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WO2025157371A1 - Système de stockage et de récupération automatisé - Google Patents

Système de stockage et de récupération automatisé

Info

Publication number
WO2025157371A1
WO2025157371A1 PCT/EP2024/051341 EP2024051341W WO2025157371A1 WO 2025157371 A1 WO2025157371 A1 WO 2025157371A1 EP 2024051341 W EP2024051341 W EP 2024051341W WO 2025157371 A1 WO2025157371 A1 WO 2025157371A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage
grid structure
access station
column
grid
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/EP2024/051341
Other languages
English (en)
Inventor
Trond Austrheim
Ingvar FAGERLAND
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/EP2024/051341 priority Critical patent/WO2025157371A1/fr
Publication of WO2025157371A1 publication Critical patent/WO2025157371A1/fr
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
    • 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
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • 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
    • B65G1/0485—Check-in, check-out devices
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas

Definitions

  • the present invention relates to an automated storage and retrieval system for storage and retrieval of containers, a method of presenting a storage container at an access station and returning the storage container, a computer program product, a use and an access station.
  • 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 special-purpose columns used by the container handling vehicles 201,301,401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100.
  • 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.
  • WO 2014/075937 Al shows a storage system with two grid structures above each other and separated by a solid mezzanine.
  • a complex lift system connects both grids and is capable of transporting storage containers from one of the grid to the other and to an access station.
  • An object of the invention may be providing an alternative measure to access storage containers from a plurality of grid structures.
  • the invention is related to an automated storage and retrieval system, comprising a first grid structure having first storage columns and a port column, each first storage column being arranged to accommodate a stack of storage containers, a second grid structure having second storage columns and a second port column, each second storage column being arranged to accommodate a stack of storage containers, a plurality of container handling vehicles for handling storage containers, and an access station having a picking position, a receiving area comprising a first receiving position and a second receiving position, a guiding frame arranged in a horizontal plane and extending between the picking position and the receiving area, and a conveying device for transporting storage containers between the receiving positions and the picking position, wherein the first grid structure and the second grid structure each comprise a rail system having a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the
  • grid structure may be understood as the above-explained framework structure in combination with a rail system.
  • Each of the grid structures may thus comprise a framework structure having upright members and an individual storage volume comprising storage columns arranged in rows between the upright members. In these storage columns storage containers are stacked one on top of one another to form stacks.
  • Each of the grid structures may comprise a rail system arranged across the top of the respective framework structure, on which rail system a plurality of load or container handling vehicles may be operated to raise storage containers from, and lower storage containers into, the storage columns of the respective framework structure, and also to transport the storage containers above the storage columns.
  • Each of the rail system may comprise a first set of parallel rails arranged to guide movement of the container handling vehicles in a first direction across the top of the respective framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction.
  • Containers stored in the respective columns are accessed by the container handling vehicles through access openings, which may be referred to as “grid opening” in the rail system.
  • the container handling vehicles can move laterally above the storage columns.
  • the upright members of the respective framework structure may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns.
  • the stacks of containers are typically self-supporting.
  • the storage system comprises two or more grid structures.
  • the operation of the vehicles on the grid structures may be accomplished by a single control system, i.e. they maybe controlled mutually by one control system.
  • the two or more grid structures are referred to as “first grid structure” and “second grid structure” to distinguish them from each other.
  • the terms “first” and “second” are used merely for identification purposes.
  • the first and second grid structures may have the same design, structure or setup but are spatially separate from each other.
  • the first grid structure and the second grid structure may be arranged on the same floor (e.g. a base floor forming part of a structure housing the storage system), e.g.
  • first grid structure and the second grid structure may preferably be arranged on different floors in the same building. While the first grid structure may be placed on a base floor, the second grid structure may be placed on a mezzanine floor above the base floor or vice versa. Both grid structures maybe substantially the same, i.e. they are preferably similarly designed.
  • the storage system may comprise a plurality of first grid structures and/or a plurality of second grid structures. If a plurality of second grid structures is used, they may be placed on the same floor, e.g. a mezzanine floor, or different floors.
  • the first grid structure and the second grid structure do not necessarily have the same size.
  • Both grid structures comprise a rail system as explained previously.
  • a first set of parallel rails and a second set of parallel rails form an individual grid pattern in the horizontal plane comprising a plurality of adjacent grid columns, each comprising a grid opening defined by a pair of opposed rails of the first set of rails and a pair of opposed rails of the second set of rails. Beneath each rail system, the storage columns are arranged.
  • Each grid structure may be capable of storing and retrieving storage containers independent from the other(s).
  • the storage containers used in the storage system 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 of 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.
  • the storage containers may be configured to receive other storage containers stacked onto their top rim.
  • the storage containers may have a certain structural stability, which allows to bear a certain maximum weight. This maximum weight corresponds to a maximum number of storage containers being loaded with a maximum design weight each.
  • the maximum design weight may exemplarily be about 30 kg. If common storage containers for grid-based storage systems are used, the height of stacks in the first grid structure may be limited to roughly 10 m or less. The same would apply to the height of stacks in the second grid structure. As explained further below, the second grid structure may be placed above the first grid structure and may also have a height that is lower than the height of the first grid structure.
  • the second grid structure may thus be a quick access grid structure. It may exemplarily have a height that corresponds to three to five layers of storage containers. However, the height may correspond to more than five layers, such as up to 10 or up to 15 layers. If the space is available and if a quick access is not desired for this particular second grid structure, the height of the second grid structure may also be in the same range as the height of the first grid structure. It may be advantageous to create a further second grid structure, which leads to two or more second grid structures above each other. At least one of the second grid structures may have a reduced height in comparison to the first grid structure.
  • the access station allows receiving storage containers from both the first grid structure and the second grid structure to present them at the picking position.
  • the term “access station” may refer to a single piece of equipment having a cabinet that comprises an access opening, beneath which a storage container is to be presented.
  • An access station may preferably be associated with one picker. The picker may be in front of the access station and will be able to access a storage container presented at the access station.
  • the access opening may be closable by a movable cover. When the storage container is presented in the picking position, the cover will be opened, such that the picker gains access to the storage container beneath the access opening.
  • the access station may also comprise two separate access openings side by side, which are easily accessible by one picker standing in front of the access station.
  • a picker may handle containers at two access stations in a side-by-side arrangement, wherein a single picker is able to access storage containers in both access openings.
  • the picking position mentioned above may thus be located beneath the access opening or another type of access region that faces a picker working position.
  • Presenting storage containers from the first or second grid structure at the picking position is achieved by the conveying device for transporting storage containers between the receiving positions in the receiving area and the picking position.
  • a storage container can be lowered from the first grid structure or the second grid structure through an associated port column into the receiving area.
  • the first grid structure and the second grid structure may thus comprise a delivery section of the associated rail system being placed above the receiving area.
  • the delivery section could be understood as a part of the rail system that is dedicated to delivering storage containers to the associated port column.
  • the conveying device may be a device that is able to convey storage containers from one position to another position inside the access station. It may comprise a conveyor belt or a plurality of conveyor belts. It may comprise chain conveyors having one or more motorized chains. Roller conveyors may be used, having at least one motorized roller. Other variants may be used, such as slat conveyors, rail-based conveyors, carriages and others.
  • a first delivery section may be arranged above the first receiving position.
  • a second delivery section may be arranged above the second receiving position.
  • the first and second receiving positions in the access station may be spaced apart in a horizontal direction. The access station will be more compact the closer together the receiving positions are arranged, i.e. the closer together the delivery sections of the rail systems of the first and second grid structures are arranged on a footprint of the storage system.
  • Each of the receiving positions is positioned in vertical alignment with a port column of the respective grid structure.
  • the access station having a receiving area comprising the first and the second receiving position will be used in combination with the first grid structure and the second grid structure, each of the grid structures having a framework structure comprising at least one port column.
  • the arrangement of the receiving positions then corresponds to the arrangement of the port columns.
  • a first container handling vehicle of the first grid structure may deliver/retrieve a storage container to or from the first receiving position, while a second container handling vehicle of the second grid structure may deliver/retrieve a storage container to or from the second receiving position.
  • the port columns may comprise different heights, depending on the grid structure to which it is associated.
  • the first port column may comprise a height that corresponds to the vertical distance between the first receiving position on the access station and the rail system of the first storage grid.
  • a second port column may have a greater height, if the second grid structure is arranged above the first grid structure. Both port columns feed to different receiving positions of the same access station.
  • the port columns may comprise upright members, but do not absolutely require doing so to guide the storage containers vertically between the respective rail system and the respective receiving position.
  • the upright member may be vertically aligned on corners defining the individual receiving positions, i.e. the upright members or a casing forming the port column will define a rectangular footprint corresponding to the perimeter of those receiving positions.
  • the port column for the storage grid above may be supported on a frame of the access station.
  • the receiving positions preferably correspond to grid openings and preferably one grid opening for each storage grid. These receiving positions are also the positions where the conveying device stops to receive or deliver the containers from or to the respective storage grid. In other words, the receiving positions of one access station are preferably in-line and lead into the picking position of the access station.
  • a single access station can be used for handling storage containers from two independent grid structures, wherein one of the grid structures may be directly connected mechanically with the access station, and wherein at least one other of the grid structures may be arranged on another level.
  • the receiving area may comprise a plurality of first receiving positions and/or second receiving positions spaced apart from each other. This may allow to couple more than one first port column and/or more than one second port column to the same access station. By coupling a plurality of first port columns or a plurality of second port columns to the access station, the rate of transfer between the first grid structure or the second grid structure and the access station can be accelerated.
  • the first receiving positions and/or second receiving positions may have a distance between each other and thus may not directly follow on each other. The distance between two consecutive receiving positions may correspond to the width of a column of the first and/or second grid structure.
  • the access station may comprise a guiding frame, wherein the conveying device comprises a carriage movable along the guiding frame.
  • the guiding frame may comprise an elongated component that may be arranged parallel to a connection line between all receiving positions and the picking position. Preferably, it provides a straight guiding path.
  • the guiding frame preferably extends along a straight line and preferably extends throughout the receiving area to the picking position, such that the carriage can be moved from each of the receiving positions to the picking position and vice versa.
  • the carriage may be configured to be guided along the guiding frame to move between the receiving positions and the picking position.
  • the design of the guiding frame and of the carriage maybe adapted to each other.
  • the carriage may comprise a plurality of guiding wheels rotatably supported on the carriage and/or gliding elements that a fixedly attached to the carriage.
  • the guiding wheels and/or gliding elements may be in permanent contact with the guiding frame to provide a sufficient support of the carriage, to stabilize its spatial orientation during its motion along the guiding frame and to provide a low friction.
  • the access station may comprise a primary carriage having a primary carriage base movable along the guiding frame, a first storage container support connected to the primary carriage base, and a transfer device for displacement of a storage container positioned on the first storage container support.
  • the access station may additionally comprise a secondary carriage having a secondary carriage base movable along the guiding frame, and a second storage container support connected to the secondary carriage base, wherein the secondary carriage may be configured to receive a storage container being displaced from the primary carriage by means of the transfer device.
  • a first container handling vehicle may deliver/retrieve a storage container to or from the first receiving position, while a second container handling vehicle may prepare to deliver/retrieve a storage container from or to the second receiving position.
  • a container handling vehicle may always standby ready to deliver/retrieve a storage container from or to the primary carriage or the secondary carriage.
  • the primary carriage does not need to wait for the container handling vehicles to switch places and handling time is clearly reduced.
  • the primary carriage and/or the secondary carriage may be moved along the guiding frame through a drive device, which may be integrated into the respective carriage, into the guiding frame or into an external component.
  • the primary carriage may have a primary carriage displacement motor configured to move the primary carriage along the guiding frame
  • the secondary carriage may have a secondary carriage displacement motor configured to move the secondary carriage along the guiding frame.
  • the respective carriage displacement motor may be used for moving the respective carriage along the guiding frame between the receiving area and the picking position.
  • the respective carriage displacement motor may be arranged in the respective carriage. It may also be arranged in the guiding frame and be coupled with the respective carriage through a belt or another force transfer device.
  • the carriage, the guiding frame, the primary carriage and/or the secondary carriage maybe designed in accordance to WO 2022/122434 Al.
  • the primary carriage and the secondary carriage may be designed according to the following.
  • the primary carriage and the secondary carriage may be configured to move independently of each other. They may be configured to move in a reciprocating manner.
  • Each of the primary carriage and the secondary carriage may comprise an individual displacement motor. Thus, they can move along the guiding frame independently of each other.
  • One of the primary carriage and the secondary carriage may move along the guiding frame while the other one of the primary carriage and the secondary carriage may remain stationary. Furthermore, the primary carriage and the secondary carriage may move along the guiding frame simultaneously, either towards each other or away from each other. The primary carriage may thus move from the receiving area towards the picking position independently of the secondary carriage. While the primary carriage transfers a subsequent storage container from the receiving area towards the picking position, the secondary carriage may transfer a storage container already picked from towards the receiving position previously occupied by the primary carriage. Then the container handling vehicle already in position with a lifting device lowered towards the access station can retrieve the storage container placed on the secondary carriage. As an alternative, the secondary carriage may move towards another receiving position in the receiving area, even simultaneous with the primary carriage receiving the subsequent storage container. Then a second container handling vehicle may retrieve the storage container from the secondary carriage.
  • the secondary carriage may move towards and engage the primary carriage while the primary carriage is located in the picking position.
  • the transfer of the storage container from the first storage container support to the second storage container support may then start immediately after picking from that storage container has been performed.
  • the primary carriage displacement motor and secondary carriage displacement motor may be similar or identical motors. They may be arranged on the primary carriage base and the secondary carriage base, preferably at least partly inside a volume defined by the respective carriage bases. As an alternative, the displacement motors may be arranged on the guiding frame. Any motor having an appropriate size can be used, e.g. an electric motor such as a brushless DC motor. The displacement motors and any other motors arranged on the primary carriage and/or the secondary carriage may be powered by batteries arranged on the respective carriage bases. As an alternative, they may be connected to one or several external power sources. [0054] The displacement motors may be connected to at least one of the respective wheels of the primary carriage and the secondary carriage by gears or belt drives.
  • the displacement motors may be direct drive mechanisms.
  • the displacement motors may be arranged centrally in the carriage bases, preferably as low as possible.
  • the primary carriage displacement motor and the secondary carriage displacement motor are preferably in direct or indirect communication with a control system to be controlled in such a way that collisions between the primary carriage and the secondary carriage are avoided.
  • the access station may preferably be configured for a signal communication with a control system. This may allow the control system to control the conveying device of the access station. This may allow an interaction of a user, such as a picker, with the control system, for example through an input device or a human interface device.
  • the first grid structure may have a main part and a peripheral part, wherein the first storage columns in the main part may have a greater height than the first storage columns in the peripheral part, wherein the main part may be configured to be placed on a base floor, wherein the peripheral part may be configured to be placed on an upper floor or structure spaced in a vertical distance above the base floor, and wherein the rail system of the first storage grid may extend over the first storage columns of the main part and the peripheral part.
  • the first grid structure may thus comprise a stepped shape.
  • the peripheral part of the first grid structure is thus configured to store a smaller number of storage container levels than the main part.
  • the peripheral part may overlap an upper floor arranged at a distance to the base floor.
  • the peripheral part may be dedicated for storing items that are more frequently requested than items to be stored in the main part of the first grid structure and the access to these more frequently requested items may be accelerated.
  • the peripheral part may at least partially be placed on a support structure, such as lintels above the access station, or another structure that is connected to the upper floor. Placing the main part on the base floor and the peripheral part on the upper floor may be understood as placing upright members of the first grid structure on the respective floor.
  • the upright members may comprise adjustable feet. To match the vertical spacing of the main part and the peripheral part the adjustable feet of the upright members of at least the peripheral part may comprise a larger adjustability range than in common grid structure applications without a creation of main part and peripheral part as stated above.
  • the first port column may be arranged in the peripheral part of the first grid structure.
  • the access station may thus be placed on the upper floor, i.e. above the base floor.
  • the vertical distance from the second receiving position and the second grid structure can be reduced, which enables a faster lowering of storage containers from the second grid structure into the access station.
  • the distance between the rail system of the first grid structure and the first receiving position is reduced, the lowering of storage containers into the first receiving position can be done faster in comparison to arranging the access station on the base floor.
  • a transfer of storage containers stored in upper layers between the first grid structure and the upper floor may be faster than between the first grid structure and the base floor.
  • the access station may be configured to be arranged on the upper floor.
  • the access station is placed under the peripheral part of the first grid structure and underneath the second grid structure.
  • a picker will then be present on the upper floor in order to pick items from storage containers presented in the access station.
  • Storage containers from upper grid cells, as well as from the second grid structure, can be delivered to the access station very quickly.
  • the second grid structure may comprise at least two second port columns. Using two or more second part columns increases the delivery rate for storage containers from the second grid structure. If a plurality of second grid structures is used, each second grid structure may be associated with one second part column or more.
  • the second grid structure may be arranged above the first grid structure and extends beyond the first grid structure to form an overhanging region, wherein the second port column is arranged in the overhanging region, and wherein the second receiving position is arranged beneath the overhanging region.
  • the second grid structure may extend beyond uppermost grid cells of the first grid structure. This simplifies the overall design of the storage system since the transfer of storage containers from inside the second grid structure to the access station is easy to accomplish.
  • the second receiving position may be arranged closer to the picking position than the first receiving position.
  • the access station may be arranged in a way that the picking position is further to the overhang than the first receiving position(s).
  • the storage system may comprise two second grid structures arranged above each other, wherein an upper second grid structure may extend beyond a lower second grid structure to form a second overhanging region, wherein the access station has at least two second receiving positions spaced apart from each other, and wherein the second port column of the upper second grid structure is arranged in the second overhanging region.
  • a plurality of second grid structures may have a staggered arrangement with successively overhanging regions. As stated before, this improves the transfer speed of storage containers from any of the second grid structures to the access station.
  • the resulting additional second receiving position may be closer to the picking position than the first receiving position and the initial second receiving position.
  • the storage system may comprise at least two access stations arranged side-by-side. Each of these access stations may have an identical setup. However, it is also conceivable that when a plurality of second grade structures is used, they may be associated with different access stations. Each of these access stations may have an identical set up. However, it is also conceivable that when a plurality of second grid structures is used, they may be associated with different access stations.
  • the access station may comprise an access station frame coupled with or integrated into a framework structure of the first grid structure, in which framework structure the first storage columns are formed. Upright members of the first grid structure may be supported on lintels above the conveying device.
  • the access station frame may be recessed into the volume of the storage columns.
  • the access stations could extend proud of the storage columns of the lowest second storage grid or the peripheral part of the first storage grid.
  • a cantilever robot may lean over an edge of the respective grid structure to lower a container onto the respective receiving position.
  • the automated storage and retrieval system may be configured to control the access station to perform the above-identified functions. It may be configured to let a picker select from which grid structure the access station presents a storage container. However, this may also be done automatically depending on the requirement of operation. [0065] The storage container that is presented in the picking position may be returned to the same grid structure, from which it has been delivered. However, the access station may also be used for returning a storage container that has been delivered from one grid structure to another grid structure.
  • the automated storage and retrieval system may be configured to adapt the operation on the first grid structure and the second grid structure in a way to avoid collision and blockage, when storage containers are delivered through port columns of two grid structures. For example, if a storage container is being lowered from a second grid structure, a load handling vehicle on the first grid structure that intends to deliver a storage container may wait for this operation to finish or travel to another access station with an available conveying device.
  • the automated storage and retrieval system may comprise several access stations. The access stations may be arranged in a plurality of pairs, such that two access stations are directly adjacent and create a pair, wherein several pairs may be distributed beneath the peripheral part of the first grid structure on a mezzanine floor.
  • the invention concerns a method of presenting a storage container at an access station and returning the storage container using a storage system according to the above.
  • the method may comprise removing the storage container from a first storage column in the first grid structure or a second storage column of the second grid structure, moving the storage container to the port column of the respective grid structure, delivering the storage container onto a conveying device in a receiving position vertically aligned with the respective port column by lowering the storage container in the respective port column, and moving the storage container to a picking position of the access station.
  • the method may comprise moving the storage container to the receiving position vertically aligned with the respective port column, lifting the storage container in the respective port column, and moving the storage container from the respective port column to the first storage column in the first grid structure or the second storage column of the second grid structure.
  • One storage container may be delivered and returned from one storage grid via one of the receiving positions, and another storage container may be delivered and returned from another storage grid via another receiving position by means of the same conveying device. This operation may be conducted sequentially.
  • the storage system comprises a primary carriage and a secondary carriage as explained above, the primary carriage may interact with a first container handling vehicle or a second container handling vehicle at the first receiving position or the second receiving position. For presenting the storage container at the picking position, the primary carriage may hand the storage container over to the secondary carriage through the transfer device and return to one of the receiving positions.
  • a container handling vehicle may thus always stand by ready to deliver/retrieve a storage container from or to the primary carriage or the secondary carriage. The primary carriage does not need to wait for the container handling vehicles to switch places and handling time is clearly reduced.
  • the method may comprise moving a storage container from one of the grid structures, i.e. the first grid structure or the second grid structure, to another one of the first grid structure and the second grid structure, by moving the respective storage container to the associated receiving position in the access station, moving the respective storage container to the associated receiving position of the other one of the first grid structure and the second grid structure, and moving the respective storage container into a storage column of the other one of the first grid structure and the second grid structure.
  • the access station is used for transferring a storage container from one of the grid structures to another one.
  • the invention is directed to a computer program product for installation and/ or execution on a computer unit, wherein the computer program product comprises commands which, when the program is executed by the computer unit, prompt the computer unit to execute the abovedescribed method.
  • the computer unit may be a part of or be connected to a control system of the storage system.
  • the invention is directed to the use of an access station in an automated storage and retrieval system, the automated storage and retrieval system comprising a first grid structure having first storage columns and a first port column, each first storage column being arranged to accommodate a stack of storage containers, a second grid structure having second storage columns and a second port column, each second storage column being arranged to accommodate a stack of storage containers, the first grid structure and the second grid structure being spatially separated from each other, the access station comprising an access station frame, and a conveying device inside the access station frame for transporting storage containers, wherein the access station has a picking position, and a receiving area comprising a first receiving position and a second receiving position, wherein the access station frame is open in an upward direction at least at the respective receiving positions, wherein the conveying device is configured to receive storage containers lowered into the access station frame or to hold storage containers to be retrieved from above the access station frame at the respective receiving positions, wherein the conveying device is configured to move storage containers between the receiving positions and the
  • the invention is directed to an access station for an automated storage and retrieval system, comprising an access station frame, a conveying device inside the access station frame for transporting storage containers, wherein the access station has a picking position, and a receiving area comprising a first receiving position and a second receiving position, wherein the access station frame is open in an upward direction at least at the respective receiving positions, wherein the conveying device is configured to receive storage containers lowered into the access station frame or to hold storage containers to be retrieved from above the access station frame at the respective receiving positions, and wherein the conveying device is configured to move storage containers between the respective receiving positions and the picking position.
  • an access station may, for example, be used for a retrofit solution in an existing automated storage and retrieval system.
  • a first grid structure is already present, a second grid structure may be created above the first grid structure, and an access station may be used for presenting storage containers from both the first grid structure and the second grid structure at the same picking position.
  • the second grid structure may be created by using a mezzanine floor or by creating an additional upper floor on a support structure or the like.
  • the access station frame may be configured to support upright members of port columns of at least one grid structure above the access station frame.
  • the access station frame may be configured to be coupled with or integrated into a framework structure of the first grid structure, in which framework structure the first storage columns are formed.
  • the access station may comprise lintels above the conveying device.
  • the access station may be configured to be recessed into the volume of the storage columns.
  • the access station may be configured to provide a signal connection to an external control system, or it may comprise an integrated control unit.
  • the access station may be configured to return storage containers to the access station grid opening, i.e. the opening in the access station frame directly beneath one of the port columns, from which it has been delivered.
  • the access station may also be configured to return a storage container that has been delivered through one access station grid opening to another access station grid opening.
  • 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 shows a schematic lateral view of an automated storage and retrieval system having one second grid structure.
  • Fig. 6 shows a schematic lateral view of an automated storage and retrieval system having two second grid structures.
  • Figs. 7, 8 and 9 show the automated storage and retrieval system of Fig. 5 in two perspective views.
  • Fig. 10 shows an access station in a perspective view.
  • Figs. 11 to 13 show a part of an access station having a primary carriage and a secondary carriage in a perspective view and lateral views.
  • an automated storage and retrieval system (600, 750), comprises a first grid structure (601) and a second grid structure (602, 602’).
  • Each grid structure has respective storage columns (105) and a respective port column (608, 610, 752).
  • Each storage column (105) can accommodate a respective stack of storage containers (106).
  • An access station (700) having a picking position (703), a receiving area (722) comprising a first receiving position (701, 701’) and a second receiving position (702, 702’), a guiding frame (720) arranged in a horizontal plane and extending between the picking position (703) and the receiving area (722), and a conveying device (721, 800, 801) for transporting storage containers (106) between the receiving positions (701, 701’, 702, 702’) and the picking position (703).
  • the first port column (608) is vertically aligned with the first receiving position (701, 701’) of the access station (700).
  • the second port column (610, 752) is vertically aligned with the second receiving position (702, 702’) of the access station (700).
  • the framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure 100 comprises a number of upright members 102, and comprises a first, upper rail system 108 extending in the X direction and Y direction.
  • the framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.
  • the framework structure 100 can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1.
  • the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
  • FIG. 5 shows a lateral view of an automated storage and retrieval system 600 having a first grid structure 601 and second grid structure 602.
  • the first grid structure 601 is mainly arranged on a base floor 603, which may be a floor of a warehouse or the like.
  • upright members 102 of the first grid structure 601 may stand on the base floor 603, preferably on adjustable feet.
  • the first grid structure 601 forms a plurality of storage columns 105, in which a plurality of storage containers 106 can be stacked.
  • the first grid structure 601 exemplarily has a main part 604 and a peripheral part 606, which together form the first grid structure 601.
  • the main part 604 has a horizontal footprint, which is significantly larger than a horizontal footprint of the peripheral part.
  • the main part 604 is placed on the base floor 603.
  • the first grid structure 601 may have a height of up to roughly 10 m.
  • the first grid structure 601 may exemplarily provide of up to 30 levels of storage containers. A larger or smaller number of levels is, however, not ruled out and this is merely an example.
  • a mezzanine floor 605 is arranged in a vertical distance above the base floor 603 and is arranged parallel to the base floor 603. For example, a vertical distance between both floors 603 and 605 may be in a range of 3 up to roughly 8 m or less.
  • the main part 604 vertically extends above the mezzanine floor 605, which for this purpose may comprise a recess or cutout. In the shown example, the main part 604 extends roughly 2 m above the mezzanine floor.
  • the main part 604 and the peripheral part 606 continuously merge into each other at an upper end 607 of the main part. Resultantly, an upper end 607’ of the peripheral part 606 is flush with the upper end 607 of the main part.
  • a rail system 108 seamlessly extends on the main part 604 and the peripheral part 606.
  • the horizontal size and spacing of the storage columns 105 in the main part 604 and the peripheral part 606 preferably match. Load handling vehicles 301 may thus smoothly travel on the rail system 108 to all access storage containers 106 in any part of the first grid structure 601.
  • the first grid structure 601 exemplarily comprises first port columns 608, which are provided for transferring storage containers 106 from inside the first grid structure 601 to an access station 700.
  • the access station 700 is placed on the mezzanine floor 605. A part of the access station 700 extends beneath the first port columns 608.
  • the access station 700 may comprise a support structure, which is not shown in detail herein.
  • the support structure may comprise lintels above the access station 700, on which upright members 102 of the peripheral part 606 are placed.
  • the setup of the access station 700 is shown in further detail in figure 10 further below.
  • the access station 700 exemplarily comprises two first receiving positions 701 and 701’ one behind the other and directly placed beneath the first port columns 608. This allows the load handling vehicles 301 to lower a storage container 106 in a first port column 608 to reach the respective first receiving position 701 or to retrieve a storage container 106 from the respective first receiving position 701 to move it into the first grid structure 601 into any storage column of the main part 604 or the peripheral part 606.
  • the peripheral part 606 may be limited to having first port columns 608. However, it may also have common storage columns 105 just like the main part 604. These storage columns 105 maybe arranged behind the first port columns 608 further into the viewing plane of Fig. 5.
  • the main part 604 and the peripheral part 606 may have the same width, which in this illustration is the size of the respective part 604 and 606 in the direction perpendicular to the viewing plane.
  • a picker 704 can access storage containers 106 that are presented in the access station 700 for picking items.
  • a second grid structure 602 is arranged on an upper floor 609.
  • the second grid structure 602 comprises one second port column 610, which is arranged above a second receiving position 702 of the access station 700.
  • the second grid structure 602 may have a lower height in comparison to the main part 604 of the first grid structure 601 and exemplarily has the same height throughout its horizontal extension.
  • it In order to reach the second receiving position 702 of the access station 700, it has an overhanging region 611, which extends beyond the first grid structure 601 in the horizontal direction.
  • the second grid structure 602 may be a quick access grid structure, in which storage containers from all levels can be accessed comparably quickly due to a reduced number of levels of storage containers. For example if the second grid structure 602 has only five levels of storage containers 106, retrieving the lowermost storage container 106 from a storage column 105 only requires moving four storage containers 106, that are stacked on its top, to a temporary position. In comparison, retrieving a lowermost storage container 106 from the first grid structure 601, which may comprise a higher number of levels of storage containers 106, such as 20 to 30, requires moving a much higher number of storage containers 106 to temporary positions.
  • the access station 700 comprises a picking position 703 facing the picker 704.
  • a conveying device (not shown in this illustration) is configured to move storage containers between the receiving positions 701, 701’, 702 and the picking position 703.
  • storage containers 106 received at one of the receiving positions 701, 701’, 702 can be transferred to the picking position 703 to present it to the picker 704. Afterwards, the storage container 106 can be moved back to a desired receiving position 701, 701’, 702.
  • the upper floor 609 may be placed on a support structure 612, which may include vertical support columns or other components. It is conceivable that the upper floor 609 is not a permanent floor but may be provided with a metal structure from standard rack parts or the like.
  • a lift system 613 is exemplarily shown, which is adapted for lifting load handling vehicles 301 to the individual rail system 108 of the first grid structure 601 or the second structure 602.
  • an automated storage and retrieval system 750 is shown, which is similar to the automated storage and retrieval system 600 shown in Fig. 5 but has two second grid structures 602 and 602' arranged above each other. As apparent in this view, the upper second grid structure 602' is slightly larger than the lower second grid structure 602 and thereby forms an additional overhanging region 751. This overhanging region 751 is associated with a second port column 752, which is above a further second receiving position 702' of the access station 700.
  • a conveying device (not shown in this illustration) is configured to move storage containers between the receiving positions 701, 701’, 702, 702’ and the picking position 703.
  • storage containers 106 received at one of the receiving positions 701, 701’, 702, 702’ can be transferred to the picking position 703 of the access station 700 to present it to the picker 704. Afterwards, the storage container 106 can be moved back to a desired receiving position 701, 701’, 702, 702’.
  • the access station 700 is configured to receive storage containers 106 from two second grid structures 602 and 602’ independently in the automated storage and retrieval system 750.
  • an additional common access station 753 provided.
  • the access station 753 is coupled with the first grid structure 601 and rests on the base floor 603.
  • the access station 753 is capable of mainly presenting storage containers from the first grid structure 601. However, it may be possible to retrieve storage containers 106 from one of the second grid structures 602 or 602’ through the use of the lift system 613.
  • Figs. 7, 8 and 9 show an exemplary embodiment of the automated storage and retrieval system 600 of Fig. 5 in perspective views. Exemplarily, several arrangements of two directly adjacent access stations 700 are distributed on the mezzanine floor 605. A picker 704 may simultaneously work at the two access stations 700 to pick items.
  • Fig. 10 shows two access stations 700 in a side-by-side arrangement.
  • the access station 700 has a picking position 703, and a receiving area 722 with two first receiving positions 701 and one second receiving position 702.
  • the receiving positions 701 and 702 are arranged at a distance to each other, wherein the distance exemplarily corresponds to a spacing of the storage columns of the grid structures 601 and 602.
  • the access station 700 may comprise an access station frame 710, which exemplarily comprises lintels 711, on which part columns 608 and 610 can be arranged.
  • the access station frame 710 exemplarily has a framework structure that is similar to the framework structure 100 of the automated storage and retrieval system 600 or 750.
  • the access station frame 710 has a plurality of elongated members that are interconnected to form a grid-like structure.
  • the access station frame 710 may at least partially be arranged in the first grid structure 601.
  • the access station frame 710 thus exemplarily creates a set of access station grid openings 723, which correspond to the access openings 112 in the rail system 108 explained further above.
  • Port columns 608, 608’, 610, and 752 may vertically directly extend above the access station grid openings 723.
  • the port columns 608, 608’, 610, and 752 may comprise upright members, which are connected to the access station frame 710 in a way that the port columns 608, 608’, 610, and 752 are aligned with the access station grid openings 723.
  • a guiding frame 720 is arranged in each of the access station 700, on which a carriage 721 as a conveying device is guided.
  • the carriage 721 is configured to move to each of the first receiving position 608 and the second receiving position 702 and to carry a storage container 106.
  • it may receive a storage container 106 lowered by a load handling device 301 to be moved to that respective picking position 703 or it may return a storage container 106 from the picking position 703 to the receiving positions 701 or 702 to be picked up by a load handling device 301.
  • a conveying device in the form of a primary carriage 800 and a secondary carriage 801 are shown, which are arranged on the same guiding frame 720 and can be individually moved along the guiding frame 720.
  • the primary carriage 800 has a primary carriage base 811.
  • the secondary carriage 801 has a secondary carriage base 812.
  • the primary carriage 800 is arranged in the picking position 703 and a storage container (which is left out for improving the illustration of the primary carriage) placed on the primary carriage 800 presented to a picker 704.
  • the primary carriage 800 is configured to be tilted to provide an improved access of the storage container 106 to the picker 704.
  • the storage container 106 is swept back into a horizontal alignment and the primary carriage 800 moves away from the picking position 703 towards the second receiving position 702 or the first receiving position.
  • the secondary carriage 801 maybe placed on the respective receiving position 702 or 701.
  • the storage container 106 can be transferred to the secondary carriage 801.
  • a transfer can already be initiated before the primary carriage 800 reaches the secondary carriage 801. It is conceivable that at that time a subsequent storage container 106 may already be arranged in a port column that is associated with another one of the receiving positions 701 or 702. For example, a load handling vehicle 301 may already lower the subsequent storage container 106.
  • the storage container 106 arranged on the primary carriage 800 and transferred to the secondary carriage 801 is to be retrieved by a load handling vehicle 301 to be returned into the desired grid structure. The process of returning one storage container 106 and receiving another storage container 106 can be achieved in a faster turnaround time than with a single carriage 721.
  • the primary carriage 800 comprises a transfer device 802 for displacement of the storage container 106 carried by the primary carriage 800, and the secondary carriage 801 is configured to receive a storage container 106 being displaced from the primary carriage 800 by means of the transfer device 802.
  • the transfer device 802 may comprise a rail 806 projecting aft from the primary carriage 800; a slider 807 connected to the rail 806 and configured to interact with the storage container 106; and a transfer motor 808 configured to move the slider 807 relative to a first storage container support 809.
  • the first storage container support 809 in this case is exemplarily created in the form of two angled profiles that are opposite and open to each other.
  • the secondary carriage 801 exemplarily has a second storage container support 810, which may be formed similarly to the first storage container support 809. Storage containers 106 that are transferred from the primary carriage 800 to the secondary carriage 801 will reach the second storage container support 810 to be carried by the secondary carriage 801.
  • the primary carriage 800 may comprise a first coupling part 803 and the secondary carriage 801 may comprise a second coupling part 804, together forming a latch 805 for releasably connecting the primary carriage 800 to the secondary carriage 801.
  • the primary carriage 800 can preferably be releasably connected to the secondary carriage 801 by means of the latch 805.
  • a first storage container 106a has been transferred from the primary carriage 800 to the secondary carriage 801; the primary carriage 800 and the secondary carriage 801 are disconnected by means of the latch 805; the primary carriage 800 is in the first receiving position 701, below a second storage container 106b being kept stationary in a first port column 608 by a container handling vehicle 301.
  • the slider 807 is still extended, thus, the primary carriage 800 is not yet ready to receive a second storage container 106b.
  • the slider 807 is retracted, thus, the primary carriage 800 is ready to receive the second storage container 106b being kept stationary in the first port column 608 by the respective container handling vehicle 301.
  • the latch 805 can release the primary carriage 800 from the secondary carriage 801.
  • the transfer rate can be increased, as the secondary carriage 801 allows to temporarily buffer storage containers or to handle storage containers from the same or another grid structure through another port column.
  • Vehicle body of the container handling vehicle 201 201b Drive means / wheel arrangement / first set of wheels in first direction (X)
  • 201c Drive means / wheel arrangement / second set of wheels in second direction (F)
  • 301 Prior art cantilever container handling vehicle 301a
  • Vehicle body of the container handling vehicle 301 301b Drive means / first set of wheels in first direction (X)
  • 301c Drive means / second set of wheels in second direction
  • 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

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Abstract

L'invention concerne un système de stockage et de récupération automatisé (600, 750) comprenant une première structure de grille (601) et une seconde structure de grille (602, 602'), chaque structure de grille présentant des colonnes de stockage respectives (105) et une colonne de port respective (608, 610, 752). Chaque colonne de stockage (105) peut recevoir un empilement respectif de conteneurs de stockage (106). Une station d'accès (700) présente une position de prélèvement (703), une zone de réception (722) comprenant une première position de réception (701, 701') et une seconde position de réception (702, 702'), un cadre de guidage (720) agencé dans un plan horizontal et s'étendant entre la position de prélèvement (703) et la zone de réception (722), et un dispositif de transport (721, 800, 801) destiné à transporter des conteneurs de stockage (106) entre les positions de réception (701, 701', 702, 702') et la position de prélèvement (703). La première colonne de port (608) est alignée verticalement sur la première position de réception (701, 701') de la station d'accès (700). La seconde colonne de port (610, 752) est alignée verticalement sur la seconde position de réception (702, 702') de la station d'accès (700).
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WO2014075937A1 (fr) 2012-11-13 2014-05-22 Jakob Hatteland Logistics As Système de stockage
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2018146304A1 (fr) 2017-02-13 2018-08-16 Autostore Technology AS Agencement de rails destiné à un système de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
US20210229917A1 (en) * 2018-05-31 2021-07-29 Autostore Technology AS Automated storage and retrieval system comprising a storage container lift assembly
WO2022122434A1 (fr) * 2020-12-11 2022-06-16 Autostore Technology AS Poste d'accès à double chariot pour système de stockage et de récupération automatisé et procédé d'utilisation d'un tel poste d'accès
WO2022253781A1 (fr) * 2021-06-02 2022-12-08 Ocado Innovation Limited Système de stockage et de récupération

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