vehicle

Abstract

The invention provides a remote-controlled vehicle (401, 501), comprising: a first set of wheels (401b, 501b), the first set of wheels comprising a first pair of wheels (10) and a second pair of wheels (11), thereby allowing the vehicle (401, 501) to move in a first direction (X); a second set of wheels (401c, 501c), the second set of wheels comprising a third pair of wheels (13) and a fourth pair of wheels (14), thereby allowing the vehicle (401, 501) to move in a second direction (Y) perpendicular to the first direction (X); and a wheel shifting assembly (15), the wheel shifting assembly being arranged to allow the second set of wheels (401c, 501c) to move in a vertical direction (X). ) and a wheel drive assembly, the wheel drive assembly comprising a first motor (16), a drive belt (18) and a belt drive wheel (17), and the drive belt (18) interconnects the belt drive wheel and the third pair of wheels (13), wherein the third pair of wheels (13) and the first motor (16) are mounted to a cross plate (23), the cross plate being arranged to move vertically as part of the wheel shifting assembly so that the cross plate supports the third pair of wheels (13) and the belt drive wheel (17) in a fixed spatial configuration, wherein each wheel of the third pair of wheels (13) is located at an end portion of the cross plate (23), and the belt drive wheel (17) is positioned at a central portion of the cross plate (23).

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to a vehicle for use with such a system. Background Art

[0002] Figure 1 A typical prior art automated storage and retrieval system 1 having a frame structure 100 is disclosed, and FIGS. 2 and 3 disclose two different prior art container handling vehicles 201 , 301 suitable for operating on such a system 1 .

[0003] The frame structure 100 comprises upright members 102, horizontal members 103 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106 (also called boxes) are stacked one on top of the other to form a stack 107. The members 102, 103 may typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a rail system 108 arranged on the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301 operate to lift and lower storage containers 106 from storage columns 105 and also to transport storage containers 106 over the storage columns 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301 to move in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the container handling vehicles 201, 301 to move in a second direction Y perpendicular to the first direction X. The container handling vehicles access the containers 106 stored in the columns 105 through access openings 112 in the rail system 108. The container handling vehicles 201 , 301 can move laterally above the storage columns 105 , ie in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 may be used to guide the storage containers during raising and lowering of the containers from and to the uprights 105. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301 comprises a body 201a, 301a and a first set of wheels and a second set of wheels 201b, 301b, 201c, 301c, which enable the container handling vehicle 201, 301 to move laterally in the X direction and the Y direction, respectively. In FIGS. 2 and 3, the two wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage with two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c is arranged to engage with two adjacent tracks of the second set of tracks 111. At least one set of wheels in the set of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the corresponding set of wheel tracks 110, 111 at any time.

[0007] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting storage containers 106, such as lifting the storage containers 106 from the storage columns 105 and lowering the storage containers 106 into the storage columns 105. The lifting device includes one or more gripping / engaging devices, which are suitable for engaging the storage containers 106 and which can be lowered from the vehicle 201, 301 so that the position of the gripping / engaging devices relative to the vehicle 201, 301 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicle 301 are shown in FIG. 3 and are indicated by reference numeral 304. The gripping device of the container handling device 201 is located in the vehicle body 301a in FIG. 2.

[0008] Conventionally, and also for the purposes of this application, Z=1 identifies the uppermost level of the storage container, i.e., the level immediately below the rail system 108, Z=2 identifies the second level below the rail system 108, Z=3 identifies the third level, etc. Figure 1 In the exemplary prior art disclosed in , Z=8 identifies the lowest level, the bottom level, of the storage container. Similarly, X=l...n and Y=l...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using Figure 1 The Cartesian coordinate system X, Y, Z indicated in can be said to be Figure 1 The storage container denoted 106' occupies storage location X = 10, Y = 2, Z = 3. The container handling vehicle 201, 301 can be said to be travelling in the Z = 0 level, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The storage volume of the frame structure 100 is often referred to as a grid 104, wherein the possible storage positions within the grid are referred to as storage units. Each storage column can be identified by its position in the X and Y directions, and each storage unit can be identified by the container number in the X, Y and Z directions.

[0010] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and storing storage containers 106 while conveying the storage containers 106 across the track system 108. The storage space may include a chamber arranged in the center of the vehicle body 201a, as shown in FIG2 and as described in, for example, WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0011] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever configuration. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0012] The central chamber container handling vehicle 201 shown in Figure 2 can have a footprint with dimensions in the X and Y directions generally equal to the lateral extent of the storage column 105, such as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0013] Alternatively, the center chamber container handling vehicle 101 may have a footprint that is larger than the lateral area defined by the storage columns 105, for example, as disclosed in WO 2014 / 090684 A1.

[0014] The track system 108 typically includes a track with grooves in which the wheels of the vehicle travel. Alternatively, the track may include upwardly protruding elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly protruding elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails.

[0015] WO2018146304 (the contents of which are incorporated herein by reference) shows a typical configuration of the track system 108, including tracks and parallel guides in the X and Y directions.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other uses. Figure 1, columns 119 and 120 are such special columns that container handling vehicles 201, 301 use to unload and / or pick up storage containers 106 so as to transport the storage containers to a storage and access station (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100 or transported out of the frame structure 100 or transported into the frame structure. In the art, such a position is generally referred to as a "port", and the column where the port is located can be referred to as a "port column" 119, 120. The transportation to the access station can be in any direction, i.e. horizontal, inclined and / or vertical. For example, a storage container 106 can be placed in a random or special column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port column 119, 120 for further transportation to the access station. Note that the term "inclined" refers to the transportation of the storage container 106, and its overall transportation direction is between horizontal and vertical.

[0017] exist Figure 1 For example, the first port column 119 can be a dedicated unloading port column, where the container handling vehicles 201, 301 can unload the container 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated picking port column, where the container handling vehicles 201, 301 can pick up the storage container 106 that has been transported from the access station or transfer station.

[0018] The access station may typically be a pick-up or deposit station where product items are removed from or positioned in a storage container 106. In a pick-up or deposit station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but once accessed, is returned again to the frame structure 100. The port may also be used to transfer the storage container to another storage facility (e.g., another frame structure or another automated storage and retrieval system), a transport vehicle (e.g., a train or truck), or a production facility.

[0019] A conveyor system including a conveyor is typically used to transport storage containers between the port columns 119, 120 and the access station.

[0020] If the port columns 119, 120 and the access station are located at different heights, the conveyor system may include a lifting device with a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0021] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] When accessing data stored in Figure 1When a target storage container 106 is located in one of the columns 105 disclosed in the stack 107, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container from the location of the target storage container 106 and transport it to the unloading port column 119. The operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting equipment (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep in the stack 107, that is, one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the above-mentioned positioned storage container before lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed using the same container handling vehicle that is subsequently used to deliver the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles.

[0023] Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle dedicated to the task of temporarily retrieving a storage container from a storage column 105. Once the target storage container 106 has been retrieved from the storage column 105, the temporarily retrieved storage container may be relocated to the original storage column 105. However, the retrieved storage container may alternatively be relocated to another storage column.

[0024] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the pick-port column 120 and transport it to a location above the storage column 105 where it is to be stored. The container handling vehicle 201, 301 positions the storage container 106 at the desired location after any storage container located at or above the target location within the storage column stack 107 has been retrieved. The retrieved storage container can then be lowered back into the storage column 105, or relocated to another storage column.

[0025] In order to monitor and control the automated storage and retrieval system 1, for example, to monitor and control the position of the corresponding storage containers 106 within the frame structure 100, the contents of each storage container 106; and the movement of the container handling vehicles 201, 301, so that the required storage containers 106 can be delivered to the required locations at the required time without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0026] More details of the prior art container handling vehicle 301 are shown in Figures 4a to 4d. As described above, the vehicle features a first set of wheels 301b and a second set of wheels 301c for allowing the container handling vehicle 301 to move on the track system 108. Each set of wheels includes two pairs of wheels arranged on opposite sides of the vehicle body. The second set of wheels 301c can be vertically displaced relative to the first set of wheels 301b by a wheel shifting assembly so that the first set of wheels 301b and the second set of wheels 301c can be selectively engaged with the corresponding set of tracks 110, 111 of the track system 108.

[0027] In Figures 4a and 4b, the second set of wheels is shown in a lowered position and Figure 4c and Figure 4d, the second set of wheels is in a raised position.

[0028] The second set of wheels 301c is driven by a wheel drive assembly having an electric motor (not shown) having a drive shaft 19 operatively connected to the belt drive pulley 17 and the first drive belt 18 via a gear 20 and a second drive belt 21. The drive shaft 19, the belt drive pulley 17 and the gear 20 are mounted on the vehicle body in a fixed spatial relationship. The second set of wheels is mounted to a wheel support 22 and is held in a spaced relationship by the wheel support.

[0029] During vertical displacement of the second set of wheels 301c between the lowered position and the raised position, the second set of wheels 301c and the wheel support 22 will move relative to the belt drive wheel 17, and the length of the first drive belt 18 will be extended or retracted depending on the direction of the vertical displacement. Repeated extension / retraction of the first drive belt 18 causes additional wear over time, and therefore the drive assembly is more maintenance intensive than desired because the drive belt must be replaced more frequently.

[0030] It is an object of the present invention to provide a container handling vehicle in which some of the disadvantages of prior art vehicles are avoided or mitigated. Summary of the invention

[0031] The present invention is defined by the appended claims and the following:

[0032] In a first aspect, the present invention provides a remotely controlled vehicle for moving on a track system, the track system comprising a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks, the vehicle comprising:

[0033] a first set of wheels including a first pair of wheels and a second pair of wheels arranged on opposite sides of the frame to allow the vehicle to move in a first direction on the track system during use;

[0034] a second set of wheels including a third pair of wheels and a fourth pair of wheels arranged on opposite sides of the frame to allow the vehicle to move in a second direction on the track system during use, the second direction being perpendicular to the first direction;

[0035] a wheel shifting assembly mounted to the frame and arranged to move the second set of wheels in a vertical direction relative to the frame 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; and

[0036] a wheel drive assembly including a first motor operably connected to rotate the belt drive wheel, a drive belt interconnecting the belt drive wheel and the third pair of wheels,

[0037] wherein the third pair of wheels and the first motor are mounted to a cross plate extending horizontally and arranged to move vertically as part of a wheel shifting assembly, the third pair of wheels and the belt drive wheel being attached to the cross plate so that the cross plate supports the third pair of wheels and the belt drive wheel in a fixed spatial configuration, wherein each wheel of the third pair of wheels is located at an end portion of the cross plate and the belt drive wheel is positioned at a center portion of the cross plate.

[0038] In other words, each wheel of the third pair of wheels is mounted to the cross plate at opposite end portions of the cross plate, and the belt drive wheel is mounted at a center portion of the cross plate between the opposite end portions.

[0039] In other words, the drive belt interconnects the belt-driven wheel and the third pair of wheels so that the rotation of the belt-driven wheel can be transmitted to the third pair of wheels via the drive belt.

[0040] By having the third pair of wheels and the belt drive wheel in a fixed spatial configuration, the length of the drive belt is constant during vertical movement of the third pair of wheels.

[0041] The drive belt may be defined as following a drive belt path interconnecting the belt drive wheel and the third pair of wheels, and the drive belt path is constant during movement of the second set of wheels between the first position and the second position.

[0042] The wheel shifting assembly may be defined as including a cross plate. The term "cross plate" is intended to include any frame, plate element or cross beam suitable for mounting the third pair of wheels and the first motor in a fixed spatial configuration. The cross plate may extend horizontally, i.e. the cross plate extends more in the horizontal direction than in the vertical direction. The height of the cross plate may be in the range of two to four times the wheel radius of the third pair of wheels.

[0043] In one embodiment of the vehicle, the first motor comprises a drive shaft, and the belt drive pulley is connected to the drive shaft such that the belt drive pulley and the drive shaft have a common axis of rotation.

[0044] In one embodiment, the vehicle includes an idler wheel mounted to the cross plate such that the cross plate supports the idler wheel, the third pair of wheels and the belt drive wheel in a fixed spatial configuration, the idler wheel being positioned in a central portion of the cross plate and being arranged to change the direction of the drive belt such that the contact area between the belt drive wheel and the drive belt is enlarged. The idler wheel may be arranged to provide a change of direction for the drive belt.

[0045] In other words, the idler pulley is positioned or arranged to ensure that the drive belt contacts the belt drive pulley over a circumferential segment of the belt drive pulley, thereby providing sufficient friction to drive the third pair of wheels.

[0046] In other words, the idler pulley is positioned or arranged so that the contact area between the belt drive pulley and the drive belt provides sufficient traction to transfer the rotational motion of the belt drive pulley to the drive belt.

[0047] In one embodiment of the vehicle, the first motor includes a housing rigidly connected to the cross plate. The housing of the first motor may be connected to the cross plate at an opposite side relative to the belt drive wheel and the drive belt. The drive shaft of the first motor may extend through the cross plate via a central hole in the cross plate.

[0048] In one embodiment of the vehicle, the cross plate includes a drive shaft hole in a central portion of the cross plate, through which a drive shaft of the first motor may extend, and a through hole for mounting bolts to connect the housing to the cross plate.

[0049] In one embodiment of the vehicle, the cross plate is connected to the fourth pair of wheels via the first shaft and the second shaft. The first shaft and the second shaft are arranged so that the third pair of wheels and the fourth pair of wheels are kept on the same level.

[0050] In one embodiment, the cross plate comprises a wheel axle hole arranged at each of the end portions for one of the first axle and the second axle.

[0051] In one embodiment of the vehicle, the drive shaft hole in the central part of the cross plate is arranged at a level higher than the level of the wheel shaft hole arranged at each of the end parts. The drive shaft hole in the central part of the cross plate can be arranged at a level lower than the upper level of the wheels of the third pair of wheels.

[0052] In one embodiment of the vehicle, the shaft of the idler wheel is arranged at a level below that of the drive shaft.

[0053] In one embodiment of the vehicle, each wheel of the third pair of wheels is connected to a corresponding wheel of the fourth pair of wheels by a first axle and a second axle, respectively. Each of the first axle and the second axle can interconnect a wheel of the third pair of wheels to a corresponding wheel of the fourth pair of wheels having a common axis of rotation. The third pair of wheels is connected to the fourth pair of wheels such that a position of the third pair of wheels relative to the fourth pair of wheels is fixed during movement of the second set of wheels between the first position and the second position.

[0054] In an embodiment of the vehicle, the first shaft and the second shaft are arranged to transfer rotation such that the first motor can drive the third pair of wheels and the fourth pair of wheels.

[0055] In one embodiment of the vehicle, the wheel shifting assembly includes a crossbeam interconnecting the fourth pair of wheels and the second electric motor, the crossbeam being connected to the second electric motor via a crank arm assembly so that the second set of wheels can be moved between the first position and the second position when the second motor is operated.

[0056] The crossbar may be substantially horizontal and arranged to be moved in a vertical and / or lateral direction by operation of the second motor.

[0057] In one embodiment of the vehicle, the cross beam, the first axle, the second axle and the cross plate are interconnected so that the position of the third pair of wheels is fixed relative to the fourth pair of wheels. In other words, the interconnection is such that when the wheel shifting assembly is operated, i.e. when the second motor is operated, the third pair of wheels will move synchronously with the fourth pair of wheels.

[0058] In one embodiment, the vehicle includes a third motor characterized by a drive shaft operatively connectable to at least one wheel of each of the first pair of wheels and the second pair of wheels.

[0059] In a second aspect, the present invention provides a storage system, comprising a vehicle according to any embodiment of the first aspect. The storage system may include a container storage structure having a plurality of storage columns and a track system, wherein the storage columns are used to accommodate vertically stacked storage containers, and the vehicle can be moved on the track system in two vertical directions above the storage columns. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The embodiments of the present invention are described in detail below with reference to the accompanying drawings:

[0061] Figure 1 is a perspective view of a frame structure of a prior art automated storage and retrieval system.

[0062] 2 is a perspective view of a prior art container handling vehicle having a centrally disposed chamber for carrying storage containers therein.

[0063] 3 is a perspective view of a prior art container handling vehicle having a cantilever arm for carrying storage containers underneath.

[0064] 4a and 4b are perspective views of the container handling vehicle of FIG. 3 with the second set of wheels in a lowered position.

[0065] Figure 4c and FIG. 4d is a perspective view of the container handling vehicle of FIG. 3 with the second set of wheels in a raised position.

[0066] Figure 5a and FIG. 5 b is a perspective front view of a first exemplary container handling vehicle according to the present invention, wherein the second set of wheels is in a lowered position.

[0067] Figure 6a and Figure 6b is Figure 5a and a perspective front view of the container handling vehicle in FIG. 5 b with the second set of wheels in a raised position.

[0068] Figure 7a and Figure 7b They are Figure 5a / 5b and Figure 6a / 6b Perspective rear view of the container handling vehicle.

[0069] Figure 8a and FIG. 8 b is a perspective view of a second exemplary container handling vehicle according to the present invention.

[0070] Fig. 9 yes Figure 5a and a perspective cross-sectional top view of the container vehicle in FIG. 5 b .

[0071] Fig.10 yes Figure 5a and an exploded view of the wheel drive assembly and wheel shifting assembly of the container vehicle in FIG. 5 b . DETAILED DESCRIPTION

[0072] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0073] The present invention is a remotely controlled vehicle for an automated storage system having at least one track system, such as for example Figure 1 The track system 108 discussed in the prior art storage system disclosed in .

[0074] A first exemplary embodiment of a remotely controlled vehicle 401 according to the present invention is shown in FIGS. 5 to 7 , further details of which are given in Fig. 9 and Fig.10The vehicle 401 is used to pick up a storage container 106 in an automated storage system by using a lifting device 33 arranged in a boom segment, for example Figure 1 The vehicle is characterized by a first set of wheels 401b and a second set of wheels 401c, the first set of wheels being arranged to allow the vehicle to move in a first direction along the track system 108, such as Figure 1 As shown, the second set of wheels 401c is arranged to allow the vehicle to move in a second direction, such as along a track extending in the second direction, such as along a track extending in the second direction. The first set of wheels 401b is characterized by a first pair of wheels 10 and a second pair of wheels 11, while the second set of wheels 401c is characterized by a third pair of wheels 13 and a fourth pair of wheels 14. The pairs of wheels in each set of wheels are arranged at opposite sides of the frame 12 or body.

[0075] An exemplary vehicle according to the invention is characterized by a wheel shifting assembly 15, see Figure 7a and Figure 7b , which is similar in function to the wheel shifting assembly of the prior art vehicle 301 of FIGS. 4a to 4d. The wheel shifting assembly is arranged to move the second set of wheels 401c (i.e., the third pair of wheels 13 and the fourth pair of wheels 14) in a vertical direction between a first position in which the first set of wheels 401b allows the vehicle 401 to move in a first direction, see FIG. Figure 7b In the second position, the second set of wheels 401c allows the vehicle 401 to move in a second direction, see Figure 7a .

[0076] The wheel shifting assembly 15 features a cross beam 27 that interconnects the wheels of the fourth pair of wheels 14 with a crank arm assembly 29 via first and second pivot elements 34a, 34b disposed at opposite ends of the cross beam.

[0077] Each of the wheels of the fourth pair of wheels 14 is connected to the opposite wheel of the third pair of wheels 13 by one of the first axle 25a and the second axle 25b, see Fig. 9 and Fig.10 The first and second shafts 25a, 25b are mounted to the frame 12 via first and second pivot elements 34a, 34b, respectively, and oppositely disposed third and fourth pivot elements 34c, 34d. The third pair of wheels is mounted on the cross plate 23 interconnecting the first and second shafts 25a, 25b.

[0078] The cross beam 27 is connected to a second electric motor 28 via a crank arm assembly 29. When the second electric motor is operated, the crank assembly will move the cross beam in the vertical and lateral directions, see Figure 7a and Figure 7bThe movement of the cross beam will simultaneously move the first pivot element 34a and the second pivot element 34b, which in turn will raise or lower the first and second axles 25a, 25b and the second set of wheels 401c in the vertical direction, e.g., between the first position and the second position. The first and second axles ensure that the vertical movement of the third and fourth pairs of wheels 13, 14 relative to the frame 12 is equal.

[0079] The vehicle 401 has a drive assembly that features a first electric motor 16 having a drive shaft 19. The drive shaft 19 is arranged to drive a third pair of wheels 13 of a second set of wheels 401c via a drive belt 18, a belt drive pulley 17 and an idler pulley 24. The drive shaft 19 and the belt drive pulley 17 are connected and have a common axis of rotation. The simplified configuration of the drive assembly shown in FIG4b allows the use of an electric motor that operates at a lower speed and has a higher torque than the electric motors of prior art vehicles.

[0080] The third pair of wheels 13, the first electric motor 16 and the idler pulley 24 are all mounted on the cross plate 23. This arrangement ensures that the position of the belt drive pulley 17 and the idler pulley 24 relative to the third pair of wheels 13 is always fixed, even during movement of the second set of wheels 401c between the first position and the second position. Thus, the length of the drive belt 18 is constant and does not change during operation of the wheel shifting assembly. In other words, the drive belt 18 does not experience repeated stretching and contraction that can shorten the service life of the drive belt.

[0081] The side wall 35 of the vehicle body 12 (or frame) features an opening 36 through which the housing 26 of the first electric motor 16 is arranged, see FIG. 5 b . The opening is sized to allow vertical movement of the housing 26 relative to the vehicle body 12 .

[0082] In this embodiment, the first shaft 25a and the second shaft 25b do not transmit rotational motion from the wheel drive assembly to the fourth pair of wheels 14, as this is not necessary to obtain sufficient movement of the vehicle 401 on the track system 108. However, in alternative embodiments, rotational motion may also be transmitted to the fourth pair of wheels via a suitable drive shaft similar to the first shaft 25a and the second shaft 25b.

[0083] The first set of wheels 401 b is driven by a third electric motor 30 connected to the drive shaft 31 .

[0084] A second exemplary embodiment of a remote controlled vehicle 501 according to the present invention is Figure 8a and 8b. The vehicle is adapted to accommodate containers in container carriers 32 and to carry them in a manner such as Figure 1The containers are transported on the rail system 108 shown or on a rail system of a transfer rail network as disclosed in, for example, WO 2019 / 238694 A1. The vehicle 501 features a wheel drive assembly and a wheel shifting assembly, which have the same functions and features as described above for the first exemplary embodiment.

[0085] Reference Numbers List

[0086] 1 Prior Art Automated Storage and Retrieval Systems

[0087] 10 The first pair of wheels

[0088] 11 Second pair of wheels

[0089] 12 Body and frame

[0090] 13 Third pair of wheels

[0091] 14 Fourth pair of wheels

[0092] 15 Wheel shift assembly

[0093] 16 First Electric Motor

[0094] 17 Belt drive pulley

[0095] 18 First drive belt, drive belt

[0096] 19 Drive shaft

[0097] 20 Gear

[0098] 21 Second drive belt

[0099] 22 Wheel support

[0100] 23 Transverse plate, transverse member

[0101] 24 Idler

[0102] 25a First axis

[0103] 25b Second axis

[0104] 26 Housing

[0105] 27 Beam

[0106] 28 Second electric motor

[0107] 29 Crank arm assembly

[0108] 30 Third electric motor

[0109] 31 Drive shaft

[0110] 32 Container Carrier

[0111] 33 Lifting equipment

[0112] 34a-d Pivot element

[0113] 35 Sidewall

[0114] 36 Openings (in side walls)

[0115] 100 Frame structure

[0116] 102 Vertical members of frame structure

[0117] 103 Horizontal member of the frame structure

[0118] 104 Storage Grid

[0119] 105 Storage Column

[0120] 106 Storage Container

[0121] 106' Specific location of storage container

[0122] 107 Stacking

[0123] 108 Track System

[0124] 110 Parallel tracks in the first direction (X)

[0125] 110a A first track in a first direction (X)

[0126] 110b The second track in the second direction (Y)

[0127] 111 Parallel tracks in the second direction (Y)

[0128] 111a The first track in the second direction (Y)

[0129] 111b The second track in the second direction (Y)

[0130] 112 Access opening

[0131] 119 First port column

[0132] 120 Second port column

[0133] 201 Prior Art Storage Container Vehicle

[0134] 201a Body of the storage container vehicle 201

[0135] 201b Drive / wheel arrangement, first direction (X)

[0136] 201c Drive / wheel arrangement, second direction (Y)

[0137] 301 Prior Art Cantilever Storage Container Vehicle

[0138] 301a Body of the storage container vehicle 301

[0139] 301b Driving device in the first direction (X)

[0140] 301c Driving device in the second direction (Y)

[0141] 304 Clamping equipment

[0142] 500 Control System

[0143] X first direction

[0144] Y Second direction

[0145] Z third direction

Claims

1. A remote-controlled vehicle (401, 501) for moving on a track system (108), the track system comprising a first set of parallel tracks (110) and a second set of parallel tracks (111) arranged perpendicular to the first set of parallel tracks (110), the vehicle comprising: a first set of wheels (401b, 501b), the first set of wheels comprising a first pair of wheels (10) and a second pair of wheels (11), the first pair of wheels and the second pair of wheels being arranged on opposite sides of a frame (12) so as to allow the vehicle (401, 501) to move in a first direction (X) on the track system (108) during use; a second set of wheels (401c, 501c), the second set of wheels comprising a third pair of wheels (13) and a fourth pair of wheels (14), the third pair of wheels and the fourth pair of wheels being arranged on opposite sides of the frame (12) so as to allow the vehicle (401, 501) to move along a second direction (Y) on the track system (108) during use, the second direction (Y) being perpendicular to the first direction (X); a wheel shifting assembly (15) mounted to the frame (12) and arranged to move the second set of wheels (401c, 501c) relative to the frame in a vertical direction (Z) between a first position and a second position, wherein in the first position the first set of wheels (401b, 501b) allows the vehicle (401, 501) to move in the first direction (X), and in the second position the second set of wheels (401c, 501c) allows the vehicle (401, 501) to move in the second direction (Y); as well as A wheel drive assembly comprising a first motor (16), a drive belt (18) and a belt drive wheel (17), wherein the first motor (16) is operatively connected to rotate the belt drive wheel (17), and the drive belt (18) interconnects the belt drive wheel and the third pair of wheels (13), wherein the third pair of wheels (13) and the first motor (16) are mounted to a transverse plate (23), the transverse plate extending horizontally and arranged to move vertically as part of the wheel shifting assembly, the third pair of wheels (13) and the belt drive wheel (17) being attached to the transverse plate so that the transverse plate supports the third pair of wheels (13) and the belt drive wheel (17) in a fixed spatial configuration, wherein each wheel of the third pair of wheels is located at an end portion of the transverse plate (23) and the belt drive wheel (17) is positioned at a central portion of the transverse plate (23), wherein the first motor (16) comprises a housing (26), The housing is rigidly connected to the cross plate (23) at the opposite side relative to the third pair of wheels (13), the belt drive wheel (17) and the drive belt (18), and wherein a side wall (35) of the frame (12) defines an opening (36) through which the housing (26) of the first motor (16) is arranged, and the opening is sized to allow the housing (26) to move vertically relative to the frame (12).

2. The vehicle according to claim 1, wherein: The first motor (16) comprises a drive shaft (19) to which the belt drive pulley (17) is connected such that the belt drive pulley and the drive shaft have a common axis of rotation.

3. The vehicle according to claim 2, wherein: The drive shaft (19) extends through the cross plate via a central hole in the cross plate.

4. The vehicle according to claim 1, comprising an idler wheel (24), which is attached to the cross plate (23) so that the cross plate supports the idler wheel (24), the third pair of wheels (13) and the belt drive wheel (17) in a fixed spatial configuration, and the idler wheel is positioned in the central part of the cross plate (23) and arranged to change the direction of the drive belt (18) so that the contact area between the belt drive wheel (17) and the drive belt (18) is enlarged.

5. The vehicle according to any one of claims 1 to 4, wherein: The cross plate (23) is connected to the fourth pair of wheels (14) via a first shaft (25a) and a second shaft (25b).

6. The vehicle according to claim 5, wherein: Each wheel of the third pair of wheels (13) is connected to a corresponding wheel of the fourth pair of wheels (14) via one of the first axle (25a) and the second axle (25b).

7. The vehicle according to claim 6, wherein: The wheel shifting assembly (15) includes a crossbeam (27) interconnecting the wheels of the fourth pair of wheels (14) and a second motor (28), the crossbeam being connected to the second motor via a crank arm assembly (29) so that the second set of wheels (401c) can be moved between the first position and the second position when the second motor is operated.

8. The vehicle according to claim 7, wherein: The cross beam (27), the first axle (25a), the second axle (25b) and the cross plate (23) are interconnected so that the position of the third pair of wheels (13) relative to the fourth pair of wheels (14) is fixed.

9. The vehicle according to any of the preceding claims 1 to 4, comprising a third motor (30) characterized by a drive shaft (31) operatively connected to at least one wheel of each of the first pair of wheels (10) and the second pair of wheels (11).

10. A storage system (1) comprising a vehicle (401, 501) according to any one of claims 1-9.

11. The storage system of claim 10, comprising a container storage structure having a plurality of storage columns and a rail system (108), wherein: The storage columns are used to accommodate vertically stacked storage containers (106), and the vehicle is movable over the storage columns in two vertical directions on the track system (108).

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