Patent Description:
<FIG> discloses a prior art automated storage and retrieval system <NUM> with a framework structure <NUM> and <FIG>, <FIG> disclose three different prior art container handling vehicles <NUM>, <NUM>, <NUM> suitable for operating on such a system <NUM>. The framework structure <NUM> comprises upright members <NUM> and a storage volume comprising storage columns <NUM> arranged in rows between the upright members <NUM>. In these storage columns <NUM> storage containers <NUM>, also known as bins, are stacked one on top of one another to form container stacks <NUM>. The members <NUM> may typically be made of metal, e.g. extruded aluminum profiles.

The framework structure <NUM> of the automated storage and retrieval system <NUM> comprises a rail system <NUM> arranged across the top of framework structure <NUM>, on which rail system <NUM> a plurality of container handling vehicles <NUM>, <NUM> may be operated to raise storage containers <NUM> from, and lower storage containers <NUM> into, the storage columns <NUM>, and also to transport the storage containers <NUM> above the storage columns <NUM>. The rail system <NUM> comprises a first set of parallel rails <NUM> arranged to guide movement of the container handling vehicles <NUM>, <NUM> in a first direction X across the top of the frame structure <NUM>, and a second set of parallel rails <NUM> arranged perpendicular to the first set of rails <NUM> to guide movement of the container handling vehicles <NUM>, <NUM> in a second direction Y which is perpendicular to the first direction X. Containers <NUM> stored in the columns <NUM> are accessed by the container handling vehicles <NUM>, <NUM> through access openings <NUM> in the rail system <NUM>. The container handling vehicles <NUM>, <NUM> can move laterally above the storage columns <NUM>, i.e. in a plane which is parallel to the horizontal X-Y plane.

The stacks <NUM> of containers <NUM> are typically selfsupportive.

Each prior art container handling vehicle <NUM>, <NUM>, <NUM> comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable lateral movement of the container handling vehicles <NUM>, <NUM>, <NUM> in the X direction and in the Y direction, respectively. In <FIG>, two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set <NUM> of rails, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set <NUM> of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails <NUM>, <NUM> at any one time.

Each prior art container handling vehicle <NUM>, <NUM>, <NUM> also comprises a lifting device <NUM>, <NUM> (visible in <FIG>) having a lifting frame part 304a, 404a for vertical transportation of storage containers <NUM>, e.g. raising a storage container <NUM> from, and lowering a storage container <NUM> into, a storage column <NUM>. The lifting device <NUM>, <NUM> comprises one or more gripping/engaging devices which are adapted to engage a storage container <NUM>, and which gripping/engaging devices can be lowered from the vehicle <NUM>, <NUM>, <NUM> so that the position of the gripping/engaging devices with respect to the vehicle <NUM>, <NUM>, <NUM> can be adjusted in a third direction Z (visible for instance in <FIG>) which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles <NUM>, <NUM> are shown in <FIG> and <FIG> indicated with reference number. The gripping device of the container handling device <NUM> is located within the vehicle body 201a in <FIG>.

Conventionally, and also for the purpose of this application, Z=<NUM> identifies the uppermost layer available for storage containers below the rails <NUM>, <NUM>, i.e. the layer immediately below the rail system <NUM>, Z=<NUM> the second layer below the rail system <NUM>, Z=<NUM> the third layer etc. In the exemplary prior art disclosed in <FIG>, Z=<NUM> identifies the lowermost, bottom layer of storage containers. Similarly, X=<NUM>. n and Y=<NUM>. The container handling vehicles <NUM>, <NUM>, <NUM> can be said to travel in layer Z=<NUM>, and each storage column <NUM> can be identified by its X and Y coordinates. Thus, the storage containers shown in <FIG> extending above the rail system <NUM> are also said to be arranged in layer Z=<NUM>.

The storage volume of the framework structure <NUM> has often been referred to as a grid <NUM>, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y-direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.

Each prior art container handling vehicle <NUM>, <NUM>, <NUM> comprises a storage compartment or space for receiving and stowing a storage container <NUM> when transporting the storage container <NUM> across the rail system <NUM>. The storage space may comprise a cavity arranged internally within the vehicle body 201a as shown in <FIG> and <FIG> and as described in e.g. <CIT> and <CIT>.

Such a vehicle is described in detail in e.g. NO317366.

The cavity container handling vehicles <NUM> shown in <FIG> may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column <NUM>, e.g. as is described in <CIT>.

The term `lateral' used herein may mean 'horizontal'.

Alternatively, the cavity container handling vehicles <NUM> may have a footprint which is larger than the lateral area defined by a storage column <NUM> as shown in <FIG> and as disclosed in <CIT> or <CIT>.

Each rail may comprise one track, or each rail may comprise two parallel tracks; in other rail systems <NUM>, each rail in one direction may comprise one track and each rail in the other perpendicular direction may comprise two tracks. The rail system may also comprise a double track rail in one of the X or Y direction and a single track rail in the other of the X or Y direction. A double track rail may comprise two rail members, each with a track, which are fastened together.

<CIT>, illustrates a typical configuration of rail system <NUM> comprising rails and parallel tracks in both X and Y directions.

In <FIG>, columns <NUM> and <NUM> are such special-purpose columns used by the container handling vehicles <NUM>, <NUM>, <NUM> to drop off and/or pick up storage containers <NUM> so that they can be transported to an access station (not shown) where the storage containers <NUM> can be accessed from outside of the framework structure <NUM> or transferred out of or into the framework structure <NUM>. For example, the storage containers <NUM> may be placed in a random or a dedicated column <NUM> within the framework structure <NUM>, then picked up by any container handling vehicle and transported to a port column <NUM>, <NUM> for further transportation to an access station. The transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines.

In <FIG>, the first port column <NUM> may for example be a dedicated drop-off port column where the container handling vehicles <NUM>, <NUM> can drop off storage containers <NUM> to be transported to an access or a transfer station, and the second port column <NUM> may be a dedicated pick-up port column where the container handling vehicles <NUM>, <NUM>, <NUM> can pick up storage containers <NUM> that have been transported from an access or a transfer station.

The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers <NUM>. In a picking or a stocking station, the storage containers <NUM> are normally not removed from the automated storage and retrieval system <NUM>, but are, once accessed, returned into the framework structure <NUM>. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns <NUM>, <NUM> and the access station.

If the port columns <NUM>, <NUM> and the access station are located at different heights, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers <NUM> vertically between the port column <NUM>, <NUM> and the access station.

When a storage container <NUM> stored in one of the columns <NUM> disclosed in <FIG> is to be accessed, one of the container handling vehicles <NUM>, <NUM>, <NUM> is instructed to retrieve the target storage container <NUM> from its position and transport it to the drop-off port column <NUM>. This operation involves moving the container handling vehicle <NUM>, <NUM> to a location above the storage column <NUM> in which the target storage container <NUM> is positioned, retrieving the storage container <NUM> from the storage column <NUM> using the container handling vehicle's <NUM>, <NUM>, <NUM> lifting device (not shown), and transporting the storage container <NUM> to the drop-off port column <NUM>. Alternatively, or in addition, the automated storage and retrieval system <NUM> may have container handling vehicles <NUM>, <NUM>, <NUM> specifically dedicated to the task of temporarily removing storage containers <NUM> from a storage column <NUM>. Once the target storage container <NUM> has been removed from the storage column <NUM>, the temporarily removed storage containers <NUM> can be repositioned into the original storage column <NUM>. However, the removed storage containers <NUM> may alternatively be relocated to other storage columns <NUM>.

When a storage container <NUM> is to be stored in one of the columns <NUM>, one of the container handling vehicles <NUM>, <NUM>, <NUM> is instructed to pick up the storage container <NUM> from the pick-up port column <NUM> and transport it to a location above the storage column <NUM> where it is to be stored. After storage containers <NUM> positioned at or above the target position within the stack <NUM> have been removed, the container handling vehicle <NUM>, <NUM>, <NUM> positions the storage container <NUM> at the desired position. The removed storage containers <NUM> may then be lowered back into the storage column <NUM> or relocated to other storage columns <NUM>.

For monitoring and controlling the automated storage and retrieval system <NUM>, e.g. monitoring and controlling the location of respective storage containers <NUM> within the framework structure <NUM>, the content of each storage container <NUM> and the movement of the container handling vehicles <NUM>, <NUM>, <NUM> so that a desired storage container <NUM> can be delivered to the desired location at the desired time without the container handling vehicles <NUM>, <NUM>, <NUM> colliding with each other, the automated storage and retrieval system <NUM> comprises a control system <NUM> (shown in <FIG>) which typically is computerized and which typically comprises a database for keeping track of the storage containers <NUM>.

<CIT> discloses a system for stacking containers in an automated storage and retrieval system comprising a delivery port where an ordered container can be transported to. The container can be lowered to or placed on a conveyance for delivery to an order picking station at the port. The system can include one or more clamps, each clamp corresponding to a stack location and being configured for clamping one or more of the lowest containers in a stack. One or more lifters is configured for lifting one or more containers into position suitable for engagement by the clamp(s) and at least one overhead load handler is configured for lifting one or more containers from a top of the stack and for lowering one or more containers onto the top of the stack.

<CIT> in an abstract states that "A vertical conveyor for transporting a load in a warehouse equipped with shelves. This vertical conveyor comprises a plurality of receiving devices spaced apart from one another. These receiving devices receive a load and can be displaced vertically. There are also a series of stationary transport elements disposed adjacent to the plurality of receiving devices in an alternating manner. The plurality of receiving devices can comprise driven rollers while the series of stationary transport elements can also comprise driven rollers. There is also a vertical conveyor system that includes a plurality of vertically extending columns defining a shaft. The vertical conveyor can move vertically in this shaft. The vertically extending columns have at least one foldable element coupled to it wherein the foldable element is designed to fold down to allow the vertical conveyor to travel in the shaft and to fold up to remove a load from the vertical conveyor.

<CIT> in an abstract states that "An object handling system is described, the system comprising two substantially perpendicular sets of rails forming a grid above a workspace, the workspace comprising a plurality of stacked containers. The system further comprises a series of robotic load handling devices operating on the grid above the workspace, the load handling devices comprising a body mounted on wheels. The robotic devices can move around the grid under instruction from computing means, the robotic devices being moved to a point on the grid above a stack of containers and then, using lifting means, engage and lift a container from the stack. The container is then moved to a point where the objects in the container can be accessed. Modifications to the workspace and grid are described that allows vehicles and roll cages to be used to move stacks from the workspace to a point outside the workspace or from outside the workspace in to the workspace. " In particular, <CIT> discloses an automated storage and retrieval system according to the preamble of claim <NUM>.

<CIT> in an abstract states that "A system and method are disclosed for supplying one or more goods to a physical store location. The goods may be received at a distribution center (DC). At the DC, the goods may be decanted from their shipping containers into one or more sub-totes, which are contained within one or more product totes. The sub-totes may be transferred from the one or more product totes to one or more order totes based on a velocity of movement of the plurality of goods at the physical store location.

<CIT> in an abstract states that "Present invention makes it possible to automatically transport carts in which trays with medicine contained can be stored. In order to transport the cart comprising a plurality of support panels <NUM> juxtaposed to each other, a lower connection member <NUM> connecting the lower end portions of the plurality of support panels <NUM> and casters <NUM> positioned below the lower connection member <NUM> , the cart transport apparatus comprises a frame <NUM> having wheels <NUM> which can be driven to rotate, the frame <NUM> being movable beneath the lower connection member <NUM> of the cart <NUM> and a grip member <NUM> for gripping the lower connection member <NUM> of the cart <NUM>.

<CIT> in an abstract states that "A stacking storage arrangement is specified, comprising a rack having multiple container receiving spaces that each have an opening at the bottom end thereof, wherein at at least one opening a latch arrangement is arranged which comprises at least one latch unit having a holding latch that can be moved between a locking position and a release position. An objective is to be able to operate a stacking storage arrangement of this type in an economical manner. For this purpose, the holding latch is configured to be replaced from the inner side of the opening.

In view of the above, it is desirable to provide a solution that solves or at least mitigates one or more of the aforementioned problems belonging to the prior art.

The present invention is set out in the independent claim, with some optional features set out in the claims dependent thereto.

There is a storage column module provided for coupling to a framework structure of an automated storage and retrieval system, said module comprising at least one storage column for accommodating goods holders inserted by means of a remotely operated vehicle operating on a rail system arranged across the top of the framework structure, the at least one storage column comprising a plurality of storage cells each comprising a goods holder support movable between a first position in which said support can obstruct passage of the goods holder moving vertically through the storage cell and a second position in which the vertically moving goods holder can pass through the storage cell.

By providing a storage column module, i.e. having a movable goods holder support, it is possible to load/unload the holder in a standard manner, i.e. by means of a remotely operated vehicle positioned on top of the of the framework structure of the system. The requirement is then for the support to be in a second position, allowing the vertically moving storage container to freely traverse the empty storage cell. In a related context, the customary stacking of goods holders, i.e. superposing holders so that a given goods holder is in physical contact with both vertically adjacent holders, may be dispensed with. This is achieved when the movable goods holder support are positioned in a first position in which the support may hold and support the goods holder. In this context, a further advantage conferred by the invention is that digging for goods holders, for instance for those goods holders that require high frequency access and/or in the context of part-consolidated orders, may be dispensed with.

In addition, the degree of alignment of goods holders, when positioned in the storage column, critical in the context of a conventional stack of holders, becomes irrelevant.

According to the invention relates to an automated storage and retrieval system is provided and is comprising a framework structure that comprises a plurality of storage columns for accommodating goods holders, wherein a rail system is arranged across the top of the framework structure, the automated storage and retrieval system further comprising a detachable storage column module for coupling to the framework structure of the system, said module comprising at least one storage column for accommodating goods holders inserted by means of a remotely operated vehicle operating on the rail system, the at least one storage column comprising a plurality of storage cells each comprising a goods holder support movable between a first position in which said support can obstruct passage of the goods holder moving vertically through the storage cell and a second position in which the vertically moving goods holder can pass through the storage cell.

For the sake of brevity, advantages discussed above in connection with the detachable module may even be associated with the automated storage and retrieval system according to the invention and are not further discussed. For the purposes of this application, the term "container handling vehicle" used in "Background and Prior Art"-section of the application and the term "remotely operated vehicle" used in "Detailed Description of the Invention"-section both define an autonomous wheeled vehicle operating on a rail system arranged across the top of the framework structure being part of an automated storage and retrieval system.

Analogously, the term "storage container" used in "Background and Prior Art"-section of the application and the term "goods holder" used in "Detailed Description of the Invention"-section both define a receptacle for storing items. In this context, the goods holder can be a bin, a tote, a pallet, a tray or similar. Different types of goods holders may be used in the same automated storage and retrieval system.

The relative terms "upper", "lower", "below", "above", "higher" etc. shall be understood in their normal sense and as seen in a Cartesian coordinate system.

When mentioned in relation to a rail system, "upper" or "above" shall be understood as a position closer to the surface rail system (relative to another component), contrary to the terms "lower" or "below" which shall be understood as a position further away from the rail system (relative another component).

The framework structure <NUM> of the automated storage and retrieval system <NUM> is constructed in accordance with the prior art framework structure <NUM> described above in connection with <FIG>, i.e. a number of upright members <NUM>, wherein the framework structure <NUM> also comprises a first, upper rail system <NUM> in the X-direction and Y-direction.

The framework structure <NUM> further comprises storage compartments in the form of storage columns <NUM> provided between the members <NUM> where storage containers <NUM> are stackable in stacks <NUM> within the storage columns <NUM>.

In particular, it is understood that the framework structure can be considerably wider and/or longer and/or deeper than what is disclosed in <FIG>.

Various aspects of the present invention will now be discussed in more detail with reference to <FIG>.

<FIG> shows an example of an automated storage and retrieval system <NUM> comprising a schematically drawn storage column module <NUM>. As discussed above, the automated storage and retrieval system <NUM> comprises a framework structure that comprises a plurality of storage columns for accommodating goods holders, wherein a rail system is arranged across the top of the framework structure <NUM>. The automated storage and retrieval system <NUM> further comprises the storage column module <NUM> for coupling to the framework structure of the system <NUM>. The detachable module <NUM> is arranged external to the system <NUM>. The module <NUM> will be discussed in greater detail in conjunction with <FIG>.

<FIG> shows another example of an automated storage and retrieval system <NUM> comprising a storage column module <NUM>. The shown detachable module <NUM> is insertable into a free space <NUM> of the system <NUM>. In one embodiment, goods holders <NUM>, when accommodated in the module <NUM>, and the goods holders, when accommodated in the automated storage and retrieval system <NUM>, have the same orientation. Furthermore, the storage cell of the module <NUM> and a storage cell of the automated storage and retrieval system <NUM> are equisized. Referring back to <FIG>, the module <NUM> may have the same storage depth as the framework structure <NUM>.

<FIG> is a perspective view of a storage column module <NUM>. The storage column module <NUM> is suitable for coupling, e.g. slotting, to a framework structure <NUM> of an automated storage and retrieval system <NUM> of <FIG>. The module <NUM> comprises in total four (2x2) storage columns <NUM>' for accommodating goods holders (not shown in <FIG>). The goods holders are top-fed into the storage column <NUM>' by means of a remotely operated vehicle shown in <FIG>. Arrow A1 in <FIG> denotes the direction of insertion.

With reference to <FIG>, said vehicle <NUM> operates on a rail system arranged across the top of the framework structure. Turning back to <FIG>, each storage column <NUM>' comprises a plurality of storage cells <NUM>, each comprising a goods holder support <NUM> movable between a first position in which said support can obstruct passage of the goods holder moving vertically through the storage cell and a second position in which the vertically moving goods holder can pass through the storage cell <NUM>. Properties of an exemplary storage cell <NUM> and a thereto associated goods holder support <NUM> will be discussed in greater detail in conjunction with <FIG>.

By providing a storage column module <NUM> having a movable goods holder support <NUM>, it is possible to load/unload the holder in a standard manner, i.e. by means of a remotely operated vehicle positioned on top of the of the framework structure of the system. The requirement is then for the support to be in a second position, allowing the vertically moving storage container to freely traverse the empty storage cell. In a related context, the customary stacking of goods holders, i.e. superposing holders so that a given goods holder is in physical contact with both vertically adjacent holders, may be dispensed with. This is achieved when the movable goods holder support are positioned in a first position in which the support may hold and support the goods holder.

In addition and by virtue of the invention, the degree of alignment of goods holders, when positioned in the storage column, critical in the context of a conventional stack of holders, becomes irrelevant.

Turning back to <FIG>, the goods holder <NUM> may be extracted from the storage cell (<NUM>' shown in <FIG>) of the at least one storage column <NUM>' in any direction perpendicular to its direction of insertion. Arrows A2, A3 denote these directions of extraction. This confers greater flexibility as the extraction process may be performed by the operator/customer without use of a remotely operated vehicle. As shown, such a lateral extraction may take place on the short side as well as on the long side of the storage cell. This is particularly advantageous when said module is a part of a micro-fulfillment center (MFC).

In a related context, structural properties of the material of the goods holder <NUM> become less important. More specifically, a given goods holder <NUM> is in certain, well-defined applications no longer required to support the aggregated weight of the goods holders and the stored contents positioned above the given goods holder <NUM>. Accordingly, the goods holder <NUM> may be made in a less expensive material and/or the quantum of material used to manufacture goods holders may be significantly reduced.

<FIG> shows means for guiding a storage column module (not shown). In the shown embodiment, the module will be guided into a correct position, i.e. the free space <NUM>, by means of oppositely arranged sets of rollers <NUM>. These sets of rollers are typically provided on the opposite sides and close to the bottom as well as to the top of the cover plates <NUM> delimiting said free space <NUM>. In one embodiment, a single set of rollers <NUM> is sufficient for successfully guiding the storage column module. With reference to <FIG> and <FIG>, once the module is in correct position, upright members <NUM> of the framework structure <NUM> are aligned with upright members (<NUM>', shown in <FIG>) of the framework structure of the module. Still with reference to <FIG> and <FIG>, the automated storage and retrieval system <NUM> could comprise means for locking the module in the correct position such as a releasable latch (not shown).

In an alternative embodiment (not shown), said means for guiding could comprise a complementary groove-and-projection assembly.

<FIG> shows a storage cell <NUM>' with a goods holder support <NUM>. The goods holder support <NUM> is pivotable about a horizontal axis extending between two adjacent corners of the storage cell <NUM>. Still with reference to <FIG>, the goods holder support <NUM> comprises two parts 121a, 121b having parallel pivot axes HAa, HAb. The shown goods holder support <NUM> is in a first position, parts 121a, 121b are parallel with bottom surface of the storage cell <NUM>', and can obstruct passage of the goods holder (not shown) moving vertically through the storage cell <NUM>'. In a second position (not shown), parts 121a, 121b are perpendicular to the bottom surface of the storage cell <NUM>', the vertically moving goods holder can pass through the storage cell <NUM>'.

With additional reference to <FIG>, in a further embodiment (not shown), the goods holder is introduced into a selected storage cell of a selected storage column laterally, i.e. via the short or the long side of the storage cell. This is preceded by lowering the goods holder by means of a remotely operated vehicle into the storage column adjacent to said selected storage column. In this embodiment, it is required that the goods holder support rests in a first position and covers bottom surface of the storage cell.

The goods holder support of the above kind may be motorized, it may for instance comprise a motorized actuator, alternatively be spring-loaded or otherwise configured to reciprocate between the first and the second positions.

Such a motorized goods holder support <NUM> is shown in <FIG>. In <FIG>, a motor <NUM> associated with the goods holder support <NUM> causes an elongate, cylindrically shaped, partially threaded bar <NUM> to axially rotate. Two internally threaded sleeves 127a, 127b are arranged on opposite ends of the bar <NUM>. Each sleeve 127a, 127b is connected to a rod <NUM> arranged perpendicularly with respect to the threaded bar <NUM>. At the other end, each rod <NUM> is slidably connected to another bar <NUM>, parallel with the threaded bar <NUM>. The sleeves 127a, 127b have different handedness - one is lefthanded, the other one is right-handed. Accordingly, the distance between the sleeves 127a, 127b is variable and may be controlled through axial rotation of the bar <NUM>. This entails that distance between rods <NUM> also is controllable through said axial rotation. Accordingly, the goods holder support <NUM> is translatory movable between a first position in which the threaded sleeves 127a, 127b are relatively close so that said support <NUM> can obstruct passage of the goods holder <NUM> moving vertically through the storage cell, and a second position where the threaded sleeves 127a, 127b are far apart and the vertically moving goods holder <NUM> can pass through the storage cell. In this embodiment, the goods holder <NUM>, when in storage cell, is suspended from the rods <NUM> of the goods storage holder <NUM>. In a related embodiment, the goods holder <NUM> may be suspended from the rods as well as from the threaded bars. In such an embodiment, the rods <NUM> would require driving means and threading as well dedicated sleeves analogous to those employed in connection with the threaded bar <NUM>.

<FIG> is a close-up showing backside of a goods holder support part 121a shown in <FIG> so that guide means <NUM> becomes visible. Guide means <NUM> in suitable material are provided to facilitate passage of the vertically moving goods holder <NUM> when the goods holder support is in second position. <FIG> further shows a device <NUM> for altering position of the goods holder support. This can be done individually or by means of a tool simultaneously handling a plurality of devices. Said device <NUM> and its function will be more discussed in conjunction with <FIG>.

<FIG> show a sequence featuring coupling of a detachable storage module to a framework structure of an automated storage and retrieval system as well as pivoting motion of a goods holder support.

In <FIG>, the detachable module <NUM> is shown at a distance relative the system <NUM> shown in <FIG>. Shown module <NUM> comprises four (2x2) storage columns <NUM>' for accommodating goods holders <NUM>. The module <NUM> is here approximately aligned with the free space <NUM> and a set of rollers <NUM> discussed in conjunction with <FIG> will facilitate the coupling process.

In <FIG>, the module <NUM> is introduced into the free space. By way of example, this may be effected by means of a forklift (not shown). As an alternative, the module may be provided with wheels so as to enable manual handling.

A unit for controlling the position of the goods holder support of the storage cell is shown in <FIG>. Said unit is part of the system <NUM> and comprises three pairs of vertically extending, oppositely arranged bars <NUM> arranged at a distance from one another. Each bar <NUM> comprises an array of devices for altering position of the thereto associated goods holder support. These devices will be discussed in greater detail in conjunction with <FIG>. In an alternative embodiment (not shown), the position of the goods holder support of the storage cell is controlled by the storage column module.

<FIG> is a close-up showing uppermost levels of the storage module whereas <FIG> is an enlarged view of the encircled detail of <FIG>. For each storage cell <NUM>, a device <NUM> for altering position of the goods holder support is engaged with a rotatable axis <NUM> on which the goods holder support <NUM> is hinged (hinge <NUM> is visible in <FIG>). Rotation of said rotatable axis <NUM> brings about previously discussed pivot movement of the goods holder support <NUM>. Rotation of said rotatable axis <NUM> is caused by turning of the device <NUM>, either manually or by means of a suitable tool.

The goods holder supports <NUM> of <FIG> are in both first and second positions. By way of example and with reference to the uppermost storage cell to the left in <FIG>, the goods holder support <NUM> is in second position in which said support doesn't obstruct passage of the goods holder (not shown) moving vertically through the storage cell, whereas a neighbouring goods holder support <NUM> is in first position and supports the shown goods holder.

As seen in <FIG>, the two parts 1211a, 1211b making up the goods holder support <NUM> are in an intermediate position between first and second position. As discussed above, pivoting of the parts 1211a, 1211b of the goods holder support <NUM> is actuated by means of a device (<NUM>, visible in <FIG>) for altering position of the goods holder support.

In <FIG>, the pivoting motion of the parts 1211a, 1211b of <FIG> caused by the device <NUM> of <FIG> is completed and the goods holder support is in first position. Furthermore, a goods holder <NUM> inserted by means of a remotely operated vehicle shown in <FIG> is supported by the goods holder support.

<FIG> shows a storage cell <NUM>' with a goods holder support <NUM> comprising friction reducing means <NUM>. In order to reduce friction and improve guiding of the vertically moving goods holder (not shown), friction reducing means in the form of rollers <NUM> may be provided. In certain embodiments, the rollers <NUM> are only arranged on a side of the support <NUM> that faces the goods holder when said goods holder passes through the storage cell.

<FIG> shows a storage column module <NUM> provided with wheels <NUM> and configured to be towed, for example by an operator using shown vehicle <NUM>. A skilled operator is well-acquainted with ways to correctly couple the wheeled module <NUM> with the towing vehicle <NUM>. In a related embodiment (not shown), said module may be configured for transport by means of a transport vehicle, such as a lorry. More specifically, this could entail a module of certain size and shape so as to be able to fit said module on the open trailer associated with the lorry.

<FIG> shows a self-propelled storage column module <NUM> according to an embodiment of the present invention. The module <NUM> is shown prior to wheeled base 200a being firmly connected with a storage part 200b. The shown wheeled base 200a of the storage column module <NUM> comprises drive means (not visible) configured to drive the module in the first and the second directions. The drive means may comprise a first set of wheels and a second set of wheels which enable lateral movement of the module in the first direction and in the second direction, respectively. The drive means may further comprise one or several motors configured to provide torque to at least one wheel to cause movement of the storage column module in the first direction and/or the second direction. The motor may be engaged with one or several wheels by means of belts(s), chain(s) and/or shaft(s). Alternatively, the motor may be a hub motor, such as an outer rotor motor arranged within a wheel. The drive means may comprise a power source configured to operate the one or several motors. The power source is typically a battery. Alternatively, power may be provided to the drive means from an external source. The storage column module <NUM> may be provided with sensors, cameras and/or radar units and suitable control systems in order to increase the module's degree of autonomy and reduce the need for human input when the module is moving and in particular when said module is being coupled to the framework structure of an automated storage and retrieval system.

Claim 1:
An automated storage and retrieval system (<NUM>) comprising a framework structure (<NUM>) that comprises a plurality of storage columns (<NUM>) for accommodating goods holders (<NUM>), wherein a rail system (<NUM>) is arranged across the top of the framework structure (<NUM>), the automated storage and retrieval system (<NUM>) further comprising a detachable storage column module (<NUM>) for coupling to the framework structure (<NUM>) of the system (<NUM>), said module (<NUM>) comprising at least one storage column (<NUM>') for accommodating goods holders (<NUM>) inserted by means of a remotely operated vehicle (<NUM>) operating on the rail system (<NUM>),
characterised in that the
at least one storage column (<NUM>') comprising a plurality of storage cells (<NUM>') each comprising a goods holder support (<NUM>) movable between a first position in which said support can obstruct passage of the goods holder (<NUM>) moving vertically through the storage cell (<NUM>') and a second position in which the vertically moving goods holder (<NUM>) can pass through the storage cell (<NUM>').