Storage system

Abstract

The present invention provides a floor element for a storage system comprising a framework structure (100) with a rail grid (108), the floor element comprising: a plurality of rail supports (10) pivotably connected to a periphery of the floor element (8); and a top surface (11) on which an operator can stand, wherein each of the rail supports (10) comprises: a support portion (18) comprising a downwards facing support surface (12), the support portion being biased towards a first position; and an actuator portion (19) biased towards a position wherein the actuator portion protrudes from the periphery of the floor element; wherein the actuator portion (19) is arranged above the support portion (18), and the support portion (18) is moved to a second position protruding outwardly of the periphery of the floor element (8) when the actuator portion (19) is pushed inwardly towards the periphery of the floor element.

Description

Storage systemField of the invention

[0001] The present invention relates to a floor element for a storage system for storage containers.Background and prior art

[0002] Fig. 1 discloses a prior art automated storage and retrieval system 1 (i.e. a storage system), with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.

[0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminium profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 (i.e. a rail grid) arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 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 movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108 (the access openings 112 may also be termed grid spaces, i.e. the rectangular spaces / openings defined by the rail system 108). The container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self- supportive.

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

[0007] Each prior art container handling vehicle 201,301,401 also comprises a lift device 404, see fig. 4, for vertical transportation of storage containers 106 (i.e. a container lift device), e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lift device 404 features a lifting frame 2 comprising container connectors 3, adapted to engage connecting recesses 13 at an upper rim of the sidewalls 14 of a storage container 106, see fig. 5, and guiding pins 4. The guiding pins 4 are arranged to interact with guiding pin recesses 7 at the corners of the storage container and ensure a correct alignment of the lifting frame 2 and container connectors 3 relative to the storage container. The guiding pins 4 will also assist in guiding the lifting frame 2 relative to the upright members of the storage column 105. The lifting frame 2 can be lowered from the vehicle 201,301,401 so that the position of the lifting frame 2 with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. The lifting device of the container handling vehicle 201 is located within the vehicle body 201a in Fig. 2.

[0008] To raise or lower the lifting frame 2 (and optionally a connected storage container 106), the lifting frame 2 is suspended from a band drive assembly by lifting bands 5. In the band drive assembly, the lifting bands are commonly spooled on / off at least one rotating lifting shaft or reel arranged in the container handling vehicle. Various designs of band drive assemblies are described in for instance WO 2015 / 193278 Al, WO 2017 / 129384 Al and WO 2019 / 206438 Al.

[0009] Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer for storing storage containers below the rail system 108, i.e. the layer immediately below the rail system 108, Z=2 the second layer below the rail system 108, Z=3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=l ...n and Y=Y ..n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system A, Y, Z indicated in Fig. 1, thestorage container identified as 106’ in Fig. 1 can be said to occupy storage position =17, K=l, Z=6. The container handling vehicles 201,301,401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in Fig. 1 extending above the rail system 108 are also said to be arranged in layer Z=0.

[0010] The storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y- direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.

[0011] Each prior art container handling vehicle 201,301,401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in Figs. 2 and 4 and as described in e.g. WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0012] Fig. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g.NO3 17366, the contents of which are also incorporated herein by reference.

[0013] The cavity container handling vehicles 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term 'lateral' used herein may mean 'horizontal'.

[0014] Alternatively, the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014 / 090684A1 or WO2019 / 206487A1.

[0015] The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail may comprise two parallel tracks.

[0016] WO2018 / 146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions forming a rail grid.

[0017] In the framework structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Fig. 1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120. The transportation to the access station may be in any direction, that is horizontal, tilted and / or vertical. For example, the storage containers 106 may be placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

[0018] In Fig. 1, the first port column 119 may for example be a dedicated dropoff port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.

[0019] The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1 but are returned into the framework structure 100 again once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

[0020] A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.

[0021] If the port columns 119,120 and the access station are located at different levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.

[0022] The conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in WO2014 / 075937A1, the contents of which are incorporated herein by reference. The conveyor system in WO2014 / 075937A1 is a storage container lift arranged to transport a storage container between two vertically separated framework structures 100.

[0023] When a storage container 106 stored in one of the storage columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201,301,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lifting device 404, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

[0024] When a storage container 106 is to be 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 pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105 or relocated to other storage columns 105.

[0025] For monitoring and controlling the storage system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can bedelivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the storage 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

[0026] A problem with automated storage and retrieval systems, as described above, is the difficulty that service personnel face in accessing equipment arranged on the framework structure 100 when the equipment needs service. Such equipment includes container-handling vehicles, charging stations for container-handling vehicles etc. For instance, if a container-handling vehicle stops working while out on the rail grid 108, there is no easy way for service personnel to reach the vehicle. One option is to use a service vehicle unit, which is a manually driven personnel vehicle. However, these vehicles are bothersome to use and does not allow the operator to transport any required equipment out on the rail grid. Further, the area surrounding equipment in need of service is usually made up of open ended storage columns 105, making the service work difficult to perform, at least in a secure manner.

[0027] Use of floor elements to allow access to areas upon the rail grid is described in WO 2019 / 081092 Al. The floor elements may be arranged on top of and supported by a stack of storage containers. The floor elements may comprise rail interacting elements to support the floor element by the rails of the rail grid. The configuration of the rail interacting elements is not disclosed.

[0028] The aim of the present invention is to provide an improved floor element to be supported by the rails of a storage system, and a storage system comprising the floor element.Summary of the invention

[0029] The present invention is defined by the attached claims and in the following:

[0030] In a first aspect, the present invention provides a storage system for storage containers, the storage system comprising a framework structure having a rail grid upon which a container handling vehicle is arranged to move, the framework structure defines a plurality of storage columns below the rail grid, in which storage columns storage containers are arranged one on top of another in vertical stacks; the rail grid comprises a first set of parallel rails and a second set of parallel rails defining a plurality of access openings, one access opening arranged at an upper end of each of the storage columns; wherein the storage system comprises a floor element configured to be arranged in a support position at the upper end of a storage column,the floor element comprises rail supports and a top surface on which an operator can stand; each of the rail supports is arranged at a periphery of the floor element and comprises a downwards facing support surface configured to engage with an upwards facing surface of the rails to support the floor element at a fixed level relative to the rail grid when the floor element is in the support position; wherein each of the rail supports comprises a support portion, featuring the downwards facing support surface, and an actuator portion, and is pivotably connected to the floor element such that the support portion is moved from a first position to a second position in a horizontal direction outwardly beyond an inner periphery of the access opening when the actuator portion is deflected inwardly of the inner periphery of the access opening by engaging an upper portion of the rails during lowering of the floor element into the access opening.

[0031] The second set of parallel rails may be arranged perpendicular to the first set of rails.

[0032] The access openings may be rectangular, and the inner periphery is sized to allow passage of a storage container through the rail grid and into a storage column.

[0033] The floor element may be configured to be arranged within an access opening when in the support position at the upper end of a storage column.

[0034] The floor element may optionally be termed a floor panel.

[0035] The top surface of the floor element may be flush with, or slightly below or above, an upper level of the rail grid when the floor element is in the support position. The top surface may be arranged at a level relative to an upper level of the rail grid which allows a container handling vehicle to move over the floor.

[0036] The upper portion of the rails may be an upper edge of the rails, the edge arranged at the periphery of the access opening.

[0037] The downwards facing support surfaces may be configured to engage with an upwards facing surface of a respective rail of the first set of parallel rails and the second set of parallel rails.

[0038] The periphery of the floor element may be substantially rectangular. The rectangular periphery may be defined by two pairs of opposite sidewalls. In the second position, the downwards facing support surfaces may extend beyond the periphery defined by the sidewalls.

[0039] The support portions are arranged at a level below the actuator portions.

[0040] In some embodiments of the storage system, the downwards facing support surface may be configured to engage with the upwards facing surface of the rails when the support portion is in the second position and the floor element is in the support position. In other words, the downwards facing support surface is configured to engage with the upwards facing surface of the respective rail of the first set of parallel rails and the second set of parallel rails.

[0041] In some embodiments of the storage system, the first set of parallel rails and the second set of parallel rails provide horizontally extending recesses at the inner periphery of the access opening, the recesses comprising the upwards facing surface. In other words, each rail of the first set of parallel rails and the second set of parallel rails has a vertical cross-sectional profile comprising a recess on opposite sides thereof.

[0042] In some embodiments of the storage system, the support portion is biased towards the first position by a resilient element, e.g. by a spring.

[0043] In some embodiments of the storage system, the support portion and the actuator portion may be arranged at opposite ends of a lever, the lever being pivotably connected to the floor element by a pivot connection arranged between the support portion and the actuator portion. In other words, each rail support may comprise a lever being connected to the floor element by a pivot connection, and the lever may comprise the support portion and the actuator portion arranged on opposite sides of the pivot connection.

[0044] In some embodiments of the storage system, the actuator portion may comprise a curved or inclined surface for engagement with the upper portion of a respective rail during lowering of the floor element into the access opening, whereby the actuator portion is pushed in a direction away from the upper portion of the rail. In other words, the actuator portion may be pushed in a direction away from the upper portion of the rail by interaction between the curved / inclined surface and the upper portion of the respective rail.

[0045] In some embodiments of the storage system, the container handling vehicle may comprise a vertically moveable lifting frame for lifting a storage container from, or lowering a storage container into, any of the storage columns.

[0046] In some embodiments of the storage system, the floor element may comprise recesses for releasable connection to the lifting frame.

[0047] The lifting frame may comprise grippers for connection to the recesses of the floor element. The grippers may be suitable for connection to the floor element and any of the storage containers. The recesses may be arranged at the top surface of the floor element.

[0048] The framework structure may comprise a plurality of vertical column profiles, i.e. upright members, defining the storage columns. The vertical column profiles may comprise vertical corner sections for guiding corresponding corners of a lifting frame lowered or raised within the storage columns. The vertical corner sections may define the corners of a rectangular inner periphery of the storage columns.

[0049] The rail grid may be arranged on top of, and supported by, the vertical column profiles of the framework structure.

[0050] The first and second set of parallel rails may be dual track rails, single track rails or any combination thereof.

[0051] The container handling vehicle may comprise a wheel assembly which enables movement of the container handling vehicle in two perpendicular directions on the rail grid. The wheel assembly may feature a first and a second set of wheels The first set of wheels may be arranged to engage with a first set of parallel rails of the rail grid, and the second set of wheels may be arranged to engage with a second set of parallel rails of the rail grid. At least one of the sets of wheels can be lifted and lowered relative to the other set of wheels, so that the first set of wheels and / or the second set of wheels can be engaged with the respective set of rails at any one time.

[0052] In a second aspect, the present invention provides a floor element for a storage system comprising a framework structure with a rail grid, the storage system may be a storage system according to any embodiment of the first aspect, the floor element comprising: a plurality of rail supports arranged at a periphery of the floor element; and a top surface on which an operator can stand, wherein each of the rail supports comprises: a support portion comprising a downwards facing support surface biased to a first position; an actuator portion biased to a position protruding from (i.e. extending beyond) the periphery of the floor element; and a pivot connection to the floor element, between the support portion and the actuator portion, wherein the actuator portion is arranged at a level above the support portion, and the support portion is moved to a second position outward of the periphery of the floor element when the actuator portion is pushed towards the periphery of the floor element.

[0053] The floor element may comprise sidewalls defining the periphery of the floor element.

[0054] In some embodiments, the floor element of the second aspect may comprise the features of the floor element of any of the embodiments of the first aspect.

[0055] In a third aspect, the present invention provides a method of supporting a floor element at the upper end of a storage column in a storage system according to any embodiment of the first aspect. The method comprises the steps of lowering the floor element in a vertical direction towards the upper end of one of the storage columns until the actuator portion of each rail support engages with an upper portion of the rails (e.g. an upper edge of the rails); and further lowering the floor element in the vertical direction until the support portion of each rail support has moved from the first position to the second position, such that the downwards facing support surfaces engage with the upwards facing surfaces of the rails to support the floor element at a fixed level relative to the rail grid.

[0056] The actuator portions are pushed towards the periphery of the floor element when engaging with the upper portion of the rails. The actuator portions may alternatively be defined as being pushed closer to a vertical centerline of the floor element when engaging with the upper portion of the rails.Brief description of the drawings

[0057] Embodiments of the invention are described in detail by reference to the following drawings:

[0058] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0059] Fig. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0060] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for carrying storage containers underneath.

[0061] Fig. 4 is a perspective view of a prior art container handling vehicle, wherein a container lifting assembly is shown.

[0062] Fig. 5 is a perspective view of a storage container suitable for the storage system in fig. 1.

[0063] Fig. 6 is a perspective view of a prior art storage system.

[0064] Figs. 7-10 show an exemplary floor element for use in a storage system according to the invention.Detailed description of the invention

[0065] In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. The drawings are not intended to limit the invention to the illustrated subject-matter.

[0066] As discussed above, the prior art storage system 1 as shown in fig. 1 may present challenge for secure movement of an operator upon the rail grid.

[0067] A prior art solution overcoming at least some of safety concerns regarding movement of an operator upon the rail grid is disclosed in patent application WO 2019 / 081092 Al, see fig. 6. The prior art floor elements 6 may be arranged on top of and supported by a stack of storage containers 106. The prior art floor elements may comprise rail interacting elements to support the floor element by the rails of the rail grid, but the specific configuration of the rail interacting elements is not disclosed.

[0068] The present invention provides a storage system having an improved floor element. The improved floor element does not require any modification the rail grid 108 of a prior art storage system and will not hinder movement of container handling vehicles upon the rail grid.

[0069] The configuration of the framework structure 100, container handling vehicles and storage containers 106 of the inventive storage system may be as disclosed for the prior art storage system 1 discussed in the background section above and shown in fig. 1.

[0070] Thus, an exemplary storage system will comprise a framework structure 100 having vertical column profiles 102 defining a plurality of storage columns 105 and a rail grid 108 arranged above the storage columns 105. The rail grid 108 is configured to allow a container handling vehicle 201,301,401, as shown in figs. 2-4, to move thereon. The rail grid 108 comprises a first set of parallel rails 110 and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110. The rails 110,111 define access openings 112 at upper ends of the storage columns 105. The storage columns 105 may accommodate storage containers 106 being supported on top of each other in vertical stacks. The rails of the first set of parallel rails 110 and the second set of parallel rails 111 comprise horizontally extending recesses 20 at opposite sides thereof. The recesses 20 being arranged at the inner periphery of the access openings 112. Each recess 20 comprises, or is defined by, an upwards facing surface 17.

[0071] An exemplary floor element 8 is shown in figs. 7-10. The floor element 8 comprises a top surface 11, on which an operator may stand, and a plurality of rail supports 10. To allow the floor element 8 to be moved on top of a rail grid 108 by a prior art container handling vehicle 201,301,401, the floor element 8 comprises recesses 9 for releasable connection to a lifting frame 2 via grippers 3, and is configured to be arranged in a support position at the upper end of a storage column 105. The exemplary floor element comprises sidewalls 25 defining a periphery of the floor element.

[0072] Each of the rail supports 10 is arranged at a periphery of the floor element 8 and comprises a downwards facing support surface 12 configured to engage with one of the upwards facing surfaces 17 of the rails 110,111 to support the floor element 8 at a fixed level relative to the rail grid 108 when the floor element is in the support position, see fig. 10. The rail support 10 comprises a lever having a support portion 18, featuring the downwards facing support surface 17, and an actuator portion 19.

[0073] The rail support 10 is pivotably connected 22 to the floor element 8 such that the support portion 18 is moved from a first position to a second position in a horizontal direction outwardly beyond an inner periphery of the access opening 112 when the actuator portion 19 is deflected inwardly of the inner periphery of the access opening 112 by engaging an upper side edge 24 (i.e. an upper portion) of one of the rails during lowering of the floor element 8 into the access opening 112, see figs. 8 and 9. The support portion 18 is biased towards the first position by a spring 21 (i.e. a resilient element).

[0074] The actuator portion 19 comprises a curved or inclined surface 23 for engagement with the upper side edge 24 to provide a smooth movement of the support portion 18 between the first and second position.

[0075] In the secured position, the top surface 11 of the floor element is flush with, or at a level slightly below, the upper edges of the rails 110,111 defining the access opening 112.

[0076] Further, the disclosure comprises configurations according to the following clauses.

[0077] Clause 1. A storage system for storage containers, the storage system comprising a framework structure having a rail grid upon which a container handling vehicle is arranged to move, the framework structure defines a plurality of storage columns below the rail grid, in which storage columns storage containers are arranged one on top of another in vertical stacks; the rail grid comprises a first set of parallelrails and a second set of parallel rails defining a plurality of access openings, one access opening arranged at an upper end of each of the storage columns; wherein the storage system comprises a floor element configured to be arranged in a support position at the upper end of a storage column, the floor element comprises rail supports and a top surface on which an operator can stand; each of the rail supports is arranged at a periphery of the floor element and comprises a downwards facing support surface configured to engage with an upwards facing surface of the rails to support the floor element at a fixed level relative to the rail grid when the floor element is in the support position; wherein each of the rail supports comprises a support portion, featuring the downwards facing support surface, and an actuator portion, and is pivotably connected to the floor element such that the support portion is moved from a first position to a second position in a horizontal direction outwardly beyond an inner periphery of the access opening when the actuator portion is deflected inwardly of the inner periphery of the access opening by engaging an upper portion of the rails during lowering of the floor element into the access opening.

[0078] Clause 2. A storage system according to clause 1, wherein the downwards facing support surface is configured to engage with the upwards facing surface of the rails when the support portion is in the second position and the floor element is in the support position.

[0079] Clause 3. A storage system according to clause 1 or 2, wherein the first set of parallel rails and the second set of parallel rails provide a horizontally extending recess at the inner periphery of the access opening, the recess comprises the upwards facing surface.

[0080] Clause 4. A storage system according to any of the preceding clauses, wherein the support portion is biased towards the first position by a resilient element.

[0081] Clause 5. A storage system according to any of the preceding clauses, wherein the support portion and the actuator portion are arranged at opposite ends of a lever, the lever being pivotably connected to the floor element by a pivot connection arranged between the support portion and the actuator portion.

[0082] Clause 6. A storage system according to any of the preceding clauses, wherein the actuator portion comprises a curved or inclined surface for engagement with the upper portion of a respective rail during lowering of the floor element into the access opening, whereby the actuator portion is pushed in a direction away from the upper portion of the rail.

[0083] Clause 7. A storage system according to any of the preceding clauses, wherein the container handling vehicle comprises a vertically moveable lifting frame for lifting a storage container from, or lowering a storage container into, any of the storage columns.

[0084] Clause 8. A storage system according to any of the preceding clauses, wherein the floor element comprises recesses for releasable connection to the lifting frame.

[0085] Clause 9. A floor element for a storage system comprising a framework structure with a rail grid, the floor element comprising: a plurality of rail supports arranged at a periphery of the floor element; and a top surface on which an operator can stand, wherein each of the rail supports comprises: a support portion comprising a downwards facing support surface biased to a first position; an actuator portion biased to a position protruding from the periphery of the floor element; and a pivot connection to the floor element, between the support portion and the actuator portion, wherein the actuator portion is arranged at a level above the support portion, and the support portion is moved to a second position outward of the periphery of the floor element when the actuator portion is pushed towards the periphery of the floor element.

[0086] Clause 10. A method of supporting a floor element at the upper end of a storage column in a storage system according to any of clauses 1-8, comprising the steps of: lowering the floor element in a vertical direction towards the upper end of one of the storage columns until the actuator portion of each rail support engages with an upper portion of the rails; and further lowering the floor element in the vertical direction until the support portion of each rail support has moved from the first position to the second position, such that the downwards facing support surfaces engage with the upwards facing surfaces of the rails to support the floor element at a fixed level relative to the rail grid.

[0087] List of reference numbers1 Prior art automated storage and retrieval system2 Lifting frame3 Container connector, grippers4 Guiding pin5 Lifting bands 6 Prior art floor element 7 Guiding pin recess 8 Floor element, floor panel 9 Connecting recess 10 Rail support 11 Top surface 12 Downwards facing support surface 13 Connecting recess 14 Sidewall of storage container 15 Lower bottom surface of lifting frame 16 Upper rim of storage container 17 Upwards facing surface 18 Support portion 19 Actuator portion 0 Horizontally extending recess 1 Resilient element, spring 2 Pivot connection 3 Curved surface 4 Upper side edge 5 Sidewall 100,100’ First framework structure, second framework structure 102 Upright members of framework structure 103 Horizontal members of framework structure 104 Storage grid 105 Storage column 106 Storage container 106’ Particular position of storage container 107 Stack 108 Rail system 110 Parallel rails in first direction (X) 110a First rail in first direction (X) 110b Second rail in first direction (X) 111 Parallel rail in second direction (F) I l la First rail of second direction (Y) 111b Second rail of second direction (Y) 112 Access opening, storage column 113 Access opening, buffer column 119 First port column 120 Second port column 01 Prior art container handling vehicle201a Vehicle body of the container handling vehicle 201201b Drive means / wheel arrangement, first direction (X)201c Drive means / wheel arrangement, second direction (T)301 Prior art cantilever container handling vehicle301a Vehicle body of the container handling vehicle 301301b Drive means in first direction (X)301c Drive means in second direction (T)401 Prior art container handling vehicle401a Vehicle body of the container handling vehicle 401401b Drive means in first direction (X)401c Drive means in second direction (T)Y Second directionZ Third direction

Claims

Claims1. A floor element for a storage system comprising a framework structure (100) with a rail grid (108), the floor element comprising: a plurality of rail supports (10) pivotably connected to a periphery of the floor element (8); and a top surface (11) on which an operator can stand, wherein each of the rail supports (10) comprises: a support portion (18) comprising a downwards facing support surface (12), the support portion being biased towards a first position; and an actuator portion (19) biased towards a position wherein the actuator portion protrudes from the periphery of the floor element; wherein the actuator portion (19) is arranged above the support portion (18), and the support portion (18) is moved to a second position protruding outwardly of the periphery of the floor element (8) when the actuator portion (19) is pushed inwardly towards the periphery of the floor element.

2. A floor element (8) according to claim 1, wherein the downwards facing support surface (12) of each rail support (10) is configured to engage with an upwards facing surface (17) of a rail when the support portion (18) is in the second position.

3. A floor element (8) according to any one of the preceding claims, wherein the support portion is biased towards the first position by a resilient element (21).

4. A floor element (8) according to any one of the preceding claims, wherein the support portion (18) and the actuator portion (19) are arranged at opposite ends of a lever, the lever being pivotably connected to the floor element (8) by a pivot connection (22) arranged between the support portion (18) and the actuator portion (19).

5. A floor element (8) according to any one of the preceding claims, wherein the actuator portion (19) comprises a curved or inclined surface (23) for engagement with the upper portion of a respective rail during lowering of the floor element (8) into the access opening.

6. A floor element (8) according to any one of the preceding claims, wherein the floor element comprises recesses (9) for releasable connection to a lifting frame (2) of a container handling vehicle of the storage system.

7. A floor element (8) according to claim 6, wherein the recesses (9) are arranged at the top surface (11) of the floor element (8).

8. A floor element (8) according to any one of the preceding claims, wherein the periphery of the floor element (8) is substantially rectangular.

9. A storage system (1) for storage containers, the storage system comprising a framework structure (100) having a rail grid (108) upon which a container handling vehicle (201, 301, 401) is moveable, wherein the framework structure (100) defines a plurality of storage columns (105) below the rail grid, in which storage containers (106) may be arranged in vertical stacks; and the rail grid (108) comprises a first set of parallel rails (110) and a second set of parallel rails (111) defining a plurality of access openings, one access opening arranged at an upper end of each of the storage columns (105); wherein the storage system further comprises a floor element (8) according to any one of claims 1 to 8.

10. A storage system (1) according to claim 9, wherein the first set of parallel rails (110) and the second set of parallel rails (111) provide a horizontally extending recess (20) at the inner periphery of the access openings (112), wherein the recess (20) comprises an upwards facing surface (17) for supporting the floor element (8).

11. A storage system (1) according to claim 9 or 10, further comprising a container handling vehicle (201, 301, 401), wherein the container handling vehicle (201, 301, 401) comprises a vertically moveable lifting frame (2) for lifting the floor element (8).

12. A method of supporting a floor element at the upper end of a storage column in a storage system according to any one of claims 9 to 11, the method comprising the steps of lowering the floor element (8) in a vertical direction towards the upper end of one of the storage columns until the actuator portion (19) of each rail support (10) engages with an upper portion of a rail; and further lowering the floor element (8) in the vertical direction until the support portion (18) of each rail support (10) has moved from the first position to the second position, such that the downwards facing support surfaces (12) engage with the upwards facing surfaces (17) of the rail to support the floor element at a fixed level relative to the rail grid (108).

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