NO347554B1 - Conveyor access station for an automated storage and retrieval system and a method for using same - Google Patents

Description

A CONVEYOR ACCESS STATION FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM AND A METHOD FOR USING SAME

FIELD OF THE INVENTION

The present invention relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to an access station for presentation of a goods holder from an automated storage and retrieval system to a picker.

BACKGROUND AND PRIOR ART

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. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminum profiles.

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 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 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 110 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 selfsupporting.

Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a,301a,401a and first and second sets of wheels 201b, 201c, 301b, 301c,401b,401c which enable the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively. In Figs. 2, 3 and 4 two wheels in each set are fully visible. The first set of wheels 201b,301b,401b is arranged to engage with two adjacent rails of the first set 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.

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.

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=17, 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.

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. WO2015/193278A1 and WO2019/206487A1, 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. 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 WO2015/193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

Alternatively, the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in WO2014/090684A1 or WO2019/206487A1.

The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g. an X direction) may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

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.

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 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.

In Fig. 1, the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.

The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are returned into the framework structure 100 again once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

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

If the port columns 119,120 and the access station are located at different levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.

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.

When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201,301,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301 ,401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105, or relocated to other storage columns 105.

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.

Fig. 5 shows examples of products 80 stored in a storage container 106. The storage container 106 illustrated in Fig, 5 has a height Hf, a width Wf and a length Lf. The storage container 106 has a horizontal cross section Af.

A prior art access station referred to as a conveyor port is disclosed in https://youtu.be/4iowCTtOpuI, of 10 June 2016. The conveyor port comprises a belt conveyor. While the video illustrates a belt conveyor comprising two parallel belts, the two parallel belts could be replaced by a single belt. The belt conveyor further comprises one or more drive devices for moving a storage container on the belt conveyor. The conveyor port is defined by three equally sized parts each part having space for a storage container. Thus, the size of the belt conveyor is approximately the size of three storage containers. A picking part of the conveyor port is positioned outside the framework structure. The picking part may be a picking and/or supply station allowing an operator to pick or supply items from/to the framework structure. A put/get part (or a receiving position) of the conveyor port is located below the rail system and next to the picking part. The put/get part is below a port column. A buffer part of the conveyor port is located next to the put/get part further into the framework structure, typically below a storage column.

The short length of the prior art conveyor port can make it possible for a user to get a hand into the put/get position from the access station so that the hand can be damaged by the lifting device.

The storage container to be retrieved from the conveyor port must be placed in the same position as it was delivered in the put/get position for the container handling robot to grip and lift it. There is a risk that the storage container is shifted during transport on the belt conveyor or if the operator bumps into the storage container during picking. The container handling vehicle could then risk not being able to grip and lift the container to be retrieved.

In WO2021/165030A1 it is proposed a solution wherein two belt conveyors are used in combination to provide a picking part arranged at a greater distance from the put/get part such that user safety can be enhanced.

A drawback of this and other solutions providing a picking part at a safe distance from the put/get part is that they compromise the simplistic functionality of the conveyor port.

An aim of the present invention is to provide an access station for an automated storage and retrieval system which alleviates or mitigates at least some of the disadvantages related to the known conveyor systems such as construction complexity.

SUMMARY OF THE INVENTION

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

The present invention relates to an access station for presentation of a goods holder from an automated storage and retrieval system to a picker,

the access station having a transfer zone for transferring the goods holders horizontally, the transfer zone including a receiving position for receiving the goods holder, forward of the receiving position a picking position for picking products from the goods holders, and behind the receiving position a buffer position for buffering of the goods holder,

wherein the access station has a first transfer zone separation horizontally separating the receiving position and the picking position in a first direction, and a second transfer zone separation horizontally separating the receiving position and the buffer position in the first direction,

wherein the access station comprises a conveyor arranged in a horizontal plane and configured to transport a goods holder back and forth between the picking position, the receiving position, and the buffer position.

The conveyor may be rollers configured to move all goods holders placed thereon simultaneously while maintaining the distance between them.

To maintaining the distance between the goods holders placed on the conveyor, their movement should start and stop at the same time and at the same speed.

The conveyor may be a belt conveyor, i.e. a conveyor system comprising a continuous track. A continuous track will inherently be configured to move all goods holders placed thereon simultaneously while maintaining the distance between them.

The continuous track of the belt conveyor may be a one-piece track (such as a belt), a multi-piece track (such as a chain), or similar elements suitable for supporting goods holders and moving continuously.

The conveyor is typically powered by an electric motor. In some cases, several motors may be employed.

The first transfer zone separation and the second transfer zone separation may each extend in the first direction by an equal transfer zone separation length. The picking position and the buffer position are thus symmetrically arranged on opposite sides of the receiving position.

With the first transfer zone separation and the second transfer zone separation each extending in the first direction X by an equal transfer zone separation length, a flow of goods holders to/from the access station can be achieved by means of only one conveyor.

The distance between the picking position and the receiving position may be set freely as long as the distance between the buffer position and the receiving position is set correspondingly.

The transfer zone separation length may be at least 5 cm, and typically in the range of 10-50 cm.

The receiving position, the picking position and the buffer position may each extend in the first direction X by an equal position length.

The transfer zone separation length may be at least 10 % of the position length of the picking position, the receiving position or the buffer position, and typically in the range of 25-150 % of the position length of the picking position, the receiving position or the buffer position.

The transfer zone separation length may be at least 10 % of a goods holder width or length, and typically in the range of 25-150 % of the goods holder width or length.

The dimensions of a goods holder in the form of a storage container may be 449 mm wide and 649 mm long. The height of a goods holder in the form of a storage container may be 220 mm, 330 mm or 425 mm.

The goods holder may e.g. be a storage container, a bin, a tote, a pallet, a tray or similar. Different types of goods holders may be used in the same system.

The receiving position, the picking position and the buffer position may have a position length extending in the first direction X corresponding to a length or width of the goods holder.

The receiving position, the picking position and the buffer position may have a position width extending in the second direction Y corresponding to a length or width of the goods holder.

The receiving position, the picking position and the buffer position may thus have a sized corresponding to a size of the goods holder.

When a goods holder is in the picking position, it will be accessible to a human or robotic picker, such that items can be placed in the goods holder or taken out of the goods holder. The picking position does not need to be accessible to a container handling vehicle.

When a goods holder is in the receiving position, it will be accessible to an above operating container handling vehicle. A goods holder can be placed or retrieved to/from the receiving position while another goods holder is in the picking position or the buffer position.

The receiving position can also be referred to as a put/get part because it is a part of the access station where a container handling vehicle can put a goods holder, and also a part of the access station where a container handling vehicle can get a goods holder.

When a goods holder is in the buffer position it will typically not be accessible to a picker.

When a goods holder is in the buffer position it will typically not be accessible to a container handling vehicle.

The conveyor may be a belt conveyor comprising a plurality of protrusions.

The protrusions may contribute in preventing the goods holders from shifting on the belt conveyor as they are transported between the picking position, the receiving position, and the buffer position, particularly during starting and stopping of the belt conveyor.

The protrusions may contribute in preventing the goods holders from shifting during a picking operation.

When a goods holder can be transported back and forth on the belt conveyor without shifting, retrieval of the goods holder by means of a container handling vehicle can be facilitated.

The protrusions may serve as references for one or more sensors of a control system, e.g. to control the operation of the belt conveyor.

The protrusions may be formed by increasing or reducing a thickness of the conveyor belt in selected areas.

Areas of the conveyor belt with increased thickness will extend outwards beyond the areas of the conveyor belt without increased thickness and thus form protrusions. Goods holders can then be placed in the areas of the conveyor belt without increased thickness. The conveyor belt may be produced with areas of increased thickness or the increased thickness may be achieved by means of attaching parts to the conveyor belt, either as part of the production or retrofitted.

Areas of the conveyor belt without reduced thickness will extend outwards beyond the areas of the conveyor belt with reduced thickness and thus form protrusions. Goods holders can then be placed in the areas of the conveyor belt with reduced thickness. The areas with reduced thickness may be seats or reliefs for the goods holders to engage with.

Protrusions may be formed by corrugating selected areas of a conveyor belt, wherein the conveyor belt has an even thickness.

The protrusions may be arranged to define protrusion areas along the belt conveyor, each protrusion area extending a distance in the first direction equal to the transfer zone separation length.

One or more protrusions may be arranged to define one protrusion area.

The safety of an operator using the access station may thus be enhanced when the protrusion area can have a length preventing operators getting their hands into the receiving position. The protrusion area may have a length separating the goods holders by at least an arm’s width to prevent operators getting injured.

The protrusion areas may be spaced apart by a protrusion distance in the first direction corresponding to a width of the goods holder.

The protrusion areas may thus define positions between them on the belt conveyor for the goods holders to be placed.

The protrusion areas may be spaced apart by a protrusion distance in the first direction X corresponding to the position lengths of the receiving position, the picking position, and the buffer position.

The protrusions may have bevelled edges.

The protrusions having bevelled edges may serve to guide the goods holder into position as it is placed on the belt conveyor.

A bevelled or in any other way sloped protrusion may cause a goods holder being placed thereon to slide away from the protrusion area.

The protrusions having bevelled edges may help avoiding parts of the picker becoming trapped between the goods holder and the protrusion.

The protrusions may have rounded edges.

The protrusions may be shaped as cubes, domes, or pyramids.

The automated storage and retrieval system may comprise a framework structure for storing goods holders, the framework structure including a rail system arranged on top of the framework structure and comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction perpendicular to the first direction,

wherein the rails of the second set of parallel rails each has a rail width, wherein the transfer zone separation length is greater than the rail width.

The rails in either direction may have a single track or a double track. A single -track rail may have a rail width of 25 mm. A double-track rail may have a rail width of 50 mm.

With the transfer zone separation length being greater than the rail width, a wall can be provided between the picking position and the receiving position, i.e. between a picking section and a storage section. If the automated storage and retrieval system is a cold storage, the wall may preferably be insulated. The temperature in the picking section may then be different from the storage section. In such cases, the insulated wall should help reducing the thermal transmittance between the picking section and the storage section. The thermal transmittance of the insulated wall can be adjusted by means of its wall thickness and the insulating material(s) used in the wall. The transfer zone separation length may then be adjusted according to the wall thickness of the insulated wall.

As an example, in a human working environment (such as a picking section) it is recommended that the temperature is kept at approximately 22°C. Whereas in a storage section an appropriate temperature for storing groceries may be approximately 4°C, and in other cold storages a temperature below -18°C may be preferred.

The insulated wall may preferably have a U-value below 0,25 W/(m2K).

The present invention also relates to an automated storage and retrieval system, wherein the automated storage and retrieval system comprises:

- an access station as disclosed herein,

- a framework structure for storing goods holders, the framework structure including a rail system arranged on top of the framework structure and comprising a first set of parallel rails arranged in a horizontal plane and extending in a first direction X and a second set of parallel rails arranged in the horizontal plane and extending in a second direction Y perpendicular to the first direction X, which first set of parallel rails and second set of parallel rails form a grid pattern in the horizontal plane comprising a plurality of adjacent access openings defined by a pair of neighbouring rails of the first set of parallel rails and a pair of neighbouring rails of the second set of parallel rails,

- a plurality of stacks of goods holders arranged in storage columns located beneath the rail system, wherein each storage column is located vertically below an access opening,

- a port column located beneath the rail system and vertically aligned with the receiving position of the access station, the port column being void of goods holders, and

- a container handling vehicle comprising a lifting device for li fting goods holders stacked in the framework structure above the rail system and drive means configured to drive the container handling vehicle along the rail system in at least one of the first direction X and the second direction Y.

The framework structure may comprise upright members and a storage volume comprising storage columns arranged in rows between the upright members. In these storage columns goods holders can be stacked one on top of one another to form stacks. The upright members may typically be made of metal, e.g. extruded aluminum profiles.

When travelling on the rail system arranged across the top of the framework structure, the container handling vehicles may be operated to raise goods holders from, and lower goods holders into, the storage columns, and also to transport the goods holders above the storage columns.

Goods holders stored in the columns are accessed by the container handling vehicles through access openings in the rail system. The container handling vehicles can move laterally above the storage columns, i.e. in a plane which is parallel to the horizonta l X-Y plane.

The upright members of the framework structure may be used to guide the goods holders during raising of the goods holders out from and lowering of the goods holders into the columns. The stacks of goods holders are typically self-supporting.

The rail system typically comprises rails with grooves in which the wheels of the container handling vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the container handling 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, each rail in one direction (e.g. an X direction) may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. Each rail may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

WO2018/146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system comprising rails and parallel tracks in both X and Y directions.

The first set of parallel rails and the second set of parallel rails form a grid pattern in the horizontal plane. The grid pattern may comprise a plurality of adjacent grid cells, each grid cell comprising an access opening defined by a pair of opposed rails of the first set of parallel rails and a pair of opposed rails of the second set of parallel rails. Each grid cell may include a width of half a rail, corresponding to a width of a track, around each access opening, depending on the rail and track configuration.

The goods holders may be arranged in stacks below the rail system. The plurality of stacks of goods holders may be arranged in storage columns located beneath the rail system, wherein each storage column preferably is located vertically below an access opening.

The transfer zone separation length may be at least 10 % of a length or width of the access opening, and typically in the range of 25-150 % of a length or width of the access opening.

The receiving position, the picking position and the buffer position may have a position length extending in the first direction X corresponding to a length of the access opening.

The receiving position, the picking position and the buffer position may have a position width extending in the second direction Y corresponding to a width of the access opening.

In the framework structure, a majority of the columns are storage columns, i.e. columns where goods holders are stored in stacks. However, some columns may have other purposes. An example of such special-purpose may be columns used by the container handling vehicle to drop off and/or pick up goods holders so that they can be transported to an access station where the goods holders can be accessed from outside of the framework structure or transferred out of or into the framework structure. Such a location can be referred to as an access station or a port and the column in which the port is located can be referred to as a port column.

A port column is typically vertically aligned with an access opening of the rail system.

The access station may typically be a picking or a stocking station where product items are removed from or positioned into the goods holders. In a picking or a stocking station, the goods holders are normally not removed from the automated storage and retrieval system, but are returned into the framework structure again once accessed.

An access station may also be used for transferring goods holders 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.

As any port column is vertically aligned with an access opening of the rail system, the receiving position being vertically aligned with a port column it is also vertically aligned with an access opening of the rail system.

Preferably, the buffer position in not vertically aligned with an access opening of the rail system, or if the buffer position is vertically aligned with an access opening, said access opening is not a second access opening adjacent to a first access opening wherein the first access opening is vertically aligned with the receiving position.

Preferably only the receiving position is vertically aligned with an access opening, i.e. the buffer position and the picking position are preferably not vertically aligned with an access opening. As the buffer position does not need to be accessible by a container handling vehicle, it does not need to be vertically aligned with an access opening of the rail system. The buffer position may thus be arranged at any distance from the receiving position, i.e. the transfer zone separation length can be set freely. In some cases, the appropriate transfer zone separation length may happen to correspond with an arrangement of the buffer position in vertical alignment with an access opening.

The picking position should preferably at least be accessible from the outside of the frame structure. The access station may preferably be arranged such that the picking position is on an outside of the frame structure, and such that the receiving position and buffer position are on an inside of the frame structure.

The belt conveyor may extend beyond the picking position at a first end and/or extend beyond the buffer position at a second end.

The belt conveyor may be arranged such that it covers an area extending into the frame structure by more than two columns in the first direction X (or in the second direction Y) but preferably only three columns. One of these columns will typically be the port column being vertically aligned with the receiving position. The other columns will typically be storage columns. These storage columns may not be used for stacking goods holders, at least not in their lower parts.

It can thus be achieved an automated storage and retrieval system comprising an access station that contributes in providing pickers a safe and healthy working environment.

A further advantage being the low complexity of the access station having only one belt conveyor.

The access station may provide the low complexity and the safety contribution with a relatively low impact on the storage capacity of the automated storage and retrieval system.

For monitoring and controlling the automated storage and retrieval system, e.g. monitoring and controlling the location of respective goods holders within the framework structure, the content of each goods holder, and the movement of the container handling vehicles so that a desired goods holder can be delivered to the desired location at the desired time without the container handling vehicles colliding with each other, the automated storage and retrieval system may comprise a control system which typically is computerized and which typically comprises a database for keeping track of the goods holders.

The control system typically comprises a plurality of sensors.

The container handling vehicle may comprise a vehicle body and first and second sets of wheels which enable the lateral movement of the container handling vehicles in the X direction and in the Y direction, respectively. The first set of wheels may be arranged to engage with two adjacent rails of the first set of rails, and the second set of wheels may be arranged to engage with two adjacent rails of the second set of rails . At least one of the sets of wheels can be lifted and lowered, so that the first set of wheels and/or the second set of wheels can be engaged with the respective set of rails at any one time.

The container handling vehicle may also comprise a lifting device for vertical transportation of goods holders, e.g. raising a goods holder from, and lowering a goods holder into, a storage column. The lifting device may comprise one or more gripping / engaging devices which are adapted to engage a goods holder, and which gripping / engaging devices can be lowered from the container handling vehicle so that the position of the gripping / engaging devices with respect to the container handling vehicle can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y.

The gripping device of the container handling vehicle may be located within a cavity of the vehicle body. The gripping device of the container handling vehicle may alternatively be located on a cantilevered part of the container handling vehicle.

The automated storage and retrieval system may comprise:

- an insulated wall having a wall thickness equal to or smaller than the transfer zone separation length,

wherein the insulated wall and the first transfer zone separation are arranged in a common vertical plane extending in the second direction Y and a third direction Z perpendicular to the first direction X.

The automated storage and retrieval system may thus have two or more temperature zones. This can be advantageous inter alia when storing groceries or for vertical farming.

A sufficient transfer zone separation length may be provided for the insulated wall while the belt conveyor only extends into three columns of the frame structure.

The transfer zone separation length may be calculated based on the required wall thickness, i.e. the transfer zone separation length being equal or greater than the wall thickness.

Alternatively, the transfer zone separation length may be calculated based on the number of available columns in the frame structure into which the belt conveyor can extend (wherein one of these columns typically is the port column). From the combined horizontal length of the available columns, the position lengths of the receiving position and the buffer position are subtracted. If the belt conveyor extends beyond the buffer position, that length is also subtracted from the combined horizontal length of the available columns. The resulting value will then be the maximum available transfer zone separation length.

The present invention also relates to a method of presenting a goods holder at an access station and returning the goods holder using an automated storage and retrieval system as described herein,

wherein the method comprises the steps of:

- placing a first goods holder on the belt conveyor in the receiving position;

- moving the first goods holder to the picking position by means of the belt conveyor to present the first goods holder to a picker,

- moving the first goods holder to the buffer position by means of the belt conveyor,

- placing a second goods holder on the belt conveyor in the receiving position;

- simultaneously moving the first goods holder to the receiving position and the second goods holder to the picking position by means of the belt conveyor, and

- retrieving the first goods holder from the receiving position.

When a goods holder stored in one of the storage columns is to be accessed, one of the container handling vehicles is instructed to retrieve the target goods holder f rom its position and transport it to the drop-off port column. This operation involves moving the container handling vehicle to a location above the storage column in which the target goods holder is positioned, retrieving the goods holder from the storage column using the container handling vehicle’s lifting device, and transporting the goods holder to the drop-off port column.

If the target goods holder is located deep within a stack, i.e. with one or a plurality of other goods holders positioned above the target goods holder, the operation also involves temporarily moving the above-positioned goods holders prior to lifting the target goods holder from the storage column. This step, which can be referred to as “digging”, may be performed with the same container handling vehicle that is subsequently used for transporting the target goods holder to the drop-off port column, or with one or a plurality of other cooperating container handling vehicles.

Alternatively, or in addition, the automated storage and retrieval system may comprise container handling vehicles specifically dedicated to the task of temporarily removing goods holders from a storage column. Once the target goods holder has been removed from the storage column, the temporarily removed goods holder can be repositioned into the original storage column. However, the removed goods holders may alternatively be relocated to other storage columns.

When a goods holder is to be stored in one of the storage columns, one of the container handling vehicles is instructed to pick up the goods holders from the pick-up port column and transport it to a location above the storage column where it is to be stored. After any goods holders positioned at or above the target position within the stack have been removed, the container handling vehicle positions the goods holder at the desired position. The removed goods holder may then be lowered back into the storage column, or relocated to other storage columns.

BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

Fig. 5 is a perspective view of a prior art goods holder in the form of a storage container.

Fig. 6a is a side view of an access station having a transfer zone for transferring goods holders horizontally, the access station being arranged in an automated storage and retrieval system.

Figs. 6a-6h are all side views of the same access station illustrating a typical goods holder throughput sequence.

Fig. 7 is a side view of the access station of Fig.6a, wherein the transfer zone includes a receiving position for receiving the goods holder, forward of the receiving position a picking position for picking products from the goods holders, behind the receiving position a buffer position for buffering of the goods holder, a first transfer zone separation horizontally separating the receiving position and the picking position in a first direction, and a second transfer zone separation horizontally separating the receiving position and the buffer position in the first direction X.

Fig. 8 is a side view of an access station arranged in an automated storage and retrieval system, the system comprising an insulated wall such that a first side of the wall may have a first temperature zone and a second side of the wall may have a second temperature zone, and the access station extend into both the first temperature zone and the second temperature zone.

Fig. 9 is a side view of a belt conveyor for the access station, illustrating goods holders placed thereon and spaced apart by a transfer zone separation length while being inside a transfer zone length.

Fig. 10 is a side view of a belt conveyor for the access station, wherein a plurality of protrusions is provided on a belt of the belt conveyor, each protrusion covering a protrusion area extending in the first direction X a length corresponding to the transfer zone separation length.

Fig. 11a is a side view of a belt conveyor for the access station, wherein the protrusion areas are spaced apart by a protrusion area distance and the protrusions have a different geometry than the protrusions of Fig.10.

Fig. 11b is a side view of a belt conveyor for the access station, wherein the protrusions have a different geometry than the protrusions of Figs. 10 and 11a.

Fig. 12a is a side view of a belt conveyor for the access station, wherein more than one protrusion is arranged to define one protrusion area.

Fig. 12b is a side view of a belt conveyor for the access station, wherein more than one protrusion is arranged to define one protrusion area, wherein the protrusions have a different geometry than the protrusions of Fig. 12a.

Fig. 13a is a side view of a belt conveyor for the access station, wherein protrusions are provided on a belt of even thickness.

Fig. 13b is a side view of a belt conveyor for the access station, wherein protrusions are provided by means of corrugated parts of a belt of even thickness.

DETAILED DESCRIPTION OF THE INVENTION

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

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 goods holders such as 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 100 can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1. For example, the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve storage containers 106.

Embodiments of the access station 600, an automated storage and retrieval system 1, and a method according to the invention will now be discussed in more detail with reference to Figs. 6a-13b.

The access station 600 is arranged as part of the automated storage and retrieval system 1. In Fig. 6a, it is shown that the access station 600 may be arranged partly inside the framework structure 100, i.e. one part of the access station 600 extends outside the framework structure 100 while a second part of the access station 600 extends into the framework structure 100. In Fig. 6a, the access station 600 extends into a third column of the framework structure 100. The columns may be one or more port columns 119 and/or one or more storage columns 105. If the access station 600 extends into a storage column 105, its storing capacity will be reduced. The column may then be kept void of goods holders and not used for storing. Such column can be converted into a port column 119 or it may not be used at all.

Container handling vehicles 201,301,401 operating on the rail system 108 can deliver and retrieve goods holders to/from the part of the access station 600 extending into the framework structure 100.

A human or robotic picker employed at the automated storage and retrieval system 1 can access the part of the access station 600 extending outside the framework structure 100. Access to the part of the access station 600 extending outside the framework structure 100 may be limited by a cabinet 601 comprising a hatch 602. The hatch 602 will typically be closed and locked when no goods holder is present. The locking and closing may be automated. The hatch 602 will typically be unlocked and opened when a goods holder is present. The unlocking and opening may be automated.

Figs. 6a-h show side views of an access station 600 arranged in an automated storage and retrieval system 1 of the type shown in Fig. 1 and illustrates a typical goods holder throughput sequence. The sequence involves receiving a goods holder, presenting the goods holder to a picker, buffering the goods holder, and retrieving the goods holder.

The access station 600 comprises a conveyor in the form of a belt conveyor 610 on which goods holders can be placed. The belt conveyor 610 is arranged in a horizontal plane PH. The belt conveyor 610 can transfer goods holders placed thereon horizontally back and forth through a transfer zone ZT. The transfer zone ZT has a transfer zone length LT, an example of which is illustrated in Fig. 8.

As illustrated through Figs. 6a-h, the transfer zone ZT includes a receiving position PR for receiving the goods holder, forward of the receiving position PR a picking position PP for picking products 80 from the goods holders, and behind the receiving position PR a buffer position PB for buffering of the goods holder.

The belt conveyor 610 is thus configured to transport goods holders back and forth in the first direction X between the picking position PP, the receiving position PR, and the buffer position PB.

The receiving position PR and the picking position PP are horizontally separated by a first transfer zone separation ZTS1, as shown in Fig. 6c. The receiving position PR and the buffer position PB are horizontally separated by a second transfer zone separation ZTS2, as shown in Fig. 6d.

In Fig. 6a, a container handling vehicle 301 is delivering a first goods holder in the form of a first storage container 106a to the transfer zone ZT of the access station 600. The container handling vehicle 301 is movable along the rail system 108 and lowers the first storage container 106a through a port column 119 being vertically aligned with an access opening 112 of the rail system 108. The container handling vehicle 301 uses a gripping device 304 to hold the first storage container 106a. A control system 500 may be arranged to control the automated storage and retrieval system 1 including the container handling vehicle 301 and the access station 600.

In Fig. 6b, the first storage container 106a is placed on the belt conveyor 610 and in the receiving position PR of the access station 600. The receiving position PR can also be referred to as a put/get part because it is a part of the access station 600 where the container handling vehicle 301 can put a goods holder (in this case a storage container 106), and also a part of the access station 600 where a container handling vehicle 301 can get a goods holder (in this case a storage container 106). The receiving position PR is vertically aligned with the port column 119 and thus also the access opening 112 in the rail system 108. This port column 119 will typically be the first column when counting from the outside of the framework structure 100 and in, i.e. when counting from the left in Fig. 6c. The receiving position PR is thus in the part of the access station 600 that extends into the framework structure 100. The container handling vehicle 301 has retracted its gripping device 304.

In Fig. 6c, the first storage container 106a has been moved horizontally by means of the belt conveyor 610 in the first direction X, from the receiving position PR to the picking position PP via the first transfer zone separation ZTS1. The cabinet 601 has been removed for clarity and would typically be present. The human picker (could also be robotic) can access the content of the first storage container 106a when located in the picking position PP. A picking operation can then be performed by the picker. The picking position PP is in the part of the access station 600 that extends outside the framework structure 100. At this time the container handling vehicle 301 may be assigned a new task.

In Fig. 6d, the first storage container 106a has been moved horizontally by means of the belt conveyor 610 in the first direction X, from the picking position PP to the buffer position PB via the first transfer zone separation ZTS1, the receiving position PR and the second transfer zone separation ZTS2. The buffer position PB is not vertically aligned with one port column 119 (or any other type of column), i.e. the buffer position PB is set independently of any column(s) that may be arranged above it. The buffer position PB is arranged below the second and third columns when counting from the outside of the framework structure 100 and in, i.e. when counting from the left in Fig. 6d.

In Fig. 6e, the container handling vehicle 301 (or alternatively another container handling vehicle 301) has returned to a position on the rail system 108 above the access station 600. The container handling vehicle 301 is carrying a second goods holder in the form of a second storage container 106b. The container handling vehicle 301 is delivering the second storage container 106b to the transfer zone ZT of the access station 600 while the first storage container 106a is in the buffer position PB.

In Fig. 6f, the second storage container 106b is placed on the belt conveyor 610 and in the receiving position PR of the access station 600. The first storage container 106a is still in the buffer position PB. The distance between the first storage container 106a and the second storage container 106b corresponds to the length of the second transfer zone separation ZTS2, i.e. a transfer zone separation length LTS, as illustrated in Fig. 7. As the first storage container 106a and the second storage container 106b are placed on the same belt conveyor 610, they can be moved simultaneously in the first direction X by means of the belt conveyor 610. As the first storage container 106a and the second storage container 106b are moved simultaneously, the distance between them should be kept constant. However, one or both of the first storage container 106a and the second storage container 106b may move relative each other if the belt conveyor 610 is not operated smoothly, e.g. by jerky movement or high acceleration/deceleration.

In Fig. 6g, the second storage container 106b has been moved horizontally by means of the belt conveyor 610 in the first direction X, from the receiving position PR to the picking position PP via the first transfer zone separation ZTS1. A picker can then access the products 80 from the second storage container 106b.The cabinet 601 has been removed for clarity and would typically be present. Again, the cabinet 601 is removed for clarity.

In Fig. 6g, the first storage container 106a has been moved horizontally by means of the belt conveyor 610 in the first direction X, from the buffer position PB to the receiving position PR via the second transfer zone separation ZTS2. The first storage container 106a can then be retrieved by a container handling vehicle 301, e.g. the container handling vehicle 301 that delivered the second storage container 106b.

From their positions in Fig. 6f to their positions in Fig. 6g, the first storage container 106a and the second storage container 106b were moved an equal distance in the first direction X.

In Fig. 6h, the first storage container 106a is being retrieved by the container handling vehicle 301 while the second storage container 106b is in the picking position PP.

Fig. 7 shows a side view of the access station 600 of Fig. 6a wherein the first transfer zone separation ZTS1 and the second transfer zone separation ZTS2 each extend in the first direction X by an equal transfer zone separation length LTS. Due to the equal transfer zone separation lengths LTS, one belt conveyor 610 can move the first storage container 106a from the buffer position PB to the receiving position PR while simultaneously moving the second storage container 106b from the receiving position PR to the picking position PP.

The rails 111 of the rail system 108 have a rail width WR. The transfer zone separation length LTS is preferably greater than the rail width WR.

The storage columns 105 and the port columns 119 each have a column width WC. The transfer zone separation length LTS is preferably shorter than the column width WC.

The transfer zone ZT has a transfer zone length LT. The transfer zone length LT covers the picking position PP, the first transfer zone separation ZTS1, the receiving position PR, the second transfer zone separation ZTS2, and the buffer position PB.

Fig. 8 shows a side view of the access station 600 arranged in an automated storage and retrieval system 1 comprising an insulated wall 130. The insulated wall 130 is arranged to isolate the framework structure 100 from is surroundings. The insulated wall 130 may be an external wall of a warehouse, or an internal wall inside the warehouse. Regardless, the insulated wall 130 is configured to facilitate a first temperature zone T1 on a first side of the insulated wall 130 and a second temperature zone T2 on the second side of the wall.

The automated storage and retrieval system 1 may comprise one or more insulated walls 130. Preferably, the entire automated storage and retrieval system 1 is covered by the one or more insulated walls 130.

The automated storage and retrieval system 1 may comprise an insulated ceiling 140. The insulated wall 130 and the insulated ceiling 140 may be connected to each other.

As illustrated in Fig. 8, the access station 600 may extend on both sides of the insulated wall 130 and thus have a first part in the first temperature zone T1 and a second part in the second temperature zone T2.

The insulated wall 130 and the first transfer zone separation ZTS1 can preferably be arranged in a common vertical plane PV extending in the second direction Y and a third direction Z perpendicular to the first direction X.

The insulated wall 130 has a wall thickness TW which preferably is equal or smaller than the transfer zone separation length LTS. By having a wall thickness TW that is equal or smaller than the transfer zone separation length LTS, the picking position PP can be arranged in the first temperature zone T1, and the receiving position PR and the buffer position PB can be arranged in the second temperature zone T2.

The wall thickness TW can be set based on the available transfer zone separation length LTS, e.g. in cases where the extent of the access station 600 into the framework structure 100 must not exceed a given length or number of columns.

Alternatively, the transfer zone separation length LTS can be set based on the required wall thickness TW, e.g. in cases where a given wall thickness TW is required to achieve a desired U-value.

The wall thickness TW and the materials used inside the insulated wall 130 are factors affecting the U-value.

A throughgoing opening 131 may be provided in the insulated wall 130. The throughgoing opening 131 may be configured to provide access for the belt conveyor 610 and a goods holder moving along the belt conveyor 610.

A PCV curtain may be provided in the throughgoing opening 131.

In addition to the insulated wall 130, the cabinet 601 may also be insulated.

Fig. 9 shows a side view of the belt conveyor 610 for the access station 600. Three goods holders in the form of storage containers 106 are placed on the belt conveyor 610 and spaced apart by a transfer zone separation length LTS.

Fig. 10 shows a side view of the belt conveyor 610 of Fig. 9 with the difference that a plurality of protrusions 611 is provided on a belt of the belt conveyor 610. The protrusions 611 are configured to prevent relative movement between the belt conveyor 610 and the goods holders placed on the belt conveyor 610.

The protrusions 611 are arranged to define protrusion areas AP along the belt conveyor 610. In Fig. 10, each protrusion area AP is covered by one protrusion 611.

Preferably, each protrusion area AP extends a distance in the first direction X equal to the transfer zone length LT. Preferably, each protrusion area AP extends at least a distance in the second direction Y that equals a length Lf or width Wf of the goods holder (such as a storage container 106). More preferred, each protrusion area AP extends a distance in the second direction Y that equals an extent of the belt in the second direction Y. However, a smaller extent of the protrusion area AP would also to some extent prevent relative movement between the belt conveyor 610 and the goods holders placed on the belt conveyor 610.

In Fig. 10, the protrusion areas AP are spaced apart in the first direction X by a protrusion area distance DP. Preferably, the protrusion area distance DP corresponds to a width Wf of the goods holder (such as a storage container 106). In that way there will be no play between a goods holder placed on the belt conveyor 610 and two adjacent protrusion areas AP. Relative movement between the belt conveyor 610 and the goods holder can thus be prevented in the first direction X.

When the protrusion area distance DP corresponds to a width Wf of the goods holder (such as a storage container 106) it may be a tight fit for the goods holder between the adjacent protrusions 611. The protrusions 611 may therefore be shaped to guide the goods holder into place between the protrusion areas AP, i.e. to avoid the goods holder being placed partly inside the protrusion area AP.

Fig. 11a and Fig. 11b show side views of the belt conveyor 610 with protrusions 611 of a different shape than those of Fig. 10. The protrusions of Fig. 11a and Fig. 11b are shaped to guide the goods holder into place between the protrusion areas AP. An example of how this may be achieved is the protrusions 611 with bevelled edges illustrated in Fig. 11a. Another example of how this may be achieved is the protrusions 611 with rounded edges illustrated in Fig. 11b.

The protrusions 611 with bevelled or rounded edges will contribute in guiding the goods holder as it is placed on the belt conveyor 610. If a goods holder is placed partly inside a protrusion area AP, the protrusion 611 will urge the goods holder to slide in place, i.e. out of the protrusion area AP.

A portion of each protrusion 611 may have an inclination part 612 sloping downwards away from the protrusion area AP, e.g. in the form of bevelled or rounded edges. As the inclination part 612 gets steeper, the more likely the goods holders will slide in place.

Each protrusion 611 may have an inclination part 612, wherein the inclination part 612 slopes downwards away from the protrusion area AP. The inclination part 612 may be angled relative the horizontal plane PH with an angle of at least 35°, more preferred at least 45°, even more preferred at least 60°. However, the inclination part 612 should preferably not be angled relative the horizontal plane PH with an angle of 90°.

Opposite sides of the protrusion area AP may typically have oppositely directed inclination parts 612. The oppositely directed inclination parts 612 may be parts of the same protrusion 611 or be parts of two separate protrusions 611.

There will be a friction between the protrusions 611 and the goods holders. As the friction is reduced, the more likely the goods holders will slide in place. The friction can be affected by the material and surface roughness of the protrusions 611. Harder materials and smoother surfaces generally provide a lower friction than soft materials and rough surfaces.

The protrusions 611 may preferably be configured to provide a static friction coefficient between them and the goods holders that is less than 0,5, more preferred less than 0,35, more preferred less than 0,2 when their surfaces are clean and dry, i.e. without lubrication.

Fig. 12a and Fig. 12b show side views of a belt conveyor 610 with protrusions 611 with the same shape as the protrusions 611 of Fig. 11a and 11b, respectively. However, the size of the protrusions 611 is reduced in Fig. 12a and Fig. 12b, such that more than one protrusion 611 is arranged to define the protrusion area AP.

The protrusion area AP does not need to be fully covered by protrusions 611. The protrusions 611 may define a perimeter of the protrusion area AP, e.g. as illustrated in Fig. 12a and Fig. 12b.

The belt and the protrusions 611 do not need to be made of the same material. Protrusions 611 of a different material may be attached to the belt.

Fig. 13a and Fig. 13b show side views of a belt conveyor 610 with protrusions 611 that are formed by the belt. The belt has an even thickness. The protrusions 611 are formed by raised portions of the belt. There will typically be a gap below the raised portions. The belt must therefore be sufficiently stiff, such that the protrusions does not collapse by the weight of a goods holder and its content.

As illustrated in Fig. 13b, the raised parts of the belt forming protrusions 611 may be corrugated.

As the belt conveyor 610 is operated, the protrusions 611 will move from a top side of the belt conveyor 610 to an underside of the belt conveyor 610 and vice versa. Space for the protrusions 611 must therefore be provided underneath the belt conveyor 610.

In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.

LIST OF REFERENCE NUMBERS

1 Prior art automated storage and retrieval system

80 Product

100 Framework structure

102 Upright members of framework structure

104 Storage grid

105 Storage column

106 Storage container

106’ Particular position of storage container

107 Stack

108 Rail system

110 Parallel rails in first direction (X)

111 Parallel rails in second direction (Y)

112 Access opening

119 First port column

120 Second port column

130 Insulated wall

131 Throughgoing opening in the insulated wall

140 Insulated ceiling

201 Prior art container handling vehicle

201a 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 (Y)

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 (Y) 304 Gripping device

401 Prior art container handling vehicle

401a Vehicle body of the container handling vehicle 401

401b Drive means / first set of wheels in first direction (X)

401c Drive means / second set of wheels in second direction (Y) 404 Gripping device

404a Lifting band

404b Gripper

404c Guide pin

404d Lifting frame

500 Control system

600 Access station

601 Cabinet

602 Hatch

610 Belt conveyor

611 Protrusion on belt conveyor

612 Inclination part

X First direction

Y Second direction

Z Third direction

Af Area / horizontal cross section of the storage container AP Protrusion area

DP Protrusion area distance

Hf Height of the storage container

Lf Length of the storage container

LT Transfer zone length

LTS Transfer zone separation length

PB Buffering position

PP Picking position

PR Receiving position

PH Horizontal plane

PV Vertical plane

TW Wall thickness

T1 First temperature zone

T2 Second temperature zone

WC Storage column width / port column width

Wf Width of the storage container

WR Rail width

ZT Transfer zone

ZTS1 First transfer zone separation

ZTS2 Second transfer zone separation

Claims (10)

1. An access station (600) for presentation of a goods holder from an automated storage and retrieval system (1) to a picker,

the access station (600) having a transfer zone (ZT) for transferring the goods holders horizontally, the transfer zone (ZT) including a receiving position (PR) for receiving the goods holder, forward of the receiving position (PR) a picking position (PP) for picking products (80) from the goods holders, and behind the receiving position (PR) a buffer position (PB) for buffering of the goods holder,

wherein the access station (600) has a first transfer zone separation (ZTS1) horizontally separating the receiving position (PR) and the picking position (PP) in a first direction (X), and a second transfer zone separation (ZTS2) horizontally separating the receiving position (PR) and the buffer position (PB) in the first direction (X),

wherein the access station (600) comprises a conveyor arranged in a horizontal plane (PH) and configured to transport a goods holder back and forth between the picking position (PP), the receiving position (PR), and the buffer position (PB).

2. The access station (600) according to claim 1,

wherein the first transfer zone separation (ZTS1) and the second transfer zone separation (ZTS2) each extend in the first direction (X) by an equal transfer zone separation length (LTS).

3. The access station (600) according to claim 1 or claim 2,

wherein the conveyor is a belt conveyor (610) comprising a plurality of protrusions (611).

4. The access station (600) according to claim 3,

wherein the protrusions (611) are arranged to define protrusion areas (AP) along the belt conveyor (610), each protrusion area (AP) extending a distance in the first direction (X) equal to the transfer zone separation length (LTS).

5. The access station (600) according to claim 4,

wherein the protrusion areas (AP) are spaced apart by a protrusion distance (DP) in the first direction (X) corresponding to a width (Wf) of the goods holder.

6. The access station (600) according to any one of claims 3-5,

wherein the protrusions (611) have bevelled edges.

7. The access station (600) according to any one of the preceding claims, wherein the automated storage and retrieval system comprises a framework structure (100) for storing goods holders, the framework structure including a rail system (108) arranged on top of the framework structure (100) and comprising a first set of parallel rails (110) arranged in a horizontal plane (PH) and extending in a first direction (X) and a second set of parallel rails (111) arranged in the horizontal plane (PH) and extending in a second direction (Y) perpendicular to the first direction (X),

wherein the rails of the second set of parallel rails (111) each has a rail width (WR), wherein the transfer zone separation length (LTS) is greater than the rail width (WR).

8. An automated storage and retrieval system (1), wherein the automated storage and retrieval system (1) comprises:

- an access station (600) according to any one of the preceding claims,

- a framework structure (100) for storing goods holders, the framework structure including a rail system (108) arranged on top of the framework structure (100) and comprising a first set of parallel rails (110) arranged in a horizontal plane (PH) and extending in a first direction (X) and a second set of parallel rails (111) arranged in the horizontal plane (PH) and extending in a second direction (Y) perpendicular to the first direction (X), which first set of parallel rails (110) and second set of parallel rails (111) form a grid pattern in the horizontal plane (PH) comprising a plurality of adjacent access openings (112) defined by a pair of neighbouring rails of the first set of parallel rails (110) and a pair of neighbouring rails of the second set of parallel rails (111),

- a plurality of stacks (107) of goods holders arranged in storage columns (105) located beneath the rail system (108), wherein each storage column (105) is located vertically below an access opening (112),

- a port column (119) located beneath the rail system (108) and vertically aligned with the receiving position (PR) of the access station (600), the port column (119) being void of goods holders, and

- a container handling vehicle (201;301;401) comprising a lifting device for lifting goods holders stacked in the framework structure (100) above the rail system (108) and drive means configured to drive the container handling vehicle (201;301;401) along the rail system (108) in at least one of the first direction (X) and the second direction (Y).

9. The automated storage and retrieval system (1) according to claim 8, wherein the automated storage and retrieval system (1) comprises:

- an insulated wall (130) having a wall thickness (TW) equal to or smaller than the transfer zone separation length (LTS),

wherein the insulated wall (130) and the first transfer zone separation (ZTS1) are arranged in a common vertical plane (PV) extending in the second direction (Y) and a third direction (Z) perpendicular to the first direction (X).

10. A method of presenting a goods holder at an access station and returning the goods holder using an automated storage and retrieval system (1) according to any one of claims 8-9,

wherein the method comprises the steps of:

- placing a first goods holder on the conveyor in the receiving position (PR);

- moving the first goods holder to the picking position (PP) by means of the conveyor to present the first goods holder to a picker,

- moving the first goods holder to the buffer position (PB) by means of the conveyor,

- placing a second goods holder on the conveyor in the receiving position (PR); - simultaneously moving the first goods holder to the receiving position (PR) and the second goods holder to the picking position (PP) by means of the conveyor, and - retrieving the first goods holder from the receiving position (PR).