Patent ID: 11866259
Assignee: AUTOSTORE TECHNOLOGY AS
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 9:
10. A method of retrieving at least one storage container from an automated storage and retrieval system comprising a three-dimensional grid and at least one container-handling vehicle,
wherein the grid comprises multiple storage columns, in which storage containers may be stored on top of one another in vertical stacks, and a port column for receiving and transporting a storage container to an access station;
wherein the container handling vehicle is operated on rails at a top level of the grid for retrieving storage containers from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the grid;
wherein the container-handling vehicle comprises at least a first lifting device and a second lifting device, each lifting device comprising a lifting frame, the lifting devices arranged such that they may retrieve and/or store a storage container from/in at least two adjacent storage columns at the same time, and at least one vertical frame guiding element extending between the first lifting device and the second lifting device;
wherein the at least one vertical frame guiding element defines at least portions of a vertically extending corner section providing guidance to an external corner of one of the lifting frames;
wherein the at least one vertical frame guiding element partitions the cavity into two or more storage areas where each storage area has an independent lifting device; and
the method comprising:
identifying a first storage container to be retrieved;
moving the container-handling vehicle, such that the first lifting device is centred relative a first storage column comprising the first storage container;
retrieving a second storage container by the first lifting device, the second storage container arranged in the first storage column at a level above the first storage container;
moving the container-handling vehicle, such that the second lifting device is centred relative the first storage column; and
retrieving the first storage container by the second lifting device.