Container handling vehicles and automated storage and retrieval systems

Abstract

A container handling vehicle comprises: a first set of wheels for moving the vehicle in an X direction; and a second set of wheels for moving the vehicle in a Y direction; a body comprising a first section and a second section, the first section having a first footprint and the second section having a second footprint; a lifting device for lifting a storage container from a storage system; and a lifting device motor arranged to drive the lifting device when lifting the storage container from the storage system; the first section and the second section are arranged side by side so that the total area of ​​the first footprint and the second footprint is equal to the total area of ​​the body footprint, and the center point of the first footprint is arranged eccentrically relative to the center point of the body footprint; the first section defines a storage container receiving space, accommodating the storage container and the lifting device for lifting the storage container from the storage system; and the lifting device motor is accommodated in the second section. The present application also provides an automatic storage and retrieval system.

Description

[0001] This application is a divisional application of the Chinese patent invention application "Container handling vehicle having a first section and a second section and a lifting device motor in the second section" with an application date of February 14, 2019 and application number 201980027759.X. Technical Field

[0002] The present invention relates to the field of container handling vehicles for use in automated storage and retrieval systems and to an automated storage and retrieval system comprising such a container handling vehicle. Background Art

[0003] An automated storage system known to the applicant is a storage system comprising a three-dimensional storage grid structure in which storage containers / containers are stacked on top of each other to a certain height. Figure 1 The storage system is disclosed in detail in, for example, NO317366 and WO2014 / 090684A1.

[0004] Figure 1 The framework structure of a typical prior art automatic storage and retrieval system 1 is disclosed, and Figure 2A and Figure 2B There is known a container handling vehicle in which such a system is disclosed.

[0005] The frame structure comprises a plurality of upright members / profiles 2 and a plurality of horizontal members 3 supported by the upright members 2. The members 2, 3 may typically be made of metal, such as extruded aluminium profiles.

[0006] The frame structure defines a storage grid 4, which includes a plurality of grid openings / columns 12 arranged in rows. Most of the grid columns 12 are storage columns 5, in which storage containers 6, also referred to as containers or boxes, are stacked one on top of another to form a stack 7. Each storage container 6 (or simply container) can typically hold a plurality of product items (not shown), and depending on the application, the product items within the storage containers 6 can be the same, or can be of different product types. The frame structure prevents horizontal movement of the stack 7 of storage containers 6 and guides vertical movement of the containers 6, but does not typically support the storage containers 6 when stacked.

[0007] The upper horizontal member 3 includes a rail system 8 arranged in a grid pattern across the top of the grid columns 12, on which a plurality of container handling vehicles 9 operate to raise and lower storage containers 6 from the storage columns 5 and also to transport storage containers 6 over the storage columns 5. The rail system 8 includes: a first set of parallel rails 10 arranged to guide the movement of the container handling vehicles 9 across the top of the frame structure in a first direction X; and a second set of parallel rails 11 arranged perpendicular to the first set of rails 10 to guide the movement of the container handling vehicles 9 in a second direction Y perpendicular to the first direction X, see Figure 3 In this way, the rail system 8 defines an upper end of the storage column 5 above which a container handling vehicle 9 can move laterally above the storage column 5 (ie in a plane parallel to the horizontal XY plane).

[0008] Each container handling vehicle 9 comprises a body 13 and a first set of wheels 22 and a second set of wheels 23 that enable the container handling vehicle 9 to move laterally (i.e. in the X and Y directions). FIG. 2A to FIG. 2C , two wheels in each set are visible. The first set of wheels 22 is arranged to engage with two adjacent rails in the first set of rails 10, and the second set of wheels 23 is arranged to engage with two adjacent rails in the second set of rails 11. One of the sets of wheels 22, 23 can be raised and lowered so that the first set of wheels 22 and / or the second set of wheels 23 can engage with its respective set of rails 10, 11 at any one time.

[0009] Each container handling vehicle 9 also includes a lifting device 18 (at Figure 1 and Figure 2A Not shown, but in Figure 2B 5) for vertical transport of storage containers 6, such as raising and lowering storage containers 6 from storage columns 5, the lifting device 18 comprises a lifting frame (in Figure 2A Not shown, but similar to Figure 2B A lifting frame marked as 17 in the figure is suitable for engaging the storage container 6, and the lifting frame can be lowered from the vehicle body 13 so that the position of the lifting frame relative to the vehicle body 13 can be adjusted in a third direction Z, which is orthogonal to the first direction X and the second direction Y.

[0010] Typically, and for the purposes of this application, Z=1 refers to the highest level of the grid 4, i.e., the level directly below the rail system 8 (in this application, the rail system 8 is referred to as the top level of the grid), Z=2 is the second level below the rail system 8, Z=3 is the third level, etc. Figure 1 In the embodiment disclosed in , Z=8 represents the bottommost layer of the grid 4. Therefore, as an example and using Figure 1The Cartesian coordinate system X, Y, Z indicated in, Figure 1 The storage container referenced 6' in the figure can be said to occupy grid position or cell X = 10, Y = 2, Z = 3. The container handling vehicle 9 can be said to be travelling in level Z = 0, and each grid post 12 can be identified by its X and Y coordinates.

[0011] Each container handling vehicle 9 includes a storage compartment or space for receiving and loading storage containers 6 when transporting storage containers 6 across the grid 4, and the storage space may include a cavity 21 arranged centrally within the vehicle body 13, for example, as described in WO2014 / 090684A1, the contents of which are incorporated herein by reference.

[0012] Alternatively, the container handling vehicle may have a cantilever configuration, as described in NO 317366, the contents of which are also incorporated herein by reference.

[0013] The single unit container handling vehicle 9 may have a footprint F, ie, a horizontal perimeter in the X and Y directions (see FIG. 4A to FIG. 4C ), which is substantially equal to the lateral or horizontal extent of the grid posts 12, i.e. the perimeter / circumference of the grid posts 12 in the X and Y directions, for example as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. Alternatively, the container handling vehicle 9 may have a footprint that is greater than the lateral extent of the grid posts 12, for example as disclosed in WO 2014 / 090684 A1.

[0014] The guide rail system 8 may be as follows Figure 3 Preferably, the guide rail system 8 is as shown. FIG. 4A to FIG. 4C The dual track system shown thereby allows a container handling vehicle 9 having a footprint F generally corresponding to the lateral extent of the grid posts 12 to travel in the X or Y direction along a row of grid posts even if another container handling vehicle 9 is located above a grid post 12 adjacent to that row.

[0015] In a storage grid, most grid posts 12 are storage posts 5, i.e., grid posts at which storage containers are stored in stacks. However, a grid usually has at least one grid post 12 which is not used to store such storage containers, but rather comprises a location at which a container handling vehicle can unload and / or pick up a storage container so that the storage container can be transported to an access station where the storage container 6 can be accessed from outside the grid or transferred out of or into the grid, i.e., a container handling station. Such a location is usually referred to in the art as a "port," and the grid post at which the port is located may be referred to as a port post.

[0016] Figure 1The grid 4 in FIG. 4 comprises two port columns 19 and 20. The first port column 19 may be, for example, a dedicated unloading port column, wherein a container handling vehicle 9 may unload a storage container to be transported to an approach station or a transfer station (not shown), and the second port column 20 may be a dedicated pickup port column, wherein a container handling vehicle 9 may pick up a storage container that has been transported to the grid 4 from the approach station or the transfer station.

[0017] When approaching the storage Figure 1 When a storage container 6 is located in the grid 4 disclosed in the embodiment of the present invention, one of the container handling vehicles 9 is instructed to retrieve the target storage container from its position in the grid 4 and transport it to the unloading port 19. This operation involves moving the container handling vehicle 9 to a grid position above the storage column 5 where the target storage container is located, using the lifting device of the container handling vehicle (not shown, arranged internally in the central cavity of the vehicle, but similar to Figure 2B The lifting device 18 of the second prior art vehicle retrieves the storage container 6 from the storage column 5 and transports the storage container to the unloading port 19. Figure 2B A second prior art vehicle 9 is shown in order to better illustrate the overall design of the lifting device. Details of the second vehicle 9 are described in Norwegian patent NO317366. The lifting device 18 of both prior art vehicles 9 comprises a set of lifting belts connected near the corners of a lifting frame 17 (also referred to as a clamping device) for releasably connecting to a storage container. In order to raise or lower the lifting frame 17 (and optionally the connected storage container 6), the lifting belts are wound onto / disengaged from at least one rotating lifting shaft or roller (not shown) arranged in the container handling vehicle. Various designs of the at least one lifting shaft are described in, for example, WO2015 / 193278A1 and PCT / EP2017 / 050195. The lifting frame 17 features a container connection element for releasably connecting to a storage container, as well as a guide pin. If the target storage container is located deep within the stack 7, i.e., one or more other storage containers are positioned above the target storage container, the operation also includes temporarily moving the storage container positioned above before lifting the target storage container from the storage column. This step, sometimes referred to in the art as "digging", can be performed using the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port 19, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system can have a container handling vehicle dedicated to the task of temporarily removing storage containers from the storage column. Once the target storage container has been removed from the storage column, the temporarily removed storage container can be relocated to the original storage column. However, the removed storage container can alternatively be relocated to other storage columns.

[0018] When a storage container 6 is to be stored in the grid 4, one of the container handling vehicles 9 is instructed to pick up the storage container from the pick-up port 20 and transport it to a grid position above the storage column 5 where it is stored. After any storage containers at or above the target position within the storage column stack have been removed, the container handling vehicle 9 positions the storage container at the desired location. The removed storage container can then be lowered back into the storage column or relocated to another storage column.

[0019] In order to monitor and control the automatic storage and retrieval system, for example, to monitor and control the position of individual storage containers within the grid 4, the contents of each storage container 6, and the movement of the container handling vehicles 9, so that the desired storage containers can be delivered to the desired location at the desired time without the container handling vehicles 9 colliding with each other, the automatic storage and retrieval system includes a control system, which is typically computerized and includes a database for keeping track of the storage containers.

[0020] Prior art solutions include so-called cantilever robots and single-cell robots. A cantilever robot may have available space for a larger motor, however the robot may be less stable than its single-cell counterpart. Thus, a larger motor with increased acceleration may cause the robot to tilt excessively. Some embodiments of single-cell robots have hub motors with an in-wheel motor configuration. The in-wheel configuration allows the hub motor to fit inside the wheel and body of the vehicle, thereby not occupying space within the cavity for receiving a storage container. Therefore, the single-cell robots of the prior art do not have any available space for a larger hub motor without affecting the storage container space inside the robot.

[0021] Therefore, prior art solutions may have potential disadvantages related to the stability of the robot and / or limited space for larger, higher power wheel motors, in particular for single-unit robots, where the motors can have a so-called in-wheel motor construction in order to fit as small as possible in the wheel and body of the vehicle while not occupying a cavity intended to receive a storage container.

[0022] In view of the above, it is desirable to provide a container handling vehicle, including an automated storage and retrieval system for the container handling vehicle, that solves or at least alleviates one or more of the above-mentioned problems associated with robots.

[0023] In particular, it is an object of the present invention to provide a robot with improved acceleration and / or speed.

[0024] Another object of the present invention is to provide a robot with a lifting device having improved acceleration, lifting capacity and / or speed. Summary of the invention

[0025] The invention is defined in the appended claims and in the following description.

[0026] A container handling vehicle for picking up a storage container from a three-dimensional grid of an underlying storage system is described, comprising:

[0027] - a first set of wheels for moving the vehicle in the X direction on the rail system of the grid; and

[0028] - a second set of wheels for moving the vehicle on the rail system of the grid in the Y direction, which is perpendicular to the X direction;

[0029] - a vehicle body having a vehicle body footprint defined by horizontal perimeters of the vehicle body in the X-direction and the Y-direction, the vehicle body comprising a first section and a second section, the first section having a first footprint, and the second section having a second footprint, the first footprint and the second footprint being defined by horizontal perimeters of the first section and the second section in the X-direction and the Y-direction, respectively;

[0030] - a lifting device for lifting the storage container from the storage system; and

[0031] - a lifting device motor arranged to drive the lifting device when lifting a storage container from the storage system; wherein

[0032] - the first section and the second section are arranged side by side, so that the total area of ​​the first footprint and the second footprint is equal to the total area of ​​the body footprint, and the center point of the first footprint is arranged eccentrically relative to the center point of the body footprint;

[0033] - the first section defines a storage container receiving space configured to receive a storage container, the first section also accommodating a lifting device for lifting the storage container from the storage system; and

[0034] The lifting device motor is accommodated in the second section.

[0035] The first footprint may be at least 2:1 in size relative to the second footprint. Preferably, the first footprint may be 3:1 in size relative to the second footprint, even more preferably, the first footprint may be 4:1 in size relative to the second footprint, even more preferably, the first footprint may be 5:1 in size relative to the second footprint, even more preferably, the first footprint may be 6:1 in size relative to the second footprint, even more preferably, the first footprint may be 7:1 in size relative to the second footprint. Typically, the smaller the extent of the second section in the Y direction, i.e. the narrower the section, the more stable the container handling vehicle is typically when travelling in the X direction. The X direction is the direction in which the wheels in the second section are not in contact with the underlying rail system, and therefore the second section is suspended above the wheelbase of the set of wheels (the first set of wheels) that are in contact with the rails at that point.

[0036] The lifting device may include a lifting shaft, the lifting shaft including a first end section and a second end section for connecting a first pair of lifting belts and a second pair of lifting belts. All lifting belts may be connected to a lifting frame of the lifting device for lifting and lowering the lifting device. The lifting belt may have a first end and a second end, the first end and the second end being connected to the lifting shaft and a corresponding lifting belt connector on the lifting frame, respectively. Each pair of lifting belts may have a first lifting belt connected at the first end section of the lifting shaft and a second lifting belt connected at the second end section of the lifting shaft. The first pair of lifting belts may extend from the lifting shaft toward a belt guide assembly in a substantially horizontal direction, the belt guide assembly may be arranged to change the direction of the first pair of lifting belts to extend in a vertical direction, and the second pair of lifting belts may extend from the lifting shaft in a vertical direction. This arrangement, i.e., only one lifting shaft on which all lifting belts are wound, eliminates the need for a separate belt for synchronizing two independent lifting shafts.

[0037] The first set of wheels may be arranged on opposite sides of the first section and the second set of wheels may be arranged on opposite sides of the vehicle body.

[0038] The first set of wheels comprises a total of four wheels. The four wheels in the first set of wheels are arranged as two pairs of wheels for movement in the X direction, wherein each pair of wheels is arranged on opposite sides of the first section. The second set of wheels comprises a total of four wheels. The four wheels are arranged as two pairs of wheels for movement in the Y direction, wherein each pair of wheels is arranged on opposite sides of the vehicle body (which may also be on opposite sides of the first section).

[0039] The container handling vehicle may further include a lifting shaft, and the lifting device motor may be connected at one end of the lifting shaft.

[0040] The container handling vehicle may further comprise an angled transmission arranged in the second section between the lifting shaft and the lifting device motor.

[0041] The lift motor may be arranged perpendicular to the lift shaft via an angled transmission.

[0042] An extension of the lifting device shaft may extend into the second section and the hollow shaft gear may be directly connected to the extension of the lifting device shaft.

[0043] The hollow shaft gear and the lifting device motor can be angled sideways.

[0044] If the hoist motor is angled laterally, i.e. the longitudinal axis of the hoist motor is in a horizontal or substantially horizontal direction, this has particular advantages, since the motor may weigh 10 kg and more and may be arranged at a relatively high height compared to the overall height of the container handling vehicle, the laterally oriented hoist motor and the angled transmission provide a more stable container handling vehicle, since the weight is more optimally distributed towards the centerline of the container handling vehicle. In addition, since the control system and power supply for the hoist motor are mainly arranged in the center of the upper part of the container handling vehicle, this orientation of the hoist motor requires shorter power cables and encoder cables to the control system, which is advantageous as performance is improved and noise is significantly reduced.

[0045] The lift motor may be angled downwards, i.e. with the longitudinal axis of the lift motor in a vertical or predominantly vertical direction. This arrangement makes it possible to use two lift motors connected to respective lift shafts. If the two lift motors are arranged at opposite sides in the second section, this may provide a more stable container handling vehicle, as the weight distribution from the lift motors will be more favourable in terms of the overall centre of gravity of the container handling vehicle.

[0046] Also described is a container handling vehicle for picking up a storage container from a three-dimensional grid of an underlying storage system, comprising

[0047] - a first set of wheels arranged at opposite parts of the body of the container handling vehicle for moving the vehicle in a first direction on the rail system of the grid; and

[0048] - a second set of wheels, arranged at an opposite part of the vehicle body, for moving the vehicle on the rail system of the grid in a second direction, the second direction being perpendicular to the first direction;

[0049] in

[0050] The vehicle body comprises walls on all sides (the walls being substantially vertical) forming a footprint defined by the horizontal perimeter of the vehicle body in the X-direction and the Y-direction, and the container handling vehicle further comprises:

[0051] a first section and a second section, the first section and the second section being arranged side by side so that a center point of a footprint of the first section is arranged eccentrically relative to a center point of a footprint FV of the vehicle body, and

[0052] - wherein the ratio of the size of the footprint F1 of the first section relative to the footprint F2 of the second section is at least 2:1, and wherein

[0053] - the first section is configured to accommodate a storage container,

[0054] The second section comprises an assembly of an electric motor for driving at least one wheel of each set of wheels.

[0055] A container handling vehicle may also be defined as a container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system, comprising

[0056] - a first set of wheels arranged at opposite parts of the body of the container handling vehicle for moving the vehicle in a first direction on the rail system of the grid; and

[0057] - a second set of wheels, arranged at an opposite part of the vehicle body, for moving the vehicle on the rail system of the grid in a second direction, the second direction being perpendicular to the first direction;

[0058] in

[0059] The vehicle body comprises walls on all sides (the walls being substantially vertical) forming a footprint defined by the horizontal perimeter of the vehicle body in the X-direction and the Y-direction, and the container handling vehicle further comprises:

[0060] a first section and a second section, the first section and the second section being arranged side by side so that a center point of a footprint of the first section is arranged eccentrically relative to a center point of a footprint FV of the vehicle body, and

[0061] - wherein the size ratio of the footprint F1 of the first section relative to the footprint F2 of the second section is at least 2:1, and wherein

[0062] - the first section is configured to accommodate a storage container,

[0063] - The second section comprises any of a plurality of wheel hub motors for driving two wheels in each set of wheels, a motor for driving a lifting device and / or a rechargeable battery.

[0064] The first section may comprise a cavity for receiving the storage container, and a lifting device arranged at a top section / upper level of the cavity.

[0065] The first set of wheels is vertically displaceable between a first position in which the first set of wheels permits movement of the vehicle in a first direction and a second position in which the second set of wheels permits movement of the vehicle in a second direction.

[0066] The assembly of electric machines may include at least one first electric machine for driving a first set of wheels and at least one second electric machine for driving a second set of wheels.

[0067] The first section may accommodate the first, second, third and fourth wheels of the first set of wheels and the first and second wheels of the second set of wheels, and the second section may accommodate the third and fourth wheels of the second set of wheels.

[0068] The first section may accommodate the first and third wheels of the first set of wheels and the first and second wheels of the second set of wheels, and the second section may accommodate the second and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels.

[0069] The first section may include four corners, and the wheel rims of the first wheel, the second wheel, the third wheel, and the fourth wheel of the first set of wheels and the first wheel and the second wheel of the second set of wheels may extend to the corners of the first section.

[0070] The at least one first motor may include a hub motor for each of the first and fourth wheels of the first set of wheels, and the at least one second motor may include a hub motor for each of the third and fourth wheels of the second set of wheels. In other words, each of the first and fourth wheels of the first set of wheels and each of the third and fourth wheels of the second set of wheels may be driven by a separate / dedicated hub motor.

[0071] The first set of wheels and the second set of wheels may be arranged at or within the lateral extent of the vehicle body.

[0072] The footprint of the first section may correspond to a grid cell of the rail system and during use, when the container handling vehicle is in position to lift or lower a storage container, the second section may be horizontally displaced relative to the grid cell and extend partially into an adjacent grid cell.

[0073] The assembly of motors may include a plurality of wheel hub motors, and each of the first wheel and the fourth wheel of the first set of wheels and the third wheel and the fourth wheel of the second set of wheels may include a separate wheel hub motor. Preferably, the wheel hub motors of the first wheel and the fourth wheel of the first set of wheels and the third wheel and the fourth wheel of the second set of wheels extend into the space in the second section.

[0074] The motors of the second group (third and fourth wheels) can extend from the inner surface of the wall of the vehicle body toward the middle area of ​​the second section. The motors of the first group (first and fourth wheels) can extend from the second section side of the partition element that separates the interior space of the first and second sections.

[0075] Also described is an automated storage and retrieval system comprising a three-dimensional grid including a rail system and a plurality of stacks of storage containers and at least one container handling vehicle, the grid including a rail system on which the container handling vehicle can move;

[0076] - the guide rail system comprises a first set of parallel rails arranged in a horizontal plane and extending in a first direction and a second set of parallel rails arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, wherein the first set of rails and the second set of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of opposing rails of the first set of rails and a pair of opposing rails of the second set of rails;

[0077] - a plurality of stacks of storage containers are arranged in storage columns located below the rail system, wherein each storage column is located vertically below a grid opening;

[0078] - a container handling vehicle comprising a body and a first section and a second section arranged side by side, the body comprising substantially vertical walls on all sides forming a footprint defined by a horizontal perimeter of the body in the X-direction and the Y-direction;

[0079] - the first section is configured to accommodate a storage container; and

[0080] - the second section comprises at least an assembly of an electric motor for driving at least one wheel of each set of wheels, wherein

[0081] The first segment has a footprint substantially equal to a grid unit defined by a cross-sectional area including a track width between a pair of opposing tracks of the first set of tracks and a pair of opposing tracks of the second set of tracks, and the second segment extends partially into an adjacent grid opening when the first segment is positioned above the adjacent grid opening.

[0082] The footprint of the container handling vehicle may be as follows:

[0083] - in the X direction, LX = 1.0 grid cell, and

[0084] - In the Y direction, 1 grid unit < LY < 1.5 grid units,

[0085] Therein, a grid cell is defined as a cross-sectional area between the midpoints of two rails extending in the X direction and the midpoints of two rails extending in the Y direction that includes the track width.

[0086] The second section may extend less than 50% into adjacent grid openings, more preferably less than 40% into adjacent grid openings, even more preferably less than 30% into adjacent grid openings, even more preferably less than 20% into adjacent grid openings.

[0087] As described above, the container handling vehicle has a first section and a second section. The footprint of the first section may be equal to the size of the underlying grid cell, and the second section is an extended section extending horizontally beyond the footprint of the first section.

[0088] A grid cell opening may be defined as the open cross-sectional area between two opposing rails extending in the X-direction and two opposing rails extending in the Y-direction.

[0089] The footprint of the second section may be less than half the size of the footprint of the first section (with a size ratio of less than 1:2 relative to the first section). When the container handling vehicle is positioned above the grid cells, in a position where it can lift or lower a storage container into or from the first section, the second section extends into an adjacent grid cell. However, the footprint of the vehicle body is less than 1.5 cells (in the Y direction) and is at most one grid cell wide in the other direction (the X direction). In other words, the lateral extent of the container handling vehicle in the first direction corresponds to the lateral extent of the track in one cell, and is at most 1.5 grid cells in a direction perpendicular to the first direction. Thus, in an example system for storing and retrieving storage containers, in which the two container handling vehicles described above are operated and oriented in opposite directions, they occupy three grid cells when traveling in the first direction (e.g., in the X direction), and when traveling in the second direction (e.g., in the Y direction) they may travel along grid cells that occupy adjacent rows of two grid cells.

[0090] The first section of the container handling vehicle may include a cavity for receiving a storage container and a lifting device arranged to vertically transport the storage container between a storage position in a stack and a transport position inside the cavity. The lifting device may include a gripping device configured to releasably grip the storage container; and a lifting motor configured to raise and lower the gripping device relative to the cavity.

[0091] The second section enables driving at least some of the wheels with larger and more powerful hub motors than possible in prior art single-cell robots, e.g. a lift motor having at least 70% more axial depth and strength, e.g. a lift motor that is at least 10% stronger.

[0092] The wheel hub motors arranged in the second section (or extending into the second section) can be arranged with a limited distance between them. Due to the smaller distance between the motors, fewer, for example one brushless direct current (BLDC) card may be required instead of four BLDC cards in a single-unit robot of the prior art. In prior art solutions, the distance between the motors driving the wheels in a container handling vehicle is such that four BLDC cards are typically required. The cost of the BLDC cards is quite high. However, since the distance between the motors can be significantly reduced by arranging the motors in the second section, the overall cost of the container handling vehicle can be reduced since fewer BLDC cards (e.g. only one BLDC card) are required.

[0093] The container handling vehicle may include a replaceable battery. The replaceable battery may be arranged in an upper portion of the vehicle, above the container storage compartment and the lifting device. The replacement sequence of the replaceable battery may include the following steps:

[0094] - the vehicle or overall control system determines that the battery should be replaced,

[0095] - Operate the vehicle to move to the battery swap station,

[0096] - remove the replaceable battery from the battery housing,

[0097] - operating the vehicle to move to a battery exchange station with a charged battery, using, for example, a capacitive power supply arranged in a controller box in the vehicle,

[0098] - Install the charged battery into the battery housing,

[0099] -The vehicle is ready for use.

[0100] In the following, many specific details are introduced only by way of example to provide a full understanding of the embodiments of the present invention. However, those skilled in the relevant art will recognize that these embodiments can be practiced without one or more of the specific details or with other components, systems, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the disclosed embodiments.

[0101] In the present disclosure, related terms such as up, down, lateral, vertical, X direction, Y direction, Z direction, etc. should be used in the storage system of the above-mentioned prior art ( Figure 1 ) as a reference system. Therefore, features that are transverse to the extent of the vehicle in the X and Y directions should be understood as the extent of the vehicle in the X and Y directions, such as the footprint of the vehicle in the X and Y directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] Certain embodiments of the present invention will now be described in detail, by way of example only, and with reference to the following drawings:

[0103] Figure 1 is a perspective side view of a prior art storage and retrieval system;

[0104] Figure 2A and Figure 2B Two different prior art container handling vehicles are depicted, and Figure 2C Shown in the second configuration Figure 2B PRIOR ART CONTAINER HANDLING VEHICLES;

[0105] Figure 3 and Figure 4A is used in Figure 1 A top schematic diagram of two types of rail systems used in storage systems;

[0106] Figure 4B and Figure 4C is similar to Figure 4A A top view of a guideway system showing the range of grid units and the range of single unit vehicles operating thereon;

[0107] Figure 5A is an enlarged perspective side view of components of an exemplary lifting device that may be installed in a container handling vehicle and an associated container that may be lifted thereby;

[0108] Figure 5B , Figure 5C , Figure 5D shows the footprint of an exemplary container handling vehicle FV, a first segment F1 and a second segment F2, wherein the footprint is in each case respectively indicated by a shaded area;

[0109] Fig. 6A is an oblique side view from above the container handling vehicle;

[0110] Figure 6B yes Fig. 6A A top view of a container handling vehicle of FIG. 1 and illustrating the extent of the container handling vehicle on the rail system in the X and Y directions;

[0111] Figure 7 is a top view of three such container handling vehicles passing each other and operating on a rail system;

[0112] FIG8A is a perspective view from below the interior of a container handling vehicle with the lifting device in an upper position within the first section;

[0113] FIG8B is a perspective view from below of the interior of the container handling vehicle with some details omitted and the lifting device in a lower position having been lowered from the first section;

[0114] Fig. 9 is a side view of the container handling vehicle of FIG. 8A , wherein two batteries are visible in the second section;

[0115] FIG10A is a perspective side view of the container handling vehicle of FIG8A with certain details omitted, including that a cover has been removed to show interior details, such as replaceable batteries disposed within a battery receiving unit in an upper portion of the container handling vehicle;

[0116] 10B is another perspective view of the container handling vehicle of FIG. 10A , wherein components of the motor including the lifting device motor can be seen in the second section;

[0117] FIG. 10C is a perspective view of the alternative container handling vehicle of FIG. 10B , wherein the lift motor and angled transmission (helical gears) can be seen in the second section;

[0118] Figure 10D and Fig. 10E is a different view of the alternative container handling vehicle of FIG. 10C , wherein the lift motor and bevel gear are rotated 90 degrees relative to the lift motor and angled transmission of FIG. 10C ;

[0119] Fig.10F and Figure 10G is a perspective view of an alternative container handling vehicle of FIG. 10B , wherein the hoist motor and hollow shaft gear can be seen in the second section;

[0120] Fig. 10H It is an exploded view of the hollow shaft gear used to connect the lifting device motor and the lifting shaft;

[0121] FIG. 10I to FIG. 10K is an alternative view of a hollow shaft gear for connecting a lifting device motor and a lifting shaft, wherein the second section is relatively smaller than e.g. FIG. 10F to FIG. 10H The second section in

[0122] Fig.11A is a side perspective view of two container handling vehicles passing each other in the X direction of the guideway system;

[0123] Fig. 11B yes Fig.11A Top perspective view of;

[0124] Fig. 11C yes Fig.11A Another side view showing a gap between two container handling vehicles passing each other in the X direction of the guide rail system;

[0125] Fig.11D shows a perspective view from below a container handling vehicle;

[0126] FIG. 12A to FIG. 12C shows the difference in the center of gravity of the storage container inside the storage container cavity relative to the center of the footprint of the vehicle body, where Fig. 12A A single unit robot of the prior art is shown, Fig. 12B It is a central cavity robot of the prior art, and Fig. 12C A container handling vehicle according to the present invention is shown;

[0127] FIG. 13A to FIG. 13C shows the difference of an imaginary line extending between each of two pairs of opposing wheels of the same set of wheels, and the difference of said lines intersecting or not intersecting the imaginary lines between the other wheels, wherein Fig.13A A single unit robot of the prior art is shown, Fig. 13B It is a central cavity robot of the prior art, and Fig. 13C A container handling vehicle according to the invention is shown.

[0128] Fig.13D A possible arrangement of the centres of the wheelbases for the first set of wheels and the second set of wheels respectively is shown, with the wheelbases being eccentric relative to each other;

[0129] In the drawings, unless explicitly stated otherwise or implicitly understood from the context, the same reference numbers are used to indicate the same parts, elements, or features. DETAILED DESCRIPTION

[0130] Embodiments of the invention will be discussed in more detail below, 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, and that features described in one drawing are not necessarily dependent on the presence of other features shown in the same drawing, but may be combined with features of embodiments from other drawings.

[0131] refer to Figures 3 to 4C , showing a top view of two different rail systems for an automated storage and retrieval system.

[0132] The rail system forms a grid structure or grid pattern in a horizontal plane P, see Figure 1 The grid 4 comprises a plurality of rectangular and uniform grid positions or grid cells 14 (see Figure 4B), wherein each grid unit 14 comprises a grid opening 15 (i.e., the upper end of the storage column 12) defined by a pair of opposing rails 10a, 10b of the first set of rails and a pair of opposing rails 11a, 11b of the second set of rails. The rails 10a, 10b, 11a, 11b form a rail system 8 on which a container handling vehicle 9' operates. Figure 4B In FIG. 1 , the grid cells 14 are represented by dashed boxes and the grid openings 15 are represented by shaded areas.

[0133] Thus, the pair of opposing rails 10a and 10b define parallel rows of grid cells extending in the X-direction, and the pair of opposing rails 11a and 11b extending perpendicular to rails 10a and 10b define parallel rows of grid cells extending in the Y-direction.

[0134] Each grid unit 14 has a width Wc, typically in the interval of 30 cm to 150 cm, and a length Lc, typically in the interval of 50 cm to 200 cm. Each grid unit 14 may be rectangular as shown in the figure, so that Wc < Lc. Each grid opening 15 has a width Wo and a length Lo, which are typically 2 cm to 10 cm smaller than the width Wc and length Lc of the grid unit 14, respectively. This difference between Wc and Wo and between Lc and Lo corresponds to the width of two opposing rails 10a, 10b, 11a, 11b (i.e. the width of a set of tracks), or in fact corresponds to the width of a double track rail, since the grid unit extends to the midpoint of such a double track rail (i.e. a double track rail comprising 10a and 10b or 11a and 11b).

[0135] The dual track rails may be shaped to provide two parallel channels for the wheels of a container handling vehicle to run therein.

[0136] Figure 3 A prior art guide rail system is shown which features single track guide rails 10, 11. When such a guide rail system is used, two container handling vehicles are not allowed to pass each other at adjacent grid cells 14.

[0137] Where a single track rail is used in one direction, the boundaries of the grid cells extend to the side of the track on the opposite side of the grid opening from the grid opening being worked on (adjacent grid cells will overlap this track width in a similar manner).

[0138] Figure 4B and Figure 4C The guide rail system shown is characterized as a horizontal double track guide rail. Therefore, each track can accommodate two parallel wheels. In this guide rail system, the boundary between adjacent grid cells 14 extends along the center line of the horizontal guide rail, such as Figure 4B shown.

[0139] exist Figure 4C , in the middle of the section of the grid system shown, grid cell 14 includes grid opening / grid cell opening 15. To the left (west) of grid cell 14, there is an adjacent grid cell 14W that includes grid opening 15W. Likewise, to the right (east) of grid cell 14, there is an adjacent grid cell 14E that includes grid opening 15E. Furthermore, below grid cell 14 (south) there is an adjacent grid cell 14S that includes grid opening 15S, and above grid cell 14 (north) there is an adjacent grid cell 14N that includes grid opening 15N.

[0140] exist Figure 4C , schematically shows a footprint 30 of a prior art container handling vehicle. In this embodiment, the footprint 30 is defined by the horizontal extent of the vehicle's wheels. As is apparent from the figure, the horizontal extent of the footprint 30 is less than the horizontal extent of the grid cells.

[0141] Figure 5A is a perspective side view of components of a lifting device 18 that can be installed in a container handling vehicle and a container 6 to be lifted by the lifting device. The lifting device comprises a lifting frame 17, which is connected to at least one rotatable lifting shaft, usually via lifting belts, which is arranged at an upper level inside the cavity of the container handling vehicle.

[0142] Figure 5B The footprint of an exemplary container handling vehicle 9' according to the present invention is shown, i.e., the dotted area in the figure denoted by FV. The footprint FV is equal to the lateral extent of the container handling vehicle 9' in both directions. The container handling vehicle 9' consists of a first section 204 and a second section 205.

[0143] Figure 5C The first section 204 is shown as a dotted area indicated by F1. In the disclosed embodiment, the first section includes a cavity for accommodating the storage box 6 and the lifting device 18, such as Figure 5A shown.

[0144] Figure 5D The footprint of the second section 205 is shown, ie, the dotted area indicated by F2 in the figure.

[0145] Fig. 6A 9' is a perspective side view from above of a container handling vehicle 9'. The container handling vehicle 9' operates on a rail system 8 and is configured to move laterally in the X and Y directions shown in the figure. The X direction is perpendicular to the Y direction.

[0146] The vehicle 9' comprises: a first set of wheels (not shown, see FIG. 8A ), which are arranged at opposite parts of the vehicle body 13 for moving the vehicle 9' on the rail system 8 of the storage system 1 along a first direction X; and a second set of wheels (only two of the second set of wheels, 202", 202""), which are arranged at opposite parts of the vehicle body 13 for moving the vehicle 9' on the rail system 8 along a second direction Y. The second direction Y is perpendicular to the first direction X. The first set of wheels is displaceable in a vertical direction Z between a first position and a second position. In the first position, the first set of wheels allows the vehicle 9' to move along the first direction X, while in the second position, the second set of wheels allows the vehicle 9' to move along the second direction Y. Structural details of suitable components for providing a displaceable wheel set are disclosed, for example, in WO 2015 / 193278 A1 and WO 2017 / 153583, the contents of which are incorporated herein by reference.

[0147] Figure 6B yes Fig. 6A 1 , and shows the extent of the container handling vehicle 9' on the rail system 8 in the X and Y directions (LX and LY). Line C represents the centerline of the grid cells 14 and the grid cell openings 15 in the Y direction. The footprint of the container handling vehicle 9' in the X direction (LX) is substantially equal to the dimension of the grid cells 14 in the X direction, and the footprint of the container handling vehicle 9' in the Y direction (line LY) is greater than the dimension of the grid cells 14 in the Y direction, so that a portion of the body extends into an adjacent cell (in the illustrated embodiment, this is the adjacent cell to the left of the cell being worked on). This extension of the body into the adjacent cell is less than half of the lateral extent of the grid cell opening in the adjacent cell in the Y direction, meaning that the length LY is greater than 1.0 grid cell but less than 1.5 grid cells 14 in the Y direction (1.0 grid cell < LY < 1.5 grid cells).

[0148] When in Figure 6B When operating on the illustrated guide rail system 8 having rectangular grid cells 14, the footprint of the container handling vehicle 9' is substantially square, since the grid cells 14 have a longer extent in the X direction than in the Y direction, and the container handling vehicle occupies more than one grid cell 14 in the Y direction and only one grid cell 14 in the X direction. The substantially square footprint has the advantage of improving the overall stability of the vehicle 9' compared to prior art solutions, which exhibit a more rectangular footprint, often combined with a relatively high center of gravity.

[0149] Figure 7is a top view of three similar container handling vehicles 9' oriented in the same direction, passing each other and operating on a guideway system 8 featuring a dual track guideway as described above. As shown, the container handling vehicles 9' have a footprint corresponding to the size of the grid cells 14 in the X direction, thereby allowing other container handling vehicles 9' traveling in the Y direction to pass in adjacent cells on both sides of the vehicle 9' (when they pass each other, the container handling vehicles 9' occupy two rows of the guideway system 8). However, because the size of the overlap with the adjacent cells is less than half of the lateral extent of the grid cells in the Y direction, similar container handling vehicles 9' traveling in the X direction can pass each other and occupy three rows.

[0150] The presence of the second section 205 enables the use of Figure 2A The prior art single-cell robot is shown with larger and more powerful motors 203 (see FIG. 8A ) to drive the wheels while retaining many of the advantages of such a robot.

[0151] As disclosed in FIG. 8A , the first section 204 accommodates a first wheel 201′, a second wheel 201″, a third wheel 201″′ and a fourth wheel 201″″ of a first set of wheels and a first wheel 202′ and a second wheel 202″ of a second set of wheels, and the second section accommodates a third wheel 202″′ and a fourth wheel 202″″ of the second set of wheels. This particular wheel arrangement is very advantageous because it allows the use of a higher power hub motor 203 to drive the second wheel 201″ and the fourth wheel 201″″ of the first set of wheels and the third wheel 202″′ and the fourth wheel 202″″ of the second set of wheels.

[0152] Alternatively, the second wheel 201″ and the fourth wheel 201″” of the first set of wheels can be accommodated in the second section (not shown), as long as the hub motors of the wheels are also arranged in the second section. In order to improve the stability of the vehicle 9′, the rims of the wheels 201′, 201″′, 202′, 202″, 202″′, 202″” are preferably arranged at the corners of the vehicle 9′.

[0153] All wheels 201', 201", 201"', 201"", 202', 202", 202"', 202"" are preferably arranged within the transverse extent LX, LY in the X and Y direction of the vehicle body 13 (see also the Fig. 9 description).

[0154] The first section 204 and the second section 205 may be completely separated by a physical barrier, such as a wall or plate or the like, at the intersection between the first section 204 and the second section 205. Alternatively, the first section 204 and the second section 205 may be partially separated at the intersection between the first section 204 and the second section 205, such as by providing a barrier on a portion at the intersection.

[0155] In FIG. 8A , the first section and the second section are separated by a wheel connection element 212 (i.e., a connecting plate or beam), to which the second wheel 201″ and the fourth wheel 201″″ of the first set of wheels and their corresponding wheel hub motors 203 are connected. The wheel connection element 212 is part of a wheel shifting assembly 214, so that the second wheel 201″ and the fourth wheel 201″″ of the first set of wheels (together with the first wheel 201′ and the third wheel 201″′ of the first set of wheels) can move in the vertical direction.

[0156] In the disclosed embodiment, the second wheel 201 ″ and the fourth wheel 201 ″″ are accommodated in the first section 204 , while the hub motor 203 extends into the second section. In an alternative embodiment, the second wheel 201 ″ and the fourth wheel 201 ″″ and the hub motor may all be accommodated in the second section 205 .

[0157] It should be noted that arranging the second wheel 201″ and the fourth wheel 201″″ of the first set of wheels and the third wheel 202″′ and the fourth wheel 202″″ of the second set of wheels so that their hub motors 203 extend / protrude into the second section 205 allows the use of more powerful motors than if the hub motors were arranged so that they would extend into the first section 204. The remaining wheels (i.e., the wheels not featuring a hub motor extending into the second section) can be passive or motorized, for example driven by an in-wheel hub motor as disclosed in WO2016 / 120075A1.

[0158] FIG8B is a perspective view from below inside the container handling vehicle 9' showing the lifting frame 17 of the lifting device 18 in a lowered position extending downwardly from the first section 204. The lifting device 18 may have a plurality of lifting frames 17 and 18 extending downwardly from the first section 204. Figure 2A and Figure 2B Similar features to the lifting device described.

[0159] Fig. 9 is a side view of a container handling vehicle, wherein the wheel hub motor 203 and two batteries 213 ′, 213 ″ are arranged in the second section 205. As can be seen from e.g. Fig. 9 As is clear from the figure, in one aspect, the outwardly facing side of the wheel may be arranged so that it does not extend to the exterior of the vehicle body 13 (in Fig. 9For example, the outwardly facing sides of the wheels in the lateral X and Y directions may be flush with the vehicle body 13. Fig. 9 Not shown (but shown in FIGS. 8A and 8B and Figure 6B ), but the same applies to the wheels in the opposite direction (X), ie those wheels may also be arranged so that they do not extend outside the vehicle body 13.

[0160] The vehicle body 13 includes any of the following elements, even if all are present or if some are missing, such as a vehicle body frame, side cover panels or plates, wheel suspensions, housings for track sensors between the wheels, etc. The outer surfaces of rotation of the wheels can thus be arranged in the same vertical plane as one of the walls in the vehicle body 13. Alternatively, the wheels can be arranged inside the vehicle body 13 such that the outer surfaces of rotation of the wheels can be displaced laterally relative to the vertical plane formed by one of the walls in the vehicle body 13. Figure 6B In FIG. 1 , no wheels are visible in the top view, which indicates that the outermost transverse members of all wheels are arranged so that they do not extend outside the vehicle body 13 .

[0161] The container handling vehicle 9' may be provided with an interface 206 for charging the batteries 213', 213" in the container handling vehicle 9' (see Fig. 8A).

[0162] FIG. 10A is a side view of a container handling vehicle 9' with certain components (e.g., a cover) removed. The container handling vehicle 9' has a replaceable battery 208 arranged inside a battery receiving unit 209 in the upper portion of the container handling vehicle. A controller unit 210 is also disclosed that communicates with the overall control system. The controller unit 210 may also house a capacitive power supply (not shown). If the main power supply fails or is lost, the capacitive power supply typically has the ability to store enough power to operate any electrically driven component of the vehicle 9'. This situation may be, for example, when the battery 208 is to be replaced. Battery replacement typically occurs at two different locations, i.e., the battery to be replaced (the "empty" battery) is unloaded at a different location from the location where the replacement battery (the "fully charged" battery) is picked up, so the capacitive power supply can be used to move the robot between two different locations. Alternatively, if the main battery fails, the capacitive power supply can be used to operate the lifting device and / or move the robot to a service area. In addition, any regenerated power can be supplied to the capacitive power supply in order to ensure that the capacitive power supply has sufficient power capacity to perform any of its desired functions.

[0163] FIG. 10B is another view of FIG. 10A , wherein an assembly of a motor including a lift motor 211 arranged in the second section 205 is disclosed. The lift motor 211 is connected to one end of a rotatable lift shaft (not shown) of a lift arranged in the first section. This lift motor 211 can replace other lift motors (not shown) arranged in the first section, or be used as an auxiliary motor in addition to any lift motors arranged in the first section. Thus, the second section 205 enables the number of lift motors in the first section to be reduced to a minimum (or even to avoid the use of lift motors in the first section), because the size and lifting capacity of the lift motor 211 arranged in the second section 205 are not limited by the available space in the first section. In other words, the lift motor 211 in the second section can be the only lift motor of the vehicle, so that the available space in the top section of the first section of the vehicle 9 'is increased, or the motor 211 can be an auxiliary motor that provides increased lifting capacity to the lift.

[0164] FIG10C shows an embodiment of a container handling vehicle 9' in which the lift comprises a single lift motor 211' and the angled transmission 215 is arranged in the second section. This embodiment serves to illustrate how the available space in the second section allows the use of a higher power (and therefore larger) lift motor 211' than would be possible if it were arranged alone in the first section. This allows the use of storage containers having a greater gross weight (i.e., the weight including the product stored in the container). It should be noted that Figure 2B and Figure 2C The prior art vehicle in FIG. 10A would likely have available space for a similarly large lift motor, but would not be able to fully utilize the increased lift capacity potential due to the cantilever design. Referring again to FIG. 10C , the angled transmission 215 with the attached lift motor 211 ′ is angled downward (i.e., in a primarily vertical direction). In contrast, as shown in FIGS. 10D and 10D , the angled transmission 215 with the attached lift motor 211 ′ is angled downward (i.e., in a primarily vertical direction). Fig. 10E 10C, however, the angled transmission 215 with the attached lifting device motor 211' is angled laterally (ie, in a primarily horizontal direction) relative to the embodiment in FIG. 10C, rotated 90 degrees. In addition, Fig. 10E The device connected to the lifting device 18 ( Fig. 10E The lifting device shaft 216 to which the shaft lifting belt (not shown) is connected and which is rolled up and released during the raising and lowering of the lifting device.

[0165] Fig.10F and Figure 10G is a perspective view of an alternative container handling vehicle of FIG. 10B , wherein the lifting device motor 211 ′ and the hollow shaft gear 215 are arranged in the second section.

[0166] The configuration of the lift motor 211' in Figures 10B and 10C makes it possible to use two lift motors 211, 211' connected to respective lift shafts 216 (only one lift shaft is shown in the figures). This arrangement, i.e. two lift motors 211, 211' arranged at opposite sides in the second section, can provide a more stable container handling vehicle 9', as the weight distribution from the lift motors 211, 211' will be more favorable with respect to the overall center of gravity of the container handling vehicle 9'.

[0167] Fig. 10H 10C to 10D are exploded views of the hollow shaft gear 215 for connecting the lifting device motor 211' and the lifting device shaft 216. Fig. 10E Compared with the embodiment, FIG. 10F to FIG. 10H The lifting shaft 217 has been extended, and the gear 215 is directly connected to the extended lifting shaft 217 without a dedicated connection. In order to enable this direct connection, a hollow shaft gear 215 is used instead of an angled transmission. The hollow shaft gear 215 can be fixed to the extended lifting shaft 217 using a dedicated device, for example, as shown in the figure using a clamp and wedge configuration.

[0168] FIG. 10I to FIG. 10K is an alternative view of a hollow shaft gear 215 in a container handling vehicle 9' for connecting a lifting device motor 211' and a lifting shaft, wherein the second section 205 is relatively smaller than, for example FIG. 10F to FIG. 10H The second section 205 in FIG. 1 is smaller in depth, and wherein:

[0169] Fig.10I is a perspective side view of a container handling vehicle 9' and a lifting device motor 211',

[0170] Fig.10J is a perspective side view from slightly above the container handling vehicle 9' and the lifting device motor 211',

[0171] Figure 10K is a side view of a second section of the container handling vehicle 9 ′ in the Y direction.

[0172] As mentioned above, in all FIG. 10I to FIG. 10K In the example, the first section 204 has FIG. 10F to FIG. 10H The first section 204 of the container handling vehicle 9' is the same size as the first section 204 of the container handling vehicle 9', and the second section 205 is larger than FIG. 10F to FIG. 10H The second section 205 of the container handling vehicle 9' in FIG. 2 is smaller, ie its depth is smaller and has a relatively smaller extent in the Y direction. FIG. 10I to FIG. 10KThe arrangement and relatively small size (i.e. small extent in the Y direction) of the second section 205 in the embodiment of the present invention has the advantage that when the container handling vehicle is moving in the X direction, the cantilever or overhang formed by the second section 205 has a minimal effect on the stability of the container handling vehicle 9' when traveling in the X direction. Further advantages related to the overall stability of the container handling vehicle 9' are achieved by a more optimized weight distribution of the hoisting device motor 211' when the hoisting device motor 211' is oriented laterally (i.e. horizontally).

[0173] The radial and longitudinal extents of the lift motor 211' are adapted to fit into the available space in the X and Y directions (and the height in the Z direction) of the second section 205. FIG. 10I to FIG. 10K As shown, the longitudinal extent of the laterally (horizontally) arranged lift motor 211 ′ may be quite limited compared to the extent of the second section in the X direction, while the radial extent of the lift motor 211 ′ is more or less similar to the extent of the second section 205 in the Y direction.

[0174] Fig.11A is a side view of two container handling vehicles 9' travelling in the X direction of the guideway system 8 passing each other using a total of three units in the Y direction of the guideway system 8. This particular guideway system comprises a single track guideway in the X direction and a double track guideway in the Y direction. In some cases, a combination of single track guideway and double track guideway may be the most cost effective solution, even if a guideway system using only double track guideway is optimal for the possible travel paths of the container handling vehicles arranged thereon.

[0175] Fig. 11B yes Fig.11A , which shows the gap G between the vehicle bodies 13 in the Y direction, so that two vehicles 9 ′ traveling in the X direction may occupy only three rows in the Y direction.

[0176] FIG. 12A to FIG. 12C shows the difference in the center of gravity of the storage container within the storage container cavity relative to the center of the footprint of the vehicle body, where Fig. 12A A single unit robot of the prior art is shown, Fig. 12B It is a central cavity robot of the prior art, and Fig. 12C An exemplary container handling vehicle according to the present invention is shown.

[0177] exist Fig. 12A In a single-unit and central cavity robot, the center of gravity CGSC of the storage container is in the center of the cavity, which also coincides with the center of the footprint of the vehicle body CGV.

[0178] exist Fig. 12BIn the central cavity robot, the center of gravity CGSC of the storage container is in the center of the cavity, which also coincides with the center of the footprint of the vehicle body CGV.

[0179] Fig. 12C An exemplary container handling vehicle according to the present invention is shown, wherein the center of gravity CGSC of the storage container is displaced relative to the center of the footprint CGV of the vehicle body.

[0180] FIG. 13A to FIG. 13C is a plan view showing the difference of an imaginary line extending between wheel pairs of the same set of wheels, and how said line intersects or does not intersect with imaginary lines between other wheels. Fig.13A A single unit robot of the prior art is shown, Fig. 13B It is a central cavity robot of the prior art, and Fig. 13C An exemplary container handling vehicle according to the present invention is shown.

[0181] exist Fig.13A In the single-unit and central cavity robots, each imaginary line L1, L2, L3, L4 extending between each of the two pairs of opposing wheels in each set of wheels intersects with two other imaginary lines L1, L2, L3, L4.

[0182] exist Fig. 13B In the central cavity robot, the imaginary lines L1, L2, L3, L4 extending between each pair of two pairs of opposing wheels in each set of wheels do not intersect with another imaginary line L1, L2, L3, L4.

[0183] Fig. 13C An exemplary container handling vehicle according to the present invention is shown, wherein an imaginary line L1, L2 between each of two pairs of opposing wheels in a first set of wheels intersects one imaginary line L3 extending between two wheels in a second set of wheels, and wherein one imaginary line L4 between two wheels in the second set of wheels does not intersect any imaginary line.

[0184] Fig.13DPossible arrangements of the centres of the wheelbases for the first set of wheels and the second set of wheels, respectively, are shown, and the wheelbases are eccentric relative to each other. The wheelbase of the first set of wheels 22 (comprising two pairs of wheels, wherein the first pair of wheels comprises wheels indicated by 201', 201", and the second pair of wheels comprises wheels 201'" and 201"") has a centre CWB1, and the wheelbase of the second set of wheels 23 (comprising two pairs of wheels, wherein the first pair of wheels comprises opposite wheels indicated by 202', 202", and the second pair of wheels comprises opposite wheels 202'" and 202"") has a centre CWB2. The wheels 201'-201"" of the first set of wheels 22 are arranged on opposite sides of the first section 204, and the wheels 202'-202"" of the second set of wheels 23 are arranged on opposite sides of the vehicle body 13. The centre CWB2 of the second set of wheels 23 coincides with the centre of the vehicle body 13.

[0185] The first group of wheels 22 includes a total of four wheels 201', 201", 201"', 201"". The four wheels 201', 201", 201"', 201"" in the first group of wheels 22 are arranged as two pairs of wheels for movement in the X direction, wherein the wheels 201', 201"; 201"', 201"" of each pair are arranged on opposite sides of the first section 204.

[0186] The second group of wheels 23 includes a total of four wheels 202', 202", 202"', 202"". The four wheels 202', 202", 202"', 202"" are arranged as two pairs of wheels in the Y direction, wherein the wheels 202', 202"; 202"', 202"" of each pair are arranged on opposite sides of the vehicle body 13 (which may also be on opposite sides of the first section).

[0187] The present invention has been described with reference to the accompanying drawings, however, those skilled in the art will appreciate that changes or modifications may be made to the described embodiments without departing from the scope of the invention as described in the appended claims.

[0188] Reference numerals

[0189]

[0190]

Claims

1. A container handling vehicle (9') for picking up a storage container (6) from a three-dimensional grid (4) of an underlying storage system (1), comprising: - a first set of wheels (22) for moving the container handling vehicle (9') along the rail system (8) of the grid (4) in an X direction (X); as well as - a second set of wheels (23) for moving the container handling vehicle (9') on the rail system (8) of the grid (4) along a Y direction (Y), the Y direction (Y) being perpendicular to the X direction; - a vehicle body (13), the vehicle body (13) having a vehicle body footprint (FV) defined by horizontal perimeters of the vehicle body (13) in the X direction and the Y direction, the vehicle body comprising a first section (204) and a second section (205), the first section (204) having a first footprint (F1), and the second section (205) having a second footprint (F2), the first footprint (F1) and the second footprint (F2) being defined by horizontal perimeters of the first section (204) and the second section (205) in the X direction and the Y direction, respectively, wherein the first footprint of the first section (204) is substantially equal to a grid cell (14) of the grid (4); - a lifting device (18) for lifting the storage container (6) from the storage system (1); and - a lifting device motor (211, 211') arranged to drive the lifting device (18) when lifting the storage container (6) from the storage system (1); wherein - the first section (204) and the second section (205) are arranged side by side, so that the total area of ​​the first footprint (F1) and the second footprint (F2) is equal to the total area of ​​the vehicle body footprint (FV), and the center point of the first footprint (F1) is arranged eccentrically relative to the center point of the vehicle body footprint (FV); - the first section (204) defines a storage container receiving space, the storage container receiving space being configured to receive the storage container (6), the first section (204) also accommodating the lifting device (18) for lifting the storage container (6) from the storage system (1); and The lifting device motor (211, 211') is accommodated in the second section (205), wherein the lifting device comprises a lifting shaft, the lifting shaft comprising a first end section and a second end section for connecting the first pair of lifting belts and the second pair of lifting belts; - all lifting straps are connected to the lifting frame of the lifting device for lifting and lowering the lifting device; and - the lifting belt has a first end and a second end, the first end and the second end being connected to the lifting shaft and a corresponding lifting belt connector on the lifting frame, respectively; - each pair of said lifting belts comprises a first lifting belt connected at said first end section of said lifting shaft and a second lifting belt connected at said second end section of said lifting shaft; - a first pair of said lifting belts extending in a substantially horizontal direction from said lifting shaft towards a belt guide assembly, said belt guide assembly being arranged to change the direction of said first pair of lifting belts to extend in a vertical direction, and said second pair of lifting belts extending in a vertical direction from said lifting shaft.

2. The container handling vehicle (9') according to claim 1, wherein: The size ratio of the first footprint (F1) relative to the second footprint (F2) is at least 2:

1.

3. The container handling vehicle (9') according to claim 1 or 2, wherein: The first set of wheels (22) are arranged on opposite sides of the first section (204), and the second set of wheels (23) are arranged on opposite sides of the vehicle body (13).

4. The container handling vehicle (9') according to any one of claims 1 to 3, further comprising a lifting axle (217), and wherein: The lifting device motor (211, 211') is connected to one end of the lifting shaft (217).

5. The container handling vehicle according to claim 4, further comprising an angled transmission arranged in the second section (205) between the lifting shaft (217) and the lifting device motor (211, 211').

6. The container handling vehicle according to claim 5, wherein: The lifting device motor (211, 211') is arranged perpendicular to the lifting shaft (217) via the angled transmission.

7. The container handling vehicle (9') according to claim 6, wherein: The lifting device motor (211, 211') is angled laterally.

8. The container handling vehicle (9') according to claim 6, wherein: The lifting device motor (211, 211') is angled downward.

9. The container handling vehicle (9') according to claim 4, wherein: An extension of the lifting shaft (217) extends into the second section (205), and wherein a hollow shaft gear is directly connected to the extension of the lifting shaft (217).

10. The container handling vehicle (9') according to claim 9, wherein: The hollow shaft gear and the lifting device motor (211, 211') are angled laterally.

11. An automated storage and retrieval system comprising a three-dimensional grid (4) and at least one container handling vehicle (9'), the grid comprising a rail system (8) and a plurality of stacks (7) of storage containers, the container handling vehicle being movable on the rail system; - the guide rail system (8) comprises a first set of parallel rails (10) arranged in a horizontal plane (P) and extending in a first direction (X) and a second set of parallel rails (11) arranged in the horizontal plane (P) and extending in a second direction (Y) orthogonal to the first direction (X), wherein: The first set of parallel tracks (10) and the second set of parallel tracks (11) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (14), each grid cell comprising a grid opening (15) defined by a pair of opposing tracks (10a, 10b) of the first set of parallel tracks (10) and a pair of opposing tracks (10a, 10b) of the second set of parallel tracks (11); - the plurality of stacks (7) of storage containers (6) are arranged in storage columns (5) located below the rail system (8), wherein each storage column (5) is located vertically below a grid opening (15); - the container handling vehicle (9') comprises a body (13) and a first section (204) and a second section (205) arranged side by side, the body comprising substantially vertical walls on all sides forming a footprint defined by the horizontal perimeter of the body (13) in the X-direction and the Y-direction; - the first section (204) defines a storage container receiving space, the storage container receiving space being configured to receive a storage container (6), the first section (204) also accommodating a lifting device (18) for lifting the storage container (6) from the storage system (1); and The lifting device motor (211, 211') is accommodated in the second section (205), wherein The first section (204) has a footprint (F1) substantially equal to a grid cell (14) defined by a cross-sectional area including a track width between a pair of opposing tracks (10a, 10b) of the first set of parallel tracks (10) and a pair of opposing tracks (10a, 10b) of the second set of parallel tracks (11), and the second section (205) partially extends into an adjacent grid opening (15) when the first section is positioned above the adjacent grid opening, wherein the lifting device comprises a lifting shaft, the lifting shaft comprising a first end section and a second end section for connecting the first pair of lifting belts and the second pair of lifting belts; - all lifting straps are connected to the lifting frame of the lifting device for lifting and lowering the lifting device; and - the lifting belt has a first end and a second end, the first end and the second end being connected to the lifting shaft and a corresponding lifting belt connector on the lifting frame, respectively; - each pair of said lifting belts comprises a first lifting belt connected at said first end section of said lifting shaft and a second lifting belt connected at said second end section of said lifting shaft; - a first pair of said lifting belts extending in a substantially horizontal direction from said lifting shaft towards a belt guide assembly, said belt guide assembly being arranged to change the direction of said first pair of lifting belts to extend in a vertical direction, and said second pair of lifting belts extending in a vertical direction from said lifting shaft.

12. The automated storage and retrieval system of claim 11, wherein: The range LX of the footprint (FV) of the container handling vehicle (9') in the X direction and the range LY in the Y direction are: - In the X direction, LX = 1.0 grid cell (14), and - In the Y direction, 1 grid unit < LY < 1.5 grid units (14), The grid unit (14) is defined as a cross-sectional area including the track width between the midpoints of two guide rails extending in the X direction and the midpoints of two guide rails extending in the Y direction.

Images