Container handling carrier and automatic storage and retrieval system including the same

Abstract

A container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system below, comprising: a first set of wheels arranged at a relative portion of a vehicle body, so that the container handling vehicle moves along a first direction on a guide rail system of the three-dimensional grid; and a second set of wheels arranged at a relative portion of the vehicle body, so that the container handling vehicle moves along a second direction perpendicular to the first direction on the guide rail system; the vehicle body comprises walls on all sides, the walls forming a coverage area defined by horizontal peripheries in the first and second directions of the vehicle body, the container handling vehicle also comprising: first and second sections arranged side by side, the center point of the coverage area of ​​the first section being arranged off-center relative to the center point of the coverage area of ​​the vehicle body, the size ratio of the coverage area of ​​the first section relative to the coverage area of ​​the second section being at least 2:1, the first section being constructed to accommodate storage containers, and the second section comprising an assembly of motors for driving at least one wheel in each set of wheels.

Description

[0001] This application is a divisional application of the Chinese patent application with application number 201980027994.7 and title “Container handling vehicle having a first section and a second section and larger wheel motors on two wheels in the second section” (based on the international patent application with international application number PCT / EP2019 / 053681 and international application date of February 14, 2019). Technical Field

[0002] The present invention relates to the field of container handling carriers for automated storage and retrieval systems and to an automated storage and retrieval system comprising such a container handling carrier. 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 A known container handling carrier of 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 that 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 bins, 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 the product items within the storage containers 6 can be the same, or can be different product types, depending on the application. The frame structure prevents horizontal movement of the stack 7 of storage containers 6 and guides vertical movement of the containers 6, but typically does not 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 are operated to lift and lower storage containers 6 from and into 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 container handling vehicles 9 to move 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 container handling vehicles 9 to move 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 the container handling carrier 9 can be moved laterally above the storage column 5, ie in a plane parallel to the horizontal XY plane.

[0008] Each container handling carrier 9 comprises a carrier body 13 and a first set of wheels 22 and a second set of wheels 23 which enable the container handling carrier 9 to move laterally, i.e. in the X and Y directions. In Fig. 2, 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 carrier 9 also includes a lifting device 18 (at Figure 1 and Figure 2A Not shown, but in Figure 2B ), for vertically transporting the storage container 6, for example, lifting the storage container 6 from the storage column 5 and lowering the storage container 6 into the storage column 5, the lifting device 18 includes 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 carrier body 13 so that the position of the lifting frame relative to the carrier 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 topmost layer of the grid 4, i.e., the layer directly below the rail system 8 (in this application, the rail system 8 is referred to as the top layer of the grid), Z=2 is the second layer below the rail system 8, Z=3 is the third layer, etc. Figure 1 In the embodiment disclosed in , Z=8 represents the bottom of the lowest grid 4. Therefore, as an example and using Figure 1 The Cartesian coordinate system X, Y, Z indicated in, Figure 1The storage container marked 6' in FIG. 1 may be said to occupy grid position or cell X = 10, Y = 2, Z = 3. The container handling vehicle 9 may be said to travel in layer Z = 0, and each column 12 may 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 the storage containers 6 across the grid 4, and the storage space may include a cavity 21 arranged in the center of 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 carrier 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 carrier 9 may have a footprint F, i.e., a horizontal perimeter in the X and Y directions (see FIG. 4 ), which is substantially equal to the lateral or horizontal extent of the grid column 12, i.e., the perimeter / circumference of the grid column 12 in the X and Y directions, e.g., as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. Alternatively, the container handling carrier 9 may have a footprint greater than the lateral extent of the grid column 12, e.g., as disclosed in WO 2014 / 090684 A1.

[0014] The guide rail system 8 may be as follows Figure 3 Preferably, the rail system 8 is a dual rail system as shown in FIG4 , thereby allowing a container handling carrier 9 having a footprint F generally corresponding to the lateral extent of the grid columns 12 to travel along a row of grid columns in the X or Y direction, even if another container handling carrier 9 is located above a grid column 12 adjacent to that row.

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

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

[0017] When you want to access the stored Figure 1 When a storage container 6 in the grid 4 disclosed in the embodiment is located, 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 a 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 carrier 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 carrier 9 is shown in the figure to better illustrate the overall design of the lifting device. The details of the second carrier 9 are described in Norwegian patent NO317366. The lifting device 18 of the two prior art carriers 9 includes a set of lifting belts connected near the corners of the lifting frame 17 (also referred to as a clamping device) for releasably connecting to the storage container. In order to lift or lower the lifting frame 17 (and optionally the connected storage container 6), the lifting belt is wound around at least one rotating lifting shaft or roller (not shown) arranged in the container handling carrier. Various designs of the at least one lifting shaft are described in, for example, WO2015 / 193278A1 and PCT / EP2017 / 050195. The lifting frame 17 is characterized by a container connecting element and a guide pin for releasably connecting to the storage container. If the target storage container is located deep within the stack 7, that is, 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 that is specifically designed for the task of temporarily removing storage containers from a 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 container located at or above the target position within the stack of storage columns has been removed, the container handling vehicle 9 positions the storage container at the desired position. 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, such as monitoring and controlling 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 locations at the desired times 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 tracking the storage containers.

[0020] Prior art solutions include so-called cantilever robots and single-unit robots. A cantilever robot may have available space for a larger motor, however the robot may be less stable than its single-unit counterpart. Thus, a larger motor with increased acceleration may cause the robot to tilt excessively. Some embodiments of single-unit robots have hub motors with an in-wheel motor configuration. The in-wheel configuration allows the hub motor to fit inside the wheel and vehicle body, thereby not taking up space within the cavity to receive a storage container. Therefore, the single-unit 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, more powerful wheel motors, especially for single-unit robots, where the motors can be of a so-called in-wheel motor construction in order to fit as small as possible in the wheel and vehicle body while not occupying a cavity for receiving a storage container.

[0022] In view of the above, it is desirable to provide a container handling carrier, and an automated storage and retrieval system including the container handling carrier, that solves or at least alleviates one or more of the above 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 in at least one direction.

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

[0026] - a first set of wheels for moving the vehicle in the X direction on a grid of rail systems; and

[0027] - a second set of wheels for moving the vehicle on a grid of rail systems in the Y direction, perpendicular to the X direction;

[0028] - a carrier body including a side portion, the carrier body having a carrier body footprint defined by horizontal perimeters in the X and Y directions of the carrier body, the carrier body including 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 in the X and Y directions of the first section and the second section, respectively;

[0029] in:

[0030] - the first section and the second section are arranged side by side, separated by a separation element of the first section, such that the total area of ​​the first footprint and the second footprint is equal to the total area of ​​the carrier body footprint, and the center point of the first footprint is arranged off-center relative to the center point of the carrier body footprint;

[0031] - the first section defines a storage container receiving space configured to receive a storage container;

[0032] - wherein the second section has a rectangular footprint and includes a portion of a first side of the vehicle body and an opposing portion of a second side of the vehicle body, the second section extending adjacent to the partition element, wherein two wheels are mounted to the partition element, one wheel mounted to the portion of the first side of the vehicle body and one wheel mounted to the portion of the second side of the vehicle body, wherein the wheels mounted to the portions of the first and second sides of the vehicle body are driven by wheel motors extending from an inner face of the side of the vehicle body into an interior space within the second section.

[0033] One advantage of the container disposal vehicle is that it does allow for deeper wheel motors to be used in the second section. The wheel motors may be equipped with direct drive motors that are deeper than the thickness of the sides of the container disposal vehicle around the second section. Furthermore, providing wheel motors that extend into the interior space in the second section in this way only on wheels on parts of the first side and parts of the second side instead of on wheels mounted to the partitioning element allows for even deeper motors (because the wheel motors are not limited by wheel motors on wheels mounted on the partitioning element), which wheel motors may correspond in depth to the thickness of the partitioning element.

[0034] Each wheel in the first side portion and the second side portion of the vehicle body may be connected to a separate wheel motor.

[0035] The first side portion of the carrier body may be common to the first section and the second section. The second side portion of the carrier body may also be common to the first section and the second section.

[0036] Alternatively, both wheels mounted to the first side portion and the second side portion of the vehicle body may be driven by a common wheel motor.

[0037] One or more of the wheels mounted to the separation element may be non-motorized.

[0038] Alternatively, each wheel mounted to the partitioning element may be driven by a wheel motor.

[0039] Each wheel motor may extend into an interior space of the second section, which interior space may be delimited on three sides by a partition element, an inner face of a portion of the first side and an inner face of a portion of the second side of the vehicle body.

[0040] The size ratio of the first footprint relative to the second footprint may be at least 2:1. Preferably, the size ratio of the first footprint relative to the second footprint may be 3:1, even more preferably, the size ratio of the first footprint relative to the second footprint may be 4:1, even more preferably, the size ratio of the first footprint relative to the second footprint may be 5:1, even more preferably, the size ratio of the first footprint relative to the second footprint may be 6:1, even more preferably, the size ratio of the first footprint relative to the second footprint may be 7:1. Typically, when traveling in the X direction, the second section has a smaller extent in the Y direction, i.e., the narrower the section, the more stable the container handling vehicle will generally be. The X direction is the direction in which the wheels in the second section do not contact the rail system below, so the second section is suspended above the wheelbase of the set of wheels (the first set of wheels) that contact the rails at that point.

[0041] 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. The first set of wheels comprises four wheels in total. The four 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.

[0042] The second set of wheels comprises four wheels in total. 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).

[0043] The wheel motors driving the wheels mounted to the partition element may have relatively low power and / or acceleration compared to the wheel motors driving the wheels mounted to the first and second side portions of the vehicle body.

[0044] The wheel motors may include wheel hub motors, which provide direct drive at the wheels.

[0045] Also described is a container handling vehicle for picking up a storage container from a three-dimensional grid of a storage system below, comprising:

[0046] - a first set of wheels arranged at opposite parts of the carrier body of the container handling carrier for moving the carrier in a first direction on the rail system of the grid; and

[0047] - 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;

[0048] in

[0049] The carrier body includes walls on all sides (the walls being substantially vertical) forming a footprint defined by the horizontal perimeter of the carrier body in the X and Y directions, and the container disposal carrier further includes:

[0050] a first section and a second section arranged side by side such that a center point of the footprint of the first section is arranged off-center relative to a center point of the footprint FV of the vehicle body, and

[0051] - 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

[0052] - the first section is configured to accommodate a storage container,

[0053] The second section comprises an assembly of electric motors for driving at least one wheel of each set of wheels.

[0054] A container handling vehicle may also be defined as a container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system below, comprising

[0055] - a first set of wheels arranged at opposite parts of the carrier body of the container handling carrier for moving the carrier in a first direction on the rail system of the grid; and

[0056] - 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;

[0057] in

[0058] The carrier body includes walls on all sides (the walls being substantially vertical) forming a footprint defined by the horizontal perimeter of the carrier body in the X and Y directions, and the container disposal carrier further includes:

[0059] a first section and a second section arranged side by side such that a center point of the footprint of the first section is arranged off-center relative to a center point of the footprint FV of the vehicle body, and

[0060] - 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

[0061] - the first section is configured to accommodate a storage container,

[0062] - 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.

[0063] The first section may comprise a cavity for accommodating the storage container, and a lifting device arranged at a top section / upper level of the cavity.

[0064] The first set of wheels is vertically displaceable between a first position in which the first set of wheels allows the vehicle to move in a first direction and a second position in which the second set of wheels allows the vehicle to move in a second direction.

[0065] The assembly of motors may include at least one first motor for driving a first set of wheels and at least one second motor for driving a second set of wheels.

[0066] The container handling vehicle may include a lift for picking up a storage container from the three-dimensional grid, and the assembly of motors includes a lift motor connected to the lift.

[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 rims of 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 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 raise 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 and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels may include a separate wheel hub motor. Preferably, the wheel hub motors of the first and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels extend into the interior space in the second section.

[0074] Also described is an automated storage and retrieval system comprising a three-dimensional grid and at least one container handling carrier as described above, the grid comprising a rail system on which the container handling carrier can move, and a stack of a plurality of storage containers;

[0075] - 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;

[0076] - the stack of the plurality of storage containers is arranged in storage columns located below the rail system, wherein each storage column is located vertically below a grid opening;

[0077] The first footprint is substantially equal to a grid unit defined by a cross-sectional area between a pair of opposing tracks of the first set of tracks and a pair of opposing tracks of the second set of tracks including track widths, and the second segment partially extends into an adjacent grid opening when the first segment is located over the adjacent grid opening.

[0078] The footprint range LX of the container handling vehicle in the X direction and the footprint range LY in the Y direction can be:

[0079] - in the X direction, LX = 1.0 grid cell, and

[0080] - In the Y direction, 1 grid unit < LY < 1.5 grid units,

[0081] Herein, a grid unit is defined as a cross-sectional area including a track width between a midpoint of two guide rails extending in the X direction and a midpoint of two guide rails extending in the Y direction.

[0082] 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.

[0083] As described above, the container handling carrier 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 that extends horizontally beyond the footprint of the first section.

[0084] The grid cell opening may be defined as the cross-sectional area of ​​the opening between two opposing rails extending in the X-direction and two opposing rails extending in the Y-direction.

[0085] The footprint of the second section can 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 unit, in a position where it can lift the storage container into the first section or lower it from the first section, the second section extends into the adjacent grid unit. However, the footprint of the vehicle body is less than 1.5 units (in the Y direction) and is at most one grid unit wide in the other direction (X direction). In other words, the lateral range of the container handling vehicle in the first direction corresponds to the lateral range of the track in one unit, and is at most 1.5 grid units in the direction perpendicular to the first direction. Therefore, in an example system for storing and retrieving storage containers, in which the above-mentioned two container handling vehicles operate and are 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 can travel along grid cells of adjacent rows occupying two grid cells.

[0086] 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 lift and lower the gripping device relative to the cavity.

[0087] The second section makes it possible to drive at least some wheels with larger and more powerful hub motors than possible in prior art single-cell robots, e.g. lift motors with at least 70% greater axial depth and more powerful (e.g. at least 10% more powerful) lift motors.

[0088] The wheel hub motors arranged in the second section (or extending into the second section) can be arranged to have 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, rather than 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 the 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 greatly 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.

[0089] The container handling vehicle may include a replaceable battery. The replaceable battery may be arranged in the 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:

[0090] - The vehicle or overall control system determines that the battery should be replaced,

[0091] - Operate the vehicle to move to the battery replacement station,

[0092] - remove the replaceable battery from the battery housing,

[0093] - operating the vehicle to move to a battery exchange station with a rechargeable battery using, for example, a capacitive power source arranged in a controller box in the vehicle,

[0094] - Install the rechargeable battery into the battery housing,

[0095] -The vehicle is ready for use.

[0096] 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.

[0097] 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 carrier in the X and Y directions should be understood as the extent of the carrier in the X and Y directions, such as the footprint of the carrier in the X and Y directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] Certain embodiments of the present invention will now be described in detail, by way of example only, and with reference to the following drawings:

[0099] Figure 1 is a perspective side view of a prior art storage and retrieval system;

[0100] 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;

[0101] Figure 3 and Figure 4A is used for Figure 1 A top schematic diagram of two types of rail systems for a storage system in;

[0102] Figure 4B and Figure 4C is similar to Figure 4A A top view of a rail system showing the range of grid units and the range of single unit vehicles operating thereon;

[0103] 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;

[0104] Figure 5B , Figure 5C , Figure 5D shows the footprint of an exemplary container handling carrier FV, a first section F1 and a second section F2, wherein the footprint is in each case respectively indicated by a shaded area;

[0105] Fig. 6A is an oblique side view viewed from above the container disposal carrier;

[0106] Figure 6B yes Fig. 6A 1 and 2 , and illustrating the extent of the container handling carrier on the rail system in the X and Y directions;

[0107] Figure 7 is a top view of three such container handling vehicles passing each other and operating on a rail system;

[0108] Fig. 8Ais a perspective view from below the interior of the container handling vehicle with the lifting device in an upper position within the first section;

[0109] Figure 8B is a perspective view from below of the interior of the container handling vehicle with some details omitted and with the lifting device in a lower position lowered from the first section;

[0110] Fig. 9 yes Fig. 8A A side view of a container disposal vehicle of , wherein two batteries are visible in the second section;

[0111] FIG. 10A is Fig. 8A a perspective side view of a container disposal carrier of with certain details omitted, including a cover that has been removed to show interior details, such as replaceable batteries disposed within a battery receiving unit in an upper portion of the container disposal carrier;

[0112] 10B is another perspective view of the container handling carrier of FIG. 10A , wherein the motor assembly including the lift device motor can be seen in the second section;

[0113] 10C is a perspective view of the alternative container handling carrier of FIG. 10B , wherein the lift motor and tilt transmission (bevel gear) can be seen in the second section;

[0114] Figure 10D and Fig.10E is a different view of the alternative container handling carrier of FIG. 10C with the lift motor and bevel gear rotated 90 degrees relative to the lift motor and bevel gear of FIG. 10C ;

[0115] 10F and 10G are perspective views of an alternative container handling carrier of FIG. 10B , wherein the lift motor and hollow shaft gear are visible in the second section;

[0116] Fig. 10H It is an exploded view of the hollow shaft gear used to connect the lifting device motor and the lifting shaft;

[0117] Fig.10I is a side view of the container handling vehicle having wheel motors on wheels in the Y direction in the second section;

[0118] Fig.10J is a view from below the container handling vehicle showing the larger wheel motors on the wheels in the Y direction only in the second section;

[0119] Figure 10K is a side view of a second section of the container handling carrier in the Y direction;

[0120] 11A is a side perspective view of two container handling carriers passing each other in the X direction of the rail system;

[0121] FIG. 11B is a top perspective view of FIG. 11A ;

[0122] 11C is another side view of FIG. 11A , showing a gap between two container handling carriers passing each other in the X direction of the rail system;

[0123] FIG11D shows a perspective view from below of the container handling carrier;

[0124] 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 is a central cavity robot of the prior art, and Fig. 12C A container handling carrier according to the present invention is shown;

[0125] FIG. 13A to FIG. 13C shows the difference of an imaginary line extending between each of two pairs of opposing wheels of the same wheelset, and the difference of said lines intersecting or not intersecting the imaginary line between the other wheels, wherein Fig.13A A single unit robot of the prior art is shown, Fig. 13B is a central cavity robot of the prior art, and Fig. 13C A container disposal carrier according to the present invention is shown.

[0126] Fig.13D Possible arrangements of the centres of wheelbases for the first set of wheels and the second set of wheels respectively are shown, with the wheelbases being off-centre relative to each other;

[0127] 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

[0128] Embodiments of the invention will be discussed in more detail below, by way of example only, and with reference to the accompanying drawings. However, it should be understood 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.

[0129] refer to Figures 3 to 4C , showing a top view of two different rail systems for an automated storage and retrieval system.

[0130] The rail system forms a grid structure or grid pattern in a horizontal plane P, see Figure 1The grid 4 comprises a plurality of rectangular and uniform grid locations or grid cells 14 (see Figure 4B ), wherein each grid cell 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 the container handling carrier 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.

[0131] 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.

[0132] 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 can 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 guide 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, because 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).

[0133] The dual track guideway may be shaped to provide two parallel channels for the wheels of the container handling carrier to run therein.

[0134] Figure 3 A prior art rail system is shown which features single track rails 10, 11. When such a rail system is used, two container handling carriers are not allowed to pass each other at adjacent grid cells 14.

[0135] Where a single track rail is used for one of the orientations, 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).

[0136] Figure 4B and Figure 4CThe guide rail system shown is characterized by 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.

[0137] exist Figure 4C , in the middle of the segment 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.

[0138] exist Figure 4C , schematically illustrates 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.

[0139] Figure 5A is a perspective side view of components of a lifting device 18 that can be installed in a container handling carrier 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 within the cavity of the container handling carrier.

[0140] Figure 5B The footprint of an exemplary container handling carrier 9' according to the present invention is shown, i.e. the dotted area in the figure indicated by FV. The footprint FV is equal to the lateral extent of the container handling carrier 9' in both directions. The container handling carrier 9' consists of a first section 204 and a second section 205.

[0141] Figure 5C The footprint of the first section 204 is shown, which is the dotted area indicated by F1 in the figure. 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.

[0142] Figure 5D The coverage area of ​​the second section 205 is shown, namely the dotted area denoted by F2 in the figure.

[0143] Fig. 6A9' is a perspective side view from above of the container handling carrier 9'. The container handling carrier 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.

[0144] The carrier 9' comprises: a first set of wheels (not shown, see Fig. 8A ), which are arranged at opposite parts of the carrier body 13 and are used to move the carrier 9' on the guide rail system 8 of the storage system 1 along the 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 carrier body 13 and are used to move the carrier 9' on the guide rail system 8 along the second direction Y. The second direction Y is perpendicular to the first direction X. The first set of wheels can be displaced in the vertical direction Z between a first position and a second position. In the first position, the first set of wheels allows the carrier 9' to move along the first direction X, and in the second position, the second set of wheels allows the carrier 9' to move along the second direction Y. Structural details of suitable components for providing a displaceable wheel set are disclosed in, for example, WO2015 / 193278A1 and WO2017 / 153583, the contents of which are incorporated herein by reference.

[0145] Figure 6B yes Fig. 6A 8 and illustrates the extent of the container handling carrier 9' in the X and Y directions (LX and LY) of the container handling carrier 9' on the rail system 8. 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 carrier 9' in the X direction (LX) is substantially equal to the dimension of the grid cell 14 in the X direction, and the footprint of the container handling carrier 9' in the Y direction (line LY) is greater than the dimension of the grid cell 14 in the Y direction, so that a portion of the carrier body extends into an adjacent cell (in the illustrated embodiment, this is the adjacent cell to the left of the cell being processed). The dimension of this extension of the carrier 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 in the Y direction is greater than 1.0 grid cell but less than 1.5 grid cells 14 (1.0 grid cell < LY < 1.5 grid cells).

[0146] When in Figure 6BWhen operating on the illustrated rail system 8 having rectangular grid cells 14, the footprint of the container handling carrier 9' is substantially square, since the extent of the grid cells 14 in the X direction is longer than in the Y direction, and the container handling carrier 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 carrier 9' compared to prior art solutions, which exhibit a more rectangular footprint, often combined with a relatively high center of gravity.

[0147] Figure 7 is a top view of three similar container handling carriers 9' oriented in the same direction, passing each other and operating on a rail system 8 featuring a dual track rail as described above. As shown, the container handling carriers 9' have a footprint corresponding to the size of the grid cells 14 in the X direction, thereby allowing other container handling carriers 9' traveling in the Y direction to pass in adjacent cells on either side of the carrier 9' (when passing each other, the container handling carriers 9' occupy two rows of the rail 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 carriers 9' traveling in the X direction can pass each other occupying three rows.

[0148] The presence of the second section 205 makes it possible to utilize Figure 2A The prior art single-unit robot shown has a larger and more powerful motor 203 (see Fig. 8A ) to drive the wheels while maintaining many of the advantages of this robot.

[0149] As in Fig. 8A As disclosed in the specification, the first section 204 accommodates the first wheel 201', the second wheel 201", the third wheel 201"' and the fourth wheel 201"" of the first set of wheels and the first wheel 202' and the second wheel 202" of the second set of wheels, and the second section accommodates the third wheel 202"' and the 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.

[0150] 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″” preferably extend to the corners of the vehicle 9′.

[0151] All wheels 201 ′, 201 ″, 201 ″′, 201 ″″, 202 ′, 202 ″, 202 ″′, 202 ″″ are preferably arranged within a lateral extent LX, LY in the X and Y direction of the vehicle body 13 (see also Fig. 9 description).

[0152] 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 of the intersection.

[0153] exist Fig. 8A In the embodiment, the first section and the second section are separated by a wheel connection element 212 (i.e., a connection plate or a connection 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 be moved in the vertical direction.

[0154] 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 .

[0155] 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, may be passive or motorized, for example driven by an in-wheel hub motor as disclosed in WO 2016 / 120075A1.

[0156] Figure 8B 2 is a perspective view from below the interior of the container handling carrier 9' showing the lifting frame 17 of the lifting device 18 in a lower position, extending downwardly from the first section 204. The lifting device 18 may have a Figure 2A and Figure 2B Similar features to the lifting device described.

[0157] Fig. 9is 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 outside the vehicle body 13 (in Fig. 9 For example, the outwardly facing sides of the wheels in the lateral X and Y directions may be flush with the carrier body 13. Fig. 9 Not shown (but in Fig. 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.

[0158] The vehicle body 13 includes any of the following elements, even if all elements are present or if some elements are missing, such as a vehicle body frame, side covers or plates, wheel suspensions, housings for track sensors between the wheels, etc. The rotating outer surfaces 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 rotating outer surfaces of the wheels can be laterally displaced 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 such that they do not extend outside the vehicle body 13 .

[0159] The container disposal vehicle 9' may be provided with an interface 206 for charging the batteries 213', 213" in the container disposal vehicle 9' (see Fig. 8A ).

[0160] 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 disposed inside a battery receiving unit 209 in the upper portion of the container handling vehicle. A controller unit 210 communicating with the overall control system is also disclosed. The controller unit 210 may also accommodate 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 ("empty" battery) is unloaded at a different location from the location where the replacement battery ("fully charged" battery) is picked up, so that 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 a lifting device and / or move the robot to a service area. In addition, any regenerated power may be supplied to the capacitive power supply to ensure that the capacitive power supply has sufficient power capacity to perform any of its desired functions.

[0161] FIG. 10B is another view of FIG. 10A , in which an assembly of motors including a hoist motor 211 arranged in the second section 205 is disclosed. The hoist motor 211 is connected to one end of a rotatable lifting shaft (not shown) of the hoist arranged in the first section. This hoist motor 211 can replace other hoist motors (not shown) arranged in the first section, or can be used as an auxiliary motor in addition to any hoist motors arranged in the first section. Thus, the second section 205 makes it possible to reduce the number of hoist motors in the first section to a minimum (or even avoid using hoist motors in the first section), because the size and lifting capacity of the hoist motor 211 arranged in the second section 205 are not limited by the available space in the first section. In other words, the hoist motor 211 in the second section can be the only hoist 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 hoist.

[0162] FIG10C shows an embodiment of a container handling carrier 9' in which the lift comprises a single lift motor 211' and the tilt 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 more powerful (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 higher total weight (i.e., including the weight of the product stored in the container). It should be noted that Figure 2B and Figure 2CThe prior art carrier 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 tilt transmission 215 with the attached lift motor 211 ′ is tilted downward (i.e., in a primarily vertical direction). In contrast, as shown in FIGS. 10D and 10D , the tilt transmission 215 is tilted downward (i.e., in a primarily vertical direction). Fig.10E 10C , however, the tilting transmission 215 with the connected lifting device motor 211 ' is tilted laterally (ie, in a mainly 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 shaft lifting belt (not shown) is connected to the lifting device shaft 216 and is rolled up and released during the raising and lowering of the lifting device.

[0163] 10F and 10G are perspective views of an alternative container handling carrier to that of FIG. 10B , wherein the lift motor 211 ′ and hollow shaft gear 215 are arranged in the second section.

[0164] 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, will provide a more stable container handling carrier 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 carrier 9'.

[0165] 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 of FIG. 10F to FIG. 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 the tilt 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.

[0166] Fig.10I is a side view of a container handling carrier 9 ′ with wheel motors 203 on wheels 202 ″, 202 ″″ in the Y direction in the second section 205 rather than on wheels 201 ″, 201 ″″ in the X direction on the partition element 212 .

[0167] Fig.10Jis a view from below of the container handling carrier 9' showing the larger wheel motors 203 on the wheels 202'", 202"" in the Y direction only in the second section 205 and not on the wheels 201", 201"" in the X direction on the partition element 212. Fig.10J As best shown in FIG. 2 , a partition element 212 of the first section 204 divides the interior of the container handling carrier 9 ′ into a first section 204 and a second section 205 . Two wheels 201 ″, 201 ″″ in the X direction are mounted on the partition element 212 .

[0168] Figure 10K is a side view of a second section of the container handling carrier 9 ′ in the Y direction.

[0169] As from FIG. 10I to FIG. 10K It can be clearly seen that the second section 205 is relatively small, that is, there is no Fig. 10H as deep as the second section 205 in .

[0170] As mentioned above, in all FIG. 10I to FIG. 10K In the example of FIG. 10F to FIG. 10F, the first section 204 is Fig. 10H The first section 204 of the container handling carrier 9' in FIG. 10F to FIG. 10B is the same size as that of the first section 204 of the container handling carrier 9', and the second section 205 is larger than that of FIG. Fig. 10H The second section 205 of the container handling carrier 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. 10K The arrangement and relatively small size (i.e., small extent in the Y direction) of the second section 205 in the embodiment has the advantage that, when the container handling carrier moves in the X direction, the cantilever or overhang formed by the second section 205 has minimal effect on the stability of the container handling carrier 9' as it travels in the X direction.

[0171] The radial and longitudinal extents of the wheel motor 203 in the second section are adapted to fit into the available interior space in the X and Y directions of the second section 205. FIG. 10I to FIG. 10K As shown, the radial / diameter extent of the wheel motor 203 is determined by the extent of the second section in the Y direction (limited by the partition element between the first section 204 and the second section 205 and the vehicle body 13). The wheel motor 203 extends into an interior space in the second section 205, which is bounded by the partition element 212 and three sides of the vehicle body 13, forming three outer boundaries of the second section 205. The depth of the wheel motor 203 (i.e., the extent of the wheel motor 203 in the X direction) is limited by the width LX in the X direction, and can be significantly greater than the width LY of the second section 205 in the Y direction, for example, 50% or more, for example 60%, 70%, 80% or up to 90% greater.

[0172] 11A is a side view of two container handling carriers 9' traveling in the X direction of the rail system 8, the container handling carriers passing each other in the Y direction of the rail system 8 using a total of three units. This particular rail system includes a single track rail in the X direction and a double track rail in the Y direction. In some cases, a combination of a single track rail and a double track rail may be the most cost-effective solution, even if a rail system using only double track rails is optimal for the possible travel paths of the container handling carriers disposed thereon.

[0173] 11B is a top view of FIG. 11A , showing the gaps G between the carrier bodies 13 in the Y direction, so that two carriers 9 ′ traveling in the X direction may occupy only three rows in the Y direction.

[0174] 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, wherein Fig. 12A A single unit robot of the prior art is shown, Fig. 12B is a central cavity robot of the prior art, and Fig. 12C An exemplary container handling carrier according to the present invention is shown.

[0175] exist Fig. 12A In single-cell robots and central cavity robots, the center of gravity CGSC of the storage container is in the center of the cavity, which also coincides with the center CGV of the footprint of the vehicle body.

[0176] exist Fig. 12B In a 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 CGV of the footprint of the vehicle body.

[0177] Fig. 12C An exemplary container handling vehicle according to the present invention is shown in which the center of gravity CGSC of the storage container is displaced relative to the center CGV of the footprint of the vehicle body.

[0178] FIG. 13A to FIG. 13C is a plan view showing the difference in imaginary lines extending between wheelsets of the same set of wheels, and how said lines may or may not intersect with imaginary lines between other wheels. Fig.13A A single unit robot of the prior art is shown, Fig. 13B is a central cavity robot of the prior art, and Fig. 13C An exemplary container handling carrier according to the present invention is shown.

[0179] exist Fig.13AIn both the single-cell robot and the central cavity robot, 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.

[0180] exist Fig. 13B In the central cavity robot, none of the imaginary lines L1, L2, L3, L4 extending between each pair of two pairs of opposing wheels in each set of wheels intersects with another imaginary line L1, L2, L3, L4.

[0181] Fig. 13C An exemplary container handling carrier 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 an imaginary line L3 extending between two wheels in a second set of wheels, and wherein an imaginary line L4 between two wheels in the second set of wheels does not intersect any imaginary line.

[0182] Fig.13D Possible arrangements of the centres of the wheelbases for the first and second set of wheels, respectively, are shown, and the wheelbases are eccentric with respect 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 opposing wheels indicated by 202', 202", and the second pair of wheels comprises opposing wheels 202'" and 202"") has a centre CWB2. The wheels 201'-201"" in the first set of wheels 22 are arranged on opposite sides of the first section 204, and the wheels 202'-202"" in 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.

[0183] 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.

[0184] 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 carrier body 13 (which may also be on opposite sides of the first section).

[0185] 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.

[0186] Terms

[0187] 1. A container handling vehicle (9') for picking up storage containers (6) from a three-dimensional grid (4) of a storage system (1) below, comprising:

[0188] - a first set of wheels (22) for moving the carrier (9') along the X direction on the rail system (8) of the grid (4); and

[0189] - a second set of wheels (23) for moving the carrier (9') on the rail system (8) of the grid (4) along a Y direction, the Y direction being perpendicular to the X direction;

[0190] - a carrier body (13), comprising a side portion, the carrier body (13) having a carrier body footprint (FV) defined by horizontal perimeters in the X and Y directions of the carrier body (13), the carrier body comprising a first section and a second section, the first section (204) having a first footprint (F1), and the second section (205) having a second footprint (F2), the first footprint and the second footprint (F1, F2) being defined by horizontal perimeters in the X and Y directions of the first section and the second section (204, 205), respectively;

[0191] in:

[0192] - the first section (204) and the second section (205) are arranged side by side, separated by a separation element (212) of the first section (204), such that the total area of ​​the first and second footprints (F1, F2) is equal to the total area of ​​the vehicle body footprint (FV), and the center point of the first footprint (F1) is arranged off-center relative to the center point of the vehicle body footprint (FV);

[0193] - the first section (204) defines a storage container receiving space, the storage container receiving space being configured to receive a storage container (6);

[0194] - wherein the second section (205) has a rectangular footprint and includes a portion of a first side of the vehicle body (13) and an opposite portion of a second side of the vehicle body (13), the second section (205) extending adjacent to the partition element, wherein two wheels are mounted to the partition element, one wheel mounted to the portion of the first side of the vehicle body and one wheel mounted to the portion of the second side of the vehicle body, wherein the wheels mounted to these portions of the first and second sides of the vehicle body are driven by a wheel motor (203) extending from the inner face of the side of the vehicle body (13) into the interior space within the second section (205).

[0195] 2. A container disposal vehicle (9') according to clause 1, wherein each wheel mounted to the first side portion and the second side portion of the vehicle body (13) is connected to a separate wheel motor (203).

[0196] 3. A container disposal carrier (9') according to any of the preceding clauses, wherein the first side of the carrier body (13) is common to the first section (204) and the second section (205), and the second side of the carrier body (13) is common to the first section and the second section.

[0197] 4. A container disposal vehicle (9') according to clause 1, wherein both wheels of the first and second parts mounted to the sides of the vehicle body (13) are driven by a common wheel motor (203).

[0198] 5. A container handling vehicle (9') according to any of the preceding clauses, wherein the wheels mounted to the partition element (212) are non-motorized.

[0199] 6. A container handling vehicle (9') according to clauses 1 to 4, wherein each wheel mounted to the partition element (212) is driven by a wheel motor (203).

[0200] 7. A container handling vehicle (9') according to clauses 1 to 5, wherein each wheel motor (203) extends into an internal space of the second section (205), which is bounded on three sides by the partition element (212), the inner surface of a portion of the first side of the vehicle body (13) and the inner surface of a portion of the second side.

[0201] 8. A container disposal vehicle (9') according to any of the preceding clauses, 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).

[0202] 9. A container handling vehicle (9') according to any one of clauses 6 to 8, wherein the wheel motor (203) driving the wheel mounted to the partition element (212) has a relatively low power and / or acceleration compared to the wheel motor (203) driving the wheel mounted to the first and second parts of the side of the vehicle body (13).

[0203] 10. A container handling vehicle (9') according to any of the preceding clauses, wherein the wheel motor (203) comprises a wheel hub motor to provide a direct drive on the wheel.

[0204] 11. A container disposal carrier (9') according to any of the preceding clauses, wherein the ratio of the size of the first footprint (F1) relative to the second footprint (F2) is at least 2:1.

[0205] 12. An automated storage and retrieval system comprising a three-dimensional grid (4) and at least one container handling carrier (9') according to any one of clauses 1 to 11, the grid comprising a rail system (8) on which the container handling carrier can move, and a plurality of stacks (7) of storage containers;

[0206] - the guide rail system (8) comprises a first set of parallel rails (10) arranged in a horizontal plane (P) and extending in an X direction, and a second set of parallel rails (11) arranged in the horizontal plane (P) and extending in a Y direction orthogonal to the X direction, wherein the first set of rails and the second set of rails (10, 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 rails (10a, 10b) of the first set of rails (10) and a pair of opposing rails (11a, 11b) of the second set of rails (11);

[0207] - 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);

[0208] - the first coverage area (F1) is substantially equal to a grid unit (14) defined by a cross-sectional area including a track width between a pair of opposing tracks (10a, 10b) of the first set of tracks (10) and a pair of opposing tracks (11a, 11b) of the second set of tracks (11), and when the first section is located above an adjacent grid opening, the second section (205) partially extends into an adjacent grid opening (15).

[0209] 13. An automated storage and retrieval system according to clause 12, wherein the footprint (FV) of the container handling carrier (9') has an extent LX in the X direction and an extent LY in the Y direction of:

[0210] - in the X direction, LX = 1.0 grid cell (14), and

[0211] - In the Y direction, 1 grid unit < LY < 1.5 grid units (14),

[0212] The grid unit (14) is defined as the 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.

[0213] Reference numerals

[0214]

[0215]

[0216]

Claims

1. A container handling vehicle for picking up a storage container from a three-dimensional grid of a storage system below, comprising: - a first set of wheels arranged at opposite portions of a vehicle body of the container handling vehicle for moving the container handling vehicle along a first direction on the rail system of the three-dimensional grid; as well as - a second set of wheels, arranged at an opposite portion of the vehicle body, for moving the container handling vehicle on the rail system of the three-dimensional grid in a second direction, the second direction being perpendicular to the first direction; in The carrier body includes walls on all sides, the walls forming a carrier body footprint defined by horizontal perimeters of the carrier body in the first and second directions, the container disposal carrier further comprising: - a first section and a second section arranged side by side such that a center point of a first footprint of the first section is arranged off-center relative to a center point of a vehicle body footprint of the vehicle body, - the ratio of the size of the first footprint of the first section relative to the second footprint of the second section is at least 2:1, - the first section is configured to accommodate a storage container, and - said second section comprises an assembly of an electric motor for driving at least one wheel of each set of wheels; and - the first section accommodates 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 accommodates the second and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels.

2. The container handling carrier according to claim 1, wherein: The total area of ​​the first coverage area and the second coverage area is equal to the total area of ​​the vehicle body coverage area.

3. The container handling carrier according to claim 2, wherein: The first section and the second section are separated by a separation element of the first section.

4. The container handling carrier according to claim 1, wherein: The walls are substantially vertical.

5. The container handling carrier according to claim 1, wherein: The assembly of motors includes at least one first motor for driving the first set of wheels and at least one second motor for driving the second set of wheels.

6. The container handling carrier according to claim 1, wherein: The first section comprises a cavity for accommodating a storage container, and a lifting device arranged at a top section / upper level of the cavity, the lifting device being used to pick up a storage container from the three-dimensional grid, and the motor assembly comprises a lifting device motor connected to the lifting device.

7. The container handling carrier according to claim 1, wherein: The first set of wheels is vertically displaceable between a first position in which the first set of wheels permits movement of the container handling carrier in the first direction and a second position in which the second set of wheels permits movement of the container handling carrier in the second direction.

8. The container disposal vehicle of claim 1, further comprising a battery disposed in the second section.

9. An automated storage and retrieval system comprising a three-dimensional grid (4) and at least one container handling carrier (9') according to any one of claims 1 to 8, the three-dimensional grid comprising a rail system (8) on which the container handling carrier can move, and a plurality of stacks (7) of storage containers (6); - 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 parallel first set of tracks (10) and the parallel second set of 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 parallel first set of tracks (10) and a pair of opposing tracks (11a, 11b) of the parallel second set of 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 first footprint (F1) is 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 parallel set of tracks (10) and a pair of opposing tracks (11a, 11b) of the second parallel set of tracks (11), and the second section (205) partially extends into an adjacent grid opening (15) when the first section is located above the adjacent grid opening.

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

Images