CN-122009708-A - Transfer module, automated storage and retrieval system, and method of operating the system

Abstract

The invention relates to an automated storage and retrieval system comprising at least one transfer module (60) for transferring storage containers (6) between a port array (61) and an access station (64), the transfer module (60) being arranged below the port array (61), wherein the transfer module (60) comprises a port station for receiving storage containers (6) falling from the port array (61) and picked up by the port array, a first conveyor and a second conveyor each arranged on one side of the port station (74), the first conveyor being adapted to convey the storage containers (6) to the access station (64), the second conveyor being adapted to convey the storage containers (6) from the access station (64). The lateral displacement means are arranged for transferring the storage container (6) between the port station and the first conveyor and between the second conveyor and the port station. The invention also relates to such a transfer module, and to a method of operating an automated storage and retrieval system (1) comprising such a transfer module (60).

Inventors

• Iva Fieldheim
• Tron Osterharm

Assignees

• 自动存储科技股份有限公司

Dates

Publication Date

20260512

Application Date

20190424

Priority Date

20180425

Claims (20)

1. 1. A transfer module for transferring storage containers between a port array and an access station, the transfer module being adapted to be arranged below the port array, and wherein the transfer module comprises: -a port station, which can be arranged at the lower end of the port array, for receiving storage containers lowered from and picked up by the port array; -a first conveyor and a second conveyor arranged on one side of the port station; the first conveyor being adapted to convey the storage container to an access station; the second conveyor being adapted to convey storage containers from the access station, and A transverse displacement device arranged to transfer the storage container between the port station and the first conveyor and between the second conveyor and the port station, Wherein the lateral displacement device comprises a liftable beam movable in a direction perpendicular to the conveying direction of the first conveyor and the second conveyor, Wherein the liftable beam is arranged to raise at least one storage container and move said storage container between a second conveyor position, said port station and a first conveyor position, said first conveyor position comprising a position on a first conveyor on one side of said port station and said second conveyor position comprising a position on a second conveyor on the other side of said port station.
2. 2. The transfer module of claim 1, wherein the liftable beam is arranged to move two storage containers adjacent to each other simultaneously.
3. 3. The transfer module of claim 1 or 2, further comprising a set of guide rails extending over the first conveyor location, the port station, and the second conveyor location, wherein the liftable beam is configured to move along the set of guide rails.
4. 4. A transfer module according to claim 3, wherein the first and second conveyors comprise rollers, and wherein each rail of the set of rails is arranged to pass through a slot between the conveyor rollers.
5. 5. A transfer module according to any one of the preceding claims, wherein the lateral displacement device comprises a weighing mechanism.
6. 6. The transfer module of any of the preceding claims, further comprising a sensor configured to measure a weight of a storage container, whether a storage container is located at the first conveyor location and/or the second conveyor location, or a speed of the lateral displacement device.
7. 7. A transfer module according to any one of the preceding claims, wherein the first and second conveyors are adapted to be arranged in series with respective first and second conveyors in an additional transfer module to form respective first and second continuous conveyors, and Wherein the first continuous conveyor is adapted to convey storage containers to the access station and the second continuous conveyor is adapted to convey storage containers from the access station.
8. 8. An automated storage and retrieval system, comprising: -a plurality of storage columns, each arranged to store a respective stack of storage containers; -a container handling vehicle for lifting and moving storage containers stacked in said stack; A harbor column forming a projection of a grid opening through which the container handling vehicle can drop and pick up storage containers, -An access station, and -A transfer module according to any of the preceding claims 1-7 for transferring storage containers between the port array and the access station.
9. 9. The automated storage and retrieval system of claim 8, wherein the container handling vehicle is arranged to transfer storage containers between the storage columns and the transfer module.
10. 10. The automated storage and retrieval system of claim 8 or 9, further comprising a track system including a first set of parallel tracks disposed in a horizontal plane and extending in a first direction, and a second set of parallel tracks disposed in the horizontal plane and extending in a second direction orthogonal to the first direction, the first and second sets of tracks forming a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell including a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks, wherein the storage columns are located below the track system, wherein each storage column is located vertically below a grid opening, and Wherein the container handling vehicle is configured to move on the rail system above the storage column.
11. 11. The automated storage and retrieval system of claim 10, wherein the track system includes at least one transfer zone for temporarily storing storage containers while transitioning between a plurality of storage columns and a plurality of transfer modules, wherein the container handling vehicle is arranged to transfer the storage containers between the storage columns and the at least one transfer zone.
12. 12. The automated storage and retrieval system of claim 11, wherein a port access vehicle is arranged to transfer the storage container between the at least one transfer area and the at least one transfer module.
13. 13. The automated storage and retrieval system of claim 12, wherein the port access vehicle comprises a plurality of vehicle sections, Wherein the vehicle sections are connected in a train-like configuration, and Wherein each vehicle section is configured to carry at least one storage container.
14. 14. The automated storage and retrieval system of any of claims 8-13, wherein the access station comprises: -a pick-up station; -a first conveyor and a second conveyor arranged on one side of the pick-up station and each adapted to be arranged in series with the first conveyor and the second conveyor (63) in a transfer module, respectively, and -A lateral displacement device arranged for conveying storage containers between the pick-up station and the first conveyor and the second conveyor.
15. 15. A method of operating the automated storage and retrieval system of any of claims 9 to 14, wherein the method comprises: -transferring said storage containers between said storage columns and said port columns, and Transferring a storage container from the port station of the transfer module to the first conveyor of the transfer module and transferring a storage container from the second conveyor of the transfer module to the port station of the transfer module with the lateral displacement device of the transfer module, Transferring the storage containers from the transfer module to the access station with the first continuous conveyor, and -Transferring the storage containers from the access station to the transfer module with the second continuous conveyor.
16. 16. The method of claim 15, the method further comprising: -transferring a storage container from the port station to the first conveyor using the lateral displacement device while transferring another storage container from the second conveyor to the port station.
17. 17. The method of claim 15 or 16, the method further comprising: -defining at least one transfer zone for temporarily storing storage containers while transferring between the storage columns and the plurality of transfer modules in the control system; -transferring horizontally storage containers on said track system to said transfer area by means of a container handling vehicle, and -Transferring the storage containers between the transfer area and a plurality of transfer modules using a port access vehicle.
18. 18. An automated storage and retrieval system, comprising: -a plurality of storage columns, each arranged to store a respective stack of storage containers; -a container handling vehicle for lifting and moving storage containers stacked in said stack; A port array forming a projection of a grid opening through which the container handling vehicle can drop and pick up storage containers, -An access station, and A transfer module for transferring storage containers between the port array and the access station, the transfer module being arranged below the port array, Wherein the transfer module comprises: -a port station arranged at the lower end of the port array for receiving storage containers lowered from and to be picked up by the port array; a first conveyor and a second conveyor arranged on one side of the port station, The first conveyor is adapted to convey storage containers to the access station, The second conveyor being adapted to convey storage containers from the access station, and -A lateral displacement device arranged for transporting storage containers between the port station and the first conveyor and between the second conveyor and the port station.
19. 19. The automated storage and retrieval system of claim 18, wherein the container handling vehicle is arranged to transfer the storage containers between the storage columns and the transfer module.
20. 20. The automated storage and retrieval system of claim 18 or 19, further comprising a track system comprising a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, the first and second sets of tracks forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks, wherein the storage columns are located below the track system, wherein each storage column is located vertically below a grid opening; wherein the container handling vehicle is configured to move on the rail system above the storage column.

Description

Transfer module, automated storage and retrieval system, and method of operating the system The present application is a divisional application of the inventive patent application with application number 201980028084.0 (application number PCT/EP 2019/060473 of the corresponding PCT international application) and entitled "automated storage and retrieval system comprising a transfer module" and a method of operating the same. Technical Field The present invention relates to an automated storage and retrieval system, and a method of operating such an automated storage and retrieval system, comprising a transfer module (relay module) for transferring storage containers between a port array and an access station. Background Fig. 1 discloses a frame structure 1 of a typical prior art automated storage and retrieval system, while fig. 2A-2C disclose a different container handling vehicle 9 of such a system. The frame structure 1 comprises a plurality of upright members 2 and a plurality of horizontal members 3 supported by the upright members 2. The components 2, 3 may generally be made of metal, for example extruded aluminium profiles. The frame structure 1 defines a storage grid 4 comprising storage columns 5 arranged in rows, wherein the storage columns 5 storing storage containers 6 (also called boxes) are stacked one on top of the other to form a stack 7. Each storage container 6 may typically hold a plurality of product items (not shown), and the product items within the storage containers 6 may be the same, or may be different product types, depending on the application. The frame structure 1 prevents horizontal movement of the containers 6 in the stacks 7 and guides vertical movement of the containers 6, but does not normally otherwise support the storage containers 106 when stacked. The track system 8 is arranged in a grid pattern on top of the storage columns 5. On this rail system 8, a plurality of container handling vehicles 9 are operated to lift the storage containers 6 from the lower storage containers 6 into the storage columns 5 and also to transfer the storage containers 6 over the storage columns 5. The track system 8 comprises a first set of parallel tracks 10 arranged to guide the movement of the container handling vehicle 9 in a first direction X on top of the frame structure 1, and a second set of parallel tracks 11 arranged perpendicular to the first set of tracks 10 to guide the movement of the container handling vehicle 9 in a second direction Y perpendicular to the first direction X. In this way, the track system 8 defines a grid array 12 on which the container handling vehicle 9 can be moved laterally over the storage array 5, i.e. in a plane parallel to the horizontal X-Y plane. Each container handling vehicle 9 comprises a vehicle body 13 and a first set of wheels 14 and a second set of wheels 15, which enable the container handling vehicle 9 to move laterally, i.e. in the X and Y directions. In fig. 2A, two wheels of each of the first set of wheels 14 and the second set of wheels 15 are visible, whereas in fig. 2B and 2C only two wheels of one set of wheels 14 are visible. The first set of wheels 14 is arranged to engage with two adjacent tracks of the first set of tracks 10 and the second set of wheels 15 is arranged to engage with two adjacent tracks of the second set of tracks 11. Each of the first set of wheels 14 and the second set of wheels 15 may be raised and lowered such that the first set of wheels 14 and/or the second set of wheels 15 may engage the respective set of tracks 10, 11 at any time. Each container handling vehicle 9 further comprises a lifting device 16 (see fig. 2B and 2C) for vertically transferring the storage containers 6, for example for lifting the storage containers 6 from the storage columns 5 and for lowering the storage containers 6 into the storage columns 5. The lifting device may be disposed inside the main body 13 (as shown in fig. 2A) or outside the main body 13 (as shown in fig. 2B and 2C). The lifting device 16 may include a lifting frame 18 adapted to engage the storage container 6. The lifting frame 18 can be lowered from the vehicle body 13 such that the position of the lifting frame relative to the vehicle body 13 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Conventionally, and also for the purposes of the present application, z=1 identifies the uppermost layer of grid 4, i.e. the layer immediately below track system 8, z=2 is the second layer below track system 8, z=3 is the third layer, and so on. In the exemplary prior art grid 4 disclosed in fig. 1, z=8 identifies the lowest bottom layer of the grid 4. Thus, as an example, and using the cartesian coordinate system X, Y, Z shown in fig. 1, it can be said that the storage container identified as 7' in fig. 1 occupies grid positions or grid cells x=10, y=2, z=3. It can be said that the container handling vehicle 9 travels in the z=0