Automated storage and retrieval system, container handling device, and method thereof

Abstract

The present invention relates to an automated storage and retrieval system comprising a first space (2), a second space (3), a dividing wall (6), a storage volume (104) for storing storage containers in a vertical stack, and a horizontal rail system (108) positioned above where the storage containers will be stored. The present invention also relates to a container transport enclosure (24) configured to enable transport of storage containers between the first space and the second space, and a method of using such a container transport enclosure.

Description

[Technical Field]

[0001] The present invention relates to an automated storage and retrieval system, a container transport device for use in such a system, and a method for transporting storage containers using the container transport device. [Background technology]

[0002] FIG. 1 discloses a 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 devices 200, 300, 400 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106, also known as containers, are stacked on top of each other to form stacks 107. The members 102 may typically be made of metal, for example, extruded aluminum profiles.

[0004] The framework 100 of the automated storage and retrieval system 1 comprises a rail system 108 disposed across the top of the framework 100, on which a plurality of container handling vehicles 200, 300, 400 may operate to raise storage containers 106 from, lower storage containers 106 into, and also transport storage containers 106 up the storage rows 105. The rail system 108 comprises a first set of parallel rails 110 disposed across the top of the framework 100 to guide movement of the container handling vehicles 200, 300, 400 in a first direction X, and a second set of parallel rails 111 disposed perpendicular to the first set of parallel rails 110 to guide movement of the container handling vehicles 200, 300, 400 in a second direction Y that is perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by container handling vehicles 200, 300, 400 through access openings 112 in the rail system 108. The container handling vehicles 200, 300, 400 can move laterally above the storage rows 105, i.e., in a plane that is parallel to the horizontal XY plane.

[0005] The uprights 102 of the framework 100 may be used to guide the containers 106 during their ascent out of and descent into the rows 105. The stacks 107 of containers 106 are typically self-supporting.

[0006] Each prior art container handling device 200, 300, 400 comprises a handling device body / vehicle body 201, 301, 401 and first and second wheel sets 202a, 202b, 302a, 302b, 402a, 402b, which allow lateral movement of the container handling device 200, 300, 400 in the X and Y directions, respectively. In Figures 2, 3, and 4, two wheels in each set are fully visible. The first wheel set 202a, 302a, 402a is positioned to engage two adjacent rails of the first rail set 110, and the second wheel set 202b, 302b, 402b is positioned to engage two adjacent rails of the second rail set 111. At least one of the wheel sets 202a, 202b, 302a, 302b, 402a, 402b can be raised and lowered so that the first wheel set 202a, 302a, 402a and / or the second wheel set 202b, 302b, 402b can be engaged with the respective parallel rail set 110, 111 at any time.

[0007] Each prior art container handling device 200, 300, 400 also includes a lifting device 303, 403 for vertically transferring a container 106, e.g., lifting the container 106 from a storage row 105 and lowering the container 106 therein. The lifting device 303, 403 includes one or more gripping / engaging devices 404 adapted to engage a container 106, and the gripping / engaging devices 404 can be lowered from the vehicle 200, 300, 400 such that the position of the gripping / engaging devices 404 relative to the vehicle 200, 300, 400 can be adjusted in a third direction Z perpendicular to the first direction X and the second direction Y. The gripping devices 404 of the container handling device / vehicle 400 in the form of multiple claws are shown in FIG. 4. The gripping devices of the container handling device 200 are located within the vehicle body 201 and are therefore not shown.

[0008] Conventionally, and for purposes of this application, Z=1 identifies the top layer available for containers below rails 110, 111, i.e., the layer immediately below rail system 108; Z=2 identifies the second layer below 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 lowest bottom layer of containers. Similarly, X=1·n and Y=1·n identify the location of each storage row 105 in the horizontal plane. Thus, by way of example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1, a container identified as 106′ in FIG. 1 can be said to occupy storage location X=17, Y=1, Z=6. Container handling devices 200, 300, 400 can be said to travel within layer Z=0, and each storage row 105 can be identified by its X and Y coordinates. 1 extending above the rail system 108 are also said to be located in tier Z=0.

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

[0010] Each prior art container handling device 200, 300, 400 includes a storage compartment or space for receiving and storing the container 106 as it is transported across the rail system 108. The storage space may include a cavity disposed internally within the vehicle body 201, 301, 401, as presented in Figures 2 and 4 and as described, for example, in WO2005 / 193278A1 and WO2009 / 206487A1, the contents of which are incorporated herein by reference.

[0011] 3 shows an alternative configuration of a container handling device / vehicle 300 with a cantilever structure. Such a vehicle is described in detail, for example, in US Pat. No. 3,173,666, the contents of which are also incorporated herein by reference.

[0012] 2 may generally have a footprint covering an area with dimensions in the X and Y directions equal to the lateral extent of a storage row 105, as described, for example, in WO 2005 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0013] Alternatively, the hollow container handling device / vehicle 400 may have a footprint larger than the lateral area defined by the storage row 105, as shown in Figures 1 and 4, for example as disclosed in WO2004 / 090684A1 or WO2009 / 206487A1.

[0014] The rail system 108 typically includes rails with grooves along which the device's wheels run. Alternatively, the rails may include upwardly protruding elements, and the device's wheels may include flanges to prevent derailment. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may include one track, or each rail 110, 111 may include two parallel tracks. In other rail systems 108, each rail in one direction (e.g., the X direction) may include one track, and each rail in the other orthogonal direction (e.g., the Y direction) may include two tracks. Each rail 110, 111 may also include two track members fastened together, each providing one of the pair of tracks provided by each rail.

[0015] WO2008 / 146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0016] In the framework 100, the majority of the rows are storage rows 105, i.e., rows 105 where containers 106 are stored in stacks 107. However, some rows 105 may have other purposes. In FIG. 1 , rows 119 and 120 are such special-purpose rows used for dropping off and / or picking up containers 106 by container handling devices 200, 300, 400, so that the containers 106 can be transferred to access stations (not shown) where the containers 106 are accessed from outside the framework 100, or transported in and out of the framework 100. Within the art, such locations are typically referred to as "ports," and the rows in which the ports are located may be referred to as "port rows" 119, 120. Transfer to the access stations may be in any direction: horizontal, inclined, and / or vertical. For example, containers 106 may be placed in random or dedicated rows 105 within the framework structure 100, then picked up by any container handling device and transported to port rows 119, 120 for further transport to an access station. Transport from a port to an access station may require movement along a variety of different directions by means of delivery vehicles, dollies, or other transfer lines. Note that the term "inclined" refers to transport of containers 106 having a general transport orientation anywhere between horizontal and vertical.

[0017] In FIG. 1 , the first port row 119 may be, for example, a drop-off port row where container handling devices 200, 300, 400 may drop off containers 106 to be transferred to an access or transport station, and the second port row 120 may be a dedicated pickup port row where container handling devices 200, 300, 400 may pick up containers 106 transferred from an access or transport station.

[0018] An access station may typically be a pick-up or storage station where a product item is removed from or placed into a container 106. At a pick-up or storage station, the container 106 is typically not removed from the automated storage and retrieval system 1, but is accessed and then placed back into the framework 100. A port may also be used to transport a container to another storage facility (e.g., another framework or another automated storage and retrieval system), a transfer vehicle (e.g., a train or cart), or a production facility.

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

[0020] If the rows of ports 119, 120 and the access stations are located at different levels, the conveyor system may include a lifting device with a vertical component for vertically transferring the containers 106 between the rows of ports 119, 120 and the access stations.

[0021] A conveyor system may be arranged to transport containers 106 between different framework structures, for example as described in WO2004 / 075937A1, the contents of which are incorporated herein by reference.

[0022] 1 is to be accessed, one of the container handling devices 200, 300, 400 is commanded to retrieve the target container 106 from its location and transfer it to the row of drop-off ports 119. This operation involves moving the container handling device 200, 300, 400 to a location above the storage row 105 where the target container 106 is located, and using the lifting device of the container handling device 200, 300, 400 to retrieve the container 106 from the storage row 105 and transfer the container 106 to the row of drop-off ports 119. If the target container 106 is located deep within the stack 107, i.e., with one or more other containers 106 positioned above the target container 106, the operation also involves temporarily moving the upper-positioned container prior to lifting the target container 106 from the storage row 105. This step, sometimes referred to in the art as "digging," may then be performed using the same container handling device used to transfer the target container to the drop-off port row 119, or using one or more other cooperating container handling devices. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling devices 200, 300, 400 that are specifically specialized for the task of temporarily removing the container 106 from the storage row 105. Once the target container 106 is removed from the storage row 105, the temporarily removed container 106 can be transferred back into the original storage row 105. However, the removed container 106 may alternatively be transferred to another storage row 105.

[0023] When a container 106 is to be stored in one of the rows 105, one of the container handling devices 200, 300, 400 is instructed to pick up the container 106 from the row of pickup ports 120 and transport it to a location above the storage row 105 where it is to be stored. After any container 106 located at or above the target location in the stack 107 is removed, the container handling device 200, 300, 400 positions the container 106 in the desired location. The removed container 106 can then be lowered back into the storage row 105 or transferred to another storage row 105.

[0024] To monitor and control the automated storage and retrieval system 1 so that the desired containers 106 can be delivered to the desired locations at the desired times without the container handling devices 200, 300, 400 colliding with each other, for example, to monitor and control the location of each container 106 within the framework structure 100, the contents of each container 106, and the movements of the container handling devices 200, 300, 400, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the containers 106.

[0025] Automated storage and retrieval systems such as those described above are typically constructed to operate in areas at ambient temperatures, e.g., about 20°C. However, for certain types of products, the optimum storage temperature may vary. For example, it may be desirable to store food products at refrigerated temperatures, typically 1-4°C, or at freezer temperatures, typically below -18°C or below -20°C.

[0026] Additionally, there may be circumstances in which an automated storage and retrieval system should be surrounded by an atmosphere different from the ambient atmosphere, for example, to reduce the risk of fire ignition by reducing the oxygen concentration in the ambient atmosphere.

[0027] Automated storage and retrieval systems with different temperature zones and capable of temperature control are known. For example, Patent Publication WO 2015 / 124610 A1 describes a system for receiving and storing processed refrigerated and frozen food products using multiple container handling vehicles operated on a rail system. In this prior art solution, containers are stacked below a common rail system in two different storage volumes separated by a wall. The container handling vehicles are allowed to move freely above the two storage volumes at a higher operating temperature, such as room temperature.

[0028] One disadvantage of this prior art solution is that the container handling vehicle is exposed to colder temperatures when containers in the colder zone are stored or retrieved, which can result in condensation forming and potentially cause problems for the electronics.

[0029] The prior art storage system described in WO2019 / 001816A1 shows a system with different temperature zones and means for transporting containers between the different temperature zones. To reduce the cold air transient load on the container handling vehicles, the solution is equipped with elevators that allow the lowering and raising of containers between access points to the transport zones.

[0030] However, this solution is complex and costly.

[0031] A storage facility in which the oxygen concentration can be reduced to prevent the start of a fire is described in the article "WagnerImpulse" in The Wagner Group Customer magazine (March 2018). The low oxygen concentration is obtained by forcing oxygen-depleted air into the entire storage facility.

[0032] The article does not present any solutions for maintaining such low oxygen concentrations for longer periods of time, such as days. For example, the article does not show any way in which the storage system could be operated to transfer containers in and out of the storage system without increasing the oxygen concentration. Such operation would necessitate frequent exposure of the storage system to atmospheric air.

[0033] It is an aim of the present invention to provide an automated storage and retrieval system and method of operating such a system that overcomes, or at least alleviates, one or more of the aforementioned problems associated with the use of prior art automated storage and retrieval systems.

[0034] It is also an aim of the present invention to provide a solution that allows handling of containers in a storage system located in a space having an environment different from the surrounding environment.

[0035] It is a further aim of the present invention to provide a solution that minimizes the reconfiguration of prior art systems such as those shown in Figures 1-4. [Prior art documents] [Patent documents]

[0036] [Patent Document 1] International Publication No. 2005 / 193278A1 [Patent Document 2] International Publication No. 2009 / 206487A1 Summary of the Invention [Means for solving the problem]

[0037] The present invention is set out and characterised in the independent claims, while the dependent claims set out other preferred / optional features.

[0038] In a first aspect, the present invention relates to an automated storage and retrieval system comprising a first space, a second space, a first storage volume within the first space for storing storage containers in a vertical stack, and a horizontal rail system positioned above where the storage containers have been or will be stored, The rail system comprises a first set of rails and a second set of rails oriented at right angles to the first set of rails, the intersections of which form a grid of grid cells defining grid openings.

[0039] A "storage container" is defined herein as any form of product holder that can be arranged in a vertical stack. Thus, a storage container includes, but is not limited to, a rectangular box with four complete sides and a base. A storage container may also comprise, for example, a box having one or more holes or cutout areas in either the side or base surface.

[0040] The system also includes a first container handling vehicle configured to lift a storage container through one of the grid openings and transport the storage container along the rail system, a wall dividing the first space and the second space, and a container transport enclosure configured to provide a passageway to allow transport of the storage container between the first space and the second space, the wall including an opening sized to allow at least the storage container to pass through the wall, and preferably sized to allow the entire first container handling vehicle to pass through it.

[0041] The enclosure and wall openings may advantageously be configured to allow the storage container to be transported from one space to another without exposing the first container handling vehicle to significant changes in temperature and / or loss of special atmosphere.

[0042] The container transport enclosure may also be positioned so that its lower portion is flush with the upper portion of the horizontal rail system.

[0043] When the container transport housing is at least partially disposed within the first space and / or when the rail system extends into the second space (see below), the container transport housing may be positioned above the rail system.

[0044] In an exemplary configuration, the container-carrying housing may be positioned adjacent to the opening. Alternatively, the container-carrying housing may be positioned within the opening.

[0045] In an example configuration, the container transport housing may include a first door configured to open and close a first access point of the container transport housing, and a second door configured to open and close a second access point of the container transport housing.

[0046] For this exemplary configuration, the automated storage and retrieval system may include a door mechanism configured to operate the first and / or second doors such that one door is closed when the other door is open. Additionally, the container transport enclosure may be designed and positioned such that when one of the first and second doors is closed, the opening in the wall is also closed. The door mechanism may also be mounted on other portions of the automated storage and retrieval system, for example, on the wall. The second door may be positioned / arranged to simultaneously open and close one side of the opening.

[0047] Alternatively, or in addition, the door mechanism may be configured to operate the first and second doors so that both doors can be in an open or closed position. Both doors may thus be left open during normal operation to allow the transfer of containers / container handling vehicles between the spaces, and may be left closed under abnormal conditions, such as a fire and / or smoke outbreak within one of the spaces. The system may thus act as an effective sunshade / fire damper.

[0048] Allowing both doors to be closed also allows for other actions such as ventilating one of the spaces.

[0049] As an alternative to, or in addition to, a second door, the automated storage and retrieval system may include a wall-mounted door. Similar to the configuration with first and second doors, the door mechanism may be configured to operate the first door and / or the wall-mounted door such that one door is closed when the other door is open. The container transport enclosure may be designed and positioned such that when one of the first door and the wall-mounted door is closed, the opening is also closed.

[0050] In an exemplary configuration, the door mechanism may include a drive shaft motor configured to lift the first door relative to the first access point. The direction of lift is preferably perpendicular to the rail system to minimize space. The door design is also unaffected by the rail when lifting is performed vertically.

[0051] In an example configuration, the door mechanism may include a first drive shaft and a first wire connecting the first drive shaft to the first door, and the drive shaft motor is configured to rotate the first drive shaft, thereby lifting the first door. As used herein, a "wire" may be broadly defined as any structure that can be wrapped around a shaft and used to raise or lower the first door.

[0052] In an example configuration, the first drive shaft, the first wire, and the drive shaft motor may be configured such that when the drive shaft motor rotates the first drive shaft in one rotational direction, the first door is lowered to close the first access point, and when the drive shaft motor rotates the first drive shaft in the opposite rotational direction, the first door is raised to open the first access point.

[0053] In an exemplary configuration, the door mechanism may include a second wire connecting the first drive shaft to the second door (preferably via the second drive shaft) such that when the drive shaft motor rotates the first drive shaft in one rotational direction, the second door moves in the opposite direction to the first door. In this manner, the second door opens when the first door closes, and vice versa.

[0054] In an exemplary configuration, the door mechanism may include a second drive shaft motor configured to lift the second door relative to the second access point. Using a second drive shaft motor that can operate independently of the first drive shaft motor is considered advantageous because opening one access point can be performed after the other access point is fully closed. Therefore, the risk of heat and / or gas leakage between the first and second spaces may be reduced.

[0055] In an example configuration, the door mechanism may include a second wire connecting the second drive shaft to the second door such that when the second drive shaft motor rotates the second drive shaft in one direction, the second door is raised relative to the second access point, and when the second drive shaft motor rotates the second drive shaft in the other direction, the second door is lowered relative to the second access point.

[0056] In an exemplary configuration, the second drive shaft, the second wire, and the second drive shaft motor may be configured such that when the second drive shaft motor rotates the second drive shaft in one rotational direction, the second door is lowered to close the second access point (preferably also an opening through the wall), and when the second drive shaft motor rotates the second drive shaft in the opposite rotational direction, the second door is raised to open the second access point (preferably also an opening through the wall).

[0057] In an exemplary configuration, the container transport enclosure and door mechanism may be configured to allow the portion of the container transport apparatus to be removed as a unit from the rest of the automated storage and retrieval system.

[0058] In an example configuration, the first space may be enclosed by a dividing wall located on one side of the first storage volume, a floor located below the first storage volume, a roof located above the first storage volume, a second wall located on a side of the first storage volume away from the dividing wall, a third wall extending between the second wall and the dividing wall on another side of the first storage volume, and a fourth wall extending between the second wall and the dividing wall on a further side of the first storage volume.

[0059] In an exemplary configuration, the automated storage and retrieval system may include a container transfer device disposed within the second space, the container transfer device configured to transfer storage containers from inside the container transport housing via the second access point to another location within the second space.

[0060] Alternatively, or in addition, a human operator may remove the storage container from inside the container transport enclosure and transport the container to another location within the second space.

[0061] In an exemplary configuration, the automated storage and retrieval system may include a second storage volume contained within the second space that stores storage containers in a vertical stack. In this configuration, a horizontal rail system may extend through the opening and above the second storage volume such that the vertical height from the top of the rail system to the top of the opening is equal to or greater than the maximum height of the storage containers to be stored, preferably also greater than the maximum height of the first container handling vehicle.

[0062] In an exemplary configuration, the container transfer device may be a second container handling vehicle configured to transfer storage containers from the container transport enclosure along the horizontal rail system. The size of the second access point is preferably large enough to allow the second container handling vehicle to pass through it.

[0063] The first and / or second container handling vehicles may be prior art container handling vehicles with cantilever structures.

[0064] In an exemplary configuration, the interior volume of the container transport enclosure may cover n×m grid openings of the rail system, where n and m are integers.

[0065] In an exemplary configuration, the container transport enclosure may have an open bottom, i.e., a face (when present) toward the storage volume. The automated storage and retrieval system may further include a skirt attached to the container transport enclosure and / or rail system and / or any framework structure below the rail system, the skirt extending at least partially, e.g., completely, around the periphery of the open bottom face.

[0066] In an exemplary configuration, the skirt may extend a distance from below the container transport enclosure corresponding to at least a portion of the vertical distance from the open bottom surface to the floor below the first and second storage volumes (if present). The skirt preferably extends a vertical distance corresponding to two or more depths of the storage cells, e.g., the full distance to the floor or the full height of the storage row. The latter configuration may be the case when the lowest point of the storage row is elevated above the building floor, for example, to allow cold air to circulate below the stacks in the storage row.

[0067] When a container transport enclosure is placed on a horizontal rail system covering an n×m grid opening (n and m are integers), the edges of the container transport enclosure's underside may be positioned just outside the rails that define the perimeter of the rail system's n×m grid opening area, thereby allowing maximum freedom of movement for container handling vehicles entering the enclosure. The container transport enclosure may be attached to the rails and / or a framework structure installed below the rails (see below). When the container transport enclosure is configured to allow entry of a container handling vehicle, the size of the enclosure is wider than the grid opening size, thus allowing the vehicle's wheels to enter the enclosure and engage with the rails. For example, if the rail system includes dual track rails, the container transport enclosure may be sized to extend halfway up each rail that defines the n×m grid opening.

[0068] In an exemplary configuration, the first storage volume and / or the second storage volume (see below) may include upright members between which stacks of containers are stored, and the upper ends of the upright members may be connected to nodes of the rail system.

[0069] In an exemplary configuration, the container transport housing may have an open-bottom rectangular face and is positioned within the first space and / or the second space such that the open-bottom rectangular face has its major direction aligned with the orientation of the first and second sets of rails.

[0070] In an exemplary configuration, the skirt may comprise 2×n X-plates and 2×m Y-plates distributed around the circumference of the open-bottom rectangular face such that the upright members, rail system, and skirt establish an enclosed space that extends at least partially to the floor above the first storage volume and (if present) the second storage volume, e.g., two or more storage cells deep below the rail system. Thus, each X-plate may have a width equal to or approximately equal to the size of a grid opening along the first set of rails, and each Y-plate may have a width equal to or approximately equal to the size of a grid opening along the second set of rails.

[0071] In an exemplary configuration, the automated storage and retrieval system includes a second storage volume within the second space and can store storage containers in a vertical stack, with a horizontal rail system extending above the second storage volume through the opening so that the vertical height from the top of the rail system to the top of the opening is equal to or greater than the maximum vertical height of the storage containers to be stored, and preferably also equal to or greater than the maximum vertical height of the first container handling vehicle and / or second container handling vehicle (if present).

[0072] In an exemplary configuration, the skirt may comprise a thermal insulating material to reduce heat conduction across the skirt, i.e., between the interior volume defined by the skirt and the environment outside the skirt, which reduces heat conduction across the skirt, resulting in reduced heat conduction between the first and second spaces.

[0073] In an exemplary configuration, the automated storage and retrieval system may include a refrigeration unit configured to provide a temperature in the first space that is cooler than the temperature in the second space.

[0074] In an exemplary configuration, the dividing wall may include thermal insulation to reduce heat transfer between the first and second spaces.

[0075] In an exemplary configuration, the vertical cross section of the second door of the container transport enclosure may be greater than the vertical cross section of the opening in the dividing wall.

[0076] In an exemplary configuration, the container transport enclosure may be positioned such that direct or near direct contact is established between a portion of the second door and the wall.

[0077] In a second aspect, the present invention relates to a container transport device for transporting storage containers between a first space having a first temperature and / or a first pressure and / or a first atmosphere and a second space having a second temperature and / or a second pressure and / or a second atmosphere different from the first temperature / pressure / gas. The container transport device comprises a container transport housing and, optionally, a skirt attached to the container transport housing. The skirt may be configured (i.e., material design and / or selection) such that heat conduction across the skirt is reduced, for example, by more than 50%. "Across the skirt" herein means in the thickness direction between the interior volume defined by the skirt and the surrounding environment of the skirt.

[0078] The container transport housing includes a first door configured to open and close a first access point of the container transport housing, a second door configured to open and close a second access point of the container transport housing, and a door mechanism configured to operate the first door and / or the second door such that one door is closed when the other door is open.

[0079] In an exemplary configuration of the second aspect, the container transport housing and skirt may define an interior volume (preferably of at least five sides), and at least a portion of the container transport apparatus may comprise insulating material to reduce heat conduction from the interior volume to its surroundings.

[0080] In an exemplary configuration of the second aspect, the container transport housing may have an open bottom rectangular face with two parallel X sides and two parallel Y sides, and the skirt comprises n X-plates disposed on each of the two parallel X-sides of the bottom rectangular face and m Y-plates disposed on each of the two parallel Y-sides of the bottom rectangular face, where n and m are integers. The n X-plates and m Y-plates may be made of a thermally insulating material.

[0081] In a third aspect, the present invention relates to a method of transporting a storage container between a first space and a second space within an automated storage and retrieval system as described above with respect to the first aspect of the invention.

[0082] The method is: - placing a storage container in a container transport enclosure using a first container handling vehicle operating in the first space, wherein the storage location of the storage container can be within a storage row covered by the container transport enclosure; - removing the storage container from the container transport enclosure using a lifting device forming part of a container transfer device operating in the second space; - optionally lowering the storage container into the second storage volume using a lifting device; Includes.

[0083] Installation of the storage container into the container transport enclosure can be performed by driving part or all of the first container handling vehicle therein, for example, a cantilever section when a prior art cantilever structure is used as the container handling vehicle.

[0084] In an exemplary method of the third aspect, the container transport housing may include a first door configured to open and close a first access point of the container transport housing and a second door configured to open and close a second access point of the container transport housing. In this exemplary method, the automated storage and retrieval system also includes a door mechanism configured to operate the first and / or second doors such that one door is closed when the other door is open, and the container transport housing is designed and positioned such that when one of the first and second doors is closed, the opening is also closed.

[0085] The door mechanism may be mounted in various locations on the storage system, such as on or in the container transport enclosure, on a wall, on a rail system, below a rail system, or a combination thereof.

[0086] An exemplary method is: - opening a first door using a door mechanism prior to placing the storage container into the container transport enclosure; - closing the first door using a door mechanism; - preferably, after the first door has been closed, opening the second door using a door mechanism; and wherein the steps of closing the first door and opening the second door are performed prior to removing the storage container from the container transport housing by a container transfer device. The container transfer device may include a robot, such as a robot with a multi-jointed arm, and / or a human operator.

[0087] In an exemplary method of the third aspect, the automated storage and retrieval system may also include a second storage volume within the second space for storing the storage containers in a vertical stack, and a horizontal rail system extends above the second storage volume through the opening such that the vertical height from the top of the rail system to the top of the opening is equal to or greater than the maximum height of the storage containers to be stored.

[0088] Additionally, the container transfer device may be a second container handling vehicle configured to transfer storage containers along the horizontal rail system, the vertical height preferably being equal to or greater than the maximum height of the first and second container handling vehicles.

[0089] An exemplary method is: and transferring the storage container on the horizontal rail system using the second container handling vehicle such that the lifting device is aligned with a grid opening that provides access to a storage row in the second storage volume or with a grid opening that provides access to a port row. An access station for further handling of the storage container may be located at the lower end of the port row. [Brief explanation of the drawings]

[0090] The following drawings depict, by way of example only, embodiments of the present invention and are included to facilitate an understanding of the invention.

[0091] [Figure 1] FIG. 1 is a perspective view of a prior art automated storage and retrieval system comprising a rail system on which a plurality of remotely operated container handling vehicles operate and a storage volume for storing stacks of containers.

[0092] [Figure 2] FIG. 2 is a perspective view of a prior art remotely operated vehicle having a centrally located cavity for transporting containers.

[0093] [Figure 3] FIG. 3 is a perspective view of a prior art remotely operated vehicle having a cantilever for transporting containers underneath.

[0094] [Figure 4] FIG. 4 is a perspective view of a prior art remotely operated vehicle having a cavity disposed therein for carrying a container, the cavity being offset from its center in the X-direction.

[0095] [Figure 5] Figure 5 is a side view of an exemplary automated storage and retrieval system according to an embodiment of the present invention, comprising a rail system on which multiple remotely operated container handling vehicles operate and two walls separating storage volumes for storing stacks of containers, and Figures 5A and 5B respectively show preferred arrangements of container transport devices that allow the container handling vehicles access from the ambient space on one side of the container transport device or the refrigerated space on the other side of the container transport device.

[0096] [Figure 6]6A and 6B are side views of an exemplary automated storage and retrieval system according to a second embodiment of the present invention, with FIGS. 6A and 6B showing the container handling apparatus of FIG. 5 positioned within an ambient space.

[0097] [Figure 7] FIG. 7 shows a perspective view of a container handling device that allows access from the ambient and / or deep cold spaces of a container handling vehicle while avoiding heat leakage.

[0098] [Figure 8] FIG. 8 is a perspective view of a container transport device according to one embodiment of the present invention.

[0099] [Figure 9] FIG. 9 is a perspective view of a container transport apparatus according to another embodiment of the present invention with a container handling vehicle disposed within the container transport apparatus. DETAILED DESCRIPTION OF THE INVENTION

[0100] In the following, embodiments of the present invention will be discussed in more detail, by way of example only, with reference to the accompanying drawings. It will be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings. Furthermore, even if some of the features are described only in relation to automated storage and retrieval systems and container transport devices, it will be clear that they are also valid with respect to the related methods, and vice versa.

[0101] 5A and 5B show side views of an automated storage and retrieval system 1 according to a preferred embodiment of the present invention. The positive X, Y, and Z-directions are oriented from left to right, out of the drawing, and top to bottom of the drawing, respectively.

[0102] The storage system 1 is divided into a first space 2 and a second space 3 by a wall 6 aligned in the YZ plane. Both the first space 2 and the second space 3 include storage volumes 104, 104' above a common floor 7, with each storage volume 104, 104' containing containers 106 stacked in a vertical stack 107. A rail system 108 extends above both spaces 2, 3, as described in connection with the prior art system of FIG. 1 . The portion of the storage system 1 within the second space 3 also includes one or more port rows 120 for drop-off or pickup of containers 106 to be transferred to / from an access station 150. Further handling of the containers 106 at the access station 150 can be performed by an operator 151. The stacks 107 can be vertically supported within the volumes 104, 104' by upright members 103.

[0103] If the objective is to maintain the first space 2 at a different temperature than the second space 3, the dividing wall 6 may comprise an insulating material such as expanded foam material like polystyrene, a fibrous material like fiberglass, and / or other material or arrangement that provides a barrier to or at least a reduction in heat conduction between the ambient space and the deep cold space compared to conventional wall materials.

[0104] If the objective is to prevent the spread of fire from the first space 2 to the second space (or vice versa), the dividing wall 6 may comprise (in addition to or as an alternative to insulating materials) fire-resistant materials such as fire-resistant glass, concrete, plaster, plaster, and brick.

[0105] The storage system 1 also includes container handling vehicles 300 operating on rail systems 108 in both the first and second spaces 2, 3, and container transporting devices 10 positioned adjacent one or more openings 40 through the dividing wall 6. In Figure 5, the container transporting device 10 is shown in the first space 2. However, the container transporting device 10 may alternatively be located in the second space 3 (see Figure 6) or partially in, for example midway between, the first space 2 and the second space 3 (not shown).

[0106] The container transporting device 10 is configured to allow one or more container handling vehicles 300 to pick up and drop off containers 106 into stacks 107 located inside the container transporting device 10 or in storage volumes 104, 104' immediately below the container transporting device 10 while reducing heat and / or gas leakage between the first and second spaces 2, 3.

[0107] In addition to the floor 7, the storage system 1 comprises a ceiling / roof 8, a second vertical wall 9 arranged and oriented in the YZ plane opposite the dividing wall 6 in the first space 2, and two additional walls (not shown in Figure 5) at the front and back sides oriented in the XZ plane, thereby enclosing the first space 2.

[0108] The opening 40 is disposed through the wall 6 directly above a portion of the rail system 108 and has a size in the YZ plane large enough to allow a container handling vehicle 300 to travel therethrough. Several such openings 40, e.g., several openings 40 associated with the same container transport apparatus 10, and / or multiple container transport apparatuses 10 each associated with an opening 40, may also be envisioned.

[0109] To enable separation between the two spaces 2, 3, the container transporting device 10 comprises a container transporting housing 24 having openable access points on two sides in the YZ plane (i.e., parallel to wall 6) and two openable doors 11, 12 configured to close the two openable access points of the housing 24. As best shown in Figures 7 and 8, the housing 24 comprises a housing roof 24a and two housing walls 24b oriented in the XZ plane. The housing 24 opens onto a rail system 108 to allow storage containers 106 to be deposited in storage rows 105 below the container transporting housing 24.

[0110] When the container handling device 10 is positioned adjacent the opening 40 and at least one of the first door 11 and the second door 12 closes the respective access point of the enclosure 24, the first and second spaces 2, 3 are isolated, thus at least reducing gas and / or heat leakage therebetween and / or avoiding exposure of the container handling vehicles 300, 300', 300'' to different temperature zones.

[0111] FIG. 7 shows in detail a first embodiment of a container transport device 10 allowing the transport of a container 106 between the first space 2 and the second space 3 .

[0112] To enable controlled opening and closing of the access points of the container transport enclosure 24, the first door 11 and the second door 12 can be guided vertically (i.e., in the YZ plane) along the first door frame 13 and the second door frame 22, respectively. Thus, opening and closing is obtained in this exemplary configuration by lifting and lowering the transfer doors 11, 12, achieved through the use of door frames 13, 22 in the form of vertical bars 13a, 13b, 22a, 22b, which are arranged around the periphery of the open side and have a length equal to or exceeding twice the height of the opening into the open side of the enclosure 24. Controlled vertical movement is thus achieved by guiding the doors 11, 12 along tracks / recesses within each bar, for example, through the use of guide structures 23 on each side of the doors 11, 12. The bars 13a, 13b, 22a, 22b can be of the same type as those used as the uprights 102 in the storage volumes 104, 104′.

[0113] Still referring specifically to FIG. 8 , first and second drive shafts 14 and 15 are disposed across the upper ends of bars 13 a, 13 b, 22 a, and 22 b on each side of housing 24 with ports. Wire 17 (which will be referred to herein as “master wire 17”) is connected at one end to a spool 18 disposed on first drive shaft 14 and at the other end to a catch element 19 on first door 11. Additionally, a drive shaft motor 16 is disposed on the end of first drive shaft 14 to enable controlled rotation. Opening and closing of ports into housing 24 distal to wall 6 is thus achieved by rotating first drive shaft 14 clockwise and counterclockwise, respectively, while winding / unwinding master wire 17 onto / from spool 18.

[0114] To enable the opening and closing of the second door 12 using the drive shaft motor 16, the container transport apparatus 10 of the first embodiment also includes two wires 20 (herein referred to as "slave wires 20"), each having one end fixed to the first door 11 and the other end fixed to the second door 12, and each slave wire 20 coupled to both the first and second drive shafts 14, 15 via pulleys 21. These pulleys 21 may be connected to the ends of each drive shaft 14, 15. If only one slave wire 20 is used to open and close the second door 12, the position may preferably be located closer to the center of the drive shafts 14, 15 to enable uniform guidance along the bars 13a, 13b, 22a, 22b during lifting / lowering.

[0115] The container transporting device 10 may also include a controller 25 that provides and / or distributes power to the drive shaft motors 16, 16′ via a power cable 27. The controller 25 may also provide signal communication with a sensor system 26, such as a position sensor system, that provides information regarding the position of the first door 11 and thereby also the position of the second door 12. Signal communication between the controller 25 and the sensor system 26 may be achieved through signal lines 28 or wireless communication. The controller 25 may further be configured to enable wireless communication with the control system 109 of the automated storage and retrieval system 1.

[0116] FIG. 8 shows an example of a position sensor system 26 comprising a lower position sensor 26 a and an upper position sensor 26 b , both connected to a signal line 28 .

[0117] The container transport device 10 may be removably secured to the rail system 108 via brackets 29 located at the lower end on each bar 13a, 13b, 22a, 22b.

[0118] 5-9 show a container transport device 10 having a container transport enclosure 24 sized to accommodate a 2x2 grid opening 112 plus two rail track widths. However, any size that allows for the pick-up and drop-off of containers 106 within the enclosure 24 may be envisioned.

[0119] To further reduce the risk of heat leakage between the first and second spaces 2, 3 during transport of the containers 106, the container transporting apparatus 10 may be equipped with an insulating skirt 50 fixed below or suspended from the container transport housing 24. The skirt 50 may be of any length, but preferably extends the entire length down to the common floor 7 (or at least to the lowest point of the storage row 105) to ensure maximum insulation. In Figures 7-9, the skirt 50 is attached to the container transport housing 24 by brackets fixed to the first and second door frames 13, 22.

[0120] 7 and 8 show an example of an insulation skirt 50 for a container transport enclosure 24 with a 2x2 grid opening size. The skirt 50 includes eight plates 50a, 50b extending from the base of the enclosure 24, with four X-plates 50a extending into the storage volume 104' with their faces oriented along two parallel rails 110 in the X direction (i.e., two plates 50a positioned on the outside of each rail 110, with two plates 50a each inserted into a separate storage row 105), and four Y-plates 50b extending into the storage volume 104' with their faces oriented along two parallel rails 111 in the Y direction (i.e., two Y-plates 50b on the outside of each rail 111 in the same manner as for the X-plates 50a). The width of each X-plate 50a and the width of each Y-plate 50b are equal to or slightly less than the width of the respective grid opening 112 in the X and Y directions, respectively. The length of each X-plate 50a and Y-plate 50b shall be at least as long as the distance between the base of the container transport enclosure 24 and the first layer below the rail system 108. However, to achieve maximum thermal insulation between the first space 2 and the second space 3, the X- and Y-plates 50a, 50b should preferably extend several layers below the rail system 108, more preferably down to the floor 7 (or such provided in that section).

[0121] FIG. 9 shows a second embodiment of a container transport device 10 allowing the transport of a container 106 between the first space 2 and the second space 3 .

[0122] The second embodiment of the container transporting apparatus 10 is configured in the same manner as the first embodiment of the container transporting apparatus 10, except that controlled opening and closing of the open side of the container transport housing 24 is achieved through the use of a first drive shaft motor 16′ and a second drive shaft motor 16″, which enable controlled rotation of the respective first drive shaft 14 and second drive shaft 15. Thus, the first door 11 and the second door 12 can be guided vertically (i.e., in the YZ plane) along the first door frame 13 and the second door frame 22, respectively, by placing the first wire spool 18 on the first drive shaft 14 and the second wire spool 21 on the second drive shaft 15, and further attaching the first wire 17 between the first wire spool 18 and the first door 11, and attaching the second wire 18 between the second wire spool 21 and the second door 12.

[0123] A controlled vertical moment is therefore achieved by independently operating the first drive shaft motor 16' and the second drive shaft motor 16''.

[0124] FIG. 9 shows a portion of the storage system 1 of the present invention with the dividing wall 6 separating the system 1 into the first space 2 and the second space 3, as described above, and the container transporting apparatus 10. To show the interior volume of the container transporting apparatus 10, any insulation above and below, including the enclosure roof 24a, drive shafts 14, 15, and drive shaft motors 16′, 16″, has been removed. As can be seen in FIG. 9 , the size of the container transporting enclosure 24 in this exemplary configuration is 2×2 grid openings 112, thereby allowing the entire cantilevered container handling vehicle 300 to enter the interior volume of the enclosure. However, the size of the container transporting enclosure 24 can be any size n×m, where n and m are integers corresponding to the number of storage rows 105 or grid openings 112.

[0125] In a similar manner as with the dividing wall 6, the container transport enclosure 24 may comprise insulating materials such as expanded foam materials like polystyrene, fibrous materials like fiberglass, etc., if the intent of the storage system 1 is to maintain different temperatures in the first space 2 and the second space 3. Alternatively, or in addition, the container transport enclosure 24 may include fire-retardant materials such as fire-resistant glass, concrete, gypsum, plaster, and brick.

[0126] When the intention of the system 1 is to maintain a temperature in the first space 2 different from the temperature in the second space 3, for example when the first space 2 is a deep-cold space and the second space 3 is an ambient space, the container transporting device 10 may also be equipped with temperature sensors, at least one temperature sensor being arranged on the side of the container transporting housing 24 facing the opening 40 and at least one other temperature sensor being arranged at a location in the spaces 2, 3 opposite the space 2, 3 with the housing 24, thereby allowing real-time monitoring of the temperature difference in the first and second spaces 2, 3 during operation. This will again allow for rapid detection of undesired temperature equalization during container transport, for example due to damaged seals.

[0127] Again, with particular reference to FIG. 5, an exemplary sequence for transferring the container 106 from the first space 2 (e.g., a deep-frozen space at a temperature below 5°C) to the second space 3 (e.g., an ambient space at room temperature) may proceed as follows: (FIG. 5A) By operating the drive shaft motor 16, 16' connected to the first drive shaft 14, the first door 11 opens towards the first space 2. When the first embodiment container transport device 10 is used, operation of the drive shaft motors 16, 16' causes the second door 12 to close using the slave wire 20 as described above, thereby covering the opening 40 towards the second space 3. When the second embodiment container transport device 10 is used, the second door 12 is closed by operating the second drive shaft motor 16''. Opening of the first door 11 is preferably performed when the second door 12 is closed to minimize heat and / or gas leakage during operation. - (Figure 5A) A first container handling vehicle 300'' operable on a rail system 108 within the first space 2 picks up a container 106 from within the first storage volume 104 and transfers the container 106 into the container transport enclosure 24 via a first access point. - (Figure 5A) A first container handling vehicle 300'' aligns a container 106 in one of the storage rows 105 covered by a container transport enclosure 24 and, by operating the lifting device 303, lowers the container 106 through a grid opening 112 of the rail system 108 and places the container 106 in the space above the top of the stack at the top container position in the stack 107. If no other containers are present in the storage row 105, the container 106 is placed on floor 7 (or at the lowest point of the storage row 105 if the storage volume 104 is raised from floor 7 of the building). - (FIG. 5A) The first container handling vehicle 300'' releases the container 106, retracts the lifting device 303 and moves out of the container transport enclosure 24. (FIG. 5B) The first door 11 is closed by operating the drive shaft motor 16, 16'. When the first embodiment container transport device 10 is used, the second door 12 towards the opening 40 into the second space 3 is consequently opened. When the second embodiment container transport device 10 is used, the second door 12 is opened by operating the second drive shaft motor 16''. Opening of the second door 12 is preferably performed after the first door 11 is closed to minimize heat and / or gas leakage during operation. - (Figure 5B) The second container handling vehicle 300' in the second space 3 moves into the container transport housing 24 through the opening 40 in the wall 6 so that its lifting device 303 is aligned with the grid opening 112 and the container 106 placed by the first container handling vehicle 300'', as described above. - (FIG. 5B) The second container handling vehicle 300′, by use of the lifting device 303, lifts the container 106 up the rail system 108 and moves it out of the container transport housing 24 and completely into the second space 3. The second container handling vehicle 300′ can then place the container 106 in the second row of the second storage space 104′ for further storage or transfer the container 106 to the access station 150 via the port row 120.

[0128] 6A and 6B show a container transport operation similar to that shown in FIGS. 5A and 5B, but with the container transport device 10 positioned entirely within the second space 3. FIG.

[0129] The container transfer operation, transferring the storage container 106 in the opposite direction from the second space 3 to the first space 2, may therefore proceed as follows. (FIG. 6A) The first door 11 opens towards the second space 3 by operating the drive shaft motor 16, 16' connected to the first drive shaft 14. When the first embodiment container transport device 10 is used, operation of the drive shaft motors 16, 16' causes the second door 12 to close using the slave wire 20 as described above, thereby covering the opening 40 into the first space 2. When the second embodiment container transport device 10 is used, the second door 12 is closed by operating the second drive shaft motor 16''. Opening of the first door 11 is preferably performed while the second door 12 is closed to minimize heat and / or gas leakage during operation. - (Figure 6A) A second container handling vehicle 300' operable on a rail system 108 within the second space 3 picks up the container 106 from either the access station 150 or within the second storage volume 104' and transfers the container 106 into the container transport enclosure 24 via the first access point. - (Figure 6A) A second container handling vehicle 300' aligns the container 106 with one of the storage rows 105 covered by the container transport housing 24 and operates the lifting device 303 to lower the container 106 through the grid opening 112 of the rail system 108 and place the container 106 in the space above the top of the stack at the top container position in the stack 107. If no other containers are present in the storage row 105, the container 106 is placed on floor 7 (or at the lowest point of the storage row 105 if the storage volume 104 is raised from floor 7 of the building). - (FIG. 6A) The second container handling vehicle 300' retracts the lifting device 303 and moves it out of the container transport enclosure 24. (FIG. 6B) The first door 11 is closed by operating the drive shaft motor 16, 16'. When the first embodiment container transport device 10 is used, the second door 12 towards the opening 40 is consequently opened. When the second embodiment container transport device 10 is used, the second door 12 is opened by operating the second drive shaft motor 16''. Opening of the second door 12 is preferably performed after the first door 11 has been closed to minimize heat and / or gas leakage during operation. - (Figure 6B) The first container handling vehicle 300'' in the first space 2 moves into the container transport housing 24 through the opening 40 in the wall 6 so that its lifting device 303 is aligned with the grid opening 112 and the container 106 placed by the second container handling vehicle 300', as described above. - (Figure 6B) The first container handling vehicle 300'' lifts the container 106 up the rail system 108 using the lifting device 303 and moves it out of the container transport housing 24 and completely into the first space 2.

[0130] Figures 5 and 6 show a third container handling vehicle 300 receiving a container 106 from an access station 150 (Figures 5A and 6A) and placing the container 106 on top of a stack 107 adjacent to the pickup train 120 (Figures 5B and 6B).

[0131] To reduce the risk of fire within at least the first space 2, the system 1 may be equipped with a gas regulating device (not shown). The gas regulating device may include a gas container located outside the first space 2, a gas inlet leading to the first space 2, and a gas pipe in fluid communication between the gas container and the gas inlet for regulating the gas content of the atmosphere within the first space 2. With this arrangement, gas is allowed to flow between the gas container and the first space 2.

[0132] The gas container may include means for reducing the percentage of a gas element in a gas mixture, such as O gas in air. Such means are known in the art and therefore will not be further described herein.

[0133] In dry air, the concentration of the flammable gas oxygen is approximately 21%. If the oxygen concentration is reduced to 16% or below, the risk of fire is significantly reduced. In air, a fire could theoretically potentially occur due to, for example, sparks from the movement of the container handling vehicle 300 and / or sparks from a charging station (not shown) for charging the batteries in the vehicle 300 and / or combustion of the contents within the container 106 and / or accidental heating that may be caused by sunlight hitting flammable materials within the storage system 1.

[0134] The substantially gas-tight separation between the first space 2 and the second space 3 ensures that the container handling vehicle 300 can store, retrieve, receive and deliver containers 106 to a workspace in which humans can work safely, such that the containers 106 are located in an oxygen-reduced atmosphere that has a reduced or negligible risk of fire but may represent a health risk to humans.

[0135] Another example of a range of use for the storage system 1 that allows for control of gas concentrations is the storage of fresh food. Prior art tests have shown that fruits such as apples can be best stored long-term in an atmosphere with 1% O and 1-2.5% CO. O gas can be substantially replaced with N gas.

[0136] A storage system 1 having both a cooling facility for cooling the first space 2 to a temperature below 10°C and a gas regulating device can create nearly ideal conditions for the storage of fresh food products.

[0137] This fresh food configuration of the storage facility may be complemented by fire suppression devices to reduce fire hazards.

[0138] In addition to the advantages mentioned above, the storage system 1 of the present invention facilitates installation and maintenance, as the entire container transporting apparatus 10 or individual components of the container transporting apparatus 10 can be easily replaced. The solution is also cost-effective, as its installation requires no or little reconfiguration of the existing storage system 1. As mentioned above, some of the door frames 13, 22 may use the same type of bars / struts as are used for the uprights 102 of the storage volume 104.

[0139] Mechanical stops may be provided on or at the rail system 108 within the interior volume of the container transport enclosure 24 to prevent the container handling vehicle 300 from colliding with the doors 11 , 12 .

[0140] In the preceding description, various aspects of the automated storage and retrieval system and container transport apparatus according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, and other embodiments of the system, that are apparent to those skilled in the art to which the disclosed subject matter pertains, should be considered within the scope of the present invention.

[0141] (List of reference numbers / letters) [Table 1-1] [Table 1-2]

Claims

1. An automated storage and retrieval system (1), wherein the automated storage and retrieval system (1) is The first space (2) and the second space (3), A first storage volume (104) in the first space (2) for storing storage containers (106) in a vertical stack (107), A horizontal rail system (108) positioned above the location where the storage container (106) is stored or will be stored, the rail system (108) comprising a first set of rails (110) and a second set of rails (111) oriented perpendicular to the first set of rails (110), wherein the intersections of these rails (110, 111) form a grid of grid cells defining a grid opening (112), A first container handling vehicle (200, 300, 300', 400) is configured to lift a storage container (106) through one of the grid openings (112) and transport the storage container (106) along the rail system (108), A wall (6) separating the first space (2) from the second space (3), wherein the wall (6) has an opening (40) having a size that allows the storage container (106) to pass through the wall, A container transport housing (24) is configured to provide a passage for transporting the storage container (106) between the first space (2) and the second space (3), and Equipped with, The container transport enclosure (24) is A first door (11) configured to open and close the first access point of the container transport housing (24), A second door (12) configured to open and close the second access point of the container transport enclosure and Equipped with, The automatic storage and retrieval system (1) includes a door mechanism (13-18, 20-23, 25, 27), the door mechanism being configured to operate the first and / or second doors (11, 12) such that one door (11, 12) is closed when the other door (12, 11) is open. The container transport enclosure (24) is designed and positioned such that the opening (40) is closed when one of the first door (11) and the second door (12) is closed. The container transport housing (24) and the door mechanisms (13-18, 20-23, 25, 27) are configured such that the container transport equipment can be removed as a unit from the other parts of the automatic storage and retrieval system (1), in an automatic storage and retrieval system (1).

2. The automatic storage and retrieval system (1) according to claim 1, wherein the second door (12) is positioned to open and close one side of the opening (40) simultaneously.

3. The automatic storage and retrieval system (1) according to claim 2, wherein the door mechanism (13-18, 20-23, 25, 27) comprises a drive shaft motor (16) configured to lift the first door (11) relative to the first access point.

4. The aforementioned door mechanism (13-18, 20-23, 25, 27) The first drive shaft (14) and A first wire (17) connects the first drive shaft (14) to the first door (11) and Equipped with, The automatic storage and retrieval system (1) according to claim 3, wherein the drive shaft motor (16) is configured to rotate the first drive shaft (14).

5. The first drive shaft (14), the first wire (17), and the drive shaft motor (16) are, The drive shaft motor (16) is configured to rotate the first drive shaft (14) in a certain rotational direction, causing the first door (11) to be lowered to close the first access point. The automatic storage and retrieval system (1) according to claim 4, wherein when the drive shaft motor (16) rotates the first drive shaft (14) in the opposite direction, the first door (11) is raised to open the first access point.

6. The automatic storage and retrieval system according to claim 1, wherein the door mechanism (13-18, 20-23, 25, 27) comprises a second drive shaft motor (16'') configured to lift the second door (12) relative to the second access point.

7. The aforementioned door mechanism (13-18, 20-23, 25, 27) The second drive shaft (15) and The second drive shaft (15) is connected to the second door (12) by a second wire (20) such that when the second drive shaft motor (16') rotates the second drive shaft (15) in one direction, the second door (12) is raised relative to the second access point, and when the second drive shaft motor (16') rotates the second drive shaft (15) in another direction, the second door (12) is lowered relative to the second access point. The automatic storage and retrieval system (1) according to claim 6, comprising:

8. The second drive shaft (15), the second wire (20), and the second drive shaft motor (16') are, The second drive shaft motor (16') is configured to rotate the second drive shaft (15) in a certain rotational direction, causing the second door (12) to descend so as to close the second access point. The automatic storage and retrieval system (1) according to claim 7, wherein the second drive shaft motor (16') is configured to cause the second drive shaft (15) to rotate in the opposite direction, causing the second door (12) to rise to open the second access point.

9. The automatic storage and retrieval system (1) according to claim 1, comprising container transfer devices (200, 300, 300', 400) located in the second space (3), wherein the container transfer devices (200, 300, 300', 400) are configured to transfer storage containers (106) from inside the container transport housing (24) to another location within the second space (3).

10. The automated storage and retrieval system (1) according to claim 1, wherein the automated storage and retrieval system (1) includes a second storage volume (104') contained within the second space (3) for storing storage containers (106) in a vertical stack (107).

11. The automated storage and retrieval system (1) according to claim 10, wherein the horizontal rail system (108) extends above the second storage volume (104') through the opening (40) such that the height from the top of the rail system (108) to the top of the opening (40) is equal to or greater than the height of the storage container (106) to be stored.

12. The automated storage and retrieval system (1) according to claim 11, wherein the container transport device is a second container handling vehicle (200, 300, 300', 400) configured to transport a storage container (106) from the container transport housing (24) along the horizontal rail system (108).

13. The container transport housing (24) has an open bottom surface, The automatic storage and retrieval system (1) according to claim 1, wherein the automatic storage and retrieval system (1) comprises a skirt (50), the skirt (50) being positioned below the container transport housing (24) and extending at least partially around the open bottom surface.

14. A container transport device (10) for transporting a storage container (106) between a first space (2) and a second space (3) within an automated storage and retrieval system (1), wherein the container transport device (10) is A container transport enclosure (24), wherein the container transport enclosure (24) is A first door (11) configured to open and close the first access point of the container transport housing (24), A second door (12) configured to open and close the second access point of the container transport enclosure (24), Door mechanisms (13-18, 20-23, 25, 27), wherein the door mechanisms are configured to operate the first door (11) and / or the second door (12) such that one door (11, 12) is closed when the other door (12, 11) is open. A container transport enclosure (24) and Equipped with, The container transport enclosure (24) and the door mechanisms (13-18, 20-23, 25, 27) are configured such that the container transport device (10) can be removed as a unit from the other parts of the automatic storage and retrieval system (1), in the container transport device (10).

15. A method for transporting a storage container (106) between a first space (2) and a second space (3) within an automated storage and retrieval system (1) according to claim 1, wherein the method is: The first step is to use a container handling vehicle (200, 300, 300', 400) to place a storage container (106) inside the container transport housing (24), The steps include removing the storage container (106) from the container transport housing (24) using the lifting devices (303, 403) which constitute part of the container transport devices (200, 300, 400), and Methods that include...

Images