provide an effective storage and retrieval system that occupies less space at a level accessible by consumers or in a human environment where a human operator can access items within a storage container.

[0026] Another object of the present invention is to be able to hide the elements of the automatic storage and retrieval system from the level accessible by consumers and / or to ensure the protection of the elements of the automatic storage and retrieval system against the level accessible by consumers, and to provide an automatic storage and retrieval system.

Means for Solving the Problems

[0027] In some cases, due to safety and / or space considerations in supermarkets or department stores, etc., the environment of the storage grid / delivery rail where the remotely operated vehicle operates is separated from the human environment where the storage container located in a public place or accessible by consumers can be accessed by a human operator. There may be a desirable possibility.

[0028] In other cases, for example, by providing an underground delivery rail system, it may be desirable to separate the environment of the storage grid / delivery rail where the remotely operated vehicle operates from the human environment where the storage container can be accessed by a human operator. These two separated environments can provide, for example, an environment of a storage grid / delivery rail that is thermally regulated for refrigerated products and / or can provide an environment of a storage grid / delivery rail that realizes fire suppression to reduce the risk of possible fire spread to the human environment and / or realizes noise reduction in the human environment.

[0029] Another object of the present invention is to provide a dedicated area that prevents the storage container and the items held therein from moving when accessed by a human operator, for the purpose of eliminating the risk of injury to the human operator, such as being pinched by an arm. Also, it is desirable to minimize any potential damage to any picking robots that may be present for selecting items from the storage container.

[0030] Another object of the present invention is to provide a human environment for accessing a storage container that is separated from a container handling vehicle and a delivery vehicle in order to reduce the risk of a human operator hitting the container handling vehicle or the delivery vehicle.

[0031] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0032] In one aspect, the present invention relates to a container access station for accessing a storage container of an automated storage and retrieval system.

[0033] The container access station includes a housing, the housing having - an access opening through which a human and / or a robot can access the contents of the storage container, and - a base opening through which the storage container can enter the container access station as presented at the access opening, and the container access station further includes - a vehicle lift configured to lift a delivery vehicle carrying a storage container on an upper surface of the delivery vehicle from a boarding level below the base opening to an access level at which the storage container is presented and accessed through the access opening by a human and / or a robot. Accordingly, while the delivery vehicle continuously transports the storage container, the storage container is presented at the container access station for access.

[0034] Thus, while the delivery vehicle continuously transports the storage container, the storage container is presented at the container access station for access.

[0035] The length around the storage container is smaller than the base opening of the container access station so that the storage container can pass through the base opening. The same applies to the delivery vehicle that enables the delivery vehicle to pass through the base opening. Further, the height of the storage container and the delivery vehicle may be approximately equal to the height of the housing of the container access station.

[0036] In an embodiment of the present invention, the vehicle lift can extend below the base opening at a height higher than the height of the delivery vehicle that transports the storage container.

[0037] The boarding level where the delivery vehicle is boarded on the vehicle lift is preferably arranged at the base of the vehicle lift.

[0038] The vehicle lift can have a lifting configuration configured to support a lifting mechanism for moving a lifting configuration between the delivery vehicle, the boarding level, and the access level.

[0039] In a preferred embodiment, the vehicle lift is configured to lift purely vertically the delivery vehicle that transports the storage container between a boarding position at the boarding level and an access position at the access level. In this case, the boarding position is arranged immediately below the base opening of the container access station.

[0040] However, if the boarding position is significantly separated from the base opening in the horizontal direction and thus it is impossible to significantly displace the lifting configuration in the vertical direction, the vehicle lift can have an orientation in which it is inclined, i.e., can have a substantially horizontal component, depending on the horizontal gap between the boarding position of the container access station and the base opening. In this case, the lifting configuration creates an inclined movement path that covers the vertical and horizontal gaps between the boarding position and the base opening of the container access station. However, the movement path within the housing of the container access station, i.e., the movement path from the base opening to the access opening, is usually substantially vertical or purely vertical.

[0041] The delivery vehicle can be adapted to carry the storage container above / at the upper surface of its vehicle body and can comprise a storage container carrier for receiving and supporting the storage container. The delivery vehicle can comprise at least one set of wheels that enables lateral movement of the delivery vehicle in the X direction and / or Y direction of the delivery vehicle, where the X direction is orthogonal to the Y direction.

[0042] In a preferred embodiment, the delivery vehicle has a parallel set of rails extending in the X and Y directions and is thus adapted to move on a two-dimensional delivery rail system similar to the rail system 108 discussed in the background art and prior art sections.

[0043] The support of the lifting configuration of the vehicle lift configured to support the delivery vehicle can be cantilevered from the guiding structure and can support the delivery vehicle from below.

[0044] In an embodiment, the support can be in the form of a rail configured to receive a set of drive wheels of the delivery vehicle, such that the delivery vehicle can move onto the vehicle lift at the boarding level in order to be lifted to the access level. The rail is horizontal It may be provided as two parallel arms (e.g., cantilever type) protruding in a direction, and these arms protrude from the guiding structure of the vehicle lift and extend under one set of drive wheels of the delivery vehicle. Further, when the support is arranged at the boarding level, the protruding arms can be regarded as an extension of the corresponding set of parallel rails of the delivery rail system. When being transported between the boarding level and its access level, the wheels of the delivery vehicle can be engaged with the rails on the support of the vehicle lift.

[0045] Instead of the rails, the support of the lifting configuration can comprise a platform that extends under the base of the delivery vehicle. In an embodiment, the platform can have an installation area equal to or smaller than the installation area of the delivery vehicle.

[0046] In a preferred embodiment, the platform can occupy an area smaller than the installation area of the delivery vehicle, so that when the delivery vehicle is placed thereon, at least one set of drive wheels is arranged outside the horizontal extension range of the platform. In other words, the cross-sectional area of the platform can be smaller than the cross-sectional area of the installation area of the delivery vehicle, and thus, during lifting, the platform does not support at least one set of drive wheels, thereby preventing the delivery vehicle from moving when being lifted and / or accessed.

[0047] In a more preferred embodiment of the platform, the drive wheels arranged on or in at least three of the four sides of the vehicle body are not supported by the platform, and thus further, the delivery vehicle is prevented from moving when being lifted and / or accessed.

[0048] In a more preferred embodiment of the platform, the platform is disposed on two parallel horizontally protruding arms arranged as cantilevers extending under the vehicle body, such that the platform occupies an area smaller than the installation area of the vehicle body, and as a result, the drive wheels disposed on or within the four sides of the vehicle body are not supported by the platform.

[0049] The housing of the container access station can comprise a cabinet body disposed around the access opening and the base opening, such that the delivery vehicle lifted into the cabinet body by the vehicle lift is shielded from humans and / or robots, and only the storage container carried by the delivery vehicle is accessible through the access opening. The cabinet body can provide a wall between the access opening and the base opening.

[0050] The base opening can correspond to a hole in the floor where the container access station is located.

[0051] In an embodiment of the present invention, the container access station can comprise a cover for restricting access through the access opening when the delivery vehicle carrying the storage container is not present within the cabinet body. The cover can be a retractable cover configured to open only when the storage container carried by the delivery vehicle is presented at the access opening.

[0052] In another embodiment, the cover can restrict access when a storage container is present within the cabinet body and can be equipped with a lock that can be unlocked only by an authorized user to access the storage container. The lock can be operated by a key, or the cabinet can be equipped with an ID management device, such as a passcode, fingerprint authentication, eye authentication, voice authentication, etc., for unlocking the lock by a specified authorized user. to unlock the lock.

[0053] In another embodiment, the container access station according to the present invention is employed in a facility with multiple users, and each user can only access their own storage container. Here, the container access station can be equipped with an authentication system for both the user who requests a specific storage container to have access rights to this storage container and the user to have access rights to the storage container inside the container access station. When the storage container is attached with an RFID (Radio Frequency Identification) (wireless automatic identification tag), the authentication system can have any means for authenticating the storage container, such as an RFID reader configured to be connected to the container access station. Alternatively or additionally, the reader can be configured to be connected to a container handling vehicle, for example, on a vehicle lift or inside a vehicle body. Thereby, the safety in the case where multiple users use the same storage and collection system but each user has access rights only to their own storage container can be improved.

[0054] The RFID reader can read the storage container attached with an RFID tag, but other readers and labels for authenticating the storage container are also possible. As an alternative to RFID, other electromagnetic field systems (NFC), optical systems (barcodes, QR codes, descriptive labels or engraved labels read by a camera) can be used to improve the safety related to the authentication of the storage container.

[0055] In an embodiment of the present invention, in order to prevent the delivery vehicle from moving away from the support during transportation, the delivery vehicle can be provided with a braking mechanism or a locking device that can prevent the wheels from moving during transportation on the vehicle lift. The braking mechanism can include a wheel motor mechanism that is braked by maintaining a charge on a specific stator, and as a result, the movement of the wheel from the braking position is suppressed by electromagnetic force. In an embodiment, when the delivery vehicle is disposed at the boarding level, the delivery vehicle can be instructed to start / unlock the wheels, thereby enabling the delivery vehicle to exit the vehicle lift.

[0056] In another embodiment, the lifting configuration can include a fixing / locking device that fixes or releasably locks the delivery vehicle to the support.

[0057] In one embodiment, the vehicle lift can include at least one wall for preventing the delivery vehicle from moving away from the support during transportation. For example, the vehicle lift can include at least two walls that can be clamped on top of the sides of the delivery vehicle.

[0058] The lifting mechanism can be connected to the guiding structure of the lifting device. The guiding structure can be disposed vertically between the boarding position at the boarding level and the access position at the access level, thereby guiding the support in the vertical direction.

[0059] In another embodiment, the lifting mechanism can be installed on top of the sides on both sides of the guiding structure as the support. By doing so, the delivery vehicle will not collide with the lifting mechanism during transportation between the boarding level and the access level.

[0060] In another embodiment, the vehicle lift structure involves a lock - pinion mechanism. The support can include an automatically ascending support in this case.

[0061] In a second aspect, the present invention relates to an automated storage and retrieval system including a container access station.

[0062] An automatic storage and retrieval system includes - a rail system having at least a first set of parallel rails disposed in a horizontal plane P2 and extending in a first direction X, and at least a second set of parallel rails disposed in the horizontal plane P2 and extending in a second direction Y orthogonal to the first direction X, wherein the first and second sets of rails together define a grid of grid cells; - a delivery vehicle operating on the rail system, the rail system being configured such that a delivery vehicle comprising a storage container can access a vehicle lift at a boarding level, such that the vehicle lift can lift the delivery vehicle and the storage container upward from the boarding level to an access level, and such that at the access level the storage container can be presented for access by a human and / or a robot through an access opening; and is provided with.

[0063] In an embodiment of the automatic storage and retrieval system, a container access station is disposed on a floor above the rail system.

[0064] The delivery vehicle can advantageously have an installation area / outer peripheral length equal to the size of the grid cell.

[0065] In another embodiment, the automatic storage and retrieval system can include a plurality of container access stations, for example for accessing a plurality of storage containers simultaneously or for accessing different storage containers by different users.

[0066] In another embodiment, the automated storage and retrieval system can comprise an automated storage and retrieval framework structure comprising vertical members defining a plurality of storage columns for storing storage containers stacked on top of one another within a vertical stack. The vertical members can be interconnected at their upper ends by a container handling vehicle rail system configured to guide at least one container handling vehicle above the storage columns, and at least one container handling vehicle is configured to raise a storage container from a storage column, lower the storage container into the storage column, and transport the storage container above the storage column. The container handling vehicle rail system comprises a first set of parallel rails disposed in a first horizontal plane P1 and extending in a first direction X, and a second set of parallel rails disposed in the first horizontal plane P1 and extending in a second direction Y orthogonal to the first direction X, the first and second sets of rails forming a grid pattern including a plurality of adjacent container handling vehicle grid cells in the first horizontal plane P1. Each container handling vehicle grid cell comprises a container handling vehicle grid opening 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. The transfer port column can be adapted to transport storage containers between a container handling vehicle and a delivery space located at the lower end of the transfer port column. Further, the automated storage and retrieval system comprises a delivery rail system comprising at least one set of parallel rails disposed in a second horizontal plane P2 for guiding at least one delivery vehicle thereon. The delivery vehicle is adapted in this embodiment to receive and / or deliver a storage container at a storage container delivery location configured on the delivery rail system below the delivery space of the transfer port column, and to move from the storage container delivery location to a vehicle lift of a container access station.

[0067] The level of the horizontal plane P2 of the delivery rail system is disposed below the base opening of the container access station. In one embodiment, the base opening of the container access station may be disposed at the same level as the container handling vehicle rail system disposed within the horizontal plane P1.

[0068] In a third aspect, the present invention is directed to a method of presenting a storage container to enable a human and / or robot to access the contents of the storage container through an access opening of a container access station.

[0069] This method involves lifting a delivery vehicle carrying a storage container from a boarding level to an access level using a vehicle lift, and presenting the storage container on the delivery vehicle adjacent to the access opening for a human and / or robot to access the contents thereof.

[0070] This method may further include the optional step of lowering the delivery vehicle to the boarding level and moving the delivery vehicle from the vehicle lift onto the delivery rail system in a form of moving the delivery vehicle to a storage container delivery location, for example, to return the storage container to a transfer port column.

[0071] The following drawings are attached to facilitate understanding of the present invention. These drawings illustrate embodiments of the present invention that are merely described by way of example below.

Brief Description of the Drawings

[0072]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6A

Figure 6B

Figure 7A

Figure 7B

Figure 7C

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0073] Hereinafter, embodiments of the present invention will be considered in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to only the subject matter depicted in the drawings.

[0074] The framework structure 100 of the prior art automatic storage and retrieval system 1 is configured according to the prior art framework structure 100 described above in connection with FIG. 1, that is, it is configured according to a number of upright members 102 and a number of horizontal members 103 supported by the upright members 102. Further, the framework structure 100 includes a first upper rail system 108 in the X direction and the Y direction.

[0075] The framework structure 100 further includes storage compartments in the form of storage columns 105 provided between the members 102, 103, and storage containers 106 can be stacked within stacks 107 within the storage columns 105.

[0076] The framework structure 100 can be of any size. Specifically, the framework structure can be significantly wider, longer, and / or deeper than that disclosed in FIG. 1. For example, the framework structure 100 can have a horizontal extent exceeding a 700×700 column and a storage depth exceeding 12 containers.

[0077] The prior art storage containers 201, 301 are shown in FIGS. 2 and 3 and are described in detail in the background art section of this description.

[0078] FIG. 4 shows an embodiment of a remotely operated delivery vehicle 601 that is to be lifted into the container access station shown in FIG. 6. The delivery vehicle 601 includes a vehicle body 601a and a first set of wheels 601b and a second set of wheels 601c that enable lateral movement of the delivery vehicle 601 in the X direction and the Y direction, respectively. Accordingly, each of the first set of drive wheels 601b and the second set of drive wheels 601c includes four drive wheels distributed on or within both side portions of the vehicle body, such that the delivery vehicle has two drive wheels on or within each side portion of the vehicle body.

[0079] Delivery vehicle 601 has a storage container carrier 602 on top of its vehicle body / chassis 601a. The storage container carrier 602 is capable of receiving the storage container 106 from the storage container handling vehicles 201, 301, and the delivery vehicle is configured to deliver the storage container 106 into the container access station as shown in FIG. 5.

[0080] Next, with reference to FIGS. 5 to 8, an embodiment of the automatic storage / retrieval system according to the present invention will be discussed in detail.

[0081] FIG. 5 discloses a delivery rail system 608 disposed at the horizontal level P2. The delivery rail system 608 has a first set 610 of parallel rails 610a disposed in the horizontal plane P2 and extending in a first direction X, and at least a second set 611 of parallel rails 611b disposed in the horizontal plane P2 and extending in a second direction Y orthogonal to the first direction X, and the rails 610 of the first set and the rails 611 of the second set integrally define a grid 604 of grid cells 622 (see FIG. 9).

[0082] A plurality of delivery vehicles 601 having a peripheral portion equal to the size of the grid cell operate on the rail system 608, where each of the underlying rails may be so-called double track rails having a pair of tracks, and these rails enable the delivery vehicle 601 to pass over all sides of the occupied grid cell.

[0083] The delivery rail system 608 is configured such that a delivery vehicle 601 equipped with a storage container 106 can access a vehicle lift 770 disposed at a peripheral portion of the rail system. However, the vehicle lift 770 can be disposed at any location on the rail system 608 as long as it can be accessed by the delivery vehicle 601. The delivery vehicle 601 is caused to board the vehicle lift 770 at a boarding level 670, which is the same level as the delivery rail system 608. The vehicle lift 770 then transports the delivery vehicle 601 from the boarding level 670 to an access level, where the storage container 106 on the delivery vehicle can be presented to be accessed by a human and / or a robot through an access opening.

[0084] FIG. 5 shows one delivery vehicle 601 located between a boarding level 670 and an access level 680, with one delivery vehicle disposed on the delivery rail system 608.

[0085] The wheel assembly of the delivery vehicle includes a first set of drive wheels 601b configured to engage two adjacent rails of a first set of rails 610, and a second set of drive wheels 601c configured to engage two adjacent rails of a second set of rails 611, as shown in FIG. 4. At least one set of drive wheels 601b, 601c can be raised and lowered, such that the first set of drive wheels 601b and / or the second set of drive wheels 601c can engage the respective sets of rails 310, 311 at any simultaneous timing.

[0086] However, if the delivery rail system includes only one set of rails (not shown), the delivery vehicle 601 may include only one set of drive wheels.

[0087] FIG. 5A shows a support 772 in the form of a platform 772 that supports the vehicle body 601a of the delivery vehicle 601. The platform 772 is disposed on two parallel arms 772a, 772b that project horizontally, and the arms 772a, 772b project from the guiding structure 773. The projecting arms 772a, b are configured as cantilevers that extend below the vehicle body 601a. As a result, the platform 772 occupies an area smaller than the installation area of the vehicle body 772a, and as a result, the drive wheels 601b, c disposed on or within the four sides of the vehicle body 601a are not supported by the platform 772. Thus, when the platform 772 occupies an area smaller than the installation area of the delivery vehicle 601, and as a result, the delivery vehicle 601 is disposed on the platform 772 and lifted by the vehicle lift 770, the first set of drive wheels 601b and the second set of drive wheels 601c are outside the horizontal extension range of the platform 772.

[0088] In this embodiment, after the delivery vehicle 601 is lifted from the boarding position 670', the drive wheels of the first set of drive wheels 601b and the second set of drive wheels 601c of the delivery vehicle 601 are not supported by the platform 772 with the drive wheels facing downward, thereby preventing the delivery vehicle 601 from suddenly moving while being lifted. The reason is that the platform 772 holds the delivery vehicle 601 so as not to move even if the drive wheels are accidentally started. Further, the movement of the delivery vehicle 601 and thus the movement of the storage container 601 are only in the vertical direction, thereby reducing the risk of a person's arm being pinched when picking an item from the storage container.

[0089] 5B further shows the support 772, which comprises a pair of rails 772. The rails 772 can be seen as two horizontally protruding parallel arms configured as cantilevers projecting from a guide structure 773. The guide structure 773 is disposed vertically between a boarding position 670' at the boarding level 670 and an access position at the access level, thereby enabling the support 772 to be guided vertically. When the delivery vehicle 601 is moved between the boarding level 670 and the access level by the vehicle lift 770, one set of wheels 601b, 601c of the delivery vehicle 601 is engaged with the rails 772. This set of drive wheels can lock itself to the rails 772 by a locking device (not shown).

[0090] The locking device may be adapted to be mounted externally to the delivery vehicle, i.e., on the support 772. The locking device may be a magnet, a spring-loaded device, a gripper, a barrier, or an interaction device for interacting with the delivery vehicle 601.

[0091] For example, the locking device may comprise a pin that may protrude from the support to interfere with a wheel to lock the delivery vehicle 601 in place. A retractable barrier, such as a wall, may be raised or lowered while maintaining the delivery vehicle 601 in place, or a magnetic clamp may be used.

[0092] The locking device may further be connected to an actuator for moving the locking device, which may include an electronic, pneumatic, or hydraulic actuator and may cause rotational, linear, or a combination of rotational and linear displacement of the locking element.

[0093] In an embodiment, the locking device may be a locking bolt located on a support in the form of a rail, where the locking bolt interacts with the delivery vehicle 601 to lock the delivery vehicle 601 relative to the rail.

[0094] The actuator and the locking bolt can be installed on a lower support that extends below the delivery vehicle 601, where the locking bolt can project from the top surface support into an opening provided in the delivery vehicle 601 during operation. The locking bolt of the lock device can be configured to extend into the opening of the delivery vehicle 601 to hold the delivery vehicle 601 at the lock position on the support.

[0095] The actuator for moving the locking bolt can include a movable arm. The movable arm can lift the locking bolt from the open position (not lifted) to the lock position (lifted) during operation, so that the locking bolt will extend into the opening provided in the delivery vehicle 601.

[0096] Two parallel arms that project horizontally to form the rails 772 of the support 772 fit into and cooperate with one set of parallel rails 611 of the delivery rail system 608, so that when the support 772 is placed at the boarding position 670', the projecting arms can be regarded as an extension of the corresponding set of parallel rails 611 of the delivery rail system 608.

[0097] When the delivery vehicle 601 moves on the delivery rail system 608, one set of wheels 601c of the delivery vehicle 601 engages with one set of rails 611 of the delivery rail system 608. When the delivery vehicle 601 enters the boarding position 670', as shown in FIG. 6A, the delivery vehicle 601 can easily move onto the rails 772 of the support 772 of the vehicle lift 770, and one set of wheels 601c of the delivery vehicle 601 engages with the rails 772 of the support of the vehicle lift 770.

[0098] Figure 5 is a detailed view of FIG. 6B that does not show the container access station 763. The difference between FIGS. 6A and 6B is the configuration of the lifting position of the delivery vehicle 601 disposed on the vehicle lift 770.

[0099] As mentioned above, FIG. 6A shows the delivery vehicle 601 disposed at the boarding position 670' disposed at the boarding level. The container access station 763 is disposed above the boarding level.

[0100] In FIG. 6B, the delivery vehicle is lifted to a position between the boarding level and the access level.

[0101] As shown in FIG. 5, the base opening 762 of the container access station corresponds to a hole in the floor 700 where the container access station is disposed.

[0102] The delivery vehicle 601 is lifted through the base opening 762 of the container access station 760, thereby entering the housing 763 and then entering the access level of the access station.

[0103] Furthermore, a human operator 20 is shown who can access the contents of the storage container 106 on the delivery vehicle 601 through the access opening 761 of the container access station 760.

[0104] Figures 7A - C show the housing 763 of the container access station, where the delivery vehicle is disposed at the access level 680 for presenting the storage container 106 to a human operator 20. The access opening 761 of the housing 763 has a cover 781 for restricting access through the access opening 761. The cover 781 is stowable and configured to open only when certain conditions are met (e.g., when access to the container is permitted), thereby enabling access to the container 106 through the access opening 761 when the container 106 is at the access level 680. The cover 781 shown in the embodiments of Figures 7A - C is transparent, allowing the contents of the storage container 106 to be viewed from outside the access opening 761. This can assist in increasing the speed of the picking process when the cover 781 is retracted from the access opening 761.

[0105] Figure 7A shows the access opening closed / fully covered by the cover 781.

[0106] Figure 7B shows the cover 781 partially stowed to allow partial access to the storage container through the access opening 761.

[0107] Figure 7C shows the fully open access opening 761 with the cover fully stowed.

[0108] Figure 8 is a more detailed view of the vehicle lift 770. The lifting mechanism 771 is disposed at the lower end of the guiding structure 773, where the lifting mechanism 771 is supported by the remainder of the delivery rail system 608, and the control box 774 is disposed above the guiding structure 773 so as not to obstruct the path of the support when being moved along the guiding structure 773 between the boarding level and the access level. The control box 774 further transports the storage container It is possible to assist in balancing the weight of the delivery vehicle 601 when it is lifted upward by the vehicle lift 770. In FIG. 8, the lifting mechanism 771 and the control box 774 are arranged on both sides of the guiding structure 773 as a support. The lifting mechanism 771 includes a motor for vertically moving the support 772. The control box 774 can include, for example, a main switch, an emergency stop switch, a frequency converter, and a terminal block.

[0109] FIG. 9 shows an automatic storage and retrieval frame structure 501 having container handling vehicles 201 and 301 that move on a frame structure 501 above a container handling vehicle rail system 508. The framework structure has vertical members 512 that form a plurality of storage columns 505. The storage columns 505 can store a plurality of storage containers that are stacked on top of each other, but these storage containers are not shown for simplicity.

[0110] The container handling vehicle rail system 508 has a first set of parallel rails 510 arranged in a first horizontal plane P1 and extending in a first direction X, and a second set of parallel rails 511 arranged in the first horizontal plane P1 and extending in a second direction Y orthogonal to the first direction X. The first set of rails 510 and the second set of rails 511 form a grid pattern in the first horizontal plane P1 that forms a plurality of adjacent grid cells 522. Each container handling vehicle grid cell 522 has a container handling vehicle grid opening 515 defined by a pair of adjacent rails of the first set of rails 510 and a pair of adjacent rails of the second set of rails 511.

[0111] This figure further shows a delivery rail system 608 configured in a similar manner to the container handling vehicle rail system 508 for the container handling vehicles 201 and 301.

[0112] The delivery rail system 608 has a first set of parallel rails 610 disposed in a second horizontal plane P2 and extending in a first direction X, and a second set of parallel rails 611 disposed in the second horizontal plane P2 and extending in a second direction Y orthogonal to the first direction X. The first set of rails 610 and the second set of rails 611 form a grid pattern in the second horizontal plane P2 that forms a plurality of adjacent grid cells 622.

[0113] The first horizontal plane P1 is disposed at a higher vertical level than the second horizontal plane P2.

[0114] The delivery vehicle 601 moving on the delivery rail system 608 is adapted to receive and / or deliver the storage container 106 at a storage container delivery location 660 disposed above the delivery space 540 of the transfer columns 519, 520 and above the delivery rail system 608.

[0115] The delivery vehicle is further configured to move from the storage container delivery location to a boarding position at the boarding level, such that the delivery vehicle 601 can be lifted into the container access station, where items held within the storage container 106 can be accessed from a level different from the level of the delivery rail system 608 (see FIG. 10).

[0116] FIG. 10 shows an automated storage and retrieval framework structure similar to the structure shown in FIG. 9. This figure further shows a container access station 760 having a vertically configured surrounding wall and a housing 763 of a top cover supported on the surrounding wall. Items held within the storage container 106 carried by the delivery vehicle 601 and lifted to the container access station 760 are within reach through an access opening 761 in the top cover of the housing 763.

[0117] The container access station 760 is arranged adjacent to the container handling vehicle rail system 508 of the automatic storage and retrieval framework structure 501. Here, the delivery rail system 608 extends from below the delivery space 540 to the boarding position 670' located at the boarding level 670 below the container access station 760.

[0118] The container access station can be arranged at a vertical level P3 different from the first vertical level P1 of the container handling vehicle rail system 508 (not shown).

[0119] The container access station 760 has an access opening through which a human 20 and / or a robot can access the contents of the container 106. The container access station 760 has a base opening provided in the lower part of the housing 763 and a vehicle lift 770 configured to retrieve the delivery vehicle 601 equipped with the container 106 from the boarding level 670 below the base opening and lift the delivery vehicle 601 upward through the base opening to the access level. As a result, the container 106 can be accessed through the access opening.

[0120] The container handling vehicle rail system 508 is completely separated from the human environment. In the human environment, a human operator 20 accesses the storage container through a significant storage wall 800 acting as a barrier. Further, the human operator 20 and the container access station 760 are arranged on the floor 700 above the rail system 608.

[0121] As shown in FIG. 7, the container access station 760 can be provided with a cover 781 for restricting access through the access opening 761.

[0122] In the above description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the present invention have been described with reference to the exemplary embodiments. For the purposes of the description, specific numbers, systems, and configurations have been set forth in order to enable a complete 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 will be apparent to those of ordinary skill in the art related to the disclosed subject matter, are considered to be within the scope of the present invention.

Explanation of Signs

[0123] 1 Automated storage and retrieval system 20 Human operator 100 Framework structure 102 Upright member of the framework structure 103 Horizontal member of the framework structure 104 Storage grid 105 Storage column 106 Storage container 106’ Specific position of the storage container 107 Stack 108 Rail system 110 Rails parallel to the first direction (X) 110a First rail in the first direction (X) 110b Second rail in the first direction (X) 111 Rails parallel to the second direction (Y) 111a First rail in the second direction (Y) 111b Second rail in the second direction (Y) 112 Access opening 119 First port column / Disembarkation port column 120 Second port column / Embarkation port column 201 Prior art storage container vehicle 201a Vehicle body of the storage container vehicle 201 201b Driving means / wheel configuration in the first direction (X) 201c Driving means / wheel configuration in the second direction (Y) 301 Conventional single-ended storage container vehicle 301a Vehicle body of storage container vehicle 301 301b Driving means / wheels in the first direction (X) 301c Driving means / wheels in the second direction (Y) 304 Gripping device 500 Automatic storage and retrieval system 501 Framework structure of storage and retrieval system 505 Storage column of storage and retrieval system 508 Container handling vehicle transportation system 510 First set of parallel rails configured in the horizontal direction X 511 Second set of parallel rails configured in the horizontal direction Y 519 Transfer port column 520 Transfer port column 522 Grid cell of container handling vehicle rail system 540 Delivery port 601 Delivery vehicle 601a Vehicle body / chassis of delivery vehicle 601 601b Driving means / wheel configuration / wheel assembly in the first direction (X) of the delivery vehicle, first set of wheels 601c Driving means / wheel configuration / wheel assembly in the second direction (Y) of the delivery vehicle, second set of wheels 602 Storage container carrier 604 Grid of delivery rail system 608 Delivery rail system 610 First set of rails extending in the horizontal direction Y 610a First rail extending in the first direction X 610b Second rail extending in the first direction X 611 Second set of rails extending in the horizontal direction Y 611a First rail extending in the second direction Y 611b Second rail extending in the second direction Y 622 Grid cell of delivery rail system 660 Storage Container Delivery Location 670 Boarding Level 670’ Boarding Position 680 Access Level 680’ Access Position 700 Floor 760 Container Access Station 761 Access Opening 762 Base Opening 763 Housing / Cabinet Body 770 Vehicle Lift 771 Lifting Mechanism 772 Vehicle Support 772a Horizontally Protruding Arm 772b Horizontally Protruding Arm 773 Guidance Structure 774 Control Box 800 Storage Wall / Barrier P1 Horizontal Plane of the Container Handling Vehicle Transportation System P2 Horizontal Plane of the Delivery Rail System P3 Horizontal Plane of the Container Access Station X First Direction Y Second Direction Z Third Direction

Claims

1. A container access station (760) for accessing a storage container (106) of an automatic storage and retrieval system (500), wherein the container access station (760) comprises a housing (763), and the housing (763) has: - An access opening (761) through which a human and / or a robot can access the contents of the storage container (106); - A base opening (762) through which the storage container can enter the container access station as presented at the access opening; and the container access station further comprises: - A vehicle lift (770) configured to lift the delivery vehicle (601) carrying the storage container (106) on the upper surface of the delivery vehicle (601) from a boarding level (670) below the base opening (762) to an accessible level (680) at which the storage container (106) is presented for access through the access opening (761) by the human and / or the robot while the storage container (106) is still being carried by the delivery vehicle (601). The container access station (760) according to claim 1, further comprising: A container access station (760).

2. The container access station (760) according to claim 1, wherein the vehicle lift (770) extends below the base opening (762) at a height higher than the height of the delivery vehicle (601) carrying the storage container.

3. The container access station (760) according to claim 1 or 2, wherein the vehicle lift (770) is configured to lift the delivery vehicle (601) carrying the storage container (106) purely vertically between the boarding level (670) and the access level (680).

4. The container access station (760) according to any one of the preceding claims, wherein the vehicle lift (770) comprises a support (772) of two rails, each rail being configured to receive one set of wheels (601b, c) of the delivery vehicle (601), so that the delivery vehicle (601) can move onto the vehicle lift (770) to be lifted to the access level (680).

5. The container access station (760) according to claim 4, wherein the rail (772) comprises a locking device for preventing the set of wheels (601b, c) of the delivery vehicle (601) from moving during transportation on the vehicle lift (770).

6. The container access station (760) according to any one of claims 1 to 3, wherein the vehicle lift (770) comprises lifting a support (772) which is a platform (772) extending under the base of the delivery vehicle (601).

7. The container access station (760) according to claim 6, wherein the platform (772) has an installation area equal to or smaller than the installation area of the delivery vehicle (601).

8. The platform occupies an area smaller than the installation area of the delivery vehicle (601), so that when the delivery vehicle (601) is placed thereon, at least one set of drive wheels (601b, c) is outside the horizontal extension range of the platform (772). The container access station (760) according to claim 7, wherein the delivery vehicle is prevented from moving when lifted and / or accessed thereby.

9. The container access station (760) according to any one of the preceding claims, wherein the vehicle lift (770) comprises at least one wall for preventing the delivery vehicle (601) from moving away from the vehicle lift (770) during transportation.

10. The container access station (760) according to claim 9, wherein the vehicle lift (770) comprises at least two walls configured to be clamped on top of the side of the delivery vehicle (601).

11. The housing (763) further includes a cabinet body (763) disposed around the access opening (761) and the base opening (762), such that the delivery vehicle (601) lifted into the cabinet body (763) by the vehicle lift (770) is shielded from the human and / or the robot, and only the storage container (106) carried by the delivery vehicle is accessible through the access opening (761), the container access station (760) according to any one of the preceding claims.

12. The container access station (760) according to any one of the preceding claims, comprising a cover (781) for restricting access through the access opening (761) when the delivery vehicle carrying the storage container is not present inside the cabinet body (763).

13. The container access station (760) according to claim 12, wherein the cover is a retractable cover (781) configured to open only when the storage container carried by the delivery vehicle (601) is presented at the access opening.

14. An automatic storage and retrieval system (500) comprising the container access station (760) according to any one of the preceding claims, wherein the automatic storage and retrieval system (500) - a delivery rail system (608) having at least a first set of parallel rails (610) disposed in a horizontal plane (P2) and extending in a first direction (X), and at least a second set of parallel rails (611) disposed in the horizontal plane (P2) and extending in a second direction (Y) orthogonal to the first direction (X), wherein the first set of rails (610) and the second set of rails (611) integrally define a grid (604) of grid cells (622), the delivery rail system (608); - a delivery vehicle (601) operating on the rail system (608) further comprising. The rail system (608) is configured such that the delivery vehicle (601) comprising the storage container (106) can access the vehicle lift (770) at the boarding level. As a result, while the storage container is still being carried by the delivery vehicle, the vehicle lift can lift the delivery vehicle (601) and the storage container (106) from the boarding level (670) to an access level (680) at which the storage container (106) is presented and can be accessed by humans and / or robots through the access opening (761). Automated storage and retrieval system (500).

15. The container access station (760) is above the rail system (608) on a floor (700), the automated storage and retrieval system (500) according to claim 14.

16. The delivery vehicle has an installation area equal to the size of a grid cell, the automated storage and retrieval system (500) according to claim 14 or 15.

17. An automated storage and retrieval system (500) according to any one of claims 14 to 16, comprising a plurality of container access stations (760) according to any one of claims 1 to 13.

18. - An automated storage and retrieval framework structure (501), wherein the automated storage and retrieval framework structure (501) is a vertical member (512) defining a plurality of storage columns (505) for storing storage containers (106) stacked on top of each other within a vertical stack (107), the vertical members (512) being interconnected at their upper ends by a container handling vehicle rail system (508) configured to guide at least one container handling vehicle (201, 301) above the storage columns, the at least one container handling vehicle being configured to lift the storage container (106) from the storage column (505), lower the storage container (106) into the storage column (505), and transport the storage container (106) above the storage column (505). The container handling vehicle rail system (508) includes a first set of parallel rails (510) disposed in a first horizontal plane (P1) and extending in a first direction (X), and a second set of parallel rails (511) disposed in the first horizontal plane (P1) and extending in a second direction (Y) orthogonal to the first direction (X), wherein the first set of rails (510) and the second set of rails (511) form a grid pattern including a plurality of adjacent container handling vehicle grid cells (522) in the first horizontal plane (P1), and each container handling vehicle grid cell (522) includes a container handling vehicle grid opening (515) defined by a pair of adjacent rails of the first set of rails (510) and a pair of adjacent rails of the second set of rails (511). A vertical member (512). A transfer port column (519) adapted to transport a storage container (106) between the container handling vehicle (201, 301) and a delivery space (540) located at a lower end of the transfer port column (519). The delivery rail system (608) is adapted to receive and / or deliver a storage container (106) at a storage container delivery location (660) configured on the delivery rail system (608) below the delivery space (540) of the transfer port column (519, 520), and to move from the storage container delivery location (660) to the vehicle lift (770) of the container access station (760). The transfer port column (519) and An automatic storage and retrieval framework structure (501) comprising Further comprising The automatic storage and retrieval system (500) according to any one of claims 14 to 17.

19. A method of presenting a storage container to enable a human and / or a robot to access the contents of the storage container through an access opening of the container access station (760) according to any one of claims 1 to 13, the method comprises - Using a vehicle lift (770), lifting a delivery vehicle (601) carrying the storage container (106) from a boarding level (670) to an access level (680); and presenting the storage container (601) on the delivery vehicle at the access opening (761) for access by the human and / or the robot to the contents thereof while the storage container is still being carried by the delivery vehicle A method comprising. **Claim 20** The method of claim 19, further comprising lowering the delivery vehicle (601) to the boarding level (670). **Claim 21** The method of claim 20, further comprising removing the delivery vehicle (601) from the vehicle lift (770) and placing it on the delivery rail system (608) to return the storage container (601).

Images