AN ACCESS STATION FOR AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM

Abstract

An access station (600) for an automated storage and retrieval system, wherein the access station (600) comprises: a frame structure (620); and a drawer assembly (610) arranged in the frame structure (620), wherein the drawer assembly (610) comprises: a drawer (611) for accommodating a storage container (106); a lower link (612) pivotally coupled at a first end (612a) to the frame structure (620) and pivotally coupled at a second end (612b) to the drawer (611); and an upper link (613) pivotally coupled at a first end (613a) to the frame structure (620) and pivotally coupled at a second end (613b) to the drawer (611); wherein the first end (613a) of the upper link (613) is arranged above the second end (613b) of the upper link (613), and the first end (612a) of the lower link (612) is arranged below the second end (612b) of the lower link (612); wherein the drawer (611) is movable between a receiving position (P.sub.R) for receiving a storage container (106) from above, and a picking position (P.sub.p) for presenting a storage container (106) to a user.

Claims

1-15. (canceled)

16. An access station for an automated storage and retrieval system, wherein the access station comprises: a frame structure; and a drawer assembly arranged in the frame structure, wherein the drawer assembly comprises: a drawer for accommodating a storage container; a lower link pivotally coupled at a first end to the frame structure and pivotally coupled at a second end to the drawer; and an upper link pivotally coupled at a first end to the frame structure and pivotally coupled at a second end to the drawer; wherein the first end of the upper link is arranged higher than the second end of the upper link, and the first end of the lower link is arranged lower than the second end of the lower link; wherein the drawer is movable between a receiving position for receiving a storage container from above, and a picking position for presenting a storage container to a user.

17. The access station according to claim 16, wherein the first end of the upper link is arranged above the drawer and the first end of the lower link is arranged below the drawer.

18. The access station according to claim 16, wherein the lower link has a lower link length and the upper link has an upper link length; and wherein a ratio between the lower link length and the upper link length is in a range of 1:1 to 1:2.

19. The access station according to claim 16, wherein the drawer is suspended by only the upper link and the lower link.

20. The access station according to claim 16, wherein the drawer is level in the receiving position (P.sub.R).

21. The access station according to claim 16, wherein the first end of the upper link and the second end of the upper link are vertically aligned when the drawer is in a position between the picking position and the receiving position.

22. The access station according to claim 16, wherein the frame structure has a frontside and a backside; wherein when the drawer is in the receiving position, the second end of the lower link is closer to the backside of the frame structure than the first end of the lower link.

23. The access station according to claim 16, wherein the frame structure has a frontside and a backside; wherein when the drawer is in the picking position, the first end of the lower link is closer to the backside of the frame structure than the second end of the lower link.

24. The access station according to claim 16, wherein the access station is configured for vertical alignment of the receiving position with a port column of the automated storage and retrieval system for receiving storage containers therefrom.

25. The access station according to claim 16, wherein the frame structure and/or the drawer assembly are configured to prevent retrieval of a storage container from the drawer when the drawer is in the picking position.

26. An automated storage and retrieval system, wherein the automated storage and retrieval system comprises: an access station according to any one of the preceding claims; a rail system 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 which is orthogonal to the first direction, which first and second sets of rails form a grid in the horizontal plane comprising a plurality of adjacent access openings; a storage section comprising a plurality of storage containers arranged in storage columns located beneath the rail system; wherein each storage column is located vertically below one of the plurality of adjacent access openings; at least one port column located beneath the rail system and vertically aligned with a receiving position of the access station, the at least one port column being void of stored storage containers; and a container handling vehicle comprising a gripping device for lifting storage containers stored in the storage columns above the storage section and drive means configured to drive the container handling vehicle along the rail system in at least one of the first direction and the second direction.

27. The automated storage and retrieval system according to claim 26, wherein the access station is configured to provide a lower section of the at least one port column.

28. The automated storage and retrieval system according to claim 26, wherein the automated storage and retrieval system comprises at least two access stations, preferably three or four access stations.

29. A method of presenting a storage container at an access station, the access station being in an automated storage and retrieval system according to any one of claims 26-28; wherein the method comprises: retrieving a storage container stored in a storage section of the storage and retrieval system by means of a container handling vehicle comprising a gripping device; moving a drawer of the access station to a receiving position; placing the storage container in a drawer of the drawer assembly; and moving the drawer into a picking position to present the storage container to a user.

30. The method according to claim 29, further comprising, after presenting the storage container to the user, returning the drawer to the receiving position and retrieving the storage container from the drawer.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0169] 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:

[0170] FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

[0171] FIG. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0172] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0173] 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.

[0174] FIG. 5 is a perspective view of a storage container and product items stored in the storage container.

[0175] FIG. 6a is a perspective view of an access station for an automated storage and retrieval system. The access station comprises a frame structure and a drawer assembly, wherein a drawer of the drawer assembly is located in the receiving position.

[0176] FIG. 6b is a perspective view of the access station of FIG. 6a wherein the drawer is located between the receiving position and the picking position.

[0177] FIG. 6c is a perspective view of the access station of FIG. 6a wherein the drawer is located in the picking position.

[0178] FIG. 7a is a horizontal cross-section of the access station of FIG. 6a wherein the drawer is located in the receiving position. In addition to the drawer, the drawer assembly comprises an upper link and a lower link suspending the drawer in the frame structure.

[0179] FIG. 7b is a horizontal cross-section of the access station of FIG. 7a wherein the drawer is located between the receiving position and the picking position.

[0180] FIG. 7c is a horizontal cross-section of the access station of FIG. 7a wherein the drawer is located in the picking position.

[0181] FIG. 8a is a perspective view of the access station. The access station comprises a frame structure and a drawer assembly, wherein a drawer of the drawer assembly is located in the receiving position.

[0182] FIG. 8b is a perspective view of the access station of FIG. 8a wherein the drawer is located between the receiving position and the picking position.

[0183] FIG. 8c is a perspective view of the access station of FIG. 8a wherein the drawer is located in the picking position.

[0184] FIG. 9a is a horizontal cross-section of the access station of FIG. 8a wherein the drawer is located in the receiving position. In addition to the drawer, the drawer assembly comprises an upper link and a lower link suspending the drawer in the frame structure.

[0185] FIG. 9b is a horizontal cross-section of the access station of FIG. 9a wherein the drawer is located between the receiving position and the picking position.

[0186] FIG. 9c is a horizontal cross-section of the access station of FIG. 9a wherein the drawer is located in the picking position.

[0187] FIG. 10a is a top view of a portion of an automated storage and retrieval system comprising a plurality of access stations, wherein the drawers are in the receiving positions and the receiving positions are vertically aligned with access openings of an above rail system.

[0188] FIG. 10b is a top view of the portion of the automated storage and retrieval system of FIG. 14a, wherein the drawers are in the picking positions.

DETAILED DESCRIPTION OF THE INVENTION

[0189] 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.

[0190] 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.

[0191] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0192] The framework structure 100 can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in FIG. 1. For example, the framework structure 100 may have a horizontal extent of more than 700700 columns and a storage depth of more than twelve containers.

[0193] One embodiment of the automated storage and retrieval system according to the invention will now be discussed in more detail with reference to Figs.

[0194] FIG. 5 shows examples of product items 80 stored in a storage container 106. The storage container 106 illustrated in FIG. 4 has a height H, a width W and a length L. The storage container 106 has a horizontal cross section A.

[0195] FIGS. 6a-c show perspective views of an access station 600 for an automated storage and retrieval system 1. The access station 600 comprises a frame structure 620 and a drawer assembly 610 arranged in the frame structure 620. The drawer assembly 610 comprises a drawer 611 for accommodating a storage container 106.

[0196] This series of figures show an operational sequence wherein the drawer 611 is moved from a receiving position P.sub.R in FIG. 6a to a picking position P.sub.P in FIG. 6c.

[0197] FIGS. 7a-c show horizontal cross-sections of the access station 600 as shown in FIGS. 6a-c respectively.

[0198] In addition to the drawer 611, the drawer assembly 610 comprises a lower link 612 pivotally coupled at a first end 612a to the frame structure 620 and pivotally coupled at a second end 612b to the drawer 611. The drawer assembly 610 also comprises an upper link 613 pivotally coupled at a first end 613a to the frame structure 620 and pivotally coupled at a second end 613b to the drawer 611.

[0199] The first end 613a of the upper link 613 is arranged above the second end 613b of the upper link 613, and the first end 612a of the lower link 612 is arranged below the second end 612b of the lower link 612, regardless of the position of the drawer 611.

[0200] The upper link 613 and the lower link 612 allow the drawer 611 to move between a receiving position P.sub.R for receiving a storage container 106 from above, and a picking position P.sub.P for presenting a storage container 106 to a user of the access station 600.

[0201] FIGS. 8a-c show perspective views of an access station 600 of the same type as the access station 600 in FIGS. 6a-c. The two access stations 600 may be used interchangeably for the same purpose. The two access stations 600 will comprise the same components wherein the components may have different configurations.

[0202] The access station 600 shown in FIGS. 8a-c provides a picking position P.sub.P with a different drawer tilt angle .sub.b than the access station 600 shown in FIGS. 6a-c.

[0203] FIGS. 8a-c also show an operational sequence wherein the drawer 611 is moved from a receiving position P.sub.R in FIG. 8a to a picking position P.sub.P in FIG. 8c.

[0204] FIGS. 9a-c show horizontal cross-sections of the access station 600 as shown in FIGS. 8a-c respectively.

[0205] The first end 613a of the upper link 613 will typically be arranged above the drawer 611 and the first end 612a of the lower link 612 will typically be arranged below the drawer 611. In the exemplifying figures, both the second 612b end of the lower link 612 and the second end 613b of the upper link 613 are coupled to a lower part of the drawer 611. The lower link 612 then has a lower link length L.sub.L that is greater than the vertical extent of the drawer 611. The upper link 612 may have an upper link length L.sub.U that is greater than the vertical extent of the drawer 611, e.g. equal to the lower link length L.sub.L, but does not have to.

[0206] The ratio between the lower link length L.sub.L and the upper link length L.sub.U may be in the range 1:1-1:2. FIGS. 9a-c show an example where the ratio is approximately 1:1.

[0207] In FIGS. 7a-c and FIGS. 9a-c, the drawer 611 is suspended by only the upper link 613 and the lower link 612. However, the frame structure 620 may still provide some guidance in the second direction Y, i.e. orthogonal to the first direction X in which the drawer 611 moves between the receiving position P.sub.R and the picking position P.sub.P.

[0208] In both the examples shown in FIG. 7a and FIG. 9a, the drawer 611 is level in the receiving position P.sub.R. The drawer 611 should be level in this position in order to receive a storage container 106 from above without jamming.

[0209] The upper link 613 and the lower link 612 can be considered oppositely oriented pendulums as they are both fix at one end, i.e. their first ends 612a,613a. These can be referred to as the upper link first coupling point and the lower link first coupling point. These coupling points allow the upper link 613 and the lower link 612 to pivot but are not movable in the vertical or horizontal directions X,Y,Z relative the frame structure.

[0210] The second end 163b of the upper link 613 and the second end 612b of the lower link 612 are movable in the horizontal and vertical direction X,Z and follow an arc shaped path. The arc shaped paths are dictated by the lower link length L.sub.L and the upper link length L.sub.U.

[0211] In FIG. 7a and FIG. 9a, the drawer 611 is in the receiving position P.sub.R and there is a distance D.sub.UR between the first end 613a of the upper link 613 and the second end 613b of the upper link 613. The upper link 613 then has an upper link pivot angle .sub.UR relative to vertical. The second end 613b of the upper link 613 is then closer to a backside of the frame structure 620 than the first end 613a of the upper link 613.

[0212] As the drawer 611 is moved closer to the picking position P.sub.P as illustrated in FIG. 7b and FIG. 9b, the second end 613b of the upper link 613 has moved both a horizontal distance forward and a vertical distance downward. The first end 613a of the upper link 613 and the second end 613b of the upper link 613 are approximately vertically aligned and the second end 613b is therefore at its lowest possible point.

[0213] In FIG. 7c and FIG. 9c, the drawer 611 is in the picking position P.sub.P and there is a distance D.sub.UP between the first end 613a of the upper link 613 and the second end 613b of the upper link 613. The upper link 613 then has an upper link pivot angle .sub.UP relative to vertical. The first end 613a of the upper link 613 is then closer to the backside of the frame structure 620 than the second end 613b of the upper link 613. The second end 613b of the upper link 613 has moved a further horizontal distance forward and a vertical distance upward.

[0214] If the upper link 613 is arranged such that the pivot angles .sub.UP and .sub.UR are equal, the second end 613b of the upper link 613 will be at the same relative height with respect to the frame structure 620 in both the receiving position P.sub.R and the picking position P.sub.P.

[0215] By arranging the upper link 613 such that the difference between the pivot angles .sub.UP and .sub.UR is increased, the second end 613b of the upper link 613 will have a greater difference in its relative height with respect to the frame structure 620 in the receiving position P.sub.R and the picking position P.sub.P. This effect can be reduced by increasing the length L.sub.U of the upper link 613. This can be relevant in cases where it is desired to have the second end 613b of the upper link 613 at substantially the same relative height with respect to the frame structure 620 in both the receiving position P.sub.R and the picking position P.sub.P but it is not possible to arrange the drawer assembly such that the pivot angles .sub.LP and .sub.LR are equal.

[0216] The difference in the relative height of the second end 613b of the upper link 613 with respect to the frame structure 620 can be further increased by arranging the upper link 613 such that the first end 613a of the upper link 613 and the second end 613b of the upper link 613 are never vertically aligned during the drawer's 611 movement between the receiving position P.sub.R and the picking position P.sub.P.

[0217] In FIG. 7a and FIG. 9a, the drawer 611 is in the receiving position P.sub.R and there is a distance D.sub.LR between the first end 612a of the lower link 612 and the second end 612b of the lower link 612. The lower link 612 then has a lower link pivot angle .sub.LR relative to vertical. The second end 612b of the lower link 612 is then closer to a backside of the frame structure 620 than the first end 612a of the lower link 612.

[0218] As the drawer 611 is moved closer to the picking position P.sub.P as illustrated in FIG. 7b and FIG. 9b, the second end 612b of the lower link 612 has moved both a horizontal distance forward and a vertical distance initially upward and later downward. When the first end 612a of the lower link 612 and the second end 612b of the lower link 612 are vertically aligned, the second end 612b will be at its highest possible point.

[0219] In FIG. 7c and FIG. 9c, the drawer 611 is in the picking position P.sub.P and there is a distance D.sub.LP between the first end 612a of the lower link 612 and the second end 612b of the lower link 612. The lower link 612 then has a lower link pivot angle .sub.LP relative to vertical. The first end 612a of the lower link 612 is then closer to the backside of the frame structure 620 than the second end 612b of the lower link 612. The second end 612b of the lower link 612 has moved a further horizontal distance forward and a vertical distance downward.

[0220] If the lower link 612 is arranged such that the pivot angles .sub.LP and .sub.LR are equal, the second end 612b of the upper link 612 will be at the same relative height with respect to the frame structure 620 in both the receiving position P.sub.R and the picking position P.sub.P.

[0221] By arranging the lower link 612 such that the difference between the pivot angles .sub.LP and .sub.LR is increased, the second end 612b of the upper link 612 will have a greater difference in its relative height with respect to the frame structure 620 in the receiving position P.sub.R and the picking position P.sub.P. This effect can be reduced by increasing the length of the lower link 612. This can be relevant in cases where it is desired to have the second end 612b of the lower link 612 at substantially the same relative height with respect to the frame structure 620 in both the receiving position P.sub.R and the picking position P.sub.P but it is not possible to arrange the drawer assembly such that the pivot angles .sub.LP and .sub.LR are equal.

[0222] The difference in the relative height of the second end 612b of the lower link 612 with respect to the frame structure 620 can be further increased by arranging the lower link 612 such that the first end 612a of the lower link 612 and the second end 612b of the lower link 612 are never vertically aligned during the drawer's 611 movement between the receiving position P.sub.R and the picking position P.sub.P.

[0223] When the drawer 611 is in the picking position P.sub.P it may preferably have a drawer tilt angle .sub.B. The picking position P.sub.P can then be tilted and thus be made more ergonomic for the user of the access station 600 as easier access to the content of the drawer can be provided.

[0224] The drawer tilt angle .sub.B can be set by means of the configuration of the lower link 612 and the upper link 613.

[0225] The drawer tilt angle .sub.B can be minimized by configuring the upper link 613 and the lower link 612 such that the second end 613b of the upper link 613 and the second end 612b of the lower link 612 have substantially the same change in their relative height with respect to the frame structure 620 between the receiving position P.sub.R and the picking position P.sub.P. Both the second end 613b of the upper link 613 and the second end 612b of the lower link 612 may have a significant change in the relative height with respect to the frame structure 620 between the receiving position P.sub.R and the picking position P.sub.P, as long as both have substantially the same change.

[0226] The drawer tilt angle .sub.B can be increased by configuring the upper link 613 such that the second end 613b of the upper link 613 has a height with respect to the frame structure 620 that is lower in the receiving position P.sub.R than in the picking position P.sub.P. The greater this difference is, the more can the drawer tilt angle .sub.B be increased.

[0227] The drawer tilt angle .sub.B can be increased by configuring the lower link 612 such that the second end 612b of the lower link 612 has a height with respect to the frame structure 620 that is higher in the receiving position P.sub.R than in the picking position P.sub.P. The greater this difference is, the more can the drawer tilt angle .sub.B be increased.

[0228] This effect on the drawer tilt angle .sub.B can be further increased by reducing the horizontal distance D.sub.B between the second end 612b of the lower link 612 and the second end 613b of the upper link 613.

[0229] The drawer 611 may be urged towards the receiving position P.sub.R. In FIG. 7a and FIG. 9a, the lower link 612 is arranged such that the second end 612b of the lower link 612 initially must travel partly upward (and partly forward) as it moves out of the receiving position P.sub.R. This is because the first end 612a of the lower link 612 is arranged below the second end 612b of the lower link 612, and the second end 612b of the lower link 612 is closer to the backside of the frame structure 620 than the first end 612a of the lower link 612. The drawer 611 and its content will be urged downward by gravity. The resulting force will thus work against the drawer 611 being moved partly upward and out of the receiving position P.sub.R. This effect may be increased by a heavier drawer 611. The drawer 611 may be urged towards the receiving position P.sub.R as long as the second end 612b of the lower link 612 is closer to the back of the frame structure 620 than the first end 612a of the lower link 612.

[0230] The drawer 611 may be urged towards the picking position P.sub.P. In FIG. 7c and FIG. 9c, the lower link 612 is arranged such that the second end 612b of the lower link 612 initially must travel partly upward (and partly backward) as it moves out of the picking position P.sub.P. This is because the first end 612a of the lower link 612 is arranged below the second end 612b of the lower link 612, and the first end 612a of the lower link 612 is closer to the backside of the frame structure 620 than the second end 612b of the lower link 612. The drawer 611 and its content will be urged downward by gravity. The resulting force will thus work against the drawer 611 being moved partly upward and out of the picking position P.sub.P. This effect may be increased by a heavier drawer 611. The drawer 611 may be urged towards the picking position P.sub.P as long as the first end 612a of the lower link 612 is closer to the back of the frame structure 620 than the second end 612b of the lower link 612.

[0231] When the first end 612a of the lower link 612 and the second end 612b of the lower link 612 are vertically aligned, the two are equally close to the backside of the frame structure 620. In that position, the drawer 611 may not be urged towards neither the receiving position P.sub.R nor the picking position P.sub.P. However, depending on where the lower link second coupling point is arranged on the drawer 611, the drawer 611 may also be urged to either the receiving position P.sub.R or the picking position P.sub.P also when the first end 612a of the lower link 612 and the second end 612b of the lower link 612 are vertically aligned. Arranging the lower link second coupling point closer to the frontside of the drawer 611 may facilitate the drawer 611 being urged towards the receiving position P.sub.R rather than the picking position P.sub.P. Arranging the lower link second coupling point closer to the backside of the drawer 611 may facilitate the drawer 611 being urged towards the picking position P.sub.P rather than the receiving position P.sub.R.

[0232] FIG. 7c and FIG. 9c show that the frame structure 620 may partly obstruct the opening in the top of the drawer 611. Retrieval of a storage container 106 placed in the drawer 611 may thus be prevented by the frame structure when the drawer 611 is in the picking position P.sub.P. The storage container 106 should then be dimensioned to fit in the drawer 611 with less play than the area of the opening being obstructed.

[0233] The upper part 620a of the frame structure 620 may form a lower part of a port column 119. The upper part 620a of the frame structure 620 is preferably vertically aligned with the receiving position P.sub.R.

[0234] FIG. 10a shows a top view of a portion of an automated storage and retrieval system 1. The automated storage and retrieval system 1 may comprise: [0235] an access station 600 as described herein; [0236] a rail system 108 comprising a first set of parallel rails 110 arranged in a horizontal plane P.sub.H and extending in a first direction X and a second set of parallel rails 111 arranged in the horizontal plane P.sub.H and extending in a second direction Y which is orthogonal to the first direction X, which first and second sets of rails 110, 111 form a grid in the horizontal plane P.sub.H comprising a plurality of adjacent access openings 112; [0237] a storage section comprising a plurality of storage containers 106 arranged in storage columns 105 located beneath the rail system 108, wherein each storage column 105 is located vertically below one of the plurality of access openings 112; [0238] at least one port column 119 located beneath the rail system 108 and vertically aligned with a receiving position P.sub.R of the access station 600, the at least one port column 119 being void of stored storage containers 106; and [0239] a container handling vehicle 201;301;401 comprising a gripping device 304 for lifting storage containers 106 stored in the columns 105 above the storage section and drive means 201b,201c;301b,301c;401b,401c configured to drive the vehicle 301 along the rail system 108 in at least one of the first direction X and the second direction Y.

[0240] As illustrated in FIG. 10a, a plurality of access stations 600 may be arranged side-by-side as part of the same automated storage and retrieval system 1. In FIG. 10a, three access stations 600 are arranged side-by-side, however, any other number of access stations 600 may be used in the same automated storage and retrieval system 1. The access stations 600 can be arranged side-by-side or spaced apart.

[0241] In FIG. 10a, the drawers 611 are in their receiving positions P.sub.R holding a storage container 106. As illustrated in FIG. 10a, each of the receiving positions P.sub.R may be vertically aligned with a port column 119,120 of the automated storage and retrieval system 1. As illustrated in FIG. 10a, each of the receiving positions P.sub.R may be vertically aligned with access openings 112 in the rail system 108 of the automated storage and retrieval system 1. In this way the container handling vehicles 201;301;401 driving on the rail system 108 may deliver and retrieve storage containers to/from the access station 600.

[0242] FIG. 10b is a top view of the automated storage and retrieval system of FIG. 10a, wherein the drawers 611 are in their picking positions P.sub.P. As illustrated in FIG. 10b, each of the picking positions P.sub.P may not be vertically aligned with a port column 119,120 of the automated storage and retrieval system 1. The storage containers 106 placed in the drawers 611 may thus not be accessible to the container handling vehicles 201;301;401 driving on the rail system 108. However, the storage containers 106 may be accessible to the user(s) of the access stations 600.

[0243] The above described automated storage and retrieval system may be operated as follows: [0244] retrieving a storage container 106 stored in a storage section of the storage and retrieval system 1 by means of a container handling vehicle 201;301;401 comprising a gripping device 304; [0245] moving a drawer 611 of the access station 600 to a receiving position P.sub.R; [0246] placing the storage container 106 in a drawer 611 of the drawer assembly 610; and [0247] moving the drawer 611 into a picking position P.sub.P to present the storage container 106 to a user.

[0248] The method may, after presenting the storage container 106 to the user, comprise the steps of: [0249] returning the drawer 611 to the receiving position P.sub.R; and [0250] retrieving the storage container 106 from the drawer 611.

[0251] 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

[0252] 1 Prior art automated storage and retrieval system [0253] 100 Framework structure [0254] 102 Upright members of framework structure [0255] 104 Storage grid [0256] 105 Storage column [0257] 106 Storage container [0258] 106 Particular position of storage container [0259] 107 Stack [0260] 108 Rail system [0261] 110 Parallel rails in first direction (X) [0262] 112 Access opening [0263] 119 First port column [0264] 120 Second port column [0265] 201 Prior art container handling vehicle [0266] 201a Vehicle body of the container handling vehicle 201 [0267] 201b Drive means/wheel arrangement/first set of wheels in first direction (X) [0268] 201c Drive means/wheel arrangement/second set of wheels in second direction (Y) [0269] 301 Prior art cantilever container handling vehicle [0270] 301a Vehicle body of the container handling vehicle 301 [0271] 301b Drive means/first set of wheels in first direction (X) [0272] 301c Drive means/second set of wheels in second direction (Y) [0273] 304 Gripping device [0274] 401 Prior art container handling vehicle [0275] 401a Vehicle body of the container handling vehicle 401 [0276] 401b Drive means/first set of wheels in first direction (X) [0277] 401c Drive means/second set of wheels in second direction (Y) [0278] 404 Gripping device [0279] 404a Lifting band [0280] 404b Gripper [0281] 404c Guide pin [0282] 404d Lifting frame [0283] 500 Control system [0284] 600 Access station [0285] 610 Drawer assembly [0286] 611 Drawer [0287] 612 Lower link [0288] 612a First end of the lower link [0289] 612b Second end of the lower link [0290] 612 Plate/cover [0291] 613 Upper link [0292] 613a First end of the upper link [0293] 613b Second end of the upper link [0294] 620 Frame structure [0295] 620a Upper part of frame structure [0296] 621 Display [0297] X First direction [0298] Y Second direction [0299] Z Third direction [0300] P.sub.H Horizontal plane [0301] P.sub.R Receiving position [0302] P.sub.P Picking position [0303] W.sub.71 Width of storage container [0304] L.sub.71 Length of storage container [0305] H.sub.71 Height of storage container [0306] A.sub.71 Area of storage container [0307] L.sub.U Length of upper link [0308] L.sub.L Length of lower link [0309] D.sub.A Horizontal distance between the first end of the lower link and the first end of the upper link [0310] D.sub.B Horizontal distance between the second end of the lower link and the second end of the upper link [0311] D.sub.UR Horizontal distance between the first end of the upper link and the second end of the upper link, in the receiving position [0312] D.sub.UP Horizontal distance between the first end of the upper link and the second end of the upper link, in the picking position [0313] D.sub.LR Horizontal distance between the first end of the lower link and the second end of the lower link, in the receiving position [0314] D.sub.LP Horizontal distance between the first end of the lower link and the second end of the lower link, in the picking position [0315] .sub.B Drawer tilt angle [0316] .sub.UR Upper link pivot angle in the receiving position relative to vertical [0317] .sub.UP Upper link pivot angle in the picking position relative to vertical [0318] .sub.LR Lower link pivot angle in the receiving position relative to vertical [0319] .sub.LP Lower link pivot angle in the picking position relative to vertical