Automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location

Abstract

An automated storage and retrieval system comprising an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system for guiding a plurality of container handling vehicles and a delivery column adapted for transport of a storage container arranged in a stack of storage containers beneath the container handling vehicle rail system between a container handling vehicle and a delivery port situated at a lower end of the delivery column. The container handling vehicle rail system includes 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 pattern in the horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails. The delivery system includes a remotely operated delivery vehicle including a container carrier adapted to support the storage container. The delivery vehicle is further adapted to transport the storage container between the delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator.

Claims

1. An automated storage and retrieval system comprising: an automated storage and retrieval grid, wherein the automated storage and retrieval grid comprises: a container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system comprising a first set of parallel rails arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails; a container handling vehicle operating on the container handling vehicle rail system; and a delivery column adapted for transport of a storage container arranged in a stack of storage containers beneath the container handling vehicle rail system between a container handling vehicle and a delivery port situated at a lower end of the delivery column; and a delivery system, wherein the delivery system comprises: a delivery rail system on which a remotely operated delivery vehicle operates, said delivery system being situated below the delivery port, wherein the delivery rail system comprises a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent delivery vehicle grid cells, each delivery vehicle grid cell comprising a delivery vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails, wherein the remotely operated delivery vehicle comprising a container carrier adapted to support the storage container, the remotely operated delivery vehicle being further adapted to transport the storage container between the delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator, wherein each delivery vehicle grid cell of the delivery rail system has a size which is equal a size of the container handling vehicle grid cell of the container handling vehicle rail system, and wherein the delivery rail system is below a lower level of the automated storage and retrieval grid, and the deliver rail system extends from a location inside the automated storage and retrieval grid to a location outside the automated storage and retrieval grid such that the second location for handling of the storage container is arranged at a periphery of the deliver rail system at the location outside the automated storage and retrieval grid.

2. The automated storage and retrieval system according to claim 1, wherein the remotely operated delivery vehicle further comprises rolling devices connected to a vehicle body arranged below the container carrier.

3. The automated storage and retrieval system according to claim 1, wherein the remotely operated delivery vehicle has a delivery vehicle footprint with a horizontal extent which is equal to or less than the horizontal extent of the delivery vehicle grid cell.

4. The automated storage and retrieval system according to claim 1, wherein at least one of the plurality of delivery vehicle grid cells of the delivery rail system is arranged directly below a container handling vehicle grid cell of the container handling vehicle rail system.

5. The automated storage and retrieval system according to claim 1, wherein each of the first and second set of rails of the delivery rail system is a double track rail comprising two parallel tracks separated by a protrusion running midway.

6. The automated storage and retrieval system according to claim 1, wherein each of the first and second set of rails of the container handling vehicle rail system is a double track rail comprising two parallel tracks separated by a protrusion running midway.

7. The automated storage and retrieval system according to claim 1, wherein the delivery rail system extends from a location below the delivery port and to the second location.

8. The automated storage and retrieval system according to claim 1, wherein the automated storage and retrieval grid comprises upright members which are finished short and suspended on a mezzanine level which itself has upright posts that are stepped out from the delivery column.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The following drawings depict exemplary embodiments of the present invention and are appended to facilitate the understanding of the invention.

(2) FIG. 1 A-D are perspectives view of a prior art automated storage and retrieval system, where FIG. 1A and FIG. 1C shows the complete system and FIG. 1B and FIG. 1D shows examples of system operable prior art container handling vehicles.

(3) FIG. 2 A-C is a top view of a container handling vehicle rail system, where FIG. 2A shows a single track system, FIG. 2B shows a double track system 2B and FIG. 2 C shows a double track system indicated width and length of a container handling vehicle grid cell.

(4) FIG. 3 A-C is a side view of a remotely operated delivery vehicle according to an embodiment of the invention.

(5) FIG. 4 A-B is a perspective view of the remotely operated delivery vehicle of FIG. 3 A-C.

(6) FIG. 5 A-B is a perspective view of the remotely operated delivery vehicle of FIG. 3 A-C, from the underside and from the above.

(7) FIG. 6 A is a cross sectional view of the remotely operated delivery vehicle of FIG. 3 A-C.

(8) FIG. 6 B is a perspective view of the remotely operated delivery vehicle of FIG. 3 A-C disclosing the operation of the wheels.

(9) FIG. 7 A-C is a perspective view of another embodiment of the remotely operated delivery vehicle having a container carrier with a compartment for holding the storage container.

(10) FIG. 8 A-B is a perspective view of another embodiment of the remotely operated delivery vehicle having a container carrier provided with conveyors.

(11) FIG. 9 A-B is a perspective view of an exemplary embodiment of an automated storage and retrieval grid and a delivery system according to the present invention.

(12) FIG. 10 A-B is a perspective view of another embodiment of an automated storage and retrieval grid and a delivery system according to the present invention.

(13) FIG. 11 A is a perspective view of another embodiment of an automated storage and retrieval grid with delivery columns and delivery port.

(14) FIG. 11 B is a side view of another automated embodiment storage and retrieval grid and a delivery system according to the present invention.

(15) FIG. 12 is a top view of a double track delivery rail system of the automated storage and retrieval system according to FIG. 9-12.

DETAILED DESCRIPTION OF THE INVENTION

(16) 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. Furthermore, even if some of the features are described in relation to the system only, it is apparent that they are valid for the delivery vehicles and related methods as well, and vice versa. Hence, any features described in relation to the delivery vehicle only, and/or related methods, are also valid for the system.

(17) With reference to FIGS. 1A-D the storage grid 104 of each storage structure 1 constitutes a framework 100 of in total 143 grid columns 112, where the width and length of the framework corresponds to the width and length of 13 and 11 grid columns 112, respectively. The top layer of the framework 100 is a rail system 108 onto which a plurality of container handling vehicles 200,300 are operated.

(18) The framework 100 of the storage system 1 is constructed in accordance with the above mentioned prior art framework 100 described above, i.e. a plurality of upright members 102 and a plurality of horizontal members 103 which are supported by the upright members 102, and further that the horizontal members 103 includes a container handling vehicle rail system 108 of parallel rails 110,111 in the X direction and the Y direction, respectively, arranged across the top of storage columns 105. The horizontal area of a single grid cell 122, i.e. along the X and Y directions, may be defined by the distance between adjacent rails 110 and 111, respectively (see also FIG. 2). In FIGS. 1A and 1C, such a grid cell 122 is marked on the rail system 108 by thick lines.

(19) The container handling vehicle rail system 108 allows the container handling vehicles 200,300 to move horizontally between different grid locations, where each grid location is associated with a grid cell 122.

(20) In FIGS. 1A and 1C the storage grid 104 is shown with a height of eight cells. It is understood, however, that the storage grid 104 can in principle be of any size. In particular it is understood that storage grid 104 can be considerably wider and/or longer than disclosed in FIGS. 1A and 1C. For example, the grid 104 may have a horizontal extent of more than 700×700 grid cells 122. Also, the grid 104 can be considerably deeper than disclosed in FIGS. 1A and 1C. For example, the storage grid 104 may be more than twelve grid cells deep.

(21) The storage container vehicles 200,300 may be of any type known in the art, e.g. any one of the automated container handling vehicles disclosed in WO2014/090684 A1, in NO317366 or in WO2015/193278A1.

(22) The rail system 108 may be a single track system, as is shown in FIG. 2A. Alternatively, the rail system 108 may be a double track system, as is shown in FIG. 2B. Details of the single and double track system are disclosed this specification under the section of background and prior art.

(23) FIG. 3 A-C shows an embodiment of a remotely operated delivery vehicle 30 according to the present invention, hereinafter referred to as a delivery vehicle 30.

(24) The delivery vehicle 30 is configured for transport of one or more storage container 106 (not shown) between an automated storage and retrieval grid 104 (not shown) configured to store a plurality of stacks 107 of storage containers 106, hereinafter referred to as a storage grid 104, and a second location for handling of the storage container (106) by at least one of a robotic operator and human operator (not shown). The delivery vehicle 30 may be configured for transport of only one storage container 106, or may be configured for transport of more than on storage containers simultaneously.

(25) Said delivery vehicle 30 comprises; a vehicle body 31, rolling devices 32 connected to the vehicle body 31, rolling device motors for driving the rolling devices 32 in a horizontal plane (P1), and a power source 43 connected to the rolling device motors. The power source 43 should provide sufficient power to the rolling device motors to propel the rolling devices 32 over a set route from the storage grid 104, for example to the second location.

(26) The delivery vehicle 30 may further comprise a container carrier 35 mounted above the vehicle body 31. The container carrier 35 should be configured to receive the storage container 106 onto or within the container carrier 35 such that the storage container 106 is hindered to move relative to the container carrier in the horizontal direction.

(27) The container carrier 35 may comprise a container supporting device supporting the storage container 106 from below. The form of the container supporting device may be any that ensure stable support, for example in the shape of a cup, a cradle, a seat, a frame, a holder or a platform.

(28) In FIG. 3 A-C the container carrier 35 is disclosed in the form of a storage container receiving compartment having a bottom/base and side walls. The volume of the compartment is in this exemplary configuration such that it may receive and contain the entire horizontal extent of the storage container and at least a part of the vertical extent of the storage container. FIGS. 3-6 shows examples of container carriers 35 containing an entire storage container 106 and FIG. 7 A-C shows an alternative container carrier 35 containing a part of the storage container 106.

(29) The particular configuration of the container carrier 35 disclosed in FIGS. 3-6 allows the delivery vehicle 30 to transport of a storage container 106 having different heights.

(30) Note that the size of the compartment within the container carrier 35 may easily be adapted for receiving and supporting a multiple number of storage containers 106 in one operation.

(31) FIGS. 3 B and C shows a particular configuration of the delivery vehicle 30, where the container carrier 35 may be set in a tilted position relative to the vehicle body 31 and the horizontal plane (P1). The container carrier 35 may be tilted by means of a dedicated displacement device 41. The tilting may be around a pivot axis directed in the principal moving direction of the delivery vehicle 30. If the delivery vehicle 30 is moving on perpendicular rails (see below), these principal directions would be in either the X direction or the Y direction.

(32) The tilting of the displacement device 41 may for example be obtained by a lifting arm 45 coupled to the vehicle body 31 and the container carrier 35. Further, the lifting arm 45 may be driven by a dedicated tilt motor (not shown) or the rolling device motor or both.

(33) FIG. 4 A-B shows additional perspective views of the delivery vehicle 30. The rolling device 32 comprises in this exemplary configuration: a first set of wheels 32a arranged at opposite portions of a vertical centre plane through the vehicle body 31 for moving delivery vehicle 30 along a first direction, for example along an X-direction on a delivery rail system; and a second set of wheels 32b arranged at opposite portions of a vertical centre plane through the vehicle body 31 for moving the delivery vehicle 30 along a second direction, for example along a Y-direction on the delivery rail system perpendicular to the first direction X.

(34) An example of a delivery rail system will be further described in FIG. 9-12.

(35) FIGS. 5 A and B shows the delivery vehicle 30 from below and from above, respectively. As clearly seen in FIG. 5 A the vehicle body 31 of the delivery vehicle 30 comprises an internal component receiving recess or compartment for containing components such as one or more dedicated tilt motors 41, one or more rail shift motors 42, one or more power storage sources such as a battery 43 and one or more control cards such as CPU and/or Power PCB 44. The above-mentioned components are thus located within the vehicle body 31, below the container carrier 35.

(36) As best disclosed in FIG. 5 B the storage container receiving compartment of the container carrier 35 has in this particular configuration a rectangular bottom plate or base plate with vertical side walls. The vertical side walls can be of any height as long as they ensure that the storage container 106 is restricted to move along the base plate of the container carrier.

(37) For example, the size of the compartment 35 may correspond to the size of a storage container 106, thereby fully containing the storage container 106.

(38) The delivery vehicle may have a footprint, i.e. an extent in the X and Y directions, which is generally equal to the horizontal extent of a grid cell of the delivery rail system i.e. the extent of a grid cell in the X and Y directions. Accordingly, the size of the base plate of the compartment 35, in the X and Y direction, may be within these given perimeters.

(39) In case of a container carrier 35 being configured to support a multiple number of storage containers 106, the size of the vertical walls may in one example be the height of each storage container 106 and the size of the base plate may be the sum of the cross-sectional area of all storage containers 106 measured relative to their outer lateral extremities.

(40) FIG. 5 B further shows that the container carrier 35 may comprise a dedicated holding device 46,47,49 for the one or more storage containers 106 to allow storage containers 106 of different vertical heights to be stored in the same delivery vehicle 30. In the exemplary configuration shown in FIG. 5 B the holding device comprises a support element 46 having a top surface 49 and connected to an actuator lever 47. The support element 46 is connected to the inner walls of the container carrier 35, for example at the upper half of the container carrier 35.

(41) The holding device may be arranged in the following exemplary way.

(42) The storage container holding device comprises a support element 46 having a top surface 49 at one end and connected to an actuator lever 47 at the opposite end. The support element is pivotably connected to an inner top part of a side wall of the compartment 35. The actuator lever 47 is arranged with an inclined angle such that it protrudes into the compartment 35, and such that during introduction of the storage container 106 into the compartment 35, a bottom edge of the storage container 106 will push the actuator levers 47 from the protruding position in which it is in contact with the bottom edge of the storage container, to a substantial vertical position.

(43) Since the actuator lever 47 is pivotably connected to the support element 46, the movement of the actuator lever 47 provides a corresponding movement of the top surface 49 provided at the opposite end of the support element 46. Accordingly, during introduction of the storage container 106 into the compartment 35, the top surface 49 will move from a first position in which it is not in contact with a top edge of the storage container, to a second position in which it is in contact with the top edge of the storage container, when the storage container 106 is fully accommodated in the compartment 35. Wherein in the second position, the top edge (not shown) of the storage container is supported by the top surface 49.

(44) The actuator lever 47 may be pre-tensioned by a spring (not shown), such that the actuator levers 47 return to their non-actuated position (protruding position) when the storage container 106 is lifted off, or out of, the compartment 35.

(45) By supporting the storage container 106 via the external top edge (not shown) of the storage container 106, the storage container 106 is always held at a predetermined level relative the base plate of the compartment 35.

(46) The support element 46, the top surface 49 and the actuator lever 47 can be made in one piece.

(47) FIG. 6 A shows a perspective side view of the delivery vehicle 30 where the container carrier 35 is tilted around a rotational axis directed in one of the principal moving direction of the storage container 106, i.e. the first or the second direction as described above.

(48) The tilting of the displacement device 41 may for example be obtained by a lifting arm 45.

(49) The container carrier 35 can be tilted towards one of the longitudinal sides such that the storage container 106 can be easily accessed by a human operator responsible for picking items from within the container carrier 35.

(50) The displacement device 41 is in FIG. 6 A shown with an L-shaped lifting arm 45 connected at one side to the vehicle body 31 and the opposite side connected to a structure fixed to the container carrier 35. The latter end of the arm 45 may also be connected directly to the container carrier 35.

(51) The tilt motor 41 is seen arranged fully inside the vehicle body 31 and is connected to the lifting arm 45, directly or indirectly, for moving the lifting arm 45 between a lower position in which the container carrier 35 is not tilted relative to the horizontal plane (P) and an upper position in which the container carrier 35 is tilted relative to the horizontal plane (P). Note that the horizontal plane (P) may be defined as the plane set up by the particular configurations of the wheels 32a,32b of the rolling device 32.

(52) FIG. 6 B shows the delivery vehicle 30 as described above with the vehicle body 31 and the rolling device 32 of eight wheels 32a,32b. As for the delivery vehicle shown in FIGS. 3-5, the first set of four wheels 32a enable lateral or horizontal movement of the delivery vehicle 30 in a first direction and the second set of the remaining four wheels 32b enable the lateral or horizontal movement in the second direction which may be perpendicular to the first direction.

(53) If used on a delivery rail system 50 (see below) one or both sets of wheels 32a,32b of the rolling device 32 should be lifted and lowered so that the first set of wheels 32a and/or the second set of wheels 32b can be engaged with the respective set of rails provided on the delivery rail system 50 any one time.

(54) FIG. 7 A-C shows another exemplary configuration of a remotely operated delivery vehicle 30 according to the invention. Similar to the container carrier 35 described above, the container carrier 35 of this configuration is a container supporting device for supporting the storage container 106 from below.

(55) The container supporting device hence comprises a base plate provided with side walls along the outer circumference or periphery of the base plate, thereby defining a compartment. The horizontal extent of the compartment is adapted to be large enough to receive one or more storage containers 106 and small enough to substantially hinder movements of the one or more storage containers 106 when inserted. However, in contrast to the exemplary configuration of the delivery vehicle 30 shown in FIGS. 3-6, the one or more side wall of the container supporting device has a vertical height less than the vertical height of each storage container 106. In fact, in order to achieve the purpose of the side walls of the container carrier 35 (to substantially prevent horizontal movement when inserted) it is sufficient with only a small vertical protrusion upwards from the base plate, for example less than 5% of the height of the side walls of the storage container 106.

(56) FIG. 8 A-B shows yet another exemplary configuration of the remotely operated delivery vehicle 30. In this configuration the container carrier 35 comprises a base plate, a conveyor 36 arranged on the base plate and two parallel side walls protruding upwards from the base plate. The rolling device 32 and the vehicle body 31 are equal or similar to the rolling device 32 and the vehicle body 31 described above in connection with FIGS. 3-7.

(57) The conveyor may be set up by inter alia a plurality of parallel oriented rolls 36 having a common longitudinal direction perpendicular to the two side walls. In this way the rolls 36 allow one or more storage containers 106 to be shifted into or off the container carrier 35 while being guided by the side walls. The conveyor may be connected to a conveyor motor allowing rotation of one or more of the rolls.

(58) Alternatively, the side walls are omitted, allowing the storage containers 106 to have a horizontal offset relative to a vertical center plane oriented perpendicular to the rolls longitudinal direction. Hence, the storage containers 106 may be arranged such that it extends beyond the end of the rolls in the rolls longitudinal direction.

(59) In yet another alternative configuration, the conveyor may comprise a plurality of rolling balls within or on the base plate of the container carrier 35 allowing the one or more storage containers 106 to roll on top of the balls. With this configuration, and with no side walls present, the storage container 106 may be moved in any direction above the base plate.

(60) Perspective views of an automated storage and retrieval system are shown in FIGS. 9 A and B. The inventive system comprises storage grid 104 and a delivery system 140 including the above described delivery vehicle 30.

(61) The storage grid 104 is equal or similar to the prior art storage grid 104 as described above, i.e. a storage grid 104 comprising a rail system 108; a plurality of stacks 107 of storage containers 106, a plurality of container handling vehicles 300 for lifting and moving storage containers 106 stacked in the stacks 107 and a delivery column 119,120 configured to receive a storage container 106 from a container handling vehicle 300.

(62) The rail system 108 comprises a first set of parallel trails 110 arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel rails 111 arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X). The first and second sets of rails 110, 111 form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells 122. Each grid cell 122 displays a grid opening defined by a pair of neighboring rails of the first set of rails 110 and a pair of neighboring rails of the second set of rails 111.

(63) The plurality of stacks 107 are arranged in storage columns 105 located beneath the rail system 108, wherein each storage column 105 is located vertically below a grid cell 122.

(64) Each container handling vehicle 200,300 is configured to move on the rail system 108 above the storage columns 105.

(65) Further, the delivery system 140 comprises one or more of the delivery vehicles 30 as described above, i.e. delivery vehicles 30 configured to receive and support one or more storage containers 106 for transport between one or more delivery columns 119,120 and one or more predetermined positions outside the storage grid 104. The predetermined positions may for example be a second location or a conveyor line or a transport vehicle such as a truck.

(66) The delivery system 140 may further comprise a delivery rail system 50 situated below a delivery port 150 of the one or more delivery columns 119,120.

(67) As shown in FIG. 9 A-B, the delivery rail system 50 may be constructed in the same way or a similar way as the rail system 108 for the container handling vehicles 200,300.

(68) Hence, the delivery rail system 50 may comprise a first set of parallel rails 51 arranged in a horizontal plane (P1) and extending in a first direction (X), and a second set of parallel rails 52 arranged in the horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X).

(69) The delivery may also be a double rail system, as is shown in FIG. 2B, thus allowing a delivery vehicle 30 having a footprint generally corresponding to the lateral area defined by a delivery grid column to travel along a row of grid columns even if another delivery vehicle 30 is positioned above a grid column neighboring that row.

(70) Both the single and double rail system, or a combination comprising a single and double rail arrangement in a single rail system, forms a grid pattern in the horizontal plane P1 comprising a plurality of rectangular and uniform grid locations or grid cells, where each grid cell comprises a grid opening being delimited by a pair of rails of the first rails and a pair of rails of the second set of rails.

(71) The pair of rails in the X-direction defines parallel rows of delivery grid cells running in the X direction, and the pairs of rails in the Y direction defines parallel rows of delivery grid cells running in the Y direction.

(72) Accordingly, each delivery grid cell has a width W.sub.c which is typically within the interval of 30 to 150 cm, and a length L.sub.c which is typically within the interval of 50 to 200 cm. Each grid opening 115 has a width W.sub.o and a length L.sub.o which is typically 2 to 10 cm less than the width W.sub.c and the length L.sub.c of the delivery grid cell.

(73) The delivery rail system 50 can be fully or partly integrated into the storage grid 104. However, it is considered advantageous for ensuring an effective operation that the delivery rail system 50 has a horizontal extent that covers a delivery port 150 below at least one of the delivery columns 119,120.

(74) FIGS. 9 A and B shows a delivery rail system 50 extending from a location inside the storage grid 104 to a location outside the storage grid 104. One or more second locations, i.e. a structure for picking and placing items in the storage containers 106, may be arranged somewhere at the periphery of the part of the delivery rail system 50 located outside the storage grid 104. Alternatively, or in addition, a conveyor may be arranged at or near the same periphery of the delivery rail system 50.

(75) FIG. 10 A-B shows the inventive automated storage and retrieval system in a larger scale, where a plurality of delivery columns 119,120 with their respective delivery ports are arranged at different locations within the storage grid 104.

(76) The delivery rail system 50 may be arranged such that it connects the plurality of delivery columns 119,120 provided at the different locations within the storage grid 104.

(77) In the particular system shown in FIG. 10 the delivery rail system 50 may be divided into three interconnected zones, where a first zone is located within a first part of the storage grid 104, a second zone is located within a second part of the storage grid 104, and an intermediate zone is located outside the storage grid 104 and allows the delivery vehicles 30 to move from the first zone to the second zone. The first and second zones are divided by a plurality of storage columns 105.

(78) FIG. 11 A shows a plurality of delivery columns 119,120 of a storage grid 104. Each delivery column 119,120 is arranged with a delivery port 150 located at the lowermost level/end of the delivery column 119,120.

(79) A side view of the automated storage and retrieval system 1 is shown in FIG. 11 B. The system 1 comprises an automated storage and retrieval grid 104 and a delivery system 140. The delivery system 140 comprises a delivery vehicle 30 adapted to move on a delivery rail system 50 located below a delivery port 150 of a delivery column 119,120 of a storage grid 104 (FIG. 11 A). A container handling vehicle 200,300 operates on a rail system 108 for pick-up and drop-off of storage containers through the delivery column 119,120. The delivery vehicle 30 is operated such that it can receive or deliver a storage container 106 to the delivery port 150. The container storage columns 105 are shown in the FIGS. 9-11 contain no storage containers 106. In operation, the storage columns 105 are filled, or almost filled, with storage containers 106 stacked one on top of another.

(80) The delivery system may benefit from many of the considerations provided for the rail system 108 and the container handling vehicles 200,300 of the storage grid 104. As shown in FIGS. 10 and 11 the upright members 102 of the storage grid 104 are finished short and suspended on a mezzanine level 151 which itself has upright posts 152 that may be stepped out from the delivery columns 119,120, typically to a horizontal position located adjacent to the position of the vertical side walls of the rails 110,111 framing the corresponding grid cell 122. Consequently, the adoption of the delivery system 140 may result in a slight loss of storage space in the storage grid 104. However, the benefit is increased delivery efficacy of storage containers 106 in the automated storage and retrieval system 1 since the congestion of the storage containers 106 at the delivery columns 119,120 is avoided or at least reduced. The number of delivery columns 119,120 and the size of the mezzanine level 151 (its extent) in the X and Y direction may be customized according to the size of the storage system and the desired efficiency of the system.

(81) FIG. 12 shows the delivery rail system 50 as a double track rail system, i.e. identical to the double track rail system of the container handling rail system 108 disclosed in FIG. 2C. As for the container handling rail system 108, each delivery vehicle grid cell 53 has a width W.sub.c which is typically within the interval of 30 to 150 cm, and a length L.sub.c which is typically within the interval of 50 to 200 cm. Each delivery vehicle grid opening 54 has a width W.sub.o and a length L.sub.o which is typically 2 to 10 cm less than the width W.sub.c and the length L.sub.c of the grid cell 53.

(82) In the X and Y directions, neighboring delivery vehicle grid cells 53 are arranged in contact with each other such that there is no space there-between.

(83) 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.

REFERENCE NUMERALS

(84) 30 Delivery vehicle 31 Vehicle body 32 Rolling device 32a First set of wheels 32b Second set of wheels 35 Container carrier 36 Rolls 37,37′ Delivery vehicle footprint 41 Displacement device 42 Tilt motor 43 Power source 44 Controller 45 Lifting arm 46 Support element 47 Actuator lever 50 Delivery rail system 51 First set of parallel rails 51a First neighboring rail of first set 51b Second neighboring rail of first set 52 Second set of parallel rails 52a First neighboring rail of second set 52b Second neighboring rail of second set 53 Delivery vehicle grid cell 54 Delivery vehicle grid opening P1 Horizontal plane of delivery rail system 100 Framework structure 102 Upright members of framework structure 103 Horizontal members of framework structure 104 Storage grid/three-dimensional grid 105 Storage column 106 Storage container 107 Stack 108 Rail system/Container handling vehicle rail system 110 First set of parallel rails in first direction (X) 110a First neighboring rail of first set 110b Second neighboring rail of first set 111 Second set of parallel rails in second direction (Y) 111a First neighboring rail of second set 111b Second neighboring rail of second set 115 Grid opening/Container handling vehicle grid opening 119 Delivery column 120 Delivery column 122 Grid cell/Container handling vehicle grid cell 140 Delivery system 150 Delivery port 151 Mezzanine level 152 Upright post 200 First container handling vehicle 201 Wheel arrangement 202,202′ Container handling vehicle footprint 300 Second container handling vehicle 301 Wheel arrangement X First direction Y Second direction P Horizontal plane of rail system Wo Width of container handling vehicle grid opening Wc Width of container handling vehicle grid cell Lo Length of container handling vehicle grid opening Lc Length of container handling vehicle grid cell Wod Width of delivery vehicle grid opening Wcd Width of delivery vehicle grid cell Lod Length of delivery vehicle grid opening Lcd Length of delivery vehicle grid cell