EP4680549A1

EP4680549A1 - A vertically displaceable lifting frame for transporting a goods holder to/from a storage volume of an automated storage and retrieval system

Info

Publication number: EP4680549A1
Application number: EP24712471.2A
Authority: EP
Inventors: Trond Austrheim; Kjell Tore KLUNGLAND; Martin FITJE
Original assignee: Autostore Technology AS
Current assignee: Autostore Technology AS
Priority date: 2023-03-16
Filing date: 2024-03-16
Publication date: 2026-01-21
Also published as: WO2024189232A1; CN120813533A; NO20230283A1; NO348182B1

Abstract

There is described a displaceable frame (30) for transporting a goods holder (106) to/from a storage volume of an automated storage and retrieval system (1), wherein said frame (30) comprises a frame body (32), wherein at least one exterior section of the frame body (32) is made of polymer material.

Description

A VERTICALLY DISPLACEABLE LIFTING FRAME FOR TRANSPORTING A GOODS HOLDER TO/FROM A STORAGE VOLUME OF AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM [0001] The present disclosure relates to a displaceable frame for transporting a goods holder to/from a storage volume of an automated storage and retrieval system. In particular, but without limitation, the present disclosure relates to a vertically displaceable lifting frame suspended from a remotely operated vehicle operating on top of upright members of an automated storage and retrieval system. BACKGROUND [0002] Fig.1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs.2, 3a-3b disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1. [0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form container stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminum profiles. [0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 301, 401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 301, 401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 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 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 301, 401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane. [0005] The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self- supportive. [0006] Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable lateral movement of the container handling vehicles 201, 301, 401 in the X direction and in the Y direction, respectively. In Figs.2-3b, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set 110 of rails, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 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 110, 111 at any one time. [0007] Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device 304, 404 (visible in Figs.3a-3b) having a lifting frame part 304a, 404a 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 304, 404 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 (visible for instance in Fig.1) 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.3a and 3b indicated with reference number. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig.2. [0008] Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer available for storage containers below the rails 110, 111, i.e. the layer immediately below the rail system 108, Z=2 the second layer below the rail system 108, Z=3 the third layer etc. In the exemplary prior art disclosed in Fig.1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=1…n and Y=1…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=18, Y=1, Z=6. The container handling vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in Fig.1 extending above the rail system 108 are also said to be arranged in layer Z=0. [0009] The storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y- direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction. [0010] Each prior art container handling vehicle 201, 301, 401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in Figs.2 and 3b and as described in e.g. WO2015/193278A1 and WO2019/206487A1, the contents of which are incorporated herein by reference. [0011] Fig.3a 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 vehicles 201 shown in Fig.2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’. [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.3b and as disclosed in WO2014/090684A1 or WO2019/206487A1. [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 may comprise two parallel tracks; in other rail systems 108, each rail in one direction may comprise one track and each rail in the other perpendicular direction may comprise two tracks. The rail system may also comprise a double track rail in one of the X or Y direction and a single track rail in the other of the X or Y direction. A double track rail may comprise two rail members, each with a track, which are fastened together. [0015] WO2018/146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions. [0016] In the framework structure 100, a majority of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Fig.1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201, 301, 401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120. The transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical. For example, the storage containers 106 may be placed in a random or a 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 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, once accessed, returned into the framework structure 100. 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 heights, 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 WO2014/075937A1, 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 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201, 301, 401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105. [0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After 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 (shown in Fig.1) which typically is computerized and which typically comprises a database for keeping track of the storage containers 106. [0025] WO2022/128942A1 describes a container-handling vehicle for picking up storage containers from a three-dimensional grid of a storage system and comprising a vehicle body and at least one lifting device for lifting a storage container from the grid. The lifting device comprises a lifting band drive assembly, a lifting frame and a plurality of lifting bands. [0026] The lifting frames belonging to state of the art, such as the frame described in WO2022/128942A1, are well-suited for use in storage systems located in temperate conditions. However, the lifting frames belonging to state of the art have proven to be inadequate for use in storage systems containing multiple storage zones with different temperatures. More specifically, when repeatedly exposed to varying ambient temperature, ranging from above room temperature to well below 0 C, a lifting frame belonging to state of the art experiences condensate as well as ice build-up. This negatively affects various parts of the lifting frame, for instance movable mechanical components, motors and/or electronic components. [0027] In view of the above it is desirable to provide a solution that solves or at least mitigates one or more of the aforementioned problems belonging to the prior art. SUMMARY [0028] 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. [0029] The invention of the present application is set forth and characterized in the independent claims, while the dependent claims describe other, optional characteristics of the invention. [0030] A first aspect of the disclosure relates to a vertically displaceable lifting frame suspended from a remotely operated vehicle operating on top of upright members of an automated storage and retrieval system, said lifting frame for transporting a goods holder to/from a storage volume of the system, wherein at least one exterior section of the lifting frame body is made of polymer material. [0031] By providing the lifting frame body in accordance with the above, thermal conductivity of the lifting frame is significantly reduced compared with lifting frames known in the art, normally predominantly made in metal, such as aluminum. In consequence, risk of condensate/ice build-up at the lifting frame is considerably reduced as well. In a related context, polymers are intrinsically harder to wet than metals, so the condensation on a polymer surface is less than condensation on a corresponding metal surface. [0032] Moreover, a lightweight polymer material, having low density, may be selected so that the weight of the lifting frame is reduced – leading to reduced wear on the vehicle components such as lift motor and lifting bands. [0033] Furthermore, by making the lifting frame body in part in polymer material, typically by using techniques such as injection molding, the assembling of the lifting frame may be simplified. More precisely, use of polymer for the parts of the frame body opens up for a simplified overall frame design as well as for the lifting frame with a reduced number of parts (up to 25 % fewer parts) compared to a standard lifting frame. In a related context, techniques, such as the above-mentioned injection molding, for manufacturing the lifting frame body in polymer material are very accurate so that the need for minor last-minute modifications of the body, typically precision machining work, is reduced. [0034] In one aspect, the lifting frame of the present disclosure is for use in the context of the framework structure comprising upright members. [0035] In another aspect, the lifting frame of the present disclosure is for use in the context of a storage volume comprising storage columns for storing stacks of goods holders. These storage columns are arranged in rows between the upright members. [0036] In another aspect, the lifting frame of the present disclosure is for use in the context of a rail system arranged across and forming part of the framework structure. Here, a plurality of remotely operated vehicles travel on the rail system and raise goods holders from, and lower goods holders into, the storage columns, and are also used to transport the goods holders above the storage columns. During this transport, the remotely operated vehicles move laterally, i.e. in a plane which is parallel to a horizontal plane. [0037] In this context, the lifting frame of the present disclosure is for use with various types of container handling vehicles, for instance a cantilever-based container handling vehicle or a container handling vehicle having internally arranged cavity. [0038] In one aspect, the lifting frame of the present disclosure is for use in the context of a SDG-based rail system. Here, SDG stands for Single/Double Grid. This design provides a single rail track along one axis and a double rail track along the other axis. Utilizing a single rail in one direction requires the meeting robots to have a cell between them. [0039] In one aspect, the goods holder adapter of the present disclosure is for use in the context of a DDG-based rail system. Here, DDG stands for Double/Double Grid. This design provides a double rail track in all directions allowing robots to pass each other in all directions. [0040] For the purposes of this application, the term “container handling vehicle” used in the “Background” section of the application and the term “remotely operated vehicle” used in the rest of the application text are synonymous and define an autonomous wheeled vehicle operating on a rail system arranged across the top of the framework structure being part of an automated storage and retrieval system. [0041] Analogously, the terms “storage container” and “storage bin” used in the “Background” section of the application and the term “goods holder” used in the rest of the application text are synonymous and define a vessel for storing items. In a related context, the goods holder of the present application can be any one of a bin, a tote, a pallet, a tray or similar. Different types of goods holders may be used in the same automated storage and retrieval system. [0042] The relative terms “upper”, “lower”, “below”, “above”, “higher” etc. shall be understood in their normal sense and as seen in a Cartesian coordinate system. When mentioned in relation to a rail system, “upper” or “above” shall be understood as a position close to the surface rail system (relative to another component), contrary to the terms “lower” or “below” which shall be understood as a position further away from the rail system (relative another component). BRIEF DESCRIPTION OF THE DRAWINGS [0043] The following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments, which will now be described by way of example only, where: 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 a centrally arranged cavity for carrying storage containers therein. Fig. 3a is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath. Fig. 3b 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. 4 is a perspective view showing a lifting frame of the present disclosure suspended from a remotely operated vehicle and in engagement with a goods holder positioned in a storage column. Fig. 5 is a cross-sectional perspective view showing a portion of an assembled lifting frame in accordance with an embodiment. Fig. 6 shows a first body part of a lifting frame body in accordance with an embodiment, said first body part comprising a central part and a first and a second peripheral parts. Fig. 7 is a perspective top view showing a second body part in accordance with an embodiment where a central part and a first and a second peripheral parts are coupled. Various components of the lifting frame are also shown. DETAILED DESCRIPTION [0044] In overview, the present disclosure describes a frame of a gripper of a container handling vehicle of an automated storage and retrieval system, the frame being displaceable with respect to the container handling vehicle, thus allowing the container handling vehicle to retrieve a container stored in a storage volume of the automated storage and retrieval system. At least an exterior section of the frame body is made of a polymer material. As a result, as the gripper is moved in and out of a chilled storage volume of the automated storage and retrieval system, the risk of condensate/ice build- up on the frame body can be reduced. This overview is not intended to identify key or essential features of the invention. [0045] In the following, embodiments 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 present disclosure to the subject-matter depicted in the drawings. [0046] The framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with Figs.1-3b, i.e. a number of upright members 102, wherein the framework structure 100 also comprises a first, upper rail system 108 in the X direction and Y direction. [0047] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 where storage containers 106 are stackable in stacks 107 within the storage columns 105. [0048] The framework structure 100 can be of any size. In particular, it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in Fig.1. For example, the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers. [0049] Various aspects of the present disclosure will now be discussed in more detail with reference to Figs.4-7. [0050] Fig.4 is a perspective view showing a lifting frame 30 of the present disclosure suspended from a remotely operated vehicle 51 and in engagement with a goods holder 106 positioned in a storage column 105. More specifically, the vertically displaceable lifting frame 30 is suspended from a remotely operated vehicle 51 operating on top of upright members 102 of an automated storage and retrieval system (discussed in connection with Fig.1). In Fig.4, the lifting frame 30 is in engagement with a goods holder 106 positioned in a storage column 105 defined by a set of said upright members 102. Functionally, the lifting frame 30 is a part of the shown remotely operated vehicle 51. The lifting frame 30 is suspended from the remotely operated vehicle 51 by means of lifting bands. At least one lifting band is employed to supply energy to the lifting frame 30. At least one further lifting band is employed for communication between the remotely operated vehicle 51 and the lifting frame 30. [0051] As stated above, the remotely operated vehicle 51 operates above a storage volume of an automated storage and retrieval system (both shown in Fig.1) and extracts goods holders from and introduces goods holders to the storage column 105. In a preferred embodiment, the storage volume, consisting of a number of parallel, vertically extending storage columns, each for holding a stack of goods holders, is a multitemperature storage volume, i.e. a storage volume containing multiple storage zones with different temperatures. In such a multitemperature storage volume, at least one subvolume of said multitemperature storage volume is refrigerated. In one embodiment, said subvolume of said multitemperature storage volume is kept at a subzero temperature. [0052] Fig.5 is a cross-sectional perspective view showing a portion of an assembled lifting frame in accordance with an embodiment. [0053] The lifting frame 30 comprises a lifting frame body 32, typically comprising a first 32a and second 32b body part, wherein at least one exterior section of the lifting frame body 32 is made of polymer material. Here, the lifting frame body 32 comprises outer shell-like structure as well as inner parts. Regardless of the position, all parts of the lifting frame body should provide structural stability and support for the components of the lifting frame. Moreover, different polymer materials are conceivable for making section(s) of the lifting frame body. By way of example, thermosetting or thermoplastic polymers or different polymer resins may be used. Moreover, polymer-based composites, comprising a polymer matrix, may also be used. [0054] By providing the lifting frame body 32 in accordance with the above, thermal conductivity of the lifting frame 30 is significantly reduced compared with lifting frames known in the art, normally predominantly made in metal, such as aluminum. In a preferred embodiment, thermal conductivity of the polymer material is below 0.5 W/m·K. The thermal conductivity of a polymer may be measured according to any of the suitable methods according to ISO 22007-1:2017 or by use of differential scanning calorimetry (DSC) (https://www.mt.com/hk/en/home/supportive_content/matchar_apps/MatChar_UC2 6.html). [0055] In consequence, risk of condensate/ice build-up at the lifting frame is considerably reduced as well. In a related context, polymers are intrinsically harder to wet than metals so, for given atmospheric conditions, the condensation on a polymer surface is less than condensation on a corresponding metal surface. [0056] Moreover, lightweight polymer material, having low density, may be selected so that the total weight of the lifting frame is reduced – leading to reduced wear on the vehicle components such as lift motor and lifting bands. [0057] Still with reference to Fig.5, all exterior sections of the lifting frame body 32 could be made in polymer material. In other words, an arbitrary lifting frame material used for the lifting frame core may be coated by a suitable polymer material. In another related embodiment, the lifting frame body 32 is made completely in polymer material. [0058] As seen in Fig.5, a chamber 34 is arranged in the interior of the lifting frame body 32, said chamber 34 being a central chamber shaped as a parallelepiped. The central chamber 34 holds lifting frame components such as a motor and/or a circuit board (not shown). In order to keep lifting frame components at an acceptable temperature, the chamber 34 may be thermally isolated by means of a suitable material and/or provided with a heating element (not shown). A guiding pin 47 is also shown. [0059] Fig.6 shows a first body part 32a of a lifting frame body (32; shown in Fig.5) in accordance with an embodiment, said first body part 32a comprising a central part 39 and a first 41 and a second 43 peripheral parts. With reference to Fig.4, the first body part 32a is coupled to a remotely operated vehicle 51 by means of lifting bands (not shown) when said lifting frame 30 is suspended from said vehicle 51. A second body part (32b; shown in Fig.5) is attached to a lower side of the first body part 32a. [0060] With reference to Figs.5 and 6, the chamber 34 is arranged between the first 32a and the second 32b body parts such that the chamber 34 is delimited from above by the first body part 32a and from below by the second body part 32b. Laterally, the chamber 34 may have variable size. The first body part 32a has a central part 39 and a first 41 and a second 43 peripheral parts. The second peripheral part 43 is mirror- inverted relative to the first peripheral part 41. A through-hole 45 for receiving the guiding pin (47; discussed in connection with Fig.6) is also shown. For the sake of brevity, parts discussed in conjunction with Fig.5 are not further discussed. [0061] The lifting frame body 32 may be manufactured by means of molding, preferably injection molding. By making the lifting frame body 32 in part in polymer material by using a technique such as injection molding, the assembling of the lifting frame may be simplified. More particularly, use of polymer for the parts of the frame body opens up for a simplified overall frame design as well as for the lifting frame with a reduced number of parts (up to 25 % fewer parts) compared to a standard lifting frame. Using injection molding for manufacturing the lifting frame body in polymer material is a very accurate technique so that the need for minor last-minute modifications of the body, typically precision machining work, is reduced. Advantageously, when polymer material is used for the lifting frame body 32, in particular if injection molding is used, size of the chamber 34 may be adjusted as necessary. [0062] Fig.7 is a perspective top view showing a first body part 32a in accordance with an embodiment where a central part 39 and a first 41 and a second 43 peripheral parts are coupled. A chamber 34 holding lifting frame components such as a circuit board is also shown. Various components of the lifting frame are also shown. A vertical through-hole 45 is arranged in a distal corner section of the at least one peripheral part 41, 43, said through-hole 45 for receiving a vertically extending pin 47 for guiding the lifting frame. Here, term “distal” is to be construed as being furthest away from the chamber 34. The lifting frame 30 further comprises four gripper elements 35 for engagement with recesses arranged in a body of the goods holder (not shown). The gripper elements 35 are arranged at a distal side of the peripheral parts 41, 43. The lifting frame further comprises an elongate element 48 passing through the central part 39 and the first 41 and the second 43 peripheral parts such that said parts 39, 41, 43 become coupled. Said elongate element 48 is normally made of metal, preferably aluminum. For the sake of brevity, parts discussed in conjunction with Figs.5-6 are not further discussed. [0063] In the preceding description, various aspects of the lifting frame, remotely operated vehicle and the automated storage and retrieval system 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, which is limited only by the appended claims. [0064] Although the frame of the present disclosure has been described in the context of a lifting frame 30 for suspension from a remotely operated vehicle 51 operating on top of upright members 102 of an automated storage and retrieval system 1, it will be appreciated that the frame can also be used in other types of automated storage and retrieval systems. In such other systems, a goods holder is retrieved from the storage volume of the automated storage and retrieval system 1 by moving the frame away from the remotely operated vehicle 51, the frame gripping a goods holder 106 in the storage volume, and moving the frame back towards the remotely operated vehicle 51. For example, the frame can be used in automated storage and retrieval systems in which the remotely operated vehicle 51 operates below the storage volume (in which case the frame may be vertically displaceable such that it may be raised into the storage volume to grip the goods holder, and then lowered out of the storage volume), or in which the remotely operated vehicle 51 operates to the side of a storage volume (in which case the frame may be horizontally displaceable such that it may be moved horizontally in one direction to grip the goods holder, and then moved horizontally in a second, opposite direction). [0065] Examples of the present disclosure are set out in the following numbered clauses. 1. A vertically displaceable lifting frame (30) suspended from a remotely operated vehicle (51) operating on top of upright members (102) of an automated storage and retrieval system (1), said lifting frame (30) for transporting a goods holder (106) to/from a storage volume of the system (1), wherein said lifting frame (30) comprises a lifting frame body (32), wherein at least one exterior section of the lifting frame body (32) is made of polymer material. 2. A vertically displaceable lifting frame (30) of clause 1, wherein all exterior sections of the lifting frame body (32) are made of polymer material. 3. A vertically displaceable lifting frame (30) of any of the preceding clauses, wherein the lifting frame body (32) is made completely of polymer material. 4. A vertically displaceable lifting frame (30) of any of the preceding clauses, wherein thermal conductivity of the polymer material is below 0.5 W/m·K. 5. A vertically displaceable lifting frame (30) of any of the preceding clauses, wherein at least one chamber (34) is arranged in the interior of the lifting frame body (32). 6. A vertically displaceable lifting frame (30) of any of the preceding clauses, wherein said lifting frame body (32) comprises a first body part (32a) coupled to the remotely operated vehicle (51) by means of lifting bands when said lifting frame (30) is suspended from said vehicle (51) and a second body part (32b) attached to a lower side of the first body part (32a). 7. A vertically displaceable lifting frame (30) of clause 6, when dependent on clause 5, wherein said at least one chamber (34) is arranged between the first (32a) and the second (32b) body parts such that the chamber (34) is delimited from above by the first body part (32a) and from below by the second body part (32b). 8. A vertically displaceable lifting frame (30) of any of the clauses 7, wherein said at least one chamber (34) is a central chamber and is shaped as a parallelepiped. 9. A vertically displaceable lifting frame (30) of clause 8, wherein said central chamber (34) holds lifting frame components such as a motor and/or a circuit board. 10. A vertically displaceable lifting frame (30) of clause 9, wherein said central chamber (34) is thermally isolated. 11. A vertically displaceable lifting frame (30) of any of the clauses 9-10, wherein said central chamber (34) is provided with a heating element. 12. A vertically displaceable lifting frame (30) of any of the clauses 6-11, wherein at least one of the first (32a) and the second (32b) body parts has a central part (39) and a first (41) and a second (43) peripheral parts. 13. A vertically displaceable lifting frame (30) of clause 12, wherein the second peripheral part (43) is mirror-inverted relative to the first peripheral part (41). 14. A vertically displaceable lifting frame (30) of any of the clauses 12-13, wherein a vertical through-hole (45) is arranged in a distal corner section of the at least one peripheral part (41, 43), said through-hole (45) for receiving a vertically extending pin (47) for guiding the lifting frame (30). 15. A vertically displaceable lifting frame (30) of any of the preceding clauses, wherein the lifting frame (30) further comprises at least one gripper element (35) for engagement with a corresponding recess arranged in a body of the goods holder (106), said at least one gripper element (35) being arranged at a distal side of the at least one peripheral part (41, 43). 16. A vertically displaceable lifting frame (30) of any of the clauses 12-15, wherein the lifting frame (30) further comprises an elongate element (48) passing through the central part (39) and the first (41) and the second (41) peripheral parts such that said parts (39, 41, 43) become coupled. 17. A vertically displaceable lifting frame (30) of any of the preceding clauses, wherein the lifting frame (30) is manufactured by means of molding, preferably injection molding. 18. A remotely operated vehicle (51) comprising a vertically displaceable lifting frame (30) of any of the preceding clauses, said remotely operated vehicle (51) operating above a storage volume of an automated storage and retrieval system (1). 19. An automated storage and retrieval system (1) comprising a storage volume (104) and a remotely operated vehicle (51) operating above said storage volume (104), said remotely operated vehicle (51) comprising a vertically displaceable lifting frame (30) of any of the preceding clauses, wherein the storage volume (104) is a multitemperature storage volume. 20. An automated storage and retrieval system (1) of clause 19, wherein at least one subvolume of said multitemperature storage volume (104) is refrigerated. 21. An automated storage and retrieval system (1) of clause 19, wherein at least one subvolume of said multitemperature storage volume (104) is kept at a subzero temperature. 22. A method of handling goods holders (106) stored in a storage volume (104) of an automated storage and retrieval system (1), said storage volume (104) being a multitemperature storage volume (104), wherein at least one subvolume of said multitemperature storage volume (104) is refrigerated, preferably kept at a subzero temperature, said method comprising: - lowering a vertically displaceable lifting frame (30) comprising a lifting frame body (32) to said subvolume such that the lifting frame (30) is exposed to subzero temperatures, wherein at least one exterior section of the lifting frame body (32) is made of polymer material, - engaging the goods holder (106) by means of gripper elements (35) of the lifting frame (30), - raising the vertically displaceable lifting frame (30) and the engaged goods holder (106). List of reference numbers 1 Storage and retrieval system 30 Lifting frame 32 Frame body part 32a First body part 32b Second body part 34 Chamber 35 Gripper element 39 Central part 41 First peripheral part 43 Second peripheral part 45 Through-hole 47 Guide pin 48 Elongate element 51 Remotely operated vehicle 102 Upright members of framework structure 104 Storage grid/Storage volume 105 Storage column 106 Storage container; Goods holder 106’ Particular position of storage container 107 Stack of storage containers 108 Rail system 110 Parallel rails in first direction (X) 111 Parallel rails in second direction (Y) 112 Access opening 119 First port column 201 Container handling vehicle belonging to prior art 201a Vehicle body of the container handling vehicle 201 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Cantilever-based container handling vehicle belonging to prior art 301a Vehicle body of the container handling vehicle 301 301b Drive means in first direction (X) 301c Drive means in second direction (Y) 401 Container handling vehicle belonging to prior art 401a Vehicle body of the container handling vehicle 401 401b Drive means in first direction (X) 401c Drive means in second direction (Y) 500 Control system X First direction Y Second direction Z Third direction

Claims

CLAIMS 1. A displaceable frame (30) for transporting a goods holder (106) to/from a storage volume of an automated storage and retrieval system (1), wherein said frame (30) comprises a frame body (32), wherein at least one exterior section of the frame body (32) is made of polymer material.

2. The frame of claim 1, wherein the frame is a vertically displaceable lifting frame and is for suspension from a remotely operated vehicle (51) operating on top of upright members (102) of the system (1), and wherein the frame body is a lifting frame body.

3. The frame (30) of any of the preceding claims, wherein substantially all of the exterior sections of the frame body (32) are made of polymer material.

4. The frame (30) of any of the preceding claims, wherein all exterior sections of the frame body (32) are made of polymer material.

5. The frame (30) of any of the preceding claims, wherein the frame body (32) is made completely of polymer material.

6. The frame (30) of any of the preceding claims, wherein thermal conductivity of the polymer material is below 0.5 W/m·K.

7. The frame (30) of any of the preceding claims, wherein at least one chamber (34) is arranged in the interior of the frame body (32).

8. The frame (30) of claim 7, wherein said at least one chamber (34) is a central chamber and is shaped as a parallelepiped.

9. The frame (30) of any of claims 7 to 8, wherein said at least one central chamber (34) holds frame components such as a motor and/or a circuit board.

10. The frame (30) of any of claims 7 to 9, wherein said central chamber (34) is thermally isolated.

11. The frame (30) of any of claims 7 to 10, wherein said central chamber (34) is provided with a heating element.

12. The frame (30) of any of the preceding claims, wherein said frame body (32) comprises a first body part (32a) configured to be coupled to the remotely operated vehicle (51), optionally by means of lifting bands, and a second body part (32b) attached to a lower side of the first body part (32a).

13. The frame (30) of claim 12, when dependent on claim 7, wherein said at least one chamber (34) is arranged between the first (32a) and the second (32b) body parts such that the chamber (34) is delimited from above by the first body part (32a) and from below by the second body part (32b).

14. The frame (30) of any of claims 12 to 13, wherein at least one of the first (32a) and the second (32b) body parts has a central part (39) and a first (41) and a second (43) peripheral parts.

15. The frame (30) of claim 14, wherein the second peripheral part (43) is mirror-inverted relative to the first peripheral part (41).

16. The frame (30) of any of claims 14 to 15, wherein a vertical through-hole (45) is arranged in a distal corner section of the at least one peripheral part (41, 43), said through-hole (45) for receiving a vertically extending pin (47) for guiding the frame (30).

17. The frame (30) of any of the preceding claims, wherein the frame (30) further comprises at least one gripper element (35) for engagement with a corresponding recess arranged in a body of the goods holder (106).

18. The frame (30) of claim 17, when dependent on claim 14, said at least one gripper element (35) being arranged at a distal side of the at least one peripheral part (41, 43).

19. The frame (30) of any of claims 14 to 18, when dependent on claim 14, wherein the frame (30) further comprises an elongate element (48) passing through the central part (39) and the first (41) and the second (41) peripheral parts to couple said parts (39, 41, 43).

20. The frame (30) of any of the preceding claims, wherein the frame (30) is manufactured by means of molding, preferably injection molding.

21. A remotely operated vehicle (51) comprising the frame (30) of any of the preceding claims.

22. An automated storage and retrieval system (1) comprising a storage volume and the remotely operated vehicle (51) of claim 21.

23. The automated storage and retrieval system (1) of claim 22, said remotely operated vehicle (51) being configured to operate above the storage volume.

24. The automated storage and retrieval system (1) of any of claims 22 to 23, wherein the storage volume (104) is a multitemperature storage volume.

25. The automated storage and retrieval system (1) of claim 24, wherein at least one subvolume of said multitemperature storage volume (104) is configured to be refrigerated.

26. The automated storage and retrieval system (1) of any of claims 24 to 25, wherein at least one subvolume of said multitemperature storage volume (104) is configured to be kept at a subzero temperature.

27. A method of handling goods holders (106) stored in a storage volume (104) of an automated storage and retrieval system (1), said method comprising: moving a displaceable frame (30) comprising a frame body (32) and gripper elements (35) to a subvolume of the storage volume, wherein at least one exterior section of the frame body (32) is made of polymer material; engaging the goods holder (106) by means of the gripper elements (35); and moving the displaceable frame (30) and the engaged goods holder (106) away from said subvolume.

28. The method of claim 27, wherein the displaceable frame is a vertically displaceable lifting frame, the frame body is a lifting frame body, the moving to said subvolume comprises lowering the vertically displaceable lifting frame to said subvolume, and the moving away from saidsubvolume comprises raising the vertically displaceable lifting frame.

29. The method of any of claims 27 to 28, wherein said storage volume (104) is a multitemperature storage volume (104), wherein the subvolume of said multitemperature storage volume (104) is refrigerated, preferably kept at a subzero temperature, and wherein the frame (30) is moved to said subvolume such that the frame (30) is exposed to subzero temperatures.