Container handling vehicle

Abstract

The invention provides a container handling vehicle (10) for lifting storage containers (106) from an underlying framework structure (100), the vehicle comprising a vehicle body (8) and a container lifting assembly (3, 5, 7a, 7b) for lifting storage containers; the container lifting assembly comprising: a lifting frame (3) for releasable connection to a storage container (106); a lifting shaft assembly (7a, 7b); and a plurality of lifting belts (5) connected to the lifting frame (3) and the lifting shaft assembly (7a, 7b) such that the lifting frame (3) can be raised or lowered by operation of the lifting shaft assembly; and the vehicle body (8) comprising a side wall (9) and a cantilevered section (6) from which the lifting frame (3) is suspended, the cantilevered section (6) extending laterally from an upper end (11) of the side wall (9); wherein the container lifting assembly is characterised by having a lifting frame guide assembly comprising a first guide means (12) and a cooperating second guide means (13); the first guide means (12) being provided on the lifting frame (3); and the second guide means (13) being slidably connected to the side wall (9) by at least one vertically extending track (19) such that the second guide means is movable in a vertical direction relative to the side wall (9); the first guide means (12) and the second guide means (13) being arranged to interact with each other when the lifting frame is adjacent the side wall (9) such that horizontal movement of the lifting frame relative to the vehicle body is limited.

Description

TECHNICAL FIELD

[0001] The present application relates to a container handling vehicle or robot for picking up storage containers from a storage system, and to a storage system comprising such a vehicle. BACKGROUND

[0002] Fig. 1 discloses a typical prior art automated storage and retrieval system 1 having a framework structure 100, and Figs. 2-4 disclose two different prior art container handling vehicles 201, 301 adapted to operate on such a system 1.

[0003] The framework structure 100 comprises upright members 102, horizontal members 103 and storage volumes comprising storage columns 105 arranged between the upright members 102 and the horizontal members 103 in rows. In these storage columns 105, storage containers 106, also known as bins, are stacked one on top of another to form stacks 107. The members 102, 103 can typically be made of metal, e.g. extruded aluminium profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of the framework structure 100, on which rail system 108 a number of container handling vehicles 201, 301 are operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 201, 301 across the top of the framework structure 100 in a first direction X, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 201, 301 in a second direction Y, perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings 112 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the X-Y horizontal plane.

[0005] The upright members 102 of the framework structure 100 can be used for guiding the storage containers during raising of the containers from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting.

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

[0007] Each prior art container handling vehicle 201, 301 further comprises a lifting device 2 (shown in Fig. 4) for vertically transporting storage containers 106, e.g. lifting storage containers 106 from and lowering storage containers 106 into storage columns 105. The lifting device 2 comprises a lifting frame 3 with one or more gripping / engaging devices 4 adapted to engage a storage container 106 and a guide pin 304 for correcting the position of the lifting frame 3 relative to a storage container 106. The lifting frame 3 can be lowered from the vehicle 201, 301 by means of a lifting belt 5 such that the position of the lifting frame relative to the vehicle 201, 301 can be adjusted in a third direction Z which is orthogonal to the first direction X and the second direction Y.

[0008] The lifting frame 3 (not shown) of the container handling vehicle 201 in Fig. 2 is located within the vehicle body 201 a. An advantage of this arrangement is that horizontal movements of the lifting frame 3 due to movements and accelerations of the vehicle are prevented by interaction with the inner surfaces of the vehicle body.

[0009] Conventionally, and also for the purposes of the present application, Z = 1 identifies the uppermost level of storage containers, i.e. the level directly below the rail system 108, Z = 2 identifies the second level below the rail system 108, Z = 3 identifies the third level, etc. In the exemplary prior art disclosed in Fig. 1, Z = 8 identifies the lowermost bottom level of storage containers. Similarly, X = 1... n and Y = 1... n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in Fig. 1, the storage container identified as 106' in Fig. 1 can be said to occupy the storage position X = 10, Y = 2, Z = 3. The container handling vehicles 201, 301 can be said to travel in the Z = 0 level and each storage column 105 can be identified by its X and Y coordinates.

[0010] The storage volume of the framework structure 100 is often referred to as a grid 104, where possible storage locations within the grid are referred to as storage cells. Each storage column can be identified by a position in the X and Y directions, while each storage cell can be identified by a container number in the X, Y and Z directions.

[0011] Each prior art container handling vehicle 201,301 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space can comprise a cavity arranged centrally within the vehicle body 201a as shown in Fig. 2 and described e.g. in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0012] Fig. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such vehicles are described in detail e.g. in NO317366, the contents of which are also incorporated herein by reference.

[0013] The central cavity container handling vehicle 201 shown in Fig. 2 can have an occupancy space covering an area in the X and Y directions, the size of which is typically equal to the lateral extent of the storage columns 105, as described e.g. in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" used herein can mean "horizontal".

[0014] Alternatively, the central cavity container handling vehicle 201 can have an occupancy space which is larger than the lateral area defined by the storage columns 105, as disclosed e.g. in WO2014 / 090684A1.

[0015] The rail system 108 typically comprises rails having grooves in which the wheels of the vehicles run. Alternatively, the rails can comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively referred to as guide rails. Each rail can comprise one guide rail, or each rail can comprise two parallel guide rails.

[0016] WO2018146304, the contents of which are incorporated herein by reference, shows a typical configuration of a rail system 108 comprising rails and parallel guide rails in the X and Y directions.

[0017] In the framework structure 100, the majority of the columns 105 are storage columns 105, i.e. columns 105 where stacks 107 of storage containers 106 are stored. However, some columns 105 can have other purposes. In Fig. 1, columns 119 and 120 are such dedicated columns that a container- handling vehicle 201,301 can lower and / or pick up a storage container 106 so that it can be transported to an access station (not shown) where the storage container 106 can be accessed from outside the framework structure 100 or brought outside or inside the framework structure 100 from outside. Such locations are typically referred to as "ports" in the art, and the columns where the ports are located can be referred to as "port columns" 119, 120. The transport to the access station can be in any direction, horizontal, inclined and / or vertical. For example, a storage container 106 can be placed into a random column or a dedicated column 105 within the framework structure 100 and then picked up by any container-handling vehicle and transported to a port column 119, 120 for further transport to an access station. Note that the term "inclined" means that the transport of the storage container 106 has a general transport orientation that is somewhere between horizontal and vertical.

[0018] In Fig. 1, the first port column 119 can for example be a dedicated drop-off port column where the container-handling vehicles 201,301 can drop off storage containers 106 to be transported to an access station or a transfer station, and the second port column 120 can be a dedicated pick-up port column where the container-handling vehicles 201,301 can pick up storage containers 106 that have been transported from an access station or a transfer station.

[0019] The access station can typically be a picking or a replenishment station where product items are removed from or positioned into the storage containers 106. In a picking or a replenishment station, the storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are returned into the framework structure 100 after access. The ports can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry) or to a production facility.

[0020] A conveyor system comprising conveyors is typically used for transporting the storage containers between the port columns 119, 120 and the access station.

[0021] If the port columns 119, 120 and the access station are located at different levels, the conveyor system can comprise lifting devices with vertical components for transporting the storage containers 106 vertically between the port columns 119, 120 and the access station.

[0022] The conveyor system can be arranged to transfer storage containers 106 between different framework structures, for example as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0023] When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its position and to transport it to a drop-off port column 119. This operation involves moving the container handling vehicle 201, 301 to a position above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201, 301 lifting device (not shown), and transporting the storage container 106 to a drop-off port column 119. If the target storage container 106 is located deep within the stack 107, i.e. with one or more other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the positioned above containers before the target storage container 106 can be lifted from the storage column 105. This step, sometimes referred to as “digging”, can be performed with the same container handling vehicle that is later used for transporting the target storage container to the drop-off port column 119, or with one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles that are dedicated to the task of temporarily removing storage containers from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers can be repositioned into the original storage column 105. However, the removed storage containers can instead be repositioned into other storage columns.

[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 a pick-up port column 120 and to transport it to a position above the storage column 105 in which the storage container is to be stored. After any storage containers positioned at or above the target position in the stack 107 of the storage column have been removed, the container handling vehicle 201, 301 positions the storage container 106 at the desired position. The removed storage containers can then be lowered back into the storage column 105, or repositioned into other storage columns.

[0025] In order to monitor and control the automated storage and retrieval system 1, e.g. to monitor and control the position of individual storage containers 106 within the framework structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301 so that a desired storage container 106 can be delivered to the desired position at the desired time without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500, which is typically computerized and often includes a database for keeping track of the storage containers 106.

[0026] A drawback of the prior art container handling vehicle 301 shown in Figs. 3 and 4 is that horizontal movement of the lifting frame 3 is not prevented until the lifting frame 3 is fully raised and in contact with the underside of the cantilevered section 6 from which the lifting frame 3 is suspended. When the lifting frame 3 is fully raised, the combined guide pin / contact sensor 26 provided on the top side of the lifting frame 3 interacts with the cantilevered section 6 and restricts horizontal movement between the lifting frame 3 and the cantilevered section 6. In order to avoid potential errors caused by horizontal movement of the lifting frame 3, the container handling vehicle 301 in Figs. 3 and 4 should not move on the rail system 108 until the lifting frame is fully raised. The time delay of having the container handling vehicle 301 stationary until the lifting frame is fully raised is small. However, a storage system will typically have a number of container handling vehicles, where each vehicle will perform a number of lifting operations. Thus, the small time delay of each operation will accumulate, resulting in a storage system that is less efficient than optimal.

[0027] It is an object of the present invention to provide an improved container handling vehicle, in which some of the drawbacks of prior art vehicles featuring cantilevered sections are avoided or mitigated. SUMMARY

[0028] The invention is defined by the appended claims and the following.

[0029] In a first aspect, the invention provides a container handling vehicle for lifting storage containers from below a framework structure,

[0030] The vehicle comprises a container lifting assembly for lifting storage containers, and a vehicle body;

[0031] The container lifting assembly comprises a lifting frame for releasable connection to a storage container, a lifting axle assembly, and a plurality of lifting belts connected to the lifting frame and the lifting axle assembly such that the lifting frame can be raised or lowered by operating the lifting axle assembly; and

[0032] The vehicle body comprises side walls and a cantilevered section from which the lifting frame is suspended, the cantilevered section extending transversely from an upper end of the side walls; wherein

[0033] The container lifting assembly is characterized by having a lifting frame guide assembly comprising a first guide means and a cooperating second guide means;

[0034] The first guide means is provided on the lifting frame; and

[0035] The second guide means is slidably connected to the side walls by at least one vertically extending rail such that the second guide means can move in a vertical direction relative to the side walls;

[0036] The first guiding device and the second guiding device are arranged to interact with each other when the lifting frame is adjacent the side wall, such that horizontal movement of the lifting frame relative to the vehicle body is limited.

[0037] In embodiments of the container handling vehicle, the first guiding device and the second guiding device can be arranged to interact with each other when the lifting frame is adjacent the side wall, such that horizontal movement of the lifting frame relative to the vehicle body is limited or prevented.

[0038] The lifting belt can be provided with a lifting belt end connected at one of the four corner sections of the lifting frame. In embodiments, the container handling vehicle can comprise four lifting belts.

[0039] In other words, the lifting belt can be connected to the lifting frame and the lifting axle assembly such that the lifting frame can be raised or lowered relative to the cantilevered section by operating the lifting axle assembly.

[0040] In other words, the lifting frame is suspended or overhanging from the underside of the cantilevered section.

[0041] In embodiments of the container handling vehicle, the first guiding device can extend upwards from the lifting frame, e.g. as a pin, or into the top side of the lifting frame, e.g. a hole.

[0042] In embodiments of the container handling vehicle, the first guiding device can be provided on the top side of the lifting frame. The first guiding device can extend upwards from the top side of the lifting frame, e.g. as a pin, or into the top side of the lifting frame, e.g. a hole.

[0043] In embodiments of the container handling vehicle, the first guiding device can be connected to the lifting frame, preventing horizontal movement of the first guiding device relative to the lifting frame. In other words, the first guiding device can be fixed or firmly connected to the lifting frame.

[0044] In other words, the first guiding device and the second guiding device can be arranged to interact when the lifting frame is adjacent the side wall and limit or prevent horizontal movement between the first guiding device and the second guiding device, such that horizontal movement of the lifting frame relative to the vehicle body is limited or prevented.

[0045] In other words, the first guiding device and the second guiding device can be arranged to interact with each other when the lifting frame is moved adjacent the side wall in the vertical direction, such that horizontal movement of the lifting frame relative to the vehicle body is limited or prevented.

[0046] In embodiments of the container handling vehicle, the first guiding device and the second guiding device can be arranged to interact such that horizontal movement between them is limited or prevented.

[0047] In an embodiment of the container handling vehicle, the second guiding device can be slidably connected to the side wall such that horizontal movement of the second guiding element relative to the side wall is limited or prevented.

[0048] In an embodiment of the container handling vehicle, the vertically extending track can extend from a lower position on the side wall towards the cantilevered section such that the second guiding device can be moved in the vertical direction between a lower position adjacent the side wall and an upper position adjacent the side wall in which the lifting frame is in contact with the cantilevered section.

[0049] In an embodiment of the container handling vehicle, the at least one vertically extending track can be at least one vertical track.

[0050] In an embodiment of the container handling vehicle, the first guiding device can comprise at least one first guiding element and the second guiding device can comprise at least one second guiding element, wherein the first guiding element and the second guiding element have a complementary shape such that horizontal movement between the first guiding element and the second guiding element is limited when the first guiding element and the second guiding element interact. The complementary shape of the first guiding element and the second guiding element can have respective opposing facing surfaces which limit or prevent horizontal movement of the complementary shape relative to each other when the complementary shapes interact.

[0051] In an embodiment of the container handling vehicle, a portion of the second guiding device can be arranged at a position between the cantilevered section and the lifting frame. The portion can comprise at least one second guiding element.

[0052] In an embodiment of the container handling vehicle, the second guiding device can be a carriage. The carriage can comprise a first portion slidably connected to the side wall by the at least one track, a second portion arranged at a position between the cantilevered section and the lifting frame. The second portion can comprise at least one second guiding element.

[0053] In an embodiment of the container handling vehicle, one of the first guiding device and the second guiding device can comprise at least one guiding element which is a pin, a protrusion, a recess or a hole, and the other of the first guiding device and the second guiding device can comprise a complementary guiding element for interacting with the at least one pin, protrusion, recess or hole such that horizontal movement of the first guiding device relative to the second guiding device is limited or prevented.

[0054] In an embodiment of the container handling vehicle, the first guiding device can comprise two first guiding elements horizontally spaced apart, and the second guiding device can comprise two second guiding elements, each first guiding element being arranged to interact with a corresponding second guiding element. The spacing of the guiding devices can contribute to react to torques on the lifting frame during vehicle movement such as during acceleration or deceleration. In another embodiment, the number of first guiding elements and second guiding elements can be different. For example, there can be two first guiding elements in the form of guiding pins and one second guiding element in the form of a slot.

[0055] In an embodiment of the container handling vehicle, the first guiding element can respectively be a pin, a vertical recess or a hole, and the second guiding element can respectively be a hole, a horizontal protrusion or a pin.

[0056] In an embodiment of the container handling vehicle, at least one of the first guiding element and the second guiding element can comprise an inclined surface for guiding the interaction of the first guiding device and the second guiding device.

[0057] In an embodiment of the container handling vehicle, one of the first guiding device and the second guiding device can comprise at least one pin or vertical recess, and the other of the first guiding device and the second guiding device respectively comprises a cooperating hole or protrusion, such that horizontal movement of the first guiding device relative to the second guiding device is limited or prevented.

[0058] In an embodiment of the container handling vehicle, one of the first guiding device and the second guiding device can comprise a spring or other flexible device arranged to dampen the interaction between the first guiding device and the second guiding device in the vertical direction.

[0059] In an embodiment, the container handling vehicle can comprise:

[0060] - a first set of wheels arranged on opposite sides of the vehicle body and for moving the vehicle in a first direction on a rail system of an underlying framework structure;

[0061] - a second set of wheels arranged on further opposite sides of the vehicle body and for moving the vehicle in a second direction on the rail system, the second direction being perpendicular to the first direction; and

[0062] - the first set of wheels is displaceable in a vertical direction between a first position in which the first set of wheels allows movement of the vehicle in the first direction and a second position in which the second set of wheels allows movement of the vehicle in the second direction.

[0063] In a second aspect, the present application provides a storage system comprising a framework structure and at least one container handling vehicle according to the first aspect of the present application, wherein the framework structure comprises a plurality of storage columns in which storage containers can be stored one on top of another in vertical stacks, and the container handling vehicle operates on a rail system at the top level of the framework structure for retrieving storage containers from and storing storage containers in the storage columns, and for transporting the storage containers horizontally on the rail system. The rail system can be a rail grid system allowing the container handling vehicle to move in two perpendicular directions.

[0064] In a third aspect, the present application provides a method of operating a container handling vehicle in a storage system,

[0065] The storage system comprises a framework structure and at least one container handling vehicle, wherein the framework structure comprises a plurality of storage columns in which storage containers can be stored one on top of another in vertical stacks, and the container handling vehicle operates on a rail system at the top level of the framework structure for retrieving storage containers from and storing storage containers in the storage columns, and for transporting the storage containers horizontally on the rail system,

[0066] The container handling vehicle comprises a container lifting assembly for lifting a storage container, and a vehicle body;

[0067] The container lifting assembly comprises a lifting frame for releasable connection to a storage container, a lifting axle assembly, and a plurality of lifting belts connected to the lifting frame and the lifting axle assembly such that the lifting frame can be raised or lowered by operating the lifting axle assembly; and

[0068] The vehicle body comprises a side wall and a cantilevered section from which the lifting frame is suspended, the cantilevered section extending laterally from an upper end of the side wall; wherein,

[0069] The container lifting assembly is characterized by having a lifting frame guide assembly comprising a first guide means and a cooperating second guide means;

[0070] The first guide means is provided on the lifting frame; and

[0071] The second guide means is slidably connected to the side wall by at least one vertically extending rail such that the second guide means can move in a vertical direction relative to the side wall;

[0072] The first guide means and the second guide means are arranged to interact with each other when the lifting frame is adjacent the side wall such that horizontal movement of the lifting frame relative to the vehicle body is limited or prevented; wherein,

[0073] The method comprises the steps of:

[0074] - lowering a storage container into a storage column by using the container lifting assembly;

[0075] - releasing the storage container from the lifting frame;

[0076] - raising the lifting frame until the first guiding means and the second guiding means interact with each other; and

[0077] - moving the container handling vehicle horizontally on the rail system when the lower most level of the lifting frame is above the upper most level of the rail system and before the lifting frame reaches the upper position.

[0078] In a fourth aspect, the present application provides a method of preventing horizontal movement of a lifting frame of a container handling vehicle, the container handling vehicle comprising: a container lifting assembly for lifting a storage container, and a vehicle body;

[0079] the container lifting assembly comprises: a lifting frame for releasable connection to a storage container; a lifting shaft assembly; and a plurality of lifting belts connected to the lifting frame and the lifting shaft assembly such that the lifting frame can be raised or lowered by operating the lifting shaft assembly; and

[0080] the vehicle body comprises a side wall and a cantilevered section from which the lifting frame is suspended, the cantilevered section extending laterally from an upper end of the side wall;

[0081] the container lifting assembly is characterized by having a lifting frame guiding assembly comprising first guiding means and cooperating second guiding means;

[0082] the first guiding means are arranged on the lifting frame; and

[0083] the second guiding means are slidably connected to the side wall by at least one vertically extending rail such that the second guiding means can move in a vertical direction relative to the side wall;

[0084] wherein the method comprises the steps of:

[0085] - raising the lifting frame from a level below the container handling vehicle to a first position in which interaction between the first guiding means and the second guiding means begins; and

[0086] - raising the lifting frame from the first position to a second position in which the first guiding means and the second guiding means interact with each other and horizontal movement of the lifting frame relative to the vehicle body is limited or prevented.

[0087] In embodiments, the method according to the fourth aspect comprises the steps of:

[0088] - lifting the lifting frame from the second position to a third position, while the second guide means are simultaneously moved upwards along the vertically extending tracks by the lifting frame, the first guide means simultaneously interacting with the second guide means to limit horizontal movement of the lifting frame relative to the vehicle body.

[0089] In the second and third positions and in positions between the second and third positions, the lifting frame can be at a height allowing horizontal movement of the container handling vehicle. In the third position, the lifting frame can be in contact or docked with the cantilevered section.

[0090] In the third and fourth aspects of the application, the container handling vehicle can be a container handling vehicle according to any one of the embodiments of the first aspect.

[0091] The term "side wall" is intended to refer to a side section of the vehicle body. The side section can comprise a cover plate, but can also be a frame structure. The side section can essentially be vertical.

[0092] The term "horizontal movement" is intended to include lateral movement of the robot and rotational horizontal movement. BRIEF DESCRIPTION OF DRAWINGS

[0093] Embodiments of the application will be described in detail with reference to the following drawings:

[0094] Fig. 1 is a perspective view of a frame structure of a prior art automated storage and retrieval system.

[0095] Fig. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

[0096] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for carrying storage containers thereunder.

[0097] Fig. 4 is a side view of the container handling vehicle in Fig. 3, in which a lifting device is shown.

[0098] Fig. 5 to Figure 8 is a perspective side view of a first exemplary container handling vehicle according to the application.

[0099] Fig. 9 to Figure 11 is a perspective side view of a second exemplary container handling vehicle according to the application.

[0100] Figure 12 is a perspective top side view of the container handling vehicle in Figs. 9 to Figure 11 .

[0101] Figures 13 to 16 is a perspective side view of a third exemplary container handling vehicle according to the application. DETAILED DESCRIPTION

[0102] In the following, embodiments of the present application will be discussed in more detail with reference to the drawings. The drawings are not intended to limit the scope of the application to the subject matter depicted in the drawings.

[0103] The present application is a remotely operated container handling vehicle for use in an automated storage system featuring at least one rail system, such as the rail system 108 discussed in relation to the prior art storage system disclosed in figure 1.

[0104] Different exemplary embodiments of a container handling vehicle 10-10" according to the present application are shown in figures 5 to Figure 16 The vehicle 10-10" is intended for picking up storage containers 106 in an automated storage system 1, such as the one shown in figure 1, by using a container lifting assembly 3, 5, 7a, 7b. The container lifting assembly features a lifting frame 3 for releasable connection to a storage container 106, a lifting shaft assembly 7a, 7b (see figure 5b) and four lifting belts 5. The lifting belts 5 are connected to the lifting frame 3 and the lifting shaft assembly 7a, 7b, such that the lifting frame 3 can be raised or lowered by operating the lifting shaft assembly. Figure 12 ) and four lifting belts 5. The lifting belts 5 are connected to the lifting frame 3 and the lifting shaft assembly 7a, 7b, such that the lifting frame 3 can be raised or lowered by operating the lifting shaft assembly.

[0105] The vehicle body 8 of the container handling vehicle 10-10" comprises side walls 9 and a cantilevered section 6. The lifting frame 3 is suspended from the cantilevered section 6 extending transversely from the upper end 11 of the side walls 9. As in prior art vehicles, the lifting frame features a combined guide pin / contact sensor 26 arranged on the top side of the lifting frame 3 (see figure 5b). The guide pin / contact sensor 26 interacts with the cantilevered section 6 when the lifting frame is fully raised and limits horizontal movement between the lifting frame 3 and the cantilevered section 6.

[0106] In order to limit the horizontal movement of the lifting frame 3 during movement of the container handling vehicle 10-10", each of the container handling vehicles 10-10" features a lifting frame guide assembly having a first guide device 12-12" and a cooperating second guide device 13-13". The first guide device 12-12" features at least one first guide element 15, 17, 24 and the second guide device 13-13" features at least one second guide element 16, 18, 25, wherein the first guide element and the second guide element have a complementary shape. The complementary shape is designed to limit the horizontal movement, i.e. the lateral horizontal movement and the rotational horizontal movement, between the first guide element and the second guide element when the guide elements interact with each other.

[0107] The second guide means 13-13" of the lifting frame guide assembly can be described as a carriage (e.g. consisting of plate sections 22a, 22b, see below) slidably connected to the side wall 9, e.g. via at least one rail 19, 19'. The carriage is coupled with the lifting frame 3 via the first guide means 12-12" and moves with the lifting frame 3 as the lifting frame 3 is moved upwards from a position below the mid-point to a position where the lifting frame is docked with the cantilever section.

[0108] The complementary shapes of the first guide elements 15, 17, 24 and the second guide elements 16, 18, 25 are used to position the first guide means 12-12" and the second guide means 13-13" together when the lifting frame 3 is raised and exposed from the storage grid, e.g. from the storage column 105 shown in Fig. 1. The complementary shapes can be any shape or form that fulfils the condition of limiting the horizontal movement relative to each other when the first guide means and the second guide means are positioned together. When the lifting frame 3 is located within the storage column 105, the horizontal movement of the lifting frame is limited by the inner perimeter of the storage column 105. When the lifting frame 3 is exposed from the storage column 105, the horizontal limitation of the lifting frame 3 is provided by locking the horizontal movement by connecting the second guide means 13-13" with the first guide means 12-12".

[0109] Fig. 5 to Figure 8 a first exemplary embodiment of a container handling vehicle 10 according to the present application is shown.

[0110] The first guide means 12 of the first exemplary embodiment comprises two vertical pins 15 (i.e. first guide elements) arranged on the top side 14 of the lifting frame 3. The two pins 15 are connected to the lifting frame 3, preventing the pins from moving horizontally relative to the lifting frame 3.

[0111] The second guide means 13 comprises two holes 16 (i.e. second guide elements), each hole being dimensioned to accommodate one of the vertical pins 15 of the first guide means 12. The second guide means 13 is slidably connected to the side wall 9 by two rails 19 and can move in a vertical direction relative to the side wall 9. The part of the second guide means 13 having the two holes 16 extends laterally from the side wall 9 and in a position between the cantilever section 6 and the lifting frame 3. In the present embodiment, the second guide means is constituted by a first plate section 22a and a second plate section 22b. The first plate section 22a is connected to the rails 19 and the second plate section 22b is characterized by having the two holes 16 and extending from an upper end of the first plate section 22a and between the cantilever section 6 and the lifting frame 3.

[0112] When the lifting frame 3 is adjacent the side wall 9, the pins 15 and the holes 16 are arranged to interact with each other, i.e. each of the pins 15 is accommodated in a corresponding hole 16, such that horizontal movement of the lifting frame 3 relative to the car body 8 is limited. By having two pins 15 and complementary holes 16, rotational horizontal movement of the lifting frame relative to the car body 8, i.e. torsion, is limited.

[0113] It should be noted that the circular periphery of the pins 15 and the holes 16, i.e. the complementary shape, makes the solution that each of the pins and the holes needs to be two in order to limit the rotational movement of the lifting frame relative to the car body 8. However, in other embodiments of the invention, having at least two first guiding elements and at least two complementary second guiding elements is not necessary in order to limit the rotational movement. In other embodiments, the rotational movement can for example be limited by designing the first guiding elements as pins / protrusions having a square or rectangular periphery shape and the second guiding elements as mating holes having a complementary square or rectangular periphery shape. Generally, when having a single first guiding element and a single second guiding element, in order to limit the rotational horizontal movement between the lifting frame and the car body, it can be sufficient to provide the first and second guiding elements with complementary non-circular edge shapes.

[0114] In order to avoid excessive noise and wear, and potentially reduce any risk of the first and second guiding devices jamming, a spring 20 or other flexible device is arranged around each pin 15 in order to dampen the interaction between the first and second guiding devices 12, 13 and the lifting frame 3.

[0115] By having the second guiding device 13 slidably connected to the side wall 9 of the car body 8, the lifting frame 3 can be raised from a lower position, which exposes the lifting frame from the lateral limits of the grid, to a higher position adjacent the side wall 9, while limiting or preventing horizontal movement of the lifting frame 3. When the lifting frame 3 is in the lower position, the lower most layer of the lifting frame is above the upper most layer of the track system 108 on which the container handling vehicle is arranged, see Figure 7 In the upper position, the lifting frame is fully raised towards the cantilevered section 6.

[0116] Therefore, thanks to the lifting frame guide assemblies 12 and 13, the container transport vehicle according to the invention can begin moving on the track system 108 when the lifting frame is in the lower position (e.g., after the storage container 106 has been stored in the storage column 105). In most cases, when the lifting frame is not connected to the storage container 106, the lifting frame remains in the lower position while the container transport vehicle moves on the track system 108. This also saves time and energy because the lifting frame is not required to move between the cantilever section and the lower position when the storage container is to be retrieved. The lifting frame guide assemblies 12 and 13 also ensure that the container transport vehicle 10 can move on the track system 108 when the storage container connected to the lifting frame 3 is raised above the track system 108, see [link to relevant documentation]. Figure 8 The latter feature is advantageous when container handling vehicles are used in storage systems that include storage containers of varying heights, because storage containers below the height of the largest storage container can be lifted off the track system before the lifting frame contacts the cantilever section at its upper position.

[0117] Compared with the prior art cantilever container transport vehicle 301, as shown in Figures 3 and 4, the container transport vehicle 10 of the present invention is more efficient because it requires less time to perform multiple container lifting / storage operations. The prior art container vehicle 301 is not allowed to move on the track system 108 until the lifting frame 3 is fully raised to contact the cantilever section.

[0118] In order to allow the container handling vehicle 10 to move on the track system 108, the vehicle 10 is characterized by having a first set of wheels 21a and a second set of wheels 21b. The first set of wheels is arranged to allow the vehicle to move along a first direction of the track system 108 as shown in FIG1, for example, along a track extending in the first direction X. The second set of wheels is arranged to allow the vehicle to move along a second direction, for example, along a track extending in the second direction Y.

[0119] Figure 9 to Figure 12 A second exemplary embodiment of the container transport vehicle 10' according to the present invention is shown.

[0120] Container handling vehicle 10' and Figure 5 to Figure 8 The first exemplary container transport vehicle 10 is the same as the one in the example, except that it has a first guide device 12' and a cooperating second guide device 13'.

[0121] The first guiding means 12' comprises two vertical recesses 17 (i.e. first guiding elements) arranged at the top side 14 of the lifting frame 3. The second guiding means 13' comprises two protrusions 18 (i.e. second guiding elements), each of which is dimensioned to be housed in one of the vertical recesses 17 of the first guiding means 12'. The second guiding means 13' is slidably connected to the side wall 9 by two rails 19 and can be moved in the vertical direction with respect to the side wall 9. The portion of the second guiding means 13' having the two protrusions 18 extends laterally from the side wall 9 and is positioned between the cantilevered section 6 and the lifting frame 3. A spring 20' or other flexible means is arranged in each of the recesses 17 to dampen the interaction between the first and second guiding means 12', 13' and the lifting frame 3.

[0122] Figures 13 to 16 A third exemplary embodiment of a container handling vehicle 10" according to the present application is shown in Fig. 6.

[0123] The container handling vehicle 10" is identical to the first and second exemplary container handling vehicles 10, 10' in Figs. 5 to Figure 12 except for the design of the first guiding means 12" and the cooperating second guiding means 13". The first guiding means 12" comprises two vertical sleeves 23 positioned in the lifting frame 3, provided with two holes 24 (i.e. first guiding elements) at the top side 14 of the lifting frame 3. The second guiding means 13" comprises two pins 25 (i.e. second guiding elements), each of which is dimensioned to be housed in one of the complementary holes 24 of the first guiding means 12". The second guiding means 13" is slidably connected to the side wall 9 by the rails 19 and can be moved in the vertical direction with respect to the side wall 9 while being restricted from horizontal movement with respect to the side wall 9. A portion of the second guiding means 13" is characterized by having the two pins 25 and extending laterally from the side wall 9 and being positioned between the cantilevered section 6 and the lifting frame 3. Springs (not shown) can be arranged around each pin 25 or, alternatively, within each sleeve 23 to dampen the interaction between the first and second guiding means 12", 13" and the lifting frame 3.

[0124] The present application is described by three specific combinations of guiding elements (i.e. pins / holes and protrusions / recesses) for restricting the horizontal movement of the lifting frame. However, a number of alternative combinations of guiding elements having complementary shapes to provide restricted horizontal movement can readily be envisaged in accordance with the present disclosure.

Claims

1. A container handling vehicle (10) for lifting storage containers (106) from an underlying framework structure (100), The vehicle comprises: a container lifting assembly for lifting the storage containers; and a vehicle body (8); the container lifting assembly comprises a lifting frame (3) for releasable connection to the storage containers (106), a lifting axle assembly (7a, 7b), and a plurality of lifting belts (5) connected to the lifting frame (3) and the lifting axle assembly (7a, 7b) such that the lifting frame (3) can be raised or lowered by operating the lifting axle assembly; and the vehicle body (8) comprises a side wall (9) and a cantilevered section (6) from which the lifting frame (3) is suspended, the cantilevered section (6) extending laterally from an upper end (11) of the side wall (9); wherein characterized in that the container lifting assembly has a lifting frame guide assembly comprising a first guide means (12) and a cooperating second guide means (13); the first guide means (12) is provided on the lifting frame (3); and the second guide means (13) is slidably connected to the side wall (9) by at least one vertically extending track (19) such that the second guide means can move in a vertical direction relative to the side wall (9); the first guide means (12) and the second guide means (13) are arranged to interact with each other when the lifting frame is adjacent the side wall (9) such that horizontal movement of the lifting frame relative to the vehicle body is limited; one of the first guide means (12) and the second guide means (13) comprises at least one guide element which is a pin, a protrusion (18), a recess (17) or a hole, and the other of the first guide means and the second guide means comprises a complementary guide element for interacting with the at least one pin, protrusion, recess or hole such that horizontal movement of the first guide means relative to the second guide means is limited.

2. The vehicle of claim 1, wherein, the second guide means (12) is slidably connected to the side wall (9) to prevent horizontal movement of the second guide element (12) relative to the side wall (9).

3. The vehicle of claim 1, wherein, the vertical track (19) extends from a lower position on the side wall (9) towards the cantilevered section (6) such that the second guide means (12) can move in a vertical direction between an upper position adjacent the side wall (9) in which the lifting frame is docked with the cantilevered section (6) and a lower position adjacent the side wall (9).

4. The vehicle of claim 2, wherein, the vertical track (19) extends from a lower position on the side wall (9) towards the cantilevered section (6) such that the second guide means (12) can move in a vertical direction between an upper position adjacent the side wall (9) in which the lifting frame is docked with the cantilevered section (6) and a lower position adjacent the side wall (9).

5. The vehicle of any of the preceding claims 1-4, wherein, The section (22b) of the second guide device (13) is arranged between the cantilever section (6) and the lifting frame (3).

6. The vehicle of any of the preceding claims 1-4, wherein, The first guide device comprises at least one first guide element (15, 17, 24) and the second guide device comprises at least one second guide element (16, 18, 25), wherein the first guide element and the second guide element have a complementary shape such that a horizontal movement between the first guide element and the second guide element is limited when the first guide element interacts with the second guide element.

7. The vehicle of any of the preceding claims 1-4, wherein, The first guide device (12) comprises two first guide elements (15, 17, 24) which are horizontally spaced apart and the second guide device comprises two second guide elements (16, 18, 25), each of the first guide elements being arranged to interact with a corresponding second guide element.

8. The vehicle of any of the preceding claims 1-4, wherein, One of the first guide device and the second guide device comprises at least one pin or vertical recess (17) and the other of the first guide device and the second guide device comprises a cooperating hole or protrusion (18) respectively, such that a horizontal movement of the first guide device relative to the second guide device is limited.

9. The vehicle of any of the preceding claims 1-4, wherein, One of the first guide device (12) and the second guide device (13) comprises a spring (20) arranged to dampen the interaction between the first guide device (12) and the second guide device (13) in a vertical direction.

10. Vehicle according to any of the preceding claims 1-4, the vehicle comprising: - a first set of wheels (21a) arranged on opposite sides of the car body (8) and for moving the vehicle (10) along a first direction (X) on a track system (108) of the frame structure (100) below; - a second set of wheels (21b) arranged on further opposite sides of the car body (8) and for moving the vehicle (10) along a second direction (Y) on the track system (108), the second direction (Y) being perpendicular to the first direction (X); and - the first set of wheels being displaceable along a vertical direction (Z) between a first position in which the first set of wheels allows the vehicle (10) to move along the first direction (X) and a second position in which the second set of wheels allows the vehicle (10) to move along the second direction (Y).

11. A storage system comprising a framework structure (100) and at least one container handling vehicle (10) according to any of the preceding claims 1-10, wherein, The frame structure (100) comprises a plurality of storage columns (105) in which storage containers (106) are stowable one on top of another in a vertical stack (107), and the container handling vehicles operate on a track system (108) at a top level of the frame structure for retrieving the storage containers (106) from the storage columns and storing them therein and for transporting the storage containers horizontally on the track system (108). The frame structure (100) comprises a plurality of storage columns (105) in which storage containers (106) are stowable one on top of another in a vertical stack (107), and the container handling vehicles operate on a track system (108) at a top level of the frame structure for retrieving the storage containers (106) from the storage columns and storing them therein and for transporting the storage containers horizontally on the track system (108).

12. A method of operating a container handling vehicle in a storage system, The storage system comprises a framework structure (100) and at least one container handling vehicle (10), wherein the framework structure (100) comprising a plurality of storage columns (105) in which storage containers (106) are storable one on top of the other in vertical stacks (107), and a rail system (108) at the top level of the framework structure on which the container handling vehicles operate for retrieving and depositing the storage containers (106) from and into the storage columns and for transporting the storage containers horizontally on the rail system (108), the container handling vehicle comprising a container lifting assembly for lifting the storage containers, and a vehicle body (8); the container lifting assembly comprising a lifting frame (3) for releasable connection to the storage containers (106), a lifting shaft assembly (7a, 7b), and a plurality of lifting belts (5) connected to the lifting frame (3) and the lifting shaft assembly (7a, 7b) such that the lifting frame (3) can be raised or lowered by operating the lifting shaft assembly; and the vehicle body (8) comprising a side wall (9) and a cantilevered section (6) from which the lifting frame (3) is suspended, the cantilevered section (6) extending laterally from an upper end (11) of the side wall (9); wherein characterized in that the container lifting assembly has a lifting frame guide assembly comprising a first guide means (12) and a cooperating second guide means (13); the first guide means (12) is provided on the lifting frame (3); and the second guide means (13) is slidably connected to the side wall (9) by at least one vertically extending rail (19) such that the second guide means is movable in a vertical direction relative to the side wall (9); the first guide means (12) and the second guide means (13) are arranged to interact with each other when the lifting frame (3) is adjacent to the side wall such that horizontal movement of the lifting frame (3) relative to the vehicle body (8) is limited; one of the first guide means (12) and the second guide means (13) comprises at least one guide element which is a pin, a protrusion (18), a recess (17) or a hole, and the other of the first guide means and the second guide means comprises a complementary guide element for interacting with the at least one pin, protrusion, recess or hole such that horizontal movement of the first guide means relative to the second guide means is limited; wherein the method comprises the steps of: - lowering the storage container (106) into the storage column (105) by using the container lifting assembly; - releasing the storage container (106) from the lifting frame (3); - raising the lifting frame (3) until the first guide means (12) interacts with the second guide means (13); and - lowering the lifting frame (3) until the first guide means (12) interacts with the second guide means (13). - moving the container handling vehicle horizontally on the rail system (108) when the lowermost level of the lifting frame (3) is above the uppermost level of the rail system (108) and before the lifting frame (3) reaches an upper position.

13. A method of preventing horizontal movement of a lifting frame (3) of a container handling vehicle (10), the container handling vehicle comprising: A container lifting assembly for lifting storage containers; and a vehicle body (8); The container lifting assembly comprises a lifting frame (3) for releasable connection to the storage containers (106), a lifting shaft assembly (7a, 7b), and a plurality of lifting belts (5) connected to the lifting frame (3) and the lifting shaft assembly (7a, 7b) such that the lifting frame (3) can be raised or lowered by operating the lifting shaft assembly; and The vehicle body (8) comprises side walls (9) and a cantilevered section (6) from which the lifting frame (3) is suspended, the cantilevered section (6) extending laterally from an upper end (11) of the side walls (9); characterized in that the container lifting assembly has a lifting frame guide assembly comprising a first guide means (12) and a cooperating second guide means (13); The first guide means (12) is arranged on the lifting frame (3); and The second guide means (13) is slidably connected to the side walls (9) by at least one vertically extending rail (19) such that the second guide means can be moved in a vertical direction relative to the side walls (9); One of the first guide means (12) and the second guide means (13) comprises at least one guide element which is a pin, a protrusion (18), a recess (17) or a hole, and the other of the first guide means and the second guide means comprises a complementary guide element for interacting with the at least one pin, protrusion, recess or hole such that horizontal movement of the first guide means relative to the second guide means is limited; wherein the method comprises the steps of: - raising the lifting frame (3) from a level below the container handling vehicle (10) to a first position in which interaction between the first guide means and the second guide means begins; and - raising the lifting frame from the first position to a second position in which the first guide means and the second guide means interact with each other and horizontal movement of the lifting frame relative to the vehicle body is limited.

14. The method according to claim 13, comprising the step of: - raising the lifting frame from the second position to a third position while the second guide means are simultaneously moved upwards along the vertically extending rail by the lifting frame, the first guide means simultaneously interacting with the second guide means to limit horizontal movement of the lifting frame relative to the vehicle body, wherein in the third position the lifting frame can be in contact or docked with the cantilevered section.

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