Container handling vehicle that can load and / or unload itself

Abstract

A container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) for operating on a two-dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide the container handling vehicle in a first direction (X) across a top of a framework structure (100) and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide the container handling vehicle (401) in a second direction (Y) perpendicular to the first direction, the first set of parallel rails and the second set of parallel rails (110, 111) forming a grid dividing the rail system (108) into a plurality of grid cells (122), wherein the container handling vehicle comprises: - a base (2) comprising a movement device for guiding the container handling vehicle along the rail system (108) in the first direction (X) and the second direction (Y), respectively; - a support structure (402) disposed on the base (2), the support structure (402) extending from a lower section at the base (2) to an upper section; - a container lifting device (414) comprising a lifting frame (415) for lifting a storage container (106) upwards from a storage position below the rail system (108), the lifting frame (415) being suspended from a set of suspension points (423) of the upper section of the support structure (402); - a support surface (425) for supporting the storage container (106), the support surface (425) providing a first holding position arranged at a lower height than the lifting frame (415) when the lifting frame (415) is in a docked state adjacent the upper section of the support structure (402); wherein the container handling vehicle comprises a motion mechanism (426, 426', 426", 427, 427', 427", 446, 460) to horizontally translate the set of suspension points (423) or the support surface (425) relative to the base (2) such that a lifted storage container (106) can be placed on the support surface (425) and the lifting frame (415) is detached therefrom. The invention also describes an associated automated storage and retrieval system and a method of loading and unloading storage containers (106) between a stack position in the automated storage and retrieval system and a storage position on the container handling vehicle.

Description

Technical Field

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and more particularly to a container transport vehicle for such a system, and a method for transferring storage containers from a storage location to a support surface on the container transport vehicle. Background Technology

[0002] Figure 1A discloses a typical prior art automated storage and retrieval system 1 with a frame structure 100, and Figures 2 and 3 disclose two different prior art container handling vehicles 201 and 301, which are suitable for operation on such system 1.

[0003] The frame structure 100 includes upright members 102, horizontal members 103, and storage space comprising storage rows 105 arranged between the upright members 102 and the horizontal members 103. In these storage rows 105, storage containers 106, also called boxes, are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which multiple container handling vehicles 201, 301 operate to lift storage containers 106 from and lower storage containers 106 into storage columns 105, and also to transport storage containers 106 above storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301 along a first direction X through the top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301 along a second direction Y perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles through access openings 115 in the track system 108. Container handling vehicles 201 and 301 can move laterally above storage column 105, that is, move in a plane parallel to the horizontal XY plane.

[0005] The horizontal extent of one of the grid cells 122 that constitute the grid pattern is marked with a thick line in Figure 1A.

[0006] Each grid cell 122 has a width typically between 30 and 150 cm and a length typically between 50 and 200 cm. Due to the horizontal extension of the tracks 110, 111, the width and length of each access opening 115 are typically 2 to 10 cm smaller than the width and length of the grid cell 122, respectively.

[0007] Track system 108 can be a single track system, such as Figure 1B As shown. Alternatively, orbital system 108 can be a dual-track system, such as... Figure 1C As shown, this allows container transport vehicles 201 with coverage areas roughly corresponding to the lateral regions defined by storage column 105 to travel along a row of grid columns, even if another container transport vehicle 201 is located above a grid column adjacent to that row. Both single-track and dual-track systems, or a combination of single-track and dual-track arrangements in single-track system 108, form a grid pattern in horizontal plane P comprising a plurality of rectangular and uniform grid locations or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of tracks 110a, 110b of a first set of tracks 110 and a pair of tracks 111a, 111b of a second set of tracks 111. In Figure 2B, grid cells 122 are indicated by dashed boxes.

[0008] Therefore, tracks 110a and 110b form a track pair defining parallel rows of grid cells extending along the X direction, and tracks 111a and 111b form a track pair defining parallel rows of grid cells extending along the Y direction.

[0009] like Figure 1D As shown, each grid cell 122 has a width Wc typically within an interval of 30 to 150 cm and a length Lc typically within an interval of 50 to 200 cm. The width Wo and length Lo of each grid opening 115 are typically 2 to 10 cm smaller than the width Wc and length Lc of the grid cell 122, respectively.

[0010] In the X and Y directions, adjacent grid cells are arranged to contact each other, so that there is no space between them.

[0011] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the process of lifting the containers out of the column 105 and lowering the containers into the column. The stack 107 of the containers 106 is typically self-supporting.

[0012] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c, which respectively enable the container handling vehicle 201, 301 to move laterally in the X and Y directions. 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 of a first set of tracks 110, and the second set of wheels 201c, 301c are arranged to engage with two adjacent tracks of a second set of tracks 111. At least one set 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.

[0013] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage container 106, such as lifting the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row 105. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are lowerable from the vehicle 201, 301 such that the position of the clamping / engaging devices relative to the vehicle 201, 301 is adjustable along a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the clamping device of the container handling vehicle 301 is indicated by reference numeral 304 in FIG. 3. The clamping device of the container handling device 201 is located within the body 201a in FIG. 2.

[0014] Typically, and for the purposes of this application, Z=1 represents the uppermost layer of the storage container, i.e., the layer directly below the track system 108; Z=2 represents the second layer below the track system 108; Z=3 represents the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 represents the lowest layer of the storage container. Similarly, X=1…n and Y=1…n represent the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z indicated in FIG1, the storage container labeled 106' in FIG1 can be said to occupy storage positions 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 represented by its X and Y coordinates.

[0015] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be represented by its position in the X and Y directions, while each storage cell can be represented by its container number in the X, Y, and Z directions.

[0016] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage container 106 when transporting it across the track system 108. The storage space may include a cavity centrally located within the vehicle body 201a, as shown in FIG2, and the contents of which are incorporated herein by reference, for example, as described in WO2015 / 193278A1.

[0017] Figure 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO317366, the contents of which are incorporated herein by reference.

[0018] The central cavity container transport vehicle 201 shown in Figure 2 may have a coverage area that is approximately equal in size to the lateral extent of the storage column 105 in the X and Y directions, 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”.

[0019] Alternatively, the central cavity container transport vehicle 101 may have a coverage area larger than the lateral area defined by the storage column 105, such as disclosed in WO2014 / 090684A1.

[0020] The track system 108 typically includes a track with grooves in which the vehicle's wheels run. Alternatively, the track may include upwardly projecting elements, where the vehicle's wheels 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.

[0021] WO2018 / 146304, the contents of which are incorporated herein by reference, shows a typical construction of an orbital system 108, which includes an orbit and parallel guide rails in the X and Y directions.

[0022] 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 dedicated columns used by container handling vehicles 201, 301 to unload and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside frame structure 100, or moved in or out of frame structure 100. In the art, such a location is commonly referred to as a “port,” and the columns where the ports are located may be referred to as “port columns” 119, 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage container 106 can be placed in a random or dedicated column 105 within the 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. It should be noted that the term "inclined" means transport of storage container 106 with a general transport direction somewhere between horizontal and vertical.

[0023] In Figure 1A, the first port column 119 may be a dedicated unloading port column, where container handling vehicles 201 and 301 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 may be a dedicated picking port column, where container handling vehicles 201 and 301 can pick up the storage container 106 that has been transported from the storage station or transfer station.

[0024] The storage and retrieval station can typically be a pick-up station or a storage station, where product items are removed from or placed 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 instead returned to the frame structure 100 once retrieved. The port can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0025] Storage containers are typically transported between port columns 119, 120 and the access station using a transmitter system that includes a transmitter.

[0026] If port columns 119, 120 and access stations are located at different heights, the conveyor system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0027] The transport system can be arranged to transfer storage container 106 between different frame structures, for example, as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0028] When access is required for a storage container 106 stored in a column 105 shown in Figure 1A, 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. This operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicle 201, 301, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operation also includes temporarily moving the storage container located above 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 vehicles 201, 301 subsequently used to transport the target storage container 106 to the unloading port column 119, or using one or more other cooperating container handling vehicles 201, 301. Alternatively, or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 specifically for the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

[0029] When storage container 106 is to be stored in a column 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 it to the storage container's intended storage location above storage column 105. After any storage container 106 located at or above the target location within stack 107 has been removed, container handling vehicles 201, 301 position the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into storage column 105 or repositioned to another storage column 105.

[0030] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, so that the desired storage container 106 can be delivered to the desired location at the 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 tracking the storage containers 106.

[0031] The purpose of this invention is to provide a container handling vehicle capable of carrying multiple storage containers.

[0032] Another object of the present invention is to provide a container transport vehicle that can load storage containers onto itself and unload storage containers from itself. Summary of the Invention

[0033] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0034] According to the present invention, a container handling vehicle capable of self-loading and unloading is provided. The container handling vehicle includes a base, such as a wheeled base or a track base, a lifting frame, and a support surface. To enable the lifting frame to move storage containers from a storage location within the frame structure (i.e., a storage location below the track system) to the support surface, and vice versa, at least one of the lifting frame and the support surface is movable relative to the base. Therefore, the movement of storage containers between the stack and the support surface can be achieved in the following manner:

[0035] 1) The lifting frame is movable between a location on the container handling vehicle and at least one support surface, where the lifting frame can access a storage location below the track system, and the lifting frame can load and / or unload storage containers from the support surface, or

[0036] 2) The at least one support surface is movable relative to the base between at least one position and one position, in the at least one position the at least one support surface is located directly below the lifting frame, and in the one position the at least one support surface is arranged beyond the lifting frame such that the lifting frame can enter a storage position below the track system.

[0037] A container transport vehicle for operation on a two-dimensional track system is described. The two-dimensional track system includes a first set of parallel tracks and a second set of parallel tracks. The first set of parallel tracks is arranged to guide the container transport vehicle to move in a first direction X through the top of a frame structure. The second set of parallel tracks is arranged perpendicular to the first set of tracks to guide the container transport vehicle to move in a second direction Y, perpendicular to the first direction. The first and second sets of parallel tracks form a grid dividing the track system into multiple grid cells. The container transport vehicle includes:

[0038] - A base, including a moving device for guiding a container transport vehicle along a track system in a first direction X and a second direction, respectively;

[0039] - A support structure installed on the base, which extends from the lower section of the base to the upper section;

[0040] - A container lifting device, including a lifting frame for lifting storage containers upward from a storage location below the track system, the lifting frame being suspended from a set of suspension points on the upper section of a support structure;

[0041] - A support surface for supporting the storage container, the support surface providing a first holding position, which is positioned at a lower height than the lifting frame when the lifting frame is in the docked state and adjacent to the upper section of the support structure.

[0042] -The container handling vehicle includes a motion mechanism to horizontally translate the set of suspension points or support surfaces relative to the base, so that the lifted storage container can be placed on the support surface and the lifting frame can be separated from it.

[0043] The base is preferably a wheeled base, which includes a first set of wheels and a second set of wheels for guiding the container transport vehicle along the track system in the first direction X and the second direction, respectively.

[0044] Alternatively, the base may be a belt base comprising a first belt and a second belt, the first belt and the second belt being used to guide the container transport vehicle along the track system in a first direction X and a second direction, respectively.

[0045] The term "horizontal translation" of the group of suspension points or support surfaces relative to the base can be a movement with only a horizontal component (i.e., only in the horizontal direction), or it can be a movement with both horizontal and vertical components (i.e., in both the horizontal and vertical directions). The latter can be a rotational movement in the vertical plane.

[0046] Container handling vehicles include a set of suspension points for suspending a lifting frame. These suspension points can be pulleys or spools. They can be movable; for example, they can be part of a frame extending along a guide on a fixed cantilever or other horizontal surface, or they can be the entire cantilever that slides across.

[0047] The supporting surface can be provided by any device or surface that provides shelf functionality, such as a plate, a pair of arms forming a forklift, a vehicle, etc.

[0048] The base (hereinafter referred to as the wheel base) serves as the reference for the movement of this set of suspension points (and therefore the lifting frame) and the support surface. The support surface will typically be positioned above or flush with the upper part of the wheel base.

[0049] The motion mechanism is configured for horizontal translational motion, or linear motion (e.g., along the X and Y directions) or rotational motion.

[0050] In addition to the lifting frame and suspension points, the container lifting device may also include one or more lifting shafts, lifting belts, guide pulleys for the lifting belts, etc.

[0051] The container handling vehicle can operate on a two-dimensional track system, which includes a first set of parallel tracks and a second set of parallel tracks. The first set of parallel tracks is arranged to guide the container handling vehicle to move in a first direction X over the top of the frame structure, and the second set of parallel tracks is arranged perpendicular to the first set of tracks to guide the movement of the container handling vehicle in a second direction Y, which is perpendicular to the first direction X.

[0052] In one aspect, at least one of the lifting frame and the supporting surface can be configured for linear translational movement in the horizontal direction. The horizontal direction can be parallel to a set of tracks.

[0053] The suspension point can be linearly movable, such that in a first position, the lifting frame is arranged to retrieve the storage container from the storage location below the track system, and in a second position, the lifting frame is arranged above the first holding position.

[0054] In a first position, the lifting frame can be arranged to retrieve a storage container from a storage location below a track system on which a container handling vehicle operates, and in a second position, the lifting frame can be arranged above a support surface.

[0055] The lifting frame and the first holding position can be arranged such that:

[0056] - In the first position, the vertical projection of the lifting frame is positioned above the first holding position, and

[0057] - In the second position, the vertical projection of the lifting frame avoids the first holding position.

[0058] By means of an actuating motion mechanism, the support surface can be linearly moved relative to the wheel base, such that in a first position, the support surface is arranged within the vertical projection of the wheel base, and in a second position, the support surface is arranged outside the vertical projection of the wheel base. Therefore, in the first position, the lifting device can be arranged to retrieve a storage container from a storage location below the container transport vehicle. The support surface can receive the storage container in a first position below the lifting device (e.g., a container receiving position) and then transfer the storage container to a second position, which is the first holding position.

[0059] The first and second positions of the support surface can correspond to the grid layout of the first set of tracks and the second set of tracks, such that the lifting device lifts the container at the first position corresponding to the grid space to one side of the wheel base, lowers the container onto the support surface, and then the support surface moves to the second position corresponding to the grid space below the wheel base to transfer the storage container to the first holding position.

[0060] The motion mechanism can be arranged in the wheel base, so that the support surface can be horizontally translated relative to the wheel base.

[0061] The motion mechanism can be arranged in the upper section, allowing the lifting frame surface to translate horizontally relative to the wheel base.

[0062] The container handling vehicle may include a second motion mechanism to horizontally translate another of the set of suspension points or support surfaces relative to the wheeled base. Therefore, in this embodiment, both the set of suspension points and support surfaces are movable relative to the wheeled base.

[0063] The container handling vehicle may include a second support surface that provides a second holding position arranged next to or above the first holding position.

[0064] The motion mechanism may include a linear guide system that supports the set of suspension points or support surfaces.

[0065] Linear guidance systems can be horizontally extended.

[0066] A linear guidance system may include at least two motion mechanisms, including:

[0067] - A first motion mechanism for horizontally translating the lifting frame or support surface within an area defined by the vertical projection of the wheel base, and

[0068] - A second motion mechanism for horizontally translating the lifting frame or support surface outside the area defined by the vertical projection of the wheel base.

[0069] The first motion mechanism may include linear bearings, racks and gears, linear actuators, and / or ball screws.

[0070] The second motion mechanism may include linear bearings, racks and gears, linear actuators and / or ball screws.

[0071] In one aspect, at least one lifting device motor and a motion mechanism for horizontally moving the lifting frame may be arranged at or above the lifting frame, preferably close to or above it, so as to be outside the operating area necessary for the vertical and / or horizontal movement of the lifting frame. Alternatively, one or more batteries may also be arranged at or above the lifting frame; however, the batteries may be arranged in a wheeled base, and cables may extend to the lifting device motor.

[0072] When the storage container is positioned in the first holding position, the uppermost part of the storage container can represent a first height; and

[0073] When in the docking state, the lifting frame can have its lowest part at the second highest point; and

[0074] The second height is higher than the first height, so that the lowest part of the docking lifting frame can pass over the highest part of the storage container positioned in the first holding position.

[0075] Container handling vehicles may include:

[0076] - A wheel base in the form of a wheel seat unit, wherein a first set of wheels and a second set of wheels form the outer periphery of the covered area of ​​the wheel seat unit;

[0077] The lower section is disposed on the wheel seat unit. The horizontal range of the coverage area of ​​the lower section is equal to or smaller than the coverage area of ​​the wheel seat unit. The lower section has an upper surface, wherein the upper surface provides a support surface.

[0078] A supporting section, which forms a supporting structure and extends vertically from the lower section, has a horizontal coverage area smaller than that of the lower section; and

[0079] The cantilever section forms the upper section and extends horizontally from the supporting section beyond the coverage area of ​​the lower section; wherein

[0080] The support section includes a through opening for moving the support surface or lifting the frame through it.

[0081] The dimensions of the through opening can be determined for the storage container to pass through. Therefore, it can have a width dimension greater than the width dimension of the storage container (optionally, the larger of the width dimensions of the storage container) and a height dimension greater than the height dimension of the storage container. The through opening can be large enough to accommodate lifting devices and / or support structures. The through opening can include a substantially rectangular opening.

[0082] The coverage area of ​​the wheel seat unit can correspond in size to a single grid cell of the lower grid provided by two sets of tracks (i.e., the area corresponding to the opening in the grid plus the area of ​​the opening surrounding the width of the guide rail corresponding to the track). In other embodiments, the wheel seat unit can correspond to an integer number of grid cells, where the integer is greater than one.

[0083] The container handling vehicle may include a second support surface providing a second holding position disposed above the support surface forming the first holding position, and a cross-sectional area with a through opening may be configured such that the support surface passes through it both when any of the support surfaces holds a storage container and when no storage container is held. When the support surface is disposed directly above the wheel seat unit, the second support surface may be disposed within the vertical projection of the (first) support surface.

[0084] The container handling vehicle may include two lifting frames and at least two support surfaces, wherein the two lifting frames may be arranged on opposite sides of the wheel base and outside the vertical projection of the wheel base, and the at least two support surfaces may be arranged within the vertical projection of the wheel base, and wherein each of the support surfaces may be moved relative to the wheel base to a position outside the wheel base and below one of the lifting frames.

[0085] The container handling vehicle may include two wheeled bases and at least two support surfaces, wherein the wheeled bases may be positioned on each side of the support structure, and one lifting frame may be suspended from the upper section of the support structure, and each of the support surfaces may be movable relative to the wheeled bases to a position below the lifting frame. When the support surfaces are not positioned below the lifting frame, the lifting frame may be arranged to retrieve storage containers from a storage location below the track system.

[0086] The container handling vehicle may include a second motion mechanism to allow the set of suspension points to be horizontally translated relative to the wheel base in one of a first or second direction (X, Y), such that the lifting frame can move in both the X and Y directions. The second motion mechanism may be separate from the (first) motion mechanism or form part of the (first) motion mechanism.

[0087] Container transport vehicles may also include:

[0088] A wheel base in the form of a wheel seat unit, wherein a first set of wheels and a second set of wheels form the outer periphery of the covered area of ​​the wheel seat unit;

[0089] The lower section can be set on the wheel seat unit. The horizontal range of the coverage area of ​​the lower section can be equal to or smaller than the coverage area of ​​the wheel seat unit. The lower section has an upper surface, wherein the upper surface provides a support surface.

[0090] A supporting section, which forms a supporting structure and extends vertically from the lower section, has a horizontal coverage area smaller than that of the lower section; and

[0091] The cantilever section forms the upper section and extends horizontally from the support section beyond the coverage area of ​​the lower section;

[0092] The motion mechanism may include a rotating device adapted to rotate the support section and thereby the cantilever section relative to the wheel base, such that in a first state, the lifting frame can lift the container upward from the storage position below the track system, and in a second state, the lifting frame can place the storage container on the support surface.

[0093] In the second state, the support section and the cantilever section can be within the coverage area of ​​the wheel seat unit. In the first state, the container handling vehicle can occupy two grid cells, while in the second state, the container handling vehicle can occupy only one grid cell.

[0094] The center of gravity of the supporting surface can be positioned above the wheel base.

[0095] The container handling vehicle may also include a weight distribution system comprising a movable load and a load-moving device for shifting the center of gravity of the container handling vehicle according to the load of one or more storage containers carried by the vehicle. The load-moving device may be an actuator, a ball screw, etc. In the container handling vehicle, the movable load may be positioned relatively high or relatively low. In one aspect, it may be positioned above a lifting device. In another aspect, it may be positioned within a wheeled base.

[0096] The weight distribution system may include:

[0097] A set of sensors used to measure the weight of any storage container supported by a support surface and a lifting frame, and

[0098] A control system, connected to both the sensor set and the load moving device, senses mass changes on at least two opposite sides of the container transport vehicle based on measurement data from the sensor set, calculates the travel distance of the movable load corresponding to these mass changes, and instructs the load moving device to move the movable load by the calculated travel distance in the opposite direction to the relatively heavier side of the container transport vehicle. The control system can perform real-time (i.e., instantaneous) calculations of the dynamic center of gravity of the container transport vehicle during movements such as acceleration and deceleration, and instructs the load moving device to move the movable load in a direction that forces the center of gravity to a more advantageous point, while reducing the risk of, for example, tilting of the container transport vehicle.

[0099] A method for loading storage containers between a stacking location in an automated storage and retrieval system and a storage location on a container handling vehicle as described above is also described, wherein the method includes the following steps:

[0100] - The lifting frame using the lifting device picks up the storage containers from the stacking location located below the track system.

[0101] - Place the storage container on the support surface of the container handling vehicle and separate the lifting frame from the storage container.

[0102] The method may also include the following steps:

[0103] - By using a motion mechanism to move the picked-up storage container, the set of suspension points or support surfaces can be horizontally translated relative to the wheel base.

[0104] An automated storage and retrieval system is also described, comprising a two-dimensional track system including a first set of parallel tracks and a second set of parallel tracks. The first set of parallel tracks is arranged to guide a container transport vehicle to move in a first direction X through the top of a frame structure. The second set of parallel tracks is arranged perpendicular to the first set of tracks to guide the container transport vehicle to move in a second direction perpendicular to the first direction. The first set of parallel tracks and the second set of parallel tracks form a grid that divides the track system into multiple grid cells. The automated storage and retrieval system also includes at least one container transport vehicle as described above.

[0105] The system can also include a stack of multiple storage containers below the grid cells.

[0106] The system may also include a control system configured to receive information about the coverage area of ​​the container transport vehicle and use the information to control the system.

[0107] This invention can be used in concepts related to storage container systems, as well as in applications for vertical farming and e-groceries.

[0108] The relative terms “up,” “down,” “below,” “above,” etc., should be understood in their normal meaning and as seen in a Cartesian coordinate system. When referred to relative to a well, “up” or “above” should be understood as a position closer to the well surface (relative to another component), while the terms “down” or “below” should be understood as a position further away from the well surface (relative to another component).

[0109] In summary, the present invention provides a container transport vehicle capable of self-loading and unloading. Attached Figure Description

[0110] The following figures are provided to facilitate understanding of the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only. In the figures:

[0111] Figure 1A to Figure 1D Various aspects of existing storage and retrieval systems are illustrated, in which:

[0112] Figure 1A is a perspective view of the frame structure of a prior art automated storage and retrieval system;

[0113] Figure 1B It is a plan view of two sets of single-rail tracks;

[0114] Figure 1C It is a plan view of two sets of double-guide rails;

[0115] Figure 1D It is a plan view showing the dimensions of a single grid cell;

[0116] Figure 2 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0117] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers underneath;

[0118] Figure 4A and Figure 4B An exemplary wheel base in the form of a wheel seat unit for a container handling vehicle is shown;

[0119] Figures 5A to 5H Different examples of container handling vehicles with through openings in the support section are shown, wherein the support surface is linearly movable relative to the wheel base between a position directly above the wheel base and a position directly below the lifting frame, wherein:

[0120] Figure 5A It is a front perspective view of the storage container arranged on the support surface located directly below the lifting frame;

[0121] Figure 5B yes Figure 5A Rear perspective view;

[0122] exist Figure 5C In this case, the storage container is arranged on the support surface, and the support surface on which the storage container is arranged is located at the intermediate transition point between the position directly below the lifting frame and the position directly above the wheel base.

[0123] Figure 5D yes Figure 5C Rear perspective view;

[0124] Figure 5E It is a front perspective view of the storage container arranged on the support surface located directly above the wheel base;

[0125] Figure 5F yes Figure 5E Rear view;

[0126] Figure 5G This is a front perspective view of a container transport vehicle holding two storage containers, one of which is lifted by a lifting frame, while the other storage container is arranged on a support surface located directly above the wheel base.

[0127] Figure 5H yes Figure 5G Rear perspective view;

[0128] Figures 6A to 6F This is an example of a container handling vehicle with a through opening in the support section, wherein two support surfaces are arranged, which are linearly movable relative to the wheel base between a position directly above the wheel base and a position directly below the lifting frame, and wherein:

[0129] Figure 6A This is a side view of a container handling vehicle that holds a storage container by a lifting frame while the support surface is empty.

[0130] Figure 6B This is a side view of a container handling vehicle that holds a storage container by a lifting frame, with the upper support surface holding the storage container while the lower support surface is empty.

[0131] Figure 6C This is a rear view of a container handling vehicle that holds a storage container on both the upper and lower support surfaces, while the lifting frame does not hold the storage container.

[0132] Figure 6D This is a side view of a container handling vehicle that holds a storage container by a lifting frame, while an upper support surface holds the storage container in place.

[0133] Figure 6E This is a side view of a container handling vehicle, in which one storage container is supported by an upper support surface directly above the wheel base, and another storage container is supported by a lower support surface directly below the lifting frame.

[0134] Figure 6F yes Figure 6E Rear view;

[0135] Figures 7A to 7E This is an example of a container handling vehicle having two lifting frames arranged on opposite sides of a wheeled base, openings in the support sections, and a total of four support surfaces arranged in pairs at two different heights. All support surfaces are linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frames, and wherein:

[0136] Figure 7A This is a side view of a container handling vehicle, in which the storage containers are supported by two lifting frames, and all the support surfaces are positioned directly above the wheeled base, with all the support surfaces being empty.

[0137] Figure 7BThis is a side view of a container handling vehicle, in which the storage containers are carried by two lifting frames, and two upper support surfaces are moved to corresponding positions directly below each lifting frame, while two lower support surfaces are positioned directly above the wheel base.

[0138] Figure 7C This is a side view of a container handling vehicle, in which storage containers are carried by two lifting frames, and two upper support surfaces are arranged directly above a wheeled base, both of which hold the storage containers, while two lower support surfaces are arranged directly below the lifting frames, which are shown not holding the storage containers.

[0139] Figure 7D This is a side view of a container handling vehicle, in which the lifting frame does not hold the storage container, and two upper support surfaces are arranged directly above the wheel base, both of which hold the storage container, while two lower support surfaces are arranged directly below the lifting frame that holds the storage container.

[0140] Figure 7E This is a side view of a container handling vehicle, in which the lifting frame does not hold the storage container, and in which all the support surfaces are arranged directly above the wheel base, and in which all the support surfaces hold the storage container.

[0141] Figures 8A to 8G This is an example of a container handling vehicle having a lifting frame centrally located between two wheeled bases, with openings in the support sections, and a total of four support surfaces arranged with two on each side of the lifting frame. The support surfaces are linearly movable relative to the respective wheeled bases between a position directly above the wheeled bases and a position directly below the lifting frame, wherein:

[0142] Figure 8A This is a side view of a container handling vehicle, where the lifting frame does not hold the storage container, and the other three support surfaces are arranged directly above the respective wheel bases, all of which are empty.

[0143] Figure 8B This is a side view of a container handling vehicle, in which the lifting frame does not hold the storage container, and three support surfaces are arranged directly above the respective wheel bases, with one support surface located directly below the lifting frame and holding the storage container, while the other three support surfaces are empty.

[0144] Figure 8C This is a side view of a container handling vehicle, in which the lifting frame does not hold the storage container, and all the support surfaces are arranged directly above their respective wheel bases, with one support surface holding the storage container while the other three support surfaces are empty;

[0145] Figure 8D This is a side view of a container handling vehicle, in which a lifting frame holds a storage container, and one support surface is arranged directly below the lifting frame, while the other three support surfaces are arranged directly above the wheel base. One support surface holds the storage container, while the other two support surfaces are empty.

[0146] Figure 8E This is a side view of a container handling vehicle, in which a lifting frame holds a storage container, and all support surfaces are arranged directly above a wheeled base, with two support surfaces holding the storage container and two support surfaces being empty;

[0147] Figure 8F This is a side view of a container handling vehicle, in which the lifting frame does not hold the storage container, and one support surface is arranged directly below the lifting frame, while the other three support surfaces are arranged directly above the wheel base, with two support surfaces holding the storage container and one support surface being empty;

[0148] Figure 8G This is a side view of a container handling vehicle, in which the lifting frame does not hold the storage container, and all the support surfaces are arranged directly above the wheel base, with three support surfaces holding the storage container and one support surface being empty;

[0149] Figures 9A to 9E An example of a container handling vehicle is provided, which has a lifting frame suspended from a set of suspension points, wherein these suspension points and thus the lifting frame are configured to translate from a position directly above a fixed support surface arranged on a wheel base of the container handling vehicle and a position directly above a storage location below a track system. The accompanying drawings illustrate the sequential movement of storage containers from their respective storage locations below the track system to the support surfaces within the container handling vehicle.

[0150] Figure 9A This is a side view of a container handling vehicle, with the lifting frame positioned directly above the storage location below the track system.

[0151] Figure 9B This is a side view of a container handling vehicle, where the lifting frame is positioned relative to its... Figure 9A The position in the middle has moved a distance equal to one grid cell, and is now directly above a support surface, having fallen from the storage container onto the support surface;

[0152] Figure 9C This is a side view of a container transport vehicle, in which the lifting frame is lowered below the track system and has picked up the storage container from the storage location below the track system.

[0153] Figure 9DThis is a side view of a container handling vehicle, where the lifting frame is positioned relative to its... Figure 9C The position in the middle has shifted by a distance equal to two grid cells, and with Figure 9B Compared to being directly above another supporting surface, and having already fallen from the storage container onto the supporting surface;

[0154] Figure 9E This is a side view of a container handling vehicle after a total of four storage containers have been positioned on the support surface, showing a stack of two storage containers, with two storage containers in each stack.

[0155] Figure 10A A container handling vehicle is shown with a lifting frame suspended from a set of suspension points, wherein these suspension points, and thus the lifting frame, are configured to translate from two positions: one directly above a fixed support surface arranged on a wheel base of the container handling vehicle and the other directly above a storage position below a track system, wherein these two positions are on opposite sides of the wheel base, and wherein... Figure 10A The container handling vehicle occupies two grid cells because the lifting frame is directly above one of the fixed support surfaces;

[0156] Figure 10B It shows Figure 10A The container handling vehicle 901, wherein the lifting frame 415 has been moved to a position above the storage location below the track system 108;

[0157] Figures 11A to 11C An example is a container transport vehicle arranged on a track system, the container transport vehicle including a lifting frame suspended from a set of suspension points, wherein this set of suspension points and therefore the lifting frame are configured to translate from two positions: one directly above a fixed support surface arranged on a wheel base of the container transport vehicle and the other directly above a storage position below the track system, wherein the two positions are on opposite sides of the wheel base, and wherein:

[0158] Figure 11A A container transport vehicle is shown, wherein a lifting frame is arranged directly above the storage location below the track system and holds the storage container. In this configuration, the container transport vehicle occupies three grid cells.

[0159] Figure 11B A container handling vehicle is shown, wherein, with Figure 11A In contrast, the lifting frame is positioned on the opposite side of the wheeled base, directly above the storage location below the track system, and holds the storage container in this configuration, where the container transport vehicle occupies three grid cells.

[0160] Figure 11CA container transport vehicle is shown, in which the lifting frame is arranged directly above a supporting surface. In this configuration, the container transport vehicle occupies two grid cells.

[0161] Figures 12A to 12D This is an example of a container handling vehicle having a lifting frame suspended from a set of suspension points, wherein these suspension points, and therefore the lifting frame, are configured to translate from a position directly above a movable support surface arranged on the wheel base of the container handling vehicle and a position directly above a storage location below the track system, and wherein the accompanying drawings illustrate the different relative positions of the lifting frame and the movable support surface, and wherein:

[0162] Figure 12A A container handling vehicle is shown, in which the lifting frame is positioned directly above the wheel base, and the empty support surface is positioned outside (beyond) the wheel base;

[0163] Figure 12B A container handling vehicle is shown, wherein the lifting frame is positioned directly above the wheel base, and the supporting surface of the storage container is kept outside (beyond) the wheel base;

[0164] Figure 12C A container handling vehicle is shown, in which the lifting frame is positioned outside (beyond) the wheel base, keeping the support surface of the storage container outside (beyond) the wheel base directly below the lifting frame;

[0165] Figure 12D A container handling vehicle is shown, wherein a lifting frame is positioned outside (beyond) the wheel base and holds the storage container, and a support surface is arranged directly above the wheel base;

[0166] Figure 13A It is a top view of a container handling vehicle having two linear motion mechanisms for suspension points and thus for lifting frames, the motion mechanisms including an extendable linear guide system, wherein the first motion mechanism is for horizontal translational movement of the lifting frame or support surface within an area defined by the vertical projection of the wheel base, and the second motion mechanism is for horizontal translational movement of the lifting frame or support surface outside (beyond) the area defined by the vertical projection of the wheel base;

[0167] Figure 13B yes Figure 13A Enlarged view of section A in the image;

[0168] Figure 13C Details of a linear motion mechanism in the form of a ball screw for moving a suspension point or a movable support surface are shown.

[0169] Figure 13D yes Figure 13C Enlarged view of section B in the image;

[0170] exist Figure 13E In the image, the lateral support element has been removed to better show the threaded shaft and the nut, which includes a ball bearing that engages the lateral support element to interact with the threaded shaft.

[0171] Figures 14A to 14D An example of a container handling vehicle having a wheeled base, a support section, and a cantilever section is provided, wherein a lifting frame is suspended from a set of suspension points in the cantilever section, and wherein the motion mechanism includes a rotating device adapted to rotate the support section and thus the cantilever section relative to the wheeled base, such that in a first state, the lifting frame can lift a container upward from a storage position below the track system, and in a second state, the lifting frame can place the storage container on a support surface, wherein:

[0172] Figure 14A A container handling vehicle is shown, in which the lifting frame is positioned directly above the storage location below the track system, and the supporting surface is empty;

[0173] Figure 14B yes Figure 14A Rear view;

[0174] Figure 14C A container handling vehicle is shown, in which... Figure 14A and Figure 14B In contrast, the lifting frame has been rotated 180 degrees, and both the lifting frame and the support surface are empty, meaning that the storage container is not being held.

[0175] Figure 14D It is a container transport vehicle in which the lifting frame is positioned directly above the storage location below the track system, and both the lifting frame and the support surface hold the storage container.

[0176] Figure 15 This is a top view of an example of a container handling vehicle's components that can be arranged in a lifting device;

[0177] Figures 16A to 16B Different examples of container handling vehicles with a weight distribution system are shown, which includes a movable load and a load moving device for changing the center of gravity of the container handling vehicle according to the load of one or more storage containers carried by the vehicle; wherein:

[0178] Figure 16A An example of a container handling vehicle with a cantilever design and movable support surface is shown;

[0179] Figure 16B It has a weight distribution system Figures 5A to 5HExamples of container handling vehicles;

[0180] Figures 17A to 17C Different examples of container handling vehicles with through openings in the support section are shown, wherein the support surface is linearly movable relative to the wheel base between a position directly above the wheel base and a position directly below the lifting frame. The container handling vehicle also includes a weight distribution system, wherein:

[0181] Figure 17A It is a front perspective view of the storage container arranged on the support surface located directly above the wheel base;

[0182] Figure 17B yes Figure 17A Top perspective;

[0183] Figure 17C yes Figure 17B Detailed view of the dashed area in the image;

[0184] Figures 18A to 18E It shows Figures 17A to 17C Details of a container handling vehicle, comprising a wheeled base, a support section, and a cantilever section, wherein a lifting frame is suspended from a set of suspension points in the cantilever section, and wherein the support surface can move relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frame by rotational movement in a vertical plane, wherein:

[0185] Figure 18A This is a side perspective view of a container handling vehicle, in which the lifting frame holds the storage containers and the empty support surface is located directly above the wheel base;

[0186] exist Figure 18B In the process, the lifting frame retains the storage container, and the support surface will move from its initial position directly above the wheel base to a position directly below the lifting frame;

[0187] exist Figure 18C In the middle, the support surface has moved to a position directly below the lifting frame, and the lifting frame no longer holds the storage container because it has fallen onto the support surface;

[0188] exist Figure 18D In this process, the lifting frame does not hold the storage container, and the support surface and the storage container disposed thereon will move from a position directly below the lifting frame to a position directly above the wheel base;

[0189] exist Figure 18E In the middle, the lifting frame does not hold the storage container, and the support surface and the storage container set on it have moved to a position directly above the wheel base;

[0190] Figure 19A and Figure 19B The vertical planar motion mechanism for moving the support surface between a position directly above the wheel base and a position directly below the lifting frame is shown in detail.

[0191] Figures 20A to 20B An example of a container handling vehicle is shown, having three linear motion mechanisms for suspension points and thus for lifting the frame. The motion mechanisms include an extendable linear guidance system, wherein a first motion mechanism is used for horizontal translation of the lifting frame along a first direction within a region defined by the vertical projection of the wheel base; a second motion mechanism is used for horizontal translation of the lifting frame along the first direction outside (beyond) the region defined by the vertical projection of the wheel base; and a third motion mechanism is used for movement along a direction perpendicular to the first direction; wherein:

[0192] exist Figure 20A In the middle, the lifting frame is arranged within the area defined by the vertical projection of the wheel base;

[0193] exist Figure 20B In the middle, the lifting frame has been moved to a position outside the area defined by the vertical projection of the wheel base;

[0194] Figures 21A to 21C An example of a container handling vehicle is shown, which has three linear motion mechanisms for the suspension point and thus for the lifting frame, and a rotary mechanism for rotating the suspension point and thus for rotating the lifting frame.

[0195] exist Figure 21A In the middle, the lifting frame is located outside the area defined by the vertical projection of the wheel base;

[0196] exist Figure 21B An example of a rotating mechanism for rotating the suspension point and thus the lifting frame is shown in the figure.

[0197] exist Figure 21C In the middle, the lifting frame is positioned within the area defined by the vertical projection of the wheel base, and the lifting frame and Figure 21A The lifting device in the middle has already rotated 90 degrees; Detailed Implementation

[0198] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted therein.

[0199] The frame structure 100 of the automatic storage and retrieval system 1 is constructed according to the prior art frame structure 100 described above in conjunction with Figures 1 to 3, namely, a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the frame structure 100 further includes a first upper track system 108 in the X and Y directions.

[0200] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102 and 103, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0201] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be much wider and / or much longer and / or much deeper than disclosed in Figure 1A. For example, the frame structure 100 can have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0202] Figure 4A and Figure 4B An exemplary wheeled base in the form of a wheel base unit for remotely operated vehicles according to the present invention is shown. The wheel base unit 2 is characterized by wheel assemblies 32a, 32b for a first set of wheels 32a for movement along a first direction on a track system and a second set of wheels 32b for movement along a second direction perpendicular to the first direction. Each set of wheels comprises two pairs of wheels arranged on opposite sides of the wheel base unit 2. To change the direction in which the wheel base unit can travel on the track system, one set of wheels 32b is connected to a wheel shifting assembly 7. The wheel shifting assembly is capable of raising and lowering the connected set of wheels 32b relative to the other set of wheels 32a, such that only the set of wheels traveling in the desired direction contacts the track system. The wheel shifting assembly 7 is driven by an electric motor 8. Furthermore, two electric motors 4, 4' powered by a rechargeable battery 6 are connected to the set of wheels 32a, 32b to move the wheel base unit in the desired direction.

[0203] Further reference Figure 4A and Figure 4B The dimensions of the horizontal periphery of the wheel seat unit 2 are configured to be suitable for installation within a horizontal region defined by the grid cells, such that two wheel seat units 2 can pass over each other on any adjacent grid cells of the track systems 108, 308. In other words, the wheel seat unit 2 can have a coverage area, i.e., the extent in the X and Y directions, which is approximately equal to the horizontal area of ​​the grid cell, i.e., the extent of the grid cell in the X and Y directions, such as that described in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0204] refer to Figure 4BThe wheel hub unit 2 has a top panel / flange 9 (i.e., upper surface) configured as a connection interface for the container carrier. The top panel 9 has a central opening 20 and is characterized by a plurality of through holes 10 (i.e., connecting elements) adapted for bolting connections via corresponding through holes in the lower section of the container carrier. In other embodiments, the connecting elements of the top panel 9 may be, for example, threaded pins for interacting with the through holes in the lower section. The presence of the central opening 20 is advantageous because it provides access to internal components of the wheel hub unit 2, such as the rechargeable battery 6 and the electronic control system 21.

[0205] Figures 5A to 5H Different examples of a container transport vehicle 401 with a through opening 422 in a support section 402 are shown, wherein the support surface 425 is linearly movable relative to the wheel base 2 between a position directly above the wheel base 2 and a position directly below the lifting frame 415 through the through opening 422. A container transport vehicle 401 with a wheel base 2 is disclosed, the wheel base including a first set of wheels 32a and a second set of wheels 32b for guiding the container transport vehicle 401 along a track system 108 in a first vertical direction X and a second vertical direction Y, respectively. The container transport vehicle also includes a support structure 402 disposed on the wheel base 2, the support structure 402 extending from a lower section at the wheel base 2 to an upper section connected to a cantilever section 413. The container transport vehicle 401 also includes a container lifting device 414, which includes a method for lifting storage containers 106 from a lower track system (the track system is located at...) Figures 5A to 5H The lifting frame 415 is raised upward from the storage position below (not shown in the image). The lifting frame 415 is lifted via a lifting belt (in... Figures 5A to 5H (Not shown in the image) From a set of suspension points (in the cantilever section 413) Figures 5A to 5H The container transport vehicle 401 (not shown) is suspended and includes a container guide 424 at each corner for assisting in guiding the lifting frame 415 relative to the storage container 106 when approached from above. The lifting frame 415 also includes a releasable connector or clamp 421 for engaging with corresponding holes in the storage container. The container transport vehicle 401 also includes a support surface 425 for supporting the storage container 106, which provides a first holding position positioned at a lower height than the lifting frame 415 when the lifting frame 415 is in a docked position adjacent to the cantilever section 413. The container transport vehicle 401 includes a linear motion mechanism 426 for horizontally translating the support surface 425 relative to the wheel base 2, such that the lifted storage container 106 can be placed on the support surface 425 and the lifting frame 415 disengaged from it. The coverage area of ​​the wheel base 2 is a single grid cell, while the coverage area of ​​the container transport vehicle is two grid cells.

[0206] Figure 5AThis is a front perspective view of the storage container 106 arranged on the support surface 425 located directly below the lifting frame 415 of the container handling vehicle 401.

[0207] Figure 5B yes Figure 5A The rear perspective view.

[0208] exist Figure 5C In the middle, the storage container 106 is arranged on the support surface 425, and the support surface 425 on which the storage container 106 is arranged is located at the intermediate transition between the position directly below the lifting frame 415 and the position directly above the wheel base 2.

[0209] Figure 5D yes Figure 5C The rear perspective view.

[0210] Figure 5E This is a front perspective view of the storage container 106 arranged on a support surface 425, which is positioned directly below the lifting frame (as shown in the image). Figure 5A and Figure 5B (As shown) Move to the position directly above the wheel base 2.

[0211] Figure 5F yes Figure 5E The rear perspective side view.

[0212] Figure 5G This is a front perspective view of a container transport vehicle 401 holding two storage containers 106, one of which is lifted by a lifting frame 106, while the other storage container 401 is arranged on a movable support surface 425 located directly above the wheel base 2.

[0213] Figure 5H yes Figure 5G The rear perspective view.

[0214] Figures 6A to 6F This is an example of a container handling vehicle 501 with a through opening 422 in the support section 402, wherein two support surfaces 425 are arranged, which are linearly movable relative to the wheel base 2 between a position directly above the wheel base 2 and a position directly below the lifting frame 415. The coverage area of ​​the wheel base 2 is one grid cell, while the coverage area of ​​the container handling vehicle is two grid cells. Therefore, Figures 6A to 6F The container handling vehicle 501 can carry three storage containers 106 while occupying two grid cells. The remaining features of the container handling vehicle 501 are similar to those described above. Figures 5A to 5H The features of the container handling vehicle 401 described herein will not be repeated here.

[0215] Figure 6AThis is a side view of a container handling vehicle 501, which holds a storage container 106 via a lifting frame 415, while the support surface 425 is empty.

[0216] Figure 6B This is a side view of a container transport vehicle 501, which holds a storage container 106 via a lifting frame 415, while an upper support surface 425 holds the storage container 106, and a lower support surface 425 is empty. The lower support surface 425 is shown positioned directly below the lifting frame 415, while the upper support surface is positioned directly above the wheel base 2.

[0217] Figure 6C This is a rear view of a container transport vehicle 501, which holds a storage container 106 on each of the upper and lower support surfaces 425, while the lifting frame 415 does not hold the storage container 106 at this time. Both support surfaces 425 are arranged directly above the wheel base 2.

[0218] Figure 6D This is a side view of a container handling vehicle 501, which holds a storage container 106 via a lifting frame 415, while an upper support surface 425 holds the storage container 106. The lower support surface... Figure 6D It is not visible in the middle.

[0219] Figure 6E This is a side view of the container handling vehicle 501, in which a storage container 106 is supported by an upper support surface 425 arranged directly above the wheel base 2, and a lower support surface 425 arranged directly below the lifting frame 425. The lower support surface 426... Figure 6E It is invisible, but can carry things like... Figure 6F Another storage container 106 is shown.

[0220] Figure 6F yes Figure 6E Rear view.

[0221] Figures 7A to 7E An example is a container handling vehicle 601, which has two lifting frames 415 arranged on opposite sides of a wheel base 2, openings provided in the support sections, and a total of four support surfaces 425 arranged in two side-by-side at two different heights. Figures 7A to 7E The container handling vehicle 601 is a double cantilever type, i.e., it comprises two cantilever arms 413. All support surfaces 425 are linearly movable relative to the wheel base 2 between a position directly above the wheel base 2 and a position directly below the lifting frame 415. The coverage area of ​​the wheel base 2 is two grid cells, while the coverage area of ​​the container handling vehicle is four grid cells. Therefore, Figures 7A to 7EThe container handling vehicle 601 can carry six storage containers 106 while occupying only four grid cells. The remaining features of the container handling vehicle 601 are similar to those described above. Figures 5A to 5H and Figures 6A to 6F The features of the container handling vehicles 401 and 501 are described and will not be repeated here.

[0222] Figure 7A This is a side view of a container handling vehicle 601, in which storage container 106 is supported by two lifting frames 415, with all support surfaces 425 positioned directly above the wheel base 2 and all support surfaces being empty.

[0223] Figure 7B This is a side view of a container handling vehicle 601, wherein the storage container 106 is carried by two lifting frames 415, and wherein two upper support surfaces 425 are moved to corresponding positions directly below each lifting frame 425, while two lower support surfaces 425 are positioned directly above the wheel base 2.

[0224] Figure 7C This is a side view of a container handling vehicle 601, wherein a storage container 106 is carried by two lifting frames 415, and two upper support surfaces 425 are arranged directly above the wheel base 2, which hold the storage container 106, while two lower support surfaces 106 are arranged directly below the lifting frames 415 that do not hold the storage container 106.

[0225] Figure 7D This is a side view of a container handling vehicle 601, wherein the lifting frame 415 does not hold the storage container 415, and wherein two upper support surfaces 425 are arranged directly above the wheel base 2, which hold the storage container 106, while two lower support surfaces 425 are arranged directly below the lifting frame 415 that holds the storage container 106.

[0226] Figure 7E This is a side view of a container handling vehicle 601, wherein the lifting frame 415 does not hold the storage container 106, and wherein all support surfaces 425 are arranged directly above the wheel base 2, and all support surfaces hold the storage container 106.

[0227] Figures 8A to 8GThis is an example of a container handling vehicle 701, in which a lifting frame is arranged at the center between two wheeled bases 2, with openings in the support sections, and a total of four support surfaces 425 arranged on each side of the lifting frame 415, two on each side. The body of the container handling vehicle 701 thus has a central cavity design, in which storage containers can be lifted into the storage space at the center of the container handling vehicle 701. The body of the container handling vehicle 701 connects to the two wheeled bases 2. On each side of the body, openings (not shown) are provided to allow the corresponding four support surfaces 425 to move together with the storage container 106 between a position above a wheeled base 2 and a position directly below the lifting frame 415. All support surfaces 425 are linearly movable relative to the corresponding wheeled base 2 between a position directly above the wheeled base 2 and a position directly below the lifting frame 415. The coverage area of ​​the two wheeled bases 2 is two grid cells, while the coverage area of ​​the container handling vehicle is three grid cells. Therefore, in this arrangement, Figures 8A to 8G The container handling vehicle 701 can carry five storage containers 106 while occupying only three grid cells. The remaining features of the container handling vehicle 701 are similar to those described above. Figures 5A to 5H and Figure 6A To Figure F and Figures 7A to 7E The features of the container handling vehicles 401 and 501 are described and will not be repeated here.

[0228] Figure 8A This is a side view of the container handling vehicle 701, in which the lifting frame 415 does not hold the storage container 106, while the other three support surfaces 425 are arranged directly above the respective wheel bases 2, and all support surfaces are empty.

[0229] Figure 8B This is a side view of a container handling vehicle 701, wherein the lifting frame 415 does not hold the storage container 106, and wherein three support surfaces 425 are arranged directly above the respective wheel bases 2, one of which is located directly below the lifting frame 415 and holds the storage container 106, while the other three support surfaces are empty.

[0230] Figure 8C This is a side view of the container handling vehicle 701, wherein the lifting frame 415 does not hold the storage container 106, and wherein all the support surfaces 425 are arranged directly above their respective wheel bases 2, one of which holds the storage container 106 while the other three support surfaces are empty.

[0231] Figure 8DThis is a side view of the container handling vehicle 701, in which a lifting frame 415 holds the storage container 106, and one support surface 425 is arranged directly below the lifting frame 415, while the other three support surfaces 425 are arranged directly above the wheel base 2, one of which holds the storage container 106, while the other two support surfaces are empty.

[0232] Figure 8E This is a side view of a container handling vehicle 701, in which a lifting frame 415 holds a storage container 106, and in which all support surfaces 425 are arranged directly above a wheel base 2, with two support surfaces holding the storage container 106 and two support surfaces being empty.

[0233] Figure 8F This is a side view of the container handling vehicle 701, wherein the lifting frame 415 does not hold the storage container 106, and one support surface 425 is arranged directly below the lifting frame 415, while the other three support surfaces 425 are arranged directly above the wheel base 2, wherein two support surfaces hold the storage container 106, and one support surface is empty.

[0234] Figure 8G This is a side view of a container handling vehicle 701, wherein the lifting frame 451 does not hold the storage container 106, and wherein all the support surfaces 425 are arranged directly above the wheel base 2, wherein three support surfaces hold the storage container 106, while one support surface is empty.

[0235] Figures 9A to 9E It has a set of suspension points 423 ( Figures 9A to 9E (Not shown in detail, see Figures 10 to 13) An example of a container transport vehicle 801 with a suspended lifting frame 415, wherein this set of suspension points and therefore the lifting frame 415 are configured to translate from a position directly above a fixed support surface 425 arranged on the wheel base 2 of the container transport vehicle 801 and a position directly above a storage location located below the track system. The figures illustrate the sequential movement of the storage container 106 from its corresponding storage location below the track system to the support surface 425 in the container transport vehicle 801. The container transport vehicle 801 may have two support surfaces 425, such as... Figures 9A to 9E As shown. However, although not shown, the container handling vehicle 801 may also have four or more support surfaces 425, for example, arranged in a straight line or arranged in a 2×2 cube. In the latter, this set of suspension points needs to be able to translate the lifting frame 415 in the X and Y directions. The lifting frame 415 is located directly above the storage location below the track system 108 (see, for example, [link to relevant documentation]). Figure 9A ) or directly above one of the support surfaces 425 arranged within the container handling vehicle 801 (see, for example, see...) Figure 9B The container transport vehicle 801 has a variable coverage area. To move the suspension point 423 and thus the lifting frame 415 between a position directly above the fixed support surface 425 arranged on the wheel base 2 of the container transport vehicle 801 and a position directly above the storage location below the track system 108, the container transport vehicle may include a first motion mechanism and a second motion mechanism. The first motion mechanism is for horizontal translational movement of the lifting frame 415 within the area defined by the vertical projection of the wheel base 2, and the second motion mechanism is for horizontal translational movement of the lifting frame 415 or the support surface outside the area defined by the vertical projection of the wheel base 2.

[0236] Figure 9A This is a side view of the container handling vehicle 801, with the lifting frame 415 positioned directly above the storage location below the track system 108. The container handling vehicle 801... Figure 9A It occupies three grid cells, 122.

[0237] Figure 9B This is a side view of the container handling vehicle 801, in which the lifting frame 415 is positioned relative to its... Figure 9A The container has moved a distance equal to one grid cell and is now directly above a support surface 425, having fallen from the storage container 106 onto the support surface 425. The container transport vehicle 801 is... Figure 9B It occupies two grid cells, 122.

[0238] Figure 9C This is a side view of a container handling vehicle 801, in which a lifting frame 415 is suspended downwards below a track system 108 using lifting belts 417a, 417b, and a storage container 108 has been picked up from a storage location located below the track system 108.

[0239] Figure 9D This is a side view of the container handling vehicle 801, in which the lifting frame 415 is positioned relative to its... Figure 9C The position in the middle has shifted by a distance equal to two grid cells, and with Figure 9B Compared to being located directly above another support surface 425, and having already fallen from the storage container 106 onto the support surface 425.

[0240] Figure 9E This is a side view of the container handling vehicle 801 after a total of four storage containers 106 have been positioned on the support surface 425, showing a stack of two storage containers 106, with two storage containers 106 in each stack.

[0241] Figure 10AA container handling vehicle 901 is shown, having a lifting frame 415 suspended from a set of suspension points 423. This set of suspension points 423, and therefore the lifting frame 415, is configured to translate from a position directly above a fixed support surface 425 arranged on a wheel base 2 of the container handling vehicle 901 to one of two positions directly above a storage position 425 located below a track system 108, using a linear motion mechanism 427. The two positions are on opposite sides of the wheel base 2. Figure 10A The container transport vehicle occupies two grid cells 122 because the lifting frame 415 is located directly above a fixed support surface 425. Figure 10A The motion mechanism is in the form of a linear guide system, wherein a lifting device 414 with a lifting frame 415 is arranged within the upper part of the container transport vehicle 901 and is movable along the guide system via complementary connections (e.g., linear bearings, racks and pinions, linear actuators, and / or ball screws). To move the suspension point 423 and thus the lifting frame 415 between a position directly above one of the fixed support surfaces 425 arranged on the wheel base 2 of the container transport vehicle 901 and a position directly above the storage location below the track system 108, the container transport vehicle 901 may include a first motion mechanism 427' and a second motion mechanism 427'". The first motion mechanism is used to horizontally translate the lifting frame 415 within an area defined by the vertical projection of the wheel base 2, and the second motion mechanism 427' is used to horizontally translate the lifting frame 415 outside (beyond) the area defined by the vertical projection of the wheel base 2. Figure 13 shows examples and more detailed illustrations of the different motion mechanisms 427, 427', 427" for this set of suspension points 423 (and the movable support surface 425 of the exemplary container transport vehicle described above).

[0242] Figure 10B It shows Figure 10A The container handling vehicle 901, wherein the lifting frame 415 has been moved to a position above the storage location below the track system 108. Figure 10B The container transport vehicle occupies three grid cells 122 because the lifting frame 415 is outside the wheel base 2 and directly above the storage location below the track system 108.

[0243] Figures 11A to 11CThis is an example of a container handling vehicle 1001 arranged on a track system 1001. The container handling vehicle 1001 includes a lifting frame 415 suspended from a set of suspension points 423, wherein these suspension points 423 and therefore the lifting frame 415 are configured to translate from two positions: one directly above a fixed support surface 425 arranged on a wheel base 2 of the container handling vehicle 1001 and the other directly above a storage position located below the track system 108, wherein these two positions are on opposite sides of the wheel base 2. The container handling vehicle 1001 has a number of... Figure 10A and Figure 10B The container handling vehicle 901 in Figures 9 and 10 has similar features, and these features will not be repeated here. Similar to the example container handling vehicles 801 and 901 in Figures 9 and 10, Figures 11A to 11C The container handling vehicle may include a first motion mechanism 427' (shown as a rack and pinion system) and a second motion mechanism 427' (shown as a ball screw system).

[0244] Figure 11A A container transport vehicle 1001 is shown, wherein a lifting frame 415 is arranged directly above a storage location 425 located below a track system 108 and holds the storage container 108. Figure 11A The container transport vehicle 1001 occupies three grid cells in this configuration.

[0245] Figure 11B The container handling vehicle 1001 is shown, wherein... Figure 11A In contrast, the lifting frame 415 is arranged on the opposite side of the wheel base 2 and directly above the storage location located below the track system 108, holding the storage container 108 in place. The container transport vehicle 1001 occupies three grid cells 122 in this configuration.

[0246] Figure 11C A container transport vehicle 1001 is shown, with a lifting frame 415 positioned directly above a support surface 425. The container transport vehicle 1001 occupies two grid cells 122.

[0247] Figures 12A to 12D This is an example of a container handling vehicle 1101 having a lifting frame 415 suspended from a set of suspension points 423, wherein the set of suspension points 423 and therefore the lifting frame 415 are configured to translate from a position directly above a movable support surface 425 arranged on the wheel base 2 of the container handling vehicle 1101 and a position directly above a storage location located below the track system. The accompanying drawings illustrate the different relative positions of the lifting frame 415 and the movable support surface 425. Figures 12A to 12D The container handling vehicle 1101 is similar to the one about Figure 10A and Figure 10BThe container transport vehicle described, in addition to Figures 12A to 12D The container handling vehicle 1101 in the middle has the same Figure 10A and Figure 10B Compared to the fixed support surface 425, the movable support surface 425 will not be described in more detail here. To move the support surface 425 between a position directly above the wheel base 2 and a position outside the wheel base 2, the container handling vehicle 901 may include a first motion mechanism 426' and a second motion mechanism 426''. The first motion mechanism is used to cause the support surface 425 to translate horizontally within the area defined by the vertical projection of the wheel base 2, and the second motion mechanism is used to cause the support surface 425 to translate horizontally outside the area defined by the vertical projection of the wheel base 2 (i.e., beyond that area). Figures 13A to 13E Examples and more detailed illustrations of the different motion mechanisms 426, 426', 426”, 427, 427', 427” for this set of suspension points 423 and movable support surfaces 425 used in the exemplary container handling vehicle described above are shown.

[0248] Figure 12A A container handling vehicle 1101 is shown, wherein the lifting frame 415 is positioned directly above the wheel base 2, and the empty support surface 425 is positioned outside the wheel base 2.

[0249] Figure 12B A container handling vehicle 1101 is shown, wherein the lifting frame 415 is positioned directly above the wheel base 2 and keeps the movable support surface 415 of the storage container 106 outside the wheel base 2.

[0250] Figure 12C A container handling vehicle 1101 is shown, wherein a lifting frame 415 is positioned outside a wheel base 2, keeping the support surface 425 of the storage container 106 positioned outside the wheel base 2 directly below the lifting frame 415.

[0251] Figure 12D A container handling vehicle 1101 is shown, wherein a lifting frame 415 is positioned outside a wheeled base 2 and holds a storage container 106, and a support surface 425 is arranged directly above the wheeled base 2.

[0252] Figure 13AThis is a top view of a container handling vehicle having two linear motion mechanisms 427', 427" for suspension point 423 and therefore for lifting frame 415. The first motion mechanism 427' includes an extendable linear guide system, wherein the first motion mechanism 427' is in the form of a rack and pinion system for horizontally translating the lifting frame (or, if supporting a support surface, then support surface 425) within an area defined by the vertical projection of the wheel base 2. The second motion mechanism 427" is used to horizontally translate the lifting frame 415 (or, if supporting a support surface, then support surface 425) outside the area defined by the vertical projection of the wheel base 2. The second motion mechanism 427” is in the form of a ball screw. The rack and pinion system includes one or more rollers 440 movable along guide rails 441 disposed on opposite sides of the container handling vehicle. The ball screw 442 mechanism converts the rotational motion of the threaded shaft portion 443 arranged on the container handling vehicle into linear motion of the ball bearings 444 on the lateral support member 445 for the suspension point 423. The lateral support member 445 extends between the threaded shaft portions 443 on opposite sides of the container handling vehicle. The principle of the ball screw 442, that is, the conversion of rotational motion into linear motion, is known to those skilled in the art and will not be described further herein.

[0253] The drive of motion mechanisms 426 and 427 can be provided by suitable drive motors or actuation mechanisms known to those skilled in the art, and will not be described in more detail here.

[0254] Figure 13B yes Figure 13A Enlarged view of section A in the image.

[0255] Figure 13C Linear motion mechanisms 426 and 427 are shown in the form of ball screws 442 arranged for moving suspension point 423 or movable support surface 425. Figures 13C to 13E The exemplary ball screw arrangement 442 can be used as a first motion mechanism 426', 427' and a second motion mechanism 426", 427" for both the movable suspension point 423 and the movable support surface 425. Figure 13C In an exemplary embodiment, two parallel threaded shaft portions 443 are disclosed. Two lateral support elements 445 extend between the parallel threaded shaft portions 443. The lateral support elements 445 are provided with ball bearings 444 for linear movement when the threaded shaft portions 443 rotate.

[0256] Figure 13D yes Figure 13C Enlarged view of section B in the image.

[0257] exist Figure 13EIn the image, the lateral support element 445 has been removed to better show the threaded shaft portion 443 and the ball bearing on the lateral support element 445 that interacts with the threaded shaft portion 443.

[0258] Figures 14A to 14D This is an example of a container handling vehicle 1201 having a wheeled base 2, a support section 402, and a cantilever section 413. The lifting frame 415 is suspended from a set of suspension points 423 in the cantilever section 413. The motion mechanism 427 includes a rotating device 446 (see...). Figure 14C ), which is adapted to rotate the support section 402 and thus the cantilever section 413 relative to the wheel base 2, such that in the first state ( Figure 14A and Figure 14B The lifting frame 413 can lift the container upwards from its storage location below the orbital system 108, and in the second state ( Figure 14C The lifting frame 415 allows the storage container 106 to be placed on the support surface 425. For example... Figures 14A to 14D As shown, in the first state, the container transport vehicle 1201 occupies two grid cells 122, while in the second state, the container transport vehicle 1201 occupies only one grid cell 122.

[0259] Figure 14A A container handling vehicle 1201 is shown, wherein a lifting frame 415 is arranged directly above a storage location located below a track system 108, and a support surface 425 is empty.

[0260] Figure 14B yes Figure 14A Rear view.

[0261] Figure 14C The container handling vehicle 1201 is shown, wherein the support section 402 and therefore the cantilever section 413 and the lifting frame 415 are connected to... Figure 14A and Figure 14B Compared to when it has already been rotated 180 degrees by rotating device 446, both lifting frame 415 and support surface 425 are empty, meaning that storage container 106 is not held in the figure.

[0262] Figure 14D It is a container handling vehicle 1201, in which a lifting frame 415 is arranged directly above a storage location located below the track system 108. Both the lifting frame 415 and the support surface 425 are shown for holding the storage container 106.

[0263] Figure 15This is a top view of an example of a container handling vehicle whose components can be arranged in a lifting device. Thus, a possible arrangement of the lifting device 414 is disclosed, wherein, in addition to the lifting shaft 418 and the lifting belt 417 which can be wound onto or away from the common or individual lifting shaft 418, there is also a lifting device motor 416. Figure 15 The lifting device motor 416 can be a brushless DC motor surrounding one of the lifting shafts 418 as shown in the figure. Figure 15 In one example, two lifting motors 416 are shown, one on each side of the lifting controller 419. Instead of winding the lifting belt 417 onto the same lifting shaft 418, a synchronizing element, such as that in WO 2019 / 137870A1 (Applicant: Automatic Storage Technology Co., Ltd.), can be used. Figures 5A to 5E and Figure 6A The force transmission element disclosed in Figure 6H is used to achieve synchronous operation of the lifting shaft 418, the contents of which are incorporated herein by reference.

[0264] Figures 16A to 16B Different examples of container handling vehicles with different weight distribution systems 450 are shown. The weight distribution system 450 includes a movable load 452 and a load moving device 451 for changing the center of gravity of the container handling vehicle according to the load of one or more storage containers 106 carried by the vehicle, for example, in the presence of uneven loads or preferably to provide more balance. The weight distribution system 450 may also include a control system 454 for instructing the load moving device 451 to move the movable load 452 in a direction that counteracts the weight of the storage containers 106 held by the support surface 425 or the lifting frame 415 (as indicated by the arrows in the figure).

[0265] Figure 16A An example of a container handling vehicle with a cantilever design and a linearly movable support surface 425 is shown. Figure 16A The movable load 452 is arranged in the upper part of the container handling vehicle and can move along the entire length of the container handling vehicle, which corresponds to the total length of the wheel base 2 and the cantilever section 413. Figure 16A The container handling vehicle also discloses a set of sensors 456 for measuring the weight of any storage container 106 supported by the support surface 425 and the lifting frame 415. A control system 454 can be connected to these sensors 456 and the load moving device 452, and can sense mass changes on at least two opposite sides of the container handling vehicle based on measurement data from these sensors 456, calculate the travel distance of the movable load 452 corresponding to the mass change, and instruct the load moving device 451 to move the movable load 452 by the calculated travel distance in the opposite direction to the relatively heavier side of the container handling vehicle.

[0266] Figure 16B It has the characteristics mentioned above. Figure 16A The described weight distribution system 450 Figures 5A to 5H An example of a container transport vehicle. Figure 16B The movable load 452 is arranged in the upper part of the cantilever section 413 and can move along a range equal to the length of the cantilever section 413. Figure 16B The container handling vehicle has a Z-shaped support surface 425 that allows for linear movement. The weight distribution system 450, with its set of sensors 456 for load movement 453 and control system 454, functions similarly to the systems already described. Figure 16A The functions described will not be repeated here.

[0267] Figures 17A to 17C Different examples of a container handling vehicle 1301 with a through opening in a support section are shown, wherein the support surface is linearly movable relative to the wheel base between a position directly above the wheel base and a position directly below the lifting frame, and the container handling vehicle also includes a weight distribution system. Figures 17A to 17C The container transport vehicles in the middle have the same characteristics as those mentioned above. Figures 5A to 5H Similar features to the container handling vehicle 401 shown and described, except Figures 17A to 17C The container handling vehicle in the example has walls and a cover surrounding the support surface 425 when it is directly above the wheel base 2. Furthermore, the system used to move the support surface 425 relative to the wheel base 2 is different. This will be referred to... Figures 18A to 18E , Figure 19A and Figure 19B To describe in more detail.

[0268] Figure 17A This is a front perspective view of the storage container 106 arranged on the support surface 425 located directly above the wheel base 2. A weight distribution system 450 is disclosed in the cantilever section 413. Figure 17A The movable load 452 is arranged in the upper part of the container handling vehicle and can move along the entire length of the container handling vehicle, which corresponds to the total length of the wheel base 2 and the cantilever section 413. Also disclosed above regarding... Figure 16B The control system for the load moving device 454 is described herein, and will not be described in more detail here.

[0269] Figure 17B yes Figure 17A Top perspective view. (Example) Figure 17BAs shown, the load moving device 451 can be guided along the load guide 453 in the cantilever section 413. The load moving device 451 is in the form of a ball screw, wherein the rotation of the ball screw is converted into linear movement of a movable load 452 along the load guide 453.

[0270] Figure 17C yes Figure 17B A detailed view of the dashed area in the image, showing further details of the weight distribution system 450. Besides regarding... Figure 17A and Figure 17C In addition to the features described, a load moving device motor 457 driven by a battery or similar (not shown) is disclosed, having a belt-type rotary arrangement 458 for transferring rotational motion from the load moving device motor 457 to the load moving device 451. Although a belt-type rotary arrangement 458 for transferring motion to the load moving device 451 in the form of a ball screw 451 is disclosed, other arrangements for moving the load moving device are also possible, provided they perform the required functions.

[0271] Figures 18A to 18E It shows Figures 17A to 17C Details of the container handling vehicle 1301 are provided. The container handling vehicle 1301 has a wheel base 2, a support section 402, and a cantilever section 413, wherein a lifting frame 415 is suspended from a set of suspension points in the cantilever section 413. The support surface 425 is movable relative to the wheel base 2 between a position directly above the wheel base 2 and a position directly below the lifting frame 425 via a vertical plane motion mechanism 460. The vertical plane motion mechanism 460 has a horizontal component and a vertical component (i.e., in the horizontal and vertical directions). This means that the movement of the support surface 425 between the position directly above the wheel base 2 and the position directly below the lifting frame 425 is achieved by rotation in a vertical plane. To allow this movement, the vertical distance from the support surface 425 relative to the track system 108 is not constant during movement between these positions. The vertical distance is greatest when the support surface 425 is in the middle of the movement, and smallest when the support surface 425 is at either end (directly above the wheel base and directly below the lifting frame 415). (Reference) Figure 19A and Figure 19B The functions and components that form part of the vertical planar motion mechanism 460 are described in more detail.

[0272] Figure 18A This is a side perspective view of the container handling vehicle 1301, where the lifting frame 415 holds the storage container 106, and the empty support surface 425 is located directly above the wheel base 2. The container handling vehicle 1301 is shown with a weight distribution system 450. This weight distribution system 450 may be similar to the one described above. Figures 17A to 17CThe weight distribution system 450 is described and shown, and will not be described in further detail here.

[0273] exist Figure 18B In the process, the lifting frame 415 still holds the storage container 106, and the support surface 425 moves from its initial position directly above the wheel base 2 to a position directly below the lifting frame 425.

[0274] exist Figure 18C In the figure, the vertical planar motion mechanism 460 has moved the support surface 425 to a position directly below the lifting frame 415. As can be seen from the figure, the lifting frame 415 no longer holds the storage container 106 because it has fallen from the storage container 106 onto the support surface 425.

[0275] exist Figure 18D In this configuration, the lifting frame 415 does not hold the storage container 106. The support surface 425 and the storage container 106 disposed thereon will move from a position directly below the lifting frame 425 to a position directly above the wheel base 2.

[0276] exist Figure 18E In this configuration, the lifting frame 415 does not hold the storage container 106. The support surface 425 and the storage container 106 disposed thereon have been moved to a position directly above the wheel base 2. Now, the lifting frame 415 can pick up a new storage container from the storage location below the track system 108.

[0277] Figure 19A and Figure 19BDetails of a vertical planar motion mechanism 460 are shown, which is used to move a support surface 425 between a position directly above the wheel base 2 and a position directly below the lifting frame 415. As described above, the vertical planar motion mechanism 460 has horizontal and vertical components (i.e., in the horizontal and vertical directions). This means that the movement of the support surface 425 between the position directly above the wheel base 2 and the position directly below the lifting frame 425 is achieved through rotation in the vertical plane. To allow this movement, the vertical distance from the support surface 425 relative to the track system 108 is not constant during the movement between the positions. The vertical distance is greatest when the support surface 425 is in the middle of the movement and minimum when the support surface 425 is in the two end positions (directly above the wheel base and directly below the lifting frame 415). Support surface 425 is connected to wheel base 2 via two rods 461', 461" . The corresponding rods 461', 461" are rotatably connected to wheel base 2 at one end, and bracket 462 is connected to the underside of support surface 425 at its opposite end by fastening device 463 (e.g., pin, bolt, or similar). A rotary motion motor 464, driven by a battery or similar (not shown), provides rotation of the belt arrangement connected to rods 461', 461" , such that the motor 464, via belt 465 and shaft 466, can rotate rods 461', 461" , and thus support surface 425 , between a position directly above wheel base 2 and a position directly below lifting frame 415 in a vertical plane. The arrangement of belt 465 and shaft 466 provides synchronized movement of rods 461', 461" .

[0278] To ensure that the support surface 425 maintains a horizontal orientation throughout the movement, the two rotatable rods 461' and 461" are offset from each other in a vertical plane. Figure 19A and Figure 19B As shown, the corresponding rods 461' and 461" are connected to the shaft 465 in the wheel base 2 at different heights. Similarly, as Figure 19B As best illustrated, the corresponding shafts 461' and 461" are connected at different heights to the bracket 462 on the underside of the support surface 425. However, the rods 461' and 461" have equal lengths, such that they have the same arc length (i.e., the same semi-circular motion path) when moved by the same degree. However, because they are connected to the shaft and the bracket at different heights, the semi-circular motion paths are offset relative to each other.

[0279] Figure 20A and Figure 20BAn example of a container handling vehicle 1401 is shown, having three linear motion mechanisms for suspension point 423 and therefore for lifting frame 415. The motion mechanisms include an extendable linear guidance system, wherein a first motion mechanism is used for horizontal translation of the lifting frame 415 along a first direction within an area defined by the vertical projection of the wheel base 2; a second motion mechanism is used for horizontal translation of the lifting frame 415 outside (beyond) the area defined by the vertical projection of the wheel base 2; and a third motion mechanism is used for movement in a direction perpendicular to the first direction. The functional configuration of the first and second motion mechanisms is similar to that of the two linear motion mechanisms 427', 427'" for suspension point and therefore for lifting frame 415, as described above regarding... Figures 13A to 13E As described above, and will not be described in detail here. However, see Figure 21A It is used to describe relative to the reference above. Figures 13A to 13E The direction of the explanation is the upward motion mechanism of the third party.

[0280] exist Figure 20A In the middle, the lifting frame 415 is arranged in the area defined by the vertical projection of the wheel base 2. Figure 20A and Figure 20B The support surface 425 can support a total of four storage containers 106. Each storage container 106 supported by the support surface 425 can support at least one storage container 106 on top. Although not shown, the container handling vehicle 1401 may have a lid or walls to ensure that the storage containers 106 remain in a dedicated position on the support surface 425. This prevents the storage containers 106 from slipping off the support surface 425 and also ensures that if the storage containers 106 are to be retrieved by the lifting frame 415 while positioned on the support surface 425, the container guides on the lifting frame 425 are aligned with the corners of each storage container 106.

[0281] exist Figure 20B In the middle, the lifting frame 415 has been moved to a position outside the area defined by the vertical projection of the wheel base 2.

[0282] Figures 21A to 21C An example of a container handling vehicle 1501 is shown, which has three linear motion mechanisms for a suspension point 423 and thus for a lifting frame 415, and a rotation mechanism 470 for rotating the suspension point and thus the lifting frame 415.

[0283] exist Figure 21A In this configuration, the lifting frame is positioned outside the area defined by the vertical projection of the wheel base 2. The functional settings of the first and second motion mechanisms are similar to those described above. Figures 13A to 13EThe two linear motion mechanisms 427', 427' described above for suspension point 423 and therefore for lifting frame 415 are as follows. Figure 13A The third linear motion mechanism described herein, in a direction perpendicular to the first linear motion mechanism, may be provided by a combination of rack and pinion 440' and roller 441', i.e., the rack and pinion system includes one or more rollers 440' that can move along guide rails 441' provided on opposite sides of the container handling vehicle 1501.

[0284] exist Figure 21B An example of a rotating mechanism 470 for rotating the suspension point 423 and thus the lifting frame 415 is shown. The rotating mechanism 470 includes a rotary motor 471 driven by a battery or similar (not shown), having external gear teeth 472 for interacting with a gear 473 connected to the lifting frame 415. This arrangement ensures that when the rotary motor 471 rotates, the lifting frame 415 rotates, allowing the storage container 106 to be arranged in any direction on the support surface 425 of the container transport vehicle 1501 (i.e., as shown in the image). Figure 21C On the tray shown.

[0285] exist Figure 21C In the middle, the lifting frame 415 is positioned within the area defined by the vertical projection of the wheel base 2, and is in conjunction with... Figure 21A Compared to the lifting device in the previous model, the lifting frame 415 has already used... Figure 21B The rotating mechanism 470 rotates 90 degrees. The support surface 425 is in the form of a pallet. The pallet can be a standard industrial size, such as a European standard pallet (120cm × 80cm).

[0286] In the foregoing description, various aspects of the container handling vehicle and automated storage and retrieval system according to the invention have been described with reference to illustrative embodiments. For purposes of explanation, specific figures, systems, and configurations have been set forth to provide a thorough understanding of the system and its operation. However, this specification is not intended to be interpreted in a limiting sense. For example, while the term wheeled base having a first set of wheels and a second set of wheels is used throughout the specification as an example, a belt base having a first belt and a second belt for guiding along a track system may also be used instead. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that will be apparent to those skilled in the art to which the disclosed subject matter pertains, are considered to fall within the scope of the invention.

[0287] List of reference numbers

[0288] 1. Existing automated storage and retrieval systems

[0289] 2 Wheel base / wheel seat unit

[0290] 4. 4' motor

[0291] 6 Rechargeable batteries

[0292] 7 Wheel shifting assembly

[0293] 8 Electric motors for wheel shifting components

[0294] 9. Top panel / flange

[0295] 10 Through Holes

[0296] 20 Center opening

[0297] 21 Electronic Control System

[0298] 29 Switch Module

[0299] 32a Wheel arrangement, first group of wheels

[0300] 32a'-32a”” The first, second, third, and fourth wheels in the first group of wheels

[0301] 39 stents

[0302] 41 Lifting clip

[0303] 68 spring loading pin

[0304] 69 control modules

[0305] 70 control clamp motor

[0306] 70b clamp rod

[0307] 71 conductor

[0308] 100 frame structure

[0309] 102. Upright members of the frame structure

[0310] Horizontal members of the 103 frame structure

[0311] 104 storage grid

[0312] 105 storage columns

[0313] 106 storage containers

[0314] Specific location of 106' storage container

[0315] 107 stacks

[0316] 108 orbital system

[0317] 110 Parallel track in the first direction (X)

[0318] 110a First orbit in the first direction (X)

[0319] 110b Second orbit in the first direction (X)

[0320] 111 Parallel track in the second direction (Y)

[0321] 111a First track in the second direction (Y)

[0322] 111b Second orbit in the second direction (Y)

[0323] 115 Access Opening

[0324] 119 First Port Column

[0325] 120 Second Port Column

[0326] 122 grid cells

[0327] 201 Prior art storage container vehicles

[0328] 201a storage container vehicle 201 body

[0329] 201b Drive unit / wheel arrangement, first direction (X)

[0330] 201c drive unit / wheel arrangement, second direction (Y)

[0331] 301 Prior art cantilevered storage container vehicles

[0332] 301a storage container vehicle body 301

[0333] 301b Drive device in the first direction (X)

[0334] 301c Drive device in the second direction (Y)

[0335] Part of the 304 clamping device

[0336] 401 Container handling vehicle with cantilever and a linearly movable support surface

[0337] 402 Support Section

[0338] 413 cantilever section

[0339] 414 Container Lifting Device

[0340] 415 Improvement Framework

[0341] 416 Lifting Device Motor

[0342] 417a and 417b lifting belts

[0343] 418 lifting shaft

[0344] 419 Lifting Device Controller

[0345] 421 Releasable Connector, Clamp

[0346] 422 through opening

[0347] 423 suspension point group

[0348] 424 boxes of guide components

[0349] 425 Support Surface / Maintain Position

[0350] 426, 426', and 426" are linear motion mechanisms used to support surfaces.

[0351] 427, 427', 427” are used for linear motion mechanisms at suspension points.

[0352] Rollers in 440' rack and pinion systems

[0353] Guide rails in 441, 441' rack and gear systems

[0354] 442 ball screw

[0355] 443 threaded shaft

[0356] Ball bearings on 444 lateral support elements

[0357] 445 Lateral Support Element

[0358] 446 Rotating Device

[0359] 450 weight distribution system

[0360] 451 Load Moving Device

[0361] 452 Portable Load

[0362] 453 Load Bootstrap

[0363] 454 Control System Load Moving Device

[0364] 455 pivot connection support surface

[0365] 456 Group of sensors for measuring weight

[0366] 457 Load Moving Device Motor

[0367] 458 Rotary Arrangement / Belt

[0368] 460° vertical planar motion mechanism

[0369] 461', 461" poles

[0370] 462 bracket

[0371] 463', 463" fixing devices

[0372] 464 Rotary Motion Motor

[0373] 465 belt

[0374] 470 Rotary Mechanism

[0375] 471 Rotary Electric Machine

[0376] 472 external gear teeth

[0377] 500 control system

[0378] 501 Container handling using two cantilever arms and two movable support surfaces

[0379] 601 Container handling using cantilever and four movable support platforms

[0380] 701 is a container handling system that utilizes two wheel seats, a central cavity, and four movable support surfaces.

[0381] 801 utilizes a movable lifting frame and two supporting surfaces for container handling.

[0382] 901 utilizes a movable lifting frame and two supporting surfaces for container handling.

[0383] 1001 utilizes a movable lifting frame and two supporting surfaces for container handling.

[0384] 1101 Container handling using a movable lifting frame and movable support surface

[0385] 1201 Container handling vehicle with rotatable support section

[0386] 1301 Container handling vehicle with a fixed lifting frame and movable support surface in both vertical and horizontal directions.

[0387] 1401 Container handling vehicle with three linear motion mechanisms for lifting the frame

[0388] 1501 is a container handling vehicle with three linear motion mechanisms for lifting the frame and a rotary device for rotating the lifting frame.

[0389] X First Direction

[0390] Y second direction

[0391] Z Third-party direction

Claims

1. A container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) for operation on a two-dimensional track system (108), comprising a first set of parallel tracks (110) and a second set of parallel tracks (111), the first set of parallel tracks being arranged to guide the container handling vehicle to move across the top of a frame structure (100) in a first direction (X), the second set of parallel tracks being arranged perpendicular to the first set of parallel tracks (110) to guide the container handling vehicle to move in a second direction (Y) perpendicular to the first direction, the first set of parallel tracks (110) and the second set of parallel tracks (111) forming a grid that divides the track system (108) into a plurality of grid cells (122), wherein, The container transport vehicle includes: - The base (2) includes a moving device for guiding the container transport vehicle along the track system (108) in the first direction (X) and the second direction (Y), respectively; - A support structure provided on the base (2), the support structure extending from the lower section to the upper section of the base (2); - Container lifting device (414) includes a lifting frame (415) for lifting the storage container (106) upward from a storage position below the track system (108), the lifting frame (415) being suspended from a set of suspension points (423) on the upper section of the support structure; - A support surface for supporting the storage container (106), which provides a first holding position when the lifting frame (415) is in a docking state adjacent to the upper section of the support structure, the first holding position being arranged at a height lower than the lifting frame (415); - Wherein, the container handling vehicle includes a motion mechanism to rotate the set of suspension points (423) horizontally relative to the base (2) or to rotate the support surface, such that the lifted storage container (106) can be placed on the support surface and the lifting frame (415) is separated from the storage container.

2. The container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) according to claim 1, wherein, The base is a wheeled base, and the moving device consists of a first set of wheels (32a) and a second set of wheels (32b).

3. The container handling vehicle according to claim 1 or 2, wherein, At least one of the lifting frame (415) and the support surface is further configured to perform linear translational movement in the horizontal direction.

4. The container handling vehicle according to claim 3, wherein, The linear translational motion is a linear translational motion parallel to either the first direction (X) or the second direction (Y).

5. The container handling vehicle according to any one of claims 1-2 further includes a through opening, the through opening being sized for the storage container (106) to pass through.

6. The container handling vehicle according to any one of claims 1-2, wherein, The suspension point (423) is rotatably movable such that in a first position, the lifting frame (415) is arranged to retrieve the storage container (106) from the storage location below the track system (108), and in a second position, the lifting frame (415) is arranged above the first holding position.

7. The container handling vehicle according to any one of claims 1-2, wherein, The lifting frame (415) and the first holding position are arranged such that: - In the first position, the vertical projection of the lifting frame (415) is arranged above the first holding position, and - In the second position, the vertical projection of the lifting frame (415) avoids the first holding position.

8. The container handling vehicle according to any one of claims 1-2, wherein, The support surface can be rotated relative to the base (2) by the actuation of the motion mechanism, such that in a first position the support surface is arranged within the vertical projection of the base (2) and in a second position the support surface is arranged outside the vertical projection of the base (2).

9. The container handling vehicle according to claim 8, wherein, The motion mechanism is arranged in the base (2) such that the supporting surface can be rotatably translated relative to the base (2).

10. The container handling vehicle according to any one of claims 1 to 2, wherein, The motion mechanism is arranged in the upper section such that the lifting frame (415) can be rotatably translated relative to the base (2).

11. The container transport vehicle according to any one of claims 1 to 2 further includes a second support surface, the second support surface providing a second holding position disposed near or above the first holding position.

12. The container handling vehicle according to any one of claims 1 to 2, wherein, At least one lifting device motor (416) and a motion mechanism for rotating and moving the lifting frame (415) are arranged at or above the lifting frame (415).

13. The container handling vehicle according to any one of claims 1 to 2, wherein, When the storage container (106) is in the first holding position, the uppermost part of the storage container (106) represents a first height; and The lifting frame (415) has a lowermost part representing a second height when in the docking state; and The second height is higher than the first height, such that the lowermost part of the docking lifting frame (415) can pass over the uppermost part of the storage container (106) located on the surface of the first holding position.

14. The container handling vehicle according to claim 2, wherein, The container transport vehicle includes: - The base in the form of a wheel seat unit, wherein the first set of wheels (32a) and the second set of wheels (32b) form the outer periphery of the coverage area of ​​the wheel seat unit; A lower section is disposed on the wheel seat unit, the horizontal range of the coverage area of ​​the lower section is equal to or smaller than the coverage area of ​​the wheel seat unit, the lower section has an upper surface, wherein the upper surface provides the support surface; A support section (402) forms the support structure and extends vertically from the lower section, the horizontal extent of the coverage area of ​​the support section (402) being smaller than the coverage area of ​​the lower section; and A cantilever section (413) forms the upper section and extends horizontally from the support section (402) beyond the coverage area of ​​the lower section; wherein, The support section (402) includes a through opening (422) for moving the support surface or for the lifting frame (415) to pass through the through opening.

15. The container handling vehicle according to claim 14, wherein, The container transport vehicle includes a second support surface providing a second holding position, the second holding position being disposed above the support surface forming the first holding position, and wherein the cross-sectional area of ​​the through opening (422) is configured to allow the support surface to pass through the through opening when either of the support surfaces holds the storage container (106) and when the storage container (106) is not held.

16. The container handling vehicle according to any one of claims 1 to 2, comprising two lifting frames (415) and at least two support surfaces, wherein, The two lifting frames (415) are arranged on opposite sides of the base (2) and outside the vertical projection of the base (2), and the at least two support surfaces are arranged within the vertical projection of the base (2), wherein each of the support surfaces is movable relative to the base (2) to a position outside the base (2) and below one of the lifting frames (415).

17. The container handling vehicle according to claim 2, wherein the container handling vehicle comprises two wheeled bases and at least two support surfaces, wherein, The wheel base is disposed on each side of the support structure, and wherein a lifting frame (415) is suspended from the upper section of the support structure, wherein each of the support surfaces is movable relative to the wheel base to a position below the lifting frame (415).

18. The container handling vehicle according to claim 2, wherein the container handling vehicle comprises: A wheel base in the form of a wheel seat unit, wherein the first set of wheels (32a) and the second set of wheels (32b) form the outer periphery of the coverage area of ​​the wheel seat unit; A lower section is disposed on the wheel seat unit, the horizontal range of the coverage area of ​​the lower section is equal to or smaller than the coverage area of ​​the wheel seat unit, the lower section has an upper surface, wherein the upper surface provides the support surface; A support section (402) forms the support structure and extends vertically from the lower section, the horizontal extent of the coverage area of ​​the support section (402) being smaller than the coverage area of ​​the lower section; and The cantilever section (413) forms the upper section and extends horizontally from the support section (402) beyond the coverage area of ​​the lower section; The motion mechanism includes a rotating device (446) adapted to rotate the support section (402) and thus the cantilever section (413) relative to the base (2), such that in a first state, the lifting frame (415) can lift the storage container (106) from a storage position below the track system (108), and in a second state, the lifting frame (415) can place the storage container on the support surface.

19. The container handling vehicle according to claim 18, wherein, When in the second state, the support section (402) and the cantilever section (413) are within the coverage area of ​​the wheel seat unit.

20. The container handling vehicle according to any one of claims 1-2, wherein, The center of gravity of the supporting surface is located above the base (2).

21. The container handling vehicle according to any one of claims 1-2 further includes a weight distribution system (450), the weight distribution system including a movable load (452) and a load moving device (451), the load moving device being used to change the center of gravity of the container handling vehicle according to the load of one or more storage containers (106) carried by the container handling vehicle.

22. The container handling vehicle according to claim 21, wherein, The weight distribution system (450) includes: - A set of sensors (456) for measuring the weight of any storage container (106) supported by the supporting surface and the lifting frame (415), and - A control system (454) is connected to both the set of sensors (456) and the load moving device (451), wherein the control system (454) senses the mass change of at least two opposite sides of the container transport vehicle based on measurement data from the set of sensors (456), calculates the travel distance of the movable load (452) corresponding to the mass change, and instructs the load moving device (451) to move the movable load (452) by the calculated travel distance in a direction opposite to the relatively heavier side of the container transport vehicle.

23. A method for loading storage containers (106) between a stacking location in an automated storage and retrieval system and a storage location on a container handling vehicle according to any one of claims 1 to 22, wherein, The method includes the following steps: - The storage container is picked up from the stacking position located below the track system (108) using the lifting frame (415) of the container lifting device (414). - Place the storage container (106) on the support surface of the container transport vehicle and separate the lifting frame (415) from the storage container (106).

24. The method according to claim 23, wherein, The method further includes the following steps: - By using a motion mechanism to move the picked-up storage container (106), the set of suspension points (423) or the support surface are translated rotatably relative to the base (2).

25. An automated storage and retrieval system (1) comprising a two-dimensional track system (108), the track system comprising a first set of parallel tracks (110) and a second set of parallel tracks (111), the first set of parallel tracks being arranged to guide a container transport vehicle to move across the top of a frame structure (100) in a first direction (X), the second set of parallel tracks being arranged perpendicular to the first set of parallel tracks (110) to guide the container transport vehicle to move in a second direction (Y) perpendicular to the first direction, the first set of parallel tracks (110) and the second set of parallel tracks (111) forming a grid dividing the track system (108) into a plurality of grid cells (122), wherein, The automated storage and retrieval system includes at least one container handling vehicle according to any one of claims 1 to 22.

26. The automatic storage and retrieval system (1) according to claim 25 further comprises: - A stack of multiple storage containers below the grid cell (122).

27. The automatic storage and retrieval system (1) according to any one of claims 25 to 26, wherein, The automated storage and retrieval system (1) also includes a control system configured to receive information about the coverage area of ​​the container transport vehicle and use the information to control the automated storage and retrieval system.

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