AUTOMATED STORAGE AND RETRIEVAL SYSTEM

Abstract

A storage grid for storing storage containers includes a plurality of horizontal container supporting frameworks distributed vertically with vertical offsets. The plurality of horizontal container supporting frameworks includes a first container supporting framework and at least one second container supporting framework arranged beneath and parallel to the first container supporting framework. Each of the first and the at least one second container supporting frameworks includes a plurality of container supports arranged in parallel along a first direction. Each container support displays at least one hole with an opening size being at least a maximum horizontal cross section of the storage containers to be stored. The at least one hole of the first container supporting framework are aligned vertically with the at least one hole of the at least one second container supporting framework. At least two of the plurality of container supports of the at least one second container supporting framework are displaceable along a second direction orthogonal to the first direction.

Claims

1. A storage grid for storing storage containers , comprising a plurality of horizontal container supporting frameworks distributed vertically with vertical offsets (ΔdV), wherein the plurality of horizontal container supporting frameworks comprises; a first container supporting framework and at least one second container supporting framework arranged beneath and parallel to the first container supporting framework, wherein each of the first and the at least one second container supporting frameworks comprises a plurality of container supports arranged in parallel along a first direction, wherein each container support displays at least one hole with an opening size being at least a maximum horizontal cross section of the storage containers to be stored and wherein the at least one hole of the first container supporting framework are aligned vertically with the at least one hole of the at least one second container supporting framework, and wherein at least two of the plurality of container supports of the at least one second container supporting framework are displaceable along a second direction orthogonal to the first direction.

2. The storage grid in accordance with claim 1, wherein the storage grid further comprises: a support displacement device configured to displace at least one of the plurality of displaceable container supports.

3. The storage grid in accordance with claim 2, wherein the storage grid further comprises: a control system configured to remotely operate the support displacement device such that each of the plurality of displaceable container supports may be moved remotely and independently to the other displaceable container supports within their respective container supporting framework.

4. The storage grid in accordance with claim 1, wherein each of the plurality of container supports displays a plurality of holes distributed evenly along the second direction.

5. The storage grid in accordance with claim 1, wherein the first container supporting framework and the at least one second container supporting framework have equal or near equal horizontal extent.

6. The storage grid in accordance with claim 1, wherein the storage grid further comprises a rail system arranged above and adjacent to the first container supporting framework at a first vertical offset (Vr.sub.1) being at least a maximum height of the storage containers to be stored.

7. The storage grid in accordance with claim 6, wherein the rail system comprises: a first set of parallel rails arranged in a horizontal rail system plane (P.sub.rs) and extending in the first direction and a second set of parallel rails arranged in the horizontal plane (P.sub.rs) and extending in the second direction, the first and second sets of rails forming a grid pattern in the horizontal plane (P.sub.rs) comprising a plurality of adjacent grid cells, wherein each of the grid cells comprises a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails.

8. The storage grid in accordance with claim 6, wherein each of the container supports has a length corresponding to the length of a plurality of grid cells in the second direction.

9. The storage grid in accordance with claim 6, wherein the rail system, the first container supporting framework and the at least one second container supporting framework have equal or near equal horizontal extent.

10. The storage grid in accordance with claim 6, wherein the plurality of horizontal container supporting frameworks comprises a number of i parallel container supporting frameworks, where i is an integer of 2 or more, and wherein the i parallel container supporting frameworks are arranged at a distance dV = i *ΔdV below a lower edge of the rail system, where ΔdV is a constant that is set equal or higher than a maximum height of the storage container to be stored.

11. The storage grid in accordance with claim 6, wherein each of the plurality of displaceable container supports displays a plurality of holes distributed with an offset corresponding to 2n+1 grid cells in the second direction, where n is an integer of 1 or more.

12. The storage grid in accordance with claim 6, wherein each of the plurality of displaceable container supports displays a plurality of holes distributed with an offset corresponding to n+1 grid cells in the second direction, where n is an integer of 1 or more.

13. The storage grid in accordance with claim 10, wherein the plurality of displaceable container supports are individually displaceable a distance corresponding to at least the distance of n grid cells in the second direction, where n is an integer of 1 or more.

14. An automated storage and retrieval system configured to store a plurality of storage containers comprising: a storage grid for storing storage containers, comprising a plurality of horizontal container supporting frameworks distributed vertically with vertical offsets (ΔdV), wherein the plurality of horizontal container supporting frameworks comprises: a first container supporting framework and at least one second container supporting framework arranged beneath and parallel to the first container supporting framework, wherein each of the first and the at least one second container supporting frameworks comprises a plurality of container supports arranged in parallel along a first direction, wherein each container support displays at least one hole with an opening size being at least a maximum horizontal cross section of the storage containers to be stored, wherein the at least one hole of the first container supporting framework are aligned vertically with the at least one hole of the at least one second container supporting framework, and wherein at least two of the plurality of container supports of the at least one second container supporting framework are displaceable along a second direction orthogonal to the first direction, a plurality of storage containers supported on the plurality of horizontally arranged container supporting frameworks, a remotely operated vehicle configured to move laterally in the first direction and the second direction above the plurality of container supporting frameworks , wherein the remotely operated vehicle comprises a lifting device configured to grab and lift a storage container and a control system configured to monitor and control wirelessly movements of the remotely operated vehicle.

15. The automated storage and retrieval system in accordance with claim 14, wherein the storage grid further comprises a rail system arranged above and adjacent to the first container supporting framework at a first vertical offset (V.sub.r1) being at least a maximum height of the storage containers to be stored, wherein the plurality of storage containers are supported on the plurality of horizontally arranged container supporting frameworks such that each storage container is positioned directly below a grid opening of the rail system and wherein the remotely operated vehicle is configured to move laterally in the first direction and the second direction on the rail system and to lift the storage container through the grid opening by use of the lifting device.

16. The automated storage and retrieval system in accordance claim 15, wherein the system further comprises: a second storage grid (100) comprising: a second rail system comprising a first set of parallel rails arranged in the horizontal rail system plane (P.sub.rs) and extending in a first direction and a second set of parallel rails arranged in the horizontal rail system plane (P.sub.rs) and extending in a second direction which is orthogonal to the first direction, the first and second sets of rails forming a grid pattern in the horizontal plane (P.sub.rs) comprising a plurality of adjacent grid cells, wherein each of the grid cells comprises a grid opening defined by a pair of adjacent rails of the first set of rails and a pair of adjacent rails of the second set of rails and a plurality of stacks of storage containers arranged in storage columns located beneath the second rail system, wherein each storage column (105) is located vertically below a grid opening; and wherein the remotely operated vehicle is configured to also move laterally on the second rail system.

17. The automated storage and retrieval system in accordance claim 16, wherein the system further comprises a coupling rail system comprising rails extending in at least one of the first direction and the second direction and configured such the remotely operated vehicle (201, 301) may move between the rail system of the storage grid and the second rail system of the second storage grid.

18. A method for storing and retrieving storage containers from an automated storage and retrieval system in accordance with claim 14, wherein the plurality of horizontal container supporting frameworks comprises a number of i parallel container supporting frameworks, where i is an integer of 2 or more, wherein at least one of the plurality of container supports of the at least one second container supporting framework are displaceable along a second direction orthogonal to the first direction, and wherein the method comprises: A. moving the remotely operated vehicle to a position where its lifting device is positioned in vertical alignment above either a target storage container supported on the first container supporting framework or, if the target storage container is situated on one of the i-1 parallel container support frameworks in vertical alignment beneath the first container supporting framework a target hole of the first container supporting framework located horizontally closest to the target storage container, B. if the target storage container is not positioned in vertical alignment below the target hole, a) displacing the displaceable container support of the supporting framework onto which the target storage container is supported in the second direction to position the target storage container in vertical alignment below the target hole of the first container supporting framework or b) if at least one of the plurality of container supports +of the first container supporting framework are displaceable along the second direction, displacing the one or more displaceable container supports of the one or more container support frameworks situated above the target storage container supporting displaceable container support, where one of the displaceable container support(s) of each of the above situated container supporting framework(s) has the same position in the first direction as the target storage container supporting displaceable container support, a distance in the second direction opposite of the direction in a) to position the target storage container in vertical alignment below the target hole of the first container supporting framework or c) if at least one of the plurality of container supports of the first container supporting framework are displaceable along the second direction, displacing both the target storage container supporting displaceable container support as described in step a) and the above arranged one or more displaceable container supports as described in step b) to position the target storage container in vertical alignment below the target hole, C. lowering, grabbing, and lifting the target storage container by use of the lifting device and D. moving the remotely operated vehicle with the target storage container to another horizontal location.

19. The method in accordance with claim 18, wherein the storage grid further comprises a rail system arranged above and adjacent to the first container supporting framework at a first vertical offset (V.sub.r1) being at least a maximum height of the storage containers to be stored, wherein the plurality of storage containers are supported on the plurality of horizontally arranged container supporting frameworks such that each storage container is positioned directly below a grid opening of the rail system and wherein the remotely operated vehicle is configured to move laterally in the first direction and the second direction on the rail system and to lift the storage container through the grid opening by use of the lifting device.

20. Use of an automated storage and retrieval system in accordance with claim 14 for delivering items arranged within the storage containers stored in the storage grid to end users.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The following drawings depict alternatives of the present invention and are appended to facilitate the understanding of the invention. However, the features disclosed in the drawings are for illustrative purposes only and shall not be interpreted in a limiting sense.

[0078] FIG. 1 is a perspective view of a prior art automated storage and retrieval system.

[0079] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0080] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0081] FIG. 4 is a perspective view of a storage container and product items stored in the storage container.

[0082] FIG. 5 is a side view of a storage system in accordance with one embodiment of the invention, where FIG. 5A shows the storage system with a target storage container in an initial position, a vacant storage cell for a storage container in an initial position and a remotely operated vehicle carrying a storage container, FIG. 5B shows the storage system with the vacant storage cell in a position ready to receive the storage container from the remotely operated vehicle, FIG. 5C shows the storage system where the storage container is placed in the previously vacant storage cell and a lifting device of the remotely operated vehicle is retracted above the container supporting framework of the target storage container, FIG. 5D shows the storage system with the remotely operated vehicle ready to lift the target storage container and FIG. 5E shows the storage system with the target storage container in a position ready to be lifted.

[0083] FIG. 6 is a top view of a storage system in accordance with the storage system of FIG. 5.

[0084] FIG. 7 is a top view of a storage system in accordance with a second embodiment of the invention.

[0085] FIG. 8 is a top view of a storage system in accordance with a third embodiment of the invention.

[0086] FIG. 9 is a perspective side view of a storage system in accordance with a fourth embodiment of the invention.

[0087] FIG. 10 are perspective views of a container support forming part of an embodiment of the invention, where FIG. 10A and FIG. 10B show the container support in an isometric view and along one end, respectively.

[0088] FIG. 11 is a perspective view of a linear activator for displacing the container support shown in FIG. 10.

[0089] FIG. 12 is a perspective view of container supports mounted in a framework forming part of an embodiment of the invention.

[0090] FIG. 13 is a perspective view of part of the framework shown in FIG. 12.

[0091] FIG. 14 is a perspective top view of a storage system according to a fourth embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

[0092] In the following, different alternatives 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 scope of the invention to the subject-matter depicted in the drawings. Furthermore, even if some of the features are described in relation to the system only, it is apparent that they are valid for the methods as well, and vice versa.

[0093] With particular reference to FIG. 5, FIG. 6 and FIG. 14, the inventive storage and retrieval system 1 comprises remotely operated vehicles 301 operating on a rail system 408 comprising a first set of parallel rails 410 arranged to guide movements of the remotely operated vehicles 301 in a first direction X across a storage grid 400 and a second set of parallel rails 411 arranged perpendicular to the first set of rails 410 to guide movement of the remotely operated vehicles 301 in a second direction Y which is perpendicular to the first direction X. The storage containers 106 stored within the storage grid 400 are accessed by the remotely operated vehicles 301 through grid openings 415 in the rail system 408. Each grid opening 415 of the rail system 408 is enclosed by a grid cell 422. The rail system 408 extends in a horizontal plane Prs.

[0094] As best seen in FIG. 5, the storage containers 106 are stored on a plurality of frameworks 401 distributed in a Z direction below the rail system 408 with a vertical offset indicated by V.sub.r1 (i.e. the offset between the lower edge of the rail system 408 and the lower edge for the first framework 401a directly beneath the rail system 408) and a vertical offset indicated by ΔdV (i.e. the average offset between the lower edges of the adjacent deeper laying frameworks 401b-h).

[0095] The vertical offsets V.sub.rl and ΔdV may be selected to provide a height that is equal or higher than a maximum height of one storage container 106 or a stack 107 of several storage containers 106. As an example, the first framework 401a may be adapted to store stacks 107 of storage containers 106 while the below situated frameworks 401b-k may be adapted to store single (unstacked) storage containers 106. As a further example, several or all frameworks 401 of the grid 400 may be adapted to store stacks 107 of several storage containers 106. The different frameworks 401 of the same grid 400 may be configured to store stacks 107 of unequal numbers of storage containers 106. The vertical space (i.e. the available height) required for one or several frameworks 401 of the grid 400 to be adapted to store a stack 107 of several storage containers 106 may be obtained by reducing the total number of frameworks 401 as compared to a configuration of the grid 400 where all frameworks 401 are adapted to store single (unstacked) storage containers 106.FIGS. 5A-E show vertical cross-sections of the storage system 400.

[0096] In 5A, a target storage container 106′ and a vacant storage space 106″ are located in different container supporting frameworks 401e, 401g. The remotely operated vehicle 301 approaching to pick the target storage container 106′ typically brings another storage container 106 that is to be stored in the storage system 400. Before the remotely operated vehicle 301 can pick the target storage container 106′, the vehicle held storage container 106 is advantageously placed in a vacant storage space 106″ within the storage grid 400 (a process typically referred to as an exchange process).

[0097] By having less storage containers 106 than there are available container spaces within the storage system 400, there will always be at least one vacant storage space 106″. Vacant storage spaces 106″ will also be dynamically generated as remotely operated vehicles 301 pick storage containers 106 from within the storage grid 400. If there are no vacant storage spaces 106″ in the storage system 400, the remotely operated vehicle 400 must either refrain from bringing another storage container 106 from for example the port column 119, 120 or place the held storage container 106 on top of the storage grid 400. Both alternatives suffers disadvantages in respect of time efficiency.

[0098] FIG. 5B shows the storage system 1 with the vacant storage space 106″ in a position ready to receive the storage container 106 from the remotely operated vehicle 301. The vacant storage space 106″ (into which the storage container 106 is to be placed) and the target storage container 106′ are preferably horizontally closest to the same hole target 403b′. In this way the remotely operated vehicle 301 does not need to move between the two operations during the same exchange process. Even more preferred, in addition to being available through the same target hole 403b′, the vacant storage space 106″ and the target storage container 106′ can be located on the same container support 402 (not shown in FIG. 5). In this way the remotely operated vehicle 301 can have a minimum movement of its lifting device 304 between the two operations of the exchange process. Thus, the exchange process time will not be prolonged due to conflicting displacements of the lifting device 304 and the container support 402 of the target storage container 106′.

[0099] FIG. 5C shows the storage system 1 where the storage container 106 earlier held by the vehicle 301 has been received within the previously vacant storage space 106″. Further, the lifting device 304 has been retracted vertically above the container supporting framework 401e of the target storage container 106′. Consequently, the lifting device 304 has been sufficiently retracted so that displacement of the container support 402a of the target storage container 106′ can start and continue until the target storage container 106′ is situated beneath the target hole(s) 403b′. If the lifting device 304 is retracted higher than just above the container supporting framework 401e of the target storage container 106′, the exchange process would become less time efficient.

[0100] In FIGS. 5A-B, the target storage container 106′ is located higher within the storage system 400 than the vacant storage space 106″. In the opposite case, the container support 402 of the previously vacant storage space 106″ must retract to its initial position after having completed its displacement of the target storage container 106′ to the target hole 403′ in order for the lifting device 304 to get access to lower situated container supporting frameworks 401.

[0101] FIG. 5D shows the storage system 1 with the remotely operated vehicle 301 ready to lift the target storage container 106′ after placing the formerly held storage container 106 into the vacant storage space 106″, i.e. with its lifting device 304 just above the framework 401e supporting the target storage container 106′. The container support 402a of the previously vacant storage space 106″, now occupied by the storage container 106, has been displaced back to its initial position. Displacement of the container support 402a of the target storage container 106′ may now start to place the target storage container 106′ beneath the target hole(s) 403b′.

[0102] FIG. 5E shows the storage system 1 with the target storage container 106′ presented beneath the target hole(s) 403b′, i.e. in a position ready to be lifted by the lifting device 304 of the vehicle 301.

[0103] After the target storage container 106′ has been lifted above the container supporting framework 401e, the container support 402a can be displaced back to its initial position.

[0104] For the specific embodiment depicted in FIGS. 5 and 6, each of the frameworks 401a-k comprises several elongated container support 402a-d having their longitudinal orientation in the Y direction and arranged parallel to each other in the X direction. The container supports 402a-d in each framework 401a-k displays holes 403a-f distributed along the Y direction, where each hole 403a-c has a cross sectional being at least the cross-sectional area of a storage container 106, i.e. at least Wf x Lf (see FIG. 4). The storage containers 106 are placed on top of support plates 404 between these holes 403a-c. Each storage container 106 is stabilized in the horizontal plane Prs by first stabilization ribs 405 along the X direction and second stabilization ribs 406 along the Y direction. The first stabilization ribs 405 protrude upwards from both X directed sides of each of the support plates 404, thereby preventing each storage container 106 to move along the Y direction relative to the container support 402b. Further, the second stabilization ribs 406 extend along the full length of the container support 402b in the Y direction having a part that protrudes above the support plates 404, thereby preventing each storage container 106 to move in the X direction relative to the container support 402b.

[0105] An example of such a container support design is shown in FIG. 10. The container support 402b has an elongated shape extending in the Y direction and a width in the X direction allowing one storage container 106 having with W.sub.f. Each storage container 106 is constrained in X and Y directions by the above-mentioned stabilization frames 405,406. The container support 402b displays a hole 403a-f along the Y direction after each third storage container space, wherein each of the holes 403a-f has a width and length in the X and Y directions, respectively, being approximately the width (W.sub.f) and length (L.sub.f) of the storage container 106. In this particular confirmation of the container supports 402b, a storage container guiding structure 409 in form of a bottomless box is fixed along the peripherals of each hole 403a-f in order to aid the storage container to be guiding correctly through the hole 403a-f during lifting / lowering by the respective vehicles 301.

[0106] Each sides of the support plates 404 are fastened by brackets 407 onto the second stabilization ribs 406.

[0107] In order to store and retrieve a target storage container 106′ using the above described embodiment, the following operations are performed, with particular reference to FIGS. 5D and E: [0108] The control system 500 gives instructions to the vehicle 301 to pick up a target storage container 106′ with coordinates X,Y,Z. This position corresponds to a storage container 106 supported on a support plate 404 of a container support 402a forming part of a horizontal container support framework 401e at a depth of 3xΔdV+Vrl below the rail system 408. The target storage container 106 is separated in the Y direction to a nearest hole 403b′ (i.e. the target hole) by one non-target storage container 106. Since all the holes in the storage grid 400 are initially aligned (with same X-Y coordinates), the X-Y position of the target hole 403b′ of the container support framework 401a adjacent the rail system 408 is equal to the X-Y positions of the target holes 403b′ of the underlying container support frameworks 401b-h. [0109] The vehicle 301 moves by aid of its drive means 301b,c in the X and Y directions until its lifting device 304 is located directly above the target hole 403b′ situated closest in horizontal direction to the target storage container 106′. [0110] During and/or after movement of the vehicle 301 to the position above the target hole 403b′, the control system 500 sends an instruction to a support displacement device 700 (see FIG. 11) to displace the container support 402a of the container framework 401e a sufficient distance in the Y direction so that the target storage container 106′ is vertically aligned with the target holes 403b′ of the above situated container frameworks 401a-d. [0111] During and/or after the displacement of the container support 402a, the lifting device 304 of the vehicle 301 is activated and lowered down through the grip opening 415 and the aligned target holes 403b′ until the gripping part of the lifting device 304 is in position to grip the target storage container 106. [0112] After the target storage container 106′ has been gripped by the lifting device 304 and lifted above the above situated container framework 401d, the support displacement device 700 is again activated in order to move the container support 402a back to its initial Y position. [0113] When the target storage container 106′ has been lifted above the rail system 408, the vehicle 301 is moved to another location on the rail system 408, for example to a dedicated port column / chute 436 for delivery to an access station 436.

[0114] The process has the advantage that the need for digging performed for prior art storage and retrieval system is no longer necessary.

[0115] FIG. 7 and FIG. 8 show another embodiment of the inventive system 1, where the inventive storage grid 400 is placed adjacent to a prior art storage grid 100. The prior second storage grid 100 is constructed in accordance with the storage grid 100 described above in connection with FIGS. 1-3, i.e. a number of upright members 102 and a number of horizontal members 103, which are supported by the upright members 102, and further that the second storage grid 100 comprises a rail system 108 in the X direction and Y direction. The prior art storage grid 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, where storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0116] Both the inventive storage grid and the prior art storage grid 100 can be of any size. In particular it is understood that the one or both of the storage grids 100,400 can be considerably wider and/or longer and/or deeper than disclosed in the accompanied figures. For example, the storage grids 100,400 may have a horizontal extent having space for more than 700×700 storage containers 106 and a storage depth of more than twelve storage containers 106.

[0117] In FIG. 7 an inventive storage grid 400 of size corresponding to 4 times 15 grid cells 422 of its respective rail system 408 is placed with one vertical side extending in the Y direction along a vertical side of a prior art storage grid 100 of size corresponding to 5 times 17 grid cells 122 of its respective rail system 108. The rail system 408 of the inventive storage grid 400 and the rail system 108 of the prior art storage grid 100 have a mutual orientation and design such that the same type of vehicles 301 may operate on both rail systems 108, 408.

[0118] Again, with reference to FIG. 14, a possible coupling of the two rail systems 108, 408 is shown that allows the same type of vehicles 301 to move between the two storage grids 100, 400. In the particular configuration of FIG. 14, the desired coupling is achieved by an intermediate coupling rail system 408′ extending in the X direction. Due to the different construction of the container frameworks 401 for the inventive storage grid 400 and the stacks 107 of storage containers 106 for the prior art storage grid 100, the rails 410, 411 above the container frameworks 401 can with advantage be made wider compared to the rails 110, 111 above the stacks 107, at least in one of the X-Y directions.

[0119] As shown in FIG. 7, the different container supports 402a-d may be moved a distance in the Y-direction corresponding to two grid cells by use of the displacement device 700.

[0120] An example of a displacement device 700 is shown in FIG. 11 and FIG. 12. The displacement of each container support 402a-d is achieved by a mechanical linear actuator (ball screw) that translates rotational motion to linear motion. A threaded shaft 702 provides a helical raceway for ball bearings which act as a precision screw. The required rotation of the shaft is achieved by an electric motor 701 connected to one of the shaft’s end. A stopper 705 is fixed to the opposite end of the shaft 702. Furthermore, a slider 703 is coupled to the rotational shaft such that it moves along the shaft 702 during rotation. By attaching the slider 703 to the end of the container support 402a-d, the desired displacement in the Y direction is achieved. The shown linear actuator 700 is fastened to a skeleton structure comprising a plurality of towers 430 having a height corresponding to the height of the storage grid excluding the rail system 408 and a horizontal extent corresponding to n × m storage container spaces, where n and m are integers of 1 or more. FIG. 13 shows an example of such a tower 430 of horizontal size 1×1. The tower 430 comprises horizontal frameworks for each vertical level of the container framework 401 set up by two rods 432 in the X direction for structural rigidity and two vertical plates 433 in the Y direction. A container support wheel 434 is rotationally fastened to the face facing inwards of both vertical plates 433. The two rods 432 and the two vertical plates 433 are fastened in rectangular form to 4 or more vertical pillars 431. The tower 430 itself is supported on the floor 440 by tower supports 435.

[0121] As best seen in FIG. 12, each container support 402 is arranged inside a row of towers 430 oriented in the Y direction. Due to the container support wheels 434, the container supports 402 may easily be displaced. The linear actuator 700 is connected to the skeleton structure of towers 430 by fixing a linear actuator support 704 between the rod 432 of the outermost tower 430 and the rod 432 of the adjacent tower 430. Further, the stopper 705 at the end distal to the electric motor 701 is fixed at a rod 432 further into the skeleton structure (for example a length corresponding to three adjacent storage container spaces as depicted in FIG. 12). The end of the container support 402 is connected to the slider 703 movable along the shaft 702, thereby render possible the desired displacement in the Y direction. Note that the container support 402 has been removed from the lowermost part of the skeleton structure to better illustrate the details.

[0122] FIG. 8 shows another configuration of the storage and retrieval system 1 comprising one prior art storage grid 100 and three inventive storage grids 400 arranged on the sides of the prior art storage grid 100 along the Y direction. The container supports 402, 402a-d of each inventive storage grids 400 may be displaced in the Y direction a length corresponding to two adjacent storage container spaces (both ways). The holes 403a-c are distributed along the Y direction with a distance between corresponding to four adjacent storage container spaces. As described above for the configuration shown in FIGS. 6 and 7, the rail system 408 of the inventive storage grid 400 and the rail system 108 of the prior art storage grid 100 are mutually configured such as the same type of vehicle 301 may move between all storage grids 100, 400 without human interference.

[0123] FIG. 9 shows a perspective view of a configuration of a storage and retrieval system 1 which is similar to the configuration shown in FIG. 8, but with one inventive storage grid 400 and several prior art storage grids 100. The above-mentioned linear actuators 700 acting as the displacement device is shown arranged at the end of each container support 402. This particular configuration comprises eleven container supporting frameworks 401a-k arranged beneath a rail system 408, each with three container supports 402a-c displaceable in the Y direction. In order to render movement between the different storage grids 100, 400, a coupling rail system 408′ is seen interconnecting the rail system 108 of the prior art storage grids 100 and the rail system 408 of the inventive storage grid 400. See also FIG. 14.

[0124] One way of installing the storage grid 400 as described above can be to remove all stacks of storage containers beneath a rail system of part of a prior art storage and retrieval system 1 as shown in FIG. 1, and inserting one or more inventive storage grids 400 within the empty volume.

[0125] In the preceding description, various aspects of the automated storage and retrieval system and associated method of picking product items using vehicles 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.

TABLE-US-00001 Reference Numerals 1 Storage and retrieval system 80 Product items 100 Framework structure / prior art storage grid / second storage grid 102 Upright members of framework structure 103 Horizontal members of framework structure 105 Storage column 106 Storage container 106′ Particular position of a storage container / target storage container 106″ Vacant storage space for a storage container 107 Stack 108 Prior art rail system 110 Parallel rails in first direction (X) 110a First rail in first direction (X) 110b Second rail in first direction (X) 111 Parallel rail in second direction (Y) 111a First rail of second direction (Y) 111b Second rail of second direction (Y) 115 Grid opening 119 First port column 120 Second port column 201 Prior art storage container vehicle 201a Vehicle body of the storage container vehicle 101 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Prior art cantilever storage container vehicle / remotely operated vehicle 301a Vehicle body of the vehicle 301 301b Drive means in first direction (X) 301c Drive means in second direction (Y) 304 Lifting device 400 Storage system 401 Horizontal container supporting framework 401a First container supporting framework 401b-k Second / underlying container supporting framework(s) 402, 402a-d Container support 403, 403a-f Hole (in container support 402) 403b′ Target hole 404 Support plate for storage container 405 First stabilization rib (for stabilizing storage containers in Y direction) 406 Second stabilization rib (for stabilizing storage containers in X direction) 407 Bracket (for fastening support plate to second stabilization frame) 408 Rail system 408′ Coupling rail system 409 Guiding structure (for hole) 410 A first set of parallel rails 411 A second set of parallel rails 415 Grid opening 422 Grid cell 430 Tower 431 Vertical pillar 432 Rod 433 Vertical plate 434 Container support wheel 435 Tower support 436 Port column / chute 437 Access station 440 Floor 500 Control system 700 Support displacement device / linear actuator 701 Electric motor 702 Shaft / threaded shaft 703 Slider 704 Linear actuator support 705 Stopper X First direction Y Second direction Z Third direction Prs Horizontal plane W.sub.f Width of storage container L.sub.f Length of storage container H.sub.f Height of storage container Vrl Offset between lower edge of rail system and lower edge of first container supporting framework ΔdV Offsets between lower edges of container supporting frameworks below the first container framework