HK40039334A - Express bin lift for automated storage system - Google Patents

Description

Fast bin lift for automatic storage systems

Technical Field

The present invention relates to an automated storage and retrieval system for storage and retrieval of containers, and in particular to a lifting apparatus and system for moving containers between vertical levels of a grid storage system.

Background

Automated grid storage systems, typically:

fig. 1 discloses a typical prior art automated storage and retrieval system of the type commercially sold by the applicant. Fig. 1 shows a frame structure 100, and fig. 2 and 3 disclose two different prior art container handling carriers 201, 301 adapted to operate on such a system.

The frame structure 100 includes a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102. The members 102, 103 may typically be made of metal, such as extruded aluminum profiles.

The frame structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows, in which storage columns 105 storage containers 106 (also called bins) 106 are stacked one on top of the other to form a stack 107. Storage grid 104 prevents horizontal movement of stacks 107 of storage containers 106 and guides vertical movement of containers 106, but generally does not support storage containers 106 when stacked.

The automated storage and retrieval system 1 comprises a rail system 108 arranged in a grid pattern on top of the storage grid 104, a plurality of automated container handling vehicles 201, 301 travelling on the rail system 108. The container handling carrier has a gripper/lift mechanism 202/302 for gripping the storage container 106 and then raising or lowering it from the storage column 105 into the storage column 105. In one embodiment shown in fig. 2A and 2B. The gripper/lift mechanism 202 raises the container into a cavity in the body of the vehicle. Fig. 3A and 3B show an alternative configuration of a container handling vehicle 301, in which a gripper/lift mechanism 302 is arranged as part of a cantilever configuration 303. Such a carrier is described in detail in, for example, NO317366, the content of which is also incorporated herein by reference.

The container handling vehicle is arranged to transport the storage containers 106 over the storage column 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301 to move in a first direction X through the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201, 301 to move in a second direction Y perpendicular to the first direction X. In this way, the rail system 108 defines a grid column 112 over which the container handling carriers 201, 301 are laterally movable in the X or Y direction, i.e. in a plane parallel to the horizontal X-Y plane, over the storage column 105. The upper portion of the column (105/112) in the horizontal plane, representing the position of the column in the grid in two horizontal dimensions, may be referred to as a "cell".

To monitor and control the automated storage and retrieval system 1, for example, the location of the respective storage containers 106 within the grid 104, the contents of each storage container 106; and movement of the container handling vehicles 201, 301 so that the desired storage containers 106 can be transported to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system, which is typically computerized, and typically includes a database for tracking the storage containers 106.

Transporting the containers to an access station or different levels in a multi-level grid system:

the containers in the grid system must typically be moved from their position in the columns to an access station (not shown) typically located at the lower level of the grid, where an operator (human or automated) can remove items from the containers for placement in shipping containers or the like, and/or replenish the containers for replacement in the grid.

In storage grid 104, most of grid columns 112 are storage columns 105, i.e., columns in which storage containers 106 are stored in stacks 107. However, the grid 104 typically has at least one grid column 112 without storage containers 106, by which the container handling carriers 201, 301 using their own lifting mechanisms can raise or lower the storage containers 106 to different levels. Such mesh columns are referred to in the art as "port columns" 119, 120, and the location at the top or bottom of the column is commonly referred to as a "port". According to one aspect, a conveyor system may be disposed below the port posts onto which the container handling carriers lower the containers for further transport to and from the access station. In some cases, the grid has one or more port posts dedicated to lowering the container for delivery, and a different port post dedicated to lifting the container for retrieval.

In other cases, the grid storage system includes a plurality of vertically arranged layers or sections, each layer or section having its own top layer and container handling carriers. In such multi-layer systems, it is often desirable to move the containers from one layer to another. This is also performed by the container handling carrier lowering or raising the container from one level to another through the port posts.

WO/2014/075937 describes a storage system with a dedicated bin lifting device for vertically transporting storage bins to a delivery station or different levels of a multi-level storage system. The lifting device is arranged to transport the box through one or more individual port posts.

The prior art has the following disadvantages:

there are a number of disadvantages to using the lifting mechanism of the container handling vehicle itself to move the container vertically through the port post.

One disadvantage is that the prior art systems require very precise construction and maintenance of the frame structure in order to properly align the port posts. This is particularly true in multi-layer systems where layers must be laboriously aligned with one another in order for a container to pass through a port post of one layer to properly contact a post of a different layer. Misalignment of the frame may also lead to vehicle collisions. Any future settling or movement of the frame (e.g., due to temperature differences) may cause the port posts to become misaligned, thereby interrupting the transport of the containers.

Another disadvantage is that the speed and robustness of the lifting mechanism of the container handling carrier is necessarily limited due to considerations of the size and cost of the carrier. This reduces the throughput of the automated storage system.

Another disadvantage is that congestion may occur near the ports as the carriers wait for other carriers to vacate the space above the port posts. This also negatively impacts the throughput of the automated storage system.

Disclosure of Invention

The invention has been defined in the patent claims.

More specifically, the invention provides a storage system as set forth in the introduction, further comprising a vertically movable platform adjacent to a face of the grid, the platform being arranged to receive and transport one or more containers. Special mechanical means are arranged for grabbing, lifting and moving the storage containers from the top of the grid and placing the containers on the platform or vice versa.

In one embodiment, the dedicated mechanical device is a manipulator trolley arranged to travel along two parallel trolley rails extending from a position above the grid to a position above the platform, wherein the area between the trolley rails defines a staging area comprising a plurality of cells arranged to receive storage bins waiting to be retrieved by the manipulator trolley and/or to receive storage bins waiting to be retrieved by the treatment vehicle.

The storage system may comprise a plurality of vertically arranged levels, each grid being provided with its own manipulator trolley. In this arrangement, in one embodiment, the platform may be moved in a horizontal direction by an amount sufficient to compensate for any horizontal misalignment between the grids so that containers being transported from one level may be retrieved by the manipulator carriages on a different level.

According to another aspect, the present invention provides a platform for transporting storage containers between a plurality of vertically arranged storage grids in a multi-tiered storage system. The platform is vertically movable along one or more vertical rails disposed outside and functionally adjacent to the vertically aligned faces of the grid segments. The platform is horizontally adjustable relative to the one or more vertical rails by an amount sufficient to accommodate horizontal misalignment between the rail systems of the respective grid segments

In one embodiment, wherein the platform is horizontally adjustable, as it comprises a vertically movable frame member to which a horizontally movable carrier member is connected. The carriage member also includes one or more alignment wheels connected to the carriage member at a location where the alignment wheels travel along the surface of the vertical track during vertical movement of the platform. One or more alignment brackets are disposed on the vertical rail. The alignment bracket includes an upper ramp and a lower ramp and extends from one side of the vertical track a distance corresponding to a desired horizontal adjustment distance of the platform. In use, during vertical movement of the frame member, the alignment wheels will contact and roll on the inclined surfaces of the projecting alignment brackets mounted on the vertical rails, causing the carriage member to move in a horizontal direction relative to the frame member.

According to yet another aspect, the present invention provides a method of transporting storage containers in an automated storage grid system of the type according to the preamble of claim 1. The method according to this aspect includes:

a. a vertically movable platform is arranged near the face of the grid,

b. special mechanical means are arranged for grabbing, lifting and moving the storage containers from the top of the grid and placing the containers on the platform and vice versa,

c. a plurality of cells (P) for placing storage containers waiting to be moved from the grid to the platform are identified,

d. indicating a plurality of cells (G) for placing storage containers waiting to be retrieved by the container handling vehicle,

e. so that the container handling carrier places the storage containers on the unit (P),

f. causing dedicated mechanical means to remove any container from the platform and place said container on the unit (G),

g. causing a dedicated mechanical device to lift the storage container from the unit (P) and place the container on the platform, an

h. Causing the platform to lower the container to the lower level in the grid system.

At least in preferred embodiments, it can be seen that the system and method of the present invention provides one or more of the following advantages:

it provides a more robust and powerful dedicated lifting and lowering mechanism for vertically transporting the storage containers than is possible using the lifting mechanism of the vehicle. This increases the capacity and throughput of the storage system and avoids costly wear and tear of the lifting mechanism of the vehicle.

The alignment of the grid layers in the multi-layer storage system is not critical, as the platform can be adjusted laterally to account for misalignment.

Staging area allows container handling vehicles to unload containers and continue with other tasks, avoiding downtime or congestion around ports.

The port post can be re-dedicated for storage.

Drawings

The following drawings are included to facilitate an understanding of the invention. Embodiments of the invention are illustrated in the drawings, which will now be described, by way of example only, in which:

FIG. 1 is a perspective view of a grid of a prior art automated storage and retrieval system.

Fig. 2A and 2B are perspective views of a prior art container handling carrier having a centrally disposed cavity for receiving a storage container therein.

Fig. 3A and 3B show perspective views of a prior art container handling carrier with a cantilever arm for receiving a storage container underneath.

FIG. 4 is a perspective view of the multi-level automated storage and retrieval system.

Fig. 5 is a side elevation view of the multi-level automated storage and retrieval system.

Fig. 6 is a perspective view of a multi-level automated storage and retrieval system with the container handling carriers shown.

Fig. 7 is a side elevation view of the multi-level automated storage and retrieval system.

Fig. 8 is a close-up view of the motor and pulley arrangement.

Fig. 9 shows one embodiment of a manipulator trolley for moving storage containers from the overhead grid to the lift platform of the present invention.

Fig. 10 illustrates one embodiment of a manipulator trolley for moving storage containers from an underlying grid to an exemplary lift platform in accordance with the present invention.

FIG. 11 is a top view of a staging area showing a "put" unit and a "get" unit.

Fig. 12 is a close-up perspective view of the container handling carrier showing the placement of the container in the staging area.

FIG. 13 is a perspective view of one embodiment of a lift platform.

Fig. 14 is an exploded view of the lift platform of fig. 13.

Fig. 15 is a perspective view of the elevating platform of fig. 13 and a device for adjusting the horizontal position of the platform.

Fig. 16 is a perspective view of an automated storage and retrieval system having an unloading/loading station at the lower level.

Fig. 17 is a close-up view of an unloading/loading station with a conveyor arrangement.

Fig. 18 is a close-up view of the unloading/loading station of fig. 17 with a conveyor arrangement.

Fig. 19 is a close-up view of an unloading/loading station operating with an autonomous transport vehicle.

Detailed Description

In the following, embodiments of the invention will be discussed in more detail, by way of example only, and with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

The present invention provides an automated storage and retrieval system 1 constructed in accordance with the prior art, as described above in connection with fig. 1-3, namely a frame 100 having a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102 to define a first storage grid 104. The storage grid 104 includes grid columns 112, a plurality of which are storage columns 105, wherein the storage columns are stacked storage containers 106. Frame 100 includes a rail system 108 of parallel rails 110, 111 extending in the X-direction and Y-direction, arranged on top of storage grid 104, over which a plurality of container handling vehicles (201/301) travel. The container handling vehicles are preferably autonomous vehicles arranged to lift the storage containers 106 from the storage column 105 and transport the storage containers around the grid, and to place the storage containers back into the storage column 105.

In fig. 1, the storage grid 104 is shown as having a height of eight cells. However, it should be understood that the storage grid 104 may in principle be of any size. In particular, it should be understood that storage grid 104 may be much wider and/or much longer and/or much deeper than disclosed in fig. 1. For example, the storage grid 104 may have a horizontal extent of over 700 x 700 grid cells and a depth of over 12 grid cells.

According to one aspect, the automated storage and retrieval system 1 may include multiple layers, as shown in fig. 4 and 5, which depict two layers of storage grids 104 and 104'. There, the first storage grid 104 is arranged vertically above the corresponding second storage grid 104', for example on an upper floor of a building located directly above the second storage grid 104'. Fig. 4 depicts the first storage grid 104 and the second storage grid 104' as having the same number of columns in the X and Y directions. It will be appreciated that this need not be the case, as different layers of mesh may have different configurations. As shown in fig. 5, the grid posts 112 of the first storage grid 104 are substantially aligned with the corresponding grid posts 112 'of the second storage grid 104 along the front faces 400 and 400', respectively. Fig. 6 shows container handling vehicles 201 and 201 '(or 301/301') traveling on rail systems 108 'and 108', respectively.

According to one aspect, the present invention provides a bin lift device for transporting storage bins between levels in a multi-level automated storage and retrieval system, and for transporting storage bins between the top of the storage grid 104/104' to the bottom of the storage grid, wherein, for example, storage bins may be further transported to an access station.

The bin lift arrangement includes a vertically movable platform 402 that moves vertically along one or more (preferably two) vertical lift rails 404, adjacent one face of the grid. As shown in fig. 5, platform 402 has a depth substantially corresponding to the width of storage container 106, and lifting rail 404 is disposed out of one face, such as front face 400/400' of storage grid 104/104' at a distance in this embodiment, such that the front edge of platform 402 is functionally adjacent front face 400/400 '.

The term "functionally adjacent" as used herein means that the platform can move up and down near grid 104/104' without interference. The platform 402 is arranged to receive and transport one or more storage bins 106 in a vertical orientation. The platform 402 may be movable by a motor and pulley arrangement 406, for example, as shown in FIG. 8, or by other lifting means known in the art.

Storage container 106 is movable from storage grid 104/104' to platform 402 by dedicated mechanical means for grasping, lifting and moving the storage container. The term "dedicated mechanical device" as used herein refers to a device separate from container handling carriers 201/201'/301/301', the function of which is primarily to move containers between grid and platform, and vice versa. In one embodiment, such means is in the form of a manipulator trolley 408/408', as shown in fig. 9 and 10. Fig. 9 shows the manipulator trolley 408 arranged in connection with the upper grid 104, while fig. 10 shows the manipulator trolley 408 arranged in connection with the lower grid 104'. Manipulator trolley 408/408 'has one or more grasping/lifting mechanisms 410 arranged to grasp storage container 106 from a position at the top of the storage grid and lift the container upward whereupon manipulator trolley 408/408' transports the storage container to a position above platform 402 whereupon grasping/lifting mechanisms 410 lower the storage container onto the platform. When platform 402 returns with storage container 106, manipulator trolley 408/408 'performs this operation in reverse order to remove the container from platform 402 and place it on top of storage grid 104/104'.

The manipulator trolley 408/408 'is movable by motorized mechanisms along the horizontal trolley rails 412 from a position above the storage grid 104/104' to a position above the platform 402. In one embodiment, as shown in fig. 5, the trolley track 412 is disposed directly above the track system 108/108' on which the container handling vehicles 201, 301 travel. In another embodiment, as shown in fig. 6, the trolley rails 412 may be suspended above the rail system 108/108' by a distance that is greater than the height of the vehicles so that the vehicles may travel below the trolley rails 412.

In accordance with one aspect of the present invention, as shown in FIG. 11, the area of the grid disposed between the trolley rails 412 represents a staging area 414. Staging area 414 includes cells on the top level of the grid where containers 106 may be placed by carriers 201/301 where they wait to be retrieved and moved by manipulator trolley 408, and manipulator trolley may place cells on which they wait to be retrieved by carriers. These units may be referred to as "put" units and "get" units, respectively, and are represented by the letters P and G in fig. 11. Here, four placement units along the far edge of the grid surface are shown, as well as four acquisition units arranged along the next innermost row, corresponding to a platform 402 having the capacity of four containers 106. It should be appreciated that the platforms 402 may have different capacities, and that the staging area 414 and the placement units P and retrieval units G may be arranged in any manner and may be dynamically reassigned as needed, for example, based on route considerations determined by an automated storage system.

In operation, as shown in fig. 12, the container handling carriers 201, 301 place the containers 106 in the placement unit P, thereby enabling the carriers to freely handle other tasks. The manipulator trolley 408/408' will then grasp the container 106 in the placement unit P, preferably simultaneously grasping and lifting the container 106, and place the container 106 on the platform 402. In case the platform 402 is transporting containers 106 for replacement in the storage columns 112, 112', the manipulator trolley 408 will first place the returned containers in the placing unit G, move to the placing unit P and lift the containers 106 arranged there, and then place these containers on the platform 402. The carrier may then arrive to retrieve the container 106 from the acquisition unit G and replace it into the storage column 112, 112'.

According to one embodiment of the invention, the platform 402 is movable in a horizontal direction, transverse to its vertical direction of travel. This horizontal movement is provided to account for any potential horizontal misalignment between the posts 112 of different mesh layers. Fig. 13-15 illustrate one embodiment of a platform 402 that provides such horizontal displacement. It is understood that other means for leveling of the platform 402 are possible within the scope of the present invention.

Fig. 13 shows the platform 402 assembled, while fig. 14 shows an exploded view of the platform 402. The platform 402 includes a rectangular lifting frame 416. The lifting frame 416 has a connection point 418 along the top edge (e.g., shackle) for attachment to one or more pulley wires 420 operated by the motor/pulley arrangement 406. The lifting frame 416 further includes a plurality of rail wheels 422 arranged to engage and travel along the lifting rail 404.

The platform 402 also includes a horizontally movable carriage member 424 having a receiving surface 426 on which the storage bins 106 may rest. The bracket member 424 has rearwardly extending guide wheels 428 mounted on a bracket 430. As shown in fig. 13, the guide wheels 428 engage the inner surface of the horizontal guide track 432 of the lift frame 416. Thus, the guide wheels 428 allow the carriage member 424 to move horizontally relative to the lifting frame 416.

As shown in fig. 15, the lifting frame 416 has substantially the same width as the space between the lifting rails 404, with the bracket member 424 being wider than the lifting rails 404 and extending beyond the lifting rails 404 to both sides. The carriage member 424 is equipped with one or more alignment wheels 434. The alignment wheel 434 is mounted at a position at the rear of the carriage member 424 such that the alignment wheel 434 is disposed outside the lifting rail 404.

In the event that the columns of the second grid layer are offset from the first layer by a known distance in the horizontal direction, the alignment bracket 436 may be attached to the lifting rail 404 at a vertical position where the platform 402 will stop retrieving or unloading containers. The alignment bracket 436 has an angled portion 438 and an intermediate straight portion 440. The inclined portion 438 is arranged to extend the straight portion 440 to a distance from the lifting rail 402 corresponding to the degree of misalignment between the posts of the two levels. As can be appreciated from fig. 15, as the platform 402 is lowered along the lift rails 404, the alignment wheels 434 will move upward along the inclined portions 438, causing the carriage member 424 to move horizontally relative to the lifting frame 416 via the guide wheels 428. According to one embodiment, the storage and retrieval system may include inventory of alignment brackets 436 having various offset distances. In the event that the mesh layers become misaligned, the operator of the system may simply select a support with the appropriate offset.

According to yet another embodiment of the present invention, the unloading/loading station 442 may be disposed at a lower level of the automated storage system, at the bottom of the lifting track 404. At the unloading/loading station 442, the storage bins are moved by a manipulator trolley 408 disposed in connection with the station 442 to unload the storage bins from the lift for transport to a different location, for example, to an access station (not shown) where an operator may access the bins. Instead, the bins may be loaded onto a lift at station 442 for transport to an upper level of the grid. Fig. 16 shows a station 442 with the platform 402 on top of the grid for retrieval of bins 106, fig. 17 shows the platform 402 being transported to the station 442, and fig. 18 shows the platform 402 arriving at the station 442. In fig. 18, the manipulator trolley 408 can be seen traveling along trolley rails 412 to load/unload the bins 106 from the platform 402.

Fig. 16-18 illustrate a first embodiment in which the manipulator trolley 408 moves the pod 106 onto a conveyor system including a transfer line 444 and a return line 446, and retrieves the pod 106 therefrom. Lines 444 and 446 transport pod 106 to a different location, such as an access station (not shown). In an alternative embodiment, the manipulator trolley 408 at the unloading/loading station 442 may place the pod 106 directly into one or more autonomous transport vehicles, or retrieve the pod 106 directly therefrom. The transport vehicle 408 is more fully described in application No. 20180813 filed on 12.6.2018 and application No. 20181005 filed on 19.7.2018, the entire contents of which are incorporated herein by reference as if reproduced in full herein. The transport carrier 448 has a cassette receiving portion in which the cassettes 106 can be placed by the manipulator trolley 408. The transport vehicle 448 may then be free to travel along its own dedicated track system 450 to a different location, such as an access station. The combination of the lift device of the present invention with an autonomous transport vehicle can significantly increase the flexibility and throughput of an automated storage system. The dedicated track system may comprise a first track system located within the frame structure of the storage grid and a second track system located outside the frame structure of the storage grid, and wherein the first track system and the second track system are connected such that the transport vehicle may be operated between said track systems.

The second location may be connected to a second rail system.

List of reference numerals

100 frame

102 upright member

103 horizontal component

104 storage grid

105 storage column

106 storage container

107 stack

108 track system

110/111 Rail

112 grid column

119. 120 port post

201. 301 container handling carrier

202 clamping/lifting mechanism

303 cantilever structure

Front of 400 mesh

402 platform

404 lifting rail

406 motor/pulley arrangement

408 manipulator pulley

410 grab/lift mechanism

412 pulley rail

414 staging area

416 lifting frame

418 connection point

420 pulley line

422 rail wheel

424 bracket member

426 receiving surface

428 guide wheel

430 support

432 guide rail

434 alignment wheel

436 alignment bracket

438 inclined part

440 straight part

442 load/unload station

444 conveying line

446 Return line

448 autonomous transport vehicle

Claims (14)

1. An automated storage system comprising a plurality of upright members (102) and horizontal members (103) defining a frame structure (100) in the form of a grid (104) of storage columns (105) housing storage containers (106) arranged in stacks (107) and having automated container handling vehicles (201/301) running on a track system (108) on a top level of the grid (104), the track system comprising mutually perpendicular horizontal tracks (110/111) on which the vehicles can travel in a first direction and a second direction perpendicular to the first direction, the intersection of the mutually perpendicular horizontal tracks further defining cells above the grid columns (112), characterized in that the system comprises:

a platform (402) vertically movable adjacent a face (400) of the grid (104) arranged to receive and transport one or more storage containers (106),

-a dedicated mechanical device (408) arranged to grab, lift and move the storage container from the top of the grid and place the storage container on the platform and vice versa;

wherein the storage system comprises a plurality of grids (104/104') arranged vertically one above the other on different vertical levels, each grid (104/104') having at least one face (400/400') in substantial vertical alignment with each other,

and wherein the platform (402) comprises: a vertically movable frame member (416) arranged to travel along one or more vertical rails (404) arranged outside and functionally adjacent to a face (400/400') of the grid (104/104'); a horizontally movable carriage member (424) connected to the vertically movable frame member (416), the carriage member being arranged for receiving a storage container, the carriage member being connected to the frame member by one or more guide wheels (428) arranged to roll along one or more horizontal guide tracks (432) of the frame member.

2. The storage system according to claim 1, wherein the dedicated mechanical device (408) is a manipulator trolley arranged to travel along two parallel trolley rails (412) extending from a position above the grid (104) to a position above the platform (402), wherein an area between the trolley rails (412) defines a staging area (414) comprising a plurality of cells arranged to receive storage containers waiting to be retrieved by the manipulator trolley and/or to receive storage containers waiting to be retrieved by the handling vehicle.

3. The storage system of claim 2, wherein the staging area (414) includes a plurality of cells P designated to hold storage containers (106) awaiting transport to the platform (402), and a plurality of cells G designated to place storage containers awaiting retrieval by the container handling vehicles (201/301), the number of cells P and cells G each being at least equal to the number of storage containers capable of being placed on the platform.

4. A storage system according to any of claims 1 to 3, wherein each grid (104/104') is provided with a manipulator trolley, and wherein the platform (402) is movable in a horizontal direction by an amount sufficient to compensate for any horizontal misalignment between the grids, such that storage containers being transported from one level can be retrieved by manipulator trolleys on different levels.

5. The storage system of claim 4, wherein the tray member further comprises: one or more alignment wheels (434) connected to the carriage member at a location relative to a vertical track (404), whereby the alignment wheels (434) are arranged to contact and roll on an inclined surface (438) of a projecting alignment bracket (436) mounted on the vertical track during vertical movement of the frame member, thereby causing the carriage member to move in a horizontal direction relative to the frame member (416).

6. A storage system according to any of claims 1-3, further comprising a load unloading station (442) at a lower level, the load unloading station comprising a manipulator trolley arranged to remove a storage container from the platform (402) and transfer the storage container to a container transport device for transporting the storage container to a destination in the storage system.

7. The storage system of claim 6, wherein the transport device is a conveyor system (444/446).

8. The storage system of claim 6, wherein the transport device is a plurality of autonomous transport vehicles (448).

9. A platform (402) for transporting storage containers (106) between a plurality of vertically arranged grids (104/104') in a multi-tiered storage system, the grids of the multi-tiered storage system being arranged vertically with respect to each other, each grid of the multi-tiered storage system being of the type comprising a plurality of upright members (102) and horizontal members (103) defining a frame structure (100) in the form of a grid (104/104') containing storage columns (105) of storage containers (106) arranged in stacks (107) and having automatic container handling vehicles (201/301) running on a track system (108/108') on a top tier of the grid (104/104'), the track system comprising mutually perpendicular horizontal tracks (110/111), the container handling vehicles being capable of travelling in a first direction and a second direction perpendicular to the first direction in the phase Travel on mutually perpendicular horizontal rails, the intersection of said mutually perpendicular horizontal rails further defining cells above the grid posts (112), characterized in that,

the platform (402) being vertically movable along one or more vertical tracks (404) disposed outside and functionally adjacent to a vertically aligned face (400/400') of the grid (104/104'),

the platform being horizontally adjustable relative to the one or more vertical rails by an amount sufficient to accommodate horizontal misalignment between rail systems (108/108') of respective grids (104/104');

the platform (402) comprises a vertically movable frame member (416), to which a horizontally movable carriage member (424) is connected, the carriage member being arranged for receiving a storage container, the carriage member being connected to the frame member by one or more guide wheels (428), which one or more guide wheels are arranged to roll along one or more horizontal guide tracks (432) of the frame member.

10. The platform of claim 9,

the bracket member further includes: one or more alignment wheels (434) connected to the carriage member at a location relative to the vertical track (404), whereby the guide wheels are arranged to contact and roll on an inclined surface (438) of a projecting alignment bracket (436) mounted on the vertical track during vertical movement of the frame member, thereby causing the carriage member to move in a horizontal direction relative to the frame member.

11. A method for transporting storage containers in an automated storage system according to any of claims 1 to 8, characterized in that the method comprises:

a. arranging a vertically movable platform (402) adjacent to a face (400) of the grid (104),

b. -arranging a dedicated mechanical device (408) for grabbing, lifting and moving the storage containers from the top of the grid and placing them on the platform and vice versa,

c. a plurality of cells P for placing storage containers waiting to be moved from the grid to the platform are identified,

d. indicating a plurality of cells G for placing storage containers waiting to be retrieved by the container handling vehicle (201/301),

e. such that the container handling carrier places a storage container on unit P,

f. such that said dedicated mechanical means (408) remove any storage containers from said platform and place them on the unit G,

g. causing the dedicated mechanical device (408) to lift the storage container from unit P and place the storage container on the platform, and

h. causing the platform to lower the storage container to a lower level in the storage system.

12. The method of claim 11, wherein the lower layer is a vertically arranged lower grid, and wherein the platform is horizontally adjustable to accommodate any horizontal misalignment between the grid and the lower grid.

13. The method of claim 11, wherein the cells P and G are arranged in respective rows.

14. A method for adjusting the horizontal position of a transport platform (402), of the type travelling vertically along one or more vertical rails (404), characterized in that,

a. arranging the platform (402) to be vertically movable along a vertical rail (404), wherein the platform (402) comprises: a vertically movable frame member (416) connected to a horizontally movable carriage member (424), wherein the carriage member further comprises one or more alignment guides in the form of an alignment wheel (434) connected to the carriage member at a location whereby the alignment wheel (434) travels along the surface of the vertical track (404) during vertical motion of the platform (402),

b. disposing one or more alignment brackets (436) on the vertical rail (404), the alignment brackets including an inclined surface (438) comprising an upper inclined surface and a lower inclined surface and projecting from one side of the vertical rail a distance corresponding to a desired horizontal adjustment distance of the platform,

c. such that the alignment wheel (434) contacts and rolls on the inclined surface (438) of a projecting alignment bracket (436) mounted on the vertical rail during vertical movement of the frame member, causing the carriage member to move in a horizontal direction relative to the frame member.