High-speed bin lift for automated storage systems

Abstract

To improve throughput of an automated storage system.SOLUTION: There is provided a lift system for an automated storage system. The automated storage system is one in which storage containers are stacked in storage columns arranged in a grid, and an automated container handling vehicle retrieves and exchanges containers from an upper level of the grid. The lift system has a vertically movable platform 402 adjacent to a face of the grid, the platform being configured to receive and transport one or more containers. A dedicated mechanical device is configured to grab, lift, and move the storage container from a staging area at a top of the grid and to place the container on the platform, the reverse being also possible.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an automated warehouse system for the storage and retrieval of containers. This invention relates to a grid storage and retrieval system, and more particularly to a lifting device and system for moving containers between vertical levels of a grid storage system. [Background technology]

[0002] An automated grid storage system generally includes the following: Figure 1 discloses a typical prior art automated warehouse system of the type commercially sold by the applicant. Figure 1 shows a framework structure 100, and Figures 2 and 3 disclose two different prior art container handling vehicles 201, 301 suitable for operation in such a system.

[0003] The framework structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103, which are supported by the upright members 102. The members 102, 103 may typically be made from metal, for example, from extruded aluminum profiles.

[0004] The framework structure 100 defines a storage grid 104 that includes storage columns 105 arranged in rows within which storage containers 106 (also known as bins) are stacked one on top of the other to form stacks 107. The storage grid 104 prevents horizontal movement of the stacks 107 of storage containers 106 and guides vertical movement of the containers 106, but typically does not otherwise support the storage containers 106 when stacked.

[0005] The automated warehouse system 1 includes a rail system 108 arranged in a grid pattern across the top of the storage grid 104, and a plurality of automated container handling vehicles 201, 301 travel on the rail system 108. The container handling vehicles have a gripping / lifting mechanism 202 / 302 that is used to grip the storage columns 105 and then raise or lower the storage containers 106 from or into the storage columns 105. In one embodiment shown in FIGS. 2a and 2b, the gripping / lifting mechanism 202 raises the container into a cavity in the body of the vehicle. FIGS. 3a and 3b show an alternative configuration of a container handling vehicle 301, in which the gripping / lifting mechanism 302 is arranged as part of a cantilever structure 303. Such vehicles are described in detail, for example, in NO 317366, the contents of which are also incorporated herein by reference.

[0006] The container handling vehicles are configured to transport storage containers 106 above the storage columns 105. The rail system 108 includes a first set of parallel rails 110 and a second set of parallel rails 111, the first set of parallel rails 110 being configured to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the frame structure 100, and the second set of parallel rails 111 being arranged perpendicular to the first set of rails 110 and guiding movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. In this way, the rail system 108 defines a grid column 112, Above the grid column 112, the container handling vehicles 201, 301 can move laterally in the X or Y direction above the storage columns 105, i.e., in a plane parallel to the horizontal XY plane. The upper part of a column (105 / 112) in the horizontal plane (showing the column's position in the grid in two horizontal dimensions) can be referred to as a "cell".

[0007] To monitor and control the automated warehouse system 1 (e.g., to monitor and control the location of each storage container 106 within the grid 104, 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 warehouse system 1 includes a control system, which is typically computerized and which typically includes a database for tracking the storage containers 106.

[0008] [Transportation of containers to different levels in an access station or multi-level grid system] Containers in the grid system often must be moved from their positions in the columns to an access station (not shown) (typically located at a lower level of the grid) where an operator (either a human operator or an automated operator) can remove items from the containers to be placed in shipping containers, etc., and / or refill the containers for replacement in the grid.

[0009] In a storage grid 104, the majority of the grid columns 112 are storage columns 105, i.e., columns in which storage containers 106 are stored in stacks 107. However, a grid 104 typically has at least one grid column 112 lacking a storage container 106, through which container handling vehicles 201, 301 can raise or lower storage containers 106 to different levels using their own lifting mechanisms. Within the art, such grid columns are referred to as “port columns” 119, 120, and locations at the top or bottom of the columns are typically referred to as “ports.” According to one embodiment, a conveyor belt system may be positioned below the port column, and container handling vehicles lower containers onto the port column for further transport to and from an access station. In some cases, a grid has one or more port columns dedicated to lowering containers for delivery and a different port column dedicated to lifting containers for retrieval.

[0010] In other cases, grid storage systems include multiple vertically arranged levels or sections, each with its own upper level and container handling vehicles. In such multi-level systems, it is often desirable to transfer containers from one level to another, and this is accomplished by container handling vehicles lowering or raising containers from one level to another through port columns.

[0011] WO / 2014 / 075937 describes a storage system with a dedicated bin lift arrangement for vertically transporting storage bins to different levels of a delivery station or multi-level storage system, the lift arrangement being configured to transport the bins through one or more individual port columns.

[0012] [Prior art disadvantages] There are several disadvantages to using the container handling vehicle's own lifting mechanism to move containers vertically through the port column.

[0013] One disadvantage is that prior art systems require very precise construction and maintenance of the framework structure to ensure that the port columns are properly aligned. This is especially true for multi-level systems, where the various levels must be painstakingly aligned with one another so that a container passing through a port column on one level properly mates with a column on a different level. Also, framework misalignment can result in a vehicle collision. Any future sagging or shifting of the framework (due, for example, to temperature differences) can cause the port columns to become misaligned, thus disrupting the delivery of containers.

[0014] Another disadvantage is that the speed and robustness of the lifting mechanisms of container handling vehicles are necessarily limited due to vehicle size and cost considerations, which reduces the throughput capacity of the automated storage system.

[0015] A further disadvantage is that congestion can occur near the port as vehicles wait for other vehicles to vacate the space above the port columns, which also adversely affects the throughput capacity of the automated storage system. Summary of the Invention [Means for solving the problem]

[0016] The invention is defined in the claims. More specifically, the present invention provides a storage system as described in the introduction, further comprising a vertically movable platform adjacent to the face of the grid, the platform configured to receive and transport one or more containers, and a dedicated mechanical device configured to grasp, lift, and transfer storage containers from the top of the grid and to place containers on the platform, and vice versa.

[0017] In one embodiment, the dedicated mechanical device is a manipulator trolley configured to travel along two parallel trolley rails extending from a position above the grid to a position above the platform, the area between the trolley rails defining a staging area including a plurality of cells configured to receive storage bins awaiting retrieval by the manipulator trolley and / or configured to receive storage bins awaiting retrieval by a handling vehicle.

[0018] The storage system can include multiple vertically arranged levels, each grid with its own manipulator trolley, in which arrangement, in one embodiment, the platform is horizontally movable an amount sufficient to compensate for any horizontal misalignment between the grids, so that containers transported from one level can be retrieved by a manipulator trolley on a different level.

[0019] In accordance with another aspect, the present invention provides a platform for transporting storage containers between a plurality of vertically disposed storage grids in a multi-level storage system, the platform being vertically movable along one or more vertical rails. wherein the one or more vertical rails are positioned outside of and operatively adjacent to the vertically aligned faces of the grid sections, and the platform is horizontally adjustable relative to the one or more vertical rails by an amount sufficient to accommodate horizontal misalignment between the rail systems of the respective grid sections.

[0020] In one embodiment, the platform is horizontally adjustable in that it includes a vertically movable frame member and a horizontally movable carriage member connected to the vertically movable frame member. The carriage member further includes one or more alignment wheels connected to the carriage member in a position such that the alignment wheels travel along the surface of the vertical rail during vertical movement of the platform. One or more alignment brackets are disposed on the vertical rail. The alignment brackets include upper and lower inclined surfaces and protrude from the sides of the vertical rail a distance corresponding to the intended horizontal adjustment distance for the platform. In use, the alignment wheels roll up against the inclined surfaces of the protruding alignment brackets mounted on the vertical rail during vertical movement of the frame member, thereby causing the carriage member to move horizontally relative to the frame member.

[0021] According to yet another aspect, the present invention provides a method for transporting storage containers in an automated storage grid system of the type according to the preamble of claim 1, the method according to this aspect comprising: a. positioning a vertically movable platform adjacent to a face of the grid; b. Deploying dedicated mechanical devices to grab, lift and move storage containers from the top of the grid and to place containers on the platform and vice versa; c. Designating a plurality of cells (P) for placement of storage containers awaiting transfer from the grid to the platform; d. Designating a plurality of cells (G) for placement of storage containers awaiting retrieval by a container handling vehicle; e. having a container handling vehicle place a storage container on the cell (P); f. causing a dedicated mechanical device to remove any container from the platform and place said container on top of cell (G); g. causing a dedicated mechanical device to lift the storage container from the cell (P) and place the container on a platform; h. causing the platform to lower the container to a lower level within the grid system; Includes:

[0022] It can be seen that the systems and methods of the present invention, at least in preferred embodiments, provide one or more of the following advantages. To provide a dedicated lifting and lowering mechanism for vertically transporting storage containers that is more robust and stronger than is possible by using a vehicle's lifting mechanism, which increases the capacity and throughput of the storage system and avoids costly wear and tear on the vehicle's lifting mechanism.

[0023] The platform can be adjusted laterally to account for misalignment ,Grid level alignment in a multi-level storage system is less important.

[0024] The staging area allows container handling vehicles to drop off containers and continue with other tasks, thus avoiding downtime or congestion around the port.

[0025] The port column can be re-dedicated for storage. The following drawings are included to facilitate an understanding of the invention and illustrate embodiments of the invention, which will be described by way of example only. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a perspective view of a grid of a prior art automated warehouse system. [Figure 2a] FIG. 1 is a perspective view of a prior art container handling vehicle having a centrally located cavity for containing a storage container therein. [Figure 2b] FIG. 1 is a perspective view of a prior art container handling vehicle having a centrally located cavity for containing a storage container therein. [Figure 3a] FIG. 1 is a perspective view of a prior art container handling vehicle having a cantilever beam for containing storage containers thereunder. [Figure 3b] FIG. 1 is a perspective view of a prior art container handling vehicle having a cantilever beam for containing storage containers thereunder. [Figure 4] FIG. 1 is a perspective view of a multi-level automated warehouse system. [Figure 5] FIG. 1 is a side view of a multi-level automated warehouse system. [Figure 6] FIG. 1 is a perspective view of a multi-level automated warehouse system with a container handling vehicle shown. [Figure 7] FIG. 1 is a side view of a multi-level automated warehouse system. [Figure 8] FIG. 10 is an enlarged view of the motor and pulley assembly. [Figure 9]10A-10C show an embodiment of a manipulator trolley for the transfer of storage containers from the upper level grid to the lift platform of the present invention. [Figure 10] 10A-10C illustrate an embodiment of a manipulator trolley for the transfer of storage containers from a lower level grid to an exemplary lift platform of the present invention. [Figure 11] FIG. 10 is a top view of a staging area showing "put" and "get" cells. [Figure 12] FIG. 1 is an enlarged perspective view showing a container handling vehicle placing a container in a staging area. [Figure 13] 1 is a perspective view of an embodiment of a lift platform. FIG. [Figure 14] FIG. 14 is an exploded view of the lift platform of FIG. 13. [Figure 15] FIG. 14 is a perspective view of the lift platform of FIG. 13 and a means for adjusting the horizontal position of the platform. [Figure 16] FIG. 1 is a perspective view of an automated warehouse system with an off-loading / on-loading station on the lower level. [Figure 17] FIG. 1 is a close-up view of an off-loading / on-loading station with a conveyor arrangement. [Figure 18] FIG. 18 is an enlarged view of the off-loading / on-loading station of FIG. 17 with the conveyor arrangement. [Figure 19] FIG. 1 is a close-up view of an off-loading / on-loading station in operation with an autonomous delivery vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0027] In the following, embodiments of the invention will be discussed in more detail, by way of example only, and with reference to the accompanying drawings, in which it should be understood, however, that the drawings are not intended to limit the invention to the subject matter shown therein.

[0028] The present invention provides an automated storage system 1 constructed in accordance with the prior art as described above in connection with FIGS. 1-3, namely, a framework 100 having a plurality of upright members 102 and a plurality of horizontal members 103, the plurality of horizontal members 103 being supported by the upright members 102 and defining a first storage grid 104. The storage grid 104 includes grid columns 112, which are storage columns 105 in which storage containers 106 are stacked. The framework 100 includes a track system 108 of parallel tracks 110, 111 extending in the X and Y directions and arranged across the top of the storage grid 104, and a plurality of container handling vehicles (201 / 301) travel on the track system 108. The container handling vehicle is preferably an autonomous vehicle configured to lift storage containers 106 from storage columns 105 and transport the storage containers around the grid, as well as place the storage containers back into storage columns 105.

[0029] In Figure 1, storage grid 104 is shown with a height of eight cells. However, it is understood that storage grid 104 can, in principle, be of any size. In particular, it is understood that storage grid 104 can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, storage grid 104 can have a horizontal extension of more than 700x700 grid cells and a depth of more than 12 grid cells.

[0030] According to one embodiment, the automated storage system 1 can include multiple levels, as shown in FIGS. 4 and 5, which illustrate two levels of storage grids 104 and 104′, in which a first storage grid 104 is positioned vertically above a corresponding second storage grid 104′, e.g., on an upper floor of a building directly above the second storage grid 104′. FIG. 4 illustrates the first storage grid 104 and the second storage grid 104′ as having the same number of columns in the X and Y directions. It should be understood that this is not necessarily the case, as grids on different levels may have different configurations. As can be seen in FIG. 5, the grid columns 112 of the first storage grid 104 are substantially aligned with the corresponding grid columns 112′ of the second storage grid 104 along the front faces 400 and 400′, respectively. FIG. 6 shows container handling vehicles 201 and 201' (alternatively 301 / 301') traveling on rail systems 108 and 108', respectively.

[0031] According to one aspect, the present invention provides a bin lift arrangement for transporting storage bins between levels in a multi-level automated warehouse system and for transporting storage bins between the top of a storage grid 104 / 104' and the bottom of the storage grid, where the storage bins can be further transported, for example, to an access station.

[0032] The bin lift arrangement includes a vertically movable platform 402 that is vertically movable adjacent to the face of the grid along one or more (preferably two) vertical lift rails 404. As can be seen in Figure 5, the platform 402 has a depth that corresponds substantially to the width of the storage container 106, and the lift rails 404 are positioned adjacent to the face (e.g., In this embodiment, the platform 402 is positioned outside the front face 400 / 400' of the storage grid 104 / 104' at a distance such that the front edge of the platform 402 is functionally adjacent to the front face 400 / 400'.

[0033] As used herein, the term "functionally adjacent" means that the platform can move up and down near the grid 104 / 104' without interfering. The platform 402 is configured to receive and vertically transport one or more storage bins 106. The platform 402 may be movable by a motor and pulley arrangement 406 (e.g., as shown in FIG. 8) or by other lifting means known in the art.

[0034] Storage containers 106 can be moved from the storage grid 104 / 104′ to and from the platform 402 by a dedicated mechanical device for grasping, lifting, and moving the storage containers. As used herein, the term “dedicated mechanical device” refers to a device separate from the container handling vehicle 201 / 201′ / 01 / 301′, whose function is primarily reserved for moving containers between the grid and the platform (and vice versa). In one embodiment, such a device is in the form of a manipulator trolley 408 / 408′, as shown in FIGS. 9 and 10 . FIG. 9 shows the manipulator trolley 408 positioned in relation to the upper level grid 104, while FIG. 10 shows the manipulator trolley 408 positioned in relation to the lower level grid 104′. The manipulator trolley 408 / 408' has one or more grabbing / lifting mechanisms 410 configured to grab a storage container 106 from a position on top of the storage grid and lift the container upward, whereupon the manipulator trolley 408 / 408' transports the storage container to a position above the platform 402, whereupon the grabbing / lifting mechanism 410 lowers the storage container onto the platform. When the platform 402 returns with the storage container 106, the manipulator trolley 408 / 408' reverses this sequence, removing the container from the platform 402 and placing the container on top of the storage grid 104 / 104'.

[0035] The manipulator trolley 408 / 408' is movable from a position above the storage grid 104 / 104' to a position above the platform 402 by travelling along a horizontal trolley rail 412 by a motorised mechanism. In one embodiment shown in Figure 5, the trolley rail 412 is positioned directly above the rail system 108 / 108', and the container handling vehicles 201, 301 travel on the rail system 108 / 108'. In another embodiment shown in Figure 6, the trolley rail 412 may be suspended above the rail system 108 / 108' a distance greater than the height of the vehicles, allowing the vehicles to travel underneath the trolley rail 412.

[0036] 11, the area of ​​the grid located between the trolley rails 412 represents a staging area 414. The staging area 414 includes cells at the upper level of the grid where containers 106 can be placed by vehicles 201 / 301, where they wait to be retrieved and moved by manipulator trolleys 408, and also includes cells where the manipulator trolleys can place them, where they wait to be retrieved by vehicles. These cells may be referred to as "put" cells and "get" cells, respectively. , represented by the letters P and G in FIG. 11 . Here, four put cells are shown along the far edge of the grid surface, and four get cells are shown disposed along the next innermost row, which correspond to platforms 402 having a capacity of four containers 106. It should be understood that platforms 402 can have different capacities, and that staging areas 414 and put cells P and get cells G can be arranged in any manner and dynamically re-designated as needed, for example, according to routing considerations determined by the automated storage system.

[0037] 12, the container handling vehicle 201, 301 places a container 106 in a putcell P, thus freeing the vehicle to participate in other tasks. The manipulator trolley 408 / 408' will then grab the containers 106 in the putcell P, preferably grab and lift the containers 106 en masse, and place the containers 106 on the platform 402. If the platform 402 is transporting containers 106 for exchange in the storage columns 112, 112', the manipulator trolley 408 will first place the returning containers in the get cell G, travel to the putcell P, lift the containers 106 located there, and then place those containers on the platform 402. The vehicle can then arrive to retrieve the containers 106 from the get cell G and exchange them in the storage columns 112, 112'.

[0038] According to one embodiment of the present invention, platform 402 is movable horizontally (transverse to its vertical direction of travel). This horizontal movement is provided to account for any potential horizontal misalignment between columns 112 of different grid levels. Figures 13-15 illustrate one embodiment of platform 402 that provides such horizontal displacement. It should be understood that other arrangements for horizontal adjustment of platform 402 may be within the scope of the present invention.

[0039] Figure 13 shows the assembled platform 402, while Figure 14 shows an exploded view of the platform 402. The platform 402 includes a rectangular lifting frame 416. The lifting frame 416 has connection points 418 (e.g., shackles) along its top edge for attachment to one or more pulley lines 420 operated by a motor / pulley arrangement 406. The lifting frame 416 further includes a plurality of rail wheels 422 configured to engage and travel along the lift rails 404.

[0040] The platform 402 further includes a horizontally movable carriage member 424 with a receiving surface 426, upon which the storage bin 106 can be placed. The carriage member 424 has a rearwardly extending guide wheel 428 that is mounted on a bracket 430. As seen in FIG. 13 , the guide wheel 428 engages with the inner surface of a horizontal guide rail 432 of the lifting frame 416. Thus, the guide wheel 428 allows the carriage member 424 to move horizontally relative to the lifting frame 416.

[0041] As shown in FIG. 15, the lifting frame 416 has a width substantially equal to the space between the lift rails 404, and the carriage members 424 are wider than the lift rails 404 and extend beyond the lift rails 404 on either side. The carriage member 424 is equipped with one or more alignment wheels 434. The alignment wheels 434 are mounted on the rear portion of the carriage member 424 in a position such that the alignment wheels 434 are located outside the lift rails 404.

[0042] If the columns of the second grid level are horizontally misaligned with the first level by a known distance, an alignment bracket 436 may be attached to the lift rail 404 at a vertical position where the platform 402 will stop to retrieve or unload a container. The alignment bracket 436 has an angled portion 438 and an intermediate straight portion 440. The angled portion 438 is positioned to extend the straight portion 440 a distance from the lift rail 402 that corresponds to the degree of misalignment between the columns of the two levels. As can be appreciated from FIG. 15 , as the platform 402 is lowered along the lift rail 404, the alignment wheels 434 ride up the angled portion 438, thereby causing the carriage members 424 to move horizontally relative to the lifting frame 416 via the guide wheels 428. According to one embodiment, a warehouse system may include an inventory of alignment brackets 436 with various offset distances. If the grid levels become misaligned, the system operator can simply select the bracket with the appropriate offset.

[0043] According to yet another embodiment of the present invention, an off-loading / on-loading station 442 may be located at the bottom of the lift rails 404 in a lower level of the automated storage system. At the off-loading / on-loading station 442, storage bins are moved by a manipulator trolley 408, which is disposed in relation to the station 442 to offload the storage bins from the lifting arrangement for transport to a different location, for example, to an access station (not shown) where the bins can be accessed by an operator. Conversely, bins may be loaded onto the lifting arrangement at the station 442 for transport to an upper level of the grid. FIG. 16 illustrates the station 442 with the platform 402 at the upper level of the grid to retrieve the bins 106; FIG. 17 illustrates the platform 402 in transit to the station 442, while FIG. 18 illustrates the platform 402 arriving at the station 442. In FIG. 18, it can be seen that the manipulator trolley 408 travels along the trolley rails 412 to on-load / off-load the bins 106 from the platform 402 .

[0044] 16-18 illustrate a first embodiment in which a manipulator trolley 408 moves bins 106 onto and retrieves bins 106 from a transport system including a delivery line 444 and a return line 446. Lines 444 and 446 transport bins 106 to different locations, such as an access station (not shown). In an alternative embodiment, the manipulator trolley 408 at the off-loading / on-loading station 442 can directly place bins 106 into or retrieve bins 106 from one or more autonomous delivery vehicles. Delivery vehicles 408 are more fully described in Application No. 20180813, filed June 12, 2018, and Application No. 20181005, filed July 19, 2018, the entire contents of which are incorporated herein by reference as if reproduced in full herein. The delivery vehicles 448 have a bin receiving section where the bins 106 can be placed by the manipulator trolley 408. The delivery vehicles 448 then use their own dedicated rail system 4 50 to different locations, such as access stations. The combination of the lifting arrangement of the present invention with autonomous delivery vehicles can dramatically increase the flexibility and throughput of the automated storage system. The dedicated rail system can include a first rail system positioned within the framework structure of the storage grid and a second rail system positioned outside the framework structure of the storage grid, the first and second rail systems connected such that the delivery vehicles can operate between the rail systems.

[0045] A second location may be connected to a second rail system. [Explanation of symbols]

[0046] 100 Framework 102 Upright Member 103 Horizontal Members 104 Storage Grid 105 Storage Column 106 Storage Container 107 stacks 108 Track System 110 / 111 Truck 112 Grid Column 119, 120 Port Column 201, 301 Container handling vehicles 202 Gripping / Lifting Mechanism 303 Cantilevered Beam Structure 400 Grid Front 402 Platform 404 Lift Rail 406 Motor / pulley assembly 408 Manipulator Trolley 410 Grabbing / Lifting Mechanism 412 Trolley Rail 414 Staging Area 416 Lifting Frame 418 connection points 420 Pulley Line 422 Rail Wheel 424 Carriage member 426 Receiving Surface 428 Guide Wheel 430 Bracket 432 Guide Rail 434 Alignment Wheel 436 Alignment Bracket 438 Slope section 440 Straight section 442 On / Off Loading Station 444 Delivery Line 446 Return Line 448 Autonomous Delivery Vehicles

Claims

1. 1. An automated storage system of the type in which storage containers are arranged in a grid within storage columns, comprising: a vertically movable platform adjacent a face of the grid of storage columns, the platform configured to receive and transport one or more containers; a dedicated mechanical lifting device configured to grab, lift, and move the storage containers from the tops of the plurality of storage columns and place the containers on the platform, and vice versa; Including, Automated storage system.

2. the dedicated mechanical lifting device (408) is a manipulator trolley configured to travel along two parallel trolley rails; the trolley rails extend from a location above the grid (104) to a location above the platform; the area between the trolley rails (412) defines a staging area containing a plurality of cells; The plurality of cells include: configured to receive storage bins awaiting retrieval by said manipulator trolley; and / or configured to receive storage bins awaiting retrieval by a container handling vehicle; The storage system of claim 1 .

3. The staging area includes: Designated to hold containers awaiting transport to said platform. a first plurality of cells; a second plurality of cells designated for placement of storage containers awaiting retrieval by the container handling vehicle; and Including, the number of the first plurality of cells and the second plurality of cells are each at least equal to the number of storage containers that may be placed on the platform; The storage system of claim 2 .

4. the platform includes a vertically movable frame member; the vertically movable frame member is configured to travel along one or more vertical rails; the one or more vertical rails are positioned outside of and operatively adjacent to the surface of the grid; a horizontally movable carriage member connected to the vertically movable frame member; the carriage member is configured to receive a container; the carriage member is connected to the frame member by one or more guide wheels configured to roll along one or more horizontal guide rails of the frame member; The storage system of claim 1 .

5. the carriage member further includes one or more alignment wheels; the one or more alignment wheels are connected to the carriage member at positions relative to a vertical rail; the alignment wheels are configured to contact and roll up an inclined surface of a protruding alignment bracket mounted on the vertical rail during vertical movement of the frame member; The carriage member is moved horizontally relative to the frame member. The storage system according to claim 4.

6. the storage system further includes, at a lower level, an on-loading and off-loading station including a manipulator trolley; The manipulator trolley configured to remove the container from the platform; configured to transfer the container to a container delivery vehicle for transporting the container to a destination within the system; The storage system of claim 1 .

7. The delivery means is a conveyor system. The storage system of claim 6.

8. The delivery means is a plurality of autonomous delivery vehicles. The storage system of claim 6.

9. further comprising a plurality of upwardly extending members and a plurality of horizontal members defining a framework structure in the form of a grid; The storage system of claim 1 .

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