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WO2025157368A1 - A stacker frame system - Google Patents

A stacker frame system

Info

Publication number
WO2025157368A1
WO2025157368A1 PCT/EP2024/051336 EP2024051336W WO2025157368A1 WO 2025157368 A1 WO2025157368 A1 WO 2025157368A1 EP 2024051336 W EP2024051336 W EP 2024051336W WO 2025157368 A1 WO2025157368 A1 WO 2025157368A1
Authority
WO
WIPO (PCT)
Prior art keywords
stacker
stacker frame
storage
air inlet
air
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/051336
Other languages
French (fr)
Inventor
Jørgen Heggebø
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autostore Technology AS
Original Assignee
Autostore Technology AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Priority to PCT/EP2024/051336 priority Critical patent/WO2025157368A1/en
Publication of WO2025157368A1 publication Critical patent/WO2025157368A1/en
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D13/00—Stationary devices, e.g. cold-rooms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D15/00—Devices not covered by group F25D11/00 or F25D13/00, e.g. non-self-contained movable devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D17/00—Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces
    • F25D17/005—Arrangements for circulating cooling fluids; Arrangements for circulating gas, e.g. air, within refrigerated spaces in cold rooms

Definitions

  • 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.
  • 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.
  • the framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set no of rails
  • 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.
  • 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.
  • each storage column 105 can be identified by its X and Y coordinates.
  • 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.
  • 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.
  • FIG. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction.
  • 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.
  • 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’.
  • 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.
  • the rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run.
  • 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.
  • each rail in one direction e.g. an X direction
  • each rail in the other, perpendicular direction e.g. a Y direction
  • 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.
  • W02018/146304A1 illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.
  • a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107.
  • storage columns 105 there are special-purpose columns within the framework structure.
  • 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.
  • 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.
  • 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.
  • tilted means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.
  • 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
  • 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.
  • 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.
  • 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.
  • a conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the automated storage and retrieval system 1 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.
  • the invention is related to a stacker frame system for an automated storage and retrieval system, the stacker frame system comprising at least one of a stacker frame configured to be stored in a storage column of the automated storage and retrieval system, wherein the stacker frame has 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, wherein the stacker frame has gas-tight side walls and a gas-tight base, wherein the stacker frame system comprises a removable gas-tight lid for covering the top end, wherein the stacker frame system comprises an air inlet opening and an air outlet opening, wherein the air inlet opening, and the air outlet opening are in fluid communication with the interior space of the stacker frame, and wherein the air inlet opening and the air outlet opening are arranged to create a flow path between the air inlet opening and the air outlet opening through the interior space for temperature controlling the interior space by supplying conditioned air from an external source to the air inlet opening
  • the air inlet opening and the air outlet opening may be arranged on opposite sides of the stacker frame to create the flow path between the air inlet opening and the air outlet opening through the interior space for temperature controlling the interior space by supplying conditioned air from an external source to the air inlet opening.
  • 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”.
  • the stacker frame has gas-tight side walls, a gas-tight base, and a removable gas-tight lid.
  • the stacker frame forms a substantially gas-tight housing when the lid is arranged on the otherwise open top end.
  • storage containers arranged inside the interior space can be shielded from the exterior of the stacker frame. Removing the lid from the top end allows insertion or removal of storage containers into or out of the stacker frame.
  • a desired temperature can be provided by circulating conditioned air in the interior space through the air inlet opening and the air outlet opening.
  • conditioned air may relate to cooled air, heated air, humidified air, dried air, and/or air that is processed in other ways.
  • the composition of the air that circulates inside the interior space may be adjusted to particular needs.
  • Supplying air into the air inlet leads to an air flow towards the air outlet through the interior space.
  • the storage containers inside the stacker frame will be exposed to the conditioned air and may thus be temperature-controlled.
  • the stacker frame system may comprise more than just one stacker frame.
  • a plurality of stacker frames may be stacked onto one another to form a stack of stacker frames. It is not necessary to provide a lid for each one of the stacker frames, as explained further below.
  • a stacker of stacker frames may comprise a single lid, which may be arranged on the uppermost stacker frame.
  • 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.
  • 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.
  • 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.
  • a base surface, and/or one or more side walls may comprise a plurality of openings, through which air can flow through. This accelerates the temperature control inside the storage containers.
  • the stacker frame system allows to connect an external source of conditioned air to the stacker frame.
  • the conditioned air may particularly be cooled or heated.
  • a dedicated refrigeration or heating unit inside the respective stacker frame is not required.
  • 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.
  • 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.
  • 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.
  • the removable lid and/ or the top end may have a seal configured to create a gas-tight connection between the top end and the lid.
  • the lid may be removably attachable to or placeable on the top end. Removing the lid allows insertion or removal of storage containers.
  • the seal may comprise one or more sealing elements, which may be held to at least one of the stacker frames and the lid.
  • the seal may extend along a circumferential line on an edge section of the stacker frame or the lid.
  • the top end may comprise a recess, into which a projection of the lid can be inserted.
  • the seal maybe 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.
  • the seal may comprise an elastic material, such as a natural or synthetic rubber or the like. 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 air inlet opening may be arranged on one of the base, the side walls and the lid.
  • a plurality of air inlet openings may be provided. If a plurality of air inlets is used, they may be arranged on the same surface or on different surfaces of the stacker frame and/or of the lid. One or more of the air inlets may be closable through a plug or the like, in order to let a user decide which air inlet opening is to be used.
  • a source of conditioned air may be arranged inside the same storage column as the at least one stacker frame. As an alternative or in addition thereto, it maybe placed in an adjacent storage column or outside the framework structure of the automated storage and retrieval system.
  • the source of conditioned air may be configured to provide pressurized conditioned air, which may be achieved through a fan or another air conveying device.
  • the air inlet opening is preferably couplable with the external source of conditioned air. This may be achieved through an air conduit, such as a hose, a pipe, and/or other components.
  • a control valve may be arranged in the air inlet opening or upstream thereof.
  • the air outlet opening may be arranged on one of the base, the side walls and the lid.
  • the air outlet opening is arranged at a distance to the air inlet opening.
  • the distance is as large as possible, such that the air must flow through a substantial part of the interior space from the air inlet opening to the air outlet opening to perform the temperature control of the storage containers.
  • the air inlet opening and the air outlet opening may be arranged on two sides of the stacker frame system that are different from each other. This may separate the air inlet and the air outlet openings from each other to support the air flow through the interior space of the stacker frame.
  • This may, for example, be a front and a rear side, or a left and a right side of the stacker frame, or the base of the stacker frame and the front side, the rear side, the left side or the right side of the stacker frame, or the lid, or any other combination of sides.
  • the air inlet opening and the air outlet opening may be arranged on two opposite sides of the stacker frame. This may increase the distance of the air inlet opening and the air outlet opening, preferably to a maximum.
  • the opposite sides are diametrically opposite, such that the air inlet opening is arranged at a lower section of a first side of the stacker frame and the air outlet opening is arranged at an upper section of an opposite second side of the stacker frame.
  • the air inlet opening may be arranged on the base and the air outlet opening may be arranged on the lid, or vice versa.
  • the flow path may comprise a flow channel in the form of a recess arranged on an interior surface of the stacker frame, wherein the flow channel is in fluid connection with the air inlet opening and/or the air outlet opening.
  • the recess maybe arranged in side walls of the stacker frame and/or of the storage containers. If the stacker frame is substantially filled with storage containers, the flow channel supports the air flow between the air inlet opening and the air outlet opening. Thus, there is a defined space between the storage containers and the stacker frame, where the air can flow through along the storage containers to provide the temperature control.
  • the stacker frame system may have a plurality of air inlet openings and/or a plurality of air outlet openings.
  • the plurality of air inlets maybe arranged on the same side of the stacker frame, or they may all be arranged on the lid. The same applies to the air outlets. However, the air inlets and/or air outlets may be distributed on more than just one side of the stacker frame or both on the lid and the stacker frame. Thus, a plurality of partial air flows may be created, which propagate or run through the interior space of the stacker frame to harmonize the temperature control.
  • the placement of the air inlet opening(s) and/or of the air outlet opening(s) maybe chosen to provide a substantially harmonic flow of air along or through all storage containers.
  • the stacker frame may 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.
  • the stacker frame is 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.
  • 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.
  • 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.
  • the automated storage and retrieval system may further comprise a stacker frame lifter and a container lifter, and an air supply component configured to provide conditioned air, 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, wherein the stacker frame lifter is configured to retrieve the stacker frame accommodated in a storage column; and wherein the air supply component is couplable with the air inlet of the stacker frame.
  • the air supply component may comprise a refrigeration unit and/or a heating unit, depending on the desired temperature range in the stacker frame. It may also comprise an air drying and/or an air humidification device. For actively supplying air to a stacker frame, the air supply component may comprise an air conveying device, such as a fan.
  • the air supply component may comprise an air duct couplable with a source of conditioned air.
  • the air duct may include a hose, a pipe, a connecting piece, a shut-off valve, and/or a control valve.
  • the air supply component may have one or more sensors downstream an air supply port, such as a supply air temperature sensor, a supply air humidity sensor, a supply air pressure sensor, and/or other sensors, which may be arranged on and/or in the air duct and may communicate with a control device of the air supply component.
  • the automated storage and retrieval system may comprise a plurality of stacker frames, wherein the storage columns are each configured to accommodate a plurality of stacker frames arranged one on top of another in a vertical stack.
  • 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.
  • At least two of the plurality of stacker frames may form a serial connection, in which an air inlet opening of one of the stacker frames is in fluid connection with and downstream of another one of the stacker frames.
  • an air outlet of a first stacker frame may be arranged in the lid
  • an air inlet opening of a second stacker frame may be arranged in a corresponding position in the base, such that they create a serial connection when the second stacker frame is stacked on the lid arranged on the first stacker frame.
  • a combination of stacks with and without lids underneath the uppermost stacker frame is possible.
  • a first stacker frame and a second stacker frame may also form a parallel connection, in which the air supply component is coupled with the respective air inlet openings of the first and second stacker frames.
  • An air duct or similar device that is connected to the air supply component may thus be connected to a plurality of branch ducts, which lead to the individual air inlet openings.
  • two or more stacks of stacker frames may be created within the storage columns, wherein each of these stacks forms a serial connection between the individual stacker frames. These stacks may be coupled with the air supply component in a parallel connection. Thus, the air supply component simultaneously supplies conditioned air to several stacks of stacker frames with serial connections.
  • the air supply component may comprise a connecting piece arranged inside the framework structure, wherein the connecting piece may be configured to connect with the air inlet opening to provide a fluid-connection with the air duct.
  • the connecting piece By placing a stacker frame adjacent to the connecting piece, the respective stacker frame may be connected to the connecting piece and thus to the air supply component.
  • the connecting piece may be arranged anywhere in the framework structure. It may stick upwards, such that a stacker frame having an air inlet at a base may be placed with the air inlet directly on the connecting piece. However, it may also be possible to let the connecting piece horizontally extend and be fixed or at least be slightly movable in a horizontal direction to couple with or uncouple from an air inlet opening that is arranged at a side of the stacker frame. It is conceivable that a slight gap in the range of less than a millimeter to a few millimeters remains between the connecting piece and the respective stacker frame, which may be tolerated during a temperature control process. This allows to use a fixed connecting piece, which simplifies the system.
  • the storage and retrieval system may comprise an actuator coupled with the connecting piece to horizontally move the connecting piece, which leads to coupling or uncoupling the connecting piece.
  • the connecting piece may comprise a bellows that compensate for a change in position or length.
  • the air inlet opening may be arranged in the base of the stacker frame and extend perpendicularly through the base, wherein the connecting piece may be arranged in one of the storage columns and extend in an upright direction and complementary to the air inlet opening on a footprint of the stacker frame to connect with the air inlet opening when the stacker frame is lowered in the respective storage column onto the connecting piece.
  • the air outlet opening may be arranged in the lid of the stacker frame system in a position that corresponds to a position of the air inlet opening on a footprint of the stacker frame. This may allow a serial connection, as mentioned above.
  • the air inlet opening may be arranged in one of the side walls, wherein the connecting piece is horizontally movable to selectively connect and disconnect with the air inlet opening.
  • the automated storage and retrieval system may comprise an actuator coupled with the connecting piece to horizontally move the connecting piece.
  • 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 according to the above in a framework structure of the automated storage and retrieval system defining a plurality of storage columns; and connecting the air inlet opening of the stacker frame system to a source of conditioned air.
  • the method may comprise forming a vertical stack of a plurality of stacker frames and coupling the air inlet opening arranged on a first stacker frame with an air outlet arranged on a second stacker frame to form a serial connection.
  • the method may comprise forming a vertical stack of a plurality of stacker frames and coupling the air inlet openings arranged on a first stacker frame and arranged on a second stacker frame with the source of conditioned air to form a parallel connection.
  • the stacker frames may be permanently connected to the external source of conditioned air when stored in the automated storage and retrieval system. However, they may only be connected to the external source of conditioned air for a certain time period. For example, several stacks of stacker frames may be connected to the source of conditioned air in an alternating manner. A first stack of first stacker frames may be connected to the source of conditioned air for a first time interval in a first column of the framework structure. Afterwards, the first stacker frames may be moved to another column of the framework structure and remain unconnected to the source of conditioned air. A second stack of second stacker frames may then be moved to the first column and be connected to the source of conditioned air for a second time interval.
  • the second stack maybe moved to another column to be unconnected to the source of conditioned air.
  • One or more further stacks may be arranged in the first column afterward.
  • the first stack may be arranged in the first column again. This may be done periodically or selectively.
  • a temperature sensor which may be wirelessly coupled with a control system of the automated storage and retrieval system to monitor the temperature inside the stacks of stacker frames and/or to control the time intervals of connection to the source of conditioned air.
  • the at least one stacker frame and/ or the lid may comprise a thermal insulation.
  • the air inlet opening and/or the air outlet opening may comprise a valve, in particular a non-return valve.
  • Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.
  • FIG. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
  • FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.
  • 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.
  • FIG. 5 is a perspective view of a storage container as used in the storage system in fig. 1.
  • Figs. 6 to 11 show a storage system having stacker frames.
  • Figs. 12a, 12b and 13 show a stacker frame and storage containers for a storage system.
  • 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.
  • FIGs. 15 and 16 are side views of a stacker frame lifter and a corresponding stacker frame.
  • Fig. 17 shows perspective views of the stacker frame lifter and the corresponding stacker frame in figs. 15 and 16.
  • Figs. 18 and 19 show a container lifter.
  • Fig. 20 is a perspective view of a storage system according to the invention.
  • Fig. 21 shows a combination of a stacker frame and storage containers for a storage system.
  • Fig. 22 shows a stacker frame and storage containers for a storage system.
  • Fig. 23 shows a stacker frame in which storage containers of different heights are stacked.
  • Figs. 24a and 24b show parallel connections of stacker frames.
  • Figs. 24c and 24d show exemplary connecting pieces for connecting stacker frames.
  • Fig. 25a shows a serial connection of stacker frames.
  • Fig. 25b shows locations of air inlet openings and air outlet openings for achieving the serial connection.
  • Figs. 26a and 26b show a stacker frame system with a modified lid.
  • Figs. 27a and 27b show a stacker frame system providing a serial connection with a plurality of stacker frames and a single lid.
  • Figs. 28a and 28b show a stacker frame system providing a serial connection with a plurality of stacker frames and a single lid.
  • Fig. 29 shows a stacker frame system providing a serial connection with a plurality of stacker frames and a single lid.
  • the stacker frame (6, 6’, 6”, 603, 703, 803, 901) has gas-tight side walls (20) and a gas-tight base (18).
  • the stacker frame system (5, 600, 700, 800, 900) comprises a removable gastight lid (7) for covering the top end (9).
  • the stacker frame system (5) comprises an air inlet opening (80, 601) and an air outlet opening (81, 604, 802), wherein the air inlet opening (80, 601), and the air outlet opening (81, 604, 802) are in fluid communication with the interior space of the stacker frame (6, 6’, 6”, 603, 703, 803, 901).
  • the air inlet opening (80, 601) and the air outlet opening (81, 604, 802) are arranged to create a flow path between the air inlet opening (80, 601) and the air outlet opening (81, 604, 802) through the interior space for temperature controlling the interior space by supplying conditioned air from an external source (82) to the air inlet opening (80, 601).
  • 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.
  • 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.
  • some of the stacker frames 6 comprise air inlet and air outlet openings dedicated for providing a flow of conditioned air through the stacker frame 6 for controlling the temperature inside the respective stacker frame 6.
  • 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.
  • 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.
  • 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 framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
  • 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.
  • 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.
  • the side walls 20 and/or the lid 7 may be thermally insulated to support a stable temperature 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.
  • 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.
  • 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.
  • 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.
  • a gap between the lid and the top end 9 can be closed.
  • the gap may be sealed in a substantially gas-tight manner.
  • 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.
  • the bottom section 18 of the stacker frame 6 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 frame 6 maybe stacked on top of another stacker frame 6, which may not be temperature-controlled and does not have a lid 7, while horizontal movement between them.
  • the lid 7 has lid connecting recesses 54, which may be 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.
  • the stacker frame 6 in fig. 12a comprises two air inlet openings 80 arranged near the bottom section 18 on one of the side walls 20.
  • Air outlet openings 81 are arranged near the top section 19 of an opposite one of the side walls 20.
  • 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.
  • the container handling vehicle 301 may be 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’.
  • 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.
  • the first type of lifting frame 2 may be used for lifting the lid 7 from the stacker frame 6.
  • the lid connecting recesses 54 have a similar size and spacing as the container connecting recesses 13.
  • 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.
  • 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.
  • the connecting portion 17a 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.
  • the stacker frame 6 may be 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.
  • 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 units compared to a stack of storage containers 106.
  • the storage system 1’ is also advantageous in that storage containers 106 arranged at lower levels of a storage column may be retrieved more efficiently.
  • FIG. 9-11 An advantageous method of retrieving a target storage container 6* 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;
  • 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:
  • the open end 9 of the target stacker frame 6* is at a level directly below the rail system 108.
  • 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.
  • 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 column 105 to provide guidance of the lifting frame 2’.
  • the guiding element 21 may e.g. comprise an arm configured to move a wheel between the extended and the retracted position.
  • a second exemplary storage system 1” is shown in fig. 20.
  • 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.
  • 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.
  • FIG. 21 and 22 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”.
  • 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.
  • a stack of storage containers in a stacker frame may comprise a mix of such storage containers, see fig- 23.
  • Fig. 6 exemplarily shows an air supply component 82, which is arranged outside the framework structure 100. It acts as an external source of conditioned air. It has an air duct 83, which is coupled with the air inlet openings 80 of a plurality of stacker frames 6. This is shown schematically in figs. 24 and following.
  • the air supply component 82 may comprise a refrigeration unit 84, which is configured to cool air to a desired temperature.
  • a flow of air may be provided by a fan 85 that is in fluid communication with the exterior of the air supply component 82 and the refrigeration unit 84.
  • Fig. 24a shows a part of the framework structure 100 with stacker frames 6 arranged therein in a simplified lateral view.
  • the air supply component 82 supplies air through the air duct 83 into the framework structure to the air inlets 80 of the stacker frames 6. Here, they form a parallel connection. Conditioned air that flows through the stacker frames 6 is exhausted into the framework structure 100 between stacker frames 6.
  • Fig. 24b shows the framework structure 100 with stacker frames 6 in a simplified top view.
  • the air duct 83 has a plurality of branches that lead to the individual air inlet openings 80 of the stacker frames 6.
  • the upright members 102 are left away in fig. 24b.
  • Fig. 24c shows a connecting piece 90 connected to the air supply component 82.
  • the connecting piece 90 has a bellows section 91, which is configured to expand in the direction of an adjacent column.
  • the bellows section 91 may be considered a movable section, as it can be compressed or expanded and thus is able to move. It exemplarily has a connecting opening 92 surrounded by a funnel-shaped guiding frame 93 that tapers towards the column.
  • the bellows section 91 is configured to let the guiding frame 93 only partially reach into the respective column when it is fully extended.
  • a stacker frame 6 being lowered into the column will come into contact with the guiding frame 93, which is then pushed slightly out of the column again and will snap into or advance the air inlet opening 80, when the air inlet opening 80 is arranged flush with the guiding frame 93. Hence, a connection between the air inlet opening 80 and the connecting piece 90 can be achieved.
  • fig. 24d shows a connecting piece 94, which has a movable end section 95 and a fixed section 96, wherein the movable end section 95 can be moved along the fixed section 96 by means of an actuator 97.
  • the movable end section 95 maybe advanced to the air inlet opening 80, such that an insertion section 98 is inserted into the air inlet opening 80.
  • a connection between the air inlet opening and the connecting piece 94 can be achieved.
  • each connecting piece 90 or 94 has a valve 99 arranged upstream of the respective movable section 91 or 95.
  • the valve 99 is controllable by a control system, preferably the control system of the storage system.
  • FIG. 25a shows a stack of several stacker frames 6.
  • air inlet openings 80 are arranged in the base and air outlet openings 81 are arranged in the lid 7, in corresponding locations to the air inlet openings 80.
  • the air duct 83 may be arranged underneath the bottom stacker frame 6 and be connected to the air inlet opening 80.
  • the connection maybe rather simple, as an end of the air duct 83 just needs to be placed at a position that corresponds to the air inlet opening 80.
  • FIG. 25b shows exemplary locations of air inlet openings 80 in the base of the stacker frame 6 and air outlet openings 81 in the lid 7.
  • air inlet openings 80 and two air outlet openings 81 are used, which thus requires a corresponding number of air ducts or branches connected to the air duct 83.
  • 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.
  • 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.
  • An upper part 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.
  • the lid 902 comprises air outlet openings 905, which maybe realized as holes that completely extend through the lid 902 and thus provide a fluid communication between the interior space and the surrounding of the stacker frame system 900.
  • the stacker frame 901 comprises air inlet openings 80 as e.g. shown in Fig. 17.
  • Figs. 27a and 27b show a stacker frame system 600 with exemplarily three stacker frames 603 that form a stack.
  • a lid 602 is arranged on the top end 9 of the uppermost stacker frame 603, a lid 602 is arranged.
  • the stacker frames 603 form a serial connection from an air inlet opening 601 in the base 18 of the lowermost stacker frame 603 to the lid 602, which comprises air outlet openings 604 to let air flow out.
  • each base 18 has an air inlet opening 601 in the base.
  • the air inlet opening 601 of the respective upper stacker frame 603 is in fluid communication with the top end 9 of the respective lower stacker frame 603.
  • Conditioned air is fed into the air inlet opening 601 of the lowermost stacker frame 603, flows towards the top end 9of the lowermost stacker frame 603, and enters the next stacker frame 603 in an upward direction through the respective air inlet opening 601. Air continues to flow through the whole stack in an upward direction until it reaches the lid 602.
  • Air that is exhausted from the lid 602 can be reused by drawing it into the source of conditioned air through a fan or another conveying device. A leakage air flow from the stacker frames 603 underneath the uppermost stacker frame 603 is prevented.
  • FIG. 28a and Fig. 28 b show a stacker frame system 700 with three stacker frames 703 stacked upon each other and a lid 701 arranged on the uppermost stacker frame 703.
  • Each one of the stacker frames 703 has an air inlet opening 601 in the base 18.
  • air outlet openings 81 are provided in the vicinity of the upper edge of each stacker frame 703. The size and arrangement of the air outlet openings 81 are dimensioned in a way that they can be blocked by a bottom protrusion 23 of a stacker frame 703 that is stacked onto the respective top end 9.
  • a lowermost edge of the air outlet openings is arranged in a distance to the upper edge of the top end 9 that corresponds to the height of a bottom protrusion 23 at a maximum.
  • the lid 701 has recesses 702 on its lower side, wherein the width and position of the recesses 702 correspond to the width and position of the air outlet openings 81.
  • the lid 701 may thus be placed on the top end 9, such that a part of the lid reaches into the interior space of the stacker frame 703, just like the bottom protrusion 23 of another stacker frame 703 and as explained under reference to the shoulder 51 already shown in Fig. 12a.
  • the recesses 702 are flush with the air outlet openings 81 and allow air to flow from the interior space through the recesses 702 through the air outlet openings.
  • the stacker frame system 700 is thus very flexible and allows to use lateral air outlet openings 81 that are automatically closed in all stacker frames 703 that are not the uppermost stacker frame 703 of a stack. Furthermore, this allows to create a closed system for providing conditioned air inside the framework structure, as air that is exhausted from the uppermost stacker frame 703 can be drawn to the source of conditioned air through a fan or another conveyor inside an adjacent column or at a bottom side of the same column to be reused substantially without influencing the air flow through the series of stacker frames 703.
  • Fig. 29 shows a further stacker frame system 800.
  • stacker frames 803 having an air inlet opening 601 in a base 18 are used.
  • a stack is made with three stacker frames 803 and one lid 801.
  • the lid 801 is arranged on the uppermost stacker frame 803 and comprises lateral air outlet openings 802 in a side edge of the lid 801. It is conceivable that a plurality of air outlet openings 802 are distributed on more than one of the side edges of the lid 801.
  • a serial connection between all stacker frames 803 is provided just like in the exemplary embodiment shown in Figs.
  • Prior 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)
  • 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)

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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 at least one stacker frame (6, 6', 6'', 603, 703, 803, 901) configured to be stored in a storage column of the automated storage and retrieval system. The stacker frame (6, 6', 6'', 603, 703, 803, 901) has 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, 6', 6'', 603, 703, 803, 901). The stacker frame (6, 6', 6'', 603, 703, 803, 901) has gas- tight side walls (20) and a gas-tight base (18). The stacker frame system (5, 600, 700, 800, 900) comprises a removable gas-tight lid (7) for covering the top end (9). The stacker frame system (5) comprises an air inlet opening (80, 601) and an air outlet opening (81, 604, 802), wherein the air inlet opening (80, 601), and the air outlet opening (81, 604, 802) are in fluid communication with the interior space of the stacker frame (6, 6', 6'', 603, 703, 803, 901). The air inlet opening (80, 601) and the air outlet opening (81, 604, 802) are arranged to create a flow path between the air inlet opening (80, 601) and the air outlet opening (81, 604, 802) through the interior space for temperature controlling the interior space by supplying conditioned air from an external source (82) to the air inlet opening (80, 601).

Description

A stacker frame system
FIELD OF THE INVENTION
[001] 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
[002] 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.
[003] 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.
[004] 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.
[005] 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.
[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.
[007] 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.
[008] 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.
[009] 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 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 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 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 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 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] 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 at least one of a stacker frame configured to be stored in a storage column of the automated storage and retrieval system, wherein the stacker frame has 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, wherein the stacker frame has gas-tight side walls and a gas-tight base, wherein the stacker frame system comprises a removable gas-tight lid for covering the top end, wherein the stacker frame system comprises an air inlet opening and an air outlet opening, wherein the air inlet opening, and the air outlet opening are in fluid communication with the interior space of the stacker frame, and wherein the air inlet opening and the air outlet opening are arranged to create a flow path between the air inlet opening and the air outlet opening through the interior space for temperature controlling the interior space by supplying conditioned air from an external source to the air inlet opening.
[0029] The air inlet opening and the air outlet opening may be arranged on opposite sides of the stacker frame to create the flow path between the air inlet opening and the air outlet opening through the interior space for temperature controlling the interior space by supplying conditioned air from an external source to the air inlet opening.
[0030] 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”. [0031] According to the invention, the stacker frame has gas-tight side walls, a gas-tight base, and a removable gas-tight lid. Preferably, the stacker frame forms a substantially gas-tight housing when the lid is arranged on the otherwise open top end. Hence, storage containers arranged inside the interior space can be shielded from the exterior of the stacker frame. Removing the lid from the top end allows insertion or removal of storage containers into or out of the stacker frame. Inside the stacker frame, a desired temperature can be provided by circulating conditioned air in the interior space through the air inlet opening and the air outlet opening. The term “conditioned air” may relate to cooled air, heated air, humidified air, dried air, and/or air that is processed in other ways. For example, the composition of the air that circulates inside the interior space may be adjusted to particular needs. Supplying air into the air inlet leads to an air flow towards the air outlet through the interior space. By the air flow, the storage containers inside the stacker frame will be exposed to the conditioned air and may thus be temperature-controlled.
[0032] As implicated above, the stacker frame system may comprise more than just one stacker frame. A plurality of stacker frames may be stacked onto one another to form a stack of stacker frames. It is not necessary to provide a lid for each one of the stacker frames, as explained further below. A stacker of stacker frames may comprise a single lid, which may be arranged on the uppermost stacker frame.
[0033] 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.
[0034] 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.
[0035] 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 through. This accelerates the temperature control inside the storage containers.
[0036] The stacker frame system according to the invention allows to connect an external source of conditioned air to the stacker frame. As mentioned above, the conditioned air may particularly be cooled or heated. Thus, for controlling a temperature inside the stacker frame a dedicated refrigeration or heating unit inside the respective stacker frame is not required. By arranging a plurality of storage containers inside the temperature-controlled stacker frame, it is not required to condition whole columns of the storage system or the whole storage system to expose the storage containers to a desired temperature-controlled environment. Hence, the stacker frame system allows to efficiently control the temperature of a plurality of storage containers.
[0037] 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.
[0038] 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.
[0039] The removable lid and/ or the top end may have a seal configured to create a gas-tight connection between the top end and the lid. Preferably, the lid may be removably attachable to or placeable on the top end. Removing the lid allows insertion or removal of storage containers. The seal may comprise one or more sealing elements, which may be held to at least one of the stacker frames and the lid. The seal may extend along a circumferential line on an edge section of the stacker frame or the lid. The top end may comprise a recess, into which a projection of the lid can be inserted. The seal maybe 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. The seal may comprise an elastic material, such as a natural or synthetic rubber or the like. 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.
[0040] The air inlet opening may be arranged on one of the base, the side walls and the lid. A plurality of air inlet openings may be provided. If a plurality of air inlets is used, they may be arranged on the same surface or on different surfaces of the stacker frame and/or of the lid. One or more of the air inlets may be closable through a plug or the like, in order to let a user decide which air inlet opening is to be used.
[0041] A source of conditioned air may be arranged inside the same storage column as the at least one stacker frame. As an alternative or in addition thereto, it maybe placed in an adjacent storage column or outside the framework structure of the automated storage and retrieval system. The source of conditioned air may be configured to provide pressurized conditioned air, which may be achieved through a fan or another air conveying device. The air inlet opening is preferably couplable with the external source of conditioned air. This may be achieved through an air conduit, such as a hose, a pipe, and/or other components. For selectively applying or interrupting a coupling or for limiting a flow of air into the air inlet opening, a control valve may be arranged in the air inlet opening or upstream thereof.
[0042] The air outlet opening may be arranged on one of the base, the side walls and the lid. Preferably, the air outlet opening is arranged at a distance to the air inlet opening. Preferably, the distance is as large as possible, such that the air must flow through a substantial part of the interior space from the air inlet opening to the air outlet opening to perform the temperature control of the storage containers.
[0043] The air inlet opening and the air outlet opening may be arranged on two sides of the stacker frame system that are different from each other. This may separate the air inlet and the air outlet openings from each other to support the air flow through the interior space of the stacker frame. This may, for example, be a front and a rear side, or a left and a right side of the stacker frame, or the base of the stacker frame and the front side, the rear side, the left side or the right side of the stacker frame, or the lid, or any other combination of sides.
[0044] The air inlet opening and the air outlet opening may be arranged on two opposite sides of the stacker frame. This may increase the distance of the air inlet opening and the air outlet opening, preferably to a maximum. Preferably, the opposite sides are diametrically opposite, such that the air inlet opening is arranged at a lower section of a first side of the stacker frame and the air outlet opening is arranged at an upper section of an opposite second side of the stacker frame. Also, the air inlet opening may be arranged on the base and the air outlet opening may be arranged on the lid, or vice versa.
[0045] The flow path may comprise a flow channel in the form of a recess arranged on an interior surface of the stacker frame, wherein the flow channel is in fluid connection with the air inlet opening and/or the air outlet opening. The recess maybe arranged in side walls of the stacker frame and/or of the storage containers. If the stacker frame is substantially filled with storage containers, the flow channel supports the air flow between the air inlet opening and the air outlet opening. Thus, there is a defined space between the storage containers and the stacker frame, where the air can flow through along the storage containers to provide the temperature control. [0046] The stacker frame system may have a plurality of air inlet openings and/or a plurality of air outlet openings. The plurality of air inlets maybe arranged on the same side of the stacker frame, or they may all be arranged on the lid. The same applies to the air outlets. However, the air inlets and/or air outlets may be distributed on more than just one side of the stacker frame or both on the lid and the stacker frame. Thus, a plurality of partial air flows may be created, which propagate or run through the interior space of the stacker frame to harmonize the temperature control. The placement of the air inlet opening(s) and/or of the air outlet opening(s) maybe chosen to provide a substantially harmonic flow of air along or through all storage containers.
[0047] The stacker frame may 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 an interior face 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.
[0048] 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.
[0049] The automated storage and retrieval system may further comprise a stacker frame lifter and a container lifter, and an air supply component configured to provide conditioned air, 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, wherein the stacker frame lifter is configured to retrieve the stacker frame accommodated in a storage column; and wherein the air supply component is couplable with the air inlet of the stacker frame.
[0050] The air supply component may comprise a refrigeration unit and/or a heating unit, depending on the desired temperature range in the stacker frame. It may also comprise an air drying and/or an air humidification device. For actively supplying air to a stacker frame, the air supply component may comprise an air conveying device, such as a fan.
[0051] The air supply component may comprise an air duct couplable with a source of conditioned air. The air duct may include a hose, a pipe, a connecting piece, a shut-off valve, and/or a control valve. In addition, the air supply component may have one or more sensors downstream an air supply port, such as a supply air temperature sensor, a supply air humidity sensor, a supply air pressure sensor, and/or other sensors, which may be arranged on and/or in the air duct and may communicate with a control device of the air supply component.
[0052] The automated storage and retrieval system may comprise a plurality of stacker frames, wherein the storage columns are each configured to accommodate a plurality of stacker frames arranged one on top of another in a vertical stack.
[0053] 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.
[0054] At least two of the plurality of stacker frames may form a serial connection, in which an air inlet opening of one of the stacker frames is in fluid connection with and downstream of another one of the stacker frames. For example, an air outlet of a first stacker frame may be arranged in the lid, while an air inlet opening of a second stacker frame may be arranged in a corresponding position in the base, such that they create a serial connection when the second stacker frame is stacked on the lid arranged on the first stacker frame. In this embodiment it may also be possible to arrange the lid on the uppermost stacker frame, such that the second stacker frame is stacked directly onto the open top end of the first stacker frame to provide the serial connection. A combination of stacks with and without lids underneath the uppermost stacker frame is possible.
[0055] A first stacker frame and a second stacker frame may also form a parallel connection, in which the air supply component is coupled with the respective air inlet openings of the first and second stacker frames. An air duct or similar device that is connected to the air supply component may thus be connected to a plurality of branch ducts, which lead to the individual air inlet openings.
[0056] It is to be understood that two or more stacks of stacker frames may be created within the storage columns, wherein each of these stacks forms a serial connection between the individual stacker frames. These stacks may be coupled with the air supply component in a parallel connection. Thus, the air supply component simultaneously supplies conditioned air to several stacks of stacker frames with serial connections.
[0057] The air supply component may comprise a connecting piece arranged inside the framework structure, wherein the connecting piece may be configured to connect with the air inlet opening to provide a fluid-connection with the air duct. By placing a stacker frame adjacent to the connecting piece, the respective stacker frame may be connected to the connecting piece and thus to the air supply component.
[0058] The connecting piece may be arranged anywhere in the framework structure. It may stick upwards, such that a stacker frame having an air inlet at a base may be placed with the air inlet directly on the connecting piece. However, it may also be possible to let the connecting piece horizontally extend and be fixed or at least be slightly movable in a horizontal direction to couple with or uncouple from an air inlet opening that is arranged at a side of the stacker frame. It is conceivable that a slight gap in the range of less than a millimeter to a few millimeters remains between the connecting piece and the respective stacker frame, which may be tolerated during a temperature control process. This allows to use a fixed connecting piece, which simplifies the system.
[0059] If the connecting piece is movable, the storage and retrieval system may comprise an actuator coupled with the connecting piece to horizontally move the connecting piece, which leads to coupling or uncoupling the connecting piece. The connecting piece may comprise a bellows that compensate for a change in position or length.
[0060] The air inlet opening may be arranged in the base of the stacker frame and extend perpendicularly through the base, wherein the connecting piece may be arranged in one of the storage columns and extend in an upright direction and complementary to the air inlet opening on a footprint of the stacker frame to connect with the air inlet opening when the stacker frame is lowered in the respective storage column onto the connecting piece.
[0061] The air outlet opening may be arranged in the lid of the stacker frame system in a position that corresponds to a position of the air inlet opening on a footprint of the stacker frame. This may allow a serial connection, as mentioned above.
[0062] The air inlet opening may be arranged in one of the side walls, wherein the connecting piece is horizontally movable to selectively connect and disconnect with the air inlet opening.
[0063] As stated above, the automated storage and retrieval system may comprise an actuator coupled with the connecting piece to horizontally move the connecting piece.
[0064] In a third 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 according to the above in a framework structure of the automated storage and retrieval system defining a plurality of storage columns; and connecting the air inlet opening of the stacker frame system to a source of conditioned air.
[0065] The method may comprise forming a vertical stack of a plurality of stacker frames and coupling the air inlet opening arranged on a first stacker frame with an air outlet arranged on a second stacker frame to form a serial connection.
[0066] The method may comprise forming a vertical stack of a plurality of stacker frames and coupling the air inlet openings arranged on a first stacker frame and arranged on a second stacker frame with the source of conditioned air to form a parallel connection.
[0067] The stacker frames may be permanently connected to the external source of conditioned air when stored in the automated storage and retrieval system. However, they may only be connected to the external source of conditioned air for a certain time period. For example, several stacks of stacker frames may be connected to the source of conditioned air in an alternating manner. A first stack of first stacker frames may be connected to the source of conditioned air for a first time interval in a first column of the framework structure. Afterwards, the first stacker frames may be moved to another column of the framework structure and remain unconnected to the source of conditioned air. A second stack of second stacker frames may then be moved to the first column and be connected to the source of conditioned air for a second time interval. Afterwards, the second stack maybe moved to another column to be unconnected to the source of conditioned air. One or more further stacks may be arranged in the first column afterward. Also, the first stack may be arranged in the first column again. This may be done periodically or selectively.
[0068] It is conceivable to provide at least one or at least some stacker frames with a temperature sensor, which may be wirelessly coupled with a control system of the automated storage and retrieval system to monitor the temperature inside the stacks of stacker frames and/or to control the time intervals of connection to the source of conditioned air.
[0069] The at least one stacker frame and/ or the lid may comprise a thermal insulation.
[0070] The air inlet opening and/or the air outlet opening may comprise a valve, in particular a non-return valve.
BRIEF DESCRIPTION OF THE DRAWINGS
[0071] 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:
[0072] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.
[0073] Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
[0074] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.
[0075] 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.
[0076] Fig. 5 is a perspective view of a storage container as used in the storage system in fig. 1. [0077] Figs. 6 to 11 show a storage system having stacker frames.
[0078] Figs. 12a, 12b and 13 show a stacker frame and storage containers for a storage system.
[0079] 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.
[0080] Figs. 15 and 16 are side views of a stacker frame lifter and a corresponding stacker frame.
[0081] Fig. 17 shows perspective views of the stacker frame lifter and the corresponding stacker frame in figs. 15 and 16.
[0082] Figs. 18 and 19 show a container lifter.
[0083] Fig. 20 is a perspective view of a storage system according to the invention.
[0084] Fig. 21 shows a combination of a stacker frame and storage containers for a storage system.
[0085] Fig. 22 shows a stacker frame and storage containers for a storage system.
[0086] Fig. 23 shows a stacker frame in which storage containers of different heights are stacked.
[0087] Figs. 24a and 24b show parallel connections of stacker frames.
[0088] Figs. 24c and 24d show exemplary connecting pieces for connecting stacker frames.
[0089] Fig. 25a shows a serial connection of stacker frames.
[0090] Fig. 25b shows locations of air inlet openings and air outlet openings for achieving the serial connection.
[0091] Figs. 26a and 26b show a stacker frame system with a modified lid.
[0092] Figs. 27a and 27b show a stacker frame system providing a serial connection with a plurality of stacker frames and a single lid. [0093] Figs. 28a and 28b show a stacker frame system providing a serial connection with a plurality of stacker frames and a single lid.
[0094] Fig. 29 shows a stacker frame system providing a serial connection with a plurality of stacker frames and a single lid.
DETAILED DESCRIPTION OF THE INVENTION
[0095] 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 at least one stacker frame (6, 6’, 6”, 603, 703, 803, 901) configured to be stored in a storage column of the automated storage and retrieval system. The stacker frame (6, 6’, 6”, 603, 703, 803, 901) has 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, 6’, 6”, 603, 703, 803, 901). The stacker frame (6, 6’, 6”, 603, 703, 803, 901) has gas-tight side walls (20) and a gas-tight base (18). The stacker frame system (5, 600, 700, 800, 900) comprises a removable gastight lid (7) for covering the top end (9). The stacker frame system (5) comprises an air inlet opening (80, 601) and an air outlet opening (81, 604, 802), wherein the air inlet opening (80, 601), and the air outlet opening (81, 604, 802) are in fluid communication with the interior space of the stacker frame (6, 6’, 6”, 603, 703, 803, 901). The air inlet opening (80, 601) and the air outlet opening (81, 604, 802) are arranged to create a flow path between the air inlet opening (80, 601) and the air outlet opening (81, 604, 802) through the interior space for temperature controlling the interior space by supplying conditioned air from an external source (82) to the air inlet opening (80, 601).
[0096] 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.
[0097] 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. [0098] 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 air inlet and air outlet openings dedicated for providing a flow of conditioned air through the stacker frame 6 for controlling the temperature inside the respective stacker frame 6.
[0099] 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.
[00100] 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.
[00101] 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 framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
[00102] 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.
[00103] 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. The side walls 20 and/or the lid 7 may be thermally insulated to support a stable temperature 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.
[00104] 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.
[00105] 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 closed. The gap may be sealed in a substantially gas-tight manner. 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.
[00106] To improve the stability of a stack of stacker frames, the bottom section 18 of the stacker frame 6 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 frame 6 maybe stacked on top of another stacker frame 6, which may not be temperature-controlled and does not have a lid 7, while horizontal movement between them.
[00107] The lid 7 has lid connecting recesses 54, which may be 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.
[00108] For example, the stacker frame 6 in fig. 12a comprises two air inlet openings 80 arranged near the bottom section 18 on one of the side walls 20. Air outlet openings 81 are arranged near the top section 19 of an opposite one of the side walls 20. By supplying conditioned air from an external source to the air inlet openings 80, the interior space of the stacker frame 6 can be temperature- controlled. The conditioned air flows through the interior space and flows out of the air outlet openings 81. This may, for example, flow into the framework structure 100 in a space between two adjacent columns.
[00109] 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.
[00110] The container handling vehicle 301 may be 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.
[00111] 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.
[00112] 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.
[00113] 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.
[00114] The stacker frame 6 may be 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.
[00115] 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 units compared to a stack of storage containers 106. In addition, the storage system 1’ is also advantageous in that storage containers 106 arranged at lower levels of a storage column may be retrieved more efficiently.
[00116] An advantageous method of retrieving a target storage container 6* 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).
[00117] 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.
[00118] 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 column 105 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.
[00119] 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.
[00120] 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.
[00121] 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.
[00122] Fig. 6 exemplarily shows an air supply component 82, which is arranged outside the framework structure 100. It acts as an external source of conditioned air. It has an air duct 83, which is coupled with the air inlet openings 80 of a plurality of stacker frames 6. This is shown schematically in figs. 24 and following. The air supply component 82 may comprise a refrigeration unit 84, which is configured to cool air to a desired temperature. A flow of air may be provided by a fan 85 that is in fluid communication with the exterior of the air supply component 82 and the refrigeration unit 84.
[00123] Fig. 24a shows a part of the framework structure 100 with stacker frames 6 arranged therein in a simplified lateral view. The air supply component 82 supplies air through the air duct 83 into the framework structure to the air inlets 80 of the stacker frames 6. Here, they form a parallel connection. Conditioned air that flows through the stacker frames 6 is exhausted into the framework structure 100 between stacker frames 6.
[00124] Fig. 24b shows the framework structure 100 with stacker frames 6 in a simplified top view. Here, the air duct 83 has a plurality of branches that lead to the individual air inlet openings 80 of the stacker frames 6. For illustration purposes, the upright members 102 are left away in fig. 24b.
[00125] Fig. 24c shows a connecting piece 90 connected to the air supply component 82. In this example, the connecting piece 90 has a bellows section 91, which is configured to expand in the direction of an adjacent column. The bellows section 91 may be considered a movable section, as it can be compressed or expanded and thus is able to move. It exemplarily has a connecting opening 92 surrounded by a funnel-shaped guiding frame 93 that tapers towards the column. The bellows section 91 is configured to let the guiding frame 93 only partially reach into the respective column when it is fully extended. A stacker frame 6 being lowered into the column will come into contact with the guiding frame 93, which is then pushed slightly out of the column again and will snap into or advance the air inlet opening 80, when the air inlet opening 80 is arranged flush with the guiding frame 93. Hence, a connection between the air inlet opening 80 and the connecting piece 90 can be achieved.
[00126] As an alternative, fig. 24d shows a connecting piece 94, which has a movable end section 95 and a fixed section 96, wherein the movable end section 95 can be moved along the fixed section 96 by means of an actuator 97. When a stacker frame 6 is placed near the movable end section 95, the movable end section 95 maybe advanced to the air inlet opening 80, such that an insertion section 98 is inserted into the air inlet opening 80. Hence, a connection between the air inlet opening and the connecting piece 94 can be achieved.
[00127] For selectively allowing an air flow from the air supply component 82 through the connecting piece 90 or 94, each connecting piece 90 or 94 has a valve 99 arranged upstream of the respective movable section 91 or 95. The valve 99 is controllable by a control system, preferably the control system of the storage system.
[00128] Fig. 25a shows a stack of several stacker frames 6. Here, air inlet openings 80 are arranged in the base and air outlet openings 81 are arranged in the lid 7, in corresponding locations to the air inlet openings 80. Thus, when stacking the stacker frames 6 onto each other, a serial connection between these is formed. Thus, the air duct 83 may be arranged underneath the bottom stacker frame 6 and be connected to the air inlet opening 80. The connection maybe rather simple, as an end of the air duct 83 just needs to be placed at a position that corresponds to the air inlet opening 80. When the stacker frame 6 is lowered onto the end of the air duct 83, it will connect to the air inlet opening 80.
[00129] Fig. 25b shows exemplary locations of air inlet openings 80 in the base of the stacker frame 6 and air outlet openings 81 in the lid 7. Exemplarily, two air inlet openings 80 and two air outlet openings 81 are used, which thus requires a corresponding number of air ducts or branches connected to the air duct 83.
[00130] 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.
[00131] An upper part 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.
[00132] The lid 902 comprises air outlet openings 905, which maybe realized as holes that completely extend through the lid 902 and thus provide a fluid communication between the interior space and the surrounding of the stacker frame system 900. For providing a flow path through the interior space, the stacker frame 901 comprises air inlet openings 80 as e.g. shown in Fig. 17. [00133] Figs. 27a and 27b show a stacker frame system 600 with exemplarily three stacker frames 603 that form a stack. On the top end 9 of the uppermost stacker frame 603, a lid 602 is arranged. The stacker frames 603 form a serial connection from an air inlet opening 601 in the base 18 of the lowermost stacker frame 603 to the lid 602, which comprises air outlet openings 604 to let air flow out.
[00134] It is to be understood that each base 18 has an air inlet opening 601 in the base. By stacking one stacker frame 603 on the other, the air inlet opening 601 of the respective upper stacker frame 603 is in fluid communication with the top end 9 of the respective lower stacker frame 603. Conditioned air is fed into the air inlet opening 601 of the lowermost stacker frame 603, flows towards the top end 9of the lowermost stacker frame 603, and enters the next stacker frame 603 in an upward direction through the respective air inlet opening 601. Air continues to flow through the whole stack in an upward direction until it reaches the lid 602. Air that is exhausted from the lid 602 can be reused by drawing it into the source of conditioned air through a fan or another conveying device. A leakage air flow from the stacker frames 603 underneath the uppermost stacker frame 603 is prevented.
[00135] Fig. 28a and Fig. 28 b show a stacker frame system 700 with three stacker frames 703 stacked upon each other and a lid 701 arranged on the uppermost stacker frame 703. Each one of the stacker frames 703 has an air inlet opening 601 in the base 18. In addition, air outlet openings 81 are provided in the vicinity of the upper edge of each stacker frame 703. The size and arrangement of the air outlet openings 81 are dimensioned in a way that they can be blocked by a bottom protrusion 23 of a stacker frame 703 that is stacked onto the respective top end 9. Hence, a lowermost edge of the air outlet openings is arranged in a distance to the upper edge of the top end 9 that corresponds to the height of a bottom protrusion 23 at a maximum. When a stacker frame 703 is stacked on another stacker frame 703, the bottom protrusion 23 reaches into the top end 9 of the lower stacker frame 703 and thereby blocks the air outlet openings 81. This is shown in Fig. 28b.
[00136] The lid 701 has recesses 702 on its lower side, wherein the width and position of the recesses 702 correspond to the width and position of the air outlet openings 81. The lid 701 may thus be placed on the top end 9, such that a part of the lid reaches into the interior space of the stacker frame 703, just like the bottom protrusion 23 of another stacker frame 703 and as explained under reference to the shoulder 51 already shown in Fig. 12a. When the lid 701 is placed on the top end 9 of the uppermost stacker frame 703, the recesses 702 are flush with the air outlet openings 81 and allow air to flow from the interior space through the recesses 702 through the air outlet openings.
[00137] The stacker frame system 700 is thus very flexible and allows to use lateral air outlet openings 81 that are automatically closed in all stacker frames 703 that are not the uppermost stacker frame 703 of a stack. Furthermore, this allows to create a closed system for providing conditioned air inside the framework structure, as air that is exhausted from the uppermost stacker frame 703 can be drawn to the source of conditioned air through a fan or another conveyor inside an adjacent column or at a bottom side of the same column to be reused substantially without influencing the air flow through the series of stacker frames 703.
[00138] Fig. 29 shows a further stacker frame system 800. Here, stacker frames 803 having an air inlet opening 601 in a base 18 are used. In this illustration, a stack is made with three stacker frames 803 and one lid 801. The lid 801 is arranged on the uppermost stacker frame 803 and comprises lateral air outlet openings 802 in a side edge of the lid 801. It is conceivable that a plurality of air outlet openings 802 are distributed on more than one of the side edges of the lid 801. Here, a serial connection between all stacker frames 803 is provided just like in the exemplary embodiment shown in Figs. 27a and 27b, in that conditioned air is fed into the air inlet opening 601 of the lowermost stacker frame 803, flows towards the top end 9 of the lowermost stacker frame 803, and enters the next stacker frame 803 in an upward direction through the respective air inlet opening 601. Air continues to flow through the whole stack in an upward direction until it reaches the lid 802 and flow out of the air outlet openings 802 in the side edges of the lid 802. Again, this allows to create a closed system for providing conditioned air inside the framework structure, as air that is exhausted from the uppermost stacker frame 703 can be drawn to the source of conditioned air through a fan or another conveyor inside an adjacent column or at a bottom side of the same column to be reused substantially without influencing the air flow through the series of stacker frames 703.
[00139] 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 NUMBERS
1 Prior art automated storage and retrieval system
1’ storage system 1” storage system
2 lifting frame
2’ lifting frame
3 gripper
5 stacker frame system
6 stacker frame 6* target stacker frame 6’ stacker frame 6” stacker frame
7 lid
8 stacker frame lifter 8’ stacker frame lifter
9 top end 10 lifting frame
11 horizontal base frame
12 connecting recess 12’ connecting recess
13 container connecting recess 13’ connecting recess
16 upper rim
17 latch 17a connecting portion
18 bottom section
19 top section 20 side wall
21 guiding element
23 recessed portion
24 first gantry beam
25 second gantry beam
26 telescopic arm
27 lifting platform
28 wheel 28’ wheel 29 wheel 29’ wheel,
50 bottom protrusion 51 shoulder top rim seal connecting recess indentation air inlet opening air outlet opening air supply component air duct refrigeration unit fan connecting piece bellows section connecting opening guiding frame connecting piece movable end section fixed section actuator insertion section valve
Framework structure
Upright members of framework structure
Storage grid
Storage column
Storage container ’ Particular position of storage container
Stack
Rail system
Parallel rails in first direction ( )
Access opening
First port column
Second port column
Prior 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) 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 Stacker frame system 601 Air inlet opening 602 Lid 603 Stacker frame 604 Air outlet opening 700 Stacker frame system 701 lid 702 Recess 703 Stacker frame 800 Stacker frame system 801 Lid 802 Air outlet opening 803 Stacker frame 900 Stacker frame system 901 Stacker frame 902 Lid 903 Corner 904 Lower edge 905 Air outlet opening
First direction
Y Second direction Z Third direction
1 Prior art automated storage and retrieval system

Claims

1. 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 at least one stacker frame (6, 6’, 6”, 603, 703, 803, 901) configured to be stored in a storage column of the automated storage and retrieval system; wherein the stacker frame (6, 6’, 6”, 603, 703, 803, 901) has 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, 6’, 6”, 603, 703, 803, 901); wherein the stacker frame (6, 6’, 6”, 603, 703, 803, 901) has gas-tight side walls (20) and a gas-tight base (18); wherein the stacker frame system (5, 600, 700, 800, 900) comprises a removable gas-tight lid (7) for covering the top end (9); wherein the stacker frame system (5) comprises an air inlet opening (80, 601) and an air outlet opening (81, 604, 802), wherein the air inlet opening (80, 601), and the air outlet opening (81, 604, 802) are in fluid communication with the interior space of the stacker frame (6, 6’, 6”, 603, 703, 803, 901); and wherein the air inlet opening (80, 601) and the air outlet opening (81, 604, 802) are arranged to create a flow path between the air inlet opening (80, 601) and the air outlet opening (81, 604, 802) through the interior space for temperature controlling the interior space by supplying conditioned air from an external source (82) to the air inlet opening (80, 601).
2. The stacker frame system (5, 600, 700, 800, 900), wherein the air inlet opening (80, 601) and the air outlet opening (81, 604, 802) are arranged on opposite sides of the stacker frame (6, 6’, 6”, 603, 703, 803, 901).
3. The stacker frame system (5, 600, 700, 800, 900) according to claim 1 or claim 2, wherein the lid (7) and/or the top end (9) has a seal (53) configured to create a gas-tight connection between the top end (9) and the lid (7).
4. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the air inlet opening is arranged on one of the base, the side walls and the lid.
5. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the air outlet opening (80, 601) is arranged on one of the base (18), the side walls (20) and the lid (7).
6. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the air inlet opening (80, 601), and the air outlet opening (81, 604, 802) are arranged on two sides of the stacker frame system (5) that are different from each other.
7. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the air inlet opening (80, 601), and the air outlet opening (81, 604, 802) are arranged on two opposite sides of the stacker frame (6, 6’, 6”, 603, 703, 803, 901).
8. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the flow path comprises a flow channel in the form of a recess arranged on an interior surface of the stacker frame (6, 6’, 6”, 603, 703, 803, 901), and wherein the flow channel is in fluid connection with the air inlet opening (80, 601) and/or the air outlet opening (81, 604, 802).
9. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the stacker frame system (5) has a plurality of air inlet openings (80, 601) and/or a plurality of air outlet openings (81, 604, 802).
10. The stacker frame system (5, 600, 700, 800, 900) according to any of the preceding claims, wherein the stacker frame (6, 6’, 6”, 603, 703, 803, 901) is configured to define a flow gap between an interior face of the stacker frame (6, 6’, 6”, 603, 703, 803, 901) and a storage container (106) stored in the interior space of the stacker frame (6, 6’, 6”, 603, 703, 803, 901).
11. 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.
12. The automated storage and retrieval system according to claim 11, further comprising: a stacker frame lifter (8, 8’) and a container lifter (201, 301, 401); and an air supply component (82) configured to provide conditioned air; 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 (6, 6’, 6”, 603, 703, 803, 901); wherein the stacker frame lifter (8, 8’) is configured to retrieve the stacker frame (6, 6’, 6”, 603, 703, 803, 901) accommodated in a storage column; and wherein the air supply component (82) is couplable with the air inlet (80, 601) of the stacker frame (6, 6’, 6”, 603, 703, 803, 901).
13. The automated storage and retrieval system according to claim 11 or claim 12, wherein the air supply component (82) comprises an air duct (83) couplable with a source of conditioned air.
14. The automated storage and retrieval system according to any of claims 11 to 13, comprising a plurality of stacker frames (6, 6’, 6”, 603, 703, 803, 901), wherein the storage columns are each configured to accommodate a plurality of stacker frames (6, 6’, 6”, 603, 703, 803, 901) arranged one on top of another in a vertical stack.
15. The automated storage and retrieval system according to any of claims 11 to 14, wherein at least two of the plurality of stacker frames (6, 6’, 6”, 603, 703, 803, 901) form a serial connection, in which an air inlet (80, 601) of one of the stacker frames (6, 6’, 6”, 603, 703, 803, 901) is connected to the air outlet (81, 604, 802) of another one of the stacker frames (6, 6’, 6”, 603, 703, 803, 901).
16. The automated storage and retrieval system according to any of claims n to 15, wherein a first stacker frame (6, 6’, 6”, 603, 703, 803, 901) and a second stacker frame (6, 6’, 6”, 603, 703, 803, 901) form a parallel connection, in which the air supply component (82) is coupled with the respective air inlet opening (80, 601) of the first and second stacker frames (6, 6’, 6”, 603, 703, 803, 901).
17. The automated storage and retrieval system according to any of claims 11 to 16, wherein the air supply component (82) comprises a connecting piece (90, 94) arranged inside the framework structure (100), and wherein the connecting piece (90, 94) is configured to connect with the air inlet opening (80, 601) to provide a fluid-connection with the air duct (83).
18. The automated storage and retrieval system according to claim 17, wherein the air inlet opening (80, 601) is arranged in the base (18) of the stacker frame (6, 6’, 6”, 603, 703, 803, 901) and extends perpendicularly through the base (18), and wherein the connecting piece (90, 94) is arranged in one of the storage columns and extends in an upright direction and complementary to the air inlet opening (80, 601) on a footprint of the stacker frame (6, 6’, 6”, 603, 703, 803, 901) to connect with the air inlet opening (80, 601) when the stacker frame (6, 6’, 6”, 603, 703, 803, 901) is lowered in the respective storage column onto the connecting piece (90, 94).
19. The automated storage and retrieval system according to claim 18, when dependent on claim 15, wherein the air outlet opening (81, 604, 802) is arranged in the lid (7) of the stacker frame system (5) in a position that corresponds to a position of the air inlet opening (80, 601) on a footprint of the stacker frame (6, 6’, 6”, 603, 703, 803, 901).
20. The automated storage and retrieval system according to claim 17, wherein the air inlet opening (80, 601) is arranged in one of the side walls
(20), and wherein the connecting piece (90, 94) is horizontally movable to selectively connect and disconnect with the air inlet opening (80, 601).
21. The automated storage and retrieval system of claim 20, comprising an actuator (97) coupled with the connecting piece (90, 94) to horizontally move the connecting piece (90, 94).
22. A method of operating an automated storage and retrieval system, comprising: arranging a stacker frame (6, 6’, 6”, 603, 703, 803, 901) of a stacker frame system (5, 600, 700, 800, 900) according to any of the claims 1 to 9 in a framework structure (100) of the automated storage and retrieval system defining a plurality of storage columns (105); connecting the air inlet opening (80, 601) of the stacker frame system (5) to a source of conditioned air (82).
23. The method according to claim 22, comprising forming a vertical stack of a plurality of stacker frames (6, 6’, 6”, 603, 703, 803, 901), and coupling the air inlet opening (80, 601) arranged on a first stacker frame (6, 6’, 6”, 603, 703, 803, 901) with an air outlet (81, 604, 802) arranged on a second stacker frame (6, 6’, 6”, 603, 703, 803, 901) to form a serial connection.
24. The method according to claim 22 or 23, comprising forming a vertical stack of a plurality of stacker frames (6, 6’, 6”, 603, 703, 803, 901), and coupling the air inlet openings (80, 601) of the first and second stacker frames (6, 6’, 6”, 603, 703, 803, 901) with the source of conditioned air (82) to form a parallel connection.
PCT/EP2024/051336 2024-01-22 2024-01-22 A stacker frame system Pending WO2025157368A1 (en)

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WO2022253781A1 (en) * 2021-06-02 2022-12-08 Ocado Innovation Limited A storage and retrieval system
WO2022258451A1 (en) * 2021-06-10 2022-12-15 Autostore Technology AS A storage container for an automated, grid-based storage and retrieval system

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Publication number Priority date Publication date Assignee Title
US20180237221A1 (en) * 2015-04-15 2018-08-23 Ocado Innovation Limited Storage systems and methods
US20180142947A1 (en) * 2015-06-03 2018-05-24 Ocado Innovation Limited Storage containers and bins
WO2022253781A1 (en) * 2021-06-02 2022-12-08 Ocado Innovation Limited A storage and retrieval system
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