Tensioning device for a belt of an automated storage and retrieval system

Abstract

A tensioning device for a belt of an automated storage and retrieval system, the tensioning device comprising a housing, a first opening in a first section configured to let a first end portion of belt pass into an interior space of the housing, a second opening in a second section configured to let a second end portion of the belt pass into the interior space of the housing, a clamp arranged in the first section and configured to receive and hold the first end portion of the belt through a first engagement component, and a locking mechanism arranged in the second section and configured to wind in and hold the second end portion of the belt through a second engagement component, wherein the locking mechanism is drivable from externally to the housing to wind the second end portion further into the interior space to tighten the belt.

Description

Tensioning device for a belt of an automated storage and retrieval systemFIELD OF THE INVENTION

[0001] The present invention relates to a tensioning device for a belt of an automated storage and retrieval system, to a coupling element for coupling a drive with a movable hatch of an access station of an automated storage and retrieval system, to an automated storage and retrieval system, as well as to a method for tensioning a belt that couples a drive with a movable hatch of an access station of 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 laterallyabove 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-supporting.

[0006] 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 storagecontainers. 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 =iy, 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 =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 T-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 the other, 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 candrop 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 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.

[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 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.

[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] As stated above, the automated storage and retrieval system may comprise an access station, which allows a picker to pick items from a storage container presented at the access station. The access station may comprise a receiving space, in which a storage container is presented. The receiving spacecan be covered by a movable hatch. The hatch may be driven by a drive that is coupled to the hatch by a belt. The belt needs to have a sufficient tension to provide a reliable force transfer between the drive and the belt. At present, tensioning the belt is a cumbersome process and may require partial disassembly of the access station.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 tensioning device for a belt of an automated storage and retrieval system, the tensioning device comprising a housing having a first section and a second section, a first opening in the first section configured to let a first end portion of belt pass from externally to the housing into an interior space of the housing, a second opening in the second section configured to let a second end portion of the belt pass from externally to the housing into the interior space of the housing, a clamp arranged in the first section and configured to receive and hold the first end portion of the belt through a first engagement component, and a locking mechanism arranged in the second section and configured to winding in and holding the second end portion of the belt through a second engagement component, wherein the locking mechanism is drivable from externally to the housing to wind the second end portion further into the interior space to tighten the belt.

[0029] The tensioning device is used for tensioning the belt. The belt may be a flat belt, a toothed belt, a V-belt, a round belt, a link belt or the like. In the context of the invention, the two opposite ends of the belt are both connected to the tensioning device.

[0030] The belt may be wound around toothed gears, pulleys, or other rotatable components to move along a predefined path. As the tensioning device is connected to the two ends of the belt, it will move together with the two ends. For example, the motion path of the belt may comprise a linear section. The twoends and the tensioning device may be arranged to move along this linear section back and forth through driving the belt in a first direction and in an opposite second direction. The tensioning device may then be used not only for tensioning the belt, but also to connect the belt with a component to be driven by the belt through the tensioning device.

[0031] The housing of the tensioning device may be understood as an enclosure or a frame, which houses the clamp and the locking mechanism that are engageable with the two ends of the belt. It may be a cast component, a component made of a sheet-like material, a component made by cutting of a solid material, and any combination thereof. It may be a single part or a combination of parts that together form the housing. For example, it may comprise a base having an installation space for installing the clamp and the locking mechanism, wherein the base has an open side for accessing the installation space. A lid may be used for covering this open side.

[0032] The first section and the second section may refer to opposite sides of the housing. In this context, the term “section” is used for defining a part, a portion, a side, a location, a region or any other indication of the respective place of the housing, which is associated with one end of the belt. The first section is thus associated with the first end portion of the belt, while the second section is associated with the second end portion of the belt. In particular, when using a stiffer belt, it may be beneficial to arrange the two sections in a way that the extension directions of the first end portion and the second end portion directly adjacent to the respective opening are substantially equal.

[0033] The first opening and the second opening may thus preferably be aligned in a way that they point into two opposite directions when viewed from inside the housing. Preferably, the two openings and the respective end portion of the belt may substantially be arranged on the same line. When inserting the first end portion into the first opening and the second end portion into the second opening, the belt is closed.

[0034] The clamp and the first section may be used for holding the first end portion, such that it is immovable relative to the housing. The clamp is preferably not intended for providing the actual tensioning process and merely acts as an anchor for the belt.

[0035] The term “clamp” may be understood as an apparatus that provides a clamping force. However, it may also be directed to an apparatus that engages the first end portion through a form-fit engagement, for example, if the belt is a toothed belt. Both principles could also be combined, such that a clamping force and a form-fit engagement occur simultaneously for holding the first end portion. Preferably, the clamp allows to insert the first end portion freely into the first opening of the tensioning device and to clamp the first end portion when pulling it back into an outward direction. By this process, the first engagement component engages with the first end portion and is urged into a clamping state. How this may be conducted will be explained further below.

[0036] On the other hand, the locking mechanism is configured to pull or winch the second end portion into the housing or the interior space or the second opening, respectively. By pulling the second end portion into the housing, the free length of the belt outside the housing, i.e. between the clamp and the locking mechanism, can be reduced. This leads to tensioning the belt to improve its contact with gear wheels, deflectors, and the like that define the belt’s motion path.

[0037] As the locking mechanism is drivable from externally to the housing, a user may simply attach a tool, a drive device or the like to selectively pull the belt into the housing to reduce the free length of the belt. The tool may be a manual tool, such as a wrench, or it may be an electrically operable tool that can selectively be coupled with a mechanical interface.

[0038] The housing may comprise at least one additional opening that allows to lead the second end of the belt out of the interior space if it needs to be pulled to such an extent to achieve a sufficient tensioning that it does not fit into the interior space anymore.

[0039] The clamp may be configured to clamp the first end portion of the belt when it is inserted into the first opening and exposed to an outwards directed pulling force. As stated above, by clamping the first end portion, it will be fixedly held to the housing. The clamp should be designed in such a way that it does not allow to pull the first end portion outwards to a large extent. The outwards directed pulling force should thus primarily lead to urging the first engagement component onto or into the first end portion of the belt.

[0040] The clamp may have a clamping surface, which is configured to clamp the first engagement component and the first end portion of the belt between the clamping surface and a first receiving surface in the interior space of the housing, onto which the first end of the belt can be arranged. The first receiving surface is arranged in the interior space of the housing. It may preferably directly join the first opening and may preferably be flush with one of the edges of the first opening. When inserting the first end portion into the first opening, it may thus directly reach and lay on the first receiving surface. The clamping surface may be arranged in a distance to the first receiving surface, which allows arranging the first engagement component between the clamping surface and the belt. Preferably, the clamping surface is sloped to allow the clamping force to be generated by exerting a pulling force onto the first end portion, which acts onto the first engagement component through friction of form-fit engagement.

[0041] The clamping surface may be arranged at a distance to the first receiving surface, wherein the distance between the clamping surface and the first receiving surface may increase with increasing distance to the first opening. Thus, the clamping surface has a slope or a similar curvature that leads to constricting the available space between the clamping surface and the receiving surface for the first engagement component towards the first opening from inside the interior space. At least a major part of the clamping surface maybe flat. The clamping surface and the receiving surface may enclose an angle of up to 150, preferably until about io° or less. With a complimentarily shaped first engagement component, a wedge-type clamping connection may be achieved.

[0042] The first engagement component may have two wedge surfaces that converge at an acute angle, wherein the flatter side of the first engagement component has a smaller distance to the first opening than its bigger side. This means that the narrower end of the first engagement component will be urged underneath the clamping surface when the belt is exposed to an outwardly directed pulling force. One of the two wedge surfaces points to the receiving surface, while the other wedge surface points to the clamping surface. When the belt is pulled, due to the constricted space in an outward direction, one of the wedge surfaces comes into contact with the clamping surface and will slide along the clamping surface towards the first opening. Thereby, the available space between the other wedge surface and the receiving surface, where the belt is provided, is reduced. At a certain state, the first engagement component is not able to advance nearer to the first opening, as the belt is already compressed tosuch an extent, that the first engagement component is firmly pressed onto the clamping surface, which prevents a further pulling of the belt.

[0043] The first engagement component and the second engagement component each may have grooves for receiving teeth of the belt. The belt may thus be a toothed belt. The tooth pattern, i.e. the spacing between the teeth as well as the shape of the teeth determines the shape of the grooves on the first and second engagement components. By providing a toothed structure, the connection between the belt and the engagement components is thus simple, efficient and reliable.

[0044] The second engagement component may comprise a toothed wheel for engaging a toothed belt as the belt. The toothed wheel may be driven by a tool that is connected to the toothed wheel through a shaft that sticks out of the housing or that is accessible in the housing. Using a toothed wheel is simple, efficient and reliable for pulling or winching the second end portion into the interior space of the housing. The tensioning force can be exerted onto the belt without much effort.

[0045] The locking mechanism may comprise a second receiving surface spaced from the second engagement component and at least partially curved corresponding to the shape of the second engagement component. The second receiving surface may directly follow on the second opening in the interior space of the housing. It may be flush with one edge of the second opening. The second end portion of the belt that is inserted into the second opening reaches the second receiving surface and will be deflected due to the at least partially curved shape, which supports an engagement of the belt with the toothed wheel.

[0046] The second engagement component may comprise a freewheel mechanism, which may be configured to let the second engagement component freely rotate in a first direction when it is driven by the second end portion of the belt being inserted into the second opening and along the second receiving surface and to arrest the second engagement component when the second end portion of the belt is exposed to an outwards directed pulling force. Thus, the locking mechanism reliably prevents a pulling of the belt and out towards the direction while simply allowing the tensioning process.

[0047] The second engagement component may comprise a ratchet wheel arranged to engage a pawl. The ratchet wheel may be concentrically attached tothe toothed wheel. The pawl may be biased to the ratchet wheel to form the locking mechanism. When the gear is rotated into a tensioning direction, the pawl may slide along individual, sawtooth-like segments created on the outer circumference of the ratchet wheel and, depending on the size and shape of the segments, slide over raised end edges of the individual segments and snap onto subsequent segments. Particularly when a metal material is used for the ratchet wheel and the pawl, this may lead to a clearly noticeable clicking noise, which gives an auditive feedback of the tensioning process to the user.

[0048] The second clamp may have an outlet distanced from the second opening to feed the second end of the belt out of the housing when tensioning it. As stated above, a further opening in the form of the outlet allows to lead the second end of the belt out of the interior space. This substantially allows an infinite tensioning, as the belt does not fold up inside the housing until the interior space is filled. During the manufacturing process of the respective component of the automated storage and retrieval system, such as an access station, the belt may be wound around the respective pullies, wheels, and the like, and the second end of the belt may be inserted into the second opening. It could be further pushed into the second opening, until the belt is loosely tensioned. An excessive length of the belt that sticks out of the outlet may then be cut. Afterwards, the belt may be tensioned until a desired degree of tensioning is achieved.

[0049] The second clamp may have a mechanical interface for coupling a drive device with the second engagement component to move the second engagement component to pull the second end portion into the housing. The mechanical interface may particularly comprise a non-circular profile for coupling a tool with second engagement component. For example, this maybe a square profile, a hexagonal profile, a star-shaped profile, or another suitable profile. The mechanical interface is preferably arranged on the exterior of the housing. It is preferred that the mechanical interface is configured to remove the drive device, e.g. a tool or the like, after the tensioning / tightening process.

[0050] The tensioning device may comprise a blocking element, which can be brought into contact with the second engagement component to block it. The blocking element can be placed into a recess to come into contact with the second engagement component. In case the second engagement component is a ratchet wheel, the blocking element may be realized in form of a pin or anothercylindrically shaped object that reaches into a space between two consecutive teeth of the toothed wheel or the ratchet wheel as mentioned above. If the blocking element is fixedly arranged in the respective recess, the ratchet wheel will not be able to be rotated further than until a tooth or a sawtooth-shaped segment contacts the blocking element.

[0051] The locking mechanism may comprise a locking body, which may be movably supported in the housing in a tensioning direction away from the second opening or towards the second opening, and which may be configured to be drivable by a rotatably mounted locking bolt that engages with a threaded hole of the locking body, and wherein the locking body may have grooves for engaging teeth of the belt.

[0052] The tensioning device may comprise a flat lock plate that is insertable into the second opening, such that the belt is arranged between the locking body and the lock plate, and wherein the lock plate may be configured to hold the belt in engagement with the locking body.

[0053] In a second aspect, the invention concerns a coupling element for coupling a drive with a movable hatch of an access station of an automated storage and retrieval system, comprising a belt, a carrier plate, and a tensioning device according to the above, wherein the carrier plate comprises at least one attachment element for attaching the carrier plate to the hatch, wherein the tensioning device is attached to the carrier plate, and wherein a first end portion of the belt is clamped into the clamp of the tensioning device, wherein a second end portion of the belt is held by the locking mechanism, and wherein the belt is wound around a drive wheel attached to the drive.

[0054] It is referred to the explanation of the access station further above. The term “access station” may refer to a single piece of equipment having a cabinet that comprises an access opening, beneath which a storage container is to be presented. An access station may preferably be associated with one picker. The picker may be in front of the access station and will be able to access a storage container presented at the access station. The access opening may be closable by a movable hatch. When the storage container is presented in the picking position, the hatch will be opened, such that the picker gains access to the storage container beneath the access opening. After the picking operation, the hatch may be closed again and the storage container will be returned into the framework structure.

[0055] The drive may include an electric motor, which may be configured to rotate in two different directions. The belt being wound around a drive wheel attached to the drive will then move into two opposite directions to drive the hatch into an open or a closed state. The hatch may be slidably supported to covers or open an access opening of the access station to allow a picker to pick items from a storage container presented beneath the access opening.

[0056] The carrier plate may be understood as an element that is configured to carry the tensioning device. For attaching the coupling element to the hatch, the carrier plate has at least one attachment element. Thus, by fixedly attaching the tensioning device to the carrier plate, it will be coupled with the hatch.

[0057] The belt can be tensioned to improve or optimize the power transfer between the drive and the hatch.

[0058] The at least one attachment element may comprise a magnet. The magnet may simply connect the carrier plate to the hatch and may also simply be removed for maintenance or the like. If the hatch is slidable, it may be supported in a rail having rollers, bearings, or wheels and the coupling element will then only transfer opening and closing forces. A magnet may be sufficient for this purpose. The magnet may be realized as a high strength magnet, for example in the form of a neodymium magnet.

[0059] In a third aspect, the invention concerns an automated storage and retrieval system, comprising a rail system comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails, a plurality of stacks of storage containers arranged in storage columns located beneath the rail system, wherein each storage column is located vertically below a grid opening, at least one remotely operated vehicle for handling a storage container being configured to move on the rail system above the storage columns, and at least one access station having a belt and a tensioning device for tensioning the belt according to the above.

[0060] The automated storage and retrieval system may comprise a framework structure having upright members and a storage volume comprising storage columns arranged in rows between the upright members. In these storage columns storage containers are stacked one on top of one another to form stacks. The system may comprise a rail system arranged across the top of the respective framework structure, on which rail system a plurality of load or container handling vehicles may be operated to raise storage containers from, and lower storage containers into, the storage columns of the framework structure, and also to transport the storage containers above the storage columns. The rail system may comprise a first set of parallel rails arranged to guide movement of the container handling vehicles in a first direction across the top of the respective framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction. Containers stored in the respective columns are accessed by the container handling vehicles through access openings, which may be referred to as “grid opening” in the rail system. The container handling vehicles can move laterally above the storage columns. The upright members of the framework structure may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns. The stacks of containers are typically self-supporting.

[0061] The access station may have an access opening, which is coverable by the hatch. By driving the hatch with the drive, wherein the force is transferred through the belt, it can be opened and closed.

[0062] In a fourth aspect the invention is directed to a method for tensioning a belt that couples a drive with a movable hatch of an access station of an automated storage and retrieval system, comprising winding the belt around a drive, feeding a first end portion into the first opening of the housing of the tensioning device according to the above, pulling the first end portion in an outward direction to clamp it in the clamp, feeding a second end portion into the second opening of the housing, attaching a drive device to the tensioning device, and winding the belt further into the second opening to tension the belt.

[0063] As stated above, the drive device may be a tool that is removably attachable to a mechanical interface of the tensioning device.

[0064] The second end portion may be fed into the housing to such an extent that it extends out of one of the outlets of the housing. Possibly, a user may pull the belt taut by hand, and tighten it afterwards by winding in the belt using the locking mechanism.

[0065] The method may comprise locking the locking mechanism. For example, this may be done by inserting a securing device into a securing device hole that intersects with a blocking element hole in which a blocking element is placed that is in contact with a ratchet wheel according to the above description.BRIEF DESCRIPTION OF THE DRAWINGS

[0066] 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:

[0067] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0068] Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0069] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0070] 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.

[0071] Figs. 5a to 6e show a first exemplary embodiment of a tensioning device in different sectional and perspective views.

[0072] Figs. 7a to 8e show a second exemplary embodiment of a tensioning device in different sectional and perspective views.

[0073] Figs. 9a to 9c show the toothed wheel in different views.

[0074] Fig. 10a shows an assembled tensioning device in a perspective view.

[0075] Fig. 10b shows a coupling plate in a perspective view.

[0076] Figs. 10c and lod show a coupling element in two perspective views.

[0077] Figs. 11 and 12 show an access station in different views.

[0078] Fig. 13 shows the integration of the coupling element into the access station.

[0079] Figs. 14a to 14c show an exemplary embodiment of a tensioning device in sectional views and a translucent perspective view.DETAILED DESCRIPTION OF THE INVENTION

[0080] In overview, a tensioning device (600, 700, 1200) for a belt (604) of an automated storage and retrieval system is provided. The device comprises: a housing (601) having a first section (602) and a second section (605). A first opening (603) in the first section (602) lets a first end portion (607) of the belt (604) pass from externally to the housing (601) into an interior space of the housing (601). A second opening (606) in the second section (605) lets a second end portion (608) of the belt (604) pass from externally to the housing (601) into the interior space of the housing (601). A clamp (609) in the first section (602) receives and holds the first end portion (607) of the belt (604) through a first engagement component (611). A locking mechanism (612, 1204) in the second section (605) winds in and holds the second end portion (608) of the belt (604) through a second engagement component (613, 1220). The locking mechanism (612, 1204) can be driven from externally to the housing to wind the second end portion (608) further into the interior space to tighten the belt (604).

[0081] 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.

[0082] 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 first, upper rail system 108 extending in the X direction and Y direction.

[0083] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 whereinstorage containers 106 are stackable in stacks 107 within the storage columns 105.

[0084] The framework structure 100 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 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0085] One embodiment of the automated storage and retrieval system according to the invention will now be discussed in more detail with reference to Figs. 5a to 14c.

[0086] Fig. 5a shows a schematic sectional view of a tensioning device 600. The tensioning device 600 comprises a housing 601, which in this example has a substantially rectangular basic shape. It may be made as a cast component. The housing 601 may comprise a plastic or a metallic material.

[0087] On the left-hand side in the viewing plane, the housing 601 comprises a first section 602. The first section 602 may also be referred to as a first side or a first portion of the housing 601. In the first section 602, a first opening 603 is provided, which is open to the interior space of the housing 601 and the exterior side. It allows to introduce a belt 604, which is to be tensioned, into the interior space of the housing 601. As illustrated in Fig. 5a, a first end 607 of the belt 604 is fed into the first opening 603. In this example, the belt 604 is a toothed belt.

[0088] At an opposite side to the first section 602, the housing 601 has a second section 605, which comprises a second opening 606. As explained further below, a second end 608 of the belt 604 maybe fed into the second opening 606, in analogy to the first end 607 and the first opening 603.

[0089] In the first section 602 a clamping mechanism, which will be referred to as clamp 609, is arranged. The belt 604 rests on a first receiving surface 614 in the housing 601. A first engagement component 611 of the clamp 609 with a partial wedge shape is provided on top of the belt 604. On a side opposite to the belt 604, the first engagement component 611 is in contact with a clamping surface 610, which is created in the interior space of the housing 601.

[0090] The clamping surface 610 is distanced from the receiving surface 614, wherein the distance between the clamping surface 610 and the first receivingsurface 614 decreases into the direction towards the first opening 603. In this example, the clamping surface 610 is primarily flat and encloses an angle of slightly less than io° together with the first receiving surface 614. The first engagement component 611 is complementarily shaped and has an upper wedge surface that is in surface contact with the clamping surface 610. At its bottom side, the first engagement component 611 is generally flat and parallel to the first receiving surface 614 and comprises grooves 615 for receiving teeth 616 of the belt 604. The narrower side of the first engagement component 611 points to the first opening 603, while the side with greater height points to the second section 605.

[0091] In the state shown in fig. 5a, the first engagement component 611 engages the toothed belt 604 and is loosely arranged between the clamping surface 610 and the belt 604. As indicated by the bold arrow, the belt 604 is in the process of being inserted into the first opening 603. The first engagement component 611 moves upwards several times in the direction of the clamping surface 610 as soon as a tooth 616 of the belt 604 presses on the first engagement component 611 outside a groove 615 until the belt 604 is pushed in further so that groove 615 and tooth 616 or grooves 615 and teeth 616 are flush with each other and the first engagement component 611 and the belt 604 engage with each other.

[0092] The remaining elements of the tensioning device 600 will be explained further below in relation to the subsequent drawings that indicate subsequent steps of tensioning the belt 604.

[0093] Fig. 5b shows the process of clamping the first end 607 of the belt 604 in the clamp 609. Here, the first end 607 is pulled in an outward direction, i.e. towards the first opening 603 from inside the interior space of the housing 601. In doing so, the first engagement component 611 will slide on the clamping surface 610 in the direction of the first opening 603. Due to the slope of both the clamping surface 610 and the upper wedge surface of the first engagement component 611, the first engagement component 611 will be continuously urged towards the first receiving surface 614, thereby being pressed onto the belt 604. The available space for the belt 604 will be constricted continuously, until a state is reached, where a further pulling of the belt 604 does not lead to a further movement of the belt 604 due to the mechanical pressure of the first engagement component 611. In this stage, the belt 604 is clamped.

[0094] Fig- 6 a shows the second end 6o8 of the belt 604 being inserted in the second opening 606, such that it is arranged in the interior space of the housing 601. A rotatable toothed wheel 613 is located at a distance to the second opening 606 in the interior space. An outer circumference of the toothed wheel 613 is distanced from a curved second receiving surface 617, on which the belt 604 rests.

[0095] The second receiving surface 617 has a constant distance to the toothed wheel 613 in a region that corresponds to a quarter sector of the toothed wheel 613. In other words, the second receiving surface 617 follows the shape of the outer circumference of the toothed wheel 613 partially. The curve of the second receiving surface 617 extends sufficiently to deflect the belt 604 through roughly 90°. This allows to provide a form fit engagement between the belt 604 and the toothed wheel 613 in this region. By driving the toothed wheel 613 in a clockwise direction, the first end 608 of the belt 604 will further advanced into the housing 601. In doing so, the free length of the belt 604 outside the housing 601 between the first opening 603 and the second opening 606 will be continuously reduced, which in turn leads to tensioning the belt 604.

[0096] The toothed wheel 613 is a part of a locking mechanism 612, which also comprises a pawl 618 that is biased onto sawtooth-like segments on a section, e.g. a ratchet wheel, of the toothed wheel 613, which will be explained further below. This allows a rotation of the toothed wheel 613 in a clockwise direction but prevents a reverse rotation. Thus, when the belt 604 is tensioned, it will not drive the toothed wheel 613 backwards.

[0097] As shown in fig. 6b, the housing 601 comprises an outlet 619, through which the second end 608 of the belt 604 can be fed out of the housing 601, such that it does not fold up inside the interior space and block the tensioning process. As shown in the figures, there is a gap between the second receiving surface 617 and the outlet 619, which allows the belt 604 to reach above the clamp 609 and to a second outlet 623. Thus, the belt 604 may reach two different paths for leaving the interior space of the housing 601.

[0098] Fig. 6c shows the tensioning device 601 in a perspective view. Here, the housing 601 is covered with a lid 622 that is screwed onto an open side of the housing 601. In fig. 6c, approximately the state is shown that corresponds to the state shown in fig. 6b. Here, a part of the belt 604 sticks out of the outlet 619. A tool 621 engages a mechanical interface 620, which is connected to toothedwheel 613. In the illustration of figs. 6c and 6d, the tool 621 rotates the mechanical interface in a clockwise direction to further advance the second end 608 outward the outlet 619. In the state shown in fig. 6e, the belt 604 can be pulled on both sides, but due to the locking mechanism 612 it remains stationary relative to the tensioning device 600.

[0099] In figs. 7a to 8f, a tensioning device 700 is shown, which is similar to the tensioning device 600, while the pawl 618 is eliminated. Instead, the locking mechanism is realized by a blocking element 701, which is configured to engage with the sawtooth-shaped segments of the toothed wheel 613. The blocking element 701 is illustrated in figs. 8e and 8f. All elements arranged in the tensioning device 600, which are also present in the tensioning device 700, are referred to with the same reference numerals.

[0100] Fig. 7a corresponds to Fig. 5a. In this illustration, the first end 607 of the belt 604 is inserted into the first opening 603 and rests on the first receiving surface 614. The first engagement component 611 is loosely arranged between the belt 604 and the clamping surface 610 and engages with the belt 604.

[0101] Fig. 7b corresponds to Fig. 5b. The first end 607 of the belt 604 is held in the clamp 609 with the first engagement component 611 being urged onto the belt 604 and the first receiving surface 614. This is achieved by pulling the belt 604 in an outward direction, such that the first engagement component 611 is pressed into the constricted space between the clamping surface 610 and the first receiving surface 614.

[0102] Fig. 8a corresponds to Fig. 6a described above. The second end 608 of the belt 604 is inserted into the second opening 606 and reaches the toothed wheel 613. By pushing it further into the interior space of the housing 601, the belt 604 engages the toothed wheel 613 and can be pulled through the second opening 606 through rotating the toothed wheel 613. This may exemplarily be achieved by a tool 621 that rotates the mechanical interface 620, as shown in figs. 8c and 8d.

[0103] Instead of using the pawl 618 that engages the sawtooth-shaped segments of the toothed wheel 613, a blocking element 701 is provided, which can be inserted into a blocking element hole 702. The blocking element hole 702 extends in an inclined direction from a section adjacent to the second opening 606 towards the toothed wheel 613. The blocking element 701 is exemplarilyrealized in form of a cylindrical pin. Preferably, the blocking element 701 and the blocking element hole 702 have a sliding fit. Thus, the blocking element 701 can be slid into the blocking element hole 702, such that it reaches the part of the toothed wheel 613 that comprises the sawtooth-shaped segments.

[0104] If the blocking element 701 is loosely inside the blocking element hole 702, a further rotation of the toothed wheel 613 may still be possible into a clockwise direction to further tension the belt 604. Also, a reverse rotation could be possible, as the blocking element 701 will repeatedly be pushed slightly outwards by the sawtooth-shaped segments. For efficiently securing the state of the belt 604, a securing device 703 is placed in a securing device hole 704, which intersects with the blocking element hole 702. Thus, when the securing device 703 is inserted into the securing device hole 704, the blocking element 701 cannot move along the blocking element hole 702 away from the toothed wheel 613 and, resultantly, the toothed wheel 613 is blocked.

[0105] The securing device is 703 maybe a pin. Preferably, it tends to spread or brace to secure itself inside the securing device hole 704. It maybe removed by pulling it out with a suitable tool. Instead of using a pin, also a screw or the like may be used.

[0106] Fig. 9a shows a part of the toothed wheel 613 in a perspective view. Here, a first wheel ring 801 having teeth 802 for engaging the belt 604 is concentrically attached to a ratchet wheel 803. The ratchet wheel 803 comprises sawtooth-shaped segments 804. A connection profile 805 is exemplarily provided for connecting of a third wheel ring, which may be formed in the same way as the first wheel ring 801.

[0107] Fig. 9b shows the toothed wheel 613 with a first wheel ring 801, the ratchet wheel 803 and a third wheel ring 806, which together enclose the ratchet wheel 803. In this example, the pawl 618 is biased onto the ratchet wheel 803. The toothed wheel 613 preferably has substantially the same width as the belt 604.

[0108] Fig. 9c corresponds to the tensioning device 700 and shows the blocking device 701 and the securing device 703 in the corresponding spatial positions.

[0109] Fig. 10a shows the tensioning device 600 in a perspective view in an assembled state. At its underside, two distanced protrusions 901 are shown, which fit into complementarity -shaped recesses 902 of a carrier plate 903. The tensioning device 600 maybe attached to the carrier plate 903 exemplary by a screw 904, which is fed through a through-hole 905 in the carrier plate 903.

[0110] The assembled state of a coupling element 910 is shown in figs. 10c and lod. Attachment elements 906 are arranged on the carrier plate 903 and are intended for coupling the tensioning device 600 with a movable hatch of an access station of an automated storage and retrieval system. Thus, by moving the belt 604 through a suitable drive, the tensioning device 600 and, correspondingly, the carrier plate 903 are moved with the belt 604. Through the action of the attachment elements 906, the hatch is coupled to the tensioning device 600 and is driven by it.

[0111] The carrier plate 903 comprises guiding elements 907 having recesses 908, which may slide along a rail, a rod or the like to provide a guidance. At the opposite side of the carrier frame 903, a sliding element 909 is provided, which slides in a channel or rim for the same purpose.

[0112] Fig. 11 shows an access station 1000 for an automated storage and retrieval system as shown in e.g. Fig. 1. The access station 1000 exemplarily comprises a frame structure 1001, which exemplarily has housing panels, stiffening components, and other elements, which are attached to each other to form a part of the exterior shape of the access station 1000. The frame structure 1001 in this example provides a substantially closed surface to the user. Inside the frame structure 1001, a receiving space 1002 is arranged and enclosed by the frame structure 1001. A user of the access station 1000 may stand or sit in front of a front side 1003 and may interact with a control device 1004 arranged on an upper side 1005 of the access station 1000. The control device 1004 may allow a user to send a command into the control system 500 to remove a storage container from the access station 1000 and to provide another storage container into the access station 1000.

[0113] On the upper side 1005, the access station 1000 comprises an access opening 1006, which allows the user to access a storage container arranged in the receiving space 1002 by reaching through the access opening 1006. The access opening 1006 has a front edge 1007, which extends along the front side 1003 of the access station 1000. A rear edge 1008 is opposed to the front edge1007 and faces away from the user of the access station 1000. In Fig. n, the access opening 1006 is temporarily closed by a hatch 1009 that is slidable between an open position and a closed position along a hatch path 1010. Thus, in the state shown in Fig. 11, a user cannot access the receiving space 1009.

[0114] Fig. 12 shows the access station 1000 in another view. Here, some components of the frame structure 1001 are left away for enhancing the view onto the receiving space 1002. Here, a storage container 106 is arranged in the receiving space 1002 and the hatch 1009 is in an open position. Thus, the interior of the storage container 106 is accessible for a user through the access opening 1006. The size of the access opening 1006 substantially corresponds to the size of the storage container 106. It maybe useful to let the access opening 1006 be slightly smaller than the storage container 106 to avoid a user removing the storage container 106 from the receiving space 1002 by pulling it through the access opening 1006.

[0115] A storage system conveyor, which is not depicted herein, may be capable of moving the storage container 106 to the receiving space 1002 or away from it. At the front side 1003 underneath the upper side 1005, the belt 604 is wound around a drive that is further illustrated in Fig. 13. The hatch 1009 is coupled with the belt 604 to slide along the access opening 1006.

[0116] Fig. 13 shows the integration of the coupling element into the access station 1000 in a view from underneath the front edge 1007. Here, a guiding rail 1100 is shown, which is coupled with the guiding elements 908. The magnets 906 are coupled with an attachment plate 1101 connected to the hatch 1009 to transfer the force of the belt 604 to the hatch 1009. The tensioning device 600 is arranged to move substantially parallel to and substantially beneath the front edge 1007. The belt 604 is wound around a drive wheel 1102 connected to a drive 1103. The belt 604 is tensioned to improve the force transfer.

[0117] Figs. 14a, 14b and 14c show a tensioning device 1200 in lateral sectional views and a perspective view. The tensioning device 1200 comprises a housing 1201 with a first section 1202 and a second section 1203. At the first section 1202, the first opening 603 is provided as in the previous exemplary embodiment. Following on from the first opening 603 into the interior space of the housing 1201, the clamp 609 is arranged. The first end 607 of the belt 604 maybe fed into the first opening 603 to fixate it in the clamp 609. The clamp 609 substantially corresponds to the clamp 609 shown in the previous figures.[oon8] In the second section 1203 a locking mechanism 1204 is provided, which is accessible from the exterior through a second opening 1205. The second end 608 of the belt 604 can be fed into the locking mechanism 1204 through the second opening 1205. A second receiving surface 1206 is placed directly following the second opening 1205 and is opposite to a locking body 1220 as the second engagement component.

[0119] The locking body 1220 is slidably arranged in an elongated recess 1207, which extends parallel to the first receiving surface, when viewing into the direction of the first opening, or parallel to a connection line between the two opposite sides of the housing 1201 that comprise the first opening 603 and the second opening 1205. This direction maybe referred to as tensioning direction. It can be understood as the direction, into which the second end 608 of the belt 604 is to be pulled inside the housing 1201 in order to tension it. To limit the movability of the locking body 1220 to the tensioning direction, one or two guiding elements 1208 maybe arranged on one or opposite sides of the locking body 1220 perpendicular to the tensioning direction and parallel to the first receiving surface 614. The respective guiding element 1208 reaches into a guiding groove 1209, for example arranged in a lid 1210 that covers an open side of the housing 1201.

[0120] A tensioning bolt 1211 is arranged in the housing 1201 and extends in the tensioning direction. It comprises a bolt head 1212, which is accessible through a bolt access hole 1213 and is placed above the first opening 603, i.e. in the first section 1202 and having a greater distance to the first receiving surface 614 than the first opening 603. By introducing a suitable tool into the bolt access hole 1213, the tensioning bolt 1211 can be rotated around its center axis, which is parallel to the tensioning direction.

[0121] The locking body 1220 comprises a threaded hole 1214, which engages an outer thread 1215 of the tensioning bolt 1211. By rotating the tensioning bolt 1211, the locking body 1220 may thus be advanced along the elongated recess 1207 to pull or relax the belt 604 depending on the direction of rotation.

[0122] The second opening 1205 has a height that clearly exceeds the height of the belt 604. A first section 1216 of the second receiving surface 1206 directly following on the second opening 1205 has a greater vertical distance to the locking body 1220 than a second section 1217 that is further away from the second opening 1205. A belt 604 that is introduced into the second opening 1205can rest on the first section 1216 of the second receiving surface 1206 in a clear distance to the locking body 1220.

[0123] On a side facing the second receiving surface 1206, the locking body 1220 has a series of grooves 615 corresponding to the grooves in the first engagement component 611 and complementary to the teeth 616 of the belt 604. The second section 1217 of the second receiving surface 1206 and the position of the locking body 1220 are adapted in a way that the belt 604 only fits into the space between the second section 1217 and the locking body 1220 if the teeth 616 engage the grooves 615. The second end 608 of the belt 604 can be put onto the second section 1217 of the second receiving surface 1206 through the second opening 1205 when the locking body 1220 is above the first section 1216, as shown in Fig. 14a. With the belt 604 being placed on the second section 1217 the locking body 1220 can be moved further to the first section, i.e. above the second section 1217. Thereby, it will engage with the belt 604 and pull it taut.

[0124] To reach a mechanical engagement earlier, i.e. above on the first section 1216, a lock plate 1218 can be placed beneath the belt 604 in the second opening 1205, which urges the belt 604 into a distance to the first section 1216 of the second receiving surface 1206. This means that the belt 604 can be brought into engagement with the locking body 1220 already directly at the second opening 1205 and the available amount of tensioning motion of the belt 604 can be increased.

[0125] The second receiving surface 1206 exemplarily has a kink 1219 between the first section 1216 and the second section 1217. The lock plate 1218 is preferably configured to be placeable onto the first section 1216, such that the second section 1217 and the lock plate provide a flat, continuous surface.

[0126] 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 system100 Framework structure102 Upright members of framework structure104 Storage grid 105 Storage column 106 Storage container106’ Particular position of storage container107 Stack 108 Rail system no Parallel rails in first direction ( )112 Access opening119 First port column 120 Second port column201 Prior art container handling vehicle201a Vehicle body of the container handling vehicle 201 201b Drive means / wheel arrangement / first set of wheels in first direction (X)201c Drive means / wheel arrangement / second set of wheels in second direction (F)301 Prior art cantilever container handling vehicle 301a Vehicle body of the container handling vehicle 301 301b Drive means / first set of wheels in first direction (X) 301c Drive means / second set of wheels in second direction (F) 304 Gripping device 401 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 tensioning device 601 Housing 602 first section603 first opening604 Belt605 second section606 second opening607 first end608 second end609 Clamp610 clamping surface611 first engagement component612 locking mechanism613 toothed wheel614 first receiving surface615 Groove616 Tooth617 second receiving surface618 Pawl619 Outlet620 mechanical interface621 tool / drive device622 Lid623 secondary outlet700 tensioning device701 blocking element702 blocking element hole703 securing device704 securing device hole801 first wheel ring802 Tooth803 ratchet wheel804 sawtooth-shaped segment805 connection profile806 third wheel ring901 Protrusion902 Recess903 carrier plate904 Screw905 through-hole906 attachment element / magnet907 guiding element908 guiding element909 sliding element1000 Access station1001 frame structure1002 receiving space1003 front side1004 control device1005 upper side1006 access opening1007 front edge1008 rear edge1009 Hatch1010 hatch path1100 guiding rail1101 attachment plate1102 drive wheel1103 Drive1200 tensioning device1201 Housing1202 first section1203 second section1204 locking mechanism1205 second opening1206 second receiving surface1207 elongated recess1208 guiding element1209 guiding groove1210 Lid1211 tensioning bolt1212 bolt head1213 bolt access hole1214 threaded hole1215 outer thread1216 first section1217 second section1218 lock plate1219 Kink1220 locking bodyFirst direction Second direction Third direction

Claims

CLAIMS1. A tensioning device (600, 700, 1200) for a belt (604) of an automated storage and retrieval system, comprising: a housing (601) having a first section (602) and a second section (605), a first opening (603) in the first section (602) configured to let a first end portion (607) of the belt (604) pass from externally to the housing (601) into an interior space of the housing (601), a second opening (606) in the second section (605) configured to let a second end portion (608) of the belt (604) pass from externally to the housing (601) into the interior space of the housing (601), a clamp (609) arranged in the first section (602) and configured to receive and hold the first end portion (607) of the belt (604) through a first engagement component (611), and a locking mechanism (612, 1204) arranged in the second section (605) and configured to wind in and hold the second end portion (608) of the belt (604) through a second engagement component (613, 1220), wherein the locking mechanism (612, 1204) is drivable from externally to the housing to wind the second end portion (608) further into the interior space to tighten the belt (604).

2. The tensioning device (600, 700, 1200) of claim 1, wherein the clamp (609) is configured to clamp the first end portion (607) of the belt (604) when it is inserted into the first opening (603) and exposed to an outwards directed pulling force.

3. The tensioning device (600, 700, 1200) of claim 1 or 2, wherein the clamp (609) has a clamping surface (610), which is configured to clamp the first engagement component (611) and the first end portion (607) of the belt (604) between the clamping surface (610) and a first receiving surface (614) in the interior space of the housing (601), onto which the first end (607) of the belt (604) can be arranged.

4. The tensioning device (600, 700, 1200) of claim 3, wherein the clamping surface (610) is arranged at a distance to the first receiving surface (614), andwherein the distance between the clamping surface (610) and the first receiving surface (614) increases with increasing distance to the first opening (603).

5. The tensioning device (600, 700, 1200) of claim 4, wherein the first engagement component (611) has two wedge surfaces that converge at an acute angle, and wherein the flatter side of the first engagement component (611) has a smaller distance to the first opening (603) than its bigger side.

6. The tensioning device (600, 700, 1200) of any of the preceding claims, wherein the first engagement component (611) and the second engagement component (613, 1220) each have grooves (615) for receiving teeth (616) of belt (604).

7. The tensioning device (600, 700, 1200) of any of the preceding claims, wherein the second engagement component (613, 1220) comprises a toothed wheel for engaging a toothed belt as the belt (604).

8. The tensioning device (600, 700, 1200) of claim 7, wherein the locking mechanism (612, 1204) comprises a second receiving surface (617) spaced from the second engagement component (613, 1220) and at least partially curved corresponding to the shape of the second engagement component (613, 1220).

9. The tensioning device (600, 700, 1200) of claim 8, wherein the second engagement component (613, 1220) comprises a freewheel mechanism, which is configured to let the second engagement component (613, 1220) freely rotate in a first direction when it is driven by the second end portion (608) of the belt (604) being inserted into the second opening (606) and along the second receiving surface (617) and to arrest the second engagement component (613, 1220) when the second end portion (608) of the belt (604) is exposed to an outwards directed pulling force.

10. The tensioning device (600, 700, 1200) of any of the claims 7 to 9, wherein the second engagement component (613, 1220) comprises a ratchet wheel (803) arranged to engage a pawl (618).

11. The tensioning device (600, 700, 1200) of any of the preceding claims, wherein the second clamp (612, 1204) has an outlet (619, 623) distanced from the second opening (606) to feed the second end (608) of the belt (604) out of the housing (601) when tensioning it.

12. The tensioning device (600, 700, 1200) of any of the preceding claims, wherein the second clamp (612, 1204) has a mechanical interface for coupling a drive device with the second engagement component (613, 1220) to move the second engagement component (613, 1220) to pull the second end portion (608) into the housing (601).

13. The tensioning device (600, 700, 1200) of any of the preceding claims, comprising a blocking element (621), which can be brought into contact with the second engagement component (613, 1220) to block it.

14. The tensioning device (600, 700, 1200) of any of the preceding claims, wherein the locking mechanism comprises a locking body (1220), which is movably supported in the housing (1201) in a tensioning direction away from the second opening (1205) or towards the second opening (1205), and which is configured to be drivable by a rotatably mounted locking bolt (1211) that engages with a threaded hole (1214) of the locking body (1220), and wherein the locking body (1220) has grooves (615) for engaging teeth (616) of the belt (604).

15. The tensioning device (600, 700, 1200) of claim 14, comprising a flat lock plate (1218) that is insertable into the second opening (1205), such that the belt (604) is arranged between the locking body (1210) and the lock plate (1218), and wherein the lock plate (1218) is configured to hold the belt (604) in engagement with the locking body (1220).

16. A coupling element (910) for coupling a drive with a movable hatch of an access station (1000) of an automated storage and retrieval system, comprising: a belt (604), a carrier plate (903), and a tensioning device according to any of the preceding claims,wherein the carrier plate (903) comprises at least one attachment element (906) for attaching the carrier plate (903) to the hatch, wherein the tensioning device (600, 700, 1200) is attached to the carrier plate (903), and wherein a first end portion (607) of the belt (604) is clamped into the clamp (609) of the tensioning device (600, 700, 1200), wherein a second end portion (608) of the belt (604) is held by the locking mechanism (612, 1204), and wherein the belt (604) is wound around a drive wheel attached to the drive.

17. The coupling element of claim 16, wherein the at least one attachment element (906) comprises a magnet.

18. An automated storage and retrieval system, comprising: a rail system (108) comprising a first set of parallel rails (110) arranged in a horizontal plane and extending in a first direction (X), and a second set of parallel rails (111) arranged in the horizontal plane and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails (110, 111) form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of neighboring rails (110) of the first set of rails (110) and a pair of neighboring rails (111) of the second set of rails (111), a plurality of stacks (107) of storage containers (106) arranged in storage columns (105) located beneath the rail system (108), wherein each storage column (105) is located vertically below a grid opening, at least one remotely operated vehicle (600, 700, 1200) for handling a storage container (106) being configured to move on the rail system (108) above the storage columns (105), and at least one access station (1000) having a movable hatch (1009) and a drive (1103), wherein the hatch (1009) and the drive (1103) are coupled by the coupling element (910) according to claim 16 or 17.

19. Method for tensioning a belt that couples a drive with a movable hatch of an access station of an automated storage and retrieval system, comprising: winding the belt (604) around a drive,feeding a first end portion (607) into the first opening (603) of the housing of the tensioning device (600, 700, 1200) according to any of the claims 1 to 15, pulling the first end portion (607) in an outward direction to clamp it in the clamp (609), feeding a second end portion (608) into the second opening (606) of the housing (601), attaching a drive device (621) to the tensioning device (600, 700, 1200), and winding the belt (604) further into the second opening (606) to tension the belt (604).

20. The method according to claim 19, comprising locking the locking mechanism (612, 1204).

Images