Stacker frame system

Abstract

A stacker frame system (5, 600, 700, 800, 900) for an automated storage and retrieval system The stacker frame system (5, 600, 700, 800, 900) comprises a stacker frame (6) configured to be stored in a storage column of the automated storage and retrieval system. The stacker frame (6) has side walls (20), a base (18), and an open top end (9) and is configured to accommodate a plurality of storage containers (106) stored one on top of another in a vertical stack in an interior space of the stacker frame (6). The stacker frame system (5, 600, 700, 800, 900) comprises a temperature control device (56, 61) that is configured to control a temperature inside the stacker frame (6) for reducing, increasing or maintaining the temperature inside the stacker frame (6).

Description

Stacker frame systemFIELD OF THE INVENTION

[0001] The present invention relates to a stacker frame system for an automated storage and retrieval system, to an automated storage and retrieval system for storage and retrieval of containers, and to a method of operating an automated storage and retrieval system.BACKGROUND AND PRIOR ART

[0002] Fig. 1 discloses a prior art automated storage and retrieval system 1 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 aluminum profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 maybe 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 no 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 no 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 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 andlowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting.[oo6] Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a, 301a, 401a and 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 no 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, 201c, 301b, 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 no, 111 at any one time.

[0007] Each prior art container handling vehicle 201,301,401 also comprises a lifting device for vertical transportation of storage containers 106, e.g., raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201,301,401 so that the position of the gripping / engaging devices 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. Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs. 3 and 4 indicated with reference number 304,404. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2 and is thus not shown.

[0008] Conventionally, and also for the purpose of this application, Z=i identifies the uppermost layer available for storage containers below the rails 110,111, i.e., the layer immediately below the rail system 108, =2 the second layer below the rail system 108, =3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, =8 identifies the lowermost, bottom layer of storage containers. Similarly, X=i...n and Y=i...n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position X=i , Y=i, Z=6. The container handling vehicles 201,301,401 can be said to travel in layer Z=o,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=o.

[0009] 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.

[0010] 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, 401a as shown in Figs. 2 and 4 and as described in e.g., WO2O15 / 193278A1 and W02019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] 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., NO317366, the contents of which are also incorporated herein by reference.

[0012] The cavity container handling vehicle 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 WO2O15 / 193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

[0013] 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 W02019 / 206487A1.

[0014] 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 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g., an X direction) may comprise one track and each rail in theother, perpendicular direction (e.g., a Y direction) may comprise two tracks. Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

[0015] W02018 / 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.

[0016] In the framework structure 100, a majority of the columns are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. In addition to storage columns 105, there are special-purpose columns within the framework structure. In Fig. 1, columns 119 and 120 are such specialpurpose 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. The transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys, or other transportation lines. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

[0017] In Fig. 1, the first port column 119 may for example be a dedicated drop-off 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.

[0018] 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 normallynot removed from the automated storage and retrieval system i 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.

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

[0020] 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.

[0021] The conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g., as is described in W02014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201,301,401 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 (not shown), 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 abovepositioned 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 beenremoved 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.

[0023] 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.

[0024] For monitoring and controlling the automated storage and retrieval 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 be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

[0025] The prior art storage systems are restricted regarding the height of the stacks of storage containers by the practical lifting height of the container handling vehicles and / or the weight that maybe supported by the lower storage container in a stack of storage containers. Further, a storage system in which the storage container may be rearranged more efficiently would be advantageous. In addition, controlling certain environmental conditions in single or a small group of storage containers usually requires providing a separate framework structure in a controlled environment.SUMMARY OF THE INVENTION

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

[0027] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention.

[0028] In one aspect, the invention is related to a stacker frame system for an automated storage and retrieval system, the stacker frame system comprising a stacker frame configured to be stored in a storage columns of the automated storage and retrieval system wherein the stacker frame has side walls, a base, and an open top end and is configured to accommodate a plurality of storage containers stored one on top of another in a vertical stack in an interior space of the stacker frame; and wherein the stacker frame system comprises a temperature control device that is configured to control a temperature inside the stacker frame for reducing, increasing or maintaining the temperature inside the stacker frame.

[0029] The stacker frame is to be understood as a frame, in which a group of storage containers can be stacked one on top of another. The stacker frame itself is storable in the framework structure of the automated storage and retrieval system. The stacker frame may be liftable and lowerable by a robotic vehicle operating on the automated storage and retrieval system. This allows a plurality of storage containers to be combined into a single, handleable unit, thereby accelerating the handling of a group of storage containers. The size of the stacker frame can be chosen according to specific storage system requirements. The stacker frame may be configured to receive one, two, three, four, five or more storage containers. The arrangement of a stacker frame and storage containers stacked inside the stacker frame may be referred to as a “nested stack”.

[0030] The storage containers may comprise outer dimensions, i.e., width, length, and height, that correspond to the dimensions of common storage containers used in grid-based automated storage and retrieval systems. The interior dimensions maybe e.g., 600 x 400 mm (length x width) and may have various heights, for example 200 mm, 310 mm, or 400 mm. The storage containers may comprise a top rim that completely surrounds a top opening. The top rim may comprise several apertures or openings for receiving or passing through gripping devices of a lifting frame of a remotely operated vehicle. The top opening allows items to be placed into the interior space or to be removed therefrom.

[0031] However, smaller storage containers may also be used, for example with half the size, a third of the size, or a quarter of the size, and so on, of a common storage container. These smaller storage containers could be arranged adjacent to each other in one or more layers, wherein one layer may correspond to the footprint of a common storage container. Between adjacent smaller storage containers, gaps may remain, which may support an air flow through the layer of smaller storage containers.

[0032] The side walls and / or the base of the stacker frame maybe gastight. This allows to shield the storage containers arranged inside the interior space from the exterior of the stacker frame and keep cooled air inside the stacker frame.

[0033] The stacker frame system according to the invention comprises a temperature control device, which is coupled with or couplable with the interior space of the stacker frame. Preferably, the temperature control device is electrically operable and allows to control a temperature inside the stacker frame for reducing, increasing or maintaining a temperature inside the stacker frame. Thus, delicate goods can for example be cooled in the stacker frame and do not require cooling of whole columns of the storage system or even the whole storage system, in which the stacker frames are arranged. Cooling or other temperature control may be efficiently limited to the storage containers inside the stacker frame.

[0034] All embodiments explained herein may be capable of being used in a framework structure and / or being integrated into an automated storage and retrieval system 1 explained with reference to the prior art above. The framework structure of the automated storage and retrieval system is constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure comprises a number of upright members, and comprises a rail system extending in the X direction and Y direction. The framework structure comprises a plurality of storage columns. At least one storage column may be configured to accommodate one or a plurality of stacker frames being arranged one on top of another in a vertical stack. The openings in the rail system may correspond to the openings in a rail system of framework structures according to the abovediscussed prior art rail systems. However, the openings may be slightly larger to allow a slightly larger footprint of the stacker frame.

[0035] The framework structure can be of any size. In particular it is understood that the framework structure can be considerably wider and / or longer and / or deeper than disclosed in Fig. 1. For example, the framework structure may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers. The upright members of the framework structure maybe used to guide the stacker frames and / or storage containers during raising of the stacker frames and / or containers out from and lowering of the stacker frames and / or storage containers into the columns 105. The stacks of stacker frames and / or storage containers maybe self-supporting. It is to be understood that the framework structure may be used to store stacks of storage containers in at least one of the storage columns, while stacks of stacker frames may be stored in at least another one of the storage columns.

[0036] The stacker frame may comprise a removable lid for covering the top end of the stacker frame. Preferably, the lid may be removably attachable to or attachable on the top end. Removing the lid allows insertion or removal of storage containers. The lid may be gas tight. By providing the lid on the top end, ingress of warm air from the surroundings of the stacker frame can be prevented or reduced.

[0037] The stacker frame system may have a seal configured to thermally seal a connection between the top end and the lid. The lid and / or the top end may have the seal. The seal may comprise one or more sealing elements, which may be held to at least one of the stacker frames and the lid. This may reduce the influence of the surrounding of the stacker frame. The seal may extend along a circumferential line on an edge section of the stacker frame or the lid. The top end may comprise a recess, into which a projection of the lid can be inserted. The seal may be arranged on an interior face of the recess or an outer face of the projection. 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, such that the seal is enclosed by the top end and the lid. It may comprise a compressible profile, which is hollow or has an opening. This allows to deform the seal upon applying a pressure force onto it to improve the surface contact and thus the sealing function between the top end, the lid, and the seal. The seal may comprise an elastic material, such as a natural or synthetic rubber or the like. The material may be foamed.

[0038] The temperature control device may be arranged inside the interior space of the stacker frame. The temperature control device may thus be arrangedcompletely inside the stacker frame and reduces the available space for storage containers depending on its size. It may be self-contained, such that it can be operated without being connected to an external power source. However, it may be connected to an electrical interface, which is accessible from outside of the stacker frame.

[0039] The temperature control device may be arranged inside the base. The base of the stacker frame may thus comprise an installation space configured to house the temperature control device. The installation space may be accessible from a bottom side of the stacker frame, i.e. from beneath the stacker frame. It may also be accessible from above the base, i.e., from inside the interior space. The installation space may comprise a removable cover to close the installation space with the temperature control device installed. In either case, the base may comprise an inner bottom and an outer bottom, between which the installation space is formed. A thermal and / or fluid connection between the installation space and the interior space may be provided, such that the temperature control device is able to influence the temperature inside the interior space as desired. This may be achieved by one or more openings, cutouts, grids, or the like. When the temperature control device is arranged inside the base, the stacker frame would be substantially permanently be equipped with a temperature control function, unless the stacker frame is removed from the automated storage and retrieval system to manually uninstall the temperature control device.

[0040] The temperature control device may be arranged inside the lid. The lid may thus be formed to provide an installation space capable of holding the temperature control device. The lid may have a fixed lower bottom, which delimits the bottom side of the installation space. It may comprise a removable cover to substantially close the installation space from above. However, the lid may also comprise a fixed upper face and a removable bottom cover, which together enclose the installation space. The installation space of the lid and the interior space of the stacker frame maybe in a fluid and / or thermal connection, such that the temperature control device is able to influence the temperature inside the interior space.

[0041] The temperature control device may comprise a refrigeration unit. The refrigeration unit may be operated by the supply of electric energy. It may be based on mechanical compression refrigeration, absorption refrigeration, evaporative cooling, or thermoelectric refrigeration.

[0042] The temperature control device may comprise a fan to supply temperature-controlled air into the interior space. For example, it maybe configured to provide a circulation of air having a desired temperature inside the interior space. The stacker frame may then be configured to define a flow gap between an interior face of the stacker frame and a storage container stored in the interior space of the stacker frame. The flow gap may be understood as a gap in a horizontal direction between the interior face of the side walls of the stacker frame and the storage containers. Preferably, the stacker frame is configured to define a flow gap between each side wall of the stacker frame and a storage container stored in the interior space of the stacker frame. In addition, a gap may be created between an interior face of the base and a lowermost storage container. This may, for example, be achieved by at least one spacer arranged on the interior face of the base. This allows air to circulate substantially through the whole interior space.

[0043] At least one of and / or a plurality of and / or all of the storage containers may comprise openings, holes, perforated sections, grid-like structures, cut-outs and / or the like to support an air flow through the storage containers. For example, a base surface, and / or one or more side walls may comprise a plurality of openings, through which air can flow. This accelerates the temperature control inside the storage containers.

[0044] However, as an alternative and / or in addition thereto, a heat transfer between the temperature control device and the storage containers may also be convective.

[0045] When providing a refrigeration unit, it may be useful to include a defrosting function into the refrigeration unit. For example, the refrigeration unit may include a defrost heater and / or a fan capable of supporting removal of ice from interior surfaces of the stacker frame or storage containers stored therein. Defrosting may be conducted on demand and / or in regular or planned intervals.

[0046] The stacker frame system may comprise an internal power source connectable to the temperature control device. The internal power source may comprise a battery, in particular a rechargeable battery, a super capacitor, or the like. Thus, the stacker frame system does not rely on the external supply of electrical energy.

[0047] The internal power source may be arranged inside the base and / or at least one of the side walls and / or the lid. The internal power source maybe removable. The stacker frame may comprise an electrical recharging port for recharging the internal power source.

[0048] The stacker frame system may comprise an electrical interface arranged on and / or accessible from an exterior face of the stacker frame, wherein the electrical interface is configured to receive electrical power from externally, and wherein the electrical interface is electrically connectable to the temperature control device. Hence, the stacker frame does not require a battery or another internal power source to power the temperature control device. This is an alternative or an addition to the internal power source. The internal power source may be rechargeable.

[0049] The electrical interface may comprise conductive contacts connectable to the external power source. The framework structure of the automate storage and retrieval system, in which the stacker frame system may be used, may comprise one or more electrical connectors arranged between upright members. The framework structure may comprise one or a plurality of dedicated cells or columns, in which these electrical connectors are placed, thereby enabling the supply of electric power to stacker frames having conductive contacts.

[0050] The electrical interface may comprise an inductive power receiver configured to receive electrical power from an inductive power transmitter. Thus, exposed electric contacts are not required and the respective section of the stacker frame can remain sealed. The framework structure of the automate storage and retrieval system, in which the stacker frame system may be used, may comprise one or more inductive power transmitters arranged between upright members. The framework structure may comprise one or a plurality of dedicated cells or columns, in which inductive power transmitters are placed, enabling the supply of electric power to stacker frames having inductive power receivers.

[0051] The temperature control device may be arranged in a temperature control container. Hence, the temperature control container can be selectively introduced or removed from the stacker frame. The temperature control container may be a closed box having the same dimensions as the standard storage container. It may also be formed as a standard storage container holding all elements required to provide the functions of the temperature control device. The temperature control container may have a closed top side. If it is formed asa standard storage container, it may have a cover plate for closing the top side of the container, leaving connecting recesses accessible from above the container. The temperature control container may comprise connecting recesses to allow handling by a load handling device of the automated storage and retrieval system.

[0052] The temperature control container may be configured to be received within the interior space of the stacker frame. The temperature control container may be removably held in the stacker frame. It may be permanently kept within the stacker frame, if desired. It may be arranged at the bottom of the stack of storage containers. All storage containers may then be moved into or out of the stacker frame without having to move the temperature control container. As an alternative, the temperature control container may also be arranged in a vertical position between the bottom and the top of a storage container stack, i.e., between a bottom storage container and a top storage container. It may also be arranged on top of a storage container stack in the stacker frame. It may be lowered into the stacker frame from above through the top end. Thus, any stacker frame may be equipped with a temperature control container by lowering the temperature control container into the stacker frame. The temperature control container may have one or more holes or other types of inlets for suctioning air into the temperature control container and one or more holes or other outlets to feed temperature-controlled air back into the stacker frame.

[0053] The temperature control container may be a self-contained unit removably placeable in the interior space. Hence, the temperature control container does not require any further installations or power sources from externally to provide the intended function. However, it may be connected to an electrical interface, which is accessible from outside of the stacker frame.

[0054] The stacker frame and / or the lid may be thermally insulated. This reduces the transfer of heat into the interior of the stacker frame and thus increases the efficiency of the stacker frame system. A compensation of thicker side walls may be achieved by increasing the opening size in the rail system above the storage columns, such that stacker frames with a larger footprint can still be handled in the framework structure of the automated storage and retrieval system, in which the stacker frame system is used. As an alternative or in addition thereto the storage containers to be stored in the stacker frame may be of smaller size.

[0055] In this regard it is mentioned that a thermal insulation may also be arranged in the columns, e.g., between upright members of the framework structure, of the automated storage and retrieval system, in which the stacker frame system is used.

[0056] The stacker frame system may comprise a temperature sensor configured to measure the temperature of the interior space of the stacker frame, wherein the temperature sensor is in communication with the temperature control device, and wherein the temperature control device is configured to control the temperature inside the interior space depending on a temperature measured by the temperature sensor. The temperature sensor may be a part of the stacker frame. As an alternative or in addition thereto, it may also be part of the temperature control device. The temperature sensor may be connected to a control device. The control device may be part of the temperature control device. The temperature sensor may be connected to the control device with a wired or a wireless connection.

[0057] The stacker frame system may comprise a selectively actuatable pressure relief valve configured to create a fluid communication between the interior space and the exterior of the stacker frame when actuated. The pressure relief valve may be placed in the lid. The valve may be mechanically controllable, e.g., by a lifting frame that engages the lid. This may be achieved by a mechanism that is integrated into the lid and actuated by grippers that engage with lid connecting recesses. The lifting frame may also comprise an element, such as a pin, that is automatically inserted into the pressure relief valve to open it, when the lifting frame rests on the lid. The pressure relief valve may also be electrically actuatable. For example, the lifting frame may have an electric valve interface that contacts an electric valve connector on the lid to provide a voltage to the valve connector, which in turn is connected to the electrically actuatable pressure relief valve to open it. electronically controlled. The pressure relief valve may also be electronically controllable through transferring a control signal from external to the lid, e.g., from a load handling device or a control system of the automated storage and retrieval system. Hence, by providing a pressure relief valve, this allows to easily lift the lid, as a force generated by a temperature-induced reduced pressure inside the stacker frame can be eliminated.

[0058] In a second aspect, the invention concerns an automated storage and retrieval system, comprising a framework structure defining a plurality of storage columns; and a stacker frame system according to the above description.

[0059] The automated storage and retrieval system may further comprise a stacker frame lifter and a container lifter; wherein the stacker frame lifter and the container lifter are each configured to move in two perpendicular directions above the storage columns; wherein the container lifter is configured to retrieve a storage container via the open top end of the stacker frame; and wherein the stacker frame lifter is configured to place and / or remove the stacker frame accommodated in a storage column.

[0060] The storage columns may each be configured to accommodate a plurality of stacker frames arranged one on top of another in a vertical stack.

[0061] A stacker frame may 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 overall height of the framework of the automated storage and retrieval system a plurality of stacker frames may be stacked upon each other to use the complete height of the framework structure beneath a rail system on top of the framework structure.

[0062] In a third aspect the invention is directed to a temperature control container comprising a housing having substantially the footprint of a storage container configured to be stored in a storage column of an automated storage and retrieval system or configured to be stored in a stacker frame storable in a storage column of the automated storage and retrieval system, and a temperature control device that is configured to control a temperature inside the stacker frame for reducing, increasing or maintaining the temperature inside the stacker frame.

[0063] The temperature control device of the temperature control container may have a refrigeration unit.

[0064] The temperature control container may comprise a footprint in a horizontal plane that corresponds to the dimensions of a grid opening of the automated storage and retrieval system. It may be configured to be stacked on top of or below a storage container in a storage column and / or in a stacker frame.

[0065] The air control container may comprise any of the additional features discussed above.

[0066] In a fourth aspect the invention is directed to a method of operating an automated storage and retrieval system, comprising: arranging a stacker frame of a stacker frame system in a framework structure of the automated storage and retrieval system according to the above defining a plurality of storage columns; controlling the temperature inside the stacker frame.

[0067] The method may comprise operating the temperature control container mentioned above. This may include decreasing the temperature, increasing the temperature, maintaining the temperature, and / or communicating with a temperature sensor inside the stacker frame.BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

[0069] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0070] Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0071] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0072] Fig. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0073] Fig. 5 is a perspective view of a storage container as used in the storage system in fig. 1.

[0074] Figs. 6 to 11 show a storage system having stacker frames.

[0075] Figs. 12a, 12b and 13 show a stacker frame and storage containers for a storage system.

[0076] Fig. 14 is a topside view of a storage column accommodating a stacker frame and storage container as shown in figs. 12a, 12b and 13.

[0077] Figs. 15 and 16 are side views of a stacker frame lifter and a corresponding stacker frame.

[0078] Fig. 17 shows perspective views of the stacker frame lifter and the corresponding stacker frame in figs. 15 and 16.

[0079] Figs. 18 and 19 show a container lifter.

[0080] Fig. 20 is a perspective view of a storage system according to the invention.

[0081] Fig. 21 shows a combination of a stacker frame and storage containers for a storage system.

[0082] Fig. 22 shows a stacker frame and storage containers for a storage system.

[0083] Fig. 23 shows a stacker frame in which storage containers of different heights are stacked.

[0084] Fig. 24 shows a stacker frame system with an air control device attached to the base.

[0085] Fig. 25 shows a stacker frame system with an air control container inside the stacker frame.

[0086] Fig. 26a and 26b show a stacker frame in an open state (Fig. 26a) and a closed state (Fig. 26b).

[0087] Figs. 27a to 27b show a valve actuation mechanism in the lid in an open state (Figs. 27a and 27b) and a closed state (Fig. 27c and 2 d).DETAILED DESCRIPTION OF THE INVENTION

[0088] In overview, a stacker frame system (5, 600, 700, 800, 900) for an automated storage and retrieval system is provided. The stacker frame system (5, 600, 700, 800, 900) comprises a stacker frame (6) configured to be stored in a storage column of the automated storage and retrieval system. The stacker frame (6) has side walls (20), a base (18), and an open top end (9) and is configured to accommodate a plurality of storage containers (106) stored one ontop of another in a vertical stack in an interior space of the stacker frame (6). The stacker frame system (5, 600, 700, 800, 900) comprises a temperature control device (56, 61) that is configured to control a temperature inside the stacker frame (6) for reducing, increasing or maintaining the temperature inside the stacker frame (6).

[0089] In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

[0090] A first exemplary storage system 1’ is shown in figs. 6-11. The storage system 1’ comprises a framework structure 100, a stacker frame system 5, storage containers 106, a stacker frame lifter 8 and a container handling vehicle 301. The stacker frames 6 of the stacker frame system 5 comprise lids 7. The framework structure 100, the storage containers 106 and the container handling vehicle 301 maybe similar to the corresponding features of the prior art system in fig. 1.

[0091] In some illustrations, stacker frames are shown without lid 7, but this is not to be understood as limiting the scope of protection and is merely chosen for simplification or for showing that stacks of stacker frames may be provided with or without lids. As explained in combination with figs. 24 and following, some of the stacker frames 6 comprise a temperature control device dedicated for a controlling the temperature inside the respective stacker frame 6.

[0092] The framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure 100 comprises a number of upright members 102, and comprises a rail system 108 extending in the X direction and Y direction.

[0093] The framework structure 100 comprises vertical column profiles 102 which define a plurality of storage columns 105. Each storage column 105 accommodates a plurality of the stacker frames 6 having a removable lid 7 and being arranged one on top of another in a vertical stack.

[0094] The framework structure 100 can be of any size. In particular it is understood that the framework structure 100 can be considerably wider and / or longer and / or deeper than disclosed in Fig. 1. For example, the frameworkstructure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0095] Each of the stacker frames 6 has a top end 9 for allowing a vertical passage of a storage container 106 or for receiving a lid 7 and is configured to accommodate a plurality of the storage containers 106 stored one on top of another in a vertical stack. The stacker frame 6 is configured to support the bottom of a lowermost storage container 106 in a stack of storage containers 106 accommodated in the stacker frame 6.

[0096] Figs. 12a and 12b show a stacker frame system 600. The stacker frame 6, as e.g., illustrated in figs. 12a, 12b and 13, comprises a bottom section 18, for supporting a lower end of a stack of storage containers 106, and a top section 19 having the top end 9, through which a storage container 106 may pass in a vertical direction. Side walls 20 extend between the bottom section 18 and the top section 19. Preferably, the side walls 20 and / or the lid 7 are thermally insulated to support a temperature control inside the stacker frame 6. Connecting recesses 12 are arranged at an upper portion of opposite side walls 20, which in the shown example are associated with short sides of the stacker frame 6. The connecting recesses 12 are exemplarily arranged at a level above an upper level of a stack of storage containers 106 arranged in the stacker frame 6.

[0097] The lid 7 exemplarily has a bottom protrusion 50, which is configured to reach into the top end 9 of the stacker frame 6. The lid 7 has top shoulder 51 that radially connects to the bottom protrusion 50, extends along a circumference of the lid 7 and extends radially outwards.

[0098] Exemplarily, a substantially rectangular seal 53 shaped corresponding to the shoulder 51 and a top rim 52 of the stacker frame 6 is provided. It is configured to be held on the bottom protrusion 50 in a close contact with the shoulder 51. In this example, the lid 7 is configured to rest with the shoulder 51 on the seal 53, which in turn rests on the top rim 52 of the stacker frame 6, if the lid 7 is arranged on the stacker frame 6 having the bottom protrusion 50 reaching into the stacker frame 6. Thus, a gap between the lid and the top end 9 can be thermally sealed. This may optionally comprise a gas-tight seal. Other variants are possible, which may include placement of the seal 53 in a circumferential recess on an outer surface of the bottom protrusion 50 or on an inner surface of the stacker frame 6 at the top section 19.

[0099] To improve the stability of a stack of stacker frames, the bottom section 18 of the stacker frame may have a recessed portion 23 having an outer periphery being smaller than, i.e., fitting within, an inner periphery of the top section 19. In this manner, the stacker frames 6 maybe stacked on top of another while horizontal movement between them is restricted if a lid 7 is not desired or required. If a plurality of stacker frames 6 are stacked upon each other, providing a lid for improving the thermal insulation inside the interior space may not be necessary.

[0100] The lid 7 has lid connecting recesses 54, which maybe designed similarly to the connecting recesses 12 and which may be arranged on another pair of opposite side walls 20, e.g., the side walls 20 associated with the long sides of the stacker frame 6. The lid connecting recesses 54 maybe used for lifting the lid 7 from the stacker frame 6, e.g., by a stacker frame lifter 8, 8’ or another container handling vehicle 201, 301, 401.

[0101] The storage system 1’ comprises a rail system 108 arranged above the storage columns 105. The stacker frame lifter 8 and the container handling vehicle 301 are configured to move in two perpendicular directions on the rail system 108. Both the stacker frame lifter 8 and the container handling vehicle 301 comprise a first set of wheels 28, 28’ and second set of wheels 29,29’ for moving on the rail system 108. The sets of wheels maybe as described for the prior art container handling vehicles in figs. 2-4.

[0102] The container handling vehicle 301 maybe similar to the prior art container handling vehicle 301 in fig. 3. The container handling vehicle 301 comprises a first type of lifting frame 2 having grippers 3 configured to releasably connect to container connecting recesses 13 arranged in an upper rim 16 of a storage container 106, see fig, 5. The first type of lifting frame 2 maybe similar to the prior art lifting frame shown in fig. 4. The container handling vehicle 301 is configured to retrieve a storage container 106 via an open top end 9 of an upper stacker frame 6’ of a stack of stacker frames 6, see fig. 8 and 12. The upper stacker frame 6’ in fig. 8 has a cut-away section to better illustrate the stacking of the storage containers 106 inside the stacker frame 6’. To retrieve a storage container 106 from a stacker frame 6, the first type of lifting frame 2 has an outer periphery being smaller than an inner periphery of the stacker frame 6. The inner periphery 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.

[0103] In addition, the first type of lifting frame 2 may be used for lifting the lid 7 from the stacker frame 6. For enabling this, the lid connecting recesses 54 have a similar size and spacing as the container connecting recesses 13.

[0104] The lid 7 has indentations 55, which are arranged directly above the connecting recesses 12 of the stacker frame 6, when the lid 7 is arranged on the stacker frame 6.

[0105] The stacker frame lifter 8 comprises a second type of lifting frame 10, see figs. 15 and 16. The stacker frame lifter 8 is configured to retrieve an upper stacker frame 6’ accommodated in a storage column 105. The second type of lifting frame 10 comprises a horizontal base frame 11 and latches 17 arranged at each of two opposite sides of the base frame 10. A connecting portion 17a of each latch 17 is configured to move between a release position, fig. 15, and a connecting position, fig. 16. In the release position the connecting portion 17a is closer to a vertical centerline C of the base frame 10 than in the connecting position. When moving from the release position to the connecting position, the connecting portion 17a is moved away from the vertical centerline C and may extend through a corresponding recess 12 in the side section 20 of a stacker frame 6. Having the latches 17 connecting to the stacker frame at an inner surface of the stacker frame 6 is advantageous in that the space between adjacent stacks of stacker frames 6 maybe minimized. Further, the width of the side walls 20 of the stacker frames 6 may also be minimized provided the stacker frames 6 are made in a material and / or have a configuration providing sufficient support for the stacker frames 6 stacked above. The stacker frame lifter 8 may be similar to the prior art vehicles in fig. 2 and 4, wherein the size of the cavity is adapted to lift and move a stacker frame 6. To provide an increased lifting height, the second type of lifting frame 10 may be further modified, for example by having a guide shuttle as described in WO 2020 / 200631 Al.

[0106] The stacker frame 6 maybe handled, i.e., lifted and lowered, with the lid 7 arranged on the stacker frame 6, since the latches 17 can pass through the indentations 55 when moving between the release and connecting positions.

[0107] The storage system 1’ provides several advantages regarding the possibility of increasing the height of the storage columns. The stacker frames 6 may be configured to support a stack of stacker frames 6 being higher than a maximum height of a stack of storage containers 106. A stack of stacker frames 6 may be more stable than a stack of storage containers 106 having a similar height since a specific stack height requires fewer individual stacked unitscompared to a stack of storage containers 106. In addition, the storage system ii’ s also advantageous in that storage containers 106 arranged at lower levels of a storage column may be retrieved more efficiently.

[0108] An advantageous method of retrieving a target storage container 106* from the above storage system 1’ is illustrated in figs. 9-11. The method may comprise:- identifying a storage column 105 accommodating a target stacker frame 6* in which the target storage container 106* is stored;- moving the stacker frame lifter 8 to a position above the storage column 105 (fig. 9);- retrieving at least one stacker frame 6’ (fig. 10), stacked above the target stacker frame 6*, from the storage column 105 (the at least one stacker frame 6’ may optionally be stored in another storage column) until the target stacker frame 6* is the upper stacker frame in the storage column 105;- retrieving the target storage container 106* from the target stacker frame 6* by use of the container lifter 301 (fig. 11).

[0109] 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 inside the storage column 105. If guidance is required, the method may comprise the following step before the target storage container 106* is retrieved by the container handling vehicle 301:- retrieving the target stacker frame 6* from the storage column 105 and moving the target stacker frame 6* to another storage column 105 in which the target stacker frame 6* is stacked at an upper level of the storage column. When stacked at an upper level of the storage column 105, the open end 9 of the target stacker frame 6* is at a level directly below the rail system 108. In this manner, the first type of lifting frame 2 may be guided by internal surfaces of the target stacker frame 6* when moving into the storage column 105.

[0110] To provide guidance of the first type of lifting frame, independent of the stacker frames 6, when moving inside a storage column 105, the lifting frame 2’ may optionally comprise extendable guiding elements 21, see figs. 18 and 19. The guiding elements 21 are biased towards an extended position, see fig. 19, in which they may interact with vertical column profiles 102 of a storage column105 to provide guidance of the lifting frame 2’. When entering the open end 9 of a stacker frame 6 the guiding elements 21 are forced into a retracted position and further vertical movement of the lifting frame 2’ is guided by interaction with internal surfaces of the stacker frame. The guiding element 21 may e.g., comprise an arm configured to move a wheel between the extended and the retracted position.

[0111] A second exemplary storage system 1” is shown in fig. 20. In the second exemplary storage system 1”, the stacker frame lifter 8’ is arranged to move above the storage columns 105 by a crane assembly. The crane assembly comprises a first gantry beam 24 slidably connected to a second gantry beam 25, such that the first gantry beam 24 may move in a first direction above the storage columns 105. The stacker frame lifter 8’ is slidably connected to the first gantry beam 24, such that the stacker frame lifter 8’ may move in a second direction perpendicular to the first direction. The second type of lifting frame 10 is suspended from a lifting platform 27 by lifting bands. The lifting platform may be connected to the first gantry beam 24 by a telescopic arm 26. The telescopic arm 26 is configured to move the lifting platform between an upper position in which the stacker frame lifter 8’ may move a stacker frame above the storage columns 105, and a lower position in which the lifting frame, and any connected stacker frame, may be lowered into a storage column. In the upper position, the bottom section 18 of a stacker frame 6 connected to the lifting frame 10 may advantageously be at a level above an upper level of the container handling vehicle 301. In this manner, the stacker frame 6 maybe moved above the storage columns 105 without interfering with the operation of the container handling vehicle 301, and vice versa.

[0112] Other versions of combinations of stacker frames and storage containers are shown in figs. 21 and 22. The main differentiating feature of these combinations in view of the stacker frame 6 and storage containers 106 discussed above is the positioning of the connecting recesses 13’, 12’ of the storage container 106” and / or the stacker frame 6”. In both versions, the stacker frame 6” comprises connecting recesses 12’ in an upper rim thereof. The connecting recesses 12’ may for instance be suitable for connection by a second type of lifting frame (not shown) having grippers similar to the container connectors 3 of the prior art lifting frame 2 in fig. 4. The connecting recesses 13’ of the storage container 106”, fig. 22, may for instance be suitable for connection by a first type of lifting frame (not shown) having latches 17 similar to the second type.

[0113] Provided the container handling vehicle 301 (i.e., container lifter) is configured to lift storage containers 106 of different heights, a stack of storage containers in a stacker frame may comprise a mix of such storage containers, see fig- 23.

[0114] Fig. 24 shows a stacker frame system 700 having a temperature control device 56 attached to the base, i.e., the bottom section 18, of the stacker frame 6. It is configured to control a temperature inside the stacker frame 6 for reducing, increasing or maintaining a temperature inside the stacker frame 6. For example, it may comprise an electrically operable refrigeration unit, which is in fluid communication and / or thermal contact with the interior space of the stacker frame 6. For this, it may comprise a plurality of holes 57 in an interior bottom surface 58 of the stacker frame 6, thereby allowing to circulate cooled air inside the stacker frame 6. The air circulation may be actively achieved by a fan or the like. Other variants are possible, which do not require an active air circulation. Exemplarily, an exhaust opening 59 is arranged in one or more of the side walls 20 to dispose of heat from the refrigeration unit to the exterior of the stacker frame 6.

[0115] In the bottom section 18, a battery may be provided, which is connected to the refrigeration unit. As an alternative to this, an electrical interface 60 is provided at one or a plurality of the side walls 20 to connect with an external power source arranged in the associated column 105.

[0116] Exemplarily, the lid 7 has a pressure relief valve 75, which is configured to create a fluid communication between the interior space and the exterior of the stacker frame 6 when actuated. If a reduced pressure is inside the stacker frame 6, for example induced by a reduced temperature inside the stacker frame 6, it is hardly possible 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 is brought to the ambient pressure and the lid 7 can be easily lifted. For example, this may be done automatically by the first type of lifting frame 2, which may comprise a pin 76 that presses onto a valve disc 77, which is biased into a closed position. Other variants are possible and are explained further above and below.

[0117] In fig. 25, a stacker frame system 800 is shown, having a temperature control device 61 arranged inside the stacker frame 6 and having a housing with a shape similar to a storage container 106. The entity of the temperature control device 61 in a housing may thus be referred to as a temperature controlcontainer 61. It maybe designed similarly to the temperature control device 56 of fig. 24. An exhaust hose 62 maybe connected to a refrigeration unit and reaches through a through-hole 63 in one of the side walls 20 for disposing of heat to the exterior of the stacker frame 6. If the temperature control container 61 shall be removable by a load handling device, such as the container lifter, the exhaust hose 62 can be left away.

[0118] The temperature control device 61 may comprise a battery as an internal power source, which is connected to the refrigeration unit. As an alternative or in addition to this, an electrical interface 64 may be provided at one or a plurality of the side walls 20 to connect with an external power source 65 arranged in the associated column 105. As an example, the interface 64 and the external power source comprise inductive power transfer devices for a contactless transfer of electrical power.

[0119] Exemplarily, each of the stacker frames 6 has a temperature sensor 74, e.g., shown in figs 24 and 25, which is in fluid communication or thermal contact with the interior space of the stacker frame 6. The temperature sensor 74 is couplable with the respective temperature control device. The temperature control device is preferably configured to control a temperature inside the interior space depending on a temperature measured by the temperature sensor 74-

[0120] Fig. 26a and 26b show a stacker frame system 900 with 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 to be completely surrounded by the open top end 9 when the lid 902 is closed. The stacker frame 901 may have an internal shoulder, on which the lid 902 may rest in its closed state. However, it may simply rest on an uppermost storage container 106 in the stacker frame 901.

[0121] Upper parts of corners 903 of the lid 902 are exemplarily chamfered to avoid canting in the top end 9 when lifting or lowering the lid 902. The seal 53 as shown in Fig. 12a may be used in this exemplary embodiment, too. It may, for example, be attached to a lower edge 904 of the lid 902, or inside the open top end 9 of the stacker frame 901.

[0122] Figs. 27a to 27b show lateral and perspective views of a lifting frame 2 of the first type, which is capable of engaging with container connecting recesses 13 and lid connecting recesses 54. Inside the lid 7 or 902, an actuatingmechanism 910 is arranged, which is coupled with a pressure relief valve 911.The outer contours of the lid 7 or 902 are left out for illustration purposes.

[0123] In Figs. 27a and 27b the gripper 3 is in a neutral state, in which two gripper arms 912 are in a smallest possible distance to each other, thereby enabling the insertion into container connecting recesses 13 or, in this case, the lid connecting recesses 54. The actuating mechanism comprises a rod 913, which is biased to one of the grippers 3, i.e., one of the lid connecting recess 54 of the lid 7 or 902, by means of a spring 914.

[0124] The grippers 3 can be extended, such that the gripper arms 912 increase their distance to each other, as shown in Figs. 27c and 2 d. This leads to engaging the lid connecting recesses 54. Here, one of the gripper arms 912 moves the rod 913 towards the pressure relief valve 911, which then opens to provide a fluid communication between the interior space of the stacker frame and the environment.

[0125] In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems, and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.LIST OF REFERENCE NUMBERS1 Prior art automated storage and retrieval system1’ storage system 1” storage system2 lifting frame2’ lifting frame3 gripper5 stacker frame system6 stacker frame 6* target stacker frame 6’ stacker frame 6” stacker frame7 lid8 stacker frame lifter 8’ stacker frame lifter9 top end 10 lifting frame11 horizontal base frame12 connecting recess 12’ connecting recess13 container connecting recess 13’ connecting recess16 upper rim17 latch 17a connecting portion18 bottom section19 top section 20 side wall21 guiding element23 recessed portion24 first gantry beam25 second gantry beam26 telescopic arm27 lifting platform28 wheel 28’ wheel 29 wheel 29’ wheel50 bottom protrusionshoulder top rim seal connecting recess indentation temperature control device hole bottom surface exhaust openingElectrical interface temperature control device / container exhaust hose through-hole electrical interface external power source temperature sensor pressure relief valve pin valve discFramework structureUpright members of framework structureStorage gridStorage columnStorage container ’ Particular position of storage containerStackRail systemParallel rails in first direction ( )Access openingFirst port columnSecond port columnPrior art container handling vehicle a Vehicle body of the container handling vehicle 201b Drive means / wheel arrangement / first set of wheels in first direction (X) c Drive means / wheel arrangement / second set of wheels in second direction (F)Prior art cantilever container handling vehiclea Vehicle body of the container handling vehicle 301b Drive means / first set of wheels in first direction (X)c Drive means / second set of wheels in second direction (F) Gripping device401 Prior art container handling vehicle 401a Vehicle body of the container handling vehicle 401 401b Drive means / first set of wheels in first direction (X) 401c Drive means / second set of wheels in second direction (F) 404 Gripping device 404a Lifting band 404b Gripper 404c Guide pin 404b Lifting frame 500 Control system 600 Stacker frame system 700 Stacker frame system 800 Stacker frame system 900 stacker frame system 901 stacker frame 902 lid 903 corner 904 lower edge 910 actuating mechanism 911 pressure relief valve 912 gripper arm 913 Rod 914 springFirst directionY Second direction Z Third direction

Claims

CLAIMS1. A stacker frame system (5, 600, 700, 800, 900) for an automated storage and retrieval system, the stacker frame system (5, 600, 700, 800, 900) comprising a stacker frame (6) configured to be stored in a storage column of the automated storage and retrieval system; wherein the stacker frame (6) has side walls (20), a base (18), and an open top end (9) and is configured to accommodate a plurality of storage containers (106) stored one on top of another in a vertical stack in an interior space of the stacker frame (6); and wherein the stacker frame system (5, 600, 700, 800, 900) comprises a temperature control device (56, 61) that is configured to control a temperature inside the stacker frame (6) for reducing, increasing or maintaining the temperature inside the stacker frame (6).

2. The stacker frame system (5, 600, 700, 800, 900) according to claim 1, wherein the stacker frame system (5, 600, 700, 800, 900) comprises a removable lid (7, 902) for covering the top end (9) of the stacker frame (6).

3. The stacker frame system (5, 600, 700, 800, 900) according to claim 2, wherein the stacker frame system (5, 600, 700, 800, 900) has a seal (53) configured to thermally seal a connection between the top end (9) and the lid (7, 902).

4. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the temperature control device (56, 61) is arranged inside the interior space of the stacker frame (6).

5. The stacker frame system (5, 600, 700, 800, 900) according to any of claims 1 to 3, wherein the temperature control device (56, 61) is arranged inside the base (18).

6. The stacker frame system (5, 600, 700, 800, 900) according to claim 2 or 3, wherein the temperature control device (56, 61) is arranged inside the lid (7, 902).

7. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the temperature control device (56, 61) comprises a refrigeration unit.

8. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, comprising an internal power source connectable to the temperature control device (56, 61).

9. The stacker frame system (5, 600, 700, 800, 900) according to claim 8, wherein the internal power source is arranged inside the base (18) and / or at least one of the side walls (20) and / or, when dependent on claim 2, the internal power source is integrated into the lid (7, 902).

10. The stacker frame system (5, 600, 700, 800, 900) according to any of the claims 7 to 9, comprising an electrical interface (60, 64) arranged on and / or accessible from an exterior face of the stacker frame (6), wherein the electrical interface (60, 64) is configured to receive electrical power from an external power source, and wherein the electrical interface (60, 64) is electrically connectable to the temperature control device (56, 61).

11. The stacker frame system (5, 600, 700, 800, 900) according to claim 10, wherein the electrical interface (60, 64) comprises electrically conductive contacts connectable to the external power source.

12. The stacker frame system (5, 600, 700, 800, 900) according to claim 10 or n, wherein the electrical interface (60, 64) comprises an inductive power receiver configured to receive electrical power from an inductive power transmitter.

13. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims,wherein the temperature control device (60, 64) is arranged in or forms a temperature control container (61).

14. The stacker frame system (5, 600, 700, 800, 900) according to claim 13, wherein the temperature control container (61) is configured to be arrangeable in the interior space of the stacker frame (6).

15. The stacker frame system (5, 600, 700, 800, 900) according to claim 13 or 14, wherein the temperature control container (61) is a self-contained unit removably placed in the interior space.

16. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the stacker frame (6) is thermally insulated, and / or when dependent on claim 2, wherein the lid (7, 902) is thermally insulated.

17. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, comprising a temperature sensor (74) configured to measure the temperature of the interior space of the stacker frame (6), wherein the temperature sensor (74) is in communication with the temperature control device (60, 64), and wherein the temperature control device (60, 64) is configured to control the temperature inside the interior space depending on a temperature measured by the temperature sensor (74).

18. The stacker frame system (5, 600, 700, 800, 900) according to claim 2, wherein the stacker frame system (5, 600, 700, 800, 900) comprises a selectively actuatable pressure relief valve (75, 911) configured to create a fluid communication between the interior space and the exterior of the stacker frame (6) when actuated.

19. An automated storage and retrieval system, comprising a framework structure (100) defining a plurality of storage columns (105); and a stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims.

20. The automated storage and retrieval system of 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 each configured to move in two perpendicular directions above the storage columns; wherein the container lifter (201, 301, 401) is configured to retrieve a storage container (106) via the open top end of the stacker frame; and wherein the stacker frame lifter (8, 8’) is configured to place and / or remove the stacker frame (6) accommodated in a storage column.

21. The automated storage and retrieval system according to claim 19 or claim 20, wherein the storage columns are configured to accommodate a plurality of the stacker frames (6) arranged one on top of another in a vertical stack.

22. Temperature control container (61), comprising: a housing having substantially the footprint of a storage container (106) configured to be stored in a storage column of an automated storage and retrieval system or configured to be stored in a stacker frame (6) storable in a storage column of the automated storage and retrieval system, and a temperature control device (56, 61) that is configured to control a temperature inside the stacker frame (6) for reducing, increasing or maintaining the temperature inside the stacker frame (6).

23. Temperature control container (61) according to claim 22, wherein the temperature control device (56, 61) has a refrigeration unit.

24. A method of operating an automated storage and retrieval system, comprising: arranging a stacker frame (6) of a stacker frame system (5, 600, 700, 800, 900) in a framework structure (100) of the automated storage and retrieval system according to any of claims 19 to 21, defining a plurality of storage columns (105), operating the temperature control device (56, 61) in the stacker frame system (5, 600, 700, 800, 900) to control the temperature inside the stacker frame.

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