HK40090644A - Access station - Google Patents

Description

Access Station

Technical Field

The present invention relates to an access station and a storage system including such an access station.

Background Technology

Figure 1 discloses a typical prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2 to 4 disclose two different prior art container disposal vehicles 201 and 301 suitable for operation on such system 1.

The frame structure 100 includes upright members 102, horizontal members 103, and storage space comprising storage rows 105 arranged between the upright members 102 and the horizontal members 103. In these storage rows 105, storage containers 106, also called boxes, are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal, such as extruded aluminum profiles.

The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged in a grid pattern on top of the frame structure 100. On this track system 108, multiple container handling vehicles 201, 301 are operated to lift storage containers 106 from and lower storage containers 106 into storage columns 105, and also to transport storage containers 106 above storage columns 105. The horizontal extent of one of the grid cells 122 constituting the grid pattern is marked by thick lines.

The track system 108 (i.e., the track grid) includes a first set of parallel tracks 110 arranged to guide container handling vehicles 201, 301 along a first direction X through the top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide container handling vehicles 201, 301 along a second direction Y, which is perpendicular to the first direction X. Containers 106 stored in column 105 are accessed by the container handling vehicles through entrances and exits 112 in the track system 108. Container handling vehicles 201, 301 can move laterally above the storage column 105, i.e., in a plane parallel to the horizontal X-Y plane. Typically, at least one set of tracks 110, 111 consists of dual-track configurations, allowing two container handling vehicles to pass each other on adjacent grid cells 122. Dual-rail tracks are well known and disclosed, for example, in WO 2015/193278A1 and WO2015/140216A1, the contents of which are incorporated herein by reference.

The upright members 102 of the frame structure 100 can be used to guide the storage containers during the process of lifting the containers out of the column 105 and lowering the containers into the column. The stack 107 of the containers 106 is typically self-supporting.

Each prior art container handling vehicle 201, 301 includes a body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c, which respectively enable the container handling vehicle 201, 301 to move laterally in the X and Y directions. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b are arranged to engage with two adjacent tracks of a first set of tracks 110, and the second set of wheels 201c, 301c are arranged to engage with two adjacent tracks of a second set of tracks 111. At least one set of wheels 201b, 301b, 201c, 301c can be raised and lowered, such that the first set of wheels 201b, 301b and/or the second set of wheels 201c, 301c can engage with the corresponding set of tracks 110, 111 at any given time.

Each prior art container handling vehicle 201, 301 also includes a container lifting assembly 2 (shown in FIG. 4) for vertically transporting the storage container 106, for example, lifting the storage container 106 from and lowering the storage container 106 into the storage row 105. The container lifting assembly 2 includes a lifting frame 3 having one or more clamping/engaging devices 4 adapted to engage the storage container 106 and guide pins 304 for correctly positioning the lifting frame 3 relative to the storage container 106. The lifting frame 3 can be lowered from the vehicle 201, 301 by a lifting belt 5, such that the position of the lifting frame relative to the vehicle 201, 301 is adjustable along a third direction Z orthogonal to the first direction X and the second direction Y.

The lifting frame 3 (not shown) of the container disposal vehicle 201 in Figure 2 is located inside the cavity of the body 201a.

By convention, and also for the purposes of this application, Z=1 represents the uppermost layer of the storage container, i.e., the layer directly below the track system 108; Z=2 represents the second layer below the track system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 represents the lowest layer of the storage container. Similarly, X=1…n and Y=1…n represent the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG1, the storage container identified as 106' in FIG1 can be said to occupy storage position X=10, Y=2, Z=3. The container disposal vehicles 201, 301 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and storing the storage container 106 when transporting it on the rail system 108. The storage space may include a cavity centrally located within the vehicle body 201a, as shown in FIG2, and the contents of which are incorporated herein by reference, for example, as described in WO2015/193278A1.

Figure 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are incorporated herein by reference.

The central cavity container disposal vehicle 201 shown in Figure 2 may have a coverage area that is approximately equal in size to the lateral extent of the storage column 105 in the X and Y directions, as described, for example, in WO2015/193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

Alternatively, the central cavity container disposal vehicle 201 may have a coverage area larger than the lateral area defined by the storage column 105, as disclosed in WO2014/090684A1.

The track system 108 typically includes a track with grooves in which the vehicle's wheels run. Alternatively, the track may include upwardly projecting elements, where the vehicle's wheels include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails.

WO2018146304 (the contents of which are incorporated herein by reference) shows a typical construction of a track system 108 including a track and parallel guide rails in the X and Y directions.

In frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are such dedicated columns, used by container disposal vehicles 201, 301 to unload and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside frame structure 100, or transferred out of or into frame structure 100. In the art, such locations are generally referred to as “ports,” and the columns where ports are located may be referred to as “port columns” 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and/or vertical. For example, storage container 106 can be placed in random or dedicated columns 105 within frame structure 100, and then picked up by any container disposal vehicle and transported to port columns 119, 120 for further transport to the retrieval station. It should be noted that the term "inclined" means transport of storage container 106 with a general transport direction somewhere between horizontal and vertical.

In Figure 1, the first port column 119 can be, for example, a dedicated unloading port column, in which container disposal vehicles 201 and 301 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 can be a dedicated pickup port column, in which container disposal vehicles 201 and 301 can pick up the storage container 106 that has been transported from the storage station or transfer station.

The storage and retrieval station can typically be a pick-up station or a storage station, where product items are removed from or placed into storage container 106. At the pick-up station or storage station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but is instead returned to the frame structure 100 once retrieved. The port can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

The transmitter system, including the transmitter, can be used to transport storage containers between port columns 119, 120 and the access station.

If port columns 119, 120 and access stations are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

The transport system can be arranged to transfer storage container 106 between different frame structures, such as those described in WO2014/075937A1, the contents of which are incorporated herein by reference.

To avoid the need for a conveyor system, some access stations may have a section that can be directly arranged below the port column, allowing storage containers to be directly transferred to the access station. For example, access stations suitable for arrangement below the port column are disclosed in WO 2012/026824A1 and WO 2016/120375A1. The access station disclosed in WO 2016/120375A1 features a storage container holder and a mechanism for tilting the storage container holder towards the operator to provide an ergonomically improved working position.

When access is required for a storage container 106 stored in one of the columns 105 disclosed in FIG. 1, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container located above before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as “digging,” can be performed using the same container handling vehicle subsequently used to transport the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container disposal vehicle specifically designed for the task of temporarily removing storage containers from storage column 105. Once the target storage container 106 has been removed from storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. However, the removed storage container can alternatively be repositioned to another storage column.

When storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301 is instructed to pick up storage container 106 from pick-up port column 120 and transport it to the storage container's intended storage location above storage column 105. After any storage containers located at or above the target location within or above the storage column stack 107 have been removed, container handling vehicles 201, 301 position storage container 106 in the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column.

In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container disposal vehicles 201, 301, so that the desired storage container 106 can be delivered to the desired location at the desired time without the container disposal vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

As mentioned above, some prior art access stations feature a storage container holder that can be tilted to provide improved ergonomics. However, the mechanism for tilting the storage container is quite complex, and a solution with simpler and less intensive service would be advantageous.

The object of the present invention is to provide an improved access station that is capable of receiving a storage container and tilting the storage container when it is presented to an operator, and a storage system including such an access station.

Summary of the Invention

This invention is defined by the appended claims and the following:

In a first aspect, the present invention provides an access station for a storage system, the access station including at least one container holder arranged to rotate about a rotation axis, wherein

The axis of rotation is tilted at a first angle relative to the vertical direction; and

The container holder is arranged to accommodate the storage container and configured such that, when supported by the container holder, the centerline of the storage container is inclined at a second angle relative to the axis of rotation, wherein

The container holder can rotate between a first position and a second position opposite to the first position relative to the axis of rotation. In the first position, the centerline of the contained storage container is vertical, and in the second position, the centerline of the contained storage container is inclined at a third angle relative to the vertical direction, the third angle being equal to the sum of the first and second angles.

The centerline of the storage container is intended to define a line perpendicular to a plane at the bottom of the storage container and intersecting the center of the bottom. Alternatively, the centerline of the storage container can be defined as the central axis of the storage container.

In other words, the container holder can rotate/orbit 180 degrees around a rotation axis between a first position and a second position. In the first position, the contained storage container is horizontal, i.e., it has an opening facing directly upwards. In the second position, the contained storage container is tilted at a third angle relative to the vertical direction, i.e., it has an opening facing upwards and is tilted at a third angle relative to the vertical direction.

In one embodiment of the access station, the first angle is substantially equal to the second angle. In this specification, the term "substantially equal" is intended to mean that the dimensions of the first angle and the second angle differ by less than 25%.

In one implementation of the access station, the first angle is equal to the second angle.

In one implementation of the access station, each of the first angle and the second angle can be in the range of 2-10 degrees, 3-8 degrees, or 4-7 degrees.

In one embodiment of the access station, when the container holder is in the second position, the centerline of the storage container housed within the container holder can be tilted relative to the vertical direction, such that the opening of the storage container will be away from the axis of rotation. In other words, when the container holder is in the second position, the top opening of the housed storage container will be tilted to face the operator.

In one embodiment, the access station may include a rotating assembly to which a container holder is connected, the rotating assembly being arranged to rotate the container holder about a rotation axis.

In one embodiment of the access station, the rotating assembly may include a rotating shaft to which a container holder is operatively connected.

In one embodiment of the access station, the rotating shaft may have a centerline corresponding to the axis of rotation.

In one embodiment, the access station may include an electric motor configured to rotate the container holder about a rotation axis.

In one embodiment of the access station, the motor is configured to rotate the rotating shaft.

In one embodiment of the access station, during the arcuate movement between the first and second positions, the centerline of the storage container held by the container holder can gradually tilt from the vertical direction to a third angle.

In one embodiment of the access station, the rotating assembly may include a radially extending structure arranged to rotate about a rotation axis, and a container holder is supported on the radially extending structure for transporting the storage container in an arcuate path between a first position (i.e., the container loading/unloading position) and a second position (i.e., the container access position).

In one embodiment, the access station may include two container holders, which may be positioned or located on opposite sides of a rotation axis such that when the other container holder is in a second position, one of the container holders is in a first position. In other words, the access station may include a first container holder and a second container holder, which may be positioned relative to each other on opposite sides of a rotation axis such that when the second container holder is in a second position, the first container holder is in a first position.

In one embodiment of the access station, two container holders may be connected to a rotating assembly on opposite sides of the rotation axis.

Alternatively, according to the first aspect, the access station can be defined as an access station for a storage system, the access station including at least one container holder arranged to rotate about a rotation axis, wherein

The axis of rotation is tilted at a first angle relative to the vertical direction; and

The container holder is arranged to support the storage container via at least one support surface, and is configured such that a line perpendicular to the at least one support surface is inclined at a second angle relative to the axis of rotation, wherein...

The container holder can rotate between a first position and a second position opposite to the first position relative to the axis of rotation. In the first position, the line is vertical, and in the second position, the line is inclined at a third angle relative to the vertical direction, the third angle being equal to the sum of the first and second angles.

The at least one support surface is arranged to support the storage container in the vertical direction.

In one implementation of the access station, the centerline of the storage container may correspond to the centerline of the container holder.

Alternatively, according to the first aspect, an access station can be defined as an access station for a storage system, the access station including at least one container holder arranged to rotate about a rotation axis, wherein

The axis of rotation is tilted at a first angle relative to the vertical direction; and

The container holder is arranged to accommodate a storage container and configured such that the centerline of the container holder is inclined at a second angle relative to the axis of rotation, wherein

The container holder can rotate between a first position and a second position opposite to the first position relative to the axis of rotation. In the first position, the centerline is vertical, and in the second position, the centerline is inclined at a third angle relative to the vertical direction, the third angle being equal to the sum of the first and second angles.

Alternatively, according to the first aspect, the access station can be defined as an access station for a storage system, which may include a radially extending structure arranged to rotate about a rotation axis, and a container holder supported on the radially extending structure for transporting the storage container in an arcuate path between a container loading position and a container access position, wherein...

The axis of rotation is tilted at a first angle relative to the vertical direction; and

The container holder is tilted at a second angle relative to a radial plane perpendicular to the axis of rotation. The tilt of the container holder is set to tilt the storage container when it is transported from the container loading position to the container access position.

In one embodiment of the access station, a first angle and a second angle are set such that the container holder is horizontal in the container loading position and tilted away from the container loading position when in the container access position.

In one embodiment of the storage station, the container holder is rotatable between a container loading position and a container retrieval position relative to the rotation axis opposite to the container loading position. In the container loading position, the storage container transported by the container holder is upright. In the container retrieval position, the storage container is tilted by the container holder relative to the vertical direction at a third angle, the third angle being equal to the sum of the first angle and the second angle.

In a second aspect, the present invention provides a storage system comprising an access station according to any one of the preceding claims, wherein the storage system is characterized by a port array through which a storage container can be transferred in a vertical direction, the port array being arranged above the access station such that, when a container holder is arranged in a first position, the storage container can be conveyed to the container holder of the access station.

In one embodiment, the storage system includes vertical column profiles defining a plurality of grid columns, each grid column including a storage column, wherein storage containers can be stored one on top of another in a vertically stacked manner, and at least one grid column is a port column, each grid column being defined by four vertically extending column profiles, and the column profiles being interconnected at their upper ends by top rails forming a horizontal top rail grid of storage grids, and an access station including a frame connected to the lower end of the port column.

In a third aspect, the present invention provides a method for accessing a storage container at an access station according to any embodiment of the first aspect, the method comprising the steps of:

a. When the container holder is in the first position and arranged to hold the storage container in an upright configuration, the storage container is lowered onto the container holder; and

b. Rotate the container holder about the axis of rotation from a first position to a second position, in which the container holder is arranged to tilt the storage container.

In one embodiment of the method, the container holder is arranged to tilt the storage container away from the first position when it is in the second position.

In one embodiment of the method, the storage container gradually tilts as it rotates from a first position to a second position.

Attached Figure Description

Embodiments of the present invention will be described in detail with reference to the following accompanying drawings:

Figure 1 is a perspective view of the framework structure of a prior art automated storage and retrieval system.

Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

Figure 3 is a perspective view of a prior art container handling vehicle, which has a cantilever section for carrying storage containers underneath.

Figure 4 is a side view of the container handling vehicle in Figure 3, showing the lifting device.

Figure 5 is a perspective view of an exemplary access station according to the present invention.

Figure 6 is a front view of the access station in Figure 5.

Figure 7 is a cross-sectional view of the access station in Figure 5.

Figure 8 is a top side view of the access station in Figure 5.

Detailed Implementation

In the following discussion, embodiments of the invention will be described in more detail with reference to the accompanying drawings. However, these drawings are not intended to limit the invention to the subject matter depicted in the drawings.

The access station of the present invention was developed for use in the prior art storage systems shown in FIG1 and described in detail above. However, the access station can be advantageously used in any type of system, including various container storage systems in which access to the container is required.

The main objective of this invention is to provide a simple, low-maintenance access station in which the storage container provided to the access station can be moved and tilted toward the operator in an ergonomically advantageous manner.

Figures 5 to 7 illustrate exemplary embodiments of the access station according to the present invention.

The access station is characterized by a first container holder 8a and a second container holder 8b, which are operatively connected to a rotating assembly characterized by a rotation axis 9 and a shaft support structure 13. The container holders are arranged to rotate about a rotation axis C between a first position P1 and a second position P2. In this embodiment, the rotation axis C corresponds to the centerline of the rotation axis 9.

The rotating shaft 9 is operatively connected to the motor 10, in this case via a drive belt 11. Other arrangements for connecting the rotating shaft 9 to the motor are also possible, such as by gears or by using a direct drive motor.

Each of the container holders 8a and 8b can accommodate a storage container 106. In this embodiment, each container holder is characterized by a tray structure 12 having a bottom support surface and vertical edges to hold the storage container in place. In other embodiments of the access station, the container holder may be similar to, for example, the container holder disclosed in WO 2019/076516A1. In another embodiment, each container holder may be rotatable about an internal axis, as shown in WO 2012/026824A1.

The centerline of the rotation axis C or rotation axis 9 is inclined at a first angle X relative to the vertical direction V, see Figure 7. The first container holder 8a and the second container holder 8b are configured and/or inclined such that the centerline D of the contained storage container 106 is inclined at a second angle Y relative to the rotation axis C. The second angle Y causes the opening of the storage container to face away from the rotation axis C. In this specification, the centerline D of the storage container 106 is a line perpendicular to the plane of the bottom of the storage container and intersecting the center of said bottom.

The result of configuring and/or tilting the rotation axis C and container holders 8a, 8b such that the contained storage container is tilted at a corresponding first angle and a second angle is that the storage container is held horizontally when contained in the first position by the container holder, and tilted toward the operator at an angle of X+Y (i.e., a third angle) when in the second position.

In the illustrated embodiment, the first angle X and the second angle Y are both 5 degrees, therefore the third angle is 10 degrees. In other embodiments, the first angle X and the second angle Y are preferably in the range of 1 to 10 degrees.

The container holder shown and the container holder disclosed in WO 2019/076516A1 share the common feature of having at least one container support surface on which the contained storage container rests, such as the bottom support surface of tray structure 12. The support surface is typically arranged in a support plane parallel to the bottom plane of the contained storage container. Therefore, a line perpendicular to the support plane will be inclined relative to the axis of rotation C at the same angle as the centerline D of the contained storage container. The inclination of the container holder or the inclination of the support plane can also be defined by using a second angle Y relative to a radial plane perpendicular to the axis of rotation C.

The container holders 8a and 8b may take other forms, such as those described above. The purpose of the container holders 8a and 8b is to hold and support the storage container 106 when they rotate from the first position P1 to the second position P2 for access at the access station 7 and then return to align with the port columns 119 and 120.

When arranged in the storage system 1 shown in FIG. 1, the access station 7 is configured such that each of the first container holder 8a and the second container holder 8b is located below the port columns 119, 120 in the first position P1 to receive storage containers from/transfer storage containers to the storage grid. Storage containers 106 can be transferred from the top of the frame structure 100 to the container holders 8a, 8b in the first position P1 via the port columns 119, 120 by using container disposal vehicles 201, 301 or a container crane. The access station may include a station frame 14 for connection to the lower end of the port columns 119, 120.

Claims (16)

1. An access station (7) for a storage system, the access station comprising at least one container holder (8a, 8b) arranged to rotate about a rotation axis (C), wherein, The axis of rotation (C) is inclined at a first angle (X) relative to the vertical direction (V); and The container holders (8a, 8b) are arranged to receive the storage container (106) and configured such that, when supported by the container holders, the centerline (D) of the storage container (106) is inclined at a second angle (Y) relative to the axis of rotation (C), wherein, The container holders (8a, 8b) are rotatable between a first position (P1) and a second position (P2) opposite to the first position relative to the axis of rotation (C). In the first position, the centerline (D) of the contained storage container (106) is vertical. In the second position, the centerline (D) of the contained storage container (106) is inclined at a third angle (XY) relative to the vertical direction (V). The third angle is equal to the sum of the first angle and the second angle. 2. The access station according to claim 1, wherein the first angle (X) is substantially equal to the second angle (Y). 3. The access station according to claim 1 or 2, wherein each of the first angle (X) and the second angle (Y) is in the range of 2 to 10 degrees. 4. The access station according to any one of the preceding claims, wherein, when the container holder (8a, 8b) is in the second position, the centerline (D) of the storage container housed in the container holder (8a, 8b) is inclined relative to the vertical direction (V), such that the opening of the storage container will be away from the axis of rotation (C). 5. The access station according to any one of the preceding claims, comprising a rotating assembly (9, 11), wherein the container holder (8a, 8b) is connected to the rotating assembly, the rotating assembly being arranged to rotate the container holder about the rotation axis (C). 6. The access station according to any one of the preceding claims, wherein the rotating assembly includes a rotating shaft (9), and the container holders (8a, 8b) are operatively connected to the rotating shaft. 7. The access station according to claim 6, wherein the centerline of the rotation axis corresponds to the rotation axis (C). 8. The access station according to claims 6 and 7, wherein an electric motor (10) is configured to rotate the rotating shaft (9). 9. The access station according to any one of the preceding claims includes an electric motor (10) configured to rotate the container holders (8a, 8b) about the rotation axis (C). 10. The access station according to any one of the preceding claims, wherein the centerline (C) of the storage container (106) contained by the container holder (8a, 8b) gradually tilts from the vertical direction (V) to the third angle (XY) during the arcuate movement between the first position and the second position. 11. The access station according to any one of the preceding claims includes two container holders (8a, 8b) that can be positioned on opposite sides of the rotation axis (C) such that when the other container holder (8b) is in the second position, one container holder (8a) is in the first position. 12. The access station according to claim 11, wherein the two container holders (8a, 8b) are mounted to the rotating assembly on opposite sides of the rotation axis (C). 13. A storage system comprising an access station according to any one of the preceding claims, wherein the storage system is characterized by having a port array (119, 120) through which the storage container (106) can be transferred in a vertical direction, the port array being arranged above the access station such that when the container holder is arranged in the first position (P1), the storage container can be conveyed to the container holder (8a, 8b) of the access station. 14. A method for accessing a storage container at an access station according to any one of claims 1 to 12, the method comprising the steps of: c. When the container holders (8a, 8b) are in the first position and arranged to hold the storage container in an upright configuration, the storage container is lowered onto the container holders; and d. Rotate the container holders (8a, 8b) about the axis of rotation (C) from the first position to the second position, in which the container holders are arranged to tilt the storage container. 15. The method of claim 14, wherein the container holder is arranged to tilt the storage container away from the first position when in the second position. 16. The method according to claim 14 or 15, wherein the storage container gradually tilts as it rotates from the first position to the second position.