Access station for automated storage and retrieval system and method of using same

Abstract

The present invention relates to an access station (10) for the presentation of storage containers (106) from an automated storage and retrieval system (1) to a picker (P). The access station (10) comprises an access module (20) comprising a frame (21) defining a drawer compartment (25) provided in the frame (21), and a drawer (40) comprising a drawer base (41) and a drawer front (42). The drawer (40) is movably connected to the frame (21). A first actuator (62) is used to move the drawer (40) relative to the frame (21) between a presentation position (PP) in which the drawer (40) protrudes from the drawer compartment (25) and a retracted position (RP) in which the drawer (40) is retracted into the drawer compartment (25).

Description

[Technical Field]

[0001] The present invention relates to an access station for the presentation of storage containers from an automated storage and retrieval system to a picker. The present invention also relates to an automated storage and retrieval system comprising a framework with such an access station. The present invention also relates to a method for the presentation of storage containers from an automated storage and retrieval system to a picker. [Background technology]

[0002] FIG. 1 discloses a typical prior art automated storage and retrieval system 1 with a framework structure 100, and FIGS. 2 and 3 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 in a row between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also known as bins, are stacked on top of each other to form stacks 107. The members 102, 103 may typically be made of metal, for example, extruded aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 includes a rail system 108 disposed across the top of the framework structure 100, on which a plurality of container handling vehicles 201, 301 are operable to lift storage containers 106 from, lower storage containers 106 into, and transport storage containers 106 above the storage columns 105. The rail system 108 includes a first set of parallel rails 110 disposed to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 disposed 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 are able to move laterally above the storage columns 105, ie in a plane that is parallel to the horizontal XY plane.

[0005] The uprights 102 of the skeletal structure 100 can 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.

[0006] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a and first and second sets of wheels 201b, 301b, 201c, 301c that enable lateral movement of the container handling vehicle 201, 301 in the X and Y directions, respectively. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b are positioned to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c are positioned 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.

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage containers 106 (e.g., lifting the storage containers 106 from the storage columns 105 and lowering the storage containers 106 therein). The lifting device includes one or more gripping / engaging devices adapted to engage the storage containers 106, which can be lowered from the vehicle 201, 301, thereby adjusting the position of the gripping / engaging devices relative to the vehicle 201, 301 in a third direction Z, which is orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is shown in FIG. 3, designated with reference numeral 304. The gripping device of the container handling device 201 is located within the vehicle body 201a of FIG. 2.

[0008] As before, and for purposes of this application, Z=1 identifies the top layer of the storage container, i.e., the layer directly below rail system 108, Z=2 identifies the second layer below rail system 108, Z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the lowest bottom layer of the storage container. Similarly, X=1···n and Y=1···n identify the horizontal plane P H 1, the storage container identified as 106' in FIG. 1 can be said to occupy storage location X=10, Y=2, Z=3. The container handling vehicles 201, 301 can be said to travel in tier Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0009] 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.

[0010] 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 (Patent Document 1), the contents of which are incorporated herein by reference, the storage space may include a cavity centrally located within the vehicle body 201 a.

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

[0012] 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."

[0013] Alternatively, the central hollow container handling vehicle 101 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 2).

[0014] 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.

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

[0016] In the skeleton structure 100, the majority 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 they 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.

[0017] In FIG. 1, the first port column 119 may be, for example, a dedicated unloading 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.

[0018] 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. A port may 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), to a transport vehicle (e.g., a train or lorry), or to a production facility.

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

[0020] 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 vertically transporting the storage containers 106 between the port columns 119, 120 and the access stations.

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

[0022] When a storage container 106 stored in one of the columns 105 disclosed in FIG. 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 unloading 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) of 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 unloading 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 upper-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 it 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 container handling vehicles 201, 301 specifically dedicated to the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 is removed from the storage column 105, the temporarily removed storage container 106 can be repositioned in the original storage column 105. However, the removed storage container 106 may alternatively be repositioned in another storage column 105.

[0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 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 container 106 located at or above the target location in the stack 107 is removed, the container handling vehicle 201, 301 positions the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0024] 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.

[0025] WO2020 / 074717 discloses an access station for loading storage containers. The access station includes an entrance conveyor and an exit conveyor. The access station therefore has a footprint that exceeds the width / length of the storage column. Therefore, there will be a distance between the picking areas of two adjacent access stations.

[0026] The access station disclosed in WO2020 / 074717 also has many moving or rotating components, particularly associated with the conveyor, which are subject to friction and require regular maintenance.

[0027] An object of the present invention is therefore to provide a smaller access station in which the picking areas can be placed closer to each other.

[0028] A further object of the invention is to reduce the complexity of the access station, especially with regard to the number of moving components. [Prior art documents] [Patent documents]

[0029] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0030] 1. An access station for presentation of storage containers from an automated storage and retrieval system to a picker, the access station comprising: an access module comprising a frame defining a drawer compartment provided within the frame; a drawer comprising a drawer base and a drawer front, the drawer being movably connected to the frame; a first actuator for moving the drawer relative to the frame between an presented position in which the drawer extends from the drawer compartment and a retracted position in which the drawer is retracted into the drawer compartment; and Equipped with the drawer base includes a support portion on which the storage container can be supported in a front position or a rear position; the access station includes a second actuator for moving the storage container from the front position to the rear position; A storage container is presented to a picker when the storage container is in the front position and the drawer is in the present position.

[0031] In one aspect, the access station includes a front opening, and a portion of the drawer is configured to protrude from a front side of the front opening when in the presentation position.

[0032] In one aspect, the front opening is oriented in a vertical plane. In one aspect, the drawer is movable in a horizontal plane relative to the frame.

[0033] In one aspect, the access station includes a top opening through which the storage container is retrievable from the drawer and through which the storage container is receivable by the drawer.

[0034] In one aspect, the storage container is retrievable from the drawer through the top opening in a vertical orientation. In one aspect, the storage container is received by the drawer through the top opening in a vertical orientation.

[0035] In one aspect, the front position is located below the top opening when the drawer is in the retracted position, and the rear position is located below the top opening when the drawer is in the extended position.

[0036] In one aspect, the access station -When the drawer is in the retracted position, it receives the storage container, -Allows storage containers to be retrieved from the rear position when the drawer is in the presentation position It is structured as follows.

[0037] In one aspect, the access station - configured to move the storage container from a front position to a rear position when the drawer is in the retracted position or while the drawer is moving from the presented position to the retracted position.

[0038] In one aspect, the access station includes a retracted position sensor for determining when the drawer is in the retracted position and a presented position sensor for determining when the drawer is in the presented position.

[0039] In one aspect, the first actuator includes a motor, an actuating element moved by the motor, and a guide for guiding the movement of the actuating element.

[0040] In one aspect, the second actuator includes a motor, an actuating element moved by the motor, and a guide for guiding the movement of the actuating element.

[0041] According to the above, retrieval of the storage container is performed while the picker is performing a picking or supplying operation from the storage container when the storage container is in the first position of the drawer base and the drawer is in the presentation position.

[0042] In one aspect, the access station is defined with a buffer location above the top opening, where additional storage containers can be transported from the automated storage and retrieval system to the buffer location while the picker is performing a picking or supply operation.

[0043] According to this buffer location, efficiency of the access station can be achieved. In one aspect, the storage containers are held at the buffer location by means of a container handling vehicle.

[0044] In one aspect, the frame includes vertical side guide plates for guiding the drawer fronts when extended out to the presentation position and when retracted to the retracted position.

[0045] In one aspect, the vertical sided guide plate fits snugly against the drawer front, reducing the gap and the possible risk of crushing fingers / hands during drawer movement. In one aspect, a resilient material is positioned between the guide plate and the drawer front, further reducing the gap and risk.

[0046] In one aspect, the frame includes horizontal lower side guide plates for guiding the drawer fronts, which also fit snugly against the drawer fronts to reduce the risk of crushing fingers / hands during drawer movement.

[0047] In one aspect, the drawer base is equipped with wheels that run on horizontal lower side guide plates during movement of the drawer between its retracted position and its presented position. The side guide plates and lower side guide plates are fixed in relation to the access module and the automated storage and retrieval system and are therefore visible to pickers or other personnel working near the system's framework. Thus, when the drawer is moved from the retracted position to the presented position, the drawer front is moved within the space between the vertical guide plate and the lower horizontal guide plate, so that this movement will not cause any noticeable obstruction to nearby personnel.

[0048] In one aspect, the frame includes a guard that defines an upper boundary of the front opening.

[0049] In one aspect, the side guide plate, the lower side guide plate, and the guard together define a boundary of the front opening.

[0050] In one aspect, the access station includes a safety mechanism to prevent an object from being pinched between the drawer front and the guard during movement of the drawer from the presented position to the retracted position.

[0051] According to this safety mechanism, the risk of injury to the picker, specifically hand / finger pinch injury when parts of the access station are moving, is reduced.

[0052] In one aspect, the safety mechanism comprises: a flap element adjacent to the guard and provided on the front side of the guard; a sensor for sensing movement of the flap element relative to the guard; It is equipped with:

[0053] In one aspect, the flap element is movably connected to a flap retention structure that is secured to the frame.

[0054] In one aspect, the flap retention structure is fixed to the guard. In one aspect, the flap element is movably connected to the flap retention structure by means of one or more hinges.

[0055] In one aspect, the flap retention structure is a support structure for a user interface system.

[0056] The sensor may be an integrated circuit type sensor, such as an accelerometer, connected to the first actuator. The sensor may be a push button type security switch activated by movement of the flap element, the security switch being connected to the first actuator. Sensors of this type are known to those skilled in the art.

[0057] In one aspect, the support includes rollers for supporting the storage container in the rear position.

[0058] In one aspect, the support includes a weight sensor for measuring the weight of the storage container when supporting the storage container in the front position.

[0059] In one aspect, the second actuator includes an electric motor and an actuating element movable by means of the electric motor.

[0060] In one aspect, the drawer front and guard are vertically aligned when the drawer is in the retracted position.

[0061] In one aspect, an access station may include two or more access modules, each including a drawer. The access modules may be positioned adjacent to each other or spaced a distance from each other.

[0062] In one aspect, the drawer includes a container stop for preventing movement of the storage container from the front position toward the rear position when the drawer is in the presentation position.

[0063] The present invention also relates to an automated storage and retrieval system comprising a skeletal structure, the skeletal structure comprising: an upright member; a horizontal member; a storage volume comprising storage columns provided between the elements, wherein the storage containers are stackable in stacks within the storage columns; - a rail system provided at the top of the member; Equipped with The automated storage and retrieval system comprises container handling vehicles that travel on a rail system; An automated storage and retrieval system comprises an access station according to any one of the claims, wherein a drawer compartment is provided within a skeleton structure, the drawer at least partially protruding from the skeleton structure in the presentation position.

[0064] In one aspect, the frame includes crossbeams for supporting the upright members of the skeletal structure.

[0065] In one aspect, the front opening is provided in a vertical plane aligned with or adjacent to the front edge of the side panel of the skeletal structure.

[0066] In one aspect, the container handling vehicle: - Retrieving storage containers from drawers via one storage column, - Delivering further storage containers to the drawer via one storage column It is possible.

[0067] In one aspect, the container handling vehicle: It is possible to hold the further storage container in a buffer position until the drawer is ready to receive it.

[0068] In one aspect, the frame has a footprint area corresponding to the area of ​​two storage columns and their surrounding uprights within the framework. The footprint area has a width corresponding to one storage column width and a depth corresponding to two storage column depths (and surrounding uprights). One storage column is used for vertical transport of storage containers. The upper portion of the other storage column can be used for storage of storage containers. However, the storage height of this column is reduced by the height of the frame.

[0069] In one aspect, the frame has a footprint area corresponding to the area of ​​three storage columns and their surrounding uprights within the framework. The footprint area has a width corresponding to one storage column width and a depth corresponding to three storage column depths (and surrounding uprights). One storage column is used for vertical transport of storage containers. The upper portions of the other two storage columns can be used for storage of storage containers. However, the storage height of these columns is reduced by the height of the frame.

[0070] In both of the above two alternatives, the picking areas of two adjacent access modules can be positioned closer to each other.

[0071] The present invention also relates to a method for presentation of storage containers from an automated storage and retrieval system to a picker, the method comprising: a) receiving a first storage container at a front position of the drawer when the drawer is in a retracted position within the access module; b) moving the drawer to a presentation position where the first storage container is presented to a picker; c) moving the drawer to a retracted position within the access module; d) moving the first storage container from the front position to the rear position of the drawer; e) receiving a second storage container at a front portion of the drawer when the drawer is in the retracted position; f) moving the drawer to a presentation position where the second storage container is presented to the picker; g) allowing the first storage container to be retrieved from a rear position of the drawer when the drawer is in the presentation position; h) moving the drawer to a retracted position within the access module; i) moving the second storage container from a front position to a rear position of the drawer; Includes:

[0072] In one aspect, method step c) or d) comprises: - further comprising the step of holding the second storage container in a buffer position until the drawer is ready to receive the second storage container.

[0073] The present invention also relates to an automated storage and retrieval system comprising a skeletal structure, the skeletal structure comprising: an upright member; a horizontal member; a storage volume comprising storage columns provided between the elements, wherein the storage containers are stackable in the storage columns; - a rail system provided at the top of the member; Equipped with Automated storage and retrieval systems an access station; - a container handling vehicle moving on a rail system; Equipped with the skeletal structure comprises an access station compartment; the automated storage and retrieval system includes an access station insertable into and retrievable from the access station compartment; It is characterized by:

[0074] It should be noted that the automated storage and retrieval system may be in normal operation during insertion and retrieval of an access station, as long as the container handling vehicle is not permitted to use a storage column located above the top opening when the access station is inserted into the access station compartment.

[0075] In one aspect, the access station is insertable into and retrievable from the access station compartment via a side opening in the backbone structure.

[0076] In one aspect, the access station includes wheels for rolling the access station in and out of the access station compartment.

[0077] In one aspect, the access station includes an upper opening that is aligned beneath one of the storage columns when the access station is inserted into the access station compartment, and at least one of the container handling vehicles is configured to supply storage containers to the access station through the storage column aligned with the upper opening and retrieve storage containers from the access station through the storage column aligned with the upper opening.

[0078] In one aspect, the horizontal members of the skeletal structure are integrated with the rail system.

[0079] The above solution may also be relevant to self-inspecting automated storage and retrieval systems in which customers use their own access stations. Here, the risk of injury may be higher than in automated storage and retrieval systems in which professional operators use the access stations. In addition, some such self-inspecting automated storage and retrieval systems may have few staff members available to inspect, maintain, or repair the access station even if a malfunction occurs. Therefore, it is desirable to have an automated storage and retrieval system in which a malfunctioning access station can be easily retrieved from the system and replaced with a functioning access station. The malfunctioning access station can then be transported to a different location for inspection, maintenance, or repair.

[0080] The only action required in addition to physically withdrawing / inserting the access station is to disconnect / connect the power cable (and possibly also the communication cable). Preferably, there is some kind of locking mechanism to lock the access station into the access station compartment. The present invention provides, for example, the following. (Item 1) An access station (10) for the presentation of storage containers (106) from an automated storage and retrieval system (1) to a picker (P), said access station (10) comprising: an access module (20) comprising a frame (21), said frame (21) defining a drawer compartment (25) provided within said frame (21); a drawer (40) comprising a drawer base (41) and a drawer front (42), said drawer (40) being movably connected to said frame (21); a first actuator (62) for moving the drawer (40) relative to the frame (21) between a presentation position (PP) in which the drawer (40) projects from the drawer compartment (25) and a retracted position (RP) in which the drawer (40) is retracted into the drawer compartment (25); Equipped with The drawer base (41) is provided with a support (50) on which the storage container (106) can be supported in a front position (P1) or a rear position (P2); the access station (10) includes a second actuator (64) for moving the storage container (106) from the front position (P1) to the rear position (P2); The storage container (106) is presented to the picker (P) when the storage container (106) is in the front position (P1) and the drawer (40) is in the presentation position (PP), at an access station (10). (Item 2) The access station (10) according to item 1, wherein the access station (10) has a front opening (22), and a portion of the drawer (40) is configured to protrude from a front side (FS) of the front opening (22) when in the presentation position (PP). (Item 3) 3. The access station (10) according to claim 1 or 2, wherein the access station (10) has an upper opening (26), and the storage container (106) is retrievable from the drawer (40) through the upper opening (26), and the storage container (106) is receivable by the drawer (40) through the upper opening (26). (Item 4) 4. The access station (10) according to item 3, wherein the front position (P1) is located below the upper opening (26) when the drawer (40) is in the retracted position (RP), and the rear position (P2) is located below the upper opening (26) when the drawer (40) is in the presentation position (PP). (Item 5) The access station (10) - receiving a storage container (106) in said front position (P1) when said drawer (10) is in said retracted position (RP); - allowing a storage container (106) to be retrieved from said rear position (P2) when said drawer (10) is in said presentation position (PP); 5. The access station (10) according to any one of items 1 to 4, configured to perform the following: (Item 6) The access station (10) - An access station (10) according to any of items 1-5, configured to move a storage container (106) from the front position (P1) to the rear position (P2) when the drawer (20) is in the retracted position (RP) or while the drawer (20) is moving from the presentation position (PP) to the retracted position (RP). (Item 7) An access station (10) according to any one of items 1-6, wherein the frame (21) is provided with vertical side guide plates (22b) for guiding the drawer front (42) when it extends outward to the presentation position (PP) and when it retracts to the retracted position (RP). (Item 8) 3. The access station (10) according to item 2, wherein the frame (21) is provided with a guard (22d) that defines the upper boundary of the front opening (22). (Item 9) 9. The access station (10) according to item 8, wherein the access station (10) is provided with a safety mechanism (66) for preventing an object from being pinched between the drawer front (42) and the guard (22d) during movement of the drawer (40) from the presentation position (PP) to the retracted position (RP). (Item 10) The safety mechanism (66) a flap element (66a) adjacent to said guard (22d) and provided on said front side (FS) thereof; a sensor (66b) for sensing movement of said flap element (66a) relative to said guard (22d); Item 10. The access station (10) according to item 9, comprising: (Item 11) Item 11. The access station (10) according to item 10, wherein the flap element (66a) is movably connected to a flap holding structure (66c) fixed to the frame (21). (Item 12) Item 12. The access station (10) according to item 11, wherein the flap holding structure (66c) is a support structure for a user interface system (60). (Item 13) 13. The access station (10) according to any one of items 1-12, wherein the support portion (50) is provided with rollers (54) for supporting the storage container (106) at the rear position (P2). (Item 14) An access station (10) according to any one of items 1-13, wherein the support portion (50) is provided with a weight sensor (56) for measuring the weight of the storage container (106) when supporting the storage container (106) at the front position (P1). (Item 15) 15. An access station (10) according to any one of items 1-14, wherein the second actuator (64) comprises an electric motor (64a) and an actuating element (64b) movable by means of the electric motor (64a). (Item 16) 16. An access station (10) according to any one of items 1-15, wherein the drawer front (42) and the guard (22d) are vertically aligned when the drawer (40) is in the retracted position (RP). (Item 17) An access station (10) according to any one of items 1-16, wherein the drawer (40) is provided with a container stop (80) for preventing movement of the storage container (106) from the front position (P1) towards the rear position (P2) when the drawer (40) is in the presentation position (PP). (Item 18) An automated storage and retrieval system (1) comprising a framework (100), the framework (100) comprising: an upright member (102); - horizontal member (103), a storage volume comprising a storage column (105) provided between said elements (102, 103), in which storage containers (106) are stackable in said storage column (105) into stacks (107); a rail system (108) provided on the top of said members (102, 103); Equipped with the automated storage and retrieval system (1) comprises container handling vehicles (201, 203) that travel on the rail system (108); The automated storage and retrieval system (1) comprises an access station (10) according to any one of items 1-17, wherein the drawer compartment (25) is provided within the skeleton structure (100), and the drawer (40) at the presentation position (PP) at least partially protrudes from the skeleton structure (100). (Item 19) Item 19. The automated storage and retrieval system (1) according to item 18, wherein the frame (21) comprises cross members (102a) for supporting the upright members (102) of the skeletal structure (100). (Item 20) The container handling vehicles (201, 301) - retrieving said storage container (106) from said drawer (40) via one storage column (105A); - delivering a further storage container (106) to said drawer (10) via said one storage column (105A); 20. The automated storage and retrieval system (1) according to item 18 or 19, which is capable of carrying out the following: (Item 21) A method for the presentation of a storage container (106) from an automated storage and retrieval system (1) to a picker (P), said method comprising: a) receiving a first storage container (106A) at a front position (P1) of a drawer (40) when the drawer (40) is in a retracted position (RP) within the access module (20); b) moving the drawer (40) to a presentation position (PP) where the first storage container (106A) is presented to the picker (P); c) moving the drawer (40) to a retracted position (RP) within the access module (20); d) moving the first storage container (106A) from a front position (P1) to a rear position (P2) of the drawer (40); e) receiving a second storage container (106B) at the front position (P1) of the drawer (40) when the drawer is in the retracted position (RP); f) moving the drawer (40) to the presentation position (PP) where the second storage container (106B) is presented to the picker (P); g) allowing the first storage container (106A) to be retrieved from the rear position (P2) of the drawer (40) when the drawer (40) is in the presentation position (PP); h) moving the drawer (40) to the retracted position (RP) within the access module (20); i) moving the second storage container (106B) from the front position (P1) to the rear position (P2) of the drawer (40); A method comprising: (Item 22) The method step c) or d) comprises: - The method according to item 21, further comprising the step of holding the second storage container (106B) in a buffer position (P3) until the drawer (40) is ready to receive the second storage container (106B). (Item 23) An automated storage and retrieval system (1) comprising a framework (100), the framework (100) comprising: an upright member (102); - horizontal member (103), a storage volume comprising a storage column (105) provided between said elements (102, 103), in which storage containers (106) are stackable in said storage column (105) into stacks (107); a rail system (108) provided on the top of said members (102, 103); Equipped with The automated storage and retrieval system (1) comprises: an access station; - container handling vehicles (201, 203) moving on said rail system (108); Equipped with - said framework (100) comprises an access station compartment (90); the automated storage and retrieval system (1) comprises an access station (10), said access station (10) being insertable into said access station compartment (90) and retrievalable from said access station compartment (90); An automated storage and retrieval system (1). (Item 24) Item 24. The automated storage and retrieval system (1) of item 23, wherein the access station (10) is insertable into and retrieval from the access station compartment (90) via a side opening (81) in the framework structure (100). (Item 25) Item 24. The automated storage and retrieval system (1) according to item 23, wherein the access station (10) is provided with wheels (11) for rolling the access station (10) in and out of the access station compartment (90). (Item 26) Item 24. The automated storage and retrieval system (1) of item 23, wherein the access station (10) has an upper opening (46) that is aligned below one of the storage columns (105) when the access station (10) is inserted into the access station compartment (90), and at least one of the container handling vehicles (201, 301) is configured to supply storage containers to the access station through the storage column aligned with the upper opening (46) and retrieve storage containers from the access station through the storage column aligned with the upper opening (46). [Brief explanation of the drawings]

[0081] The following drawings are included to facilitate an understanding of the invention: The drawings illustrate embodiments of the invention which will now be described by way of example only.

[0082] [Figure 1] FIG. 1 is a perspective view of the skeletal structure of a prior art automated storage and retrieval system.

[0083] [Figure 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for holding a storage container therein.

[0084] [Figure 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for holding storage containers underneath.

[0085] [Figure 4] FIG. 4 is a front perspective view of an embodiment of an access station including two storage containers.

[0086] [Figure 5] FIG. 5 is a rear perspective view of the access station of FIG. 4 with a portion of the frame removed and the access station does not include any storage containers.

[0087] [Figure 6] FIG. 6 is a top view of the access station of FIG. 4 without any storage containers.

[0088] [Figure 7-1] 7a-d illustrate the operation of the access station of FIG. [Figure 7-2] 7a-d illustrate the operation of the access station of FIG.

[0089] [Figure 8] 8 is a front perspective view of the access station of FIG. 4 with the drawer moved from the presented position to the retracted position.

[0090] [Figure 9] FIG. 9 is a front perspective view of an embodiment of an access station integrated with the framework of an automated storage and retrieval system.

[0091] [Figure 10] FIG. 10 is a rear view of the access station of FIG.

[0092] [Figure 11] FIG. 11 illustrates a picker with his hands in a position where the safety mechanism is activated.

[0093] [Figure 12] FIG. 12 is an enlarged view of box A in FIG. 7d.

[0094] [Figure 13-1] 13a-h illustrate in detail the steps for operating an embodiment of an access station. [Figure 13-2] 13a-h illustrate in detail the steps for operating an embodiment of an access station.

[0095] [Figure 14] FIG. 14 illustrates a rear perspective view of a further embodiment of an access station and a portion of a skeletal structure.

[0096] [Figure 15]FIG. 15 illustrates an enlarged perspective view of an alternative embodiment of the first actuator (the drawer base has been removed from the drawing).

[0097] [Figure 16] FIG. 16 illustrates a side view of the embodiment of FIGS.

[0098] [Figure 17] Figures 17-19 illustrate the container stops in detail. [Figure 18] Figures 17-19 illustrate the container stops in detail. [Figure 19] Figures 17-19 illustrate the container stops in detail.

[0099] [Figure 20] FIG. 20 illustrates how the access station can be inserted into and retrieved from the access station compartment. DETAILED DESCRIPTION OF THE INVENTION

[0100] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings, it being understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0101] The skeleton structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art skeleton structure 100 described above in connection with FIGS. 1-3, i.e., several upright members 102 and several horizontal members 103 supported by the upright members 102, and further, the skeleton structure 100 also comprises a first upper rail system 108 in the X and Y directions.

[0102] The skeleton structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, with storage containers 106 being stackable in stacks 107 within the storage columns 105.

[0103] Skeleton structure 100 can be of any size. In particular, it should be understood that the skeletal structure can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, skeletal structure 100 can have a horizontal extent of greater than 700 x 700 columns and a storage depth of greater than 12 containers.

[0104] Reference is now made to Figures 4 and 5, which show an access station 10. The access station allows storage containers 106 from the automated storage and retrieval system 1 to be presented to a picker P (a picker P is shown in Figure 11). The access station 10 may also be referred to as a port.

[0105] The access station 10 comprises an access module 20 comprising a frame 21 defining a drawer compartment 25 provided within the frame 21. The drawer compartment 25 is also shown as a dashed box 25 in Figure 7b.

[0106] The access station 10 further includes a drawer 40 movably connected to the frame 21 .

[0107] 5 and 7b, the access station 10 is further shown to have a front opening, shown as a dashed rectangle 22. The front opening 22 is typically oriented in a vertical plane P22, as shown in FIG.

[0108] Figure 7b further shows that the access station 10 includes an upper opening, shown as a dashed rectangle 26. The upper opening 26 is provided in a horizontal plane.

[0109] Also shown in FIG. 4 is that the access station 10 includes an access opening 46 through which the contents of the storage container 106 are accessible to a picker P.

[0110] The access station 10 further comprises a first actuator 62 for moving the drawer 40 relative to the frame 21 between two positions, referred to as a present position PP and a retracted position RP. The present position PP is shown in Figures 5 and 7a, where the drawer 40 protrudes from the drawer compartment 25 and a storage container 106 is presented to the picker P. The retracted position RP is shown in Figures 7b and 7c, where the drawer 40 is retracted into the drawer compartment 25 and therefore no storage container 106 is presented to the picker P.

[0111] The access station 10 further includes a second actuator 64. The second actuator 64 and other details of the access station 10 will be described in detail below.

[0112] The access station 10 may also include a control system CS for controlling the first and second actuators 62, 64. The control system CS may be part of the control system 500 for the automated storage and retrieval system, or the control system CS may be a separate control system in communication with the control system 500 for the automated storage and retrieval system.

[0113] (40 drawers) The drawer 40 comprises a drawer base 41 movably connected to the frame 21 and a drawer front 42. The drawer base 41 comprises a support 50 on which two storage containers 106 may be supported, as shown in Figures 7c and 7d. The position of the storage container 106 located closest to the front 42 is referred to as the front position P1, while the position of the storage container 106 located furthest from the front 42 is referred to as the rear position P2.

[0114] 5 and 6, which show that the support 50 includes rollers or wheels 54 for supporting the storage container 106 at the rear position P2. The support 50 also includes a weight sensor 56 for measuring the weight of the storage container 106 when the storage container 106 is supported at the front position P1. The storage container 106 can slide farther on the wheels 54 along the weight sensor 56 without much resistance.

[0115] The second actuator 64 is mounted to the drawer base 41 and comprises an electric motor 64a and an actuating element 64b, the actuating element 64b being in the form of a vertical plate that is movable along guides or rails 62c by means of the electric motor 64a. The second actuator 64 can then push the storage container 106 from the first position P1 to the second position P2, as will be explained in more detail below. It should be noted that due to the sliding surface of the weight sensor 56 and due to the wheels 54, the power required to move the storage container 106 is relatively low.

[0116] The electric motor 64a is here a linear motor, but it could also be a rotary motor for moving the actuating element 64b by means of a chain drive, belt drive or the like.

[0117] The drawer 40 is provided in a drawer compartment 25 in a retracted position RP and protrudes at least partially from the skeletal structure 100 into a presentation position PP. In the presentation position PP, the storage container in the first position P1 is accessible to the picker P, while the storage container in the second position P2 is still provided in the drawer compartment 25.

[0118] The drawer further comprises wheels 44, 45, which are fixed to the rear side of the drawer front 42 and below the drawer base 41. The wheels 44, 45 run on the plate 24c2 and on the horizontal lower side guide plate 22c during movement of the drawer between its retracted position and its extended position. In this embodiment, the horizontal lower side guide plate 22c is a continuation of the plate 24c2, i.e., they are made as a single plate member.

[0119] (Access Module 20) 4 and 5, the frame 21 is shown to include two side plates 24a and a cross member 24b connecting the two side plates to one another. The two side plates 24a are also connected to one another by means of an upper horizontal cross plate 24c1, and the storage containers 106 can be stacked on top of one another on the horizontal cross plate 24c1 in the column 105B. The two side plates 24a are also connected to one another by means of a lower cross plate 24c2.

[0120] Reference is now made to Figures 6, 9, and 10, which show the access module 20 partially integrated with the skeleton structure 100. In Figure 6, the plane P22 of the front opening 22 defines a separation plane between the front side FS outside the skeleton structure 100 and the rear side RS inside the skeleton structure 100. The plane P22 is parallel to the panel PA, which is fixed to the outer upright member 102 of the skeleton structure 100, and is at a short distance (preferably a few centimeters) therefrom. Alternatively, the panel itself may define the separation plane between the front side FS and the rear side RS.

[0121] The rear side RS is shown in Figure 10. Here, it is shown that the frame 21 is provided with cross bars 102a for supporting the uprights 102 of the skeleton structure 100. The frame 21 therefore forms a support for some of the uprights 102 of the skeleton structure 100.

[0122] In Figure 10, a row of storage columns 105A is located adjacent panel PA. The next row of storage columns is shown as storage column 105B, and the next row of storage columns is again referred to as storage column 105C.

[0123] As shown, the frame 21 has a footprint area A20 within the skeletal structure 100 that corresponds to the area of ​​two storage columns, including a portion of the area of ​​the surrounding uprights 102. In FIG. 6, the area of ​​the top opening 26 is substantially equal to the area of ​​one storage column 105A, which is equal to the area A105B of the adjacent storage column 105B, which is equal to the area of ​​the other storage container. As shown, the footprint area A20 is greater than the sum of the area of ​​the top opening 26 and the area A105B because a portion of the area of ​​the surrounding uprights 102 is included within the footprint area A20. The footprint area A20 is defined here as the area bounded by a central axis through the six uprights that surround the two storage columns 105A, 105B.

[0124] FIG. 6 further shows that footprint area A20 has a width W20 corresponding to one storage column width and a depth D20 corresponding to two storage column depths measured between adjacent central axes of upright members 102.

[0125] It should be noted above that footprint area A20 is defined as the rear footprint area A20, i.e., the footprint area A20 within the skeletal structure 100. This footprint area A20 represents the reduction in storage capacity of the automated retrieval and storage system 1 due to the access station 10.

[0126] In an alternative embodiment, the two side plates 24a are also connected to each other by means of a horizontal cross plate 24d (shown in FIG. 7b), and the storage containers 106 can be stacked on top of each other on the horizontal cross plate 24d within the column 105C. In this case, the frame 21 has a footprint area A20 within the skeleton structure 100 that corresponds to the area of ​​three storage columns, including at least a portion of the area of ​​the surrounding uprights 102. It should be noted that the functionality of the horizontal cross plate 24d can be provided using a separate plate connected between the uprights 102 of the skeleton structure 100. Thus, the functionality of the horizontal cross plate 24d is not necessarily part of the access station 10 itself.

[0127] 9 shows that on the front side FS, the frame 21 is provided with a vertical side guide plate 22b for guiding the drawer front 42 when it extends out to the present position PP and when it retracts to the retracted position RP. The frame 21 also has a horizontal lower side guide plate 22c for guiding the lower end of the drawer front 42.

[0128] The vertical side guide plates 22b and the lower side guide plates 22c fit snugly against the drawer front 42, reducing clearance and the possible risk of crushing fingers / hands while moving the drawer 40.

[0129] The side guide plate 22b and the lower side guide plate 22c are fixed in relation to the access station and automated storage and retrieval system 1 and are therefore visible to the picker P and other persons working in the vicinity of the framework of the system 1. Thus, when the drawer 40 is moved from the retracted position RP to the presented position PP, the drawer front 42 is moved within the space between the vertical guide plate 22b and the lower horizontal guide plate 22c, and this movement will not cause any noticeable obstruction to nearby personnel.

[0130] Reference is now made to Figure 5, which shows that the frame 21 is provided with a guard 22d that defines the upper boundary of the front opening 22. The side guide plate 22b, the lower side guide plate 22c, and the guard 22d in the vertical plane P22 together define the boundary of the front opening 22, as shown in Figures 5 and 9.

[0131] A first actuator 62 is mounted to the lower cross plate 24c2 and includes a linear motor 62a, an actuator element 62b, and a guide 62c for guiding the linear movement of the actuator element 62b. The actuator element 62b is connected to the underside of the drawer 40, as shown in Figures 7c and 10.

[0132] (safety mechanism) Reference is now made to Figures 11 and 12, which show that the access station 10 is provided with a safety mechanism 66 for preventing an object (typically the picker's fingers / hand) from being pinched between the drawer front 42 and the guard 22d during movement of the drawer 40 from the present position PP to the retracted position RP.

[0133] The safety mechanism 66 includes a flap element 66a provided adjacent the guard 22d on the front side FS of the guard 22d, and a sensor 66b for sensing movement of the flap element 66a relative to the guard 22d. The flap element 66a is movably connected by means of one or more hinges 66d to a lap retaining structure 66c fixed to the frame 21.

[0134] In one aspect, the flap retaining structure 66c is fixed to the guard 22d. In one aspect, the flap element 66a is movably connected to the flap retaining structure 66c by means of one or more hinges 66d.

[0135] The flap retaining structure 66c is a support structure for a user interface system 60 that may include, for example, a touch screen or other type of user interface.

[0136] The sensor 66b may be an integrated circuit type sensor (such as an accelerometer) connected to the first actuator 62. The sensor 66b may be a push button type security switch that is activated by movement of the flap element 66a. This type of sensor 66b is known to those skilled in the art.

[0137] When activated, the sensor 66b controls the first actuator 62 to stop the movement of the drawer or to control the first actuator 62 to again move the drawer 40 out of the compartment 25. The sensor 66b may also control the second actuator 64 to stop the movement of the actuating element 64b or to move in the opposite direction. The sensor 66b may be connected directly to the first and / or second actuators 62, 64. Alternatively, the sensor 66b is connected to the first and / or second actuators 62, 64 via the control system CS.

[0138] Reference is now made to Figure 7c, where two double-headed arrows are designated DA and DB. The first double-headed arrow indicates a first distance DA between the flap element 66a and the storage container 106 in the front position P1. This distance is required to gain access to the storage container 106 in the first position P1 when the drawer 40 is in the presented position PP, and to raise and lower the storage container in the first position P1 through the top opening 26 when the drawer is in the retracted position RP. The second double-headed arrow indicates a second distance DB between the storage container 106 in the front position P1 and the storage container 106 in the rear position P2. This distance is required to raise and lower the storage container in the second position P2 through the top opening 26 when the drawer is in the presented position PP. The first distance DA is equal to or substantially equal to the second distance DB.

[0139] In Figure 7c, drawer 40 in the retracted position RP is shown protruding into third column 105C. Thus, even if frame 21 only has a two-column footprint area A20 that includes at least a portion of the area of ​​surrounding uprights 102, drawer 40 will prevent storage containers 106 from being stacked to their full height in third storage column 105C. This is shown as area A40 in Figure 10.

[0140] However, the plate 24d described above may allow storage containers to be stacked in the third column 105C as well, the third column 105C having a reduced stack height corresponding to the height H20 of the frame 21.

[0141] (Access Station Operation) The different steps for the operation of the access station 10 are illustrated in Figures 13a-h.

[0142] Initially, in Figure 13a, there are no storage containers 106 in the drawer 40 and there are no storage containers 106 in the buffer position P3 in the first storage column 105A. The drawer 40 is in the retracted position RP.

[0143] In a first step a) (FIG. 13b), the access station 10 receives a first storage container 106A. The container handling vehicles 201, 301 are controlled to pick the first storage container 106A from one of the storage columns 105 in the backbone structure 100 and lower it downward into a position P1 in front of the drawer 40. On its way down the storage column 105A, the first storage container 106A will pass a buffer position P3.

[0144] In a second step b) (FIG. 13c), the first actuator 62 is controlled to move the drawer 40 to the present position PP, where the first storage container 106A is presented to the picker P.

[0145] In a third step c) (FIG. 13d), the first actuator 62 is controlled to move the drawer 40 to the retracted position RP within the access module 20. In a next step d), the second actuator 64 is controlled to move the first storage container 106A from the front position P1 of the drawer 40 to the rear position P2. Note that step c) can be performed before step d). Alternatively, steps c) and d) can be performed simultaneously or substantially simultaneously. A safety mechanism will stop movement of the drawer 40 if a finger / hand is positioned within the storage container on its way into the compartment 25. A safety mechanism will also stop movement of the drawer 40 if a finger / hand is positioned between the front plate and the storage container on its way into the compartment 25.

[0146] After steps c) and d), the drawer 40 is in the retracted position RP and the first storage container 106A is in the rear position P2. The actuator element 64b will now return to its original position adjacent the front face 42 of the drawer 40.

[0147] During or after steps c) and d), the container handling vehicles 201, 301 may be controlled to pick the second storage container 106B from one of the storage columns 105 in the skeletal structure 100 and lower it downward to the buffer position P3.

[0148] In the next step e) (FIG. 13e), the access station 10 receives the second storage container 106B from the buffer position P3. The second storage container 106B is lowered downward into the front position P1 of the drawer 40. Note that the container handling vehicles 201, 301 may hold the second storage container 106B stationary at the buffer position P3 while waiting for steps c) and d). However, the container handling vehicles 201, 301 may be coordinated with the access station 10 so that there is no waiting time for the second storage container 106B at the buffer position P3.

[0149] In a next step f) (FIG. 13f), the first actuator 62 is controlled to move the drawer 40 to a presentation position PP where the second storage container 106B is presented to the picker P.

[0150] During or after step f), the first storage container 106A is retrieved from the rear position P2 by means of the container handling vehicle 201, 301.

[0151] In a next step g) (FIG. 13h), the first actuator 62 is controlled to move the drawer 40 to a retracted position RP within the access module 20. In a next step h), the second actuator 64 is controlled to move the second storage container 106B from a front position P1 to a rear position P2 of the drawer 40. Steps g) and h) are thus similar to steps c) and d) above.

[0152] Actuator element 64b will now return to its original position adjacent front face 42 of drawer 40.

[0153] During or after steps f) and h), the container handling vehicles 201, 301 may be controlled to pick the third storage container 106C from one of the storage columns 105 in the skeletal structure 100 and lower it downward to the buffer position P3.

[0154] The above steps are then repeated.

[0155] Alternative Embodiments Reference is now made to Figures 14-16. Most of the technical features of and operation of the access station 10 are the same as or similar to the embodiment described above. Only the differences between the embodiment described above and this alternative embodiment will be described below.

[0156] First, it should be noted that the first actuator 62 and the second actuator 64 operate in substantially the same manner as in the above embodiment.

[0157] The first actuator 62 comprises an electric rotary motor 62a for driving a belt 64d to which an actuator element 62b is connected. The actuator element 62b is further connected to the drawer 40, which is moved by means of the electric rotary motor 62a via the belt 62d and the actuator element 62b. The movement of the actuator element 62b is guided along a rail 62c with which the actuator element 62b is engaged.

[0158] Reference is now made to Figure 15, which shows that the access station 10 is equipped with a present position sensor 72a and a retracted position sensor 72b. The actuator element 62b is also shown equipped with a sensor engagement portion 72c, here in the form of a bracket, which protrudes to a position adjacent to or in contact with the present position sensor 72a when the drawer 40 is in the present position PP, and to a position adjacent to or in contact with the retracted position sensor 72b when the drawer 40 is in the retracted position. The sensors 72a, 72b may be optical sensors, capacitive sensors, contact-type sensors, etc. The sensors 72a, 72b are connected to a control system CS.

[0159] 14 and 15 further show an energy chain 65 for guiding and protecting the electrical and signal conductors between the control system CS and the weight sensors and electric motors of the drawers.

[0160] 15 shows that the access station 10 includes a further safety system comprising a rail 71a for guiding the linear movement of a first magnet element 71b. The first magnet element 71b is connected to and driven by a belt 62d of a second actuator 62. A second magnet element 71c is connected to an actuating element 62b of the second actuator 62. The first and second magnet elements 71b, 71c are magnetically connectable to each other.

[0161] Assume now that the drawer 40 (and thus the actuator element 62b) is in the retracted position. The belt 62d, including the first magnet element 71b, is now moved by means of the motor 62a. Due to the magnetic coupling between the first and second magnet elements 71b, 71c, the first magnet element 71b will pull the actuating element 62b toward the present position PP as the belt moves. If the drawer 40 is held back, for example, by an object that blocks the movement of the drawer from the retracted position RP to the present position PP, the first and second magnet elements 71b, 71c will be pulled away from each other, stopping the drawer 40, the actuating element 62b, and thus the second magnet element 71c, while allowing the first magnet element 71b and the belt 62d to continue their linear movement. During the movement of the first magnet element 71b and the belt 62d back to their initial positions, the first magnet element 71b will again reconnect with the second magnet element 71c.

[0162] The second actuator 64 comprises a rotary electric motor 62a for driving a belt 64d to which an actuator element 64b is connected. The actuator element 64b is moved by the belt 64d by means of the electric rotary motor 64a. The movement of the actuator element 64b is guided along a rail 64c with which the actuator element 64b is engaged.

[0163] Reference is now made to Figures 17-19, which show details of the container stop 80. It should first be mentioned that the drawer base 41 is supported on the plate 24c by wheels 44, 45 which are connected to each other by means of a wheel connector member 83 via the actuating element 62b of the second actuator 62.

[0164] The container stop 80 comprises a profile 81 fixed to the plate 24c2, the profile having a lowered profile portion 81a, a raised profile portion 81b and an intermediate sloped profile portion 81c between the profile portions 81a, 81b.

[0165] The container stop 80 further comprises a container stop element 82 fixed to the wheel connection portion member 83 .

[0166] The rear wheels 44 run on the top of the profile 81. In Figure 17, the drawer is in the presenting position (PP). Here, the rear wheels 44 are located on the raised profile portion 81b, which tilts upward onto the rear portion of the wheel connection member 83, thus causing the container stop element 82 to protrude upward on the rear side of the storage container 106 in the front position P1. Movement of the storage container 106 from the front position to the rear position (for example, by someone trying to push the storage container) is now prevented. It is also possible that the container stop element 82 prevents the storage container 106 from being lifted upward from the drawer in the presenting position (and thus prevents theft, etc.).

[0167] In Figure 16 the drawer is in the retracted position (RP), where the rear wheels 44 are positioned on the lowered profile portions 81a, causing the rear portions of the wheel connection members 83 to tilt downwards, thus causing the container stop elements 82 to retract downwards from the rear side of the storage container 106 in the front position P1. Movement of the storage container 106 from the front position to the rear position by means of the second actuator 64 is now enabled.

[0168] It should be noted that in the first embodiment of the access station 10 described above, the access module 20 is integrated into the skeletal structure due to the frame 21 comprising cross members 102a for supporting the upright members 102 from below. Therefore, inspection, maintenance and repair operations of the access station can be cumbersome.

[0169] In a second embodiment shown in Figures 17-20, the frame 21 does not support the uprights 102 from below. Instead, the access module 20 is a freestanding access module with a self-supporting frame 21 provided with wheels 11.

[0170] Here, the framework structure 100 includes an access station compartment 90 having a side opening 81 that can be covered by a panel (PA) when not in use. The access station 10 can then be inserted into and retrieved from the access station compartment 90.

[0171] 14 and 20, the frame 21 is shown positioned inside the upright members 102 and horizontal members 103. Also shown is a support plate 92 secured beneath the lower ends of the upright members. The wheels 11 of the access station 10 are supported on this support plate 92 when inserted into the access station compartment 90.

[0172] Other Alternative Embodiments In the above description, vertical movement of storage containers through the top opening 26 is performed by container handling vehicles 201, 301. Alternatively, some type of container elevator may be used to move storage containers vertically to and from the access station 10.

[0173] In the above embodiment, the access station 10 occupies one storage column 105A for vertical transport of storage containers, while the other two storage columns 105B, 105C have reduced storage capacity due to footprint areas A20, A40.

[0174] By reducing the first and second distances DA, DB, it is possible to achieve full storage capacity within the third storage column 105C. This may require a different and / or more space-efficient safety mechanism. One such possible safety mechanism is a movement detection type sensor, for example, an optoelectronic sensor, to sense the presence of a finger / hand within the area proximate to the access opening 46 and / or front opening 22 during movement of the drawer 40 toward the retracted position RP.

[0175] In the foregoing description, various aspects of the access station and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, and other embodiments of the system, that are obvious to those skilled in the art to which the disclosed subject matter pertains, are deemed to be within the scope of the present invention.

[0176] (List of reference numbers) (1) Collection system (20) Access Module (21) Frame (22) Dashed rectangle (22) Front opening (22b) Side guide plate (22c) Lower side guide plate (22d) Guard (24a) Two side plates (24b) Cross member (24c1) Upper horizontal cross plate (24c2) Lower cross plate (24d) Horizontal cross plate (25) Drawer Compartments (26)Top opening (40) Drawer (41) Drawer base (42) Front of drawer (44) Rear wheel of drawer base (45) Front wheels of the drawer base (46) Access opening (50) Support part (54) Wheels (56) Weight sensor (60) User Interface System (62) First Actuator (62a) Electric motor (62b) Actuator element (62c) Guide / Rail (64) Second Actuator (64a) Electric motor (64b) Actuator element (64c) Guide / Rail (66)Safety mechanism (66a) Flap element (66b) Sensor (66c) Flap retention structure (66d) Hinge (71a) Rail (71b) First magnet element (71c) Second magnet element (80) Container Stop (81) Profile section (81a) Lowered profile section (81b) Raised profile section (81c) Middle slope profile section (82) Container Stopping Elements (83) Wheel connection part member (90) Access Station Compartment (91) Opening to Access Station Compartment (92) Support plate (100) Skeletal structure (102) Upright member (102a) Crossbar (103) Horizontal member (105, 105A, 105B, 105C) Storage columns (106, 106A, 106B, 106C) Storage Containers (107) Stack (108) Upper Rail System (201) Container handling vehicle (301) Container handling vehicle (500) Control Systems (CS) Control System (DA) First Distance (DB) Second Distance (FS)Front side (RS) Rear side (PA) Panel (PP) Presentation position (PP) Backward position (RP) Retracted position (A105B) Area (A20) Footprint Area (A40) Footprint Area (D20) Depth (H20) Height (P1) Front position (P2) Back position (P22) Vertical plane (P3) Buffer position (W20) width

Claims

1. An access station (10) for the presentation of storage containers (106) from an automated storage and retrieval system (1) to a picker (P), said access station (10) comprising: an access module (20) comprising a frame (21), said frame (21) defining a drawer compartment (25) provided within said frame (21); a drawer (40) comprising a drawer base (41) and a drawer front (42), said drawer (40) being movably connected to said frame (21); a first actuator (62) for moving the drawer (40) relative to the frame (21) between a presentation position (PP) in which the drawer (40) projects from the drawer compartment (25) and a retracted position (RP) in which the drawer (40) is retracted into the drawer compartment (25); Equipped with The drawer base (41) comprises a support (50) on which the storage container (106) can be supported in a front position (P1) or a rear position (P2); the access station (10) comprises a second actuator (64) for moving a storage container (106) from the front position (P1) to the rear position (P2); The storage container (106) is presented to the picker (P) when the storage container (106) is in the front position (P1) and the drawer (40) is in the presentation position (PP); The access station (10) receiving a first storage container (106A) at the front position (P1) of the drawer (40) when the drawer is in the retracted position (RP); using the second actuator (64) to move the first storage container (106A) from the front position (P1) to the rear position (P2); receiving a second storage container (106B) at the front position (P1) of the drawer (40) when the drawer is in the retracted position (RP) and when the first storage container (106A) is in the rear position (P2) of the drawer; allowing the first storage container (106A) to be retrieved from the rear position (P2) of the drawer when the drawer is in the presentation position (PP); An access station (10) configured to:

2. 2. The access station (10) of claim 1, wherein the access station (10) has a front opening (22), and a portion of the drawer (40) is configured to protrude from a front side (FS) of the front opening (22) when the drawer (40) is in the presentation position (PP).

3. 3. The access station (10) of claim 1 or 2, wherein the access station (10) has an upper opening (26), and the storage container (106) is retrievable from the drawer (40) through the upper opening (26), and the storage container (106) is receivable by the drawer (40) through the upper opening (26).

4. 4. The access station (10) of claim 3, wherein the front position (P1) is located below the upper opening (26) when the drawer (40) is in the retracted position (RP), and the rear position (P2) is located below the upper opening (26) when the drawer (40) is in the presentation position (PP).

5. The access station (10) according to any one of claims 1 to 4, wherein the frame (21) is provided with vertical side guide plates (22b) for guiding the drawer front (42) when it extends outward to the presentation position (PP) and when it retracts to the retracted position (RP).

6. 3. The access station (10) of claim 2, wherein the frame (21) comprises a guard (22d) defining the upper boundary of the front opening (22).

7. 7. The access station (10) of claim 6, wherein the access station (10) comprises a safety mechanism (66) for preventing an object from being pinched between the drawer front (42) and the guard (22d) during movement of the drawer (40) from the presentation position (PP) to the retracted position (RP).

8. The safety mechanism (66) a flap element (66a) adjacent to said guard (22d) and provided on said front side (FS) thereof; a sensor (66b) for sensing the movement of said flap element (66a) relative to said guard (22d); 8. An access station (10) according to claim 7, comprising:

9. 9. The access station (10) of claim 8, wherein the flap element (66a) is movably connected to a flap holding structure (66c) fixed to the frame (21).

10. 10. The access station (10) of claim 9, wherein the flap retaining structure (66c) is a support structure for a user interface system (60).

11. The access station (10) according to any one of claims 1 to 10, wherein the support (50) comprises rollers (54) for supporting the storage container (106) in the rear position (P2).

12. An access station (10) as described in any one of claims 1 to 11, wherein the support portion (50) is provided with a weight sensor (56) for measuring the weight of the storage container (106) when supporting the storage container (106) at the front position (P1).

13. The access station (10) according to any one of claims 1 to 12, wherein the second actuator (64) comprises an electric motor (64a) and an actuating element (64b) movable by means of the electric motor (64a).

14. An access station (10) according to claim 6 or any one of claims 7 to 13 when dependent on claim 6, wherein the drawer front (42) and the guard (22d) are vertically aligned when the drawer (40) is in the retracted position (RP).

15. 15. The access station (10) of claim 1, wherein the drawer (40) is provided with a container stop (80) for preventing movement of the storage container (106) from the front position (P1) towards the rear position (P2) when the drawer (40) is in the presentation position (PP).

16. An automated storage and retrieval system (1) comprising a skeletal structure (100), said skeletal structure (100) comprising: an upright member (102); - a horizontal member (103), a storage volume comprising a storage column (105) provided between said elements (102, 103), in which storage containers (106) are stackable in stacks (107) within said storage column (105); a rail system (108) provided on top of said members (102, 103); Equipped with the automated storage and retrieval system (1) comprises container handling vehicles (201, 203) that travel on the rail system (108); The automated storage and retrieval system (1) comprises an access station (10) according to any one of claims 1 to 15, wherein the drawer compartment (25) is provided within the skeleton structure (100), and the drawer (40) at the presentation position (PP) at least partially protrudes from the skeleton structure (100).

17. 17. The automated storage and retrieval system (1) according to claim 16, wherein the frame (21) comprises cross members (102a) for supporting the uprights (102) of the skeletal structure (100).

18. The container handling vehicle (201, 301) - retrieving said storage container (106) from said drawer (40) via one storage column (105A); - delivering a further storage container (106) to said drawer (10) via said one storage column (105A); 18. The automated storage and retrieval system (1) according to claim 16 or 17, capable of carrying out the following:

19. A method for the presentation of a storage container (106) from an automated storage and retrieval system (1) to a picker (P), said method comprising: a) receiving a first storage container (106A) at a front position (P1) of a drawer (40) when said drawer is in a retracted position (RP) within an access module (20); b) moving said drawer (40) to a presentation position (PP) where said first storage container (106A) is presented to said picker (P); c) moving said drawer (40) to a retracted position (RP) within said access module (20); d) moving said first storage container (106A) from a front position (P1) to a rear position (P2) of said drawer (40); e) receiving a second storage container (106B) at said front position (P1) of said drawer (40) when said drawer is in said retracted position (RP); f) moving said drawer (40) to said presentation position (PP) where said second storage container (106B) is presented to said picker (P); g) allowing the first storage container (106A) to be retrieved from the rear position (P2) of the drawer (40) when the drawer (40) is in the presentation position (PP); h) moving said drawer (40) to said retracted position (RP) within said access module (20); i) moving the second storage container (106B) from the front position (P1) to the rear position (P2) of the drawer (40); A method comprising:

20. The method step c) or d) comprises: - holding said second storage container (106B) in a buffer position (P3) until said drawer (40) is ready to receive said second storage container (106B); 20. The method of claim 19, further comprising:

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