Port Magazine

Abstract

A buffer system for a station of a storage and retrieval system, the storage and retrieval system including a framework structure with a rail system including a first set of parallel rails and a second set of parallel rails, the buffer system having at least two automated lifts for delivering containers to and from the station, the first lift for delivering a container delivered from the framework structure by a container handling vehicle to the station, and the second lift for delivering a container from the station to the framework structure of the storage and retrieval system using the container handling vehicle, the speeds of the first lift and the second lift in the buffer system being controlled to the effect that when one container is finished at the station another container is delivered to the station.

Description

[Technical field]

[0001] The present invention relates to an automated storage and retrieval system for the storage and retrieval of containers, and in particular to a system and method for buffering containers to or from a pick-up port. [Background technology]

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

[0003] The framework structure 100 includes upright members 102 and a storage volume that includes storage columns 105 arranged in rows between the upright members 102. Within these storage columns 105, storage containers 106 (also known as bins) are stacked to form stacks 107. The members 102 may typically be made of metal (e.g., in the form of extruded aluminum).

[0004] The framework structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged across the top of the framework structure 100, on which a plurality of container steering vehicles 201, 301, 401 can be operated to raise the storage containers 106 from the storage columns 105, lower the storage containers 106 to the storage columns 105, and transport the storage containers 106 up the storage columns 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide the movement of the container steering vehicles 201, 301, 401 in a first direction X that intersects the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of parallel rails 110 to guide the movement of the container steering vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the column 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 on the storage column 105, i.e. in a plane parallel to the horizontal XY plane.

[0005] The uprights 102 of the framework structure 100 may be used to guide the storage containers during their ascent and descent from the columns 105. The stacks 107 of containers 106 are typically freestanding.

[0006] Each prior art container steering vehicle 201, 301, 401 includes a body 201a, 301a, 401a, a first set of wheels 201b, 301b, 401b that allows the container steering vehicle 201, 301, 401 to move laterally in the X direction and a second set of wheels 201c, 301c, 401c that allows the container steering vehicle 201, 301, 401 to move laterally in the Y direction. In Figures 2, 3, and 4, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c, 401c is arranged to engage two adjacent rails of the second set of rails 111. At least one of the wheel sets 201b, 301b, 201c, 301c, 401b, 401c can be raised and lowered so that the first wheel set 201b, 301b, 401b can be engaged with the rail set 110 at any one time and / or the second wheel set 201c, 301c, 401c can be engaged with the rail set 111 at any one time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertical transportation of the storage container 106 (e.g., lifting the storage container 106 from the storage column 105 and lowering the storage container 106 to the storage column 105). The lifting device includes one or more gripping / engagement devices adapted to engage the storage container 106, which can be lowered from the vehicle 201, 301, 401 such that the position of the gripping / engagement device relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z perpendicular to the first direction X and the second direction Y. Parts of the gripping devices of the container handling vehicles 301, 401 are shown in Figures 3 and 4 and are designated by reference numbers 304, 404. The gripping devices of the container handling device 201 are located within the vehicle body 201a in Figure 2.

[0008] Conventionally, and for purposes of this application, Z=1 identifies the top storage container, i.e. Z=1 is the layer immediately below the rail system 108, Z=2 is the second layer below the rail system 108, Z=3 is the third layer, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the bottom layer of the storage container. Similarly, X=1...n and Y=1...n identify the location of each storage column 105 on the horizontal plane. Thus, by way of example, and using the Cartesian coordinate system X, Y, Z indicated in FIG. 1, the storage container identified as 106' in FIG. 1 can be said to occupy storage position X=17, Y=1, Z=6. The container handling vehicle 201, 301, 401 can be said to travel in the Z=0 layer, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in FIG. 1 spread over the rail system 108 can be said to be arranged in layer Z=0.

[0009] The storage volume of the framework structure 100 is often referred to as a grid 104, where the possible storage locations within the grid are referred to as storage cells. Each storage column may be identified in the X-direction and Y-direction by a location, while each storage cell may be identified in the X-direction, Y-direction, and Z-direction by a container number.

[0010] Each prior art container steering vehicle 201, 301, 401 includes a storage compartment or space for receiving and housing the storage container 106 as it transports the storage container 106 across the rail system 108. The storage space may include a cavity arranged within the vehicle body 201a, as shown in Figures 2 and 4, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO 317366, the contents of which are likewise incorporated herein by reference.

[0012] 2 may have a footprint covering an area with X and Y dimensions roughly equal to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the hollow container handling vehicle 401 may have a footprint larger than the lateral area defined by the storage columns 105, as shown in Figures 1 and 4 and disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The rail system 108 typically includes rails with grooves, in which the vehicle wheels run. Alternatively, the rails may include upwardly projecting elements, in which case the vehicle wheels include flanges to prevent disengagement. These grooves and upwardly projecting elements are collectively known as tracks. Each rail may include one track, each rail may include two parallel tracks, or one direction rail may include one track and the other direction rail may include two parallel tracks. When the rail includes two parallel tracks, the rail is formed from two rail members joined together, with each rail member provided with one of the tracks.

[0015] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) illustrates a typical configuration of a rail system 108 that includes rails and parallel tracks in both the X and Y directions.

[0016] In the framework structure 100, the majority of the columns 105 are storage columns 105 (i.e., columns 105 in which the storage containers 106 are stored in the stacks 107). However, some columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are special purpose columns such as those used by the container handling vehicles 201, 301, 401 for dropping off and / or picking 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 structure 100 or transferred outside or into the framework structure 100. Within the present technology, such places are usually referred to as "ports", and columns in which the ports are located can be referred to as "port columns" 119, 120. The transport to the access station can be in any orientation: horizontal, inclined, and / or vertical. For example, storage containers 106 may be placed into random or specialized columns 105 within the framework structure 100 and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "inclined" refers to the transport of storage containers 106 having a rough transport direction somewhere between horizontal and vertical.

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

[0018] An access station can typically be a pick-up or storage station where products are removed from or placed into the storage container 106. At the pick-up or storage station, the storage container 106, once accessed, is typically not removed from the automated storage and retrieval system 1 but is returned again to the framework structure 100. The port can also be used for transferring storage containers to other storage facilities (e.g., to other framework structures or to other automated storage and retrieval systems), to transportation vehicles (trains or lorries), or to production facilities.

[0019] A conveyor system including conveyors is typically used to transport the storage containers 106 between the port columns 119, 120 and the access stations.

[0020] When the port pillars 119, 120 and the access stations are located at other heights, the conveyor system may include a lift device with a vertical component for transporting the storage containers 106 vertically between the port pillars 119, 120 and the access stations.

[0021] A conveyor system may be arranged to transfer the storage containers 106 between the different framework structures, for example as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] 1 is to be accessed, one of the container steering vehicles 201, 301, 401 is commanded to remove the target storage container 106 from its location and transport the target storage container 106 to the drop-off port column 119. This action requires moving the container steering vehicle 201, 301 to a location above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using a lifting device (not shown) of the container steering vehicle 201, 301, 401, and transporting the storage container 106 to the drop-off port column 119. When the target storage container 106 is located deep in the stack 107, i.e. when one or more of the other storage containers 106 are located above the target storage container 106, the operation also requires 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 "digging", may be performed by the same container steering vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or by one or more of the other cooperating container steering vehicles. Alternatively or in addition, the automated storage and retrieval system 1 may have container steering vehicles 201, 301, 401 that are specifically dedicated to the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be relocated back to the original storage column 105. However, the removed storage container 106 may instead be relocated in 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 commanded to pick up the storage container 106 from the pickup port column 120 and transport it to a location on the storage column 105 where it is to be stored. After any storage container 106 located at or above the target location in the stack 107 is removed, the container handling vehicle 201, 301, 401 places the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or relocated to another storage column 105.

[0024] The automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106, for monitoring and controlling the automated storage and retrieval system 1 (e.g., monitoring and controlling 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.

[0025] The problem can be that the delivery of bins to a station can cause a build-up of containers on the grid waiting to deliver those containers to the station. This slows down the grid and results in unnecessary time when container handling vehicles are not operating at full potential. The reason for this problem is that people picking up at the stations pick up at different speeds, which causes the container handling vehicles to have to wait until a lift is free to transport the container to the station.

[0026] Therefore, there is a need for the system so that container handling vehicles do not have to spend time waiting at the stations to deliver their cargo, and therefore there is a need for a place in the system where there can be a little slack where the container handling vehicles can deliver, when they have the time, without having to wait and holding up the stations. [Prior art documents] [Patent documents]

[0027] [Patent Document 1] International Publication No. 2015 / 193278 Summary of the Invention [Means for solving the problem]

[0028] The present invention is set forth and characterized in the independent claims, while the dependent claims describe further features of the invention.

[0029] In one aspect, the invention relates to a buffer system for a station of a storage and retrieval system, the storage and retrieval system including a framework structure comprising a rail system including a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) intersecting a top of the framework structure and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the framework structure including upright members defining storage columns for storing containers within the framework structure, the storage and retrieval system including at least one container handling vehicle configured to operate on the rail system, the buffer system having at least two automated lifts for delivering containers to and from the station, the first lift for delivering containers delivered by the container handling vehicle from the framework structure to the station and the second lift for delivering containers from the station to the framework structure of the storage and retrieval system using the container handling vehicle.

[0030] Additionally, the speed of the first lift and second lift in the buffer system can be controlled by the fact that when one container is finished at a station another container is delivered to the station, and an operator at the station controls when the container is ready to be delivered back to the framework structure of the storage and retrieval system.

[0031] Also, the first and second lifts in the buffer system each include a belt or chain in the form of a loop, the belt can be provided with a plurality of shelves, each shelf can be in the form of a block, and each shelf can be hinged at at least one location.

[0032] The containers can be held in place in the first and / or second lift by belts or by belts that are pressed against the sides of the respective containers. The outer belts at the pick-up and / or delivery points for the containers in the first or second lift can be hinged to allow the containers to enter or exit the lift at the correct point. The containers are held in place in the first or second lift by mechanical guides that guide spring-loaded shelves into the correct position.

[0033] The present invention also encompasses a port that includes a column of a storage and retrieval system, the column being dedicated to the buffer system described above and linked together with the station as a unit. The port can be configured to fit as an add-on into an existing storage and retrieval system.

[0034] In a second aspect, the invention relates to a storage and retrieval system comprising a framework structure, a container handling vehicle, a station, and a buffer system for delivering containers to and from the station, as claimed in any of the preceding claims.

[0035] In a third aspect, the invention is directed to a method of using a buffer system at a station of a storage and retrieval system, the storage and retrieval system including a framework structure comprising a rail system including a first set of parallel rails arranged to guide movement of a container steering vehicle in a first direction (X) intersecting a top of the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container steering vehicle in a second direction (Y) perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the framework structure including upright members defining storage columns for storing containers within the framework structure, the storage and retrieval system including at least one container steering vehicle configured to operate on the rail system, the method including using the container steering vehicle to stack containers. The method includes picking up a first container from a framework structure of the storage and retrieval system, loading the first container onto a first lift of the buffer system, which delivers the container to a station, transporting the first container to the station using the first lift of the buffer system, picking up the requested item from the first container at the station, transporting the first container to a second lift of the buffer system, which delivers the container back to the framework structure of the storage and retrieval system, delivering a new second container from the first lift of the buffer system to the station for picking up, and delivering the second container back to the framework structure of the storage and retrieval system using a container handling vehicle when the second container is at the top of the second lift of the buffer system.

[0036] When one container is transported out of the station and to a second lift of the buffer system, another container is transported into the station by the first lift of the buffer system.

[0037] This solution allows the pickers at the station to control the speed of picking up, and the buffer system allows the container handling vehicles to load the buffer system like a magazine, which allows the container handling vehicles to operate on the grid with the least possible time spent waiting to deliver or pick up containers from the station. The container handling vehicles can deliver containers from the storage and retrieval system when it is placed in the buffer system and when the lift is not ready. Because by being able to load the lift with multiple containers like a magazine, this gives the container handling vehicles more freedom when they are delivering their containers. [Brief description of the drawings]

[0038] The following drawings are attached to facilitate an understanding of the invention, and show, by way of example only, embodiments of the invention which will now be described in more detail.

[0039] [Figure 1] FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0040] [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a cavity arranged therein for transporting storage containers therein.

[0041] [Diagram 3] FIG. 3 is a perspective view of a prior art container steering vehicle having a cantilever for carrying the container steering vehicle underneath.

[0042] [Figure 4] Figure 4 shows a top-down view of the inner cavity solution with the lifting platform on its way down.

[0043] [Diagram 5] 5a-c are side views of the buffer system, showing elevators that transport containers both from the storage and retrieval system to the stations and from the stations back to the storage and retrieval system.

[0044] [Figure 6] FIG. 6 is a side view of an embodiment of the invention illustrating the synchronized belt movement and how the bins are supported and how elevators can transport containers between the storage and retrieval systems and stations.

[0045] [Figure 7] 7 is a side view of a fixed, hinged, or multi-hinged block 602 for transporting containers between grids and stations of a storage and retrieval system. This allows for a more compact solution by reducing the shelf length when the block is outside the lift.

[0046] [Figure 8] FIG. 8 is a top view of an embodiment of the invention in which two elevators are placed behind each other relative to a station.

[0047] [Figure 9] Figure 9 is a top view of an embodiment of the invention where the lifts are placed next to each other, and also shows how the separate hinged lower "belt grip" opens for arm rotation and closes for gripping bins and lifting bins into / out of the magazine.

[0048] [Figure 10]FIG. 10 is a side view of a belt grip that holds a container by friction according to the embodiment presented in FIG. 9, this solution presses the belt towards the container.

[0049] [Figure 11] FIG. 11 shows a motorized wheel / roller grip that holds the bin by friction and forces the wheel / roller against the bin to gain a grip.

[0050] [Figure 12] FIG. 12 is an alternative solution using a pin shelf, which is a shelf that is hidden inside the driving belt / chain in the return direction and mechanically pushed out when on the lift side. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0051] In the following, embodiments of the invention will be described in more detail with reference to the accompanying drawings, in which: FIG.

[0052] The framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with FIG. 1, i.e., the framework structure 100 includes a number of upright members 102, a number of horizontal members 103 supported by the upright members 102, and further a first upper rail system 108 in the X and Y directions.

[0053] The framework structure 100 further includes storage compartments in the form of storage columns 105 provided between members 102 and 103 , with storage containers 106 being stackable within the storage columns 105 into stacks 107 .

[0054] The framework structure 100 may be of any size. In particular, it is understood that the framework structure may be significantly wider and / or longer and / or deeper than the framework structure disclosed in Figure 1. For example, the framework structure 100 may have a horizontal extent of greater than 700x700 columns and a storage depth of greater than 12 containers.

[0055] The present invention relates to systems and methods relating to a buffer system for station 701.

[0056] One of the more uncertain factors of an automated storage and retrieval system is the operator / pickup rate (i.e., time used per container), which is unpredictable. Instead of the system having to be on standby / idle for the smallest amount of time possible, each operator / port has to be ready and doing other tasks to keep the total number of operator-based pick-ups per hour as high as possible. To reduce the idle time of container handling vehicles at the top of the port to deliver / pick up containers, an automated buffer can be provided with up to 10 or more containers, and preferably 2-5 containers, that can deliver / pick up containers to the port / operator just in time, while the container handling vehicles can only deliver / pick up containers in the buffer when signaled for a waiting port task, and can then quickly return to other tasks.

[0057] Through such a buffer system, this can reduce the idle time of the container steering vehicle and the potential time the operator waits for the container steering vehicle and containers. As a side bonus, port interaction operations are faster for the container steering vehicle due to the reduced lifting height. In essence, the container steering vehicle only interacts with the magazine instead of the operator. The magazine keeps the operator busy based on the operator pace.

[0058] In short, the present invention is a synchronized two-sided lift system with belts or chains or similar used to provide such a lift system and through the provision of one buffer for container delivery on the port and one buffer for container return on the port.

[0059] The benefits are higher container throughput due to better utilization of the container handling vehicle's time, operators waiting less for action from the container handling vehicle (less idle time on the port, more preparation time) and because the port magazine keeps containers closer to the port at all times compared to a robot that lowers a gripper from the top of the grid.

[0060] An embodiment of an automated storage and retrieval system according to the invention will now be described in more detail with reference to Figures 5a to 12.

[0061] 5a-5c are side views of the buffer system, showing both the elevators that carry containers from the storage and retrieval system to station 701 and the elevators that carry containers from station 701 back to the storage and retrieval system.

[0062] In FIG. 5 it can be seen that the buffer system consists of a first lift 501 which transports containers from the storage and retrieval system to a station 701 and a second lift 502 which transports containers from the station 701 to the storage and retrieval system.

[0063] The first container 1 is transported from the framework structure of the storage and retrieval system using a container handling vehicle.

[0064] The first container 1 is placed onto the first lift 501 of the buffer system and transported by the first lift 501 from the grid height of the storage and retrieval system down to the height of station 701. When it is at the height of station 701 the container is transported to station 701, for example using a conveyor belt. When it is at station 701 an operator picks up the required goods from the container and when finished the container is sent back to the buffer system. The second lift 502 transports the container from the height of station 701 to the grid height of the storage and retrieval system.

[0065] When a first container is transported from station 701 to second lift 502 , a second container is transported from first lift 501 to station 701 .

[0066] Both the first lift 501 and the second lift 502 have the capacity to store more than one container. The buffer system acts like a magazine where containers can be stored while they are waiting to be picked up or placed back into the storage and retrieval system. Each lift of the storage system has the capacity to store multiple containers. The number of containers that can be placed in the buffer system depends on the difference in height between the top of the grid and the height of the station 701. Assuming that the station 701 is placed at floor level, the number of containers in each lift can be more than 5 and even up to 10 or more.

[0067] FIG. 6 is a side view of an embodiment of the invention showing the synchronized movement of belts 601 and how the bins are supported and how elevators can transport containers between the storage and retrieval systems and stations 701.

[0068] In this embodiment it is shown how each lift can be made up of two belts 601 running from the top of the storage and retrieval system to the level of the station 701. The belts 601 of both lift systems are spaced apart to accommodate a container between the belts. The belts 601 are therefore placed on opposite sides of the container.

[0069] Either belt 601 can be in the form of a belt 601 wrapped around an electric motor at one end and a roller at the other end. Alternatively, there can be an electric motor at either end. The electric motor can turn the belt around. As mentioned before, one lift consists of two belts 601. For the lift to work, the belts 601 need to be counter-rotating. Furthermore, the movement of the belts 601 needs to be synchronized. This means that both belts 601 move with the same amount of rotation of the electric motor. Hence, the movement of all electric motors in one lift needs to be synchronized for safe transport of containers to and from the station 701.

[0070] The belts 601 on either side of a lift transporting containers from the grid of the storage and retrieval system to the stations 701 (and thus downwards) must rotate towards each other at the top and away from each other at the bottom. The belts 601 on either side of a lift transporting containers from the stations 701 towards the grid of the storage and retrieval system must rotate away from each other at the top and towards each other at the bottom.

[0071] In this embodiment, the belts 601 on either side of either lift have outwardly facing blocks 602 attached to them at regular intervals. The blocks 602 on both belts 601 of a lift are opposite and oriented opposite each other. This allows containers to be placed on the blocks 602 like a shelf system while they are being transported between the grids and stations 701 of the storage and retrieval system.

[0072] Other arrangements are envisaged, for example where a single belt is used to support the storage containers between collection / return from the container handling vehicle and drop-off / collection from the station.

[0073] Figure 7 is a side view of a fixed, hinged or multi-hinged block 602 for transporting containers between the grid and stations 701 of a storage and retrieval system. This allows for a more compact solution by reducing the shelf length when the block 602 is outside the lift.

[0074] As the belt 601 goes round and round, the blocks 602 are only useful when they are facing towards each other (i.e., either lifting or lowering a container). When the blocks 602 are facing away from each other (i.e., neither lifting nor lowering a container), the blocks 602 take up an unnecessary amount of space if they stand upright outwards. It would therefore be a benefit if the blocks 602 could fold up when they are not in use. A simple way to do this is to have the blocks 602 hinged 901 in one direction so that when they are carrying a container, they stand upright outwards, and when they are on the outside of the lift, they fold up flat along the belt 601.

[0075] In an alternative solution, the blocks 602 can be multi-hinged 901. This means that there is more than one hinged 901 joint per block 602, and all the hinged 901 are hinged in the same way. This allows for a smoother transition from standing out to lying flat against the belt 601. An additional benefit of the multi-hinged 901 solution is that the blocks 602 require less space when they are either folded out or folded in.

[0076] Figure 8 shows a top view of an embodiment of the invention with two elevators placed behind each other in relation to station 701. This solution is ideal for station 701 where containers are delivered to station 701 from a lift system via a conveyor belt 601.

[0077] The image shows a solution where station 701 is placed at the far right of the drawing. Immediately to the left of station 701 are a pair of upright members 801. These members 801 act as fixing points for electric motors and / or rollers at either end of belt 601 loop 601.

[0078] A conveyor system allows containers to pass through a first lift 501 to a second lift 502 behind the first lift.

[0079] Figure 9 is a top view of an embodiment of the invention where the lifts are placed next to each other, and shows how the separate hinged lower <<belt 601 grip>> opens for arm rotation and closes for gripping bins and lifting bins into / out of the magazine.

[0080] In this embodiment of the invention, the lifts are placed next to each other. This solution is best suited for stations 701 that use a carousel solution for presenting containers to the operators. In this embodiment, the central belt 601 can be used for both lifts, with one lift carrying containers downwards and the other lift carrying containers upwards, and the two lifts being synchronized. Thus, the shelf or block 602 serves as a resting point for containers going both up and down.

[0081] As further illustrated in this drawing, the electric motors and / or rollers of the outermost belt 601 are hinged 702 at either end to enable the belt 601 to grip around the sides of a container. The gripping motion creates friction between the belt 601 and the container so that the container is held in place as the container is transported either up or down in the lift.

[0082] Although this solution is presented only in this drawing, this gripping of the belt 601 to create sufficient friction between the container and the belt 601 to be able to transport the container either up or down in the lift can be implemented in other embodiments of the invention.

[0083] FIG. 10 is a side view of a belt 601 grip that holds a container by friction according to the embodiment presented in FIG. 9, this solution presses the belt 601 towards the container. Here we can see the looped belt 601 stretched around an electric motor and / or rollers. The belt 601 represents one of the two belts 601 of the lift. As shown here, the belt 601 presses towards the container and holds it in place by friction. Pressing the belt 601 onto the container can be done by clamps. In this embodiment there are three clamps that press the belt onto the container. There is a grip and release clamp 1001 at either end and a fixed intermediate clamp 1002 between the two grip and release clamps 1001. The grip and release clamps 1001 at either end allow for gripping and releasing the container as it is either loaded onto the lift or unloaded from the lift. The fixed intermediate clamp 1002 satisfactorily holds the container during the transport phase between each end point.

[0084] Figure 11 shows an embodiment of the embodiment presented in Figure 10. Here, a method is shown for a motorized wheel or roller grip that holds the container in place by friction when the container is in the lift and presses the wheels or rollers towards the container to get a grip. As in the embodiment presented in Figure 10, the clamping solution consists of a gripping and release clamp on each end and a fixed intermediate clamp 1002 between the gripping and release clamps 1001. The force with which the gripping and release clamps 1001 press against the side of the container can be controlled by a set of motorized wheels. These motorized wheels can be spring loaded to be able to follow the contour of the container's side as it is transported through the lift.

[0085] The fixed intermediate clamp 1002 cannot be moved to adjust the amount of force used to press the wheels or rollers against the container, but the wheel or roller grips used to press the intermediate clamp 1002 against the container can be spring loaded to allow the clamp to follow the contours of the container as it passes near the clamp.

[0086] FIG. 12 shows an alternative solution using pin shelves 1202, which are hidden inside the belt 601 when driven in the return direction and mechanically pushed out when on the lift side. In this solution, the containers are placed on the shelves 1202 when they are transported between the station 701 and the grid top of the storage and retrieval system. Here we can see the looped belt 601 stretched around an electric motor and / or rollers. The belt 601 represents one of the two belts 601 of the lift. The shelves 1202 in the belt 601 can be pushed in and out by the mechanical guide 1201. The mechanical guide 1201 pushes the shelves 1202 out of holes in the belt 601, and the shelves 1202 can be spring loaded so that the shelves 1202 retract when the guide is not actively pushing the shelves 1202 out.

[0087] In the preceding description, various aspects of a delivery vehicle and an automated storage and retrieval system in accordance with the invention have been described with reference to illustrated embodiments. For purposes of explanation, specific numbers, systems, and configurations are set forth to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and alterations between the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art to which the disclosed subject matter pertains are deemed to be within the scope of the present invention. [Explanation of symbols]

[0088] List of Reference Numbers Prior Art (Figs. 1 to 4) 1. Prior Art Automated Storage and Retrieval Systems 100 Framework Structure 102 Upright members of framework structures 103 Horizontal members of framework structures 104 Storage Grid 105 Storage column 106 Storage Container 106' Specific location of storage container 107 Stack 108 Rail System 110 Parallel rails in the first direction (X) 110a: first rail in first direction (X) 110b second rail in first direction (X) 111 Parallel rail in the second direction (Y) 111a First rail in second direction (Y) 111b Second rail in second direction (Y) 112 Access opening 119 First port pillar 120 Second port pillar 201 Prior Art Container Maneuvering Vehicle 201a Body of container handling vehicle 201 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Prior Art Cantilever Container Steering Vehicle 301a Body of container handling vehicle 301 301b Driving means in the first direction (X) 301c second direction (Y) driving means 401 Prior Art Container Maneuvering Vehicle 401a Body of container handling vehicle 401 401b Driving means in the first direction (X) 401c Driving means in the second direction (Y) 501 First Lift (Delivery Lift / Buffer System) 502 Secondary lift (removal lift / buffer system) 601 Synchronized Belt for Lift / Buffer System 602 Blocks for holding containers in lift / buffer systems 701 Station 702 Hinged Lower Part of Lift / Buffer System 801 Uprights (lift systems) Hinge for 901 block 1001 Grip / Release Clamp 1002 Fixed intermediate clamp 1101 Electric Wheel / Roller Grip 1201 Mechanical Guide 1201 1202 Shelf X Primary Direction Y Second direction Z Third Direction

Claims

1. A buffer system for a station (701) of a storage and retrieval system, the storage and retrieval system including a framework structure, the framework structure comprising a rail system including a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) intersecting a top of the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the framework structure including upright members defining storage columns for storing containers within the framework structure, the storage and retrieval system including at least one container handling vehicle configured to operate on the rail system, The buffer system has at least two automatic lifts for delivering containers to and from the station (701), a first lift (501) for delivering containers delivered by a container handling vehicle from the framework structure to the station, and a second lift (502) for delivering containers from the station (701) to the framework structure of the storage and retrieval system using a container handling vehicle, characterized in that the speeds of the first lift and the second lift (502) in the buffer system are controlled to the effect that when one container is finished at the station (701), another container is delivered to the station (701).

2. 2. The system of claim 1, wherein an operator at the station (701) controls when a container is ready to be delivered back to the framework structure of the storage and retrieval system.

3. 2. The system of claim 1, wherein each automated lift for delivering containers to and from said station (701) can have up to 10 storage containers each.

4. A system according to claim 1, wherein each automated lift for delivering containers to and from said station (701) preferably has between 1 and 4 containers.

5. 10. A system as described in any of the preceding claims, wherein the first lift (501) and the second lift (502) in the buffer system each comprise a belt (601) in the form of a loop or a chain, the belt (601) being provided with a plurality of shelves.

6. The system of claim 5 , wherein each shelf is in the form of a block (602).

7. 10. The system of any preceding claim, wherein each of said blocks (602) is hinged (901) at at least one location.

8. 10. A system according to any of the preceding claims, wherein the containers are held in place in the first lift (501) and / or the second lift (502) by the belts (601) or by belts (601) pressed against the sides of the respective containers.

9. 9. The system of claim 8, wherein the outer belts (601) at the pick-up and / or delivery points for containers in the first lift (501) or the second lift (502) are hinged to enable the containers to enter or exit the lift at precise points.

10. 10. A system as described in any preceding claim, wherein containers are held in place in the first lift (501) or the second lift (502) by mechanical guides (1201), which guide a spring-loaded shelf into an outward position.

11. A storage and retrieval system comprising a framework structure, a container handling vehicle, a station (701), and a buffer system as described in any of the preceding claims, said buffer system being for delivering containers to and from said station (701).

12. 11. A method of using the buffer system of claim 1 at a station (701) of a storage and retrieval system, the storage and retrieval system including a framework structure comprising a rail system including a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) intersecting a top of the framework structure and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the framework structure including upright members defining storage columns for storing containers within the framework structure, the storage and retrieval system including at least one container handling vehicle configured to operate on the rail system, the method comprising: picking up a first container from the framework structure of the storage and retrieval system using a container handling vehicle; loading the first container onto a first lift (501) of the buffer system, the first lift (501) delivering the container to the station (701); transporting said first container to said station (701) using said first lift (501) of said buffer system; Picking up the requested item from the first container at said station (701); transporting the first container to a second lift (502) of the buffer system, the second lift (502) delivering the container back to the framework structure of the storage and retrieval system; Delivering a new second container for pick-up from the first lift (501) of the buffer system to the station (701); delivering the second container back to the framework structure of the storage and retrieval system using a container handling vehicle when the second container is at the top of the second lift (502) of the buffer system; A method comprising:

13. 13. The method according to claim 12, wherein when one container is transported out of the station (701) and transported to the second lift (502) of the buffer system, another container is transported to the station (701) by the first lift (501) of the buffer system.

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