Container handling vehicle for handling delivery containers stored in storage containers and method thereof

Abstract

The invention relates to a container handling vehicle equipped with a coupler for coupling to a delivery container and / or a storage container, wherein the delivery container is arranged inside the storage container. The invention also relates to the coupler, a method for operating the container handling vehicle and a computer readable medium for performing the method.

Description

Technical Field

[0001] The present invention relates to a connector for releasably attaching to a delivery container, a container handling vehicle using the connector, and a method thereof. Background Technology

[0002] Figure 1 discloses an automated storage and retrieval system 100 having a frame / storage grid 101 supported on a floor / platform 700, and Figures 2, 3 and 4 disclose three different prior art container handling vehicles 200, 300 and 350 suitable for operation on such storage grids 101.

[0003] The frame 101 includes upright members 102 and storage volumes comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106, also called cabinets, are stacked one on top of another to form a stack 107. The members 102 are typically made of metal, such as extruded aluminum profiles.

[0004] The frame 101 of the automated storage and retrieval system 100 includes a guide rail system 108 arranged over the top of the frame 101, on which multiple container transport vehicles 200, 300, and 350 can be operated to lift storage containers 106 from and lower storage containers 106 into storage columns 105, and to transport storage containers 106 above storage columns 105. The guide rail system 108 includes: a first set of parallel guide rails 110 arranged to guide the movement of the container transport vehicles 200, 300, and 350 over the top of the frame 101 in a first direction X; and a second set of parallel guide rails 111 arranged perpendicular to the first set of guide rails 110 to guide the movement of the container transport vehicles 200, 300, and 350 in a second direction Y, perpendicular to the first direction X. Container handling vehicles 200, 300, and 350 can move laterally above storage column 105, that is, in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of frame 101 can be used to guide storage containers 106 during lifting containers out of and lowering containers into column 105. The stack 107 of containers 106 is typically self-supporting.

[0006] Referring to Figures 2 through 4, each prior art container handling vehicle 200, 300, 350 includes a body 201, 301, 351 and first and second sets of wheels 202a, 202b, 302a, 302b, 352a, 352b, which enable the container handling vehicles 200, 300, 350 to move laterally in the X and Y directions, respectively. In Figures 2 and 3, two of the four wheels in each set are visible, while in Figure 4, three of the four wheels in each set are visible. The first set of wheels 202a, 302a, 352a are arranged to engage with two adjacent rails of the first set of guide rails 110, and the second set of wheels 202b, 302b, 352b are arranged to engage with two adjacent rails of the second set of guide rails 111. At least one of the wheels 202a, 302a, 352a, 202b, 302b, and 352b can be raised and lowered such that the first set of wheels 202a, 302a, and 352a and / or the second set of wheels 202b, 302b, and 352b can engage with the corresponding set of guide rails 110 and 111 at any time.

[0007] Each prior art container handling vehicle 200, 300, 350 also includes lifting devices 210, 360 for the vertical transport of storage containers 106, such as lifting storage containers 106 from storage rows 105 and lowering storage containers 106 into storage rows 105. Lifting devices 210, 360 include one or more clamping elements 362 adapted to engage storage containers 106, and these clamping elements 362 are detachable from the vehicle 200, 301, 350 such that the position of the clamping elements 362 relative to the vehicle body 201, 301, 351 is adjustable in a third direction Z orthogonal to the first direction X and the second direction Y. Lifting devices 210, 360 may also include a lifting belt (not shown) connected at one end to a frame and at the other end to a winch mechanism (not shown). Components of the lifting devices 210, 360 of the container handling vehicles 200, 350 are shown in Figures 2 and 4. The lifting device of the container handling vehicle 300 shown in Figure 3 is located inside the vehicle body 301.

[0008] By convention, and also for the purposes of this application, Z=1 indicates the uppermost layer of the storage container, i.e., the layer directly below the guide rail system 108; Z=2 indicates the second layer below the guide rail system 108; Z=3 indicates the third layer, and so on. In the exemplary prior art disclosed in FIG1, Z=8 indicates the lowest layer of the storage container. Similarly, X=1...n and Y=1...n indicate 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=19, Y=1, and Z=3. Container transport vehicles 200, 300 can be said to travel in the Z=0 layer, and each storage column 105 can be identified by its X and Y coordinates.

[0009] The possible storage locations within the frame / storage grid 101 are referred to as storage cells. Each storage column 105 can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 200, 300, 350 includes a storage compartment or space for receiving and loading the storage container 106 as it is transported through the guide rail system 108.

[0011] Storage space may be located beneath the cantilever structure of the container handling vehicle 200, as shown in Figure 2. Such vehicles are described in detail, for example, in NO317366, the contents of which are incorporated herein by reference.

[0012] In another configuration, the storage space may comprise cavities arranged within the vehicle body 301, 351, as shown in Figures 3 and 4, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0013] The container handling vehicle 300 shown in Figure 3 may have a centrally arranged cavity and coverage area that covers a lateral range in the X and Y directions that is generally equal in size to the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0014] Alternatively, the cavity container transport vehicle 350 may have a larger coverage area than the lateral area defined by the storage column 105 shown in Figures 1 and 4, and as disclosed, for example, in WO2014 / 090684A1, EP2962962 or WO2019 / 206487A1.

[0015] Note that the term 'lateral' as used in this article can mean 'horizontal'.

[0016] Figure 1 shows a container handling vehicle with multiple cantilever vehicles 200 (Figure 3) and multiple cavity vehicles 350 (Figure 4) extending beyond the coverage area of ​​a single storage column 105.

[0017] The guide rail system 108 typically includes guide rails 110, 111 with grooves in which the wheels of a vehicle travel. Alternatively, guide rails 110, 111 may include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as tracks. Each guide rail 110, 111 may contain one track, or each guide rail 110, 111 may contain two parallel tracks. Each guide rail 110, 111 may also include two track members fastened together, each track member providing one of a pair of tracks provided by each guide rail.

[0018] WO2018 / 146304 (the contents of which are incorporated herein by reference) illustrates a typical configuration of a guide rail system 108, which includes guide rails and parallel tracks in the X and Y directions.

[0019] In frame 100, most of columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stack 107. However, some columns 105 may serve other purposes. In Figure 1, columns 119 and 120 are such special-purpose columns used by container handling vehicles 200, 300, 350 for unloading and / or picking up storage containers 106, so that they can be transported to an access station (not shown) where storage containers 106 can be accessed from outside frame 100 or transferred out of or into frame 100. In the art, such locations are normally referred to as 'ports', and the columns where 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 may be placed in random or dedicated columns 105 within frame structure 100, and then picked up and transported by any container handling vehicle to port columns 119, 120 for further transport to the storage station. Note that the term 'inclined' refers to the transport of storage container 106 having a general transport orientation somewhere between horizontal and vertical.

[0020] In Figure 1, the first port column 119 may be, for example, an unloading port column, in which container handling vehicles 200, 300, and 350 can unload storage containers 106 to be transported to the storage and distribution station 500, and the second port column 120 may be a dedicated pick-up port column, in which container handling vehicles 200, 300, and 350 can pick up storage containers 106 that have been transported from the storage and distribution station.

[0021] The storage and distribution station is typically a picking station or inventory station for removing product items from or placing product items into storage container 106. At the picking station or inventory station, storage container 106 is not normally removed from the automated storage and retrieval system 100, but is returned to frame 100 once retrieved. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0022] When access is required for a target storage container 106' stored in one of the columns 105 shown in Figure 1, one of the container handling vehicles 200, 300, and 350 is instructed to remove the target storage container 106' from its position and transport it to the unloading port column 119. This operation involves moving the container handling vehicles 200, 300, and 350 to a position above the storage column 105 where the target storage container 106' is located, using the lifting devices 210 and 360 of the container handling vehicles 200, 300, and 350 to remove the storage container 106 from the storage column 105, 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 involves temporarily moving the aforementioned positioned storage container 106 before lifting the target storage container 106' out of the storage column 105. This step, sometimes referred to in the art as “digging,” can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or with one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 100 may have container handling vehicles specifically designed for the task of temporarily removing storage containers from storage column 105. Once the target storage container 106' has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 may alternatively be repositioned to another storage column 105.

[0023] When storage container 106' is to be stored in one of the columns 105, one of the container handling vehicles 200, 300, and 350 is instructed to pick up storage container 106' from pick-up port column 120 and transport it to a location above storage column 105, where it will be stored. After any storage container 106 located at or above a target location within or above a storage column stack 107 has been removed, container handling vehicles 200, 300, and 350 position the target storage container 106' at the desired location. The removed storage container 106 can then be lowered back into storage column 105 or repositioned to another storage column.

[0024] In order to monitor and control the automated storage and retrieval system 100, such as monitoring and controlling the position of each storage container 106 within the frame 101, the contents of each storage container 106, and the movement of container transport vehicles 200, 300, 350, so that a desired storage container 106' can be delivered to a desired location at a desired time, and the container transport vehicles 200, 300, 350 do not collide with each other, the automated storage and retrieval system 100 includes a control system 600, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0025] To facilitate the storage and retrieval of inventory and / or other items stored together with storage container 106, items can be selected from the storage container and placed into a delivery container suitable for handling by a system outside the aforementioned frame 101.

[0026] Especially for large storage systems, the number of times storage containers are retrieved per hour can reach tens of thousands, typically corresponding to hundreds or thousands of customer orders, each of which may include several different items. In order to efficiently handle and deliver the different items in each customer order, while avoiding the installation of too many expensive conveyor belts and automated handling systems, these items should be continuously gathered into delivery containers and placed aside until the time of shipment.

[0027] One problem with current consolidation systems is the need for large external areas to store centralized delivery containers. However, the availability of such temporary storage is often low because maximizing the space occupied by the storage system is important for operational and economic reasons.

[0028] Therefore, one object of the present invention is to allow items to be efficiently centralized from storage containers into delivery containers with little or no need to use the area around the frame / storage grid to store these centralized delivery containers before shipment. Summary of the Invention

[0029] The invention is set forth in the independent claims, and certain optional features of the invention are described in the dependent claims.

[0030] According to a first aspect, the present invention relates to a container handling vehicle equipped with a connector for coupling to a delivery container and / or a storage container.

[0031] The connector includes a connector frame and a delivery container holder disposed on the connector frame and projecting from the lower surface of the connector frame. The delivery container holder is pivotable or hinged to the connector frame and is configured to be releasably coupled to a corresponding coupling structure of the delivery container.

[0032] The vehicle also includes a storage container holder mounted on and projecting from the lower surface of the connector frame. The storage container holder is configured to be releasably coupled to a corresponding coupling structure (one or more) of a storage container, the size of which allows the delivery container to be held at least partially, preferably completely, therein.

[0033] In an advantageous embodiment of the first aspect of the invention, the container transport vehicle may further include a lifting mechanism connected to a connector frame, such that the lower surface of the connector frame is aligned with a horizontal plane along which the container transport vehicle can move. Furthermore, the lifting mechanism and the connector may be configured to allow the transport of storage containers and / or delivery containers into and out of a space provided for storage containers being transported by the container transport vehicle.

[0034] Container handling vehicles may involve suspended cranes and / or wheeled or tracked vehicles that move on bases such as floor or rail systems.

[0035] The lifting mechanism may include a belt connected to the connector frame and one or more axles / shafts around which the belt may be wound. The axles(one or more) may be rotated using one or more lifting motors rotatably coupled thereto. Alternatively or additionally, each of the axles or shafts may be a drive shaft for the lifting motor(one or more). The belt may be attached to a mounting on the connector frame, preferably located at or near a corner of the upper surface of the connector frame. The mounting may be configured such that the length of each belt of the lifting mechanism is adjustable to ensure sufficient leverage of the connector frame relative to the container to be picked. For example, one or more mountings may include a rotating axle / winch shaft around which the belt is wound. The axles(one or more) may be driven by one or more motors. Furthermore, one or more mountings may include equipment for distributing electrical and communication signals from cables extending along the belt to one or more control systems controlling the delivery container gripper and / or storage container gripper.

[0036] In another advantageous embodiment of the invention, the connector further includes one or more storage container sensors configured to sense when the lower surface of the connector frame contacts and / or approaches the upper edge of the storage container. For example, the connector may include at least four storage container sensors distributed at the corners of the lower surface of the connector frame, corresponding to the corner positions of the storage container edges.

[0037] In yet another advantageous embodiment of the invention, the connector further includes one or more delivery container sensors configured to sense when the lower surface of the connector frame contacts and / or approaches the upper edge of the delivery container. For example, the connector may include at least four delivery container sensors distributed at the corners of the lower surface of the connector frame, corresponding to the corner positions of the delivery container edges.

[0038] In yet another advantageous embodiment of the invention, the connector further includes a vehicle sensor configured to sense when the upper part of the connector comes into contact with and / or approaches a component of a container transport vehicle, the component of which is positioned as the upper vertical boundary of the space provided by the storage container.

[0039] Storage container sensors and / or vehicle sensors may be in the form of spacers adjacent to the edge of the storage container at a desired vertical position.

[0040] Storage container sensors and / or vehicle sensors may also or alternatively take the form of capacitive sensors (mutual capacitance and / or self-capacitance) to record direct contact or proximity with the connector frame or vehicle / crane.

[0041] In yet another advantageous embodiment of the invention, the vehicle further includes a mechanism that allows the storage container holder to releasably hold the storage container. Such a mechanism may be arranged at least partially, preferably entirely, within the connector frame. This mechanism may involve a rotatably and / or translatorily coupled axle to a motor, wherein rotation / translation of the axle operates the storage container holder.

[0042] The storage container holder may include multiple claws distributed around or near the lower surface of the connector frame, wherein the spacing of the claws on the connector corresponds to the size of the edge of the storage container.

[0043] In yet another advantageous embodiment of the invention, the connector further includes a plurality of guide pins projecting from the lower surface of the connector frame for insertion into receiving recesses of the storage container. The position of each guide pin receiving recess is such that, when the lower surface of the connector frame is positioned above the storage container in the connection position, each guide pin is horizontally aligned with its corresponding guide pin receiving recess.

[0044] In yet another advantageous embodiment of the invention, the delivery container gripper includes at least two gripper blades for gripping the delivery container. The gripper blades extend from a vertical center plane C perpendicular to the lower surface of the connector frame. VP Move in the opposite direction. For example, each blade can move from the vertical center plane C. VPThe pivot axes are equidistant and counter-spaced. Alternatively, each blade may serve as a bias spring, which is fixed at one end to the connector frame. Furthermore, each gripper blade may include a protrusion located below the lower surface of the connector frame for insertion into a corresponding coupling structure of the delivery container.

[0045] The connecting structure is preferably located within the internal volume of the delivery container. For example, the connecting structure may be contained in a corresponding recess or groove within the inner wall of the container, or in the vertical center plane C. VP Through holes on both sides.

[0046] The delivery container gripper may also include a shifting system for moving the two gripper blades from the vertical center plane C. VP Displace in the opposite direction, for example, by pivoting, until the protrusion has engaged with the corresponding connecting structure, such as the corresponding indentation or groove.

[0047] The shifting system may include a gripper motor, a coupler control system configured to control the operation of the gripper motor, a first link constituting a component of the gripper shifting device, and a second link constituting a component of the gripper shifting device. The first link is at least indirectly connected to the gripper motor at one end and to one of the two gripper blades at the other end. The second link is at least indirectly connected to the gripper motor at one end and to the other of the two gripper blades at the other end. The gripper motor is preferably configured to move the first and second links away from the vertical center plane C. VP Displacement occurs in opposite directions. Therefore, both links are arranged to connect the rotational movement from the gripper motor to the corresponding gripper blade to ensure the desired displacement.

[0048] The shifting system may further include a rotating element, such as a disc that connects the first and second links to the shaft of the gripper motor. In this particular arrangement, the gripper motor, rotating element, and links are configured such that opposite-direction shifting of the first and second links is achieved by rotating the rotating element clockwise or counterclockwise between 0 and 180 degrees, preferably between 80 and 100 degrees (e.g., 90 degrees).

[0049] The motor constituting the component of the aforementioned mechanism for allowing the storage container holder to releasably hold the storage container is preferably arranged at or above the holder motor relative to the lower surface of the connector frame.

[0050] Furthermore, the control system configured to control the gripper motor can also be configured to control the motor of the mechanism used to control the storage container gripper. A configuration is also conceivable in which the same motor ensures the operation of both the delivery container gripper and the storage container gripper.

[0051] In yet another advantageous embodiment of the invention, the delivery container holder includes a plurality of claws for gripping the connecting structure along the open frame / edge of the delivery container. The plurality of claws of the delivery container holder can operate in a similar manner to the plurality of claws of the storage container holder described above.

[0052] In another advantageous embodiment of the invention, at least a portion of the storage container holder protrudes from or near the periphery of the lower surface of the connector frame, and at least a portion of the delivery container holder is at least D distance from said periphery. DG Its position protrudes from the lower surface of the connector frame. Distance D DG This corresponds to the minimum distance between the perimeter and the opening into the delivery container when the connector has been correctly positioned for connection.

[0053] In yet another advantageous embodiment of the invention, the delivery container gripper and the storage container gripper are configured to operate independently. For example, the connector may include a first control system for controlling a gripper motor operably coupled to the delivery container gripper, and a second control system for controlling a motor operably coupled to the storage container gripper.

[0054] However, even if the two types of container grippers can operate independently, it is advantageous to use a delivery container gripper to hold the delivery container when the connector frame is used to pick up the storage container using the storage container gripper. For example, using two container grippers can result in more stable lifting / lowering operations, especially when the external cross-sectional area of ​​the delivery container is significantly smaller than the cross-sectional area of ​​the storage container opening. Simultaneous gripping of the storage and delivery containers also provides a larger load transfer area.

[0055] In yet another advantageous embodiment of the invention, the connector is configured not to extend further in the horizontal direction (i.e., along the upper or lower surface of the connector frame) than the periphery of the storage container to which it is intended to be connected.

[0056] In yet another advantageous embodiment of the invention, the connector includes delivery container guide plates projecting from its lower surface to ensure proper alignment with the opening frame / edge of the delivery container. Therefore, the lower ends of the guide plates should be arranged such that they correspond to the size of the opening frame of the delivery container. The guide plates are resiliently connected to the connector frame.

[0057] In another advantageous embodiment of the invention, the connector includes storage container guide rods projecting from the lower surface to ensure proper alignment with the opening frame / edge of the storage container. Therefore, the guide rods should be arranged such that they correspond to the size of the opening frame of the storage container. The guide rods can be secured at each corner of the connector frame.

[0058] According to a second aspect, the present invention relates to a connector for preferably selectively connecting to a storage container and / or a delivery container that may be arranged within the internal volume of the storage container.

[0059] The connector includes a connector frame for attachment to a container handling vehicle according to any of the above features, and preferably additionally includes mounting elements disposed on the upper surface of the connector frame for attachment of the lifting belt.

[0060] The connector further includes a delivery container holder disposed on the connector frame and projecting from the lower surface of the connector frame, wherein the delivery container holder is configured to be releasably coupled to a corresponding coupling structure (one or more) of the delivery container, and a storage container holder disposed on the connector frame and projecting from the lower surface of the connector frame, wherein the storage container holder is configured to be releasably coupled to a corresponding coupling structure (one or more) of the storage container.

[0061] Therefore, due to the presence of delivery container holders and storage container holders on the connector frame, the connector allows coupling to a delivery container or a storage container, or both, in a single lifting operation. When attached to a vehicle, at least one of the delivery container and the storage container can be lifted into any storage container space of the vehicle.

[0062] Furthermore, the connector can have any of the configurations mentioned above in conjunction with the first aspect.

[0063] According to a third aspect, the present invention relates to a storage and retrieval system comprising a frame and container transport vehicle according to any features described in conjunction with the first aspect.

[0064] In an advantageous embodiment of a third aspect of the invention, the frame includes a plurality of vertical upright members and a guide rail system defining a plurality of storage columns for storing stacks of storage containers, the guide rail system forming the uppermost part of the frame. The guide rail system includes vertical guide rails that intersect to form a grid of grid cells defining grid openings for access to the plurality of storage columns. A container handling vehicle is configured to operate on the guide rail system.

[0065] In another advantageous embodiment of the third aspect of the invention, the storage and retrieval system further includes a port array and an access and distribution station arranged at the lower end of the port array for additional handling of containers.

[0066] In order to successfully retrieve / store containers from / to the storage column, the cross-sectional area of ​​the connector frame should be smaller than the cross-sectional area of ​​the grid opening, but larger than the cross-sectional area of ​​the opening into the storage container.

[0067] Typically, the cross-sectional area of ​​the storage container is similar to that of the grid opening. In this particular case, the cross-sectional area of ​​the connector frame should correspond to the cross-sectional area of ​​the opening frame / edge of the storage container.

[0068] In yet another advantageous embodiment of the third aspect of the invention, the storage and retrieval system further includes a main control system and a robotic picking device that communicates with the main control system via signals.

[0069] The robotic picking device may include a robot base, a first robot segment rotatably connected to the robot base, and an operating end configured to allow at least releasable connection to a delivery container. The operating end may be designed with a connector having a delivery container gripper as described with respect to the first or second aspect. Such a connector may also be equipped with a storage container gripper as described above, thereby allowing the handling of storage containers and delivery containers. An operating end with a connector consisting only of a storage container gripper is also conceivable.

[0070] In addition, the robotic picking device can be configured such that the operating end can be moved to a location that is at least within reach of the delivery container or storage container to be delivered or removed from the frame of the storage and retrieval system.

[0071] In one embodiment, the robot base may be disposed on the floor of the frame. Alternatively or additionally, the robot base may be disposed directly or indirectly on a rail system.

[0072] According to a fourth aspect, the present invention relates to a method for lifting delivery containers arranged within storage containers using a container handling vehicle as described in the first aspect of the invention.

[0073] The method includes the following steps:

[0074] - Along a horizontal plane, such as the guide rail system described in the third aspect of the invention, the container transport vehicle is moved to a position where the connector is located above the storage container containing the delivery container.

[0075] - Lower the connector to a position where it can be connected to the storage container by operating the storage container holder, or lower the connector to a position where it can be connected to the delivery container by operating the delivery container holder.

[0076] - Connect the connector to the storage container or the delivery container by operating the storage container holder or the delivery container coupling holder separately, or connect the connector to both the storage container and the delivery container.

[0077] - By operating the lifting mechanism until the corresponding container is above the horizontal plane, the storage container is lifted together with the delivery container, or the delivery container is lifted only from the storage container.

[0078] Typically, the arrangement of the storage container holder and the delivery container holder is such that the positions for holding the storage container and the delivery container are the same. This is feasible for a cuboid connector frame when the height of the storage container is equal to or greater than the height of the delivery container.

[0079] In an advantageous example of the fourth aspect of the invention, the storage container is stored within a storage and retrieval system according to the third aspect of the invention, wherein the container transport vehicle further includes a first set of wheels for moving the container transport vehicle along a guide rail system in a first direction X and a second set of wheels for moving the container transport vehicle along the guide rail system in a second direction T, the second direction T being perpendicular to the first direction T.

[0080] In another advantageous example of the fourth aspect of the invention, the method further comprises the following steps:

[0081] - Move the container handling vehicle to a location where the storage container containing the delivery container, or the delivery container that has been lifted out of the storage container, is positioned above the port column, and

[0082] - Transport storage and delivery containers, or delivery containers only, to the access and distribution station located at the lower end of the port column via the first port column.

[0083] In yet another advantageous embodiment of the fourth aspect of the invention, the method further comprises the following steps:

[0084] - Move the container handling vehicle to a position where the connector is above the port column, with the lower end of the port column above or near the access and distribution station.

[0085] - Lower the connector into the port column until it is in the clamped position, where the storage or delivery container is positioned at the lower end of the port column.

[0086] - By operating the storage container holder or the delivery container holder (3) or a combination thereof separately, the storage container or the delivery container is connected to the connector, and

[0087] - Lift the storage container or delivery container, which may contain a delivery container, above the guide rail system.

[0088] According to a fifth aspect, the present invention relates to a computer-readable medium having a computer program stored thereon for controlling a container transport vehicle according to a first aspect of the invention, wherein the computer program includes instructions for performing method steps according to a fourth aspect of the invention. Attached Figure Description

[0089] The accompanying drawings illustrate alternative embodiments of the invention and are included to aid in understanding the invention. However, the features disclosed in the drawings are for illustrative purposes only and should not be construed as limiting.

[0090] Figure 1 is a perspective view of a prior art automated storage and retrieval system.

[0091] Figure 2 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

[0092] Figure 3 is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers.

[0093] Figure 4 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein, wherein the cavity is off-center relative to the X-direction.

[0094] Figure 5 This is a perspective side view of a container handling vehicle according to an embodiment of the present invention, wherein the connector has clamped the delivery container and the delivery container has been lifted from the storage container by means of a lifting mechanism.

[0095] Figure 6 yes Figure 5 The diagram shows a perspective side view of a container handling vehicle, where a container gripper, a component of the connector, has clamped both a delivery container and a storage container.

[0096] Figure 7 This is a perspective side view of the connector according to an embodiment of the present invention.

[0097] Figure 8 A cross-sectional side view of a connector according to an embodiment of the present invention is shown, the connector being arranged in a clamping position on top of a storage container containing a delivery container, wherein... Figure 8 A and Figure 8 B shows the delivery container gripper in the clamping and releasing positions, respectively.

[0098] Figure 9 yes Figure 8 The cross-sectional view of the connector shown, in which Figure 9 Figure A shows a cross-sectional side view of a connector located on top of a storage container containing a delivery container, wherein the connector clamps both the storage container and the delivery container, and Figure 9 Figure B shows a top view of the cross-section of the connector.

[0099] Figure 10This is a perspective view of components of a storage and retrieval system according to an embodiment of the present invention, the storage and retrieval system including a first type of robotic picking device for picking delivery containers within a storage container.

[0100] Figure 11 yes Figure 10 Another perspective view of the components of the storage and retrieval system shown.

[0101] Figure 12 This is a perspective view of components of a storage and retrieval system according to another embodiment of the invention, the storage and retrieval system including a second type of robotic picking device for picking delivery containers within a storage container. Detailed Implementation

[0102] In the following sections, different embodiments 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 scope of the invention to the subjects depicted in the drawings. Furthermore, even though some features are described only in relation to the system, it will be apparent that they are also effective for the method, and vice versa.

[0103] Figure 5 A perspective view shows a cantilevered container handling vehicle 200 of the present invention, which includes a body 201, a first set of wheels 202a for movement in the X direction, a second set of wheels 202b for movement in the Y direction, a cantilever member 203 extending in the X direction from the upper part of the body 201, a rotatable axle 214 arranged in the X direction below the cantilever 203, a connector 1 configured to releasably grip and lift storage containers 106 (hereinafter referred to as cabinets) and delivery containers 30 (hereinafter referred to as shipping containers), and a belt 213 with one end wound around the rotatable axle 214 and the other end attached to the connector 1. The rotatable axle 214 and the belt 213 allow the connector 1 to be raised and lowered in a controlled manner into and out of a container receiving space, the container receiving space being defined by the horizontal range of the cantilever member 203 and the volume between the lower side of the cantilever member 203 and the lowest part of the wheels 202a, 202b. The connector 1 can be considered a modification of the prior art lifting devices 210 and 360, which previously could only hold one type of container 106 (Figures 2 and 4).

[0104] For details, please refer to the following: Figure 6 and Figure 7 The connector 1 includes a connector frame 2 having a lower surface and an upper surface oriented in the X and Y planes, and a storage container holder / cabinet holder 17, such as a claw or hook protruding from the lower surface in the Z direction. A strap 213 is attached at its lower end to a mounting point 213' provided on the upper surface of the connector frame 2 (see [link]). Figure 9(B). Mounting elements 213' can be simple fixed points, or they can be devices that allow adjustment of the vertical length between the rotatable axle 214 and the connector 1. An example of the latter can be a drum-shaped element that can be remotely controlled or can perform the vertical adjustment autonomously.

[0105] The connector 1 further includes a delivery container holder / shipping carton holder 3, configured to be releasably coupled to a corresponding coupling structure (one or more) 21 of the shipping carton 20, wherein the size of the shipping carton 20 allows it to be fitted into the cabinet 106. The maximum external cross-sectional area of ​​the shipping carton 20 should be smaller than the minimum cross-sectional area of ​​the opening into the cabinet 106 (in some arrangements (not shown), the shipping carton 20 may also include a lip resting on the edge of the cabinet 106). Figure 6 , Figure 8 and Figure 9 As shown, the height of the shipping container 20 is typically lower than the height of the cabinet 106.

[0106] For further reference Figure 6 , Figure 8 and Figure 9 The shipping container holder 3 allows connection to the clamping structure / construction 21 located on the inner wall of the shipping container 20.

[0107] The clamping structure 21 is shown in the figure as a recess / groove / hole located in the inner wall of the shipping container, below the edge 22 of the shipping container. However, other designs are conceivable, such as the clamping structure 21 located on or at the edge of the shipping container 20. As an example of the latter, the clamping structure 21 may be in the form of a groove on the edge 22 of the shipping container, similar to or equivalent to a container clamping groove 109, into which a container clamp / jaw 17 can be inserted. Figure 9 (A).

[0108] The shipping container holder 3 is shown in the figure as two container holder blades 3 (first blade 3a and second blade 3b), hereinafter referred to as holder blades, wherein each holder blade 3a, 3b has a protrusion 3' at its lower end, such as a flange, rib, or pleat. The upper end 3” of the holder blade 3 is pivotally and / or elastically attached to the connector frame 2, and the length and design of each holder blade 3 are such that when the connector frame 2 abuts or approaches the opening frame / upper edge of the adjacent container 106, the protrusion 3' is vertically aligned (at the same height) with the indentation / groove / hole 21 in the inner wall of the shipping container 20.

[0109] The actuator system 5-9, which also forms a component of the connector 1, is arranged together with the connector frame 2 and / or below the lower surface of the frame, and is configured such that it can displace the first gripper blade 3a and the second gripper blade 3b in opposite directions, the movement being remotely controlled.

[0110] exist Figures 6 to 9 In the specific embodiment shown, the actuator system 5-9 includes a motor 5, a connector control system 7 that allows control of the operation of the motor 5 and signals to communicate with the main control system 600, a rotary disk 6 connected to the motor 5, and two links / displacement arms 9a, 9b that connect the rotary disk 6 to each of the gripper blades 3a, 3b.

[0111] The motor 5, the rotary disk 6, and the connector control system 7 are directly fixed to the connector frame 2a, or fixed to the connector frame 2a via a motor support 8, which is shown in the form of a gusset. The motor 5 may be, for example, a DC motor.

[0112] The two connecting rods 9a and 9b are in Figures 6 to 9 The size is configured and defined as follows:

[0113] The first end of the first link 9a and the first end of the second link 9b are pivotally connected to the rotating disk 6 on opposite sides of the rotation axis of the rotating disk 6, while the second end of the first link 9a and the second end of the second link 9b are pivotally connected to the first gripper blade 3a and the second gripper blade 3b.

[0114] The specific configuration of the first ends of the links 9a and 9b on the rotary disk 6 relative to each other causes equal length and opposite orientation displacement of the links 9a and 9b, and thus causes equal pivoting of the gripper blades 3a and 3b.

[0115] By adjusting the position, angle, and length of the gripper blade 3, the protrusion 3' is aligned with the indentation / groove / hole 21 of the shipping box 20 at the same vertical height. The rotary disk 6 is allowed to rotate by the motor 5 to cause the gripper blade 3 to deflect horizontally. The actuator system 5-9 allows switching between a locked position and a released position. In the locked position, the protrusion 3' is inserted into the corresponding indentation / groove / hole 21. In the released position, the protrusion 3' is removed from the corresponding indentation / groove / hole 21.

[0116] The rotation of the rotating disk 6 driven by the motor 5 should be sufficient to ensure that the protrusion 3' is inserted into the recess / groove / hole 12. The rotation is preferably in the range of 70-100°, for example 90°.

[0117] Motor 5 can be remotely operated via a connector control system 7 arranged on or within the connector frame 2. The connector control system 7 can remotely receive control signals from electronics within the vehicle body 201 via a receiver and / or via signal communication lines. Therefore, signal communication from the connector control system 7 allows control of motor 5, which operates (via the rotary disk 6 and connecting rod 9) the gripper blades 3 to connect to the clamping structure 21 of the shipping box 20. The connector control system 7 can also regulate and direct the power received from the vehicle body 201 to drive motor 5.

[0118] Figures 7 to 9 A vertical guide pin 16 is shown, which helps align the connector 1 with the cabinet 106. During operation, the guide pin 16 is lowered into the corresponding guide pin groove and guided by the guide pin groove, thereby ensuring the correct horizontal alignment of the connector frame 2.

[0119] Still referencing Figures 7 to 9 The connector 1 may also include a shipping box guide plate 4 to further aid in the correct horizontal alignment of the connector 1. Therefore, the lower ends of the shipping box guide plates 4 should be arranged such that they correspond to the size of the opening of the shipping box 20. The guide plates 4 are resiliently connected to the connector frame 2.

[0120] Figures 8 to 9 The diagram shows that the shipping container 20 has been arranged inside the cabinet 106, and the connector 1 has been correctly placed on top of the opening frame of the cabinet 106. Figure 8 The connector 1 and containers 20, 106 are shown, the assembly being shown cut open by a pair of clamp blades 3, and Figure 9 The same arrangement is shown, in which the left half is cut open by the cabinet clamp 17, and the right half is cut open by the clamp blade 3.

[0121] The connector 1 may also include one or more vehicle sensors 19 and one or more cabinet sensors 18 projecting from the corners of the upper and lower surfaces of the connector frame 2, respectively. The vehicle sensors 19 may record proximity and / or contact with components of the container handling vehicles 200, 300, 350, thereby defining the upper vertical boundary of the storage container space. Similarly, the cabinet sensors 18 may record proximity and / or contact with the edges of the cabinet 106.

[0122] Both types of sensors 18 and 19 may include a transmitter that allows the transmission of sensing signals to the remote main control system 600. Furthermore, the cabinet sensor(s) 18 / vehicle sensor(s) 19 may be in the form of capacitive sensors (mutual capacitance and / or self-capacitance) for recording direct contact or proximity with the connector frame 2 or the vehicle / crane 200, 300, 350. The sensors(s) 18 and 19 may also be in the form of spacers respectively adjacent to the cabinet 106 and the vehicle components.

[0123] Other sensor configurations are conceivable, for example, the container sensor 18 may also or alternatively sense proximity / contact with the edge 22 of the shipping container 20.

[0124] A shipping container sensor with a similar or identical configuration to the container sensor 18 may also be arranged on the lower surface of the connector frame 2 to detect proximity / contact with the edge 22 of the shipping container.

[0125] With the automatically operating drum-shaped component used as mounting element 213' as described above, vehicle sensor 19 can be used to measure relevant components up to vehicles 200, 300, 350 (such as below the cantilever component, see...). Figure 5 The vertical distance is measured and the result is fed to the drum to make the length of the belt 213 uniform.

[0126] When the internal volume of container 106 is higher and slightly wider than that of shipping container 20, the peripheral or edge surface of connector frame 2 can be advantageously tilted inward in the direction from the upper surface to the lower surface, thereby further facilitating the horizontal alignment of connector 1 with respect to containers 20, 106.

[0127] As described above and in Figures 1 to... Figure 9 A specific example of the operation of the connector 1 in the storage and retrieval system 100 shown is a centralized method for centralized shipping containers 20 in cabinet 106, wherein the shipping containers 20 contain one or more items / products to be delivered to a customer.

[0128] This type of operation may include the following steps:

[0129] 1. Vehicles 200, 300, and 350, equipped with the connector 1 as described above, are instructed to move to a position on the guide rail system 108, in which the connector 1 is aligned directly above the storage column 105, in which a container 106 containing the target shipping container 20 is arranged on top of a stack 107. The guide rail system 108, the storage column 105, and the stack 107 are as shown in FIG. 1.

[0130] 2. Vehicles 200, 300, and 350 lower the connector 1 into the container loading arrangement structure 20 or 106 until the protrusion 3' of the clamp blade 3 is horizontally aligned with the corresponding clamping structure (one or more) 21 of the container 20. The connector 1 is preferably designed such that this alignment is achieved when the lower surface of the connector frame 2 abuts against the periphery / opening frame of the container 106.

[0131] 3. The coupling control system 7 instructs the motor 5 to rotate the rotating element 6, thereby pushing the ends of the connecting rods 9a and 9b outward in opposite directions, so that the protrusion 3' engages with the clamping structure 21 (see...). Figure 8 These commands can be sent remotely from a transmitter inside the vehicle body 201, or via a communication line, or remotely from the main control system 600 to a receiver in the coupler control system 7. Such receivers can also be integrated into the motor 5.

[0132] 4. Vehicles 200, 300, and 350 use winch shaft 214 and belt 213 to lift connector 1 with shipping box 20, so that the bottom of shipping box 20 is located a distance above guide rail system 108.

[0133] 5. Vehicles 200, 300, and 350 move to a position where the connector 1 with the target shipping container 20 is directly above the storage column 105 in the centralized area of ​​the rail system 108, where the containers available from the rail system 108 (typically at the top of the stack 107) are empty.

[0134] 6. Vehicles 200, 300, and 350 place the target shipment container 20 into an empty container 106 by lowering the connector 1, such that the target shipment container 20 is at least partially, preferably completely, located within the container 106, and the protrusion 3' is disconnected from the clamping structure (one or more) 21 by rotating the rotating element 6 in the direction opposite to point 3.

[0135] 7. When one or more products stored in the target shipment container 20 are to be retrieved from the storage and retrieval system 100, vehicles 200, 300, and 350 are moved to storage column 105 at point 6 and the target shipment container 20 is picked up from container 106 using the same procedure as in points 1-4.

[0136] 8. Vehicles 200, 300, and 350 are moved to a position in which the connector 1 with the target shipment container 20 is positioned directly above the unloading port column 119 (see Figure 1), and the target shipment container 20 is lowered through the port column 119 to the storage and distribution station 500 located at the lower end of the port column 119.

[0137] 9. The target shipment container 20 is picked up by an operator and / or robotic picking device 400 and placed on a suitable transport mechanism, such as a conveyor system 503, for further transport to the end customer. Figure 10-12 ).

[0138] 10. Empty shipping container 20 is transported by the transport mechanism at point 9 to a location accessible to human operators and / or robotic picking devices 400.

[0139] 11. The empty shipping container 20 is lifted to a position a certain distance above the guide rail system 108 by using vehicles 200, 300, and 350 via the pickup port column 120, and the empty shipping container 20 is placed in the storage column 105 by performing any of steps 1-8 in the opposite direction.

[0140] The target shipment container 20 can also be transported directly from storage column 105 in point 1 to unloading port column 119 (therefore steps 5-7 are omitted).

[0141] Furthermore, during the entire process of performing steps 1-11, only one port column, 119 or 120, may be used.

[0142] Other mechanisms for transporting the target container 20 from vehicles 200, 300, 350 to storage and distribution station 500 are conceivable, such as separate container transport devices, like vertical container lifts and / or inclined conveyors.

[0143] Figures 10 to 12 Two different examples of product handling systems 400 and 500 are shown, which are arranged near the unloading port row 119 of the automated storage and retrieval system 100. In this arrangement, the product handling systems 400 and 500 include a robotic picking device 400 and a storage and distribution station 500.

[0144] Figures 10 to 12 The robot picking device 400 includes a robot base 401, two or more robot segments 402-404 and an operating end 405, which is configured to pick up and release shipping boxes 20, for example, by using a second connector similar to or the same as the connector 1 described above.

[0145] exist Figure 10 and Figure 11In the first example shown, the access and distribution station 500 includes a container basket 501 and a storage system access opening 502. The container basket 501 is configured to temporarily store / hold cabinets 106. The container basket 501 can be guided through the storage system access opening 502, for example, by using a container basket shifting mechanism (not shown). The container basket 501 can also be configured to allow only temporary storage of shipping containers 20. Configurations where the container basket 501 can store cabinets 106 or smaller shipping containers 20 are also conceivable.

[0146] Figure 10 and Figure 11 The station 500 further includes a conveyor system 503 located at least partially outside the frame 101 of the storage and retrieval system 100. The conveyor system 503 may include a first conveyor belt 503a and a second conveyor belt 503b arranged parallel to each other. Figure 11 As shown, by placing the ends of each of the conveyor belts 503a and 503b close to the access point 502, it is possible to transport the shipping box 20 back and forth to the container basket 501 simultaneously, thereby improving the overall efficiency of the product handling systems 400 and 500.

[0147] For details, please refer to the following: Figure 11 In this first example, the robotic picking device 400 includes:

[0148] - Robot base 401 fixed on platform / floor 700

[0149] -Provides a first robot segment 402 that can move vertically relative to the robot base 401.

[0150] - A second robot segment 403 provides horizontal movement relative to the first robot segment 402 (the first and second segments allow controlled vertical and / or horizontal displacement), and

[0151] - Connect (at least indirectly) to the operating end 405 of the second robot segment 403.

[0152] The second connector 406 at the operating end 405 of the robot picking device 400 includes a handle 15 disposed on the top of its connector frame 2.

[0153] The vertical / horizontal direction is measured below relative to the platform / floor 700 of the robot base 401. It should also be noted that the frame 101 of the storage volume of the transfer system 503 and / or the storage and retrieval system 100 may be supported on the same platform / floor 700, or alternatively supported on other platforms arranged at different vertical heights.

[0154] Controlled horizontal and vertical displacement can be achieved using known displacement devices, such as electric linear actuators and / or hydraulic cylinders. The connecting end of the second robot segment 403 can be guided, for example, along a vertical rod of the component forming the first robot segment 402.

[0155] The robot picking device 400 is further arranged such that the operating end 405 can be manipulated to a central position above the container basket 501.

[0156] Using the specific setup described above, and utilizing the second connector 406 connected to the operating end 405 of the robot picking device 400, when the container basket 501 has been placed at the picking position outside the access opening 502, any shipping box 20 stored in the corresponding cabinet 106 can be picked up via the operation of the second connector 406 and at least one of the first and second robot segments 402, 403, which can also be stored in the container basket 501.

[0157] Note that the container 106, designed to accommodate the shipping container 20, can remain inside the container basket 501 at any time during operation.

[0158] Figure 12 A second example of a product handling system 400, 500 using the aforementioned second connector 406 is shown. The second example is almost identical to the first example in structure and operation, except that it uses a different type of robotic picking device 400, namely a multi-joint robotic picking device.

[0159] The multi-joint robotic picking device 400 includes a robot base 401 connected to a fixed platform / floor 700; and a first robot segment 402 rotatably connected to the robot base 401, preferably having a vertical axis of rotation C perpendicular to the orientation of the platform / floor 700. RB The second robot segment 403 is rotatably connected to the first robot segment 402, preferably having a horizontal axis of rotation parallel to the orientation of the platform / floor 700; the third robot segment 404 is rotatably connected to the second robot segment 403; the component forming the third robot segment 403 or the operating end 405 rotatably connected to the third robot segment 403; and the second connector 406 connected to (preferably removably) the operating end 405 as described above.

[0160] All joints, namely the aforementioned rotatable connection points, are equipped with remotely and / or autonomously operated rotation mechanisms, thereby allowing the multi-joint robotic picking device 400 to pick up shipping boxes 20 containing products from cabinets 106 arranged within container baskets 501 or directly from container baskets 501, and place the shipping boxes 20 on conveyor belts 503a that transport the shipping boxes 20 away from frame 101. Similarly, the multi-joint configuration allows the robotic picking device 400 to pick up empty shipping boxes 20 from conveyor belts 503b that transport shipping boxes 20 toward frame 101, and place the empty shipping boxes 20 into cabinets 106 arranged inside container baskets 501, or directly into container baskets 501.

[0161] In an alternative collection method according to the invention, the robotic picking device 400 is positioned at or above the height of the guide rail system 108, thereby allowing the collection of shipping boxes 20 in cabinets 106 to be performed at least partially by the robotic picking device 400. This alternative configuration may also allow for direct transfer of products between shipping boxes 20 and / or cabinets 106.

[0162] In the foregoing description, various aspects of a container handling vehicle for selectively connecting to two types of containers have been described; connectors, automated storage and retrieval systems, and associated methods for the components constituting the vehicle have been described with reference to exemplary embodiments. Specific designations, systems, and configurations have been set forth for illustrative purposes to provide a thorough understanding of the system and how it operates. However, this description is not intended to be construed as limiting. 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.

[0163] Reference number

[0164]

[0165]

[0166]

[0167]

Claims

1. A container handling vehicle (200, 300, 350) equipped with a connector (1) for coupling to a delivery container and / or a storage container, the connector (1) comprising: - Connector frame (2) - A delivery container holder, which is disposed on the connector frame (2) and protrudes from the lower surface of the connector frame (2), the delivery container holder being configured to be releasably coupled to a corresponding coupling structure (21) of the delivery container (20), and - A storage container holder (17) is disposed on the connector frame (2) and protrudes from the lower surface of the connector frame (2). The storage container holder (17) is configured to be releasably coupled to a corresponding coupling structure (109) of a storage container (106) having dimensions that allow the delivery container (20) to be held within the storage container. The delivery container holder includes two gripper blades (3) for gripping the delivery container (20). Each gripper blade pivots from a pivot axis that is equidistant from and oppositely spaced from a vertical center plane (Cvp) oriented perpendicular to the lower surface of the connector frame (2). Each of the gripper blades (3) includes a protrusion (3') located below the lower surface of the connector frame (2) for insertion into a corresponding connection structure (21) of the delivery container (20).

2. The container handling vehicle (200, 300, 350) according to claim 1, wherein, The container transport vehicle also includes: - Lifting mechanisms (213, 214), which are connected to the connector frame (2) such that the lower surface of the connector frame (2) is aligned with the horizontal plane, allowing the container transport vehicles (200, 300, 350) to move along the horizontal plane. - wherein the lifting mechanism (213, 214) and the connector (1) are configured to allow the storage container (106) and / or the delivery container (20) to be transported into and out of a space provided for the storage container (106) being transported by the container handling vehicle (200, 300, 350).

3. The container handling vehicle (200, 300, 350) according to claim 1, wherein, The connector (1) also includes: - Storage container sensor (18), which is configured to sense when the lower surface of the connector frame (2) contacts and / or approaches the upper edge of the storage container (106).

4. The container handling vehicle (200, 300, 350) according to claim 2, wherein, The connector (1) also includes: - Storage container sensor (18), which is configured to sense when the lower surface of the connector frame (2) contacts and / or approaches the upper edge of the storage container (106).

5. The container handling vehicle (200, 300, 350) according to claim 1, wherein, The connector (1) also includes: - A vehicle sensor (19) is configured to sense when the upper part of the connector (1) comes into contact with and / or approaches a component of the container transport vehicle (200, 300, 350), thereby setting an upper vertical boundary of a space configured for the storage container (106) being transported by the container transport vehicle (200, 300, 350).

6. The container handling vehicle (200, 300, 350) according to any one of claims 2 to 5, wherein, The mechanism (17') that allows the storage container holder (17) to releasely hold the storage container (106) is arranged at least partially within the connector frame (2).

7. The container handling vehicle (200, 300, 350) according to claim 1, wherein, The delivery container holder also includes: - A shifting system for pivoting two gripper blades (3) in opposite directions from the vertical center plane (Cvp) until the protrusion (3') has engaged the corresponding coupling structure (21) of the delivery container (20).

8. The container handling vehicle (200, 300, 350) according to claim 7, wherein, The shifting system includes: - Clamp motor (5). - A connector control system (7) configured to control the operation of the gripper motor (5). - A first link (9a) is connected at one end to the gripper motor (5) and at the other end to one of the two gripper blades (3), and - Second link (9b), which is connected at one end to the gripper motor (5) and at the other end to the other of the two gripper blades (3). The gripper motor (5) is configured to shift the first link and the second link in opposite directions away from the vertical center plane (Cvp).

9. The container handling vehicle (200, 300, 350) according to claim 8, wherein, The shifting system further includes: - Rotating element (6), which connects the first link and the second link to the shaft of the gripper motor (5), - wherein the gripper motor (5), the rotating element (6), the first link (9a) and the second link (9b) are configured such that the opposite displacement of the first link and the second link is achieved by rotating the rotating element (6) clockwise or counterclockwise between 0 degrees and 180 degrees.

10. A connector (1) for coupling to a storage container (106) and / or a delivery container (20), the delivery container being arable within the internal volume of the storage container (106), wherein, The connector (1) includes: A connector frame (2) for attachment to a container handling vehicle (200, 300, 350) according to any one of claims 1 to 9. A delivery container holder, disposed on the connector frame (2) and projecting from the lower surface of the connector frame (2), is configured to be releasably coupled to a corresponding coupling structure (21) of the delivery container (20). The delivery container holder includes two gripper blades (3) for gripping the delivery container (20), each gripper blade pivoting from a pivot axis equidistant from and oppositely spaced from a vertical center plane (Cvp) oriented perpendicular to the lower surface of the connector frame (2). Each of the gripper blades (3) includes a protrusion (3') located below the lower surface of the connector frame (2) for insertion into the corresponding coupling structure (21) of the delivery container (20). A storage container holder (17) is disposed on the connector frame (2) and protrudes from the lower surface of the connector frame (2), and the storage container holder (17) is configured to be releasably coupled to a corresponding coupling structure of the storage container (106).

11. A storage and retrieval system (100), comprising: -Frame (101); as well as - Container handling vehicle (200, 300, 350) according to any one of claims 1 to 9. -The frame (101) includes: a plurality of vertical upright members (102) defining a plurality of storage columns (105) for storing stacks (107) of storage containers (106); and a guide rail system (108) constituting the uppermost part of the frame (101), the guide rail system (108) including vertical guide rails (110, 111), the intersection of the guide rails (110, 111) forming a grid of grid cells, the grid defining grid openings (115) for entering the plurality of storage columns (105), and -The container handling vehicles (200, 300, 350) are configured to operate on the guide rail system (108).

12. The storage and retrieval system (100) according to claim 11, wherein, The storage and retrieval system (100) further includes: - Port list (119, 120), and - Access and distribution station (500), which is located at the lower end of the port columns (119, 120).

13. The storage and retrieval system (100) according to claim 11, wherein, The storage and retrieval system (100) further includes: - Main control system (600), and - A robot picking device (400) communicates with the main control system (600) via signals. The robot picking device (400) includes a robot base (401), a first robot segment (402) rotatably connected to the robot base (401), and an operating end (405) configured to allow releasable connection to the delivery container (20). -The robot picking device (400) is configured such that the operating end (405) can be moved to a position at least within the reach of the delivery container (20) or the storage container (106) to be delivered to the frame (101).

14. The storage and retrieval system (100) according to claim 12, wherein, The storage and retrieval system (100) further includes: - Main control system (600), and - A robot picking device (400) communicates with the main control system (600) via signals. The robot picking device (400) includes a robot base (401), a first robot segment (402) rotatably connected to the robot base (401), and an operating end (405) configured to allow releasable connection to the delivery container (20). -The robot picking device (400) is configured such that the operating end (405) can be moved to a position at least within the reach of the delivery container (20) or the storage container (106) to be delivered to the frame (101).

15. A method for lifting a delivery container (20) arranged within a storage container (106) using a container handling vehicle (200, 300, 350) according to any one of claims 1 to 9. in, The method includes the following steps: - The container transport vehicles (200, 300, 350) are moved along a horizontal plane to a position where the connector (1) is positioned above the storage container (106) containing the delivery container (106). - Lower the connector (1) to a position in which the connector (1) can be connected to the storage container (106) by operating the storage container holder (17), and / or to the delivery container (20) by operating the delivery container holder, and - By operating the storage container holder (17) or the delivery container holder respectively, the connector (1) is connected to the storage container (106) or the delivery container (20), and - By operating the lifting mechanism (213, 214), the storage container (106) is lifted together with the delivery container (20), or the delivery container (20) is lifted only from the storage container (106) until the respective containers (20, 106) are above the horizontal plane and the container transport vehicles (200, 300, 350) are moving on the horizontal plane.

16. The method according to claim 15, wherein, The storage container (106) is stored within the storage and retrieval system (100) according to any one of claims 11 to 14. The container handling vehicles (200, 300, 350) further include a first set of wheels (202a, 302a, 352a) for moving the container handling vehicles (200, 300, 350) in a first direction (X) along the guide rail system (108) and a second set of wheels (202b, 302b, 352b) for moving the container handling vehicles (200, 300, 350) in a second direction (Y) along the guide rail system (108), wherein the second direction (Y) is perpendicular to the first direction (X). The method further includes the following steps: - Move the container handling vehicles (200, 300, 350) to a position where the storage container (106) containing the delivery container (20), or the delivery container (20) that has been lifted out of the storage container (106), is positioned above the port columns (119, 120), and - The storage container (106) containing the delivery container (20) or the delivery container (20) is transported through the port column (119, 120) to the access and distribution station (500) located at the lower end of the port column (119, 120).

17. The method according to claim 16, wherein, The method further includes the following steps: - Move the container handling vehicles (200, 300, 350) to a position such that the connector (1) is positioned above the port columns (119, 120), wherein the lower ends of the port columns (119, 120) are positioned above or near the access and distribution station (500). - Lower the connector (1) into the port array (119, 120) until the connector (1) is in a clamping position relative to the storage container (106) or delivery container (20) arranged at the lower end of the port array (119, 120). - The storage container (106) or the delivery container (20) is connected to the connector (1) by means of the operating storage container holder (17) or the delivery container holder, respectively. - Lift the storage container (106) or the delivery container (20) above the guide rail system (108).

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