Actuator for moving storage containers

Abstract

This disclosure relates to an actuator (70) for moving a storage container (106), the actuator comprising: a base (BS) having a support (50) positioned to support the storage container (106) at a first position (P1) or a second position (P2) on a support plane; a slider (71) movable relative to the base in a first direction (A) parallel to the support plane and a second direction (B) opposite to the first direction; a driver (72) positioned to move the slider (71) in the first and second directions; and an engaging member (75) coupled to the slider. The engaging member (75) is configured to move relative to the slider between an elevated position and a lowered position. In the elevated position, a portion of the engaging member protrudes above the support plane. In the lowered position, the portion of the engaging member is retracted below the support plane.

Description

Technical Field

[0001] Field The present disclosure relates to an actuator for moving a storage container. The present disclosure also relates to a drawer for a storage container. The present disclosure also relates to an access station for presenting a storage container for picking. The present disclosure also relates to an automated storage and retrieval system having a framework structure. The present disclosure also relates to a method for presenting a storage container from an automated storage and retrieval system for picking.

Background Art

[0002] Background FIG. 1 discloses a prior art automated storage and retrieval system 1 together 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 on such a system 1.

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

[0004] The frame structure 100 of the automatic storage and retrieval system 1 includes a rail system 108 arranged across the top of the frame structure 100. Multiple container handling vehicles 201, 301, and 401 can be operated on this rail system 108 to raise storage containers 106 from storage columns 105, lower storage containers 106 into storage columns 105, and transport storage containers 106 above storage columns 105. The rail system 108 includes a first set 110 of parallel rails arranged across the top of the frame structure 100 to guide the movement of container handling vehicles 201, 301, and 401 in a first direction X, and a second set 111 of parallel rails arranged perpendicular to the first set 110 to guide the movement of container handling vehicles 201, 301, and 401 in a second direction Y perpendicular to the first direction X. Containers 106 stored in column 105 are accessed by container handling vehicles 201, 301, and 401 through access openings 112 in rail system 108. Container handling vehicles 201, 301, and 401 can move laterally above storage column 105, i.e., in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 may be used to guide the storage containers while raising them from the column 105 and lowering them into the column 105. The stack 107 of containers 106 is typically freestanding.

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

[0007] Each of the prior art container handling vehicles 201, 301, and 401 also includes a lift device for vertical transport of storage containers 106, for example, raising the storage containers 106 from the storage column 105 and lowering the storage containers 106 into the storage column 105. This lift device includes one or more gripping / engaging devices adapted to engage with the storage containers 106. These gripping / engaging devices can be lowered relative to the vehicles 201, 301, and 401 so that their position can be adjusted in a third direction Z, which is orthogonal to a first direction X and a second direction Y. Some of the gripping devices of container handling vehicles 301 and 401 are shown in Figures 3 and 4, indicated by reference numerals 304 and 404. The gripping devices of container handling device 201 are not shown in Figure 2 because they are located within the vehicle body 201a.

[0008] Conventionally, and for the purposes of this application, Z=1 identifies the uppermost layer where storage containers can be used under rails 110, 111, i.e., the layer directly 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 typical prior art disclosed in Figure 1, Z=8 identifies the lowest layer at the very bottom of the storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Therefore, as an example, using the Cartesian coordinate system X, Y, Z shown in Figure 1, it can be said that the storage container identified as 106' in Figure 1 occupies storage positions X=17, Y=1, Z=6. Container handling vehicles 201, 301, and 401 can be said to travel within layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, it can also be said that the storage container shown in Figure 1, which extends above the rail system 108, is located at layer Z=0.

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

[0010] Each of the prior art container handling vehicles 201, 301, and 401 is equipped with a storage compartment or storage space for receiving and storing storage containers 106 when transporting storage containers 106 across the rail system 108. This storage space may comprise a cavity located inside the vehicle body 201a, 401a, as shown in Figures 2 and 4, the contents of which are incorporated herein by reference, for example, in International Patent Application Publication 2015 / 193278 and International Patent Application Publication 2019 / 206487.

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

[0012] The cavity container handling vehicle 201 shown in Figure 2 may have a footprint that covers an area having dimensions in the X and Y directions that are approximately equal to the lateral range of the storage column 105, as described, for example, in International Patent Application Publication No. 2015 / 193278, the contents of which are incorporated herein by reference. As used herein, the term “lateral” may mean “horizontal.”

[0013] Alternatively, the cavity container handling vehicle 401 may have a larger footprint than the lateral area defined by the storage column 105 as shown in Figures 1 and 4, as disclosed, for example, in International Patent Application Publication No. 2014 / 090684 or International Patent Application Publication No. 2019 / 206487.

[0014] The rail system 108 typically comprises rails with grooves on which the wheels of a vehicle run. Alternatively, the rails may have upward-projecting elements, and the wheels of the vehicle may have flanges to prevent derailment. These grooves and upward-projecting elements are collectively known as the track. Each rail may have one track, or each rail 110, 111 may have two parallel tracks. In other rail systems 108, each rail in one direction (e.g., the X direction) may have one track, and each rail in the other vertical direction (e.g., the Y direction) may have two tracks. Also, each rail 110, 111 may have two track members fastened together, with each track member having one of the pair of tracks provided by each rail.

[0015] International Patent Application Publication No. 2018 / 146304, 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 frame structure 100, the majority of the columns are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in stacks 107. In addition to the storage columns 105, there are dedicated columns within the frame structure. In Figure 1, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to drop off and / or pick up storage containers 106, thereby allowing the storage containers 106 to be transported to access stations (not shown) that can be accessed from outside the frame structure 100, or to be transported from or into the frame structure 100. In the art, such locations are usually referred to as “ports,” and the columns in which these ports are located may be referred to as “port columns” 119, 120. Transport to the access stations may be in any direction: horizontal, inclined, and / or vertical. For example, the storage container 106 is placed randomly or in a dedicated column 105 within the frame structure 100, and then picked up by one of the container handling vehicles and transported to port columns 119, 120 for further transport to an access station. Transport from the port to the access station may require movement along various different directions by means such as delivery vehicles, trolleys, or other transport lines. Note that the term “inclined” refers to the transport of the storage container 106 having an overall transport direction that is intermediate between horizontal and vertical.

[0017] In Figure 1, the first port column 119 can be a dedicated drop-off port column from which container handling vehicles 201, 301, and 401 can drop off storage containers 106 being transported to an access station or transfer station, and the second port column 120 can be a dedicated pickup port column from which container handling vehicles 201, 301, and 401 can pick up storage containers 106 transported from an access station or transfer station.

[0018] The access station can typically be a picking station or a stocking station where product items are taken out of or positioned into the storage container 106. At the picking station or stocking station, the storage container 106 is not typically retrieved from the automated storage and retrieval system 1, but is returned to the frame structure 100 once accessed. The port can also be used to transfer the storage container to another storage facility (e.g., another frame structure or another automated storage and retrieval system), a transport vehicle (e.g., a train or truck), or a production facility.

[0019] A conveyor system with multiple conveyors is typically employed to transport storage containers between port columns 119 and 120 and the access station.

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

[0021] The conveyor system may be configured to transport the storage container 106 between different frame structures, for example, as described in International Patent Application Publication No. 2014 / 075937, the contents of which are incorporated herein by reference.

[0022] When accessing a storage container 106 stored in one of the columns 105 disclosed in Figure 1, one of the container handling vehicles 201, 301, or 401 is instructed to retrieve the storage container 106 from its location and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201, 301, or 401 to a location above the storage column 105 where the storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the lift device (not shown) of the container handling vehicle 201, 301, or 401, and transporting the storage container 106 to the drop-off port column 119. If the storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the storage container 106, this operation also involves temporarily moving the storage containers positioned above before lifting the storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed in the same container handling vehicle that will later be used to transport the storage container in question to the drop-off port column 119, or in one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 dedicated to the task of temporarily retrieving the storage container 106 from the storage column 105. Once the storage container 106 in question has been removed from the storage column 105, the temporarily removed storage container 106 may be returned to its original position in the storage column 105. However, the removed storage container 106 may, alternatively, be reinstalled in another storage column 105.

[0023] If the storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301, or 401 is instructed to pick up the storage container 106 from the pickup port column 120 and transport it to a location above the storage column 105 where it should be stored. After the storage container 106 has been removed from its designated position in the stack 107, or positioned above it, the container handling vehicles 201, 301, or 401 position the storage container 106 in the desired location. The removed storage container 106 is then returned to the storage column 105 or reinstalled in another storage column 105.

[0024] To monitor and control the automated storage and retrieval system 1, for example, the location of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, and 401, so that the container handling vehicles 201, 301, and 401 do not collide with each other and the desired storage containers 106 are delivered to the desired location at the desired time, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] International Patent Application Publication No. 2022 / 136299 describes an access station for presenting a storage container from an automatic storage and retrieval system for picking. The access station includes an access module having a frame defining a drawer compartment provided within the frame, and a drawer having a drawer base and a drawer front. The drawer is movably connected to the frame. A drawer actuator is used to move the drawer relative to the frame between a presentation position where the drawer protrudes from the drawer compartment and a retracted position where the drawer is retracted into the drawer compartment. The drawer base includes a support on which the storage container can be supported in a front position or a rear position. The access station includes a container actuator for moving the storage container from the front position to the rear position. The storage container is presented to a picker for picking when the storage container is in the front position and the drawer is in the presentation position.

[0026] Handling of the storage container is performed by moving the drawer into and out of the drawer compartment and by moving the storage container within the drawer. In addition, the storage container is lifted into and out of the access station by a container handling vehicle. Movement of the storage container to, from, and within the access station should be as efficient as possible.

[0027] At least a preferred embodiment improves the efficiency of the access station as well as the automatic storage and retrieval system.

Prior Art Documents

Patent Documents

[0028]

Patent Document 1

Summary of the Invention

Means for Solving the Problems

[0029] overview This summary is provided to introduce a selection of concepts further described herein in a simplified form. The summary is not intended to identify any important or essential features of the invention.

[0030] This disclosure relates to an actuator (e.g., a container actuator) for moving a storage container, the actuator comprising: a base having a support disposed to support the storage container at a first position (e.g., a front or forward position) or a second position (e.g., a rear or rear position) on a (virtual) support plane; a slider movable relative to the base in a first direction parallel to the support plane and a second direction opposite to the first direction; a driver (e.g., a motor) disposed to move the slider in the first and second directions; and an engaging member (e.g., a lug) coupled to the slider. The engaging member is configured to move relative to the slider between an elevated position and a lowered position. In the elevated position, a portion of the engaging member protrudes above the support plane (or, for example, above the upper surface of the slider), and in the lowered position, the portion of the engaging member is retracted below the support plane (or, for example, below the upper surface of the slider).

[0031] When an external force is applied in a first direction to the portion of the engaging member, the engaging member may be positioned to remain in the raised position. When an external force is applied in a second direction to the portion of the engaging member, the engaging member may be positioned to move from the raised position to the lowered position.

[0032] The engaging member may be configured to be in a lowered position during movement of the slider in a first direction, in order to allow the engaging member to slide under the storage container positioned on the support. The engaging member may be configured to be in an raised position to push the storage container during movement of the slider in a second direction opposite to the first direction, so that the storage container moves from the first position to the second position.

[0033] The engaging member may be pivotably connected to the slider so as to move between an upward position and a downward position.

[0034] The engaging member has an engaging surface on the portion of the engaging member that protrudes above the support plane. The engaging member may be positioned such that when the engaging surface engages with the storage container during movement of the slider in a first direction, it is forced to move from the raised position to the lowered position. The engaging surface may be inclined with respect to the support plane when the engaging member is in the raised position.

[0035] The engaging member may be biased to the raised position. One example is when the actuator includes a spring positioned to bias the engaging member to the raised position. Another example is when the engaging member is weighted to pivot from the lowered position to the raised position.

[0036] The actuator may further include a stopper positioned to engage with the engaging member to prevent the engaging member from moving when the engaging member is in the raised position.

[0037] The actuator may be configured to receive the storage container at a first position while the slider is moving in a first direction.

[0038] The disclosure also provides a drawer for a storage container, the drawer comprising an actuator and a drawer front, the actuator being one of the actuators (or container actuators) described in the disclosure.

[0039] This disclosure also provides an access station for presenting a storage container from an automated storage and retrieval system for picking, the access station comprising an access module having a frame defining a drawer compartment provided within the frame, and a drawer as described herein. An actuator is arranged to move the storage container from a first position (P1) to a second position, the first position being closer to the front of the drawer than the second position. The storage container is presented for picking when the storage container is in the first position. An engaging member is configured to be in a lowered position to allow the engaging member to slide under the storage container during movement of the slider in a first direction. The engaging member is configured to be in an elevated position to push the storage container during movement of the slider in a second direction so that the storage container moves from the first position to the second position.

[0040] This disclosure also relates to an access station for presenting storage containers from an automated storage and retrieval system for picking, the access station is - An access module comprising a frame that defines a drawer compartment located within the frame, - A drawer comprising a drawer base and a drawer front, wherein the drawer is movably connected to a frame and Equipped with, The drawer base includes a support that can support the storage container in either a front or rear position. The access station includes a container actuator for moving a storage container from a front position to a rear position. The container actuator may be either the actuator described in this disclosure or a container actuator. The storage container is presented for picking when the storage container is in the front position. The container actuator includes a slider and a motor for moving the slider relative to a drawer base, and the container actuator includes a lug, the lug being configured to be in a lowered position relative to the slider to slide the lug under the storage container when the slider is moving in a first direction, and the lug being configured to be in an elevated position relative to the slider to push the storage container when the slider is moving in a second direction opposite to the first direction to move the storage container from the front position to the rear position.

[0041] The picker may be a person. The picker may be a robot. The picker may retrieve items from storage containers presented by the access station. The picker may insert items into storage containers presented by the access station. A storage container in the front position is presented for picking when the storage container is in the front position. Thus, the front position may be referred to as the position in which the storage container is closest to the picker, and the rear position is the position in which the storage container is furthest from the picker.

[0042] The slider may be horizontally aligned with the support, i.e., the slider and support may be in the same horizontal plane. The support may have two support sections projecting upward from the drawer base. The two support sections may be spaced apart. The two support sections may be provided along the side of the drawer base extending perpendicularly to the front of the drawer. The slider may be provided on the drawer base between the two support sections. A motor can move the slider relative to the support.

[0043] The storage container can be stationary when supported by the support as the lug slides beneath the storage container during movement in the first direction of the slider. Movement of the storage container in the first direction may be obstructed by the front of the drawer.

[0044] The access station may include a drawer actuator for moving the drawer relative to the frame between an exposed position in which the drawer protrudes from the drawer compartment and a retracted position in which the drawer is retracted into the drawer compartment.

[0045] The lugs may be pivotably connected to the slider around the axle.

[0046] The axle may be perpendicular to the first and second directions.

[0047] The lug may have an inclined surface, and the lug may be configured to be forced downward from an up position to a down position when the inclined surface engages with a storage container during movement in a first direction of the slider.

[0048] The lug can have a greater weight on one side of the axle than on the other side, thereby allowing the lug to pivot from a downward to an upward position when unaffected by external forces.

[0049] The container actuator may include a spring to bias the lug to its raised position.

[0050] The spring may be compressed when the lug is in the lowered position.

[0051] The container actuator may include a stopper that engages with the lug to prevent the lug from moving beyond its raised position.

[0052] The access station is -The slider may be configured to receive additional storage containers at the front position while moving in a first direction.

[0053] The slider may be defined by a first end position where the slider is ready to begin moving the storage container from its front position to its rear position, and a second end position where the slider is moving the storage container to its rear position. The first end position is adjacent to the front of the drawer, and the second end position is approximately midway along the base of the drawer.

[0054] As described above, there is no need to hold additional storage containers at a certain distance above the support in order to allow the slider to move to its end position. Instead, the storage containers can be lowered onto the support while the slider moves to its end position below the additional storage containers. Thus, the container handling vehicle saves time that could be spent on other tasks in the automated storage and retrieval system. Thus, the system becomes more efficient. In addition, the drawer can begin to open sooner because the slider can move to its end position below the additional storage containers while the drawer is being opened. Here again, the access station also becomes more efficient.

[0055] The access station may include a control system for controlling the drawer actuator and the container actuator. The access station's control system may be configured to communicate with the control system of the automated storage and retrieval system.

[0056] The access station may include storage containers held within drawers.

[0057] The access module may include a horizontal lower guide plate for supporting the front of the drawer. The drawer actuator includes a front wheel and a motor for rotating the front wheel. The front wheel is connected to the front of the drawer. The wheel is configured to travel on the horizontal lower guide plate to move the drawer between the extended position and the retracted position.

[0058] The motor may be fixed to the base of the drawer or to the front of the drawer.

[0059] The front wheels may be connected to the rear side of the front of the drawer, below the drawer base.

[0060] The front of the drawer may be provided with a first drawer connection interface for connecting the drawer base to the front of the drawer at a first height above the horizontal lower guide plate, and the front of the drawer may be provided with a second drawer connection interface for connecting the drawer base to the front of the drawer at a second height above the horizontal lower guide plate.

[0061] The first and second drawer connection interfaces may include holes provided in the front and base of the drawer. The front and base of the drawer may be connected to each other by screw and nut type connectors or other types of connectors.

[0062] The rear wheel may be connected to the pull-out base or configured to support the pull-out base, and the access module may include a wheel guide for guiding the rear wheel.

[0063] The rear wheels may be connected to the underside of the pull-out base.

[0064] The drawer base may have two rear wheels, and the access module may have two wheel guides, each wheel guide configured to guide one of the rear wheels.

[0065] The access module may include a first guide connection interface for connecting the wheel guide to the frame at a first guide height above the horizontal lower guide plate, and the access module may include a second guide connection interface for connecting the wheel guide to the frame at a second guide height above the horizontal lower guide plate, different from the first guide height.

[0066] When the drawer base is connected to the first drawer connection interface on the front of the drawer, and the wheel guide is connected to the first guide connection interface on the frame, a drawer having a first depth is created, thereby adapting the access station to receive a storage container having a first container height.

[0067] The drawer base may be oriented in a horizontal plane. The drawer front may be oriented in a vertical plane.

[0068] When the drawer base is connected to a second drawer connection interface on the front of the drawer, and the wheel guide is connected to a second guide connection interface on the frame, a drawer having a second depth may be created, thereby adapting the access station to receive a storage container having a second container height different from the first container height.

[0069] Therefore, it is achieved that the drawer can have a depth that is broadly equivalent to the height of the storage container for various storage containers. Furthermore, it is achieved that the top of the container is presented at the same height for various storage containers.

[0070] The rear wheels may be non-powered wheels. Alternatively, the rear wheels may be motor-driven wheels.

[0071] This disclosure also relates to an automated storage and retrieval system having a framework structure, the framework structure being, - Upright member and, -A storage volume comprising storage columns provided between upright members, wherein the storage containers are stacked within the storage columns, and the storage volume and - A rail system installed on an upright member and Equipped with, The automated storage and retrieval system includes container handling vehicles that move on a rail system. The automated storage and retrieval system optionally comprises an access station in the manner described above in this disclosure, or any other access station described in this disclosure, which includes any of the features of any choice thereof. The drawer compartments are provided within the frame structure.

[0072] The drawer may be configured to protrude at least partially from the frame structure in the presentation position.

[0073] Container handling vehicles are, - Retrieving storage containers from drawers via a single storage column, - Delivering additional storage containers to the drawer via a single storage column It may be configured to do so.

[0074] This disclosure also relates to a method for presenting storage containers from an automated storage and retrieval system for picking, the method being described a) When the drawer is in the retracted position within the drawer compartment of the access module, the step of receiving a first storage container at the front position of the drawer, b) A step of moving the slider relative to the drawer in a first direction, wherein the engaging member (or lug) of the slider moves to a lowered position relative to the slider by contact with the first storage container in order to slide under the first storage container, c) The step of moving the drawer to a presentation position relative to the drawer compartment where the first storage container is presented for picking, d) The step of moving the drawer to the retraction position within the drawer compartment, e) A step of moving the slider relative to the drawer in a second direction, wherein the lug is in an elevated position relative to the slider in order to engage with the first storage container and push the first storage container from the front position to the rear position of the drawer. Includes.

[0075] This method, f) The step of receiving a second storage container at the front position of the drawer when the drawer is in the retracted position, g) A step of moving the slider relative to the drawer in a first direction, wherein the lug of the slider moves to a lowered position relative to the slider by contact with the second storage container in order to slide under the second storage container, h) The step of moving the drawer to a presentation position relative to the drawer compartment where the second storage container is presented for picking, i) A step of retrieving the first storage container from the rear position of the drawer when the drawer is in the present position, j) The step of moving the drawer to the retraction position within the drawer compartment, k) A step of moving the slider relative to the drawer in a second direction, wherein the lug is in an elevated position relative to the slider in order to engage with the second storage container and push the second storage container from the front position to the rear position of the drawer. It may also include the following.

[0076] Method step a) and / or method step f) may include the step of receiving the first storage container from within the framework structure of the automated storage and retrieval system.

[0077] Method step i) may include the step of retrieving the first storage container and returning it to the framework structure of the automated storage and retrieval system.

[0078] This disclosure relates to an actuator for moving a storage container, wherein the actuator is - A base comprising a support that can support a storage container in a first position or a second position, -A slider located above the base, - A motor for moving the slider relative to the base and Equipped with, The actuator includes a lug, which is configured to be in a lowered position relative to the slider to slide the lug under the storage container when the slider is moving in a first direction, and in an elevated position relative to the slider to push the storage container when the slider is moving in a second direction opposite to the first direction to move the storage container from a first position to a second position. [Brief explanation of the drawing]

[0079] The following drawings are provided to facilitate understanding of the present invention. The drawings illustrate embodiments, which are described herein for illustrative purposes only.

[0080] [Figure 1] Figure 1 is a perspective view of the framework structure of an automated storage and retrieval system of prior art.

[0081] [Figure 2] Figure 2 is a perspective view of a prior art container handling vehicle having an internally positioned cavity for transporting storage containers.

[0082] [Figure 3] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for transporting storage containers with the container facing downwards.

[0083] [Figure 4] Figure 4 is a perspective view from below of a prior art container handling vehicle having an internally positioned cavity for transporting storage containers.

[0084] [Figure 5] Figure 5 is a perspective view of an access station of prior art.

[0085] [Figure 6a] Figure 6a shows a perspective view of an access station according to one embodiment, installed within an automated storage and retrieval system, with the drawer in the present position.

[0086] [Figure 6b] Figure 6b shows a perspective view of the access station in Figure 6a, with the drawer in the retracted position.

[0087] [Figure 6c] Figure 6c shows a perspective view of the access station in Figure 6b, with the drawer in the display position.

[0088] [Figure 7] Figure 7 is a rear perspective view of the drawer, inverted vertically.

[0089] [Figure 8] Figure 8 is a perspective view of the back of the drawer.

[0090] [Figure 9a] Figure 9a schematically shows the slider and lug of a container actuator with the lug in the lowered position.

[0091] [Figure 9b] Figure 9b schematically shows the slider and lug of a container actuator with the lug in the raised position.

[0092] [Figure 10] Figure 10 schematically shows a side view of the drawer in the first state.

[0093] [Figure 11] Figure 11 schematically shows a side view of the drawer in the second state.

[0094] [Figure 12-1] Figures 12a-f and 13a-h schematically illustrate the operation of the access station. [Figure 12-2] Figures 12a-f and 13a-h schematically illustrate the operation of the access station. [Figure 13-1]Figures 12a-f and 13a-h schematically illustrate the operation of the access station. [Figure 13-2] Figures 12a-f and 13a-h schematically illustrate the operation of the access station.

[0095] [Figure 14] Figures 14a and 14b show alternative embodiments of the slider and lug of a container actuator, with the lug in its lowered and raised positions, respectively. [Modes for carrying out the invention]

[0096] Detailed explanation Generally, embodiments provide an actuator arranged to move a storage container from a first position to a second position. The actuator includes a base that provides support for the storage container on a support plane, and a slider arranged to move rearward and forward in dimensions parallel to the support plane. The actuator also includes an engaging member arranged to move relative to the slider between an up position and a down position. When the slider moves the engaging member in a first horizontal direction relative to a first side of the storage container, the engaging member moves from the up position to the down position through contact with the storage container. The continued movement of the engaging member in the first horizontal direction causes the engaging member to slide under the storage container while being biased against the underside of the storage container. When the engaging member moves beyond the end of the storage container and, as a result, is no longer biased against the underside of the storage container, the engaging member returns from the down position to the up position. When the engaging member moves in a second horizontal direction opposite to the first horizontal direction relative to a second side of the storage container opposite to the first side, it remains in the up position and is arranged to move the storage container by pushing in the second direction. The engaging member can be biased toward the raised position by a biasing force. The biasing force may be less than the weight of an empty storage container configured to handle the container so as not to lift it as the drawer passes underneath. At least a portion of the engaging member moves vertically between the raised and lowered positions. The engaging member may rotate or pivot between the raised and lowered positions. Movement from the lowered position to the raised position is controlled by a biasing force, and movement from the raised position to the lowered position is controlled by the horizontal movement of the engaging member relative to the side of the storage container. This type of passive movement between the raised and lowered positions is a simplified mechanism that allows the container to move horizontally when only a single direction of movement is required. This can reduce the complexity of controlling the container actuator because the engaging member is effectively controlled by the movement of a slider. The storage container and biasing member also contribute to controlling the position of the engaging member, but they are also passive in that they do not require a separate drive mechanism to raise or lower the engaging member.This overview is provided to present a simplified selection of concepts that will be further described herein. The overview is not intended to identify any important or essential features of the invention.

[0097] Embodiments will be described in more detail below with reference to the attached drawings. However, it should be understood that the drawings are not intended to limit this disclosure to the subject matter shown in the drawings.

[0098] The framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in relation to Figures 1 to 3. That is, the framework structure 100 comprises several upright members 102 and a first upper rail system 108 extending in the X and Y directions.

[0099] The frame structure 100 further comprises storage compartments in the form of storage columns 105 provided between members 102, and the storage containers 106 can be stacked in stacks 107 within the storage columns 105.

[0100] The frame structure 100 can be of any dimensions. In particular, it is understood that the frame structure can be considerably wider and / or longer and / or deeper than disclosed in Figure 1. For example, the frame structure 100 may have a horizontal spread of more than 700 × 700 columns and a storage depth of more than 12 containers.

[0101] Figures 6a, 6b, and 6c show a first embodiment of the access station 10. In Figure 6a, the access station 10 is shown to include an access module 20 and a drawer 40.

[0102] The access module 20 comprises a frame 21 that defines a drawer compartment 25 located within the frame 21. The drawer compartment 25 is shown as a dashed outline in Figure 6a. It is shown that the frame 21 supports six upright members 102 of the framework structure 100 of the automated storage and retrieval system 1 (one of which is partially hidden behind the upper panel of the access station). One of the storage columns of the framework structure 100, shown in the drawing as storage column 105A, is used to move a storage container 106 vertically into the access station 10 and vertically outward from the access station 10. Figure 6a further shows that the access station 10 comprises an upper opening, shown as a dashed rectangle 26 through which a storage container is inserted into and retrieved from the access station 10.

[0103] The drawer 40 comprises a drawer base 41 and a drawer front 42. The drawer 40 is movably connected to the frame 21. Two storage containers 106 can be stored inside the drawer 40. The two positions of the storage containers 106 are referred to as the front position P1 and the rear position P2 (see, for example, Figure 13a), with the front position P1 being the position closest to the drawer front 42. The drawer 40 can move between a presenting position (as shown in Figures 6a and 6c) in which the drawer 40 protrudes from the drawer compartment 25 and a retracted position (as shown in Figure 6b) in which the drawer 40 is retracted into the drawer compartment 25. In the presenting position, the storage containers 106 in the front position P1 are presented to a picker P, which may be a human or a robot, for picking.

[0104] Figure 6b further shows that the frame 21 includes vertical side guide plates 22b for guiding the front of the drawer 42 as it extends to the present position and when it is retracted to the retracted position. The frame 21 also includes a horizontal lower guide plate 22c for supporting and guiding the lower end of the front of the drawer 42. These guide plates protrude from the front FS of the access station 10. The rear RS of the access station is defined as the opposite side of the front FS. The rear RS of the access station 10 is typically located inside the frame structure 100, while the guide plates of the front FS protrude from the frame structure 100.

[0105] As will be described in more detail below, the access station 10 includes a drawer actuator 60 for moving the drawer 40 between a retracted position and a presented position, and a container actuator 70 for moving the storage container 106 from a front position P1 to a rear position P2.

[0106] Drawer actuator 60 Next, the pull-out actuator 60 will be described with reference to Figures 7 and 8. In Figure 7, it is shown that the pull-out actuator 60 comprises two front wheels 61 connected to each other via a shaft 63, and a motor 62 for rotating the shaft 63 via a drive belt 64. The front wheels 61 and the shaft 63 are connected to the underside of the front of the pull-out section 42, while the motor 62 is connected to the underside of the base of the pull-out section 41.

[0107] Furthermore, Figure 7 shows that the front wheel 61 is located below the drawer base 41 and on the rear RS of the drawer front 42 (where "below" refers to the relative position at the installation location). In this way, the front wheel 61 is hidden from the picker P behind the drawer front 42. In Figure 6c, only the drawer front is visible from the picker's position. In this way, the distance between the drawer front and the lower guide plate can be made very small, thus reducing the risk of pinching injury.

[0108] The drawer 40 further comprises two rear wheels 44 connected to the lower rear side of the drawer base 41, and two side wheels 47 connected to each side of the drawer base 41, extending perpendicularly to the front of the drawer. Thus, there are two rear wheels 44 and four side wheels 47. In this embodiment, the rear wheels 44 and side wheels 47 are not power wheels.

[0109] The front wheel 61 is configured to travel on a horizontal lower guide plate 22c to move the pull-out 40 between the extended position and the retracted position.

[0110] The rear wheels 44 are configured to travel on or within wheel guides 24 (see Figure 6a) fixed to the access module 20.

[0111] The side wheels 47 are configured to travel along the vertical side guide plates 22b and / or along the vertical side plates 27 of the access module 20 (see Figure 6b). Typically, each vertical side guide plate 22b and vertical side plate 27 is formed as a single plate element. The side wheels 47 reduce friction between the drawer and the access module 20.

[0112] The location of the front wheel 61 allows the drawer to be adjusted to accommodate storage containers of different heights. This is explained in detail below.

[0113] Adjusting the height of the drawer The storage and retrieval system 1 described above uses standard-sized storage containers. For example, system 1 may be designed for storage containers having a predetermined width and length determined by the distances in the X and Y directions between the upright members 102 of the frame structure 100. The height of the storage containers may vary. In some systems, only a first storage container 106A having a first height H106A is used, while in other systems, only a second storage container 106B having a second height H106B is used, with the first height H106A being greater than the second height H106B. These different heights are shown in Figures 10 and 11.

[0114] Furthermore, a single system 1 may also be configured to use both of the above-mentioned storage containers. Nevertheless, the access station 10 is typically designed for only one type of storage container.

[0115] Figures 10 and 11 show that the front of the drawer 42 includes a first drawer connection interface C40A for connecting the drawer base 41 to the front of the drawer 42 at a first height H40A above the horizontal lower guide plate 22c. The front of the drawer 42 includes a corresponding second drawer connection interface C40B for connecting the drawer base 41 to the front of the drawer 42 at a second height H40B above the horizontal lower guide plate 22c. Comparing Figures 10 and 11, it is clear that the second height H40B is greater than the first height H40A.

[0116] The first drawer connection interface C40A and the second drawer connection interface C40B may have holes, such as screw holes, provided within the drawer front 42 and / or drawer base 41. The drawer front 42 and the drawer base 41 may be connected to each other by screws or by screw and nut type connectors. However, other types of connectors and connection interfaces may be used.

[0117] The access module 20 includes a first guide connection interface C24A for connecting the wheel guide 24 to the frame 21 at a first guide height H24A above the horizontal lower guide plate 22c. The access module 20 also includes a corresponding second guide connection interface C24B for connecting the wheel guide 24 to the frame 21 at a second guide height H24B. Comparing Figure 10 and Figure 11, it is clear that the second height H24B is greater than the first height H24A.

[0118] The first guide connection interface C24A and the second guide connection interface C24B may be provided with holes, such as screw holes, in the frame 21 and / or wheel guide 24 for securing the wheel guide 24 to the frame 21 using screw-type connectors or screw and nut-type connectors. However, other types of connectors and connection interfaces may be used.

[0119] As shown in Figure 10, the drawer 40 has a first depth when the drawer base 41 is connected to the first drawer connection interface C40A of the drawer front 42, and when the wheel guide 24 is connected to the first guide connection interface C24A of the frame 21. Here, the access station 10 is adapted to receive a storage container 106 having a first container height H106A.

[0120] As shown in Figure 11, when the drawer base 41 is connected to the second drawer connection interface C40B of the drawer front 42 and the wheel guide 24 is connected to the second guide connection interface C24B of the frame 21, the drawer 40 has a second depth, thereby adapting the access station 10 to receive a storage container 106 having a second container height H106B that is different from the first container height H106A.

[0121] The above has several advantages. Firstly, it is relatively easy and efficient to adapt the access station 10 according to the height of the storage container used by the access station. The only work required is to fasten the drawer base 41 to the desired one of the first drawer connection interface C40A or the second drawer connection interface C40B, and fasten the wheel guide 24 to the desired one of the first guide connection interface C24A or the second guide connection interface C24B. Furthermore, due to the difference in distance between the shaft 63 and the motor 62, it may be necessary to select a drive belt 64 of sufficient length depending on whether the drawer 40 has a first depth or a second depth. Alternatively, it may be necessary to reposition the motor 62 to allow the same drive belt 64 to be used.

[0122] The second advantage is that the top of the container is presented at the same height regardless of the height of the storage container. This is advantageous for health, safety, and environmental (HSE) reasons, as well as for the efficiency of the picking process.

[0123] A third advantage is that storage containers of different heights can be guided by the upright members of the frame structure 100 during vertical movement as they enter the access station 10 through the upper opening 26 and exit the access station 10. Furthermore, the gripping devices of the container handling vehicle are guided by these upright members 102 as they descend toward or ascend from the storage containers in the drawer.

[0124] Container Actuator 70 Here, the container actuator 70 will be described in detail, first with reference to Figure 8.

[0125] Here, the drawer base 41 is shown to include a support 50 having two support sections 50a, 50b projecting upward from the drawer base 41 along the side surface of the drawer base 41. The upper surfaces of the support sections 50a, 50b may define (or be located within) a virtual support plane in which the supported container will be positioned when placed in the drawer. At the front end of the drawer base 41 (closer to the front of the drawer), the support 50 includes a weight sensor 56. The storage container 106 can be supported on the support 50 at a front position P1 or a rear position P2 (see Figure 13a). When at the front position P1, the weight of the storage container 106 may be measured by the weight sensor 56. When the storage container 106 is moved from the front position P1 to the rear position P2, it is configured to slide along the upper surface of the support 50 (along the two support sections 50a, 50b).

[0126] A container actuator 70 is located between support sections 50a and 50b. The container actuator 70 comprises a slider 71, a motor 72, a linear guide 73, and a drive belt 74. The slider 71 is movable along the linear guide 73, i.e., relative to the drawer base 41, by the motor 72 and the drive belt 74.

[0127] The container actuator 70 further comprises two lugs 75 (sometimes described as engaging members). The lugs 75 will be described in detail with reference to Figures 9a and 9b. As shown in Figures 9a and 9b, the lugs 75 have a triangular cross-sectional shape. In Figure 9a, the lug 75 is shown in its lowered position, i.e., the inclined surface 75i of the lug 75 is aligned with the upper surface of the slider 71. In Figure 9b, the lug 75 is in the raised position and protrudes upward from the slider 71.

[0128] Figure 8 shows two arrows, A and B. Direction A is the direction of movement of the slider toward the front of the drawer, and direction B is the direction of movement of the slider toward the outward direction of movement from the front of the drawer.

[0129] Lug 75 is pivotably connected to slider 71 around axle 75p, and is therefore pivotable between its raised and lowered positions. Axle 75p is perpendicular to the first direction A and the second direction B.

[0130] The container actuator 70 further includes a spring 76 for biasing the lug 75 to its raised position. As shown in the figure, the spring 76 is compressed when the lug is in the lowered position.

[0131] The container actuator 70 further comprises a stopper 77 that engages with the lug 75 to prevent the lug 75 from pivoting beyond its raised position.

[0132] In Figures 9a and 9b, the corners of the storage container 106 are indicated by dashed lines.

[0133] Figures 12a to 12f and 13a to 13h illustrate the functions of the access station 10. Figure 13a shows three positions. The first position or front position P1 and the second position or rear position P2 within the drawer 40 have been described above. In addition, there is a third position P3 above the first position P1. This third position P3 is sometimes referred to as the standby position.

[0134] Note that in Figures 10 and 11, reference numerals 106A and 106B are used to specify two storage containers of different heights. Hereafter, these reference numerals are used to specify two storage containers of the same height that are moved into, out of, and inside the access station 10.

[0135] In Figures 12a and 13b, the first storage container 106A is received at the front position P1 of the drawer 40. Figure 13b shows the drawer 40 in the retracted position within the drawer compartment 25. Figure 12a shows the lug 75 and slider 71 moving in a first direction A relative to the drawer 40, i.e., toward the front of the drawer 42, with the lug in the raised position. Figure 12b shows the lug 75 moving to the lowered position relative to the slider 71 due to contact with the first storage container 106A. Due to friction between the storage container 106A and the support 50, and / or due to the fact that the storage container 106A is prevented from moving further toward the front of the drawer 42, the storage container 106A cannot move to the left in Figure 12b. The biasing force from the spring 76 is counteracted by the force pushing the storage container 106A, and the lug 75 is forced to move to its lowered position, as shown in Figures 9a and 12c, and slides under the first storage container 106A. This is assisted by the inclined surface 75i of the triangular lug 75, which slides along the edge of the storage container 106 when the lug 75 is pushed into the lowered position.

[0136] When the slider 71 and lug 75 move to their front end position, i.e., the position closest to the front of the drawer 42, the lug 75 passes under the storage container 106A and is pushed up from the slider 71 by the spring 76, as shown in Figures 12d and 9b. The upward / pivoting motion of the lug 75 is stopped by the stopper 77.

[0137] Figure 13c shows that the drawer 40 is moved relative to the drawer compartment to a presentation position where the first storage container 106A is presented to the picker P for picking.

[0138] Figure 13d shows that the drawer is moved to the retracted position within the drawer compartment 25, and the first storage container 106A is moved from the front position P1 to the rear position P2. It is further shown that the second storage container 106B is in the standby position P3. Figure 12e shows how the slider 71 moves in a second direction B (opposite to the direction A of the fist) with the lug 75 in the raised position relative to the slider 71 to engage with the first storage container 106A and push the first storage container 106A from the front position P1 to the rear position P2 of the drawer 40. When moving in the second direction B, the lug 75 is not pushed down.

[0139] Figures 12f and 13e show that the second storage container 106B is received at the front position P1 of the drawer 40 when the drawer is in the retracted position.

[0140] Here, the slider 71 is moved again in the first direction A relative to the drawer 40, similar to Figure 12a. The lug 75 of the slider 71 is moved again to the lowered position relative to the slider 71 by contact with the second storage container 106B and slides under the second storage container 106B. The drawer 40 is again moved relative to the drawer compartment to the presentation position (Figure 13f) where the second storage container 106B is presented to the picker P for picking. When in the presentation position, the first storage container 106A is retrieved from the rear position P2 of the drawer 40 (Figure 13g).

[0141] Again, drawer 40 is moved to the retracted position within drawer compartment 25 (Figure 13h), slider 71 is moved in the second direction B relative to drawer 40, and lug 75 is in the raised position relative to slider 71 to engage with the second storage container 106B and push the second storage container 106B from the front position P1 to the rear position P2 of drawer 40 (similar to Figure 12e). As shown in Figure 13h, the third storage container 106C is ready to be moved to the front position again.

[0142] As described above, it is not necessary to hold the additional storage container 106B at a certain distance above the support 50 in a waiting position P3, with the aim of allowing the slider 71 to move to its end position. Instead, the storage container 106 can be lowered onto the support 50 while the slider 71 moves to its end position below the additional storage container 106. Thus, the container handling vehicles 201, 301, and 401 save time that could be spent on other tasks in the automated storage and retrieval system 1. Thus, system 1 becomes more efficient. In addition, the drawer 40 can begin to open sooner because the slider 71 can move to its end position below the additional storage container 106 while the drawer 40 is being opened. Here again, the efficiency of the access station 10 is increased.

[0143] Alternative Embodiments Note that in the above embodiment, the container carrier has two lugs 75 spaced apart from each other, as shown in Figure 7. Note that there may be one lug or more than two lugs.

[0144] Furthermore, it should be noted that the lug (or engaging member) 75 does not need to have a triangular shape with an inclined surface, and the spring 76 is not a required feature. Referring to Figures 14a and 14b, the lug (or engaging member) 75 is shown as an elongated body, with approximately one-third of the elongated body located on one side of the axle 75p and approximately two-thirds of the elongated body located on the opposite side of the axle 75p. Assuming that the entire lug 75 is made from the same material, the lug 75 pivots back to the raised position (gray line in Figure 14a, black line in Figure 14b) when not affected by external forces. In Figure 14a, the lug 75 moves in a first direction A in contact with the storage container 106 and pivots to a horizontal or nearly horizontal position when the lug is slid under the storage container 106. When moving in the other direction B, the stopper 77 prevents the lug from moving when it comes into contact with the storage container, and thus the lug is maintained in the raised position, allowing the lug to push the storage container from the front position P1 to the rear position P2.

[0145] Please note that the 1 / 3 and 2 / 3 lengths are merely examples, and other divisions are possible as long as the necessary pivoting motion is achieved.

[0146] As an alternative to, or in addition to, giving the lugs different lengths to the axle 75p, the weight element 75w may be fixed to or integrated with the lug 75 to achieve that the lug 75 pivots and returns to the raised position when the lug 75 is not affected by an external force.

[0147] The lug or engaging member 75 may perform the functions described herein without pivoting between the raised and lowered positions. For example, the lug or engaging member 75 described with reference to Figure 9a or Figure 9b may be provided without a pivot 75p (and without a stopper 77). The lug may be held in place by a connection to the slider 71 (or by other means) in the orientation shown in Figure 9b so that the lug does not pivot or rotate when an external force is applied. A spring may bias the lug to the raised position shown in Figure 9b. The lug may be made movable between the raised and lowered positions on a vertical guide located on either the slider or the lug. The inclined surface of the lug 75i is positioned such that, when interacting with the storage container in the position shown in Figure 9a, the horizontal force applied to the inclined surface 75i by the storage container 106 when the lug 75 is moved in the first direction A causes the lug to move vertically downward from the raised position. In other words, the vertical guide and the inclined surface 75i may cooperate to convert the horizontal force applied to the lug 75 in the second direction B by the storage container 106 into a vertical force acting downward on the lug so as to move the lug from an elevated position to a lowered position.

[0148] The container actuator 70 may not be used only within the drawer 40. The container actuator 70 may also be used to move a container between two positions in other parts of the automated storage and retrieval system 1. In Figure 7, the drawer base 41 is substantially planar. Other types of planar surfaces, generally referred to as the base BS (see Figure 8), may be used. The base BS may include a support 50 on which the storage container 106 can be supported in a first position P1 or a second position P2, and the container actuator 70 may be located on the base adjacent to the support 50 or between support sections 50a, 50b. As an example, the base BS may be part of an access station without a drawer, or the base BS may be part of a conveyor or the like.

[0149] In the preceding description, various features of the access station are described in relation to the exemplary embodiments. For explanatory purposes, specific numbers, systems, and configurations have been described to provide a complete understanding of the system and how it works. However, this description is not intended to be constrained. Various modifications and variations of the exemplary embodiments, as well as other embodiments of the system that are apparent to those skilled in the art relating to the disclosed subject matter, are deemed to be within the scope of the appended claims.

[0150] The following numbered sections are also included in this specification. Item 1. An access station (10) for presenting a storage container (106) from an automated storage and retrieval system (1) for picking, wherein the access station (10) is - An access module (20) comprising a frame (21) that defines a drawer compartment (25) provided within the frame (21), - A drawer (40) comprising a drawer base (41) and a drawer front (42), wherein the drawer (40) is movably connected to a frame (21), and Equipped with, The drawer base (41) is equipped with a support (50) that can support the storage container (106) in a front position (P1) or a rear position (P2), The access station (10) is equipped with a container actuator (70) for moving the storage container (106) from a front position (P1) to a rear position (P2). The storage container (106) is presented for picking when the storage container (106) is in the front position (P1). Access station (10), container actuator (70) comprising a slider (71) and a motor (72) for moving the slider (71) relative to a drawer base (41), container actuator (70) comprising a lug (75), the lug (75) configured to be in a lowered position relative to the slider (71) to slide the lug (75) under the storage container (106) when the slider (71) is moving in a first direction (A), and the lug (75) configured to be in an elevated position relative to the slider (71) to push the storage container (106) when the slider (71) is moving in a second direction (B) opposite to the first direction (A) to move the storage container (106) from a front position (P1) to a rear position (P2). Item 2. The access station (10) described in Item 1, wherein the lug (75) is pivotably connected to the slider (71) around the axle (75p). Item 3. The access station (10) according to item 1 or 2, wherein the lug (75) comprises an inclined surface (75i), and the lug (75) is configured to be forced downward from an up position to a down position when the inclined surface (75i) engages with a storage container (106) during movement of the slider (71) in a first direction (A). Item 4. The access station (10) according to item 2 or 3, wherein the container actuator (70) comprises a spring (76) for biasing the lug (75) to its raised position. Item 5. The access station (10) as described in Item 2, wherein the lug (75) has a greater weight on one side of the axle (75p) than on the other side of the axle (75p), thereby allowing the lug (75) to pivot from a lowered position to an raised position when not affected by an external force. Item 6. The access station (10) according to any of the preceding items, wherein the container actuator (70) comprises a stopper (77) that engages with the lug (75) to prevent the lug from moving beyond a raised position. Item 7. Access station (10) - An access station (10) as described in any of the preceding paragraphs, configured to receive an additional storage container (106) at a front position (P1) while the slider (71) is moving in a first direction (A). Item 8. An automated storage and retrieval system (1) comprising a framework structure (100), wherein the framework structure (100) is - Upright member (102), -A storage volume comprising a storage column (105) provided between members (102, 103), wherein the storage container (106) is stacked within the storage column (105) in a stack (107), and the storage volume and - A rail system (108) provided on an upright member (102) and Equipped with, The automated storage and retrieval system (1) includes container handling vehicles (201, 203) that move on a rail system (108). The automated storage and retrieval system (1) comprises an access station (10) as described in any of the preceding paragraphs, The drawer compartment (25) is an automated storage and retrieval system (1) provided within the frame structure (100). Item 9. Container handling vehicles (201, 301) - Retrieving the storage container (106) from the drawer (40) via one storage column (105A), - To deliver additional storage containers (106) to the drawer (40) via one storage column (105A) and An automated storage and retrieval system (1) as described in paragraph 8, configured to perform the following: Item 10. A method for presenting a storage container (106) from an automated storage and retrieval system (1) for picking, the method being: a) When the drawer is in the retraction position (RP) within the drawer compartment (25) of the access module (20), the step of receiving the first storage container (106A) at the front position (P1) of the drawer (40), b) A step of moving the slider (71) relative to the drawer (40) in a first direction (A), wherein the lug (75) of the slider (71) moves to a lowered position relative to the slider (71) by contact with the first storage container (106A) in order to slide under the first storage container (106), c) A step of moving the drawer (40) to a presentation position (PP) where the first storage container (106A) is presented for picking, d) A step of moving the drawer (40) to the retraction position (RP) within the drawer compartment (25), e) A step of moving the slider (71) relative to the drawer (40) in a second direction (B), wherein the lug (75) is in an elevated position relative to the slider (71) in order to engage with the first storage container (106A) and push the first storage container (106A) from the front position (P1) to the rear position (P2) of the drawer (40), and Methods that include... Section 11. The method is, f) The step of receiving the second storage container (106B) into the front position (P1) of the drawer (40) when the drawer is in the retracted position (RP), g) A step of moving the slider (71) relative to the drawer (40) in a first direction (A), wherein the lug (75) of the slider (71) moves to a lowered position relative to the slider (71) by contact with the second storage container (106B) in order to slide under the second storage container (106B), h) The step of moving the drawer (40) to a presentation position (PP) where the second storage container (106B) is presented for picking relative to the drawer compartment, i) A step of retrieving the first storage container (106A) from the rear position (P2) of the drawer (40) when the drawer (40) is in the present position (PP), j) A step of moving the drawer (40) to the retraction position (RP) within the drawer compartment (25), k) A step of moving the slider (71) relative to the drawer (40) in a second direction (B), wherein the lug (75) is in an elevated position relative to the slider (71) in order to engage with the second storage container (106B) and push the second storage container (106B) from the front position (P1) to the rear position (P2) of the drawer (40), and The method described in paragraph 10, further including the method described in paragraph 10. Item 12. An actuator (70) for moving a storage container (106), wherein the actuator is - A base (BS) comprising a support (50) on which a storage container (106) can be supported in a first position (P1) or a second position (P2), -A slider (71) provided above the base (BS), - A motor (72) for moving the slider (71) relative to the base (B) and Equipped with, Actuator (70) comprises a lug (75), the lug (75) configured to be in a lowered position relative to the slider (71) to slide the lug (75) under the storage container (106) when the slider (71) is moving in a first direction (A), and the lug (75) configured to be in an elevated position relative to the slider (71) to push the storage container (106) when the slider (71) is moving in a second direction (B) opposite to the first direction (A) to move the storage container (106) from a first position (P1) to a second position (P2). [Explanation of symbols]

[0151] List of reference symbols 1. Automated storage and retrieval system 10 Access Stations 20 Access Modules 21 frames 22b Vertical side guide plate 22c Horizontal Lower Guide Plate 24 Wheel Guide 25 drawer compartments 26 Top opening 27 Vertical side plate 40 drawers 41 Drawer base 42 Front of drawer 44 Rear wheel 47 Side wheels 50 Support 50a First support section 50b Second support section 56 Weight Sensor 60 Drawer Actuator 61 Front Wheel 62 motors 63 Shaft 64 Drive belt 70 Container Actuators 71 Slider 72 Motors 73 Linear Guide 74 Drive belt 75 rug 75i Inclined surface 75p Axle 75w weight factor 76 springs 77 Stopper 80 Control Systems 100 Framework structure 102 Upright members of a frame structure 104 Storage Grid 105 Storage Column 106 Storage Containers 106' Specific location of the storage container 107 stacks 108 Rail System 110 Parallel rails in the first direction (X) 112 Access openings 119 First port column 120 Second port column 201 Container handling vehicles using advanced technology 201a Vehicle body of container handling vehicle 201 201b Drive mechanism / Wheel arrangement / First set of wheels in first direction (X) 201c Drive mechanism / Wheel arrangement / Second set of wheels in second direction (Y) 301 Cantilever container handling vehicle using advanced technology 301a Vehicle body of container handling vehicle 301 301b Driven means / First set of wheels in the first direction (X) 301c Drive mechanism / Second set of wheels in the second direction (Y) 304 Gripping device 401 Container handling vehicle with advanced technology 401a Vehicle body of container handling vehicle 401 401b Driven means / First set of wheels in the first direction (X) 401c Drive mechanism / Second set of wheels in the second direction (Y) 404 Gripping device 404a Liftband 404b Grip 404c Guide pin 404d Lift Frame 500 Control Systems X First direction Y Second direction Z Third direction BS base C24A First Guide Connection Interface C24B Second Guide Connection Interface C40A First Drawer Connection Interface C40B Second Drawer Connection Interface FS front side H106A First container height H106B Second container height H24A First guide height H24B Second guide height H40A Height of the base of the first drawer H40B Second drawer base height P1 First position, front position P2 Second position, rear position P3 Third position, waiting position PP presentation position RP pull-in position RS rear

Claims

1. An actuator (70) for moving a storage container (106), wherein the actuator is - A base (BS) comprising a support (50) positioned to support a storage container (106) at a first position (P1) on the support plane or at a second position (P2) on the support plane, - A slider is provided that is movable relative to the base in a first direction (A) parallel to the support plane and in a second direction (B) opposite to the first direction. - A driver (72) is positioned to move the slider (71) in the first and second directions, - The engaging member (75) connected to the slider and Equipped with, The engaging member (75) is configured to move relative to the slider between an upward position and a downward position. At the raised position, a portion of the engaging member protrudes above the support plane. In the lowered position, the portion of the engaging member is retracted below the support plane, thereby forming an actuator.

2. When an external force is applied in the first direction (A) on the portion of the engaging member (75), the engaging member is positioned to remain in the raised position. The actuator according to claim 1, wherein when an external force is applied in the second direction (B) on the portion of the engaging member, the engaging member is arranged to move from the raised position to the lowered position.

3. The engaging member (75) is configured to be in the lowered position so as the slider (71) moves in the first direction (A), the engaging member (75) slides below the storage container (106) which is positioned on the support (50), The actuator according to claim 1 or 2, wherein the engaging member (75) is configured to be in the raised position to push the storage container (106) while the slider (71) is moving in a second direction (B) opposite to the first direction (A) so that the storage container (106) is moved from the first position (P1) to the second position (P2).

4. The actuator according to any of the preceding claims, wherein the engaging member (75) is pivotably connected to the slider (71) so as to move between the raised position and the lowered position.

5. The actuator according to any of the preceding claims, wherein the engaging member (75) has an engaging surface (75i) on a portion of the engaging member, and the engaging member (75) is arranged to be forcibly moved from the raised position to the lowered position when the engaging surface (75i) engages with the storage container (106) during movement of the slider (71) in the first direction (A), and optionally the engaging surface is inclined with respect to the support plane when the engaging member is in the raised position.

6. The actuator according to any of the preceding claims, wherein the engaging member is biased to the raised position, and optionally the actuator further comprises a spring (76) arranged to bias the engaging member (75) to the raised position.

7. The actuator according to any of the preceding claims, wherein the engaging member (75) is biased to the raised position, and the engaging member is weighted to pivot the engaging member (75) from the lowered position to the raised position.

8. The actuator according to any of the preceding claims, further comprising a stopper (77) disposed to engage with the engaging member (75) to prevent the movement of the engaging member (75) when the engaging member is in the raised position.

9. - The actuator according to any of the preceding claims, further configured to receive a storage container (106) at a first position (P1) while the slider (71) is moving in the first direction (A).

10. A drawer for a storage container, the drawer comprising an actuator according to any of the preceding claims and a drawer front attached to the base.

11. An access station (10) for presenting a storage container (106) from an automated storage and retrieval system (1) for picking, wherein the access station (10) is - An access module (20) comprising a frame (21) that defines a drawer compartment (25) provided within the frame (21), - A drawer (40) according to claim 10, wherein the drawer (40) is movably connected to the frame (21) and Equipped with, The actuator (70) is positioned to move the storage container (106) from the first position (P1) to the second position (P2), wherein the first position is closer to the front of the drawer than the second position. The storage container (106) is presented for picking when the storage container (106) is in the first position (P1), The engaging member (75) is configured to be in the lowered position so as the slider (71) moves in the first direction (A), The access station (10) is configured such that the engaging member (75) is in the raised position to push the storage container (106) while the slider (71) is moving in the second direction (B) so that the storage container (106) moves from the first position (P1) to the second position (P2).

12. An automated storage and retrieval system (1) comprising a frame structure (100), wherein the frame structure (100) is - Upright member (102), - A storage volume comprising a storage column (105) provided between the members (102, 103), wherein the storage container (106) is stackable in a stack (107) within the storage column (105), and - A rail system (108) provided on the upright member (102) and Equipped with, The automated storage and retrieval system (1) includes container handling vehicles (201, 203) that move on the rail system (108), The automated storage and retrieval system (1) comprises the access station (10) described in claim 11, The drawer compartment (25) is an automated storage and retrieval system (1) provided within the frame structure (100).

13. The aforementioned container handling vehicles (201, 301) - To retrieve the storage container (106) from the drawer (40) via a single storage column (105A), - To deliver a further storage container (106) to the drawer (40) via the aforementioned storage column (105A) and An automated storage and retrieval system (1) according to claim 12, configured to perform the following:

14. A method for presenting a storage container (106) from an automated storage and retrieval system (1) for picking, wherein the method is a) When the drawer (40) is in the retraction position (RP) within the drawer compartment (25) of the access module (20), the first storage container (106A) is received at the front position (P1) of the drawer, b) Moving the slider (71) relative to the drawer (40) in a first direction (A), wherein the engaging member (75) coupled to the slider (71) moves to a lowered position relative to the slider (71) by contact with the first storage container (106A) in order to slide under the first storage container (106), c) Moving the drawer (40) to a presentation position (PP) where the first storage container (106A) is presented for picking, d) Moving the drawer (40) to the retraction position (RP) within the drawer compartment (25), e) Moving the slider (71) relative to the drawer (40) in a second direction (B), wherein the engaging member (75) is in an elevated position relative to the slider (71) in order to engage with the first storage container (106A) and push the first storage container (106A) from the front position (P1) to the rear position (P2) of the drawer (40). Methods that include...

15. The aforementioned method, f) When the drawer is in the retracted position (RP), the second storage container (106B) is received at the front position (P1) of the drawer (40), g) Moving the slider (71) relative to the drawer (40) in the first direction (A), wherein the engaging member (75) moves to the lowered position relative to the slider (71) by contact with the second storage container (106B) in order to slide under the second storage container (106B), h) Moving the drawer (40) to a presentation position (PP) where the second storage container (106B) is presented for picking, i) When the drawer (40) is in the presentation position (PP), the first storage container (106A) is retrieved from the rear position (P2) of the drawer (40), j) Moving the drawer (40) to the retraction position (RP) within the drawer compartment (25), k) Moving the slider (71) relative to the drawer (40) in the second direction (B), wherein the engaging member (75) is in the raised position relative to the slider (71) in order to engage with the second storage container (106B) and push the second storage container (106B) from the front position (P1) to the rear position (P2) of the drawer (40). The method according to claim 14, further comprising:

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