Stacker frame system

Abstract

A stacker frame system (5, 700, 800, 900, 1000) for an automated storage and retrieval system is disclosed. The stacker frame system (5, 700, 800, 900, 1000) includes a stacker frame (6) configured to be stored within a storage column of an automated storage and retrieval system. The stacker frame (6) has an open top end (9) and is configured to accommodate a plurality of storage containers (106) stored vertically in a stack within the internal space of the stacker frame (6). The stacker frame (6) has a sealed side wall (20) and a sealed base (18). The stacker frame system includes a removable sealed lid (7, 902) for covering the top end (9). The stacker frame system (5, 700, 800, 900, 1000) includes an air control device (56) configured to reduce gas pressure inside the stacker frame (6) and / or control gas composition.

Description

Technology Field

[0001] The present invention relates to a stacker frame system for an automated storage and retrieval system for the storage and retrieval of containers, an automated storage and retrieval system, and a method for operating the automated storage and retrieval system. Background Technology

[0002] FIG. 1 discloses a conventional automated storage and retrieval system (1) having a skeletal structure (100), FIG. 2, FIG. 3 and FIG. 4 disclose three different conventional container handling vehicles (201, 301, 401) suitable for operating on such a system (1).

[0003] The skeletal structure (100) comprises a storage volume including upright members (102) and storage columns (105) arranged in a row between the upright members (102). In these storage columns (105), storage containers (106), also known as bins, are stacked vertically on top of each other to form a stack (107). The members (102) can typically be manufactured from metal, for example, extruded aluminum profiles.

[0004] The skeletal structure (100) of the automated storage and retrieval system (1) includes a rail system (108) arranged across the top of the skeletal structure (100), and a plurality of container handling vehicles (201, 301, 401) on the rail system (108) can be operated to raise a storage container (106) from a storage column (105), lower a storage container (106) into a storage column (105), and also transport a storage container (106) over a storage column (105). The rail system (108) includes a first set of parallel rails (110) arranged to guide the movement of a container handling vehicle (201, 301, 401) in a first direction (X) across the top of the frame structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide the movement of a container handling vehicle (201, 301, 401) in a second direction (Y) perpendicular to the first direction (X). A container (106) stored in a column (105) is accessed by the container handling vehicle (201, 301, 401) through an access opening (112) in the rail system (108). The container handling vehicle (201, 301, 401) can move laterally over the storage column (105), that is, in a plane parallel to the horizontal XY plane.

[0005] The upright member (102) of the skeletal structure (100) can be used to guide the storage container during the rise of the container out of the column (105) and the lowering of the container into the column (105). The stack (107) of the container (106) is typically freestanding.

[0006] Each of the prior art container handling vehicles (201, 301, 401) comprises a vehicle body (201a, 301a, 401a) and first and second sets of wheels (201b, 201c, 301b, 301c, 401b, 401c) that enable lateral movement of the container handling vehicles (201, 301, 401) in the X direction and Y direction, respectively. In FIGS. 2, 3 and 4, two wheels within each set are fully visible. The wheels of the first set (201b, 301b, 401b) are arranged to engage with two adjacent rails of the first set of rails (110), and the wheels of the second set (201c, 301c, 401c) are arranged to engage with two adjacent rails of the second set of rails (111). At least one of the sets of wheels (201b, 201c, 301b, 301c, 401b, 401c) can be lifted and lowered so that the wheels of the first set (201b, 301b, 401b) and / or the wheels of the second set (201c, 301c, 401c) can engage with the rails (110, 111) of each set at any time.

[0007] Each of the prior art container handling vehicles (201, 301, 401) also includes a lifting device for vertical transport of a storage container (106), for example, for raising the storage container (106) from a storage column (105) and lowering the storage container (106) into a storage column (105). The lifting device may include one or more gripping / engaging devices configured to engage with the storage container (106), and the gripping / engaging device may be lowered from the vehicle (201, 301, 401) so that the position of the gripping / engaging device relative to the vehicle (201, 301, 401) can be adjusted in a third direction (Z) orthogonal to a first direction (X) and a second direction (Y). A portion of the gripping device of the container handling vehicle (301, 401) is shown in FIGS. 3 and 4 and is indicated by reference numerals 304 and 404. The gripping device of the container handling device (201) is located within the vehicle body (201a) in FIG. 2 and is therefore not shown.

[0008] Typically, and also for the purposes of this application, Z=1 identifies the uppermost layer available for a storage container under the rail (110, 111), that is, the layer immediately below the rail system (108), Z=2 identifies the second layer below the 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 positions of each storage column (105) in a horizontal plane. Consequently, for example, and using the orthogonal coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106' in FIG. 1 occupies storage location X=17, Y=1, Z=6. It can be said that the container handling vehicles (201, 301, 401) move at floor Z=0, and each storage column (105) can be identified by its X and Y coordinates. Thus, it can be said that the storage containers shown in FIG. 1 extending over the rail system (108) are also arranged at floor Z=0.

[0009] The storage volume of the skeletal structure (100) has often been referred to as a grid (104), where possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its location in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0010] Each of the prior art container handling vehicles (201, 301, 401) includes a storage compartment or space for receiving and storing a storage container (106) when transporting the storage container (106) over a rail system (108). The storage space may include a cavity arranged internally within the vehicle body (201a, 401a), as illustrated in FIGS. 2 and 4 and, for example, as described in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] FIG. 3 illustrates an alternative configuration of a container handling vehicle (301) having a cantilever structure. Such a vehicle is described in detail, for example, in NO317366, the contents of which are also incorporated herein by reference.

[0012] The joint container handling vehicle (201) illustrated in FIG. 2 may have a footprint covering an area having dimensions in the X and Y directions that are generally the same as the lateral range of the storage column (105), for example as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. As used herein, the term 'lateral' may mean 'horizontal'.

[0013] Alternatively, the joint container handling vehicle (401) may have an installation space larger than the lateral area formed by the storage column (105), as shown in FIGS. 1 and 4, for example as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] A rail system (108) typically comprises a rail having a groove through which the wheels of a vehicle travel. Alternatively, the rail may include an upward protrusion element, wherein the wheels of the vehicle include a flange to prevent derailment. These grooves and upward protrusion elements are collectively known as a track. Each rail may comprise a single track, or each rail may comprise two parallel tracks (110, 111). In other rail systems (108), each rail may comprise a single track in one direction (e.g., X direction) and each rail may comprise two tracks in the other vertical direction (e.g., Y direction). Each rail (110, 111) may also comprise two track members joined together, and each track member provides one of a pair of tracks provided by each rail.

[0015] WO2018 / 146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of a rail system (108) including rails and parallel tracks in both the X and Y directions.

[0016] In the frame structure (100), most of the columns are storage columns (105), that is, columns (105) where storage containers (106) are stored in stacks (107). In addition to the storage columns (105), special purpose columns exist within the frame structure. In FIG. 1, columns (119, 120) are special purpose columns used by container handling vehicles (201, 301, 401) to drop off and / or pick up storage containers (106) so that the storage containers (106) can be accessed from outside the frame structure (100) or transported to an access station (not shown) where the storage containers can be transported outside or inside the frame structure (100). In the relevant art, such locations are generally referred to as 'ports', and columns where ports are located may be referred to as 'port columns' (119, 120). Transport to the access station may be in any direction that is horizontal, inclined, and / or vertical. For example, a storage container (106) may be placed in a random or dedicated column (105) within the frame structure (100), then picked up by any container handling vehicle, and transported to a port column (119, 120) for further transport to the access station. Transport from the port to the access station may require movement along various different directions by means such as a delivery vehicle, a trolley, or other transport line. Note that the term 'inclined' refers to the transport of a storage container (106) having a general transport orientation somewhere between horizontal and vertical.

[0017] In FIG. 1, the first port column (119) may be a dedicated drop-off port column where, for example, a container handling vehicle (201, 301, 401) can drop off a storage container (106) to be transported to an access or transfer station, and the second port column (120) may be a dedicated pickup port column where a container handling vehicle (201, 301, 401) can pick up a storage container (106) that has been transported from an access or transfer station.

[0018] The access station may typically be a picking or stocking station where product items are removed from or placed within a storage container (106). At the picking or stocking station, the storage container (106) is generally not removed from the automated storage and retrieval system (1) and is returned to the frame structure (100) once accessed. The port may also be used to transport the storage container to another storage facility (e.g., another frame structure or another automated storage and retrieval system), a transport vehicle (e.g., a train or truck), or a production facility.

[0019] A conveyor system including a conveyor is generally employed to transport storage containers between port columns (119, 120) and access stations.

[0020] If the port columns (119, 120) and the access station are located at different levels, the conveyor system may include a lift device having a vertical component for vertically transporting a storage container (106) between the port columns (119, 120) and the access station.

[0021] The conveyor system may be arranged to transport storage containers (106) between different frame 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 approached, one of the container handling vehicles (201, 301, 401) is instructed to retrieve the target storage container (106) from that location and transport it to a drop-off port column (119). This operation involves moving the container handling vehicle (201, 301, 401) to a location on the storage column (105) where the target storage container (106) is located, retrieving the storage container (106) from the storage column (105) using a lifting device (not shown) of the container handling vehicle (201, 301, 401), and transporting the storage container (106) to a drop-off port column (119). When the target storage container (106) is located deep inside the stack (107), that is, when one or more other storage containers (106) are located on top of the target storage container (106), the operation also involves temporarily moving the storage containers located on top before lifting the target storage container (106) from the storage column (105). This step, sometimes referred to as "digging" in the relevant art, may be performed by the same container handling vehicle subsequently used to transport the target storage container to the drop-off port column (119), or by one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system (1) may have a container handling vehicle (201, 301, 401) 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 relocated to the original storage column (105). However, the removed storage container (106) can alternatively be relocated to another storage column (105).

[0023] When a storage container (106) is stored in one of the columns (105), one of the container handling vehicles (201, 301, 401) is instructed to pick up the storage container (106) from the pickup port column (120) and transport it to a location on the storage column (105) where it is to be stored. After any storage container (106) located at or on the target location within the stack (107) is removed, the container handling vehicle (201, 301, 401) places the storage container (106) at the desired location. The removed storage container (106) can then be lowered back into the storage column (105) or relocated to another storage column (105).

[0024] To monitor and control the automated storage and retrieval system (1), for example, the location of each storage container (106) within the frame structure (100) and the contents of each storage container (106) so that the desired storage container (106) can be delivered to the desired location at the desired time without the container handling vehicles (201, 301, 401) colliding with each other; and to monitor and control the movement of the container handling vehicles (201, 301, 401), the automated storage and retrieval system (1) includes a control system (500) which is typically computerized and includes a database for maintaining the track of the storage container (106).

[0025] Conventional storage systems are limited in the height of a stack of storage containers by the actual lifting height of the container handling vehicle and / or the weight that can be supported by the lower storage containers in the stack. Additionally, a storage system that allows for more efficient rearrangement of storage containers would be advantageous. Furthermore, controlling specific environmental conditions in a single or small group of storage containers generally requires providing a distinct skeletal structure in a controlled environment.

[0026] This summary description is provided to introduce, in a simplified form, a selection of concepts further described herein. This summary description is not intended to identify the principal or essential features of the invention.

[0027] The present invention is described and characterized in the independent claim, whereas the dependent claim describes other features of the present invention.

[0028] In one embodiment, the present invention relates to a stacker frame system for an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a skeletal structure forming a plurality of storage columns; the stacker frame system comprises a stacker frame configured to be stored within one of the storage columns; the stacker frame comprises an open top end and is configured to accommodate a plurality of storage containers stored vertically in a vertical stack within the internal space of the stacker frame; the stacker frame comprises a hermetic sidewall and a hermetic base; the stacker frame system comprises a removable hermetic lid for covering the top end; and the stacker frame system comprises an air control device configured to reduce gas pressure inside the stacker frame and / or control gas composition.

[0029] A stacker frame can be understood as a frame in which a group of storage containers can be stacked vertically on top of each other. The stacker frame itself can be stored within the skeletal structure of an automated storage and retrieval system. The stacker frame can be lifted and lowered by a robotic vehicle operating on the automated storage and retrieval system. This allows multiple storage containers to be combined into a single handleable unit, thereby accelerating the handling of the group of storage containers. The size of the stacker frame can be selected according to specific storage system requirements. The stacker frame can be configured to accommodate one, two, three, four, five, or more storage containers. The stacker frame and the arrangement of storage containers stacked within the stacker frame can be referred to as a "nested stack."

[0030] According to the present invention, a stacker frame has a hermetic sidewall, a hermetic base, and a removable hermetic lid. Preferably, the stacker frame forms a substantially hermetic housing when the lid is arranged on an open top end in a different manner. Thus, a storage container arranged inside the internal space can be shielded from the outside of the stacker frame. Inside the stacker frame, a desired atmosphere or pressure can be generated, and the storage container inside the stacker frame can be exposed to this.

[0031] The storage container may include external dimensions, namely width, length, and height, corresponding to the dimensions of a conventional storage container used in a grid-based automated storage and retrieval system. Internal dimensions may be, for example, 600 × 400 mm (length × width), and may have various heights, for example, 200 mm, 310 mm, or 400 mm. The storage container may include a top rim that completely surrounds a top opening. The top rim may include multiple openings or openings for receiving or passing a gripping device of the lifting frame of a remotely operated vehicle. The top opening allows an item to be placed within or removed from the internal space.

[0032] However, smaller storage containers having, for example, half the size, one-third the size, or one-fourth the size of a standard storage container may also be used. These smaller storage containers may be arranged adjacent to each other in one or more layers, and one layer may correspond to the installation space of a standard storage container.

[0033] The stacker frame system includes an air control device that is coupled to or capable of being coupled with the internal space of the stacker frame. Preferably, the air control device is electrically operable.

[0034] This can be configured to reduce the gas pressure inside the stacker frame. This can be achieved by a gas pump, which pumps air outward from the inside of the stacker frame.

[0035] However, the air control device may be configured to control the gas composition instead or additionally, for example, by depleting the oxygen content and increasing the nitrogen content.

[0036] In one embodiment, the air control device may be configured to deplete the oxygen content inside the stacker frame. This process may also be known as inactivation. The inactivation method is often intended to reduce the oxygen content of the air to less than 12 weight percent. This can be accomplished by using a so-called air separation module that may include molecular sieves. The air separation module enables the air inside the stacker frame to filter out and discard most of its oxygen, leaving nitrogen-rich air inside the internal space. Instead of the air separation module, an active oxygen consumption device, for example, a fuel cell, may be used, which can be used outside of an automated storage and recovery system and provides a source of oxygen-depleted air.

[0037] All embodiments described herein may be used within a frame structure and / or integrated into an automated storage and retrieval system (1) described above with reference to the prior art. The frame structure of the automated storage and retrieval system is configured in a manner similar to the prior art frame structure (100) described above in relation to FIGS. 1 to 3. That is, the frame structure includes a plurality of upright members and a rail system extending in the X and Y directions. The frame structure includes a plurality of storage columns. At least one storage column may be configured to accommodate one or more stacker frames arranged vertically above and below each other as a vertical stack. The opening of the rail system may correspond to the opening of the rail system of the frame structure according to the prior art rail system described above. However, the opening may be slightly larger to allow for a slightly larger installation space for the stacker frames.

[0038] The skeletal structure may be of any size. In particular, it is understood that the skeletal structure may be significantly wider and / or longer and / or deeper than disclosed in FIG. 1. For example, the skeletal structure may have a horizontal range of columns greater than 700 × 700 and a storage depth greater than 12 containers. The upright members of the skeletal structure may be used to guide the stacker frame and / or storage container during the rise of the stacker frame and / or container out of the column (105) and the lowering of the stacker frame and / or storage container into the column. The stack of the stacker frame and / or storage container may be freestanding. It should be understood that the skeletal structure may be used to store the stack of storage containers within at least one of the storage columns, while the stack of the stacker frame may be stored within at least one of the other storage columns.

[0039] The removable lid and / or top end may have a seal configured to create a hermetic connection between the top end and the lid. Preferably, the lid may be removablely attached to the top end. Removal of the lid allows for the insertion or removal of the storage container. The seal may be retained for either the stacker frame or the lid. The seal may extend along a circumferential line on an edge section of the stacker frame or the lid. The top end may include a recess into which a protrusion of the lid can be inserted. The seal may be arranged on the inner surface of the recess or on the outer surface of the protrusion. The seal may also be arranged on a horizontal surface of the top end facing the lid or on a horizontal surface of the lid facing the top end, so that the seal is enclosed by the top end and the lid. The seal may comprise an elastic material such as natural or synthetic rubber. It may comprise a hollow or compressible profile having an opening. This allows the seal to deform when pressure is applied thereto to improve surface contact and thus the sealing function between the top end, the lid, and the seal.

[0040] The air control device can be arranged within the internal space of the stacker frame. The air control device can therefore be fully positioned inside the stacker frame, thereby reducing the available space for the storage container. It can be freestanding, allowing it to operate without being connected to an external power source. However, it can be connected to an electrical interface accessible from the outside of the stacker frame.

[0041] An air control device may be arranged inside a base. Accordingly, the base of the stacker frame may include an installation space configured to accommodate the air control device. The installation space may be accessible from the lower side of the stacker frame, i.e., from below the stacker frame. It may also be accessible from above the base, i.e., from inside the interior space. The installation space may include a removable cover for closing the installation space with the air control device installed. In either case, the base may include an inner bottom and an outer bottom, between which the installation space is formed. At least one fluid connection may be provided between the installation space and the interior space, so that the air control device can process air inside the interior space.

[0042] An air control device may be arranged inside a lid. Accordingly, the lid may be formed to provide an installation space capable of housing the air control device. Preferably, the lid has a fixed lower bottom that delineates the lower side of the installation space. This may include a removable cover to substantially close the installation space from above. However, the lid may also include a fixed upper surface and a removable lower cover that enclose the installation space together. At least one fluid connection may be provided between the installation space and the interior space so that the air control device can process the air inside the interior space.

[0043] The stacker frame system may include an internal power source connectable to an air control device. The internal power source may include batteries, particularly rechargeable batteries, supercapacitors, etc. Therefore, the stacker frame system does not rely on an external supply of electrical energy.

[0044] The internal power source may be arranged inside at least one of the base and / or side wall and / or lid. The internal power source may be removable. The stacker frame may include an electric recharge port for recharging the internal power source.

[0045] The stacker frame system may include an electrical interface arranged on or accessible from the outer surface of the stacker frame, the electrical interface is configured to receive power from an external power source, and the electrical interface can be connected to an air control device. Therefore, the stacker frame does not require a battery or other internal power source to supply power to the air control device.

[0046] This is an alternative or addition to the internal power source. The internal power source can be rechargeable.

[0047] The electrical interface may include conductive contacts connectable to an external power source. The skeletal structure of an automated storage and retrieval system in which a stacker frame system may be used may include one or more electrical connectors arranged between upright members. The skeletal structure may include one or more dedicated cells or columns in which these electrical connectors are positioned to enable the supply of power to a stacker frame having conductive contacts.

[0048] The electrical interface may include an inductive power receiver configured to receive power from an inductive power transmitter connectable to an external power source. Thus, exposed electrical contacts are not required, and each section of the stacker frame can be kept sealed. The skeletal structure of an automated storage and retrieval system in which the stacker frame system may be used may include one or more inductive power transmitters arranged between upright members. The skeletal structure may include one or more dedicated cells or columns in which these inductive power transmitters are positioned to enable the supply of power to the stacker frame having the inductive power receiver.

[0049] The air control device may be arranged or formed within an air control container. Accordingly, the air control container may be selectively introduced or removed from the stacker frame. The air control container may have the same dimensions as a standard storage container and thus may be arranged within the skeletal structure of an automated storage and retrieval system. The air control container may be a closed box having the same dimensions as a standard storage container. It may also be formed as a standard storage container that possesses all the elements required to provide the function of the air control device. The air control container may have a closed top side. If the container is formed as a standard storage container, it may have a cover plate that closes the top side of the container, leaving a connection recess accessible from the top of the container.

[0050] The air control container can be configured to be accommodated within the internal space of the stacker frame. The air control container can be retained removablely within the stacker frame. If desired, it can be retained permanently within the stacker frame. It can be arranged at the bottom of the stack of storage containers. All storage containers can be moved in and out of the stacker frame in succession without the need to move the air control container. Alternatively, the air control container can also be arranged in a vertical position between the bottom and top of the storage container stack, that is, between the bottom storage container and the top storage container. It can also be arranged at the top of the stack of storage containers in the stacker frame. It can be lowered into the stacker frame from above through the top end. Thus, any stacker frame can be equipped with an air control container by lowering the air control container into the stacker frame. The air control container may have one or more holes or other types of inlets for drawing air into the air control container. If the air control container is configured to control the gas composition inside the stacker frame, the air control container may also have one or more holes or other outlets for supplying the treated air back into the stacker frame.

[0051] The air-controlled container can be configured to be stored within the skeletal structure of an automated storage and retrieval system outside the stacker frame. The air-controlled container may have the same overall dimensions as a standard storage container. Therefore, it can be treated as a container lifter, just like a storage container on a stacker frame. To this end, it may include a connection recess compatible with the connection recess of the storage container.

[0052] The air control container may have a first fluid port connected to an air control device, and the stacker frame may have a second fluid port that optionally communicates fluidly with the internal space, and the air control container and the stacker frame are configured to provide fluid communication between the first fluid port and the second fluid port when the stacker frame is placed on top of the air control container. The stacker frame may be placed on the air control container whenever required, for example, when a desired pressure range remains or when additional oxygen depletion is required. The first fluid port may thus be located on top of the air control container. Accordingly, the second fluid port may be located below the bottom of the stacker frame. The air control container may include an exhaust port for exhausting air drawn from the stacker frame. Preferably, the air control container may be airtight. The first and second fluid ports may preferably be gas ports.

[0053] The stacker frame may also be placed side by side with the air control container. Additionally, the air control container may be placed on top of the stacker frame. The first and second fluid ports may subsequently need to be placed at different locations associated with the relative positions of the stacker frame and the air control container.

[0054] The second fluid port may have a valve configured to be biased to a closed state and to selectively open when the second fluid port is connected to the first fluid port and / or when negative pressure is applied to the second fluid port.

[0055] The air control container may be a freestanding unit that can be removed and placed within the internal space. Therefore, the air control container does not require any additional equipment or power from the outside to provide its intended function.

[0056] The stacker frame system may include an optionally operable pressure relief valve configured to create a fluid communication between the internal space of the stacker frame and the outside when operated. The pressure relief valve may be positioned within the lid. The valve may be mechanically controlled, for example, by a lifting frame engaging with the lid. This can be achieved by a mechanism operated by a gripper that engages with the lid and is integrated into the lid and connects the recess. The lifting frame may also include an element, such as a pin, that is automatically inserted into the pressure relief valve to open it when the lifting frame is placed on the lid. The pressure relief valve may also be electrically operable. For example, the lifting frame may have an electric valve interface that contacts an electric valve connector on the lid and provides voltage to the valve connector, which is then connected to an electrically operable pressure relief valve to open it. It is electronically controlled. The pressure relief valve may also be electronically controlled by transmitting a control signal from the outside to the lid, for example, from a load handling device or control system of an automated storage and retrieval system. Therefore, by providing a pressure relief valve, the force generated by the vacuum in the case of reduced pressure inside the stacker frame can be removed, thereby enabling the lid to be lifted.

[0057] The stacker frame system may include a pressure sensor in fluid communication with the internal space of the stacker frame, the pressure sensor may be combined with an air control device, and the air control device is configured to control the pressure inside the internal space according to the pressure measured by the pressure sensor. The pressure sensor may be part of the stacker frame. Alternatively or additionally, it may also be part of the air control device. The pressure sensor may be connected to the control device. The control device may be part of the air control device. The pressure sensor may be connected to the control device via a wired or wireless connection.

[0058] Similarly, the stacker frame system may also include a sensor capable of measuring the content of at least one gas within the stacker frame. For example, the sensor may be an oxygen sensor configured to detect the oxygen concentration within the stacker frame. This enables the process of oxygen depletion to be controlled by an air control device. Once a desired oxygen concentration is reached, the process of oxygen depletion can be stopped.

[0059] In a second aspect, the present invention relates to an automated storage and retrieval system comprising: a skeletal structure forming a plurality of storage columns; and a stacker frame system according to any one of the prior claims.

[0060] The automated storage and retrieval system may also include a stacker frame lifter and a container lifter; the stacker frame lifter and the container lifter are configured to move in two vertical directions over the storage column; the container lifter is configured to retrieve the storage container through the open top end of the stacker frame; and the stacker frame lifter is configured to retrieve the stacker frame accommodated within the storage column.

[0061] Each storage column can be configured to accommodate multiple stacker frames arranged vertically above and below each other as a vertical stack.

[0062] A stacker frame can be dimensioned to hold at least one, preferably at least two, three, four, five, six, or more storage containers. Depending on the height of the individual stacker frames and the total height of the frame of the automated storage and retrieval system, multiple stacker frames can be stacked on top of each other to utilize the full height of the frame structure below the rail system on the top of the frame structure.

[0063] The stacker frame can be designed to withstand intended reduced pressure. Accordingly, the material and geometry can be configured in such a way that the stacker frame can cope with reduced pressure without the risk of damage or plastic deformation.

[0064] In a third aspect, the present invention relates to an air control container comprising: a housing substantially having an installation space for a storage container configured to be stored within a storage column of an automated storage and retrieval system or configured to be stored within a stacker frame capable of being stored within a storage column of an automated storage and retrieval system; and an air control device configured to reduce gas pressure within the stacker frame and / or control gas composition.

[0065] The air control container may include any of the additional features described above.

[0066] In a fourth aspect, the present invention relates to a method for operating an automated storage and retrieval system, comprising the steps of: arranging a stacker frame of a stacker frame system in a skeletal structure of the automated storage and retrieval system according to the above, which forms a plurality of storage columns; and reducing the gas pressure inside the stacker frame and / or depleting the oxygen content by means of an air control device.

[0067] The method may include the steps of: placing a stacker frame on top of an air control container arranged within a skeletal structure of an automated storage and retrieval system outside the stacker frame; and combining a first fluid port arranged on the air control container and connected to an air control device arranged inside the air control container, and a second fluid port arranged on the base of the stacker frame and connectable to an internal space.

[0068] The method may also include the step of placing an air control container, in which an air control device is arranged, inside a stacker frame. Brief explanation of the drawing

[0069] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate embodiments of the present invention, which will now be described merely as examples, where: FIG. 1 is a perspective view of the skeletal structure of a conventional automated storage and retrieval system. FIG. 2 is a perspective view of a conventional container handling vehicle having a cavity arranged inside to transport storage containers. FIG. 3 is a perspective view of a conventional container handling vehicle having a cantilever for transporting storage containers below. FIG. 4 is a perspective view from below of a conventional container handling vehicle having internally arranged cavities for transporting storage containers. Figure 5 is a perspective view of a storage container as used in the storage system of Figure 1. FIGS. 6 to 11 illustrate a storage system having a stacker frame. FIGS. 12a, FIGS. 12b, and FIGS. 13 illustrate a stacker frame and a storage container for a storage system. FIG. 14 is a plan view of a storage column accommodating a stacker frame and a storage container as shown in FIG. 12a, FIG. 12b and FIG. 13. Figures 15 and 16 are side views of a stacker frame lifter and a corresponding stacker frame. FIG. 17 shows a perspective view of the stacker frame lifter and the corresponding stacker frame of FIG. 15 and FIG. 16. Figures 18 and 19 illustrate a container lifter. FIG. 20 is a perspective view of a storage system according to the present invention. FIG. 21 illustrates a combination of a stacker frame and a storage container for a storage system. FIG. 22 illustrates a stacker frame and a storage container for a storage system. FIG. 23 illustrates a stacker frame in which storage containers of different heights are stacked. FIGS. 24, FIGS. 25, FIGS. 26a, and FIGS. 26b illustrate different stacker frame systems. FIGS. 27a and FIG. 27b illustrate a stacker frame in an open state (Fig. 27a) and a closed state (Fig. 27b). FIGS. 28a to 28d illustrate the valve operating mechanism within the lid in the open state (Figs. 28a and 28b) and the closed state (Figs. 28c and 28d). Specific details for implementing the invention

[0070] In the overview, a stacker frame system (5, 700, 800, 900, 1000) for an automated storage and retrieval system is provided. The stacker frame system (5, 700, 800, 900, 1000) includes a stacker frame (6) configured to be stored within a storage column of an automated storage and retrieval system. The stacker frame (6) has an open top end (9) and is configured to accommodate a plurality of storage containers (106) stored vertically in a stack within the internal space of the stacker frame (6). The stacker frame (6) has a sealed side wall (20) and a sealed base (18). The stacker frame system includes a removable sealed lid (7, 902) for covering the top end (9). The stacker frame system (5, 700, 800, 900, 1000) includes an air control device (56) configured to reduce gas pressure inside the stacker frame (6) and / or control gas composition.

[0071] In the following, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0072] A first exemplary storage system (1') is illustrated in FIGS. 6 through 11. The storage system (1') includes a frame structure (100), a stacker frame system (5), a storage container (106), a stacker frame lifter (8), and a container lifter (301). The stacker frame (6) of the stacker frame system (5) includes a lid (7). The frame structure (100), the storage container (106), and the container lifter (301) may be similar to the corresponding features of the prior art system of FIG. 1.

[0073] In some drawings, the stacker frame is shown without a lid (7), but this should not be understood as limiting the protection category, but is chosen merely for simplification or to indicate that the stack of the stacker frame may be provided with or without a lid. As described in combination with FIG. 24, a portion of the stacker frame (6) is dedicated to the specific treatment of the gas inside each stacker frame (6).

[0074] The skeletal structure (100) of the automated storage and retrieval system (1) is configured in a manner similar to the skeletal structure (100) of the prior art described in relation to FIGS. 1 to 3. That is, the skeletal structure (100) includes a plurality of upright members (102) and a rail system (108) extending in the X direction and the Y direction.

[0075] The skeletal structure (100) includes a vertical column profile (102) forming a plurality of storage columns (105). Each storage column (105) has a removable lid (7) and accommodates a plurality of stacker frames (6) arranged vertically relative to each other within a vertical stack.

[0076] The skeletal structure (100) may be of any size. In particular, it is understood that the skeletal structure (100) may be significantly wider and / or longer and / or deeper than disclosed in FIG. 1. For example, the skeletal structure (100) may have a horizontal range of columns greater than 700×700 and a storage depth of greater than 12 containers.

[0077] Each stacker frame (6) has an upper end (9) for allowing vertical passage of the storage container (106) or for receiving a lid (7), and is configured to accommodate a plurality of storage containers (106) stored vertically stacked on top of each other. The stacker frame (6) is configured to support the bottom of the lowest storage container (106) within the stack of storage containers (106) accommodated within the stacker frame (6).

[0078] The stacker frame (6) comprises, for example, a bottom section (18) for supporting the lower end of the stack of storage containers (106) as illustrated in FIG. 12a, FIG. 12b and FIG. 13, and a top section (19) having an upper end (9) through which the storage containers (106) can pass vertically. An airtight side wall (20) extends between the bottom section (18) and the top section (19). A connecting recess (12) is arranged in the upper part of the opposite side wall (20), which corresponds to the short side of the stacker frame (6) in the illustrated example. The connecting recess (12) is arranged, for example, at a level above the upper level of the stack of storage containers (106) arranged within the stacker frame.

[0079] The lid (7) has a lower protrusion (50) configured to reach into the upper end (9) of the stacker frame (6). The lid (7) has an upper shoulder (51) that is radially connected to the lower protrusion (50), extends along the circumference of the lid (7), and extends radially outward.

[0080] A substantially rectangular seal (53) is provided, formed in correspondence with the upper rim (52) and shoulder (51) of the stacker frame (6). This is configured to be held on the lower protrusion (50) in close contact with the shoulder (51). In this example, the lid (7) is configured to rest together with the shoulder (51) on the seal (53), which then rests on the upper rim (52) of the stacker frame (6) when the lid (7) is arranged on the stacker frame (6) having the lower protrusion (50) that reaches into the stacker frame (6). Thus, the internal space of the stacker frame (6) can be sealed in an airtight manner. Other variations are possible, which may include the placement of the seal (53) on the outer surface of the lower protrusion (50) or within a circumferential recess on the inner surface of the stacker frame (6) in the upper section (19).

[0081] To improve the stability of the stack of the stacker frame, the bottom section (18) of the stacker frame may have a recess (23) having an outer periphery that is smaller than the inner periphery of the top section (19), that is, a recess that fits into it. In this way, the stacker frame (6) can be stacked on top of another frame while restricting horizontal movement between them, whether or not a lid (7) is required.

[0082] The lid (7) has a lid connecting recess (54) that can be designed similarly to the connecting recess (12) and arranged on another pair of opposing side walls (20), for example, on the side wall (20) associated with the long side of the stacker frame (6). The lid connecting recess (54) can be used to lift the lid (7) from the stacker frame (6), for example, by a stacker frame lifter (8, 8') or other container handling vehicle (201, 301, 401).

[0083] The storage system (1') includes a rail system (108) arranged over a storage column (105). A stacker frame lifter (8) and a container handling vehicle (301) are configured to move in two vertical directions on the rail system (108). Both the stacker frame lifter (8) and the container lifter (301) include a first set of wheels (28, 28') and a second set of wheels (29, 29') for moving on the rail system (108). The set of wheels may be as described for the container handling vehicle of the prior art in FIGS. 2 through 4.

[0084] The container handling vehicle (301) may be similar to the prior art container handling vehicle (301) of FIG. 3. The container handling vehicle (301) includes a first type of lifting frame (2) having a gripper (3) configured to be releaseably connected to a container connection recess (13) arranged within the upper rim (16) of a storage container (106) (see FIG. 5). The first type of lifting frame (2) may be similar to the prior art lifting frame shown in FIG. 4. The container handling vehicle (301) is configured to retrieve the storage container (106) through the open top end (9) of the upper stacker frame (6') of the stack of the stacker frame (6) (see FIG. 8 and FIG. 12). The upper stacker frame (6') of FIG. 8 has a cut-out section to better illustrate the stacking of the storage container (106) inside the stacker frame (6'). To retrieve the storage container (106) from the stacker frame (6), the first type of lifting frame (2) has an outer portion smaller than the inner portion of the stacker frame (6). The inner portion of the stacker frame (6) may be configured to guide the vertical movement of the first type of lifting frame (2) within the stacker frame (6).

[0085] In addition, the first type of lifting frame (2) can be used to lift the lid (7) from the stacker frame (6). To make this possible, the lid connecting recess (54) has a size and spacing similar to the container connecting recess (13).

[0086] The lid (7) has a recess (55) that is positioned directly above the connecting recess (12) of the stacker frame (6) when the lid (7) is positioned on the stacker frame (6).

[0087] The stacker frame lifter (8) includes a second type of lifting frame (10) (see FIG. 15 and FIG. 16). The stacker frame lifter (8) is configured to retrieve an upper stacker frame (6') received within a storage column (105). The second type of lifting frame (10) includes a horizontal base frame (11) and a latch (17) arranged on each of two opposing sides of the base frame (10). The connecting portion (17a) of each latch (17) is configured to move between a release position (Fig. 15) and a connection position (Fig. 16). In the release position, the connecting portion (17a) is closer to the vertical centerline (C) of the base frame (10) than in the connection position. When moving from the release position to the connection position, the connecting portion (17a) moves away from the vertical centerline (C) and may extend through a corresponding recess (12) within a side section (20) of the stacker frame (6). Having a latch (17) connected to the stacker frame on the inner surface of the stacker frame (6) is advantageous in that the space between adjacent stacks of the stacker frame (6) can be minimized. Additionally, if the stacker frame (6) is manufactured of a material and / or has a configuration that provides sufficient support for the stacker frame (6) stacked on top, the width of the side wall (20) of the stacker frame (6) can also be minimized. The stacker frame lifter (8) may be similar to the vehicle of the prior art of FIGS. 2 and FIGS. 4, and the size of the cavity is configured to lift and move the stacker frame (6). To provide an increased lifting height, the second type of lifting frame (10) may be further modified by having a guide shuttle, for example, as described in WO 2020 / 200631 A1.

[0088] Because the latch (17) can pass through the recess (55) when moving between the release position and the connection position, the stacker frame (6) can be handled with the lid (7) arranged on the stacker frame (6), that is, it can be lifted and lowered.

[0089] The storage system (1') offers several advantages regarding the possibility of increasing the height of the storage column. The stacker frame (6) can be configured to support a stack of the stacker frame (6) that is higher than the maximum height of the stack of the storage container (106). Because a specific stack height requires fewer individual stacked units compared to the stack of the storage container (106), the stack of the stacker frame (6) can be more stable than the stack of the storage container (106) having a similar height. Furthermore, the storage system (i1') is also advantageous in that storage containers (106) arranged at lower levels of the storage column can be retrieved more efficiently.

[0090] An advantageous method for recovering a target storage container (106*) from the above storage system (1') is illustrated in FIGS. 9 to 11. The method is:

[0091] - A step of identifying a storage column (105) that accommodates a target stacker frame (6*) in which a target storage container (106*) is stored;

[0092] - Step of moving the stacker frame lifter (8) to a position above the storage column (105) (Fig. 9);

[0093] - A step of retrieving at least one stacker frame (6') stacked on top of the target stacker frame (6*) from the storage column (105) (at least one stacker frame (6') may optionally be stored in another storage column) until the target stacker frame (6*) is an upper stacker frame in the storage column (105) (Fig. 10);

[0094] - Includes the step (Fig. 11) of retrieving the target storage container (106*) from the target stacker frame (6*) by using a container lifter (301).

[0095] Depending on the configuration of the container handling vehicle (301) and / or the first type of lifting frame (2), the first type of lifting frame (2) may require guidance during vertical movement within the storage column (105). If guidance is required, the method follows the steps below before the target storage container (106*) is retrieved by the container handling vehicle (301):

[0096] - The method may include the step of retrieving the target stacker frame (6*) from the storage column (105) and moving the target stacker frame (6*) to another storage column (105) where the target stacker frame (6*) is stacked at the upper level of the storage column. When stacked at the upper level of the storage column (105), the open end (9) of the target stacker frame (6*) is at a level immediately below the rail system (108). In this way, the first type of lifting frame (2) can be guided by the inner surface of the target stacker frame (6*) as it moves into the storage column (105).

[0097] To provide guidance for a first type of lifting frame independently of the stacker frame (6), when moving within the storage column (105), the lifting frame (2') may optionally include an extendable guide element (21) (see FIG. 18 and FIG. 19). The guide element (21) is deflected toward an extended position (see FIG. 19), where they may interact with the vertical column profile (102) of the storage column (105) to provide guidance for the lifting frame (2'). When entering the open end (9) of the stacker frame (6), the guide element (21) is pressed into a retracted position, and further vertical movement of the lifting frame (2') is guided by interaction with the inner surface of the stacker frame. The guide element (21) may include, for example, an arm configured to move a wheel between the extended position and the retracted position.

[0098] A second exemplary storage system (1) is illustrated in FIG. 20. In the second exemplary storage system (1), a stacker frame lifter (8') is arranged to move over a storage column (105) by means of a crane assembly. The crane assembly includes a first gantry beam (24) that is slidably connected to a second gantry beam (25), so that the first gantry beam (24) can move in a first direction over the storage column (105). The stacker frame lifter (8') is slidably connected to the first gantry beam (24), so that the stacker frame lifter (8') can move in a second direction perpendicular to the first direction. A second type of lifting frame (10) is suspended from a lifting platform (27) by a lifting band. The lifting platform may be connected to the first gantry beam (24) by an extendable arm (26). The retractable arm (26) is configured to move the lifting platform between an upper position where the stacker frame lifter (8') can move the stacker frame over the storage column (105) and a lower position where the lifting frame and any connected stacker frame can be lowered into the storage column. In the upper position, the lower section (18) of the stacker frame (6) connected to the lifting frame (10) can advantageously be at a level above the upper level of the container handling vehicle (301). In this way, the stacker frame (6) can be moved over the storage column (105) without interfering with the operation of the container handling vehicle (301), and vice versa.

[0099] Another version of the combination of a stacker frame and a storage container is illustrated in FIGS. 21 and 22. The main distinguishing feature of these combinations in terms of the aforementioned stacker frame (6) and storage container (106) is the positioning of the connection recesses (13', 12') of the storage container (106") and / or the stacker frame (6"). In both versions, the stacker frame (6") includes a connection recess (12') within its upper rim. The connection recess (12') may be suitable for connection by a second type of lifting frame (not illustrated), having a gripper similar to the container connector (3) of the lifting frame (2) of the prior art of FIG. 4, for example. The connection recess (13') of the storage container (106") ( FIG. 22) may be suitable for connection by a first type of lifting frame (not illustrated), having a latch (17) similar to the second type, for example.

[0100] When a container handling vehicle (301) (i.e., a container lifter) is configured to lift storage containers (106) of different heights, the stack of storage containers within the stacker frame may include a mixture of these storage containers (see FIG. 23).

[0101] FIG. 24 illustrates a stacker frame system (700) having an air control device (56) attached to the base, i.e., the bottom section (18) of the stacker frame (6). This is configured to reduce the gas pressure inside the stacker frame (6) and / or change the gas composition. For example, this may include a vacuum pump that fluidly communicates with the internal space of the stacker frame (6) through one or more holes (57) within the inner bottom surface (58) of the stacker frame (6). Air sucked from the internal space may be discharged from the stacker frame (6) through exhaust openings (59) arranged within one or more side walls (20). In the bottom section (18), a battery may be provided as an internal power source connected to the vacuum pump. Alternatively, an electrical interface (60) is provided in one or more side walls (20) and connected to an external power source arranged within an associated column (105).

[0102] Instead of or in addition to a vacuum pump, an air separation module or similar device configured to reduce the oxygen content of the gas inside the internal space may be provided. The holes (57) may be used to circulate air inside the stacker frame (6) in such a way that air is drawn into the air separation module through one or more of the holes (57), and oxygen-depleted air is supplied back into the stacker frame (6) through the remaining holes (57) or holes (57).

[0103] For example, the lid (7) has a pressure relief valve (75) configured to create fluid communication between the internal space of the stacker frame (6) and the outside when operated. When reduced pressure is present inside the stacker frame (6), it is almost impossible to lift the lid (7) from the stacker frame (6). When the pressure relief valve (75) is opened, the pressure inside the stacker frame (6) becomes ambient pressure, and the lid (7) can be easily lifted. For example, this can be automatically performed by a first type of lifting frame (2) which may include a pin (76) that presses on a valve disc (77) deflected to a closed position.

[0104] In FIG. 25, a stacker frame system (800) is illustrated. Here, an air control device (61) is arranged inside the stacker frame (6) and has a shape similar to a storage container (106). For example, it may have a box-shaped enclosure having side walls, a bottom wall, and a top wall. This may be referred to as an air control container. It may be designed similarly to the air control device (56) of FIG. 24. An exhaust hose (62) may be connected to a vacuum pump or an air separation module, etc., and may be reached through one of the side walls (20) and sealed in an airtight manner within each through hole (63). A portion of the air or gas inside the stacker frame (6) may be discharged through the exhaust hose (62). The air control device (61) may include a battery as an internal power source connected to each active device. As an alternative to or in addition to this, an electrical interface (64) may be provided on one or more sidewalls (20) and connected to an external power source (65) arranged within an associated column (105). For example, the interface (64) and the external power source include an inductive power transmission device for non-contact transmission of power.

[0105] FIG. 26a illustrates a stacker frame system (1000) having an air control container (66) having a first fluid port (67) on an upper surface (68). For example, the first fluid port (67) protrudes vertically over the upper surface (68). A ring-shaped sealing element (69) surrounds the first fluid port (67). The stacker frame (6) has a second fluid port (70) in the form of an opening arranged on the lower surface of the stacker frame (6). Its location corresponds to the location of the first fluid port (67) on the installation space of the air control container (66) when the stacker frame (6) and the air control container (66) are arranged directly above each other. The air control container has an exhaust port (78), through which a portion of the air or gas composition within the internal space of the stacker frame (6) can be discharged. The air control container (66) and the stacker frame (6) are configured to provide fluid communication of the first fluid port (67) and the second fluid port (70) when the air control container (66) and the stacker frame (6) are placed on top of each other. Accordingly, when required, the pressure and / or oxygen content inside the stacker frame (6) can be reduced by placing the stacker frame (6) on the air control container (66) and operating an active device inside the air control container (66), namely a vacuum pump or an air separation module.

[0106] The second fluid port (70) includes a valve (71) having, for example, a valve plate (72), and the valve plate is deflected to a closed position by a spring (73). By applying suction to the second fluid port (70), the valve plate (72) moves away from the closed position and allows air to be sucked into the first fluid port (67). The valve (71) is configured to remain closed and optionally open when the second fluid port (70) is connected to the first fluid port (67) or when negative pressure is applied to the second fluid port (70).

[0107] For example, each stacker frame (6) has a pressure sensor (74), for example illustrated in FIGS. 24 to 26a, which is in fluid communication with the internal space of the stacker frame (6). The pressure sensor (74) can be coupled with each air control device. The air control device is preferably configured to control the pressure inside the internal space according to the pressure measured by the pressure sensor (74).

[0108] FIGS. 27a and FIGS. 27b illustrate a stacker frame system (900) having a stacker frame (901) and a lid (902). The stacker frame (901) has an open top end (9) as shown in FIG. 12a. Here, the shape of the lid (902) is configured so that it is completely enclosed by the open top end (9) when the lid (902) is closed. The stacker frame (901) may have an inner shoulder, and the lid (902) may be placed over it in its closed state. However, it may simply be placed on the top storage container (106) on the stacker frame (901).

[0109] The upper portion of the corner (903) of the lid (902) is chamfered, for example, to avoid canting at the top end (9) when lifting or lowering the lid (902). A seal (53) as shown in FIG. 12a may also be used in this exemplary embodiment. This may be attached, for example, to the lower edge (904) of the lid (902) or inside the open top end (9) of the stacker frame (901).

[0110] FIGS. 28a through 28d illustrate side and perspective views of a first type of lifting frame (2) capable of engaging with a container connection recess (13) and a lid connection recess (54). Inside the lid (7 or 902), an operating mechanism (910) coupled with a pressure relief valve (911) is arranged. The external contour of the lid (7 or 902) is omitted for illustrative purposes.

[0111] In FIGS. 28a and 28b, the gripper (3) is in a neutral state, where the two gripper arms (912) are at the minimum possible distance from each other, thereby enabling insertion into the container connection recess (13) or, in this case, the lid connection recess (54). The operating mechanism includes a rod (913) that is deflected by a spring (914) toward one of the grippers (3), i.e., one of the lid connection recesses (54) of the lid (7 or 902).

[0112] The gripper (3) can be extended so that, as shown in FIGS. 28c and 28d, the gripper arms (912) increase the distance between them. This engages the lid connection recess (54). Here, one of the gripper arms (912) moves the rod (913) toward the pressure relief valve (911), which is then opened to provide fluid communication between the internal space of the stacker frame and the environment.

[0113] In the preceding description, various aspects of the delivery vehicle and automated storage and retrieval system according to the present invention have been described with reference to exemplary embodiments. For the sake of illustrative purposes, specific numbers, systems, and configurations have been described to provide a thorough understanding of the system and its operation. However, this description is not intended to be interpreted in a limiting sense. Various modifications and variations of other embodiments of the system, as well as exemplary embodiments that are obvious to a person skilled in the art to which the disclosed subject matter belongs, are considered to be within the scope of the present invention. Explanation of the symbols

[0114] 1: Automated storage and retrieval system of the prior art 1': Storage system 1": Storage system 2: Lifting Frame 2': Lifting Frame 3: Gripper 5: Stacker Frame System 6: Stacker Frame 6*: Target Stacker Frame 6': Stacker Frame 6": Stacker Frame 7: Lid 8: Stacker Frame Lifter 8': Stacker Frame Lifter 9: Top end 10: Lifting Frame 11: Horizontal base frame 12: Connection Recess 12': Connection recess 13: Container connection recess 13': Connection recess 16: Upper rim 17: Latch 17a: Connection 18: Bottom section 19: Top section 20: Sidewall 21: Guide Elements 23: Recess Department 24: 1st Gantry Bow 25: 2nd Gantry Bow 26: Retractable arm 27: Lifting Platform 28: Wheel 28': Wheel 29: Wheel 29': Wheel 50: Bottom protrusion 51: Shoulder 52: Top Rim 53: Sealing part 54: Connection Recess 55: Concave part 56: Air control device 57: Hole 58: Bottom surface 59: Exhaust opening 60: Electrical interface 61: Air control device 62: Exhaust hose 63: Through hole 64: Electrical interface 65: External power 66: Air-controlled container 67: First fluid port 68: Top surface 69: Sealing element 70: Second fluid port 71: Valve 72: Valve plate 73: Spring 74: Pressure sensor 75: Pressure relief valve 76: Pin 77: Valve disc 78: Exhaust port 100: Skeletal structure 102: Upright members of the skeletal structure 104: Storage Grid 105: Storage Column 106: Storage Container 106': Specific location of the storage container 107: Stack 108: Rail System 110: Parallel rail in the first direction (X) 112: Access opening 119: 1st Port Column 120: Second port column 201: Conventional container handling vehicle 201a: Body of a container handling vehicle (201) 201b: Driving means / wheel arrangement / first set of wheels in the first direction (X) 201c: Driving means in the second direction (Y) / wheel arrangement / second set of wheels 301: Conventional cantilever container handling vehicle 301a: Body of the container handling vehicle (301) 301b: Driving means in the first direction (X) / Wheel of the first set 301c: Driving means in the second direction (Y) / second set of wheels 304: Grafting device 401: Conventional container handling vehicle 401a: Body of the container handling vehicle (401) 401b: Driving means in the first direction (X) / Wheel of the first set 401c: Driving means in the second direction (Y) / second set of wheels 404: Grafting device 404a: Lifting band 404b: Gripper 404c: Guide pin 404d: Lifting Frame 500: Control System 700: Stacker Frame System 800: Stacker Frame System 900: Stacker Frame System 901: Stacker Frame 902: Lid 903: Corner 904: Lower edge 910: Operating mechanism 911: Pressure relief valve 912: Gripper Arm 913: Load 914: Spring 1000: Stacker Frame System X: First direction Y: Second direction Z: Third direction

Claims

Claim 1 A stacker frame system (5, 700, 800, 900, 1000) for an automated storage and retrieval system, wherein the stacker frame system (5, 700, 800, 900, 1000) comprises a stacker frame (6) configured to be stored within a storage column of the automated storage and retrieval system; the stacker frame (6) has an open top end (9) and is configured to accommodate a plurality of storage containers (106) stored vertically in a stack within the internal space of the stacker frame (6); the stacker frame (6) has a sealed side wall (20) and a sealed base (18); the stacker frame system comprises a removable sealed lid (7, 902) for covering the top end (9); and the stacker frame system (5, 700, 800, 900, 1000) reduces gas pressure inside the stacker frame (6) and / or gas A stacker frame system (5, 700, 800, 900, 1000) comprising an air control device (56) configured to control the composition. Claim 2 In claim 1, the lid (7, 902) and / or the top end (9) has a seal configured to create a hermetic connection between the top end (9) and the lid (7, 902), a stacker frame system (5, 700, 800, 900, 1000). Claim 3 In claim 1 or 2, the air control device (56) is arranged inside the internal space of the stacker frame (6), in a stacker frame system (5, 700, 800, 900, 1000). Claim 4 In claim 1 or 2, the air control device (56) is arranged inside the base (18), forming a stacker frame system (5, 700, 800, 900, 1000). Claim 5 In claim 1 or 2, the air control device (56) is arranged inside the lid (7, 902) of the stacker frame system (5, 700, 800, 900, 1000). Claim 6 A stacker frame system (5, 700, 800, 900, 1000) comprising an internal power source connectable to an air control device (56) in any one of claims 1 to 5. Claim 7 In claim 6, the internal power source is arranged inside at least one of the base (18) and / or side wall (20) and / or lid (7, 902), a stacker frame system (5, 700, 800, 900, 1000). Claim 8 A stacker frame system (5, 700, 800, 900, 1000) according to any one of claims 1 to 7, comprising an electrical interface (60, 64) arranged on or accessible from the outer surface of a stacker frame (6), wherein the electrical interface (60, 64) is configured to receive power from an external power source and the electrical interface (60, 64) is connectable to an air control device (56). Claim 9 In claim 8, the electric interface (60, 64) comprises a conductive contact connectable to an external power source, in a stacker frame system (5, 700, 800, 900, 1000). Claim 10 In claim 8, the electric interface (60, 64) comprises an inductive power receiver configured to receive power from an inductive power transmitter connectable to an external power source, in a stacker frame system (5, 700, 800, 900, 1000). Claim 11 In any one of claims 1 to 10, the air control device (56) is arranged or formed within an air control container (61, 66), in a stacker frame system (5, 700, 800, 900, 1000). Claim 12 In claim 11, the air control container (61, 66) is configured to be accommodated within the internal space of the stacker frame (6), in a stacker frame system (5, 700, 800, 900, 1000). Claim 13 In claim 11 or 12, the air control container (61, 66) is configured to be stored within the skeletal structure (100) of an automated storage and retrieval system outside the stacker frame (6), in a stacker frame system (5, 700, 800, 900, 1000). Claim 14 In paragraph 13, the air control container (61, 66) has a first fluid port (67) connected to an air control device (56), and the stacker frame (6) has a second fluid port (70) that optionally communicates fluidly with an internal space, and the air control container (61, 66) and the stacker frame (6) are configured to provide fluid communication of the first fluid port (67) and the second fluid port (70) when the stacker frame (6) is placed on top of the air control container (61, 66), the stacker frame system (5, 700, 800, 900, 1000). Claim 15 In claim 14, a stacker frame system (5, 700, 800, 900, 1000) having a valve configured such that the second fluid port (70) is biased to a closed state and is selectively opened when the second fluid port (70) is connected to the first fluid port (67) and / or when negative pressure is applied to the second fluid port (70). Claim 16 In any one of claims 11 to 15, the air control container (61, 66) is a freestanding unit that can be removed and placed within the internal space, a stacker frame system (5, 700, 800, 900, 1000). Claim 17 A stacker frame system (5, 700, 800, 900, 1000) comprising, in any one of claims 1 to 16, an optionally operable pressure relief valve (75, 911) configured to create fluid communication between the outer and inner spaces of the stacker frame (6) when operated. Claim 18 A stacker frame system (5, 700, 800, 900, 1000) according to any one of claims 1 to 17, comprising a pressure sensor (74) in fluid communication with the internal space of a stacker frame (6), wherein the pressure sensor (74) can be coupled with an air control device (56), and the air control device (56) is configured to control the pressure inside the internal space according to the pressure measured by the pressure sensor (74). Claim 19 An automated storage and retrieval system comprising: a skeletal structure (100) forming a plurality of storage columns (105); and a stacker frame system (5, 700, 800, 900, 1000) according to any one of claims 1 to 18. Claim 20 An automated storage and retrieval system according to claim 19, further comprising a stacker frame lifter (8, 8') and a container lifter (201, 301, 401); wherein the stacker frame lifter (8, 8') and the container lifter (201, 301, 401) are configured to move in two vertical directions over a storage column; wherein the container lifter (201, 301, 401) is configured to retrieve a storage container (106) through an open top end (9) of a stacker frame (6); and wherein the stacker frame lifter (8, 8') is configured to retrieve a stacker frame (6) accommodated within a storage column. Claim 21 An automated storage and retrieval system according to claim 19 or 20, wherein each storage column is configured to accommodate a plurality of stacker frames (6) arranged vertically above and below each other in a vertical stack. Claim 22 An air control container (61, 66) comprising a housing substantially having an installation space for a storage container (106) configured to be stored within a storage column of an automated storage and retrieval system or configured to be stored within a stacker frame (6) capable of being stored within a storage column of an automated storage and retrieval system, and an air control device (56) configured to reduce gas pressure and / or control gas composition within the stacker frame (6). Claim 23 A method for operating an automated storage and retrieval system, comprising the steps of: arranging a stacker frame (6) of a stacker frame system (5, 700, 800, 900, 1000) within a skeletal structure (100) of an automated storage and retrieval system according to any one of claims 19 to 21, forming a plurality of storage columns (105); and reducing the gas pressure inside the stacker frame (6) and / or depleting the oxygen content by means of an air control device (56). Claim 24 A method according to claim 23, comprising the steps of: placing a stacker frame (6) on top of an air control container (61, 66) arranged within the skeletal structure of an automated storage and retrieval system outside the stacker frame (6); and combining a first fluid port (67) arranged on the air control container (61, 66) and connected to an air control device (56) arranged inside the air control container (61, 66), and a second fluid port (70) arranged on the base (18) of the stacker frame (6) and connectable to an internal space. Claim 25 A method according to claim 23, comprising the step of placing an air control container (61, 66) in which an air control device (56) is arranged inside the stacker frame (6).

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