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EP-4172072-B1 - STORAGE SYSTEM

EP4172072B1EP 4172072 B1EP4172072 B1EP 4172072B1EP-4172072-B1

Inventors

  • SKÅLERUD, Amund

Dates

Publication Date
20260513
Application Date
20210609

Claims (15)

  1. A storage system comprising an access station (7), the access station comprising at least one container holder (8a,8b) arranged to rotate about an axis of rotation (C), wherein the container holder (8a,8b) is arranged to accommodate a storage container (106) and is configured such that a centreline (D) of the storage container (106) when supported by the container holder is inclined at a second angle (Y) relative to the axis of rotation (C), wherein the container holder (8a,8b) may rotate between a first position (P1), where the centreline (D) of an accommodated storage container (106) is vertical, and a second position (P2) being opposite the first position relative to the axis of rotation (C), where the centreline (D) of an accommodated storage container (106) is inclined at a third angle (XY) relative to a vertical (V); the storage system further comprising a port column (119,120), through which storage containers (106) may be transferred in a vertical direction, arranged above the access station such that a storage container may be delivered to a container holder (8a,8b) of the access station when the container holder is arranged in the first position (P1), characterised in that the axis of rotation (C) is inclined at a first angle (X) relative to the vertical (V), wherein the third angle (XY) is equal to the sum of the first angle (X) and the second angle (Y).
  2. A storage system according to claim 1, wherein the first angle (X) is substantially equal to the second angle (Y).
  3. A storage system according to claim 1 or 2, wherein the first angle (X) and the second angle (Y) are each within a range of 2-10 degrees.
  4. A storage system according to any of the preceding claims, wherein the centreline (D) of a storage container accommodated in the container holder (8a,8b) is inclined relative to a vertical (V) when the container holder (8a,8b) is in the second position, such that an opening of the storage container will face away from the axis of rotation (C).
  5. A storage system according to any of the preceding claims, comprising a rotation assembly (9,11) to which the container holder (8a,8b) is connected, the rotation assembly arranged to rotate the container holder about the axis of rotation (C).
  6. A storage system according to claim 5, wherein the rotation assembly comprises a rotary shaft (9) to which the container holder (8a,8b) is operatively connected.
  7. A storage system according to claim 6, wherein the rotary shaft has a centreline corresponding to the axis of rotation (C).
  8. A storage system according to claims 6 and 7, wherein an electric motor (10) is configured to rotate the rotary shaft (9).
  9. A storage system according to any of the preceding claims, comprising an electrical motor (10) configured to rotate the container holder (8a,8b) about the axis of rotation (C).
  10. A storage system according to any of the preceding claims, wherein the centreline (C) of a storage container (106) accommodated by the container holder (8a,8b) is gradually inclined from the vertical (V) to the third angle (XY) during an arcuate movement between the first position and the second position.
  11. A storage system according to any of the preceding claims, comprising two container holders (8a,8b) positionable on opposite sides of the axis of rotation (C), such that one of the container holders (8a) is in the first position when the other container holder (8b) is in the second position.
  12. A storage system according to claim 11, wherein the two container holders (8a,8b) are mounted to the rotation assembly on opposite sides of the axis of rotation (C).
  13. A method of presenting a storage container for access at an access station of a storage system according to any of claims 1-12, the method comprising the steps of: a. lowering the storage container onto a container holder (8a,8b) when the container holder is in the first position and arranged to hold the storage container in an upright configuration; and b. rotating the container holder (8a,8b) about the axis of rotation (C) from the first position to the second position in which the container holder is arranged to tilt the storage container.
  14. A method according to claim 13, wherein the container holder is arranged to tilt the storage container in a direction away from the first position when in the second position.
  15. A method according to claim 13 or 14, wherein the storage container is gradually tilted during rotation from the first position to the second position.

Description

Field of the invention The present invention relates to a storage system comprising an access station. Background and prior art Fig. 1 discloses a typical prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2 to 4 disclose two different prior art container handling vehicles 201,301 suitable for operating on such a system 1. The framework structure 100 comprises upright members 102, horizontal members 103 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. 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, 103 may typically be made of metal, e.g. extruded aluminium profiles. The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged in a grid pattern across the top of the framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301 are 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 horizontal extent of one of the grid cells 122 constituting the grid pattern is marked by thick lines. The rail system 108 (i.e. a rail grid) comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201,301 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 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 through access openings 112 in the rail system 108. The container handling vehicles 201,301 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane. Commonly, at least one of the sets of rails 110,111 is made up of dual-track rails allowing two container handling vehicles to pass each other on neighbouring grid cells 122 Dual-track rails are well-known and disclosed in for instance WO 2015/193278 A1 and WO 2015/140216 A1. The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self-supportive. Each prior art container handling vehicle 201,301 comprises a vehicle body 201a,301a, and first and second sets of wheels 201b,301b,201c,301c which enable the lateral movement of the container handling vehicles 201,301 in the X direction and in the Y direction, respectively. In Fig. 2 and 3 two wheels in each set are fully visible. The first set of wheels 201b,301b is arranged to engage with two adjacent rails of the first set 110 of rails, and the second set of wheels 201c,301c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b,301b,201c,301c can be lifted and lowered, so that the first set of wheels 201b,301b and/or the second set of wheels 201c,301c can be engaged with the respective set of rails 110, 111 at any one time. Each prior art container handling vehicle 201,301 also comprises a container lifting assembly 2 (shown in fig. 4) 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 container lifting assembly 2 comprises a lifting frame 3 having one or more gripping/engaging devices 4 adapted to engage a storage container 106 and guide pins 304 for correct positioning of the lifting frame 3 relative to the storage container 106. The lifting frame 3 can be lowered from the vehicle 201,301 by lifting bands 5 so that the position of the lifting frame with respect to the vehicle 201,301 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. The lifting frame 3 (not shown) of the container handling vehicle 201 in fig. 2 is located within a cavity of the vehicle body 201a. Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer of storage containers, 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 occu