Container handling vehicle

Abstract

The present invention provides a container handling vehicle (10) for lifting storage containers (106) from a bottom frame structure (100), the vehicle comprising a body (8) and container lifting assemblies (3, 5) for lifting the storage containers; the body (8) includes a wheel base (9), a support (11) and at least one cantilever section (6); wherein the wheel base (9) includes: a first set of wheels (21a) arranged on opposite sides of the body (8) for lifting along a first direction (X) at the top of the bottom frame structure (100). The vehicle (10) moves on the track grid (108); and a second set of wheels (21b) are arranged on the other opposite sides of the vehicle body (8) for moving the vehicle (10) on the track grid (108) along a second direction (Y) perpendicular to the first direction (X); and the support (11) includes a lower end (17) connected to the wheel base (9) and an upper portion (18) connected to the cantilever section (6); the container lifting assembly includes a lifting frame (3) and a plurality of lifting belts (5), the lifting frame (3) being releasably connected to The storage container (106) is suspended from the cantilever section (6) by a lifting belt (5), allowing the lifting frame (3) to be raised or lowered relative to the cantilever section (6); the cantilever section (6) extends laterally from the upper portion (18) of the support (11) and is arranged to rotate horizontally relative to the wheel base (9) about a vertical axis between a first position and a second position, in which the cantilever section (6) extends beyond the wheel base (9), allowing the lifting frame (3) to retrieve the storage container from the storage column of the frame structure (100). The storage container (106) or the storage container is delivered to the storage column of the frame structure, and in the second position, the cantilever section (6) extends in the opposite direction to the direction in the first position, wherein the support (11) holds the cantilever section (6) above the wheel base (9) at a height corresponding to the height of the plurality of storage containers, such that when the lifting frame (3) is in the upper position, the vertical distance (H3) between the lifting frame (3) and the lower end (17) of the support (11) is greater than the height of two storage containers stacked on top of each other.

Description

Technical Field

[0001] The present invention relates to a container handling vehicle or robot for picking up storage containers from a storage system, and a storage system including such a vehicle. Background Technology

[0002] Figure 1 discloses a typical prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2 to 4 disclose two prior art container handling vehicles 201 and 301 suitable for operation on such system 1.

[0003] The frame structure 100 includes upright members 102, horizontal members 103, and a storage volume comprising storage columns 105 arranged in a row between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal (e.g., extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged in a grid pattern across the top of the frame structure 100. Multiple container handling vehicles 201, 301 operate on the track system 108 to raise and lower storage containers 106 from and into storage columns 105, and to transport storage containers 106 above storage columns 105. The horizontal extent of one of the grid cells 122 constituting the grid pattern is marked by thick lines.

[0005] The track system 108 (i.e., the track grid) includes a first set of parallel tracks 110 and a second set of parallel tracks 111. The first set of parallel tracks is arranged to guide the movement of container transport vehicles 201 and 301 across the top of the frame structure 100 in a first direction X. The second set of parallel tracks is arranged perpendicular to the first set of tracks 110 to guide the movement of container transport vehicles 201 and 301 in a second direction Y, which is perpendicular to the first direction X. The container transport vehicles access containers 106 stored in pillars 105 through access ports 112 in the track system 108. The container transport vehicles 201 and 301 are capable of lateral movement above the storage pillars 105, i.e., in a plane parallel to the horizontal XY plane. Typically, at least one of the two sets of tracks 110 and 111 consists of double-guided tracks, allowing two container transport vehicles to pass each other on adjacent grid cells 122. Dual-rail tracks are known and disclosed, for example, in WO2015 / 193278A1 and WO2015 / 140216A1, the contents of which are incorporated herein by reference.

[0006] The upright members 102 of the frame structure 100 can be used to guide the storage containers during raising and lowering of the containers into the columns 105. The stacking 107 of the containers 106 is typically self-supporting.

[0007] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a and a first set of wheels and a second set of wheels 201b, 301b, 201c, 301c, which enable the container handling vehicle 201, 301 to move laterally in the X and Y directions, respectively. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b are arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c are arranged to engage with two adjacent tracks in the second set of tracks 111. At least one of the two sets of wheels 201b, 301b, 201c, 301c can be raised and lowered, such that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can engage with the corresponding set of tracks 110, 111 at any given time.

[0008] Each prior art container handling vehicle 201, 301 also includes a container lifting assembly 2 (shown in FIG. 4) for vertically transporting the storage container 106, for example, raising the storage container 106 from and lowering it into the storage column 105. The container lifting assembly 2 includes a lifting frame 3 having one or more clamping / engaging devices 4 adapted to engage the storage container 106 and guide pins 304 for proper positioning of the lifting frame 3 relative to the storage container 106. The lifting frame 3 can be lowered from the vehicle 201, 301 via a lifting belt 5, such that the position of the lifting frame relative to the vehicle 201, 301 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y.

[0009] The lifting frame 3 (not shown) of the container transport vehicle 201 in Figure 2 is located inside the cavity of the vehicle body 201a.

[0010] Conventionally, and also for the purposes of this application, Z=1 identifies the uppermost layer of the storage container, i.e., the layer immediately below the track system 108; Z=2 identifies the second layer below the track system 108; Z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 identifies the lowermost layer, the bottom layer, of the storage container. 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 indicated in FIG1, the storage container identified as 106' in FIG1 can be said to occupy the storage position X=10, Y=2, Z=3. The container transport vehicles 201 and 301 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates.

[0011] The storage volume of the frame structure 100 is often referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, and each storage cell can be identified by its container number in the X, Y, and Z directions.

[0012] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage container 106 as it is transported through the track system 108. The storage space may include a cavity centrally located within the vehicle body 201a, as shown in FIG2, and is described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0013] Figure 3 illustrates an alternative configuration of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.

[0014] The central cavity container transport vehicle 201 shown in Figure 2 may have a coverage area that covers a region having dimensions in the X and Y directions, which is generally equal to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0015] Alternatively, the central cavity container transport vehicle 101 may have a coverage area greater than the lateral region defined by the storage column 105, such as that disclosed in WO2014 / 090684A1.

[0016] The track system 108 typically includes a track with grooves in which the wheels of a vehicle run. Alternatively, the track may include upwardly projecting elements, where 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 one guide rail, or each track may include two parallel guide rails.

[0017] The contents of WO2018146304, which are incorporated herein by reference, illustrate a typical configuration of a track system 108, which includes tracks and parallel guide rails in the X and Y directions.

[0018] In frame structure 100, most columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are such dedicated columns used by container handling vehicles 201, 301 to unload and / or pick up storage containers 106, enabling them to be transported to an access station (not shown) where storage containers 106 can be accessed from outside frame structure 100, or moved out of or into frame structure 100. In the art, such locations are commonly referred to as 'ports', and the columns containing the ports may be referred to as 'port columns' 119, 120. Transport to the access station can be in any direction, horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in random or dedicated columns 105 within frame structure 100, and then picked up by any container handling vehicle and transported to port columns 119, 120 for further transport to the retrieval station. Note that the term "inclined" refers to the transport of storage container 106 having an overall transport orientation in some direction between horizontal and vertical.

[0019] In Figure 1, the first port post 119 may be, for example, a dedicated unloading port post, at which container handling vehicles 201, 301 can unload storage containers 106 to be transported to an access or transfer station, and the second port post 120 may be a dedicated pickup port post at which container handling vehicles 201, 301 can pick up storage containers 106 that have been transported from an access or transfer station.

[0020] An access station is typically a pick-up station or storage station, where product items are removed from or positioned into storage container 106. At the pick-up station or storage station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but is returned to frame structure 100 once accessed. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), transport vehicles (e.g., trains or trucks), or production facilities.

[0021] Storage containers are typically transported between port posts 119, 120 and access stations using a transmitter system that includes multiple transmitters.

[0022] If the port posts 119, 120 and the access station are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting the storage container 106 between the port posts 119, 120 and the access station.

[0023] The transport system can be arranged to transfer storage containers 106 between different frame structures, such as those described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0024] When a storage container to be accessed is located in a column 105 shown in Figure 1, 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 column 119. The operation involves moving the container handling vehicles 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 lifting device (not shown) of the container handling vehicles 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above it before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle subsequently used to transport the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle specifically designed for the task of temporarily removing storage containers from storage column 105. Once the target storage container 106 has been removed from storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. However, the removed storage container can alternatively be repositioned to another storage column.

[0025] When 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 storage container 106 from pick-up port column 120 and transport the storage container to a position above the storage column 105 where it is to be stored. After all storage containers positioned at or above the target location within the storage column stack 107 have been removed, the container handling vehicles 201, 301 position storage container 106 in the desired location. The removed storage container can then be lowered back into storage column 105 or repositioned to another storage column.

[0026] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301, so that the desired storage container 106 can be delivered to the desired location at a desired time without the container transport vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0027] In addition to the existing container handling vehicles 201 and 301 described above, other container handling vehicles designed to perform excavation operations more efficiently are known.

[0028] Existing vehicles for improved excavation operations are disclosed in WO2019 / 101366A1 and WO2019 / 101725A1.

[0029] The object of the present invention is to provide a container handling vehicle that improves the efficiency of performing excavation operations in a storage system as described above. Summary of the Invention

[0030] This invention is defined by the appended claims and the following:

[0031] In a first aspect, the present invention provides a container handling vehicle for lifting storage containers from an underlying frame structure, wherein the vehicle includes a body and a container lifting assembly for lifting the storage containers; the body includes a wheeled base, a support frame, and at least one cantilevered section; wherein,

[0032] The wheeled base includes: a first set of wheels, arranged on opposite sides of the vehicle body, for moving the vehicle along a first direction on a track grid at the top layer of the underlying frame structure; and a second set of wheels, arranged on other opposite sides of the vehicle body, for moving the vehicle along a second direction perpendicular to the first direction on the track grid; and

[0033] The support includes a lower end connected to the wheeled base and an upper portion connected to the cantilever section;

[0034] The container lifting assembly includes a lifting frame and multiple lifting straps. The lifting frame is releasably connected to the storage container and suspended from the cantilever section by the lifting straps, allowing the lifting frame to be raised or lowered relative to the cantilever section.

[0035] The cantilever section extends laterally from the upper portion of the support and is arranged to rotate horizontally relative to the wheel base about a vertical axis between a first position and a second position. In the first position, the cantilever section extends beyond the wheel base, allowing the lifting frame to retrieve storage containers from or deliver storage containers to the storage column of the frame structure. In the second position, the cantilever section extends in the opposite direction to that in the first position.

[0036] The support holds the cantilever section above the wheel base at a height corresponding to the height of multiple storage containers, such that when the lifting frame is in the upper position, the vertical distance between the lower end of the lifting frame and the support is greater than the height of two storage containers stacked one on top of the other.

[0037] In other words, when the lifting frame is in the upper position, the vertical distance between the lifting frame and the horizontal plane of the lower end of the support can be greater than the height of two storage containers stacked one on top of the other.

[0038] In the second position, the cantilever section may extend beyond the wheel base or extend above the container carrier section of the wheel base.

[0039] In this implementation, when the lifting frame is in the upper position, the vertical distance between the lifting frame and the lower layer of the first set of wheels can be greater than the height of the two storage containers stacked one on top of the other.

[0040] In one implementation, when the lifting frame is in the upper position, the vertical distance between the lifting frame and the top surface or top side of the wheel base unit can be greater than the height of the two storage containers stacked one on top of the other.

[0041] In this implementation, the vertical distance can be greater than the height of the three storage containers stacked one on top of the other.

[0042] In the vehicle implementation, the vertical distance can be at least 660 mm, such that when each storage container has a height of 330 mm and the bottom of the stack is supported at a horizontal plane corresponding to the lower end of the support, the lifting frame can be positioned above the stack of at least two storage containers.

[0043] In the vehicle implementation, when the bottom of the stack is supported at a horizontal plane corresponding to the lower end of the support and the cantilever section is in the second position, the lifting frame can be positioned above the stack of at least two storage containers.

[0044] In the vehicle implementation, when the lifting frame is in the upper position, the vertical distance between the lifting frame and the lower end of the bracket can be greater than the height of the three storage containers stacked one on top of the other.

[0045] In the vehicle implementation, the height of the bracket can be at least twice, preferably at least three times, the height of the wheel base.

[0046] In the vehicle implementation, during rotation of the cantilever section, the horizontal periphery of the support can be arranged within the horizontal periphery of the wheel base. This feature prevents the support from extending above any grid cell adjacent to the grid cell occupied by the wheel base when the vehicle is positioned on the track grid. In other words, during rotation of the cantilever section, the support, or the periphery of the support, can be arranged such that it does not extend further than the second set of wheels and the first set of wheels in either the first or second direction.

[0047] The horizontal perimeter of the bracket can have a maximum length equal to or shorter than the width of the wheel base.

[0048] In the vehicle implementation, the first set of wheels is movable in a vertical direction between a first position and a second position. In the first position, the first set of wheels allows the vehicle to move in a first direction, and in the second position, the second set of wheels allows the vehicle to move in a second direction.

[0049] In the vehicle implementation, the first set of wheels may include a first pair of wheels and a second pair of wheels arranged on opposite sides of the vehicle body, and the second set of wheels may include a third pair of wheels and a fourth pair of wheels arranged on other opposite sides of the vehicle body. In other words, the wheel base may have four sides, and each side may have at least two wheels. The four sides of the wheel base may form a horizontal perimeter that is substantially square or rectangular.

[0050] In the vehicle implementation, during rotation of the cantilever section, the horizontal periphery of the support can be arranged within the horizontal periphery of the wheel base, and the horizontal periphery of the wheel base can be defined by four vertical planes, wherein each plane includes the outer vertical surface of one pair of wheels from a first pair of wheels, a second pair of wheels, a third pair of wheels, or a fourth pair of wheels. The horizontal periphery of the wheel base can also be defined by four horizontal lines intersecting the outer vertical surfaces of the wheels in the first and second sets of wheels.

[0051] In the vehicle implementation, the lower end of the bracket is rotatably connected to the wheel base via a swivel ring. The outer diameter of the swivel ring can be slightly smaller or correspond to the width of the wheel base.

[0052] In the vehicle implementation, the bracket is a column (i.e., a support column). The horizontal perimeter of the bracket can be circular, elliptical, or polygonal.

[0053] In the vehicle implementation, the bracket includes sidewalls. The sidewalls may be peripheral sidewalls and may define the horizontal periphery of the bracket.

[0054] In the vehicle implementation, the container lifting assembly may have a lifting frame guiding assembly including a first guiding device and a cooperating second guiding device;

[0055] The first guiding device is mounted on the lifting frame; and

[0056] The second guide device is slidably connected to the vehicle body via at least one vertical rail, so that the second guide device can move vertically relative to the bracket;

[0057] The first and second guiding devices are arranged to interact with each other when the lifting frame is adjacent to at least one vertical track, thereby restricting the horizontal movement of the lifting frame relative to the cantilever section.

[0058] In the vehicle implementation, a vertical track extends from the lower layer of the support toward the cantilever section, allowing the second guiding device to move vertically between a lower position adjacent to the support and an upper position where the lifting frame engages with the cantilever section.

[0059] In a vehicle embodiment, the first guiding device includes at least one first guiding element, and the second guiding device includes at least one second guiding element, wherein the first and second guiding elements have complementary shapes such that horizontal movement between the first and second guiding elements is restricted when the first and second guiding elements interact. In other words, the first and second guiding elements have complementary shapes such that horizontal movement between the first and second guiding devices is restricted when the first and second guiding elements interact.

[0060] In the vehicle implementation, the second guiding device can be slidably connected to the side wall of the bracket via at least one vertical rail.

[0061] In the vehicle implementation, the second guiding device is slidably connected to the sidewall, thereby limiting or preventing horizontal movement of the second guiding element relative to the sidewall.

[0062] In the vehicle implementation, a vertical track extends from a lower position on the sidewall toward the cantilever section, allowing the second guide device to move vertically between a lower position adjacent to the sidewall and an upper position where the lifting frame contacts and / or docks with the cantilever section.

[0063] In the vehicle implementation, a section of the second guiding device is arranged between the cantilever section and the lifting frame.

[0064] In a vehicle implementation, one of the first and second guiding devices includes at least one guiding element, which is a pin, protrusion, recess, or hole, and the other of the first and second guiding devices includes a complementary guiding element for interacting with at least one pin, protrusion, recess, or hole to restrict horizontal movement of the first guiding device relative to the second guiding device.

[0065] In a vehicle implementation, the first guiding device includes two first guiding elements spaced horizontally apart, and the second guiding device includes two second guiding elements, each of the first guiding elements being arranged to interact with a corresponding second guiding element.

[0066] In the vehicle embodiment, one of the first guide device and the second guide device includes at least one pin or vertical recess, and one of the first guide device and the second guide device correspondingly includes a mating hole or protrusion, such that horizontal movement of the first guide device relative to the second guide device is restricted.

[0067] In the vehicle implementation, one of the first and second guiding devices includes a spring arranged to suppress vertical interaction between the first and second guiding devices.

[0068] In a vehicle embodiment, the wheeled base includes a container carrier section with a supporting surface on which a storage container can be disposed. In a second position, a cantilevered section extends above the container carrier section, allowing a lifting frame to retrieve or deliver the storage container from or onto the surface of the container carrier section. The container carrier section may include a storage container support. The container carrier support may be configured to restrict horizontal movement of the storage container in at least three vertical horizontal directions. The storage container support may include at least two vertical corner sections, each corner section configured to accommodate a corner of the storage container.

[0069] In the vehicle implementation, the support surface of the container carrier section can be arranged at a horizontal plane that substantially corresponds to the horizontal plane of the lower end of the support. In other words, the support surface of the container carrier section is arranged at a horizontal plane that allows the lifting frame to be arranged above a stack of at least two storage containers arranged on the support surface of the container carrier section.

[0070] In a second aspect, the present invention provides a vehicle assembly comprising a first container transport vehicle and a second container transport vehicle according to any embodiment of the first aspect, wherein the second container transport vehicle includes a wheel base and a container carrier disposed on top of the wheel base, the wheel base of the second container transport vehicle being positionable adjacent to the wheel base of the first container transport vehicle such that a lifting frame of the first container transport vehicle is positionable above the container carrier of the second container transport vehicle.

[0071] In a third aspect, the present invention provides a storage system comprising a frame structure and a first container transport vehicle according to any one of the preceding claims, wherein the frame structure comprises a plurality of storage columns, storage containers can be stored by vertically stacking one on top of another, and the first container transport vehicle operates on a track grid at the top layer of the frame structure for retrieving storage containers from and storing storage containers in the storage columns, and for horizontally transporting storage containers across the track grid.

[0072] In one embodiment, the storage system includes a second container transport vehicle operating on a track grid for horizontally transporting storage containers across the track grid and optionally for retrieving storage containers from and storing them in storage columns, wherein a cantilevered section of the first container transport vehicle is arranged such that when the lifting frame is in the uppermost position of the lifted storage container, the second container transport vehicle is positioned at a horizontal level below the lifting frame of the first container transport vehicle.

[0073] A second or second-type container handling vehicle may include a wheeled base and at least one container lifting assembly for retrieving storage containers from a storage column or container carrier for receiving storage containers on top of the wheeled base. In other words, the second container handling vehicle may include a vehicle body comprising: a first set of wheels arranged on opposite sides of the vehicle body for moving the vehicle along a first direction on a track grid at the top layer of the underlying frame structure; and a second set of wheels arranged on other opposite sides of the vehicle body for moving the vehicle along a second direction perpendicular to the first direction on the track grid, and at least one container lifting assembly for retrieving storage containers from a storage column or container carrier for receiving storage containers on top of the vehicle body.

[0074] In one implementation of the storage system, the track grid forms multiple grid cells, each grid cell accessing the upper end of the storage column, and during rotation of the cantilever section, the second container transport vehicle can be positioned at any grid cell adjacent to the wheel base of the first container transport vehicle.

[0075] In other words, the second container handling vehicle can be positioned at any grid cell adjacent to the grid cell occupied by the wheeled base of the first container handling vehicle. The wheeled base of the first container handling vehicle can occupy one or two grid cells, that is, the horizontal periphery of the wheeled base is fitted within one or two adjacent grid cells.

[0076] In one embodiment of the storage system, the cantilever section of the first container transport vehicle is rotatable between a first position and a second position; in the first position, the cantilever section extends beyond the wheel base such that a lifting frame is positioned directly above a first storage column adjacent to the wheel base, and in the second position, the cantilever section extends in the opposite direction to that in the first position.

[0077] In an implementation of the storage system, when the cantilever section of the first container transport vehicle is in the first position, the second container transport vehicle can be configured to be positioned directly above the first storage column, such that the second container transport vehicle can be positioned to retrieve a storage container from the first storage column or to receive a storage container from the first container transport vehicle.

[0078] In an implementation of the storage system, when in the second position, the cantilever section may be positioned directly above any of the second storage column adjacent to the wheel base, the container carrier section of the wheel base, or the container carrier of the second container transport vehicle.

[0079] In an implementation of the storage system, when the lifting frame is connected to the storage container, the second container handling vehicle can be configured to be positioned below the lifting frame of the first container handling vehicle.

[0080] In a fourth aspect, the present invention provides a method for retrieving a target storage container from a storage system according to any embodiment of the third aspect, the method comprising the steps of:

[0081] a. Identify the first storage column in which the target storage container is stored;

[0082] b. Move the first container transport vehicle on the track grid to a position where the wheeled base is adjacent to the first storage column;

[0083] c. Arrange the cantilever section in the first position, wherein the cantilever section is positioned directly above the first storage column;

[0084] d. Retrieve the non-target storage container from the stack of storage containers in the first storage column using a lifting frame;

[0085] e. Rotate the cantilever segment to the second position, wherein the cantilever segment extends in the opposite direction to the direction in the first position;

[0086] f. Place the non-target storage container at a second storage column adjacent to the wheel base, on a container carrier of the wheel base, or on a second container transport vehicle including the container carrier;

[0087] g. Rotate the cantilever section to the first position;

[0088] h. Repeat steps d to f and optional step g until the target storage container is the topmost storage container in the first storage column;

[0089] as well as

[0090] i. Retrieve the target storage container from the first storage column using a lifting frame;

[0091] or

[0092] j. The target storage container is retrieved from the first storage column by using a second container handling vehicle (301) including a container lifting assembly.

[0093] In an implementation of the method, step e begins before the lifting frame is in the upper position.

[0094] In an implementation of the method, step h may produce a stack of multiple non-target storage containers stacked one on top of the other, wherein at least the upper non-target storage containers are arranged above the upper layer of the track grid.

[0095] In an implementation of the method, step h may generate a stack of multiple non-target storage containers stacked one on top of the other, wherein the retrieved non-target storage containers are arranged above the upper horizontal plane of the track grid and carried by a container transport vehicle.

[0096] In an implementation of the method, the target storage container retrieved in step i is then lowered onto the container carrier of a second container transport vehicle positioned below the cantilever section.

[0097] In a fifth aspect, the present invention provides a method for retrieving a plurality of storage containers from a storage system according to any embodiment of the third aspect, the method comprising the steps of:

[0098] a. Identifying storage columns that contain multiple storage containers;

[0099] b. Move the first container transport vehicle along the track grid to a position where the wheeled base is adjacent to the storage column;

[0100] c. The cantilever section is arranged in the first position, wherein the lifting frame is arranged directly above the storage column;

[0101] d. Retrieve one of multiple storage containers from the storage column using a lifting frame;

[0102] e. Rotate the cantilever segment to the second position, wherein the cantilever segment extends in the opposite direction to the direction in the first position;

[0103] f. Place the storage container on the container carrier section of the wheeled base or on the container carrier of the second container transport vehicle;

[0104] g. Rotate the cantilever section to the first position; and

[0105] h. Repeat steps d to f and optional step g until multiple storage containers are retrieved as a stack of storage containers stacked on top of each other.

[0106] In one embodiment, the method according to the fifth aspect includes the following steps:

[0107] i. Move the first or second container handling vehicle carrying the stack of storage containers to the location where the stack of storage containers was retrieved from the corresponding container handling vehicle.

[0108] In a sixth aspect, the present invention provides a method for storing a plurality of storage containers in a storage system according to any embodiment of the third aspect, the method comprising the steps of:

[0109] a. Place multiple storage containers, which are stacked as storage containers stacked one on top of the other, on the container carrier section of the wheel base of a first container transport vehicle or on the container carrier of a second container transport vehicle;

[0110] b. Identify the storage column containing multiple storage containers;

[0111] c. Move the first container transport vehicle along the track grid to a position where the wheeled base is adjacent to the storage column;

[0112] d. Arrange the cantilever section in the second position, wherein the lifting frame is arranged directly above the container section or the container;

[0113] e. Retrieve one of multiple storage containers from a stack of storage containers on a container carrier segment or container carrier by using a lifting frame;

[0114] f. Rotate the cantilever section to the first position, wherein the cantilever section extends in the opposite direction to the direction in the second position, wherein the lifting frame is arranged directly above the storage column;

[0115] g. Storing the storage container in the storage column, i.e., by lowering the lifting frame into the storage column, releasing the storage container from the lifting frame, and raising the lifting frame;

[0116] h. Rotate the cantilever section to the second position; and

[0117] i. Repeat steps d to g and optional step h until multiple storage containers are stored in the storage column.

[0118] The term "horizontal movement" is intended to include both lateral and rotational horizontal movement. Attached Figure Description

[0119] Embodiments of the present invention are described in detail with reference to the following figures:

[0120] Figure 1 is a perspective view of the framework structure of an existing automated storage and retrieval system.

[0121] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for storing containers within it.

[0122] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for carrying storage containers below.

[0123] Figure 4 is a side view of the container transport vehicle in Figure 3, showing the lifting equipment.

[0124] Figures 5 to 14 This is a perspective view and details of a first exemplary container transport vehicle according to the present invention.

[0125] Figures 15 to 20 This is a perspective view of a second exemplary container transport vehicle according to the present invention.

[0126] Figures 21 to 22 This is a perspective view of a third exemplary container transport vehicle according to the present invention.

[0127] Figure 23a Figure 23b is a perspective view of the fourth container transport vehicle according to the present invention.

[0128] Figure 24 and Figure 25 This is a perspective view of different lifting frame guide assemblies used in any embodiment of the container transport vehicle according to the invention. Detailed Implementation

[0129] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, the drawings are not intended to limit the invention to the subjects depicted in the drawings.

[0130] The present invention relates to a remotely operated container handling vehicle used in an automated storage system having at least one track system, such as track system 108 discussed for the prior art storage system disclosed in FIG1.

[0131] Figures 5 to 14 A first exemplary embodiment of a container handling vehicle 10 according to the present invention is shown. The vehicle 10 is used to lift storage containers 106 from a lower frame structure 100. The frame structure may be, for example, the structure shown in FIG1, including a plurality of storage columns in which the storage containers are stacked one on top of the other.

[0132] The vehicle includes a body 8 and container lifting assemblies 3 and 5 for lifting the storage container 106. The body 8 includes a wheeled base 9 having a container carrier section 20, a support column 11 (i.e., a bracket), and at least one cantilevered section 6 having a support surface 24 on which the storage container 106 can be arranged.

[0133] The wheel base 9 has a first set of wheels 21a arranged on opposite sides of the vehicle body 8 and a second set of wheels 21b arranged on other opposite sides of the vehicle body 8. The first set of wheels 21a is used to move the vehicle 10 along a first direction X on a track grid 108 at the top layer of the underlying frame structure 100, and the second set of wheels is used to move the vehicle 10 along a second direction Y perpendicular to the first direction X on the track grid 108. The wheel base 9 has at least one motor for driving the first set of wheels and the second set of wheels. A suitable wheel base is described, for example, in WO2019 / 238703A1. The wheel base 9 of a first exemplary embodiment may, for example, consist of two connected wheel base units disclosed in WO2019 / 238703A1.

[0134] The support column 11 has a lower end 17 connected to the top side of the wheel base 9 and an upper portion 18 connected to the cantilever section 6. In this embodiment, the lower end 17 of the support column 11 is rotatably connected to the wheel base 9 via a swivel ring 30. The swivel ring may have an outer diameter corresponding to or slightly smaller than the width of the wheel base 9.

[0135] The container lifting assembly includes a lifting frame 3 and four lifting straps 5. The lifting frame 3 is configured to be releasably connected to the storage container 106 and suspended from the cantilever section 6 by the lifting straps 5. The lifting straps are connected to a lifting shaft assembly 7, allowing the lifting frame 3 to be raised or lowered relative to the cantilever section 6.

[0136] The cantilever section 6 extends laterally from the upper portion 18 of the support column 11 and is arranged to rotate horizontally relative to the wheel base 9 about a vertical axis between a first position and a second position. In the first position, the cantilever section 6 extends beyond the wheel base 9, allowing the lifting frame 3 to retrieve the storage container 106 from the storage column 105 of the frame structure 100 or to deliver the storage container to the storage column of the frame structure, see, for example, [reference needed]. Figure 9In the second position, the cantilever section 6 extends in the opposite direction to that in the first position, allowing the lifting frame to lower the storage container onto or retrieve the storage container from the container carrier section.

[0137] The support column 11 holds the cantilever section 6 above the wheel base 9 at a height corresponding to the height of the multiple storage containers, such that when the lifting frame 3 is in the upper position, the vertical distance H3 between the lifting frame 3 and the lower end 17 of the support column 11 (see...) Figure 6 The vertical distance H3 is greater than the height of two storage containers stacked one on top of the other. Alternatively, the vertical distance H3 can be defined as the distance between the lifting frame 3 and the top side 27 of the wheel base 9. In the first embodiment, the height of the support surface 24 is approximately equal to the height of the lower end of the support column, and the vertical distance to the lifting frame allows multiple storage containers to be stacked one on top of the other when arranged on the support surface. The container carrier section 20 has a vertical storage container support 23 to provide stability to the storage containers stacked on the support surface. The storage container support has two vertical corner sections 28 for supporting corresponding corners of the storage containers 106 and for guiding vertical movement of the lifting frame 3 and any storage containers 106 connected thereto.

[0138] In storage systems suitable for container handling vehicles 10, the height of storage containers is typically 220 mm, 330 mm, or 425 mm. Therefore, the vertical distance H3 is at least 440 mm, but preferably at least 660 mm, to allow two storage containers with a height of 330 mm to be stacked vertically on a support surface 24 using lifting frames 3. Figures 5 to 14 In the embodiment shown, the vertical distance H3 is slightly greater than 990 mm to allow three storage containers to be stacked vertically on top of each other on the container carrier 20. See [link to previous document]. Figure 13 .

[0139] To achieve the desired functionality of the container handling vehicle 10, the height H1 of the support 11 is preferably at least twice the height H2 of the wheel base 9.

[0140] During the rotation of the cantilever section 6, the horizontal perimeter of the support column 11 (i.e., the boundary of the peripheral sidewall 14) is arranged within the horizontal perimeter of the wheel base 9. In this way, the second type of container handling vehicle 301 (see, for example, [reference needed]) Figure 13 ) can be located adjacent to the grid cell 122 of the exemplary container transport vehicle 10 (see Figure 5 It can move up without interfering with the operation.

[0141] In vehicles 201 and 301 of the prior art, the lifting frame 3 has a combined guide pin / contact sensor 26 arranged on the top side of the lifting frame 3. When the lifting frame is fully raised (i.e. in the upper position), the guide pin / contact sensor 26 interacts with the cantilever section 6 and restricts horizontal movement between the lifting frame 3 and the cantilever section 6.

[0142] To limit the horizontal movement of the lifting frame 3 during rotation of the cantilever section and during movement of the container transport vehicle 10 on the track grid 108, the container transport vehicle 10 has a lifting frame guide assembly having a first guide device 12 and a cooperating second guide device 13, see [link to documentation]. Figure 8 To Figure 10 and Figure 23a And Figure 23b. The first guiding device 12 has at least one first guiding element, in this case two vertical pins 15, and the second guiding device 13 has at least one second guiding element, in this case two holes 16. The first and second guiding elements (e.g., vertical pins 15 and holes 16) have complementary shapes. The complementary shapes are designed to limit horizontal movement (i.e., lateral and rotational horizontal movement) between the first and second guiding elements when the guiding elements interact with each other.

[0143] The second guide device 13 of the lifting frame guide assembly can be described as a bracket (e.g., composed of plate sections 22a, 22b, see below) that is slidably connected to the support column 11 or the peripheral sidewall 14 via at least one track 19. The bracket is connected to the lifting frame 3 via the first guide device 12 and moves together with the lifting frame 3 as the lifting frame 3 moves from its lower position to the position where the lifting frame 3 engages with the cantilever section 6.

[0144] The complementary shapes of the vertical pin 15 and the hole 16 are used to raise the lifting frame 3 and from the storage grid (e.g., from...). Figure 9 When the storage column 105 (shown) is exposed, the first guide device 12 and the second guide device 13 are positioned together. In another embodiment, the complementary shape can be any shape or form, as long as horizontal movement relative to each other is restricted when the first guide device and the second guide device are positioned together. When positioned within the storage column 105, horizontal movement of the lifting frame 3 is restricted by the inner periphery of the storage column 105. When the lifting frame 3 is exposed from the storage column 105, horizontal restriction of the lifting frame 3 is provided by the second guide device 13, which locks horizontal movement through its connection with the first guide device 12.

[0145] A portion of a second guiding device 13, having two holes 16, extends laterally from the sidewall 14 and is located between the cantilever section 6 and the lifting frame 3. In this embodiment, the second guiding device consists of a first plate section 22a and a second plate section 22b. The first plate section 22a is connected to the track 19, and the second plate section 22b has two holes 16 and extends from the upper end of the first plate section 22a and between the cantilever section 6 and the lifting frame 3.

[0146] The pins 15 and holes 16 are arranged to interact such that when the lifting frame 3 is adjacent to the support column 11 or the side wall 14, each pin 15 is received in the corresponding hole 16, thereby restricting the horizontal movement of the lifting frame 3 relative to the vehicle body 8. The horizontal rotational movement (i.e., torsion) of the lifting frame relative to the vehicle body 8 is also restricted by having two pins 15 and complementary holes 16.

[0147] It should be noted that having two solutions each for the circular peripheries (i.e., complementary shapes) of pin 15 and hole 16 is necessary to limit the rotational movement of the lift frame relative to the vehicle body 8. However, in other embodiments of the invention, having at least two first guide elements and at least two complementary second guide elements is not necessary to limit rotational movement. In other embodiments, rotational movement of the lift frame 3 relative to the cantilever section 6 can be limited, for example, by designing the first guide element as a pin / protrusion with a square or rectangular periphery shape and the second guide element as a mating hole with a complementary square or rectangular periphery shape. In another embodiment, the inner surface of two (or more) pin 15 engaging slots or apertures of other shapes configured to receive pin 15 may be present. Generally, providing complementary non-circular periphery shapes for the first and second guide elements may be sufficient to limit the rotational horizontal movement between the lift frame and the vehicle body when having a single first guide element and a single second guide element.

[0148] By allowing the second guiding device 13 to slidably connect to the support column 11 or the outer sidewall 14 of the vehicle body 8, the lifting frame 3 can be raised from a lower position exposed from the lateral constraints of the storage grid to a higher position adjacent to the support column 11, while limiting or preventing horizontal movement of the lifting frame 3 relative to the cantilever section 6. This limitation on horizontal movement will occur between the lower position and the upper position. The lower position can be the position where the container transport vehicle is positioned on the track grid when the lowest layer of the lifting frame 3 is above the uppermost layer of the track grid 108. In the upper position, the lifting frame 3 can be fully raised toward the cantilever section 6.

[0149] Thus, thanks to the lifting frame guide assemblies 12 and 13, once the lifting frame is in the lower position, the container transport vehicle according to the invention can begin rotating the cantilever section 6, for example, after storing the storage container 106 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. In this way, time and energy are saved when the storage container needs to be retrieved by not requiring the lifting frame to be raised between the cantilever section and the lower position. The lifting frame guide assemblies 12 and 13 also ensure that once the storage container connected to the lifting frame 3 is raised above the track system 108, the container transport vehicle 10 can move on the track system 108, for example, see... Figure 12b .

[0150] A lifting frame guide is described using a specific combination of guide elements (i.e., a vertical pin and a hole) to restrict horizontal movement of the lifting frame. However, based on this disclosure, multiple alternative combinations of guide elements having complementary shapes that provide restricted horizontal movement can be readily envisioned, such as various combinations of protrusions / recesses. Another exemplary embodiment of a lifting frame guide having guide elements (such as pin 25, protrusion 18, recess 17, and hole 24) is described in... Figure 24 and Figure 25 As shown in the image.

[0151] Figures 15 to 20 A second exemplary embodiment of the container handling vehicle 10' according to the present invention is shown. The second embodiment and... Figures 5 to 14 The only difference in the first embodiment is that the wheel base 9' is smaller and does not include the container carrier section 20. As shown, the wheel base 9' of the second embodiment is fitted within a single grid cell 122 of the track system, while the wheel base 9' of the first embodiment is fitted within two adjacent grid cells 122. The smaller wheel base 9' is particularly advantageous when the container transport vehicle operates in conjunction with other container transport vehicles 401 having container carriers 29. A vehicle having only wheel base 9' and container carriers 29 for transporting storage containers can also be referred to as a container transfer vehicle. The wheel base 9' and container transfer vehicle 401 of the second exemplary embodiment can be, for example, the wheel base unit disclosed in WO2019 / 238703A1.

[0152] Figures 21 to 22 A third exemplary embodiment of the container transport vehicle 10 according to the present invention is shown. The difference between the third embodiment and the second embodiment is that the cantilever section has two lifting frames 3, which extend on two opposite sides of the support column 11. Therefore, the third embodiment can transport two storage containers simultaneously, a feature that can be advantageous in various excavation operations.

[0153] All embodiments of the container handling vehicle according to the invention are highly advantageous when performing various excavation operations in the storage system shown in FIG. 1. Furthermore, all embodiments allow for improved transport of multiple storage containers within the storage system by transporting stacks of storage containers on the container handling vehicle itself, or by using a dedicated container transfer vehicle to transport stacks of storage containers.

[0154] In the exemplary mining operation, see the documentation for the first embodiment. Figures 9 to 14 and for use in the second embodiment Figures 15 to 20 The container handling vehicle 10-10” of the present invention can retrieve the target storage container 106' from the storage system shown in FIG. 1, for example, by the following steps:

[0155] a. Identify the first storage column 105', in which the target storage container 106' is stored;

[0156] b. Move the first container transport vehicle to a position on the track grid 108, where the wheel bases 9, 9' are adjacent to the first storage column 105';

[0157] c. Arrange the cantilever section 6 in the first position, wherein the cantilever section 6 is arranged directly above the first storage column 105', so that the lifting frame 3 can be lowered into the first storage column 105'.

[0158] d. Retrieve the non-target storage container 106 from the stack of storage containers in the first storage column 105' using the lifting frame 3, see [link to relevant documentation]. Figure 9 and Figure 16 ;

[0159] e. Rotate cantilever segment 6 to the second position, see Figure 11 and Figure 17a In the second position, the cantilever section 6 extends in the opposite direction to that in the first position. Due to the lifting frame guide, rotation can begin once the bottom of the storage container is at a horizontal plane above the top side 27 of the wheel bases 9, 9'.

[0160] f. Place the non-target storage container at the second storage column 105” adjacent to the wheel base, on the container carrier section 20 of the wheel base 9 (see...). Figure 11 ), or placed on a second container transport vehicle 401 including container carrier 29 (see Figure 17a );

[0161] g. Rotate the cantilever section to the first position;

[0162] h. Repeat steps d to f and optional step g until the target storage container is the topmost storage container in the first storage column. See below. Figure 12a and Figure 12b as well as Figure 18a and Figure 18b ;as well as

[0163] i. Retrieve the target storage container 106' from the first storage column 105' using the lifting frame 3; or

[0164] j. The target storage container 106' is retrieved from the first storage column 105' by using a second container handling vehicle 301, which includes a container lifting assembly.

[0165] In step f, one option is to place one or more non-target storage containers 106 at the second storage column 105” adjacent to the wheel base 9'. This option is only possible when using the second or third embodiment, wherein, when the cantilever section is in the second position, the cantilever section can be arranged such that the lifting frame can access the second storage column 105”.

[0166] When step h is repeated, a stack of multiple non-target storage containers 106 are generated, stacked one on top of the other. In the stack, at least the uppermost non-target storage container 106 is positioned above the upper horizontal plane of the track grid 108. When the stack is positioned on container carrier segment 20 or container carrier 29, all non-target storage containers in the stack are positioned above the upper horizontal plane of the track grid 108.

[0167] The target storage container 106' retrieved in step i (see Figure 20 It can then be lowered onto the container carrier 29 of the second container transport vehicle 401 arranged below the cantilever section 6.

[0168] The container handling vehicle 10-10” of the present invention is also highly advantageous in operations in which multiple storage containers are retrieved from a storage column or system or stored in a storage column or system.

[0169] Reference number list

[0170] 1. Existing automated storage and retrieval systems

[0171] 2 Container Lifting Component

[0172] 3. Improve the framework

[0173] 4. Clamping / Jointing Equipment

[0174] 5 lifting belts

[0175] 6. Cantilever Section

[0176] 7. Lifting Shaft Assembly

[0177] 8. Body

[0178] 9-wheel base

[0179] 10-10” Container transport vehicle according to the present invention

[0180] 11. Brackets and support columns

[0181] 12 First Guiding Equipment

[0182] 13 Second Guiding Equipment

[0183] 14. Peripheral sidewalls

[0184] 15 First guiding element, vertical pin

[0185] 16 Second guiding element, hole

[0186] 17. Lower end of the bracket

[0187] 18. Upper part of the bracket

[0188] 19 orbits

[0189] 20 Container Carrier Section

[0190] 21a First set of wheels

[0191] 21b Second set of wheels

[0192] 22a First section

[0193] 22b Second Plate Section

[0194] 23 Storage container racks

[0195] 24 Supporting surfaces

[0196] 25 sales

[0197] 26 Guide pins / contact sensors

[0198] 27 Top side

[0199] 28 Vertical corner section

[0200] 29 Container carrier

[0201] 30 Rotary Rings

[0202] 100 Frame Structure

[0203] 102. Upright members of a frame structure

[0204] 103 Horizontal members of frame structures

[0205] 104 Storage Grid

[0206] 105 Storage Columns

[0207] 105' First Storage Column

[0208] 105” Second Storage Column

[0209] 106 Storage Containers

[0210] 106' Target storage container

[0211] 107 Stacking

[0212] 108 Track System, Track Grid

[0213] 110 Parallel orbits in the first direction (X)

[0214] 110a First track in the first direction (X)

[0215] 110b Second orbit in the first direction (X)

[0216] 111 Parallel track in the second direction (Y)

[0217] 111a First track in the second direction (Y)

[0218] 111b Second track in the second direction (Y)

[0219] 112 Access Opening

[0220] 119 First Port Column

[0221] 120 Second Port Post

[0222] 122. Mesh cell, i.e., the outline of the mesh cell.

[0223] 201 Container handling vehicles of the prior art

[0224] 201a The body of container handling vehicle 201

[0225] 201b Wheel arrangement in the first direction (X)

[0226] 201c Wheel arrangement in the second direction (Y)

[0227] 301 Prior art cantilever container handling vehicles

[0228] 301a The body of container handling vehicle 301

[0229] 301b Wheel arrangement in the first direction (X)

[0230] 301c Wheel arrangement in the second direction (Y)

[0231] 304 guide pin

[0232] 401 Existing Container Handling Vehicle with Container Carrier

[0233] 500 Control System

[0234] X First Direction

[0235] Y Second Direction

[0236] Z Third Direction

Claims

1. A container handling vehicle (10) for lifting storage containers (106) from a frame structure (100), wherein, The container handling vehicle (10) includes a body (8) and a container lifting assembly for lifting the storage container (106); wherein the body (8) includes a wheeled base (9), a support (11), and at least one cantilever section (6); and wherein, The wheeled base (9) includes: a first set of wheels (21a) arranged on opposite sides of the vehicle body (8) for moving the container transport vehicle (10) along a first direction (X) on a track grid (108) at the top layer of the frame structure (100); and a second set of wheels (21b) arranged on the other opposite sides of the vehicle body (8) for moving the container transport vehicle (10) along a second direction (Y) perpendicular to the first direction (X) on the track grid (108). The bracket (11) includes a lower end (17) connected to the wheel base (9) and an upper portion (18) connected to the at least one cantilever section (6). The container lifting assembly includes a lifting frame (3) and a plurality of lifting straps (5), the lifting frame (3) being releasably connected to the storage container (106) and suspended from the at least one cantilever section (6) by the lifting straps (5), such that the lifting frame (3) can be raised or lowered relative to the at least one cantilever section (6). The at least one cantilever section (6) extends laterally from the upper portion (18) of the support (11) and is arranged to rotate horizontally relative to the wheel base (9) about a vertical axis between a first position and a second position. In the first position, the at least one cantilever section (6) extends beyond the wheel base (9) such that the lifting frame (3) can retrieve the storage container (106) from the storage column (105) of the frame structure (100) or deliver the storage container to the storage column of the frame structure. In the second position, the at least one cantilever section (6) extends in the opposite direction to that in the first position. When the lifting frame (3) is in the upper position, the vertical distance (H3) between the lifting frame (3) and the lower end (17) of the support (11) is greater than the height of two storage containers stacked on top of each other; and The wheeled base (9) includes a container carrier section (20) with a support surface (24) on which the storage container (106) can be disposed, and in the second position, the at least one cantilever section (6) extends above the container carrier section (20) such that the lifting frame (3) can retrieve the storage container (106) from the support surface (24) of the container carrier section (20) or deliver the storage container to the support surface of the container carrier section.

2. The container handling vehicle (10) according to claim 1, wherein, The vertical distance (H3) is at least 660 mm, such that when each storage container has a height of 330 mm and the bottom of the stack is supported at a horizontal plane corresponding to the horizontal plane of the lower end (17) of the support (11), the lifting frame (3) can be positioned above the stack of at least two storage containers.

3. The container handling vehicle (10) according to claim 1 or 2, wherein, When the bottom of the stack is supported at a horizontal plane corresponding to the horizontal plane of the lower end (17) of the support (11) and the at least one cantilever section (6) is in the second position, the lifting frame (3) can be positioned above the stack of at least two storage containers.

4. The container handling vehicle (10) according to claim 1 or 2, wherein, During rotation of the at least one cantilever section (6), the horizontal periphery of the support (11) is arranged within the horizontal periphery of the wheel base (9).

5. The container handling vehicle (10) according to claim 1 or 2, wherein, The lower end (17) of the bracket (11) is rotatably connected to the wheel base (9) via a swivel ring (30).

6. The container handling vehicle (10) according to claim 1 or 2, wherein, The support (11) is a column.

7. The container handling vehicle (10) according to claim 1 or 2, wherein, The container lifting assembly includes a lifting frame guiding assembly, which includes a first guiding device (12) and a cooperating second guiding device (13), wherein: The first guiding device (12) is mounted on the lifting frame (3); The second guide device (13) is slidably connected to the vehicle body (8) via at least one vertical rail (19), such that the second guide device (13) can move vertically relative to the bracket (11); and The first guide device (12) and the second guide device (13) are arranged to interact with each other when the lifting frame (3) is adjacent to the at least one vertical track (19), thereby limiting the horizontal movement of the lifting frame (3) relative to the at least one cantilever section (6).

8. The container handling vehicle (10) according to claim 7, wherein, The vertical track (19) extends from the lower horizontal plane of the support (11) toward the at least one cantilever section (6), such that the second guide device (13) can move vertically between a lower position adjacent to the support (11) and an upper position where the lifting frame (3) is connected to the at least one cantilever section (6).

9. A vehicle assembly comprising the container handling vehicle (10) of claim 1 or 2, wherein, The container transport vehicle (10) is a first container transport vehicle and the vehicle assembly also includes a second container transport vehicle (401), wherein the second container transport vehicle (401) includes a wheel base and a container carrier (29) disposed on top of the wheel base of the second container transport vehicle (401), the wheel base of the second container transport vehicle (401) being positioned adjacent to the wheel base (9) of the first container transport vehicle, such that the lifting frame (3) of the first container transport vehicle is positioned above the container carrier (29) of the second container transport vehicle (401).

10. A storage system comprising a frame structure (100) and a container handling vehicle (10) as claimed in claim 1, wherein, The container transport vehicle (10) is the first container transport vehicle, and the frame structure (100) includes a plurality of storage columns (105), wherein storage containers (106) can be stored in a vertical stack (107) one on top of another, and the first container transport vehicle is configured to operate on the track grid (108) at the top layer of the frame structure (100) for retrieving the storage containers (106) from the storage columns (105) and storing the storage containers (106) in the storage columns (105), and for transporting the storage containers (106) horizontally across the track grid (108).

11. The storage system of claim 10, comprising a second container transport vehicle (401) operating on the track grid (108) for horizontally transporting storage containers (106) across the track grid (108), wherein, The at least one cantilever section (6) of the first container transport vehicle is arranged on a horizontal plane, allowing the second container transport vehicle (401) to be positioned below the lifting frame (3) of the first container transport vehicle when the lifting frame (3) is in the upper position.

12. The storage system according to claim 11, wherein, The second container handling vehicle (401) is used to retrieve the storage container (106) from the storage column (105) and store the storage container (106) in the storage column (105).

13. The storage system according to claim 11, wherein, When the at least one cantilever section (6) of the first container transport vehicle is in the first position, the second container transport vehicle (401) is configured to be positioned above the first storage column (105') such that the second container transport vehicle (401) can be positioned to retrieve the storage container (106) from the first storage column (105') or to receive the storage container (106) from the first container transport vehicle.

14. A method for retrieving a target storage container (106') from a storage system according to any one of claims 10 to 13, the method comprising the steps of: a. Identify the first storage column (105'), in which the target storage container (106') is stored; b. Move the first container transport vehicle to a position on the track grid (108) where the wheel base (9) is adjacent to the first storage column (105'). c. Arrange the at least one cantilever section (6) in a first position, wherein the at least one cantilever section (6) is arranged directly above the first storage column (105'); d. Retrieve the non-target storage container from the stack of storage containers in the first storage column (105') using the lifting frame (3); e. Rotate the at least one cantilever segment (6) to a second position, wherein the at least one cantilever segment (6) extends in a direction opposite to that in the first position; f. Place the non-target storage container at the second storage column (105'') adjacent to the wheel base (9), on the container carrier section (20) of the wheel base (9), or on the container carrier (29) of the second container transport vehicle (401); g. Rotate the at least one cantilever segment (6) to the first position; h. Repeat steps d to f and optional step g until the target storage container (106') is the uppermost storage container in the first storage column (105'); as well as i. Retrieve the target storage container (106') from the first storage column (105') using the lifting frame (3); or j. The target storage container (106') is retrieved from the first storage column (105') using a container handling vehicle including a container lifting assembly.

15. The method according to claim 14, wherein, Step h generates a stack of multiple non-target storage containers stacked one on top of the other, wherein at least the upper non-target storage containers are arranged above the upper horizontal plane of the track grid (108).

16. The method of claim 14, wherein, Step h generates a stack of multiple non-target storage containers stacked one on top of the other, wherein the retrieved non-target storage containers are arranged above the upper horizontal plane of the track grid (108) and carried by a container transport vehicle.

17. A method for retrieving a plurality of storage containers (106) from a storage system according to any one of claims 10 to 13, the method comprising the steps of: a. Identify the storage column (105), in which the plurality of storage containers (106) are stored; b. Move the first container transport vehicle to a position on the track grid (108) where the wheel base (9) is adjacent to the storage column (105). c. Arrange the at least one cantilever section (6) in the first position, wherein the lifting frame (3) is arranged directly above the storage column (105); d. Retrieve one of the plurality of storage containers (106) from the storage column (105) using the lifting frame (3); e. Rotate the at least one cantilever segment (6) to the second position, wherein the at least one cantilever segment (6) extends in the opposite direction to the direction in the first position; f. Place the storage container on the container carrier section (20) of the wheel base (9) or on the container carrier (29) of the second container transport vehicle (401); g. Rotate the at least one cantilever segment (6) to the first position; and h. Repeat steps d to f and optional step g until the plurality of storage containers (106) are retrieved as a stack of storage containers stacked on top of each other.

18. A method for storing a plurality of storage containers (106) in a storage system according to any one of claims 10 to 13, the method comprising the steps of: a. The plurality of storage containers (106) stacked as storage containers stacked one on top of the other are placed on the container carrier section (20) of the wheel base (9) of the first container transport vehicle or on the container carrier (29) of the second container transport vehicle (401). b. Identify the storage column (105) in which the plurality of storage containers (106) are stored; c. Move the first container transport vehicle on the track grid (108) to a position where the wheel base (9) is adjacent to the storage column (105); d. Arrange the at least one cantilever section (6) in the second position, wherein the lifting frame (3) is arranged directly above the container carrier section (20) or the container carrier (29); e. Retrieve one of the plurality of storage containers (106) from the stack of storage containers on the container carrier section (20) or the container carrier (29) by using the lifting frame (3); f. Rotate the at least one cantilever section (6) to the first position, wherein the at least one cantilever section (6) extends in the opposite direction to the direction in the second position, wherein the lifting frame (3) is arranged directly above the storage column (105); g. Store the storage container (106) in the storage column (105); h. Rotate the at least one cantilever segment (6) to the second position; and i. Repeat steps d to g and optional step h until the plurality of storage containers (106) are stored in the storage column (105).

Images