Abstract: A vertically displaceable gripper assembly is suspended from a remotely operated vehicle operating on top of upright members of an automated storage and retrieval system. The gripper assembly engages with a goods holder positioned in a storage column defined by a set of upright members. The goods holder has an open side. The gripper assembly includes a detector for determining whether goods placed in the goods holder project out of the open side of the goods holder.

Abstract: A container-handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a vehicle body and at least one lifting device. The lifting device includes a lifting shaft assembly including a lifting shaft and at least one motor for rotating the lifting shaft, a lifting frame for releasably connecting a storage container, and a first pair of lifting bands and a second pair of lifting bands connecting the lifting shaft to the lifting frame. The lifting shaft includes a first end section and a second end section. Each lifting band has a first end and a second end connected to the lifting shaft and a corresponding lifting band connector on the lifting frame, respectively. Each pair of lifting bands has a first lifting band connected at the first end section of the lifting shaft and a second lifting band connected at the second end section of the lifting shaft.

Abstract: A container vehicle includes a rechargeable power source; two separated charge-receiving elements connected to the power source and each comprising a first contact surface; and a first set of wheels and a second set of wheels for moving the container vehicle along a rail grid. The container vehicle is operable to change between: a first configuration, a second configuration, and a third configuration. In the first configuration, the first set of wheels may move the container vehicle in a first direction. The first and the second sets of wheels are in contact with the rail grid such that movement of the container vehicle is prevented. In the third configuration, the second set of wheels may move the container vehicle in a second direction.

Abstract: An access station for an automated storage and retrieval system includes a frame structure; a drawer arranged in the frame structure and including a compartment for accommodating a goods holder; and a blocker operational with the drawer for providing a safety zone above the receiving position. The drawer is movable between a receiving position for receiving the goods holder from above where the drawer is retracted into the frame structure for preventing a user from accessing the compartment, and a picking position for presenting the goods holder to a user. The blocker is configured to block movement of the drawer located in the receiving position when an object is located in the safety zone. The blocker is configured to block movement of the object into the safety zone when the drawer is at least partly located outside the receiving position.

Abstract: A container-handling vehicle includes a vehicle body and a lifting device for lifting a storage container from a grid. The lifting device includes a lifting band drive assembly connected to the vehicle body, a horizontal lifting frame for releasable connection to a storage container, and four lifting bands connecting the lifting band drive assembly to the lifting frame. The lifting band drive assembly includes a lifting shaft assembly having a lifting shaft and at least one motor for rotating the lifting shaft. The lifting shaft includes a first end section and a second end section. Two of the lifting bands are connected at each of the first and second end sections. The lifting shaft assembly includes at least one electrical insulating element arranged such that the lifting bands connected at the first end section is electrically insulated from the lifting bands connected at the second end section.

Abstract: The invention concerns an access station (3) for picking storage containers (106), comprising: •—a picking zone (4), •—at least one conveyor (8,9,21,22) arranged to transport storage containers (106) from an entry position (6) through said picking zone (4) and to an exit position (7), wherein the access station (3) comprises: •—at least one tilting device (13) arranged to tilt a storage container (106) at least in the picking zone (4). The invention further relates to a method for operating such an access station and an automated storage and retrieval system comprising such an access station.

Abstract: A container accessing station for accessing a storage container of an automated storage and retrieval system includes a housing and a vehicle lift. The housing includes an access opening, and a base opening. A human and/or robot may access contents of the storage container through the access opening. The storage container can enter the container accessing station to be presented at the access opening through the base opening. The vehicle lift is arranged to lift a delivery vehicle carrying the storage container on an upper surface of the delivery vehicle from a pickup level below the base opening up to an accessing level where the storage container is presented to be accessed through the access opening by the human and/or robot while the storage container is still being carried by the delivery vehicle.

Abstract: A container-handling vehicle includes a lifting shaft having first and second end sections, a motor for rotating the lifting shaft, a lifting frame for releasably connecting to a storage container, and a first pair of lifting bands and a second pair of lifting bands connecting the lifting shaft to the lifting frame. Each lifting band has a first end connected to the lifting shaft and a second end connected to the lifting frame. Each pair of lifting bands has a first lifting band connected at the first end section of the lifting shaft and a second lifting band connected at the second end section of the lifting shaft. The first pair of lifting bands extends in a substantially horizontal direction from the lifting shaft towards a band guiding assembly arranged to change the direction of the first pair of lifting bands to extend in a vertical direction.

Abstract: An automated storage and retrieval system includes a track system, a plurality of storage columns, a container handling vehicle, a replaceable power supply, and a charging station. The track system includes a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, said first and second sets of tracks forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks. The plurality of storage columns are located beneath the track system. Each storage column is located vertically below a grid opening and arranged to store a stack of storage containers.

Abstract: An access station, which is for presentation of storage containers, includes a receiving area for receiving storage containers from an automated storage and retrieval system; a first picking position for presentation of the storage container to a picker; a second picking position for presentation of the storage container to a picker; a guiding frame; and a primary carriage. The first picking position is arranged on a first side of the receiving area. The second picking position is arranged on a second side of the receiving area, opposite the first side. The guiding frame is arranged in a horizontal plane and extending between the first picking position and the second picking position. The primary carriage is for transporting a storage container along the guiding frame.

Abstract: An automated storage and retrieval system including a rail system and a storage section located beneath or above the rail system. The storage section includes a plurality of storage towers for storing goods holders and movement in at least one of a first direction and a second direction. Additionally, the storage section includes at least one column void defined by a space between two or more of the plurality of storage towers. The at least one column void includes a footprint corresponding to an area of at least one cell. Further, the at least one column void may be repositioned within the storage section in at least one of the first direction and the second direction into vertical alignment with different access openings at varying locations via movement in at least one of the first direction and the second direction of at least one of the plurality of storage towers.

Abstract: An access station for an automated storage and retrieval system includes a frame structure; and a drawer arranged in the frame structure. The drawer is a tilt drawer including a compartment for accommodating a goods holder. The tilt drawer is pivotable between a receiving position for receiving a goods holder from above, and a tilted picking position for presenting a goods holder to a user.

Abstract: The invention relates to a mobile storage system having a mobile container with an automated storage and retrieval system arranged inside. The automated storage and retrieval system has a storage grid structure having vertical members defining multiple columns, such as storage columns for storing storage bins on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a first rail system arranged to guide at least one bin handling vehicle thereon. The bin handling vehicle is configured to raise storage bins from, and lower storage bins into, the storage columns, and to transport the storage bins above the storage columns. The invention also relates to a method for providing such a system. The invention also relates to a mobile storage system having a plurality of mobile containers connected together and a method for providing such a system.

Abstract: An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated delivery vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device is arranged to latch to a motorized vehicle body of the remotely operated delivery vehicle, and to lock the remotely operated delivery vehicle against accidental displacement prior to interaction with the human and/or robotic operator. The locking device is arranged to unlock the remotely operated delivery vehicle once interaction with the human and/or robotic operator is no longer required.

Abstract: A container handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container handling vehicle includes a vehicle module part (P1); and a container lifting part. The vehicle module part (P1) includes a first set of wheels for moving the container handling vehicle in a first direction (X) and a second set of wheels for moving the container handling vehicle in a second direction (Y). The second direction is perpendicular to the first direction. The container lifting part extends sideways as a cantilever from the vehicle module part (P1) and includes a hoist frame (P2) with an opening (OSP) defining an access perimeter; a hoist mechanism carried by the hoist frame (P2); a plurality of lifting bands connected to the hoist mechanism and guided by the hoist frame (P2); and a lifting frame for releasable connection to a storage container, the lifting frame being suspended in a horizontal orientation from the hoist frame (P2) by the plurality of lifting bands.

Abstract: A vehicle, which is for use in an automated storage and retrieval system, includes a transport mechanism and a lifting device. The transport mechanism is for transporting the vehicle along a first guiding system in a first direction and a second guiding system in a second direction. The second direction is orthogonal to the first direction. The lifting device is for lifting storage containers from storage columns arranged below the vehicle. The lifting device includes a lifting frame connectable to a storage container. The vehicle further includes at least one reader for reading at least one label of a storage container such as to identify the storage container. The at least one reader is arranged on the lifting frame of the vehicle.

Abstract: A remotely operated vehicle for an automated storage and retrieval system, including: a horizontal base structure extending in a first direction and in a second direction which is orthogonal to the first direction, and a first downward facing guide system being horizontally arranged, positioned above the base structure, and extending at least in the first direction. The remotely operated vehicle includes: a lower base provided with driving means configured for movement along the base structure in the first direction and/or in the second direction, and an upper base provided with guiding means configured for engagement with the first downward facing guide system.

Abstract: A system for connecting two or more wheel modules operating on an automated storage and retrieval system, wherein the system comprises: a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, and a Service Vehicle Unit (SVU) configured to operate on the rail system and is wherein that the SVU is mounted on two or more wheel modules that are coupled together using a connecting device, wherein the connecting device and the frame of the two or more wheel modules are attached to each other at attachment points and that there are placed a shock absorbing component at the attachment point

Abstract: A service vehicle provides a platform for servicing a container handling vehicle while on a grid-based rail system of a three-dimensional storage grid of an automated storage system for storing storage containers. The service vehicle includes two or more wheel modules. Each module having a first set of wheels configured to move the vehicle along a first lateral direction of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction of the grid-based rail system. The second direction is perpendicular to the first direction. A platform is mounted on the two or more wheel modules. The platform includes an enclosure that has at least one opening that can be closed by a barrier. The platform has a set of tracks matching the width of the tracks on the grid.

Abstract: An automated storage and retrieval system includes a track system forming a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell including a grid opening. A plurality of storage columns is located beneath the track system. Each storage column is located vertically below a grid opening and arranged to store a stack of storage containers. A container handling vehicle for lifting at least one storage container stacked in the stacks is configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings.