Container handling vehicle with cantilever structure and automatic storage and retrieval system including multiple container handling vehicles

Abstract

A container handling vehicle (401) for operating on a two-dimensional track system (108) includes a main unit (410) having: a lower section (411); a support section (412) extending vertically from the lower section; a cantilever section (413) extending horizontally from the support section; and a lifting device (414) having a lifting frame (415) suspended from the cantilever section (413), wherein, when docked, the lowermost portion of the lifting frame is above the top surface of the lower section.

Description

Technical Field

[0001] The present invention relates to the field of automated storage and retrieval systems. In particular, the present invention relates to a container handling vehicle having a cantilevered boom section and an automated storage and retrieval system comprising a plurality of container handling vehicles, wherein the container handling vehicles have a configuration that allows two container handling vehicles to pass each other by occupying fewer grid cells on an underlying track system than cantilevered container handling vehicles of the prior art. Background Art

[0002] FIG. 1A discloses a typical prior art automated storage and retrieval system 1 having a frame structure 100 , and FIG. 2 and FIG. 3A 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 referred to as bins) are stacked one on top of the other to form stacks 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 disposed across the top of the frame structure 100. A plurality of container handling vehicles 201, 301 operate on the rail system 108 to lift and lower storage containers 106 from and into the storage rows 105, and also to transport storage containers 106 over the storage rows 105. The rail system 108 includes a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301 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 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the rows 105 are accessed by the container handling vehicles through access openings / grid openings 112 in the grid cells 122 in the rail system 108. The container handling vehicles 201 , 301 can be moved laterally above the storage row 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 lifting and lowering of the containers from and into the row 105. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301 includes a vehicle body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c, which enable lateral movement of the container handling vehicle 201, 301 in the X and Y directions, respectively. In Figures 2 and 3A, both wheels in each set are fully visible. The first set of wheels 201b, 301b is arranged to engage two adjacent rails in the first set of guide rails 110, and the second set of wheels 201c, 301c is arranged to engage two adjacent rails in the second set of guide rails 111. At least one 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 the corresponding set of guide rails 110, 111 at any one 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 and lowering storage containers 106 from and into storage rows 105. The lifting device includes one or more gripping / engaging devices adapted to engage storage containers 106, and the gripping / engaging devices are lowerable from the vehicle 201, 301 such that their positions relative to the vehicle 201, 301 are adjustable along a third direction Z that is orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is shown in FIG3A and designated by reference numeral 304. The gripping device of the container handling vehicle 201 is located within the vehicle body 301a of FIG2.

[0008] Conventionally, and for the purposes of this application, Z=1 represents the topmost level of storage containers, i.e., the level directly below rail system 108, Z=2 represents the second level below rail system 108, Z=3 represents the third level, and so on. In the exemplary prior art disclosed in FIG. 1A , Z=8 represents the bottommost level of storage containers. Similarly, X=1…n and Y=1…n represent the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG. 1A , the storage container designated 106 ′ in FIG. 1A can be said to occupy storage location X=10, Y=2, and Z=3. Container handling vehicles 201, 301 can be said to be traveling in level Z=0, and each storage column 105 can be represented by its X and Y coordinates.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage locations within this grid are referred to as storage cells. Each storage column can be represented by a position in the X and Y directions, while each storage cell can be represented by a 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 loading storage containers 106 while transporting the storage containers 106 across the rail system 108. The storage space may include a cavity centrally disposed within the vehicle body 201a, as shown in FIG2 and as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

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

[0012] The center cavity container handling vehicle 201 shown in FIG2 can have a footprint that covers an area whose dimensions in the X and Y directions are approximately equal to the lateral extent of the storage array 105, for example, as described in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" can mean "horizontal."

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

[0014] The track system 108 typically includes a track with grooves into which the wheels of the vehicle are inserted. Alternatively, the track may include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include a single guide rail, or each track may include two parallel guide rails (so-called "dual guide rails" described below with respect to Figures 1B to 1D).

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

[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 purposes. In FIG1A, columns 119 and 120 are dedicated columns that are used by container handling vehicles 201, 301 to unload and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside the frame structure 100 or transferred out of or into the frame structure 100. In the art, such locations are often referred to as "ports," and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 can be placed in random or dedicated rows 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to the port rows 119, 120 for further transport to an access station. It should be noted that the term "inclined" means transport of storage containers 106 with a general transport direction somewhere between horizontal and vertical.

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

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

[0019] Storage containers are typically transported between the port rows 119, 120 and the access station using a conveyor system including a conveyor.

[0020] If the port rows 119, 120 and the access station are located at different heights, the conveyor system may include a lifting device having a vertical component for transporting the storage containers 106 vertically between the port rows 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 access is desired to a storage container 106 stored in one of the rows 105 disclosed in FIG1 , one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its location and transport it to the unloading port row 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage row 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage row 105 using a lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the unloading port row 119. If the target storage container 106 is located deep within the stack 107, i.e., where one or more other storage containers 106 are positioned above the target storage container 106, the operation also includes temporarily moving the storage containers located above before lifting the target storage container 106 from the storage row 105. This step, sometimes referred to in the art as "digging," can be performed using the same container handling vehicle that will subsequently be used to transport the target storage container to the unloading port array 119, or using one or more other coordinated container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have a container handling vehicle dedicated to the task of temporarily removing storage containers from the storage array 105. Once the target storage container 106 has been removed from the storage array 105, the temporarily removed storage container can be relocated to the original storage array 105. However, the removed storage container can alternatively be relocated to another storage array.

[0023] When a storage container 106 is to be stored in one of the rows 105, one of the container handling vehicles 201, 301 is instructed to pick up the storage container 106 from the pick port row 120 and transport it to the location above the storage row 105 where the storage container is to be stored. After removing any storage containers located at or above the target location within the storage row stack 107, the container handling vehicle 201, 301 positions the storage container 106 at the desired location. The removed storage container can then be lowered back into the storage row 105 or relocated to another storage row.

[0024] Each prior art container handling vehicle having a cantilever structure (as disclosed in FIG. 3A ) occupies at least two grid cells on the track system, which results in at least four grid cells being occupied when two prior art container handling vehicles pass each other on adjacent grid cells.

[0025] It is therefore an object of the present invention to provide a container handling vehicle, and an associated storage and retrieval system, wherein the number of grid cells occupied by two container handling vehicles passing each other is smaller than in prior art solutions.

[0026] In particular, it is an object of the present invention to provide a container handling vehicle having a cantilever structure that occupies fewer grid cells on a rail system when passing other container handling vehicles having cantilever structures oriented in the same direction. Summary of the Invention

[0027] The invention is set out in the independent claim, while the dependent claims describe alternatives to the invention.

[0028] The present invention relates to a container handling vehicle for operating on a two-dimensional track system, the two-dimensional track system comprising a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide the container handling vehicle to move across the top of a frame structure in a first direction, the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the container handling vehicle to move in a second direction perpendicular to the first direction, the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid units, wherein the container handling vehicle comprises:

[0029] - a wheelbase unit comprising a wheel set for guiding the container handling vehicle along the rail system in a first direction and a second direction;

[0030] -Main unit, including:

[0031] a lower segment disposed on the wheelbase unit, the lower segment having a footprint having a horizontal extent equal to or less than a horizontal extent of one of the grid units, and the lower segment having a top surface at a first height;

[0032] a support segment extending vertically from the lower segment, the support segment having a footprint that is smaller in horizontal extent than the footprint of the lower segment; and

[0033] a cantilever section extending horizontally from the support section beyond the footprint of the lower section;

[0034] a lifting device comprising a lifting frame suspended from the boom section of the main body unit, the lifting frame having a lowermost portion at a second height when the lifting frame is docked adjacent an upper portion of the boom section,

[0035] - wherein, when the lifting frame is docked in its upper position, a second height of the lowermost portion of the lifting frame is higher than a first height of the top surface of the lower section of the main body unit.

[0036] In fact, when the lifting frame is docked in its upper position, the second height of the lowermost portion of the lifting frame is higher than the first height of the top surface of the lower section of the main unit. Thus, when the first container vehicle and the second container vehicle pass each other on adjacent grid cells, the docked lowermost portion of the lifting frame of the first container handling vehicle can pass above the top surface of the lower section of the main unit of the second container handling vehicle.

[0037] In this way, two container-handling vehicles of an automated storage and retrieval system with the same orientation can occupy fewer grid cells when passing each other because the boom section of one container-handling vehicle can pass through the lower section and wheelbase section of the other container-handling vehicle (with clearance). In other words, the boom section of one container-handling vehicle will vertically overlap the lower section and wheelbase section of the other container-handling vehicle it is passing. The vertical extension of the support section determines the difference between the first height and the second height. If the support section has a relatively large extension, the difference between the first height and the second height is relatively large. Similarly, if the support section has a relatively small extension, the difference between the first height and the second height is relatively small. In any case, the support section should be extended such that the two container-handling vehicles can pass each other with a certain clearance between the lowermost portion of the lifting frame and the top surface of the lower section. This clearance can be at least the same as the expected vertical movement of the lifting frame due to acceleration and deceleration of the container-handling vehicles when the lifting frame is docked in its upper position. In one embodiment, the clearance between the two container-handling vehicles can range from a few millimeters to a few centimeters.

[0038] The horizontal extent (in the X and Y directions) of the top surface may be equal to or substantially equal to the horizontal extent of a portion of the cantilever section that extends horizontally beyond the support section.

[0039] The wheelbase unit and the main body unit may be modules that can be attached to each other. The main body unit may be mounted on the upper surface of the wheelbase unit or attached to the upper surface in some other way. Alternatively, the wheelbase unit and the main body unit may be formed as one component, i.e., they may form a common unit.

[0040] The wheelbase unit can feature a wheel arrangement having a first set of wheels for moving in a first direction on a track system and a second set of wheels for moving in a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheelbase unit. In order to change the direction in which the wheelbase unit can travel on the track system, one set of wheels is connected to a wheel displacement assembly. The wheel displacement assembly is capable of raising and lowering the connected set of wheels relative to the other set of wheels so that only the set of wheels traveling in the desired direction contacts the track system. The wheel displacement assembly is driven by an electric motor. In addition, two electric motors powered by rechargeable batteries can be connected to the set of wheels to move the wheelbase unit in the desired direction.

[0041] The first height may be defined as the distance from the top of the track system to the top of the top surface of the lower segment when the lower segment is mounted on the wheelbase arrangement.

[0042] The second height may be defined as the distance from the top of the track system to the lowest portion of the lifting frame.

[0043] The support section may extend greater than the height of the storage container, and the difference between the second height and the first height may correspond to at least the height of the storage container plus a small gap. One advantage of this configuration is that the robots (i.e., container handling vehicles) can pass each other in an overlapping manner, regardless of whether none, one, or both robots are carrying storage containers.

[0044] The lifting device may include a lifting device motor and at least two lifting shafts. The at least two lifting shafts may be arranged in the boom section, and the lifting device motor may be arranged in the lower section. The lifting device motor and the at least two lifting shafts may be connected to each other via a flexible force transmission element. The force transmission element may be a belt, chain, band, or another relatively flexible component capable of transmitting rotational motion between the lifting device motor and the lifting shafts.

[0045] The lifting device may further include a gripping device configured to releasably grip the storage container and a power source for driving the lifting device motor, such as a separate rechargeable battery or the same battery used to shift the wheels. To increase the stability of the container handling vehicle, the battery may be arranged in the lower section or the wheelbase unit (or both, for example, if there is some overlap between the lower section and the wheelbase unit).

[0046] The lifting device may comprise a lifting device motor and at least two lifting shafts for raising and lowering the lifting device, wherein the lifting device motor and the at least two lifting shafts may be arranged in the cantilever section. The lifting device motor may comprise a brushless DC motor. Various types of brushless DC motors are known, including permanent magnet synchronous motors (using permanent magnets) and switched reluctance motors (not using any permanent magnets), as described in WO 2019 / 137870A1 (applicant: Autostore Technology AS), the contents of which are incorporated herein by reference. However, the lifting device motor may also comprise other forms of electric motors.

[0047] The main body unit may include an S-shaped housing (eg, S-shaped when viewed from the side of the main body unit) connecting the lower section, the support section, and the cantilever section together.

[0048] In one aspect, the footprint of the lower section of the body unit can be displaced relative to the footprint of the wheelbase unit by substantially or equal wheel widths. The width dimension is in the axial direction of the wheels. When the wheels of the wheelbase unit are located above the first rail (or the rail closest to the grid opening), for example, when the container handling vehicle is positioned to lower the lift frame into / raise it from a storage column of the frame structure, the lower section can be positioned to extend vertically from the outer edge of the second rail of the track system below the cantilever section and from the inner edge of the first rail of the track system on the opposite side of the lower section. The footprint is defined as the outer dimension when viewed in plan view of the section.

[0049] The lifting frame can be suspended from the lifting belt, and the lifting frame can extend horizontally and include a clamping device and a corner guide. The lowest point of the corner guide can provide a lowermost part of the lifting frame, so that this needs to be taken into account in terms of a minimum second height at or above the first height passing the upper surface of the lower section.

[0050] An automated storage and retrieval system is also described, comprising a two-dimensional track system including a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide a container handling vehicle to move across a top of a frame structure in a first direction, the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the container handling vehicle to move in a second direction perpendicular to the first direction, the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid cells, wherein the automated storage and retrieval system comprises a plurality of container handling vehicles as defined above.

[0051] Two container handling vehicles of an automated storage and retrieval system may occupy a total of three grid cells when passing each other, the two container handling vehicles having the same orientation.

[0052] The two container handling vehicles of the automated storage and retrieval system, namely the first container handling vehicle and the second container handling vehicle, can be configured so that when the first container handling vehicle and the second container handling vehicle pass each other on adjacent grid cells, the lowest portion of the docked lifting frame of the first container handling vehicle can pass above the top surface of the lower section of the main unit of the second container handling vehicle. This can be achieved, for example, by configuring the horizontal extent (in the X and Y directions) of the top surface to be equal to or substantially equal to the horizontal extent (in the X and Y directions) of the portion of the cantilever section that extends horizontally beyond the support section.

[0053] The first group of rails and / or the second group of rails may include a single rail or a double rail including two single rails, and a grid unit may be defined as a horizontal area occupied by a grid opening defined by the first group of rails and the second group of rails, and an area occupied by a single rail in the first group of rails and the second group of rails surrounding and closest to the single grid opening in the first direction and the second direction.

[0054] The wheelbase unit may have a footprint equal to the horizontal extent of the underlying grid unit in the first and second directions. In other words, the wheelbase unit may have a footprint of a single grid unit.

[0055] At least one container handling vehicle can carry a storage container while passing another container handling vehicle. In one aspect, two container handling vehicles can carry (regularly sized) storage containers while passing each other. The gap between the two container handling vehicles can range from a few millimeters to a few centimeters.

[0056] The lowest point of the storage container when being transported may be higher than the first height of the lower section.

[0057] The width of the support section in one direction may correspond to the width of one track and / or two guide rails.

[0058] The automated storage and retrieval system may further include at least one dual container handling vehicle including a first boom section disposed opposite a second boom section. At least the first container handling vehicle may have a first orientation, at least the second container handling vehicle may have a second orientation opposite the first orientation, and the dual container handling vehicles and the first container handling vehicle and the second container handling vehicle may occupy a total of five grid cells when passing each other simultaneously.

[0059] Relative terms "upper," "lower," "below," "above," "higher," etc. should be understood in their normal sense as seen in a Cartesian coordinate system.

[0060] In the following, numerous specific details are introduced by way of example only to provide a thorough understanding of the embodiments of the claimed systems and vehicles. However, one 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The following drawings are intended to help understand the present invention.

[0062] FIG1A is a perspective view of a frame structure of a prior art automatic storage and retrieval system;

[0063] 1B to 1D are top views of container handling vehicle track systems, wherein FIG. 1B shows a single-rail track system, FIG. 1C shows a dual-rail track system, and FIG. 1D shows a dual-track system, with the width and length of the container handling vehicle grid cells indicated;

[0064] FIG2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein;

[0065] FIG3A is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath;

[0066] Figure 3B and Figure 3C An exemplary wheelbase unit for a container handling vehicle is shown;

[0067] Figure 4A is a simplified side view of a container handling vehicle according to the present invention, comprising a wheelbase unit and a main body unit, wherein the main body unit comprises a lower section, a support section, and a cantilever section;

[0068] Figure 4B is a perspective view of a container handling vehicle according to the present invention, with protective covers removed to better illustrate the arrangement of components in the lower section, support section, and boom section of the main unit of the container handling vehicle;

[0069] Figure 4C yes Figure 4B Top view of;

[0070] Figures 4D to 4I are exemplary side views of different arrangements for providing counter-rotation of the lift shaft;

[0071] Figure 5 is an instance of a cantilever segment of a body unit and indicates which parts may form part of the cantilever segment;

[0072] Figures 6A to 6C Different views of a first embodiment showing two container handling vehicles passing each other, wherein only one of the container handling vehicles may carry a storage container during the passing;

[0073] 7A to 7C Different views of a second embodiment of two container handling vehicles passing each other are shown, wherein both container handling vehicles may carry storage containers during the passing;

[0074] Figure 7D Shown according to 7A to 7C The container transport vehicle of the second embodiment when not carrying a storage container;

[0075] Figure 8 An embodiment is shown with a double container handling vehicle having two cantilever sections on opposite ends thereof, and two container handling vehicles having opposite orientations relative to one another so that the three container handling vehicles occupy only five cells when passing one another;

[0076] In the drawings, unless explicitly stated otherwise or implicitly understood from the context, like reference numbers are used to indicate like parts, elements, or features. DETAILED DESCRIPTION

[0077] Hereinafter, embodiments of the present invention will be discussed in more detail, by way of example only, and with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0078] The frame structure 100 of the automated storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in conjunction with Figures 1A to 1D, i.e., a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the frame structure 100 further includes a first upper rail system 108 in the X direction and the Y direction.

[0079] The frame structure 100 further comprises storage compartments arranged between the components 102 , 103 in the form of storage rows 105 , wherein storage containers 106 can be stacked in the form of stacks 107 within the storage rows 105 .

[0080] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be much wider and / or longer and / or deeper than that disclosed in FIG1A . For example, the frame structure 100 can have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0081] As shown in FIG1B , the track system 108 can be a single-track (also denoted as single rail) system. Alternatively, the track system 108 can be a dual-track (also denoted as dual rail) system, as shown in FIG1C , thereby allowing a container handling vehicle 201 having a footprint that generally corresponds to the lateral area defined by the entry openings / grid columns 112 to travel along a row of grid columns, even if another container handling vehicle 201 is located above a grid column adjacent to that row. Single-track and dual-track systems, or a combination of single-track and dual-track arrangements within the single-track system 108, form a grid pattern in a horizontal plane P that includes a plurality of rectangular, uniform grid locations or grid cells 122, each of which includes a grid opening 115 defined by a pair of rails 110a, 110b of the first set of rails 110 and a pair of rails 111a, 111b of the second set of rails 111. In FIG1C , the grid cells 122 are indicated by dashed boxes. For example, the segments of the track-based system made of aluminum are the tracks, and on the upper surface of the tracks there are a pair of guide rails in which the wheels of the vehicle travel. However, the segments may be separate tracks each having a guide rail.

[0082] Thus, guide rails 110a and 110b form a pair of tracks that define parallel rows of grid cells running in the X-direction, and guide rails 111a and 111b form a pair of tracks that define parallel rows of grid cells running in the Y-direction.

[0083] 1D , each grid unit 122 has a width Wc typically in the interval of 30 to 150 cm and a length Lc typically in the interval of 50 to 200 cm. Each grid opening 115 has a width Wo and a length Lo, which are typically 2 to 10 cm smaller than the width Wc and length Lc of the grid unit 122.

[0084] In the X and Y directions, adjacent grid cells are arranged to touch each other so that there is no space between them.

[0085] FIG. 3A is a perspective view of a prior art container handling vehicle 301 having a cantilever for carrying storage containers underneath.

[0086] Figure 3B and Figure 3C An exemplary wheelbase unit for a container handling vehicle 401 according to the present invention is shown. The wheelbase unit 2 is characterized by a wheel arrangement 32a, 32b having a first set of wheels 32a for moving in a first direction on a track system 108 and a second set of wheels 32b for moving in a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheelbase unit 2. In order to change the direction in which the wheelbase unit can travel on the track system, one set of wheels 32b is connected to a wheel displacement assembly 7. The wheel displacement assembly is capable of raising and lowering the connected set of wheels 32b relative to the other set of wheels 32a so that only the set of wheels traveling in the desired direction contacts the track system. The wheel displacement assembly 7 is driven by an electric motor 8. In addition, two electric motors 4, 4' powered by a rechargeable battery 6 are connected to a set of wheels 32a, 32b to move the wheelbase unit in the desired direction.

[0087] Further references Figure 3B and Figure 3C , the horizontal periphery of the wheelbase unit 2 is sized to fit within the horizontal area defined by the grid cells, such that two wheelbase units 2 can pass each other on any adjacent grid cells of the track system 108. In other words, the wheelbase unit 2 can have a footprint, i.e., an extent in the X and Y directions, which is generally equal to the horizontal area of ​​the grid cell, i.e., the extent of the grid cell in the X and Y directions, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

[0088] Figure 4A4 is a simplified side view of a container handling vehicle 401 according to an embodiment of the present invention, which includes a wheelbase unit 2 and a main body unit 410 , wherein the main body unit 410 includes a lower section 411 , a support section 412 and a cantilever section 413 .

[0089] refer to Figure 3B and Figure 4A The wheelbase unit 2 has a top panel / flange 9 (i.e., an upper surface) configured as a connection interface for connection to the main body unit 410 of the container handling vehicle 401. The top panel 9 has a central opening 20 and features a plurality of through-holes 10 (i.e., connection elements) adapted for bolting via corresponding through-holes in the lower section 411 of the main body unit 401. In other embodiments, the connection elements of the top panel 9 may be, for example, threaded pins for interacting with the through-holes of the lower section 4111. The presence of the central opening 20 is advantageous because it provides access to the internal components of the wheelbase unit 2, such as the rechargeable battery 6 and the electronic control system 21.

[0090] Further references Figure 4A , the main body unit 410 is disclosed as including an S-shaped shell connecting a lower section 411, a support section 412 and a cantilever section 413 together. Figure 4A The container handling vehicle 401 can operate on the track system 108 described in conjunction with Figures 1A to 1D and includes a wheelbase unit 2 and a main unit 410. The wheelbase unit 2 includes multiple sets of wheels 32a, 32b for guiding the container handling vehicle 401 along the track system 108 in a first direction X and a second direction Y. The main unit 410 includes a lower section 411, a support section 412, and a cantilever section 413. The lower section 411 is mounted on the upper surface of the wheelbase unit 2. The horizontal extent of the footprint of the lower section 411 can be equal to or less than the horizontal extent of one grid cell 122, and its top surface is at a first height h1. In other words, the first height h1 is the distance from the top of the track system 108 to the top of the top surface of the lower section 411 when the lower section is mounted on the wheelbase unit 2. The support section 412 extends vertically from the lower section 411 and has a smaller horizontal extent than the footprint of the lower section 411. The width of the support segment 412 (i.e., the extent in the X direction) may be equal to the width (in the X direction) of the lower segment 411. The extension of the support segment 412 in the Y direction may be less than the extension of the lower segment 411 in the Y direction. Figure 4C , when viewed in plan from above, the footprint of the support segment 412 falls within the footprint of the lower segment 411. In other words, Figures 4A to 4CAs disclosed in , the support section 412 does not extend beyond the lower section 411. The cantilever section 413 extends horizontally from the support section 412 beyond the footprint of the lower section 411 and includes a lifting device 414 suspended from the cantilever section 413. The lifting device 414 includes a lifting frame 415 having a lowermost portion ( ) at a second height h2 when the lifting frame 415 is docked in an upper position adjacent to the cantilever section 413. Figure 4A and Figure 4B , which shows the docking position of the lifting frame 415). That is, the second height h2 is the distance from the top of the rail system 108 to the lowest part of the lifting frame 415. The lifting frame 415 is suspended from the cantilever section 413 via the lifting strap 419. The lifting frame 415 may include a clamping device 420 extending from its lower surface for connecting the lifting frame to the complementary lifting holes of the storage container 106, thereby enabling the lifting and lowering of the storage container 106. In addition, the lifting frame 415 may include a guide 421 arranged in the corner of the lower surface of the lifting frame 415 to align the clamping device 420 of the lifting frame 415 relative to the complementary lifting holes on the storage container 106. In many cases, the guide 421 or the clamping device 420 may constitute the lowest part of the lifting frame 415, so that the second height h2 is the lowest part of either of these components. However, according to the present invention, when the lifting frame 415 is docked at its upper position, the second height h2 of the lowermost portion of the lifting frame 415 is always above the first height h1 of the top surface of the lower section 411 of the body unit 410 .

[0091] By ensuring that the lowest portion of the docked lifting frame 415 of the first container handling vehicle 401 can pass above the top surface of the lower section 411 of the main body unit 410 of the second container handling vehicle 401 when the first container vehicle and the second container vehicle 401 pass each other on adjacent grid cells 122, the first container handling vehicle and the second container handling vehicle 401 can pass each other while overall occupying fewer grid cells than required in the prior art solutions.

[0092] Figure 4B 4 is a perspective view of a container handling vehicle 401 according to an embodiment of the present invention, wherein the protective cover has been removed to better illustrate the arrangement of components in the lower section 411, support section 412, and boom section 413 of the main unit 410 that constitute the container handling vehicle 401. Figure 4BIn the embodiment of the present invention, the lifting device 414 is disclosed as including a lifting device motor 416' and at least two lifting shafts 417', 417". The two lifting shafts 417', 417" are arranged in parallel in the cantilever section 413. A lifting belt 419 connected to the lifting frame 415 is wound onto and unwound from the lifting shafts 417', 417", thereby moving the lifting frame 416 and any storage container 106 carried by the lifting frame 415 up and down. Lifting shaft wheels 423', 423" are arranged on each end of the lifting shaft 417 and operate respectively with the lifting shaft 417. Figure 4B As shown, the lifting device motor 416' is arranged in the lower section 411. The lifting device motor 416' and the two lifting shafts 417 are connected to each other via lifting shaft wheels 423', 423" and an annular flexible force transmission element 418 running via a pulley 422 to ensure that the first lifting shaft and the second lifting shaft 417 rotate simultaneously in the same direction. Any necessary power source (not shown) for supplying power to the lifting device motor 416' can be arranged in the lower section 413 in order to obtain a favorable center of gravity in the case of lifting heavy storage containers 106 and / or in the case of a reduced risk of the container handling vehicle 401 tilting due to excessive acceleration / deceleration of the container handling vehicle.

[0093] The lifting frame 415 is shown having guides 421 disposed in the corners of the lower surface of the lifting frame 415 to align the clamping devices 420 of the lifting frame 415 relative to complementary lifting holes on the storage container 106 .

[0094] Any necessary power source (not shown) for supplying power to the lifting device motor 416" may be arranged in the lower section 413 in order to achieve a favorable center of gravity when lifting heavy storage containers 106 and / or in order to reduce the risk of the container handling vehicle 401 tilting due to excessive acceleration / deceleration of the container handling vehicle.

[0095] Figure 4C yes Figure 4B , showing the lower section 411 , the support section 412 and the cantilever section 413 .

[0096] Figures 4D to 4I are examples of different arrangements that provide for counter-rotation of the lifting shafts 417', 417". Figures 4D to 4ICommon to all force transmission arrangements disclosed in all examples is the presence of a rotatable lifting device motor 416', a first lifting shaft pulley 423' and a second lifting shaft pulley 423", each of which is connected for rotation together with a corresponding lifting shaft 417', 417", at least one pulley 422', 422", a force transmission element 418 in the form of an endless belt forming a closed loop, wherein at least one of the pulleys 422', 422" is arranged within the closed loop. In addition, the first lifting shaft pulley 423' or the second lifting shaft pulley 423" is in contact with the inner surface of the endless belt 418, and the other of the first lifting shaft pulley 423' or the second lifting shaft pulley 423" is in contact with the outer surface of the endless belt 418. This is achieved by arranging one of the first lifting shaft pulley 423' or the second lifting shaft pulley 423" inside the closed loop formed by the force transmission element 418 and arranging the other of the first lifting shaft pulley 423' or the second lifting shaft pulley 423" outside the closed loop formed by the force transmission element 418. The mutual arrangement of the first lifting shaft wheel 423' and the second lifting shaft wheel 423" (for example, acting on opposite sides of the endless belt), the guide pulleys 422', 422" and the force transmission element 418 causes the first lifting shaft 417' and the second lifting shaft 417" (via the first lifting shaft wheel 423' and the second lifting shaft wheel 423"' respectively) to rotate in opposite directions (counter-rotate). The first lifting shaft wheel 423' and the second lifting shaft wheel 423" are preferably arranged in the same horizontal plane to ensure horizontal stability during lifting. The pulleys 422', 422" are arranged at fixed positions along the stroke of the force transmission element 418 so that they provide a "change" in the direction of travel of the force transmission element 418. Each of the pulleys 422', 422" is arranged to correctly guide the force transfer element 418 onto the first and second lifting shaft wheels 423', 423", thereby allowing the first and second lifting shaft wheels 423', 423" (and therefore the lifting shafts 417', 417") to rotate in opposite directions.

[0097] exist Figure 4D In the example shown, one pulley 422' is shown.

[0098] exist Figures 4E to 4I In the examples, multiple examples of force transmission arrangements including two pulleys 422', 422" are shown. The pulleys 422', 422" are arranged alternately along the path of the force transmission element 418, so that in both travel directions of the force transmission element 418, the first lifting shaft pulley 423' is followed by the pulleys 422', 422", and the second lifting shaft pulley 423" is followed by the pulleys 422', 422".

[0099] exist Figure 4G 、 Figure 4H 、 Figure 4IIn the example of , an example is disclosed that includes a tensioning wheel 424 for tensioning the force transfer element 418. The tensioning wheel 424 can be, for example, an eccentric tensioning mechanism that includes a rotatable pulley having an axis that is adjustable within an opening in a fixed bracket. The position of the tensioning wheel 424 along the path of the force transfer element 418 is preferably located at a position where the path length of the force transfer element 418 can be affected (i.e., the path of the force transfer element can be shortened or lengthened to further tighten or reduce the tension in the force transfer element). The tensioning wheel 424 can be arranged inside the closed loop formed by the force transfer element 418 ( Figure 4G and Figure 4I ) or external ( Figure 4H ).

[0100] exist Figures 4D to 4F In the example of FIG, a dedicated tensioning mechanism, such as a tensioning pulley, is not shown; however, if a tensioning mechanism is required, one of the pulleys 422 ′ or 422 ″ can be the tensioning mechanism and can be replaced by the tensioning pulley 424.

[0101] Figure 5 is an example of another arrangement of a lifting device 414 , wherein, in addition to a lifting shaft 417 and a lifting belt that can be wound onto and unwound from the lifting shafts 417 ′, 417 ″, a lifting device motor 416 ″ is also arranged in the boom section 413 of the main unit 410 . Figure 5 The lifting device motor 416" is a brushless DC motor that is wound around one of the lifting shafts 417', 417". Synchronous operation of the lifting shafts 417', 417" can be achieved by means of synchronization elements, such as those described in WO 2019 / 137870 A1 (Applicant: Autostore Technology AS). Figure 5 A to Figure 5 E and Figure 6A To the force transfer element disclosed in Figure 6H, the contents of which are incorporated herein by reference.

[0102] Figures 6A to 6C Different views of a first embodiment of two container handling vehicles 401 passing each other are shown, wherein one of the container handling vehicles 401 is capable of carrying a storage container 106 while passing the other container handling vehicle 401 in the same orientation. Thus, the two container handling vehicles 401 can occupy fewer grid cells 122 when passing each other than prior art cantilevered container handling vehicles because the boom section 413 of one can pass through the lower section 411 and wheelbase unit 2 of the other (with a gap). During the passing, the boom section 413 of one container handling vehicle will vertically overlap the lower section 411 and wheelbase unit 2 of the other container handling vehicle 401.

[0103] like Figures 6A to 6CAs shown, the difference between the first height h1 of the upper surface of the lower section 411 and the second height h2 of the lowest part of the lifting frame 415 is less than the height of the storage container 106, which results in only the "front" container handling vehicle (i.e., the container handling vehicle on the left in the figure) being able to carry the storage container during the passage. However, with this arrangement, during the passage, the container handling vehicle occupies fewer grid cells 122 than the cantilever vehicle of the prior art, i.e., three grid cells 122 instead of four. Figure 6C The lower section 411 of the container transport vehicle 401 on the left side and Figure 6C A gap c is shown between the lowermost portions of the lifting frames 415 of the container handling vehicle 401 on the right side in FIG.

[0104] The container handling vehicle 401 forms part of the automated storage and retrieval system 1 including a track system 108 on which the container handling vehicle 401 operates.

[0105] like Figure 6C As shown, the footprint of the lower section 413 of the main body unit 410 can be displaced relative to the footprint of the wheelbase unit 2 by substantially or equal to the width of the wheels 32a, 32b. When the wheels 32a of the wheelbase unit 2 are located above the first rail (or the rail closest to the grid opening), the lower section 411 is positioned to extend vertically from the outer edge of the second rail below the cantilever section 413 and from the inner edge of the first rail on the opposite side. Figures 6A to 6C As two container handling vehicles 401 of the same orientation are shown passing each other, they occupy a total of three grid cells 122 .

[0106] 7A to 7C Different views of a second embodiment of two container handling vehicles 401 passing each other are shown, wherein both container handling vehicles 401 can carry storage containers during the passing. The container handling vehicles 401 form part of the automated storage and retrieval system 1 including the track system 108 on which the container handling vehicles 401 operate.

[0107] Figure 7D Shown according to 7A to 7C The container transport vehicle of the second embodiment when not carrying a storage container. 7A to 7D As shown, the difference between the second height h2 and the first height h1 corresponds to at least the difference between the second height h2 and the first height h1 including the smaller gap c (see Figure 7C ) of the storage container 106.

[0108] Figure 8 An embodiment is shown having a dual container handling vehicle 501 comprising a first boom section 513" arranged opposite a second boom section 513'. Figure 8The container transport vehicle 401 in FIG. 4 is a container transport vehicle according to the second embodiment (ie, 7A to 7C , wherein both container handling vehicles 401 can carry storage containers during the passage). The dual container handling vehicle 501 includes two Figures 4A to 4C 、 Figure 5 、 Figures 6A to 6C and 7A to 7C The lifting device. Figure 8 As shown, the first container handling vehicle 401 has a first orientation and the second container handling vehicle 401 has a second orientation opposite the orientation of the first container handling vehicle 401. In a prior art configuration, the dual container handling vehicles 501 and the first and second container handling vehicles 401 would occupy seven cells when passing each other, however, the container handling vehicles 401, 501 as defined herein may only occupy five cells when passing each other. Figure 8 The dual-container handling vehicle 501 in FIG. 4 carries two storage containers 106 , and each container handling vehicle 401 carries one storage container 106 when passing by.

[0109] In the foregoing description, various aspects of the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, which are apparent to those skilled in the art, are deemed to fall within the scope of the present invention as defined by the appended claims.

[0110] List of reference numerals

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Claims

1. A container handling vehicle (401) for operating on a two-dimensional track system (108), comprising a first set of parallel tracks (110) and a second set of parallel tracks (111), wherein the first set of parallel tracks is arranged to guide the container handling vehicle (401) to move in a first direction (X) across the top of a frame structure (100), the second set of parallel tracks is arranged perpendicular to the first set of parallel tracks (110) to guide the container handling vehicle (401) to move in a second direction (Y) perpendicular to the first direction, the first set of parallel tracks and the second set of parallel tracks (110, 111) dividing the track system (108) into a plurality of grid cells (122), wherein: The container handling vehicle (401) comprises: - a wheelbase unit (2) comprising wheel sets (32a, 32b) for guiding the container handling vehicle (401) along the rail system (108) in the first direction and the second direction (X, Y); - Main unit (410), comprising: a lower section (411) disposed on the wheelbase unit (2), the lower section (411) having a footprint, the horizontal extent of the footprint being equal to or smaller than the horizontal extent of one of the grid units (122), and the lower section having a top surface at a first height (h1); a support section (412) extending vertically from the lower section (411), the support section (412) having a coverage area whose horizontal extent is smaller than the coverage area of ​​the lower section (411); and a cantilever section (413) extending horizontally from the support section (412) beyond the footprint of the lower section (411); - a lifting device (414) comprising a lifting frame (415) suspended from the boom section (413) of the main unit (410), the lifting frame (415) having a lowermost portion at a second height (h2) when the lifting frame (415) is docked in an upper position adjacent to the boom section (413), wherein, when the lifting frame (415) is docked at its upper position, the second height (h2) of the lowermost portion of the lifting frame (415) is higher than the first height (h1) of the top surface of the lower section (411) of the main unit (410), wherein the difference between the second height (h2) and the first height (h1) corresponds at least to the height of the storage container (106); The two container handling vehicles (401) are configured so that when a first container handling vehicle and a second container handling vehicle pass each other on adjacent grid units (122), the lowest portion of the docked lifting frame of the first container handling vehicle can pass over the top surface of the lower section of the main unit of the second container handling vehicle.

2. The container handling vehicle (401) according to claim 1, wherein The lifting device (414) includes a lifting device motor (416') and at least two lifting shafts (417), wherein the at least two lifting shafts (417) are arranged in the boom section (413), the lifting device motor (416') is arranged in the lower section (411), and wherein the lifting device motor (416') and the at least two lifting shafts (417) are connected to each other via a flexible force transmission element (418).

3. The container handling vehicle (401) according to claim 1, wherein: The lifting device (414) comprises a lifting device motor (416'') and at least two lifting shafts (417) for raising and lowering the lifting device (414), wherein the lifting device motor (416'') and the at least two lifting shafts (417) are arranged in the boom section (413).

4. The container handling vehicle (401) according to claim 1 or 2, wherein: The main body unit (410) comprises an S-shaped shell connecting the lower section (411), the supporting section (412) and the cantilever section (413).

5. The container handling vehicle (401) according to claim 1 or 2, wherein: The footprint of the lower section (413) of the main body unit (410) is displaced relative to the footprint of the wheelbase unit (2) by a width equal to the width of the wheels (32a, 32b).

6. The container handling vehicle (401) according to claim 1 or 2, wherein: The lifting frame (415) is suspended on a lifting belt (419), and wherein the lifting frame (415) extends horizontally and comprises a clamping device (420) and a corner guide (420), wherein the lowest point of the corner guide (420) provides the lowest part of the lifting frame (415).

7. An automated storage and retrieval system comprising a two-dimensional track system (108), the two-dimensional track system comprising a first set of parallel tracks (110) and a second set of parallel tracks (111), the first set of parallel tracks being arranged to guide a container handling vehicle (401) to move in a first direction (X) across a top of a frame structure (100), the second set of parallel tracks being arranged perpendicular to the first set of parallel tracks (110) to guide the container handling vehicle (401) to move in a second direction (Y) perpendicular to the first direction, the first set of parallel tracks and the second set of parallel tracks (110, 111) dividing the track system (108) into a plurality of grid cells (122), wherein The automated storage and retrieval system comprises a plurality of container handling vehicles (401) according to any one of the preceding claims.

8. The automated storage and retrieval system of claim 7, wherein: Two container handling vehicles (401) with the same orientation occupy three grid cells (122) when passing each other.

9. The automated storage and retrieval system according to claim 7 or 8, wherein: The first group of parallel tracks (110) and / or the second group of parallel tracks (111) include a single guide rail, or a double guide rail including two guide rails, and wherein the grid unit (122) is defined as: a horizontal area occupied by a grid opening (115) defined by the first group of parallel tracks and the second group of parallel tracks (110, 111); and an area occupied by a single guide rail of the first group of parallel tracks and the second group of parallel tracks that surrounds a single grid opening (115) in the first direction and the second direction (X, Y) and is arranged closest to the single grid opening.

10. The automated storage and retrieval system of claim 7, wherein: The wheelbase unit (2) has a footprint equal to the horizontal extent of the grid unit (122) in the first direction and the second direction (X, Y).

11. The automated storage and retrieval system of claim 7, wherein: At least one of the container handling vehicles (401) is capable of carrying a storage container (106) while passing another container handling vehicle (401).

12. The automated storage and retrieval system of claim 11, wherein: The lowest point of the storage container (106) when being transported is higher than the first height (h1) of the lower section (411).

13. The automated storage and retrieval system of claim 7, wherein: The width of the support section (412) in one direction corresponds to the width of the track and / or the two guide rails (110, 111).

14. The automated storage and retrieval system of claim 7, further comprising at least one dual-container handling vehicle (501), the at least one dual-container handling vehicle comprising a first boom section (513'') arranged opposite to a second boom section (513').

15. The automated storage and retrieval system of claim 14, wherein: At least a first container handling vehicle (401) has a first orientation and at least a second container handling vehicle (401) has a second orientation opposite to the first orientation, and wherein the dual container handling vehicles (501) and the first and second container handling vehicles (401) occupy five grid cells when passing each other simultaneously.

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