Container Handling Module

Abstract

The present invention provides a container handling module (13) for an access station (7) in a storage system (1), the container handling module (13) comprising a first container holder (8a), a second container holder (8b), a shuttle (14), and rail assemblies (15, 16), the first and second container holders (8a, 8b) being rotatably mounted to the shuttle (14) via a rotary shaft (9), each of the first and second container holders (8a, 8b) being arranged to store a storage container (106), and the container handling module (13) being rotatable about a rotation axis (C) between a first angular position (P1) and a second angular position (P2), the second angular position being opposite the first angular position with respect to a centerline (C) of the rotary shaft (9).

Description

[Technical Field]

[0001] The present invention relates to a container handling module, an access station comprising a container handling module, and a storage system comprising such an access station. [Background technology]

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

[0003] The skeletal structure 100 comprises upright members 102, horizontal members 103, and a storage volume comprising storage columns 105 arranged side by side between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also known as receptacles, are stacked on top of each other to form stacks 107. The members 102, 103 may typically be made from metal, for example, extruded aluminum profiles.

[0004] The skeleton structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged in a grid pattern across the top of the skeleton structure 100, on which a plurality of container handling vehicles 201, 301 operate to lift storage containers 106 from, lower storage containers 106 into, and transport storage containers 106 up the storage columns 105. The horizontal extent of one of the grid cells 122 forming the grid pattern is marked by a bold line.

[0005] The rail system 108 (i.e., rail grid) comprises a first set 110 of parallel rails arranged to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the frame structure 100, and a second set 111 of parallel rails arranged perpendicular to the first set of rails 110 for guiding movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings 112 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e., in a plane that is parallel to the horizontal XY plane. Typically, at least one of the sets of rails 110, 111 consists of dual track rails that allow two container handling vehicles to pass each other over adjacent grid cells 122. Double track rails are well known and are disclosed, for example, in WO 2015 / 193278 A1 and WO 2015 / 140216 A1, the contents of which are incorporated herein by reference.

[0006] The uprights 102 of the skeletal structure 100 may be used to guide the storage containers during lifting out of and lowering into the column 105. The stack 107 of containers 106 is typically freestanding.

[0007] Each prior art container handling vehicle 201, 301 comprises a carbody 201a, 301a and first and second sets of wheels 201b, 301b, 201c, 301c that respectively enable lateral movement of the container handling vehicle 201, 301 in the X and Y directions. Two wheels in each set are fully visible in Figures 2 and 3. The first set of wheels 201b, 301b are arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c are arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can be engaged with the respective set of rails 110, 111 at any one time.

[0008] Each prior art container handling vehicle 201, 301 also includes a container lifting assembly 2 (shown in FIG. 4 ) for vertically transporting storage containers 106 (e.g., lifting storage containers 106 from storage columns 105 and lowering storage containers 106 therein). The container lifting assembly 2 includes a lifting frame 3 having one or more gripping / engaging devices 4 adapted to engage with the storage containers 106 and guide pins 304 for correct positioning of the lifting frame 3 relative to the storage containers 106. The lifting frame 3 can be lowered from the vehicle 201, 301 by lifting bands 5 so that the position of the lifting frame relative to the vehicle 201, 301 can be adjusted in a third direction Z that is orthogonal to the first direction X and the second direction Y.

[0009] The lifting frame 3 (not shown) of the container handling vehicle 201 in FIG. 2 is located within the cavity of the vehicle body 201a.

[0010] As before, and for purposes of this application, Z=1 identifies the top layer of storage containers, 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 storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1, the storage container identified as 106' in FIG. 1 may be said to occupy storage location X=10, Y=2, Z=3. Container handling vehicles 201, 301 may be said to travel in layer Z=0, and each storage column 105 may be identified by its X and Y coordinates.

[0011] The storage volume of the skeleton structure 100 is often referred to as a grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column may be identified by a 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.

[0012] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and storing the storage containers 106 as they are transported across the rail system 108. As shown in FIG. 2 and described, for example, in WO 2015 / 193278 A1 (the contents of which are incorporated herein by reference), the storage space may include a cavity centrally arranged within the vehicle body 201 a.

[0013] 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in No. 317366, the contents of which are also incorporated herein by reference.

[0014] 2 may have a footprint covering an area with dimensions in the X and Y directions generally equal to the lateral extent of a storage column 105, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0015] Alternatively, the central hollow container handling vehicle 201 may have a footprint that is larger than the lateral area defined by the storage columns 105, as disclosed, for example, in WO2014 / 090684A1 (Patent Document 3).

[0016] Rail system 108 typically includes rails with grooves along which vehicle wheels run. Alternatively, the rails may include upwardly protruding elements, and the vehicle 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 may include two parallel tracks.

[0017] WO2018 / 146304 (Patent Document 4), the contents of which are incorporated herein by reference, illustrates a typical configuration of a rail system 108 with rails and parallel tracks in both the X and Y directions.

[0018] In the skeleton structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1 , columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301 to unload and / or load storage containers 106 so that they can be transported to access stations (not shown), where the storage containers 106 can be accessed from outside the skeleton structure 100 or transferred out of or into the skeleton structure 100. In the art, such locations are typically referred to as "ports," and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access stations may be horizontal, diagonal, and / or vertical. For example, storage containers 106 may be installed in random or dedicated columns 105 within the framework structure 100, then loaded by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "diagonal" refers to the transport of storage containers 106 having a general transport orientation somewhere between horizontal and vertical.

[0019] In FIG. 1, the first port column 119 may be, for example, a dedicated loading port column where container handling vehicles 201, 301 may unload storage containers 106 to be transported to an access or transfer station, and the second port column 120 may be a dedicated loading port column where container handling vehicles 201, 301 may load storage containers 106 that have been transported from an access or transfer station.

[0020] An access station may typically be a picking or stocking station where product items are removed from or placed into storage containers 106. At a picking or stocking station, the storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are accessed and then placed back into the backbone structure 100. Ports can also be used to transfer storage containers to another storage facility (e.g., to another backbone structure or to another automated storage and retrieval system), a transport vehicle (e.g., a train or lorry), or a production facility.

[0021] A conveyor system comprising, for example, a belt or roller conveyor may be employed to transport storage containers between the port columns 119, 120 and the access stations.

[0022] If the port columns 119, 120 and the access stations are located at different levels, the conveyor system may include a lifting device with a vertical component for transporting the storage containers 106 vertically between the port columns 119, 120 and the access stations.

[0023] The conveyor system may be arranged to transport storage containers 106 between different skeletal structures, for example as described in WO2014 / 075937A1 (Patent Document 5), the contents of which are incorporated herein by reference.

[0024] Belt and / or roller conveyors are relatively expensive and often maintenance-intensive. To avoid the use of such conveyors, some access stations may have a section that can be arranged directly below the port column so that storage containers can be transferred directly to the access station. Prior art access stations suitable for being arranged below the port column are disclosed, for example, in WO 2012 / 026824 A1 and WO 2016 / 120375 A1. Prior art access stations may move storage containers from a position below the port column to a picking / stocking position (or access position) by radial movement about an axis of rotation. An operator has access to the contents of the storage container at the picking / stocking position. Due to the space required to perform the radial movement, the minimum width of prior art access stations at the picking / stocking position is approximately twice the width of the storage container. Thus, the radial movement of the prior art access stations disclosed in WO 2012 / 026824 A1 and WO 2016 / 120375 A1 can be disadvantageous in some cases. For example, multiple picking / stocking locations cannot be arranged adjacent to each other because the access stations have a relatively large footprint outside the framework, and the positioning of the picking locations relative to the port columns is very inflexible. Furthermore, the placement of prior art access stations is somewhat inflexible because the distance from the port columns to the picking / stocking locations is set by the range of radial movement.

[0025] The access station disclosed in WO 2016 / 120375 A1 features a storage container holder and a complex guide mechanism for tilting the storage container holder towards the operator to provide an ergonomically improved working position.

[0026] 1 is to be accessed, one of the container handling vehicles 201, 301 is commanded to retrieve the target storage container 106 from its location and transport it to the loading port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 where the target storage container 106 is located, using a lifting device (not shown) on the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the loading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., with one or more other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage container prior to raising the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may then be performed using the same container handling vehicle used to transport the target storage container to the unloading port column 119, or may be performed using one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have a container handling vehicle specifically dedicated to the task of temporarily removing storage containers from storage columns 105. Once the target storage container 106 is removed from storage column 105, the temporarily removed storage container can be repositioned in the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column.

[0027] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 is commanded to load the storage container 106 from the load port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage containers located at or above the target location in the storage column stack 107 are removed, the container handling vehicles 201, 301 position the storage container 106 in the desired location. The removed storage container may then be lowered back into the storage column 105 or may be relocated to another storage column.

[0028] To monitor and control the automated storage and retrieval system 1 (e.g., to monitor and control the location of each storage container 106 within the skeletal structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other), 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.

[0029] It is an object of the present invention to provide an improved access station in which at least some of the disadvantages of prior art access stations utilizing radial movement of container holders are mitigated or minimized. [Prior art documents] [Patent documents]

[0030] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2015 / 140216 [Patent Document 3] International Publication No. 2014 / 090684 [Patent Document 4] International Publication No. 2018 / 146304 [Patent Document 5] International Publication No. 2014 / 075937 [Patent Document 6] International Publication No. 2012 / 026824 [Patent Document 7] International Publication No. 2016 / 120375 Summary of the Invention [Means for solving the problem]

[0031] The invention is defined below by the appended claims.

[0032] In a first aspect, the present invention provides a container handling module for an access station in a storage system, the container handling module comprising a first container holder, a second container holder, a shuttle, and a rail assembly, the first and second container holders being rotatably mounted to the shuttle via a rotary shaft, each of the first and second container holders being arranged to store a storage container and being rotatable about an axis of rotation between a first angular position and a second angular position, the second angular position being opposite the first angular position relative to a centerline of the rotary shaft, the shuttle being configured for linear movement in a horizontal direction relative to the rail assembly between a first linear position and a second linear position.

[0033] The first and second container holders may be in the form of trays. In other embodiments, the container holders may feature belt or roller conveyors that allow storage containers to be loaded / unloaded onto the container holders horizontally, for example, to / from an external conveyor system. The first and second container holders may have the same shape and configuration, aligned opposite each other relative to the centerline of the rotary shaft.

[0034] In one embodiment of the container handling module, the rail assembly may comprise two parallel rails and a supporting framework, ie a skeleton for supporting the rails.

[0035] In some embodiments of the container handling module, the first and second container holders extend laterally beyond the parallel rails during rotation between the first and second angular positions.

[0036] In some embodiments of the container handling module, the first and second container holders extend further laterally beyond the parallel rails during rotation between the first and second angular positions than in the first and second angular positions.

[0037] In certain embodiments of the container handling module, the shuttle may be configured for horizontal linear movement relative to the rail assembly between a first linear position and a second linear position such that when the shuttle is in the first linear position, a first or second container holder arranged in the first angular position is moved by the shuttle, without rotation about the axis of rotation, to occupy a space corresponding to the space occupied by a first or second container holder arranged in the second angular position when the shuttle was in the first linear position.

[0038] In one embodiment of the container handling module, the shuttle may be configured for horizontal linear movement relative to the rail assembly between a first linear position and a second linear position such that the location of either of the first and second container holders in the first and second angular positions may be moved relative to the rail assembly.

[0039] In an embodiment of the container handling module, the shuttle may include a set of wheels configured to contact the rail assembly and enable movement of the shuttle in a horizontal direction relative to the rail assembly between a first linear position and a second linear position. In other words, the set of wheels may be configured to move the shuttle and the first and second container holders in a horizontal direction.

[0040] In some embodiments of the container handling module, each of the two parallel rails may have a cross section with a guide surface arranged to interact with the shuttle and limit vertical movement of the shuttle relative to the rail assembly. In other words, the guide surface is arranged to prevent or limit tilting of the shuttle relative to the rail and / or framework. The guide surface may be longitudinal and parallel to the rail. The guide surface may interact with, for example, a wheel set, a rib or recess on the shuttle, and / or a rib or recess on the wheel shaft of the wheel set. The guide surface comprises at least a downward-facing surface.

[0041] In some embodiments of the container handling module, each of the two parallel rails may have a cross section with guide surfaces provided by upper and lower flanges for interaction with a set of wheels, the lower and upper flanges being arranged to limit vertical movement of the set of wheels relative to the rail assembly. They serve to limit lateral movement perpendicular to the direction of travel of the container handling module and may also serve to guide forward and rearward movement of the container handling module. The upper flanges have downwardly facing guide surfaces.

[0042] In some embodiments of the container handling module, the shuttle may travel between a first end and a second end of the rail assembly.

[0043] In some embodiments of the container handling module, the first or second container holder, in the first angular position, may be aligned with the first end of the rail assembly when the shuttle is in the first linear position. A length of horizontal movement of the shuttle between the first linear position and the second linear position may be at least equal to a minimum extent of the first or second container holder in the horizontal plane.

[0044] In one embodiment of the container handling module, either the first or second container holder in a first angular position is aligned with the first end of the rail assembly when the shuttle is in the first linear position.

[0045] In some embodiments of the container handling module, the first angular position is arranged between the first end of the rail assembly and the axis of rotation.

[0046] In one embodiment of the container handling module, either the first or second container holder arranged in the first angular position may be closer to the first end of the rail assembly than the other of the first or second container holder arranged in the second angular position, i.e., when the shuttle is in the set linear position.

[0047] In certain embodiments of the container handling module, the shuttle may move linearly over a distance at least equal to the horizontal distance between the axis of rotation and a distal portion of the first container holder or the second container holder. In other words, the linear movement of the shuttle may extend over a distance at least equal to the horizontal distance between the axis of rotation and a distal portion of the first container holder or the second container holder.

[0048] In some embodiments of the container handling module, the length of the rail assembly in the horizontal direction may be at least three times the horizontal distance between the axis of rotation and the distal portion of either the first container holder or the second container holder. In further embodiments, the length of the rail assembly in the horizontal direction may be at least four times the horizontal distance between the axis of rotation and the distal portion of the first container holder or the second container holder.

[0049] In certain embodiments of the container handling module, the distance between the first linear position and the second linear position may be at least equal to the horizontal distance between the axis of rotation and a distal portion of either the first container holder or the second container holder. In further embodiments, the distance may be at least equal to twice the horizontal distance between the axis of rotation and a distal portion of the first container holder or the second container holder. Distal portion is intended to mean the portion of the first and second container holders that is removed furthest from the axis of rotation.

[0050] In some embodiments of the container handling module, the first container holder may be arranged opposite the second container holder relative to the axis of rotation. In other words, the first and second container holders may be positioned on opposite sides of the axis of rotation such that the first or second container holder is in a first angular position when the other container holder is in a second angular position.

[0051] In some embodiments, the container handling module may include a first electric motor arranged to rotate the first and second container holders about an axis of rotation and / or a second electric motor arranged to move the shuttle between the first and second linear positions. The second electric motor may be arranged to rotate at least one wheel of the set of wheels. Rotation of the at least one wheel of the set of wheels may be obtained by rotational engagement of the wheel with the second electric motor or by arranging the second electric motor to move the shuttle in a linear direction.

[0052] In some embodiments of the container handling module, the shuttle may move to at least one intermediate linear position arranged between the first linear position and the second linear position.

[0053] In certain embodiments of the container handling module, the axis of rotation may be inclined at a first angle relative to the vertical, and each of the first and second container holders is configured such that the centerline of a stored storage container is inclined at a second angle relative to the axis of rotation when supported by the respective container holder, such that the centerline of the stored storage container is vertical when in the second angular position and is inclined at a third angle relative to the vertical when in the first angular position, the third angle being equal to the sum of the first angle and the second angle.

[0054] The centerline of a storage container is intended to define a line that is perpendicular to the plane of the bottom of the storage container and intersects the center of the bottom. Alternatively, the centerline of a storage container may be defined as the central axis of the storage container. When supported on a container holder arranged in the second angular position, the centerline of the storage container may extend perpendicular to a horizontal line extending between the first angular position and the second angular position.

[0055] In some embodiments of the container handling module, the centerline of a storage container may coincide with the centerline of a first or second container holder in which the storage container is stored. In other words, the rotation axis may be inclined at a first angle with respect to vertical, and each of the first and second container holders is configured such that the centerline of the respective container holder is inclined at a second angle with respect to the rotation axis, and the centerline of either of the first and second container holders is vertical when in the second angular position and is inclined at a third angle with respect to vertical when in the first angular position, the third angle being equal to the sum of the first angle and the second angle.

[0056] In other words, when the rotation axis is tilted, either of the first and second container holders may rotate / orbit 180 degrees about the rotation axis between a second angular position in which the stored storage container is horizontal, i.e., has an opening facing straight up, and a first angular position in which the stored storage container is inclined at a third angle relative to the vertical, i.e., has an opening facing upward and is inclined at the third angle relative to the vertical. The first angle may be substantially equal to the second angle. As used herein, the term "substantially equal" is intended to mean that the size of the first angle differs from the size of the second angle by less than 25%, preferably less than 10%.

[0057] In certain embodiments of the container handling module, the first angle and the second angle may each be in the range of 2 to 10 degrees, 3 to 8 degrees, or 4 to 7 degrees.

[0058] In certain embodiments of the container handling module, the centerlines of storage containers stored in either the first or second container holders may be tilted relative to the vertical when the respective container holders are in a first angular position such that the openings of the storage containers will face away from the axis of rotation. In other words, when the container holders are in the first angular position, the top openings of the stored storage containers may be tilted to face an operator when the container handling module is part of an access station.

[0059] In some embodiments of the container handling module, the axis of rotation may be inclined toward the first end of the rail assembly.

[0060] In some embodiments of the container handling module, the centerline of a storage container stored by the first or second container holder may gradually tilt from vertical to a third angle during arcuate movement between the second angular position and the first angular position.

[0061] In a second aspect, the present invention provides an access station comprising at least one container handling module according to any of the embodiments of the first aspect, the container handling module being arranged to present a storage container at an access position of the access station at which an operator or robot may have access to the storage container when the storage container is supported by either the first or second container holder in a first angular position and the shuttle is in a first linear position. In other words, either the first or second container holder may be arranged in the access position when the respective container holder is in the first angular position and the shuttle is in the first linear position.

[0062] In certain embodiments of the access station, the container handling modules are arranged to allow storage containers to be provided to or retrieved from either the first or second container holders when the respective container holders are in the second angular position and the shuttle is in the second linear position. In other words, either of the first and second container holders may be arranged in a storage container load / unload position when the respective container holders are in the second angular position and the shuttle is in the second linear position.

[0063] In an embodiment of the access station, the container handling module may be arranged to allow a storage container to be provided to or retrieved from the first or second container holder when the respective container holder is in the second angular position and the shuttle is in either the first linear position or the second linear position.

[0064] In some embodiments of the access station, the first and second container holders may rotate about the axis of rotation when the shuttle is in the second linear position, in other words, the first and second container holders have at least room or space to rotate about the axis of rotation when the shuttle is in the second linear position.

[0065] In one embodiment, the access station may comprise a cabinet within which a first end of a rail assembly of at least one container handling module is arranged, the cabinet comprising an access opening arranged to be aligned with the access position.

[0066] In one embodiment, the access station may include a first container handling module and a second container handling module, the rail assemblies of the first and second container handling modules being arranged parallel or perpendicular to each other to provide two adjacent access locations.

[0067] In one embodiment, the access station may be configured for a storage system featuring at least one port column through which port column storage containers can be vertically transported, and the access station may include a station framework configured to support a lower end of the at least one port column above the rail assembly. In other words, the station framework is configured so that a shuttle can be provided to or retrieved from either of the first and second container holders via the at least one port column when the respective container holders are in a second angular position and the shuttle is in either a first linear position or a second linear position, in which the at least one port column is arranged above the respective container holders. The station framework may include a horizontal beam, e.g., a crossbeam, on which the lower end of the at least one port column is supported. The framework may also include a vertical upright for supporting the horizontal beam. The station framework is configured to support the lower end of the at least one port column at a level above an upper level of a storage container arranged above either of the first and second container holders.

[0068] In some embodiments, the access station may be configured for a storage system having multiple port columns, and the station framework is configured to support the lower ends of the multiple port columns above the rail assembly. In other words, the station framework is configured to support the lower ends of the multiple port columns at distinct port column positions arranged above and along the rail assembly. Each of the distinct port column positions may be aligned with a respective container holder position, which may be occupied by a first or second container holder depending on the angular position of the container holder and the linear position of the shuttle.

[0069] In an embodiment of the access station, the first container holder and the second container holder of the first container handling module may rotate about the axis of rotation when the shuttle of the first container handling module is in the second linear position and the shuttle of the second container handling module is in the first linear position.

[0070] In certain embodiments of the access station, the station backbone is arranged to provide sufficient space for rotation of the first and second container holders of the at least one container handling module about the axis of rotation when the shuttle of the at least one container handling module is in the second linear position. The backbone may in some embodiments provide sufficient space for rotation of the first and second container holders of the at least one container handling module about the axis of rotation when the shuttle of the at least one container handling module is in the first linear position.

[0071] In a third aspect, the present invention provides a storage system comprising an access station according to any of the embodiments of the second aspect, characterized by at least one port column through which port column storage containers can be transported vertically, the at least one port column being arranged above a rail assembly of at least one container handling module of the access station such that storage containers can be delivered to or retrieved from the first or second container holders via the port column when the first or second container holders are arranged in a second angular position and the shuttle is in a second linear position.

[0072] In certain embodiments, the storage system may include multiple port columns arranged above the rail assembly of at least one container handling module of the access station such that storage containers can be delivered to or retrieved from the first or second container holders via the port columns when the first or second container holders are arranged in the second angular position and the shuttle is in either the first or second linear position. For example, multiple port columns arranged side by side and including, for example, two, three, or four port columns, may enable different types of container handling vehicles to use the access station, for example, a cantilever-style container handling vehicle with cantilevers extending in different directions, and may enable multiple container handling vehicles to load and unload storage containers to or retrieve storage containers from the access station simultaneously.

[0073] In one embodiment of the storage system, the shuttle of at least one container handling module may move to at least one intermediate linear position arranged between the first linear position and the second linear position, and the storage system includes a plurality of port columns arranged above the rail assembly of the at least one container handling module such that the first or second container holder is arranged in the second angular position and a storage container can be delivered to or retrieved from the first or second container holder when the shuttle is in either the intermediate linear position or the second linear position.

[0074] In some embodiments of the storage system, the storage system or access station may include a station framework configured to support the lower ends of the plurality of port columns above the rail assembly.

[0075] In certain embodiments, a storage system comprises a vertical column profile defining a plurality of grid columns in which storage containers may be stored on top of one another in a vertical stack, at least one of the grid columns being a port column, each of the grid columns being defined by four vertically extending column profiles interconnected at their upper ends by an upper rail forming a horizontal upper rail grid (or rail system) of the storage grid. The storage system may comprise a plurality of container handling vehicles arranged on the upper rail grid and configured to transfer storage containers to and from the upper rail grid via the port columns.

[0076] In a fourth aspect, the present invention provides a method for exchanging storage containers at an access location of an access station according to any embodiment of the second aspect, comprising: presenting a first storage container at an access position by supporting the first storage container on a first container holder of at least one container holder module, the first container holder being arranged in a first angular position and the shuttle being arranged in a first linear position; moving the shuttle to a second linear position and loading a second container holder onto the second container holder arranged at the second angular position; rotating the first and second container holders about the axis of rotation to align the first container holder in the second angular position and the second container holder in the first angular position; Optionally, unloading the first storage container from the first container holder; moving the shuttle to a first linear position and presenting a second storage container at an access position; The present invention provides a method comprising:

[0077] In a fifth aspect, the present invention provides a method of presenting a storage container for access at an access station according to any embodiment of the second aspect, comprising: While the shuttle of the second container handling module is at the first linear position (i.e., at its first linear position), moving the shuttle of the first container handling module to (i.e., to) the second linear position; loading a storage container onto a first or second container holder of a first container handling module in a second angular position; rotating first and second container holders of a first container handling module about a rotation axis to move the first or second container holder loaded with a storage container to a first angular position; moving a shuttle of a first container handling module to a first linear position to present a storage container at a first access location; The present invention provides a method comprising:

[0078] The first and second linear positions between which the shuttle of the first container handling module may travel may be arranged adjacent to the respective first and second linear positions between which the shuttle of the second container handling module may travel.

[0079] In one embodiment, the method according to the fifth aspect comprises: moving the shuttle of the second container handling module to a second linear position while the shuttle of the first container handling module is in the first linear position; loading an additional storage container onto the first or second container holder of the second container handling module in the second angular position; rotating the first and second container holders of the second container handling module about the axis of rotation to move the first or second container holder loaded with the additional storage container to a first angular position; moving a shuttle of a second container handling module to the first linear position to present the additional storage container at the second access location; Further steps may be included.

[0080] In a sixth aspect, the present invention provides a method of presenting a storage container for access at an access station according to any embodiment of the second aspect, comprising: moving a shuttle of at least one container handling module to a second linear position; loading a storage container onto the first container holder or the second container holder at a second angular position; rotating the first container holder and the second container holder about the rotation axis to move the first or second container holder loaded with the storage container to a first angular position; moving the shuttle to a first linear position to present a storage container at an access position; The present invention provides a method comprising:

[0081] The term "access station" is intended in this disclosure to mean an assembly of at least one container handling module according to the first aspect of the invention, i.e., a station at which one or more access points are provided to a storage container, at which the contents of the storage container may be loaded, at which the storage container may be stocked with additional contents, or any combination thereof. The present invention provides, for example, the following. (Item 1) A container handling module (13) for an access station (7) in a storage system (1), comprising: the container handling module (13) comprises a first container holder (8a), a second container holder (8b), a shuttle (14), and rail assemblies (15, 16), the first and second container holders (8a, 8b) being rotatably mounted on the shuttle (14) via a rotary shaft (9); each of the first and second container holders (8a, 8b) is arranged to store a storage container (106) and is rotatable about a rotation axis (C) between a first angular position (P1) and a second angular position (P2), the second angular position being opposite the first angular position with respect to a center line (C) of the rotary shaft (9); The shuttle (14) is configured for linear movement in a horizontal direction (H) relative to the rail assembly between a first linear position (L1) and a second linear position (L2), a container handling module (13). (Item 2) 2. The container handling module according to item 1, wherein the rail assembly comprises two parallel rails (15) and a supporting framework (16). (Item 3) 3. The container handling module of claim 2, wherein each of the two parallel rails has a cross section with guide surfaces (36, 37) that are arranged to interact with the shuttle (14) and limit vertical movement of the shuttle relative to the rail assembly. (Item 4) 4. The container handling module according to any one of items 1-3, wherein the shuttle comprises a set of wheels (17) configured to contact the rail assembly (15, 16) and enable movement of the shuttle in the horizontal direction (H) between the first linear position (L1) and the second linear position (L2) relative to the rail assembly. (Item 5) 5. The container handling module according to any one of items 1-4, wherein the shuttle (17) is movable between a first end (18) and a second end (19) of the rail assembly (15, 16). (Item 6) 6. The container handling module of claim 5, wherein either the first or second container holder (8a, 8b) in the first angular position (P1) is aligned with the first end (18) of the rail assembly when the shuttle (14) is in the first linear position (L1). (Item 7) 7. A container handling module according to any one of items 1-6, wherein the shuttle (14) can move linearly over a distance at least equal to the horizontal distance between the rotation axis (C) and the distal portion (35) of the first container holder (8a) or the second container holder (8b). (Item 8) 10. A container handling module according to any of the preceding items, wherein the first container holder (8a) is in the first angular position (P1) when the second container holder (8b) is in the second angular position (P2). (Item 9) 10. A container handling module according to any preceding item, wherein the shuttle (14) is movable to at least one intermediate linear position (L2') arranged between the first linear position (L1) and the second linear position (L2). (Item 10) the rotation axis (C) is inclined at a first angle (X) relative to a vertical line (V), and each of the first container holder (8a) and the second container holder (8b) is configured to incline at a second angle (Y) relative to the rotation axis (C) when a centerline (D) of a stored storage container (106) is supported by the respective container holder; a centerline (D) of the stored storage container (106) is vertical when in the second angular position (P2) and is inclined at a third angle (XY) with respect to the vertical line (V) when in the first angular position (P1), the third angle being equal to the sum of the first angle (X) and the second angle (Y); 10. A container handling module according to any of the preceding items. (Item 11) Item 11. The container handling module according to item 10, wherein the axis of rotation (C) is inclined toward the first end (18) of the rail assembly. (Item 12) An access station comprising at least one container handling module (13) according to any of the preceding items, wherein the container handling module (13) is arranged to present a storage container (106) at an access position (23) of the access station, at which an operator (28) or robot has access to the storage container (106) when the storage container is supported by either the first or second container holder (8a, 8b) in the first angular position (P1) and the shuttle (14) is in the first linear position (L1). (Item 13) Item 13. An access station according to item 12, wherein the container handling module (13) is arranged to allow a storage container (106) to be provided to or retrieved from either the first or second container holder (8a, 8b) when the respective container holder is in the second angular position (P2) and the shuttle (14) is in the second linear position (L2). (Item 14) 14. An access station according to item 12 or 13, wherein the container handling module (13) is arranged to allow a storage container (106) to be provided to or retrieved from either the first or second container holder when the respective container holder is in the second angular position (P2) and the shuttle (14) is in either the first linear position (L1) or the second linear position (L2). (Item 15) An access station according to any of items 12-14, wherein the first and second container holders are rotatable around the rotation axis (C) when the shuttle (14) is in the second linear position (L2). (Item 16) a cabinet (26) in which the first ends (18) of the rail assemblies (15, 16) of the at least one container handling module (13) are arranged, the cabinet (26) having an access opening (27) arranged to be aligned with the access location (23); 16. An access station according to any of items 12-15, comprising: (Item 17) 17. An access station according to any of items 12-16, comprising a first container handling module (13a) and a second container handling module (13b), the rail assemblies of the first and second container handling modules (13a, 13b) being arranged parallel or perpendicular to each other to provide two adjacent access positions (23a, 23b). (Item 18) Item 18. An access station according to item 17, wherein the first and second container holders (8a, 8b) of the first container handling module (13a) can rotate around the rotation axis (C) when the shuttle (14) of the first container handling module is in the second linear position (L2) and the shuttle (14) of the second container handling module (13b) is in the first linear position (L1). (Item 19) 19. An access station according to any of items 12-18, for a storage system characterized by at least one port column (119a-c) through which a port column storage container (106) can be transported vertically, the access station comprising a station framework (34) configured to support a lower end of the at least one port column above the rail assembly (15, 16). (Item 20) An access station described in any of items 12-19, wherein the storage system has a plurality of port columns (119a-c), and the station framework (34) is configured to support lower ends of the plurality of port columns (119a-c) above the rail assembly. (Item 21) 21. A storage system comprising an access station according to any of items 12-20, characterized by at least one port column (119a-c) through which port column storage containers (106) can be transported vertically, the at least one port column being arranged above a rail assembly of at least one container handling module (13) of the access station such that storage containers can be delivered to or retrieved from the first or second container holders (8a, 8b) via the port column when the first or second container holders are arranged in the second angular position (P2) and the shuttle is in the second linear position (L2). (Item 22) 21. A method for presenting a storage container for access at an access station according to any of items 12-20, comprising: moving the shuttle (14) to the second linear position (L2); loading the storage container onto the first or second container holder (8a, 8b) in the second angular position (P2); rotating the first and second container holders (8a, 8b) around the rotation axis (C) to move the first or second container holder loaded with the storage container to the first angular position (P1); moving the shuttle (14) to the first linear position (L1) and presenting the storage container at the access location (23); A method comprising: (Item 23) 21. A method for exchanging a storage container at an access position of an access station according to any one of items 12-20, comprising: presenting a first storage container (106') at the access position by supporting the first storage container on a first container holder (8a) of the at least one container holder module (13), the first container holder (8a) being arranged at the first angular position (P1) and the shuttle (14) being arranged at the first linear position (L1); moving the shuttle (14) to the second linear position (L2) and loading a second storage container (106'') onto the second container holder (8b) arranged at the second angular position (P2); rotating the first and second container holders around the rotation axis (C) to arrange the first container holder (8a) in the second angular position (P2) and the second container holder (8b) in the first angular position (P1); Optionally, unloading the first storage container (106') from the first container holder (8a); moving the shuttle (14) to the first linear position (L1) and presenting the second storage container (106'') at the access position; A method comprising: (Item 24) 19. A method for presenting a storage container for access at an access station according to item 17 or 18, comprising the steps of: moving the shuttle (14) of the first container handling module (13a) to the second linear position (L2) while the shuttle (14) of the second container handling module (13b) is in the first linear position (L1); loading the storage container onto a first or second container holder of the first container handling module (13a) in the second angular position (P2); rotating the first and second container holders of the first container handling module (13a) around the rotation axis (C) to move the first or second container holder loaded with the storage container to the first angular position (P1); moving the shuttle (14) of the first container handling module (13a) to the first linear position (L1) and presenting the storage container at a first access location (23a); A method comprising: [Brief explanation of the drawings]

[0082] Embodiments of the present invention are described in detail below with reference to the drawings.

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

[0084] [Figure 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for holding storage containers therein.

[0085] [Figure 3]FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for holding storage containers underneath.

[0086] [Figure 4] FIG. 4 is a side view of the container handling vehicle of FIG. 3, showing the lifting device.

[0087] [Figure 5] FIG. 5 is a perspective view of a first exemplary container handling module in accordance with the present invention.

[0088] [Figure 6] FIG. 6 is a side view of the container handling module of FIG.

[0089] [Figure 7] FIG. 7 is a side view of the container handling module of FIG.

[0090] [Figure 8] FIG. 8 is an exploded view of the container handling module of FIG.

[0091] [Figure 9] FIG. 9 is a perspective view of a second exemplary container handling module in accordance with the present invention.

[0092] [Figure 10] FIG. 10 is a side view of a first exemplary access station according to the present invention comprising the container handling module of FIGS. 5-8.

[0093] [Figure 11] 11-13 are side views of a second exemplary access station according to the present invention, comprising the container handling module of FIG. [Figure 12] 11-13 are side views of a second exemplary access station according to the present invention, comprising the container handling module of FIG. [Figure 13]11-13 are side views of a second exemplary access station according to the present invention, comprising the container handling module of FIG.

[0094] [Figure 14] FIG. 14 is a perspective view of the access station of FIGS. 11-13.

[0095] [Figure 15] 15-17 are perspective views of a third exemplary access station according to the present invention, comprising a plurality of container handling modules such as those shown in FIGS. 5-8. [Figure 16] 15-17 are perspective views of a third exemplary access station according to the present invention, comprising a plurality of container handling modules such as those shown in FIGS. 5-8. [Figure 17] 15-17 are perspective views of a third exemplary access station according to the present invention, comprising a plurality of container handling modules such as those shown in FIGS. 5-8.

[0096] [Figure 18] FIG. 18 is a perspective view of a fourth exemplary access station in accordance with the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0097] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings, which, however, are not intended to limit the present invention to the subject matter depicted therein.

[0098] The container handling module and access station of the present invention were deployed for use in a prior art storage system, as shown in Figure 1 and described in detail above. However, both the container handling module and access station may be advantageously used in any type of container handling system where access to containers is required, including various container storage systems.

[0099] A first exemplary container handling module 13 according to the present invention is shown in Figures 5-8, and a second exemplary container handling module 13' is shown in Figure 9. The container handling modules are suitable for use within a storage system access station, where storage containers can be transported between a delivery / recovery location, where the storage containers can be delivered to or retrieved from the access station, and an access location, where a picker, i.e., a human operator or a robot, can access the storage containers.

[0100] The container handling module 13 includes a first container holder 8a, a second container holder 8b, a shuttle 14, and a rail assembly featuring two parallel rails 15 and a supporting framework 16. The first and second container holders 8a, 8b are rotatably mounted to the shuttle 14 via a rotary shaft 9. Each of the first and second container holders 8a, 8b is arranged to store a storage container 106 (see FIG. 10 ) and is rotatable about a rotation axis C between a first angular position P1 and a second angular position P2. The second angular position P2 is opposite the first angular position P1 with respect to the centerline C of the rotary shaft 9. The first container holder 8a is arranged opposite the second container holder 8b with respect to the rotation axis C such that when the second container holder 8b is in the second angular position P2, the first container holder 8a is in the first angular position P1.

[0101] The shuttle 14 has a set of wheels 17 that contact the two parallel rails 15 and is configured to enable linear movement of the shuttle 14 in the horizontal direction H between a first linear position L1 at a first end 8 of the rail assemblies 15, 16, at least one intermediate linear position L2', and a second linear position L2 at a second end 8 of the rail assemblies 15, 16, i.e., the shuttle 14 can move linearly relative to the rail assemblies.

[0102] When one of the first and second container holders 8a, 8b is arranged in the first angular position P1, the respective container holder is arranged at or adjacent to the first end 18 of the rail assembly when the shuttle 14 is in the first linear position L1.

[0103] The rail assemblies 15, 16 and shuttle 14 are configured to allow a first or second container holder arranged in the second angular position P2 to be moved between two distinct positions relative to the rail assemblies 15, 16, i.e., the outer horizontal edge of a first container holder arranged in the first distinct position will not overlap with the outer horizontal edge of a first container holder arranged in the second distinct position. In the embodiment shown in Figures 5-8, the distance between the two distinct positions, e.g., the first linear position L1 and the intermediate linear position L2', is approximately equal to the distance between the axis of rotation C and the distal edge 35 (i.e., distal portion) of either the first container holder 8a or the second container holder 8b.

[0104] In the exemplary embodiment, the container holders 8a, 8b are in the form of trays configured to support the bottoms of the storage containers. The trays are connected to the rotary shaft 9 by angled beams 31. The trays may also be configured to limit lateral movement of the storage containers relative to the trays. In other embodiments, the container holders may be similar to those disclosed in WO 2019 / 076516 A1, for example. Each of the container holders may also be rotatable about an internal axis, as shown in WO 2012 / 026824 A1. In further alternative embodiments, the container holders may feature, for example, belt or roller conveyors configured to transport storage containers onto and off the container holders in a horizontal direction.

[0105] To enable stable rotation of the first and second container holders 8a, 8b about the axis of rotation C, each of the two parallel rails 15 has a cross section including an upper flange 22a with a downwardly facing guide surface 36 and a lower flange 22b for interaction with the set of wheels 17, the upper and lower flanges 22a, 22b being arranged to limit vertical movement of the set of wheels relative to the rail assembly. This feature is highly advantageous when the load on the oppositely arranged container holders is non-uniform. Without the upper flange 22a, i.e., the guide surface, a narrow shuttle such as that disclosed in this invention would easily tip or tip during rotation of the container holders between the first and second angular positions.

[0106] To enable the required rotational and linear movement, the container handling module may feature a first electric motor 20 configured to rotate the first and second container holders 8a, 8b about the axis of rotation C. Additionally, a second electric motor 21 may be arranged to rotate at least one wheel of the set of wheels 17. Alternative embodiments are envisioned in which the second electric motor is separate from the shuttle, for example, arranged or connected to a section of the rail assembly, and may move the shuttle via a suitable drive band or linear actuator. The rotary shaft 9 is operably connected to the electric motor 20 via the drive band 11. Other arrangements for connecting the rotary shaft 9 to the electric motor are also envisioned, for example, by gears or through the use of a direct drive motor. Electric power for driving the first electric motor 20 and / or the second electric motor 21 is provided by a power cable arranged within a cable protector drag chain 24.

[0107] The axis of rotation C, i.e., the centerline of the rotary shaft 9, may be inclined at a first angle X with respect to the vertical V (see FIG. 6 ). The first and second container holders 8a, 8b are configured and / or inclined such that the centerline of a stored storage container 106 is inclined at a second angle Y with respect to the axis of rotation C. In an exemplary embodiment, the centerline of a stored storage container will coincide with the centerline D of the respective container holder. The second angle Y is such that the opening of the storage container will face away from the axis of rotation C. As used herein, the centerline of a storage container 106 is a line that is perpendicular to the plane of the storage container bottom and intersects the center of the bottom.

[0108] The result of configuring and / or tilting the rotation axis C and the container holders 8a, 8b so that the stored storage container is tilted at the respective first angle X and second angle Y is that the storage container is held horizontally when stored by the container holder in the second angular position P2, and tilted in the direction of the first end 18 of the rail assembly by an angle X+Y (i.e., the third angle) when in the first angular position P1.

[0109] In the illustrated embodiment, the first angle X and the second angle Y are both 5 degrees, and the third angle is therefore 10 degrees. In other embodiments, the first angle X and the second angle Y will preferably be in the range of 1 to 10 degrees.

[0110] A common feature of the illustrated container holders is the presence of at least one container support surface, e.g., a bottom support surface 30 of a tray structure, upon which stored storage containers are supported. The support surface 30 will commonly be arranged in a support plane that is parallel to the plane of the bottom of the stored storage container 106. A line perpendicular to the support plane will therefore be inclined at the same angle relative to the axis of rotation C as the centerline of the stored storage container. The inclination of the container holder or support plane can also be defined relative to a radial plane perpendicular to the axis of rotation C by use of a second angle Y.

[0111] A second exemplary container retainer module 13' is shown in FIG. 9. A distinguishing feature of the container handling module compared to the embodiments of FIGS. 5-8 is the manner in which power is provided to the first and second electric motors 20, 21. In many applications, it can be advantageous to increase the distance between the access location and the delivery / retrieval location. In a container handling module according to the present invention, the distance is determined by the length of the rail assemblies 15, 16 and the distance the shuttle 14 can travel on the rail assemblies 15, 16. In the first exemplary container retainer module 13, the travel distance of the shuttle 14 is limited by the practical length of the cable protector drag chain 24. To enable even longer travel distances for the shuttle 14, power to the electric motors 20, 21 of the second exemplary container retainer module can be provided via contacts 25 on the rails and cooperating contacts 32 connected, for example, to wheel shafts 33 of the shuttle 14. In this manner, the shuttle travel distance is limited only by efficiency considerations resulting from the increased travel time of the shuttle from the distal delivery / retrieval position to the access position, i.e., from the second linear position L2 to the first linear position L1. The structural elements that make up the cooperating contacts 32 may also interact with the guide surfaces 37 of the rails to limit the tilting of the shuttle.

[0112] An access station featuring a first exemplary container handling module 13 is shown in Figure 10. The access station is configured for use with a storage system such as that shown in Figure 1 and described above and features a station framework 34 and a cabinet 26 with an access opening 27. First ends 18 of rail assemblies 15, 16 are arranged within the cabinet 34 such that a storage container 106 may be aligned with the access opening 27 when the shuttle 14 (Figure 8) is in a first linear position L1 and the storage container 106 is supported by one of the container holders 8a, 8b, which is arranged at a first angular position P1.

[0113] The shuttle 14 can move between a first linear position L1, an intermediate linear position L2′, and a second linear position L2. The station framework is configured to support the lower ends of three port columns 119 a-c that are arranged above the rail assemblies 15, 16. In this manner, a storage container 106 can be provided to or retrieved from either of the first and second container holders 8 a, 8 b via one of the three port columns 119 a-c when the respective container holder is in the second angular position P2 and the shuttle 14 is in any of the first linear position L1, the intermediate linear position L2′, and the second linear position L2.

[0114] The station skeleton 34 is configured to allow room for rotation of the first and second container holders 8 a, 8 b about the axis of rotation C, at least when the shuttle 14 is in the second linear position L2. The station skeleton may include a crosspiece in the form of a horizontal beam 34 a on which the lower ends of at least one port column 119 a-c of the storage system may be supported. A vertical upright 34 b may be used to support the horizontal beam 34 a. The horizontal beam is configured to support the lower ends of the port columns at a level above the upper level of the storage container 106 that is arranged above either of the first and second container holders 8 a, 8 b.

[0115] A section of a storage system 1' featuring an access station according to the present invention is shown in Figures 11-14. The access station is similar to that shown in Figure 10, except that it includes a second exemplary container handling module 13' as shown in Figure 9.

[0116] The storage system features a first port column 119a, a second port column 119b, and a third port column 119c, each of which is supported above a rail assembly 15, 16 by the station framework 34.

[0117] By using multiple port columns 119a-c, a storage container 106 can be delivered to or retrieved from the first or second container holder 8a, 8b through one of the port columns when the first or second container holder 8a, 8b is arranged in the second angular position P2 and the shuttle 14 is in any of the first linear position L1, the intermediate linear position L2', and the second linear position L2.

[0118] While the station skeleton 34 is shown as part of the access station in FIG. 10 , the station skeleton 34 may also be defined as part of the skeleton structures 102, 108 of the storage system itself. The footprint or width of the access station outside the skeleton structures 102, 108 may be smaller than that of prior art access stations because rotation of the container holders 8 a, 8 b can be performed inside the skeleton structure. Note that loss of storage space inside the skeleton structure due to the space required for container holder rotation is minimal because the columns arranged above the station skeleton are either port columns 119 or storage columns 105 (see FIG. 1 ). The storage columns 105 supported by the station skeleton include container stops (not shown) at their lower ends so that each storage column 105 can store a stack of storage containers above the station skeleton.

[0119] 11-14 illustrate an exemplary method of operating an access station (or storage system) according to the present invention.

[0120] 11, a first storage container 106′ is presented at the access location 23 by having the first storage container 106′ supported on a first container holder 8a of at least one container holder module 13′, the first container holder 8a being arranged at a first angular position P1, and the shuttle 14 being arranged at a first linear position L1. Loading / stocking of any requested items from / to the first storage container is performed by a human operator or a robot.

[0121] The shuttle 14 is then moved to the second linear position L2. A second storage container 106'' is loaded onto the second container holder 8b while it is arranged in the second angular position P2, and the first and second container holders are rotated about the rotation axis C to arrange the first container holder 8a in the second angular position P2 and the second container holder 8b in the first angular position P1. FIG. 12 shows the first storage container 106' being unloaded from the first container holder 8a by use of a container handling vehicle 301 operating on the rail system 108. In FIGS. 13 and 14, the shuttle 14 is moved toward the first linear position L1, where the second storage container 106'' can be presented to the access location 23. The combination of rotation and linear movement of the container holders 8a, 8b provides a highly flexible access station where storage containers 106 can be retrieved or delivered to any of the container holders in any preferred sequence that provides the most efficient presentation and exchange of storage containers at the access location 23. Additionally, one of the storage containers may hold items that are frequently loaded, and this arrangement of the container handling modules 13 / access stations may allow repeated loading of the items over different sequences without having to return the storage containers 106', 106''.

[0122] Further exemplary access stations according to the present invention are shown in Figures 15-17. The access stations feature three similar sets of two container handling modules 13a, 13b. Each set provides two separate access positions 23a, 23b, corresponding to the dual versions of the access stations disclosed in Figures 10-14. The provision of two adjacent access positions is made possible by a movable shuttle 14. When the two container handling modules 13a, 13b are arranged in parallel, i.e., when the respective rail assemblies 15, 16 are parallel and adjacent, the container holders 8a, 8b of the two container handling modules 13a, 13b cannot rotate about their respective rotation axes C when the respective shuttles 14 are in the same linear position. Thus, to retrieve and present a storage container 106 at the first access location 23a, the shuttle 14 of the first container handling module 13a is first moved to the second linear position L2 while the shuttle 14 of the second container handling module 13b is in the first linear position L1. The storage container is then loaded onto the first or second container holder 8a, 8b at the second angular position P2. The first and second container holders 8a, 8b of the first container handling module 13a are then rotated about the rotation axis C to move the first or second container holder onto which the storage container is loaded to the first angular position P1. The shuttle 14 of the first container handling module 13a is finally moved to the first linear position L1 to present the storage container at the access location of the first container handling module 13a. When the first container handling module 13a is arranged to present a storage container, the second container handling module 13b may move to retrieve another storage container for subsequent presentation at its respective access location 23b.

[0123] The station skeletons 34a, 34b of the access stations are expanded versions of the station skeletons described above. When the access stations are installed into the storage system 1 as described above, the first and second container handling modules are arranged such that their respective container holders are separated by a distance that corresponds substantially to the width of the rails that make up the horizontal upper rail grid 108.

[0124] Figure 18 shows a further exemplary access station according to the present invention in which two adjacent access positions 23c, 23d are obtained by arranging the rail assemblies 15, 16 of the third container handling module 13c and the fourth container handling module in a perpendicular relationship.

[0125] It should be noted that the container handling modules of the present invention may be used to provide a wide variety of different access station configurations. For example, the second linear position of the container handling module may be arranged at any desired distance from the first linear position (or access position within the access station) depending on the travel length of the shuttle.

Claims

1. A container handling module (13) for an access station (7) in a storage system (1), comprising: the container handling module (13) comprises a first container holder (8a), a second container holder (8b), a shuttle (14), and rail assemblies (15, 16); the first and second container holders (8a, 8b) are rotatably mounted on the shuttle (14) via a rotary shaft (9); a container handling module (13) in which each of the first and second container holders (8a, 8b) is arranged to store a storage container (106) and is rotatable about a rotation axis (C) between a first angular position (P1) and a second angular position (P2), the second angular position being opposite the first angular position with respect to a center line (C) of the rotary shaft (9).

2. A container handling module as described in claim 1, wherein the shuttle (14) is configured for linear movement in a horizontal direction (H) between a first linear position (L1) and a second linear position (L2) relative to the rail assembly.

3. 3. A container handling module according to claim 2, wherein the rail assembly comprises two parallel rails (15) and a supporting framework (16).

4. 4. The container handling module of claim 3, wherein each of the two parallel rails has a cross section with guide surfaces (36, 37) arranged to interact with the shuttle (14) and limit vertical movement of the shuttle relative to the rail assembly.

5. 5. A container handling module according to claim 2, wherein the shuttle comprises a set of wheels (17) configured to contact the rail assembly (15, 16) and enable movement of the shuttle in the horizontal direction (H) between the first linear position (L1) and the second linear position (L2) relative to the rail assembly.

6. A container handling module according to any preceding claim, wherein the shuttle (17) is movable between a first end (18) and a second end (19) of the rail assembly (15, 16).

7. 7. A container handling module as claimed in claim 6, wherein either the first or second container holder (8a, 8b) in the first angular position (P1) is arranged at the first end (18) of the rail assembly.

8. 8. A container handling module according to any one of claims 1 to 7, wherein the shuttle (14) is capable of linear movement over a distance at least equal to the horizontal distance between the axis of rotation (C) and a distal portion (35) of the first container holder (8a) or the second container holder (8b).

9. 9. A container handling module according to any one of claims 1 to 8, wherein the first container holder (8a) is in the first angular position (P1) when the second container holder (8b) is in the second angular position (P2).

10. 3. The container handling module of claim 2, wherein the shuttle (14) is movable to at least one intermediate linear position (L2') arranged between the first linear position (L1) and the second linear position (L2).

11. 11. A container handling module according to any one of claims 1 to 10, wherein the axis of rotation (C) is inclined at a first angle (X) relative to a vertical line (V), and each of the first container holder (8a) and the second container holder (8b) is configured such that a centerline (D) of a stored storage container (106) is inclined at a second angle (Y) relative to the axis of rotation (C) when supported by the respective container holder.

12. A container handling module as described in claim 11, wherein the center line (D) of the stored storage container (106) is vertical when in the second angular position (P2) and inclined relative to the vertical line (V) when in the first angular position (P1).

13. A container handling module as described in claim 12, wherein the center line (D) of the stored storage container (106) is inclined at a third angle (XY) with respect to the vertical line (V) when in the first angular position (P1), and the third angle is equal to the sum of the first angle (X) and the second angle (Y).

14. A container handling module according to any one of claims 11 to 13, wherein the axis of rotation (C) is inclined towards the first end (18) of the rail assembly.

15. An access station comprising at least one container handling module (13) as described in any one of claims 1 to 14, wherein the container handling module (13) is arranged to present a storage container (106) at an access position (23) of the access station.

16. An access station as described in claim 15, wherein in the access position an operator (28) or robot has access to the storage container (106) when the storage container is supported by either the first or second container holder (8a, 8b) in the first angular position (P1).

17. 17. An access station according to claim 15 or 16, wherein the container handling module (13) is arranged to allow a storage container (106) to be provided to or retrieved from either the first or second container holder (8a, 8b) when the respective container holder is in the second angular position (P2).

18. An access station according to any one of claims 15 to 17, wherein the first and second container holders are rotatable about the axis of rotation (C) when the shuttle (14) is in the second linear position (L2).

19. An access station as described in any of claims 15 to 18, comprising a cabinet (26), wherein a first end (18) of a rail assembly (15, 16) of the at least one container handling module (13) is arranged within the cabinet (26), and the cabinet (26) has an access opening (27) arranged to be aligned with the access position (23).

20. 20. An access station according to any one of claims 15 to 19, comprising a first container handling module (13a) and a second container handling module (13b), the rail assemblies of the first and second container handling modules (13a, 13b) being arranged parallel or perpendicular to each other to provide two adjacent access positions (23a, 23b).

21. 21. An access station as described in claim 20, wherein the first and second container holders (8a, 8b) of the first container handling module (13a) can rotate about the rotation axis (C) when the shuttle (14) of the first container handling module is in the second linear position (L2) and the shuttle (14) of the second container handling module (13b) is in the first linear position (L1).

22. An access station as described in any of claims 15 to 21, for a storage system characterized by at least one port column (119a-c), wherein a port column storage container (106) can be transported vertically through the at least one port column (119a-c), and the access station comprises a station skeleton (34) configured to support a lower end of the at least one port column above the rail assembly (15, 16).

23. 23. An access station according to any one of claims 15 to 22, wherein the storage system has a plurality of port columns (119a-c), and a station framework (34) is configured to support lower ends of the plurality of port columns (119a-c) above the rail assembly.

24. A storage system comprising an access station as described in any one of claims 15 to 23, characterized by at least one port column (119a-c), wherein port column storage containers (106) can be transported vertically through the at least one port column (119a-c), and the at least one port column is arranged above the rail assembly of the at least one container handling module (13) of the access station such that storage containers can be delivered to or retrieved from the first or second container holder (8a, 8b) via the port column when the first or second container holder is arranged in the second angular position (P2).

25. A method for presenting a storage container for access at an access station according to any one of claims 15 to 23, comprising the steps of: moving the shuttle (14) to a second linear position (L2); loading the storage container onto the first or second container holder (8a, 8b) in the second angular position (P2); rotating the first and second container holders (8a, 8b) around the rotation axis (C) to move the first or second container holder loaded with the storage container to the first angular position (P1); moving the shuttle (14) to a first linear position (L1) to present the storage container at the access location (23); A method comprising:

26. A method for exchanging storage containers at an access location of an access station according to any one of claims 15 to 23, comprising the steps of: presenting a first storage container (106') at the access position by supporting the first storage container on a first container holder (8a) of the at least one container holder module (13), the first container holder (8a) being arranged in the first angular position (P1) and the shuttle (14) being arranged in a first linear position (L1); moving the shuttle (14) to a second linear position (L2) and loading a second storage container (106'') onto the second container holder (8b) arranged at the second angular position (P2); rotating the first and second container holders around the rotation axis (C) to arrange the first container holder (8a) in the second angular position (P2) and the second container holder (8b) in the first angular position (P1); Optionally, unloading the first storage container (106') from the first container holder (8a); moving the shuttle (14) to a first linear position (L1) to present the second storage container (106'') at the access position; A method comprising:

27. 22. A method for presenting a storage container for access at an access station according to claim 20 or 21, comprising the steps of: moving the shuttle (14) of the first container handling module (13a) to a second linear position (L2) while the shuttle (14) of the second container handling module (13b) is in a first linear position (L1); loading the storage container onto a first or second container holder of the first container handling module (13a) in the second angular position (P2); rotating the first and second container holders of the first container handling module (13a) around the rotation axis (C) to move the first or second container holder loaded with the storage container to the first angular position (P1); moving the shuttle (14) of the first container handling module (13a) to a first linear position (L1) and presenting the storage container at a first access location (23a); A method comprising:

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