Railway vehicle

Abstract

A rail vehicle (2) for moving in two horizontal directions perpendicular to each other on a rail system (108) comprising a first set of parallel rails (110) in a first direction (X) and a second set of parallel rails (111) in a second direction (Y) perpendicular to the first direction (X), the rail vehicle comprising a vehicle frame (3), a rail engagement support (4) and a plurality of wheel modules (5), the plurality of wheel modules are configured to move the vehicle on the track system; wherein each wheel module (5) comprises a wheel (6) having a horizontal axis of rotation, the wheel module allowing the wheel to pivot 90 degrees about a vertical axis such that the direction of rotation of the wheel can be switched between a first direction (X) and a second direction (Y); the wheel module (5) and the track engagement support (4) are vertically movable relative to each other between a first position and a second position to engage and disengage the wheel from the track.

Description

Technical Field

[0001] The invention relates to a rail vehicle, an automatic storage and retrieval system comprising the rail vehicle, and a method for changing the travel direction of a rail vehicle. Background Art

[0002] Figure 1 A prior art automatic storage and retrieval system 1 having a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on the system 1 are disclosed.

[0003] The frame structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also called boxes) are stacked one on top of the other to form stacks 107. The members 102 may typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a horizontal grid-based track system 108 (i.e., a track grid) arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301, 401 can operate to lift and lower storage containers 106 from and into storage columns 105, and also to transport storage containers 106 over storage columns 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 to move in a first direction X across 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, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The container handling vehicles 201 , 301 , 401 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 may be used to guide the containers during raising and lowering of storage containers from and into the row 105. The stack 107 of containers 106 is generally self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c that enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. Figure 2 , Figure 3 and Figure 4 , two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks in the second set of tracks 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the corresponding set of tracks 110, 111 at any time.

[0007] Each prior art container handling vehicle 201, 301, 401 further comprises a lifting device 404 for vertical transportation of the storage container 106 (see Figure 4 ) (i.e., a container lifting device), for example, lifts the storage container 106 from the storage column 105 and lowers the storage container 106 into the storage column. The lifting device 404 is characterized by having a lifting frame 404d, which includes a container connector 404b and a guide pin 404c suitable for engaging with the storage container 106. The lifting frame 404d can be lowered from the vehicle 201, 301, 401, so that the position of the lifting frame 404d relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction Y and the second direction X. Figure 2 In the embodiment, the lifting device of the container transport vehicle 201 is located inside the vehicle body 201a.

[0008] To raise or lower the lifting frame 404d (and optionally, the connected storage container 106), the lifting frame 404c is suspended on a belt drive assembly via a lifting belt 404a. In the belt drive assembly, the lifting belt is typically wound on / unwound from at least one rotating lifting shaft or reel located in the container handling vehicle. Various designs of belt drive assemblies are described in, for example, WO 2015 / 193278 A1, WO 2017 / 129384 A1, and WO 2019 / 206438 A1.

[0009] Conventionally and for purposes of this application, Z=1 identifies the uppermost level for storing storage containers beneath rails 110, 111, i.e., the level immediately beneath rail system 108, Z=2 identifies the second level beneath rail system 108, Z=3 identifies the third level, etc. Figure 1 In the exemplary prior art disclosed in , Z=8 identifies the bottommost layer of the storage container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using Figure 1 The Cartesian coordinate system X, Y, Z shown in Figure 1 The storage container identified as 106' in FIG. 1 occupies the storage position at X=17, Y=1, Z=6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer at Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, Figure 1 The storage containers shown in FIG. 1 extending above the rail system 108 are also referred to as being arranged in the layer with Z=0.

[0010] The storage volume of the frame structure 100 is usually referred to as a grid, wherein the possible storage positions within the grid are referred to as storage units. Each storage column can be identified by a position in the X-direction and the Y-direction, and each storage unit can be identified by a container number in the X-direction, the Y-direction, and the Z-direction.

[0011] Each of the prior art container handling vehicles 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the track system 108. The storage space may include a cavity arranged inside the vehicle body 201a, 401a, such as Figure 2 and Figure 4 As shown in and described, for example, in WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

[0012] Figure 3 An alternative configuration of a container handling vehicle 301 having a cantilever configuration is shown. Such a vehicle is described in detail in, for example, NO 317,366, the contents of which are also incorporated herein by reference.

[0013] Figure 2 The occupied area of ​​the chamber container handling vehicle 201 shown in the figure can cover an area with dimensions in the X-direction and the Y-direction substantially equal to the lateral extent of the storage column 105, such as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0014] Alternatively, the footprint of the cavity container handling vehicle 401 may be larger than the lateral area defined by the storage row 105, such as Figure 1 and Figure 4 As shown in and disclosed, for example, in WO02014 / 090684A1 or WO2019 / 206487A1.

[0015] The lateral area defined by the storage columns is equal to the lateral area defined by the grid cells 122 of the track system 108. The lateral area of ​​the grid cells includes the area of ​​the access opening 112 and half the track width at the perimeter of the access opening.

[0016] The track system 108 typically includes a track with a groove in which the wheels of the vehicle travel. Alternatively, the track may include an element extending upward, wherein the wheels of the vehicle include a flange to prevent derailment. These grooves and the elements extending upward are collectively referred to as guide rails. Each track may include one guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., X direction) may include one guide rail, and each track in another vertical direction (e.g., Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of a pair of guide rails provided by each track.

[0017] WO 2018 / 1460304 A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108 comprising tracks and parallel guides in both the X-direction and the Y-direction.

[0018] In the frame structure 100, most of the rows 105 are storage rows 105, i.e. rows 105 in which storage containers 106 are stored in the form of stacks 107. However, some of the rows 105 may have other purposes. Figure 1In the embodiment, the columns 119 and 120 are such special columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, so that the storage containers can be transported to the access station (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100, or the storage containers can be moved out of or into the frame structure 100. In the art, such positions are generally referred to as "ports", and the columns where the ports are located can be referred to as "port columns" 119, 120. The transportation to the access station can be carried out in any direction (i.e., horizontal, inclined and / or vertical). For example, the storage container 106 can be placed in a random or special column 105 within the frame structure 100, and then the storage container can be picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may need to be moved along various directions with the help of a delivery vehicle, a trolley or other transportation lines. Note that the term "inclined" refers to the transport of storage container 106 with a general transport orientation somewhere between horizontal and vertical.

[0019] exist Figure 1 In the embodiment, the first port column 119 can be, for example, a dedicated unloading port column, at which the container handling vehicles 201, 301, 401 can unload the storage containers 106 to be transported to the access station or the transfer station, and the second port column 120 can be a dedicated picking port column, at which the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or the transfer station.

[0020] The access station may typically be a pick-up station or a staging station at which the product items are removed from or positioned in the storage container 106. In the pick-up station or staging station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but is returned to the frame structure 100 after access. The port may also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0021] A conveyor system including conveyors is typically employed to transport storage containers between the port rows 119, 120 and the access station.

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

[0023] The conveyor system may be arranged to transfer storage containers 106 between different frame structures, for example as described in WO 2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0024] When accessing data stored in Figure 1 When a storage container 106 in one of the plurality of rows 105 disclosed in the embodiment of the present invention is removed, one of the plurality of container handling vehicles 201, 301, 401 is instructed to take out the target storage container from the position of the target storage container 106 and transport the target storage container to the unloading port row 119. The operation involves moving the container handling vehicle 201, 301, 401 to a position above the storage row 105 where the target storage container 106 is located, taking out the storage container 106 from the storage row 105 using the lifting device 404 of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the unloading port row 119. If the target storage container 106 is located deep in the stack 107, that is, one or more other storage containers 106 are located above the target storage container 106, the operation also involves temporarily moving the storage container located above before lifting the target storage container 106 from the storage row 105. This step (sometimes referred to in the art as "digging") may be performed using the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port row 119, or may be performed using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 that are specifically designed for the task of temporarily removing storage containers 106 from the storage row 105. After the target storage container 106 is removed from the storage row 105, the temporarily removed storage container 106 may be relocated to the original storage row 105. However, the removed storage container 106 may be relocated to other storage rows 105 instead.

[0025] When a storage container 106 is to be stored in a row 105, a container handling vehicle 201, 301, 401 is instructed to pick up a storage container 106 from the pick port row 120 and transport the storage container to a position above the storage row 105 where the storage container will be stored. After removing any storage container 106 located at or above the target position within the stack 107, the container handling vehicle 201, 301, 401 positions the storage container 106 to the desired position. The removed storage container 106 can then be lowered back into the storage row 105 or repositioned to another storage row 105.

[0026] In order to monitor and control the automatic storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106 and the movement of the container handling vehicles 201, 301, 401, so that the required storage container 106 can be transported to the required location at the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0027] The prior art container handling vehicles 201, 301, 401 described above are characterized by having wheel assemblies that enable the container handling vehicles to change direction of movement between the x-direction and the y-direction very quickly when moving on the track system. This is very advantageous for vehicles that need to change direction of movement multiple times to follow a transport route and thus efficiently perform the task of retrieving and storing a single storage container. However, the prior art wheel assemblies are somewhat complex and require, for example, eight wheels and at least two wheel drive motors.

[0028] Other types of vehicles that operate on track systems such as those described above, namely rail vehicles, can be configured to perform a variety of tasks where the speed at which the direction of movement is changed does not significantly affect efficiency.

[0029] In view of the foregoing, it would be desirable to provide a rail vehicle having a wheel assembly that is less complex and / or more cost effective. Summary of the invention

[0030] The present invention is defined in the appended claims and in the following:

[0031] In a first aspect, the present invention provides a rail vehicle for moving in two horizontal directions perpendicular to each other on a rail system, the rail system comprising a first set of parallel rails in a first direction and a second set of parallel rails in a second direction perpendicular to the first direction, the rail vehicle comprising:

[0032] - Vehicle frame;

[0033] - Rail engaging supports for supporting the vehicle on the rail system; and

[0034] - a plurality of wheel modules configured to move the vehicle on the track system;

[0035] wherein each wheel module comprises a wheel having a horizontal rotation axis, and the wheel module allows the wheel to pivot 90 degrees about a vertical axis so that the rotation direction of the wheel can be switched between a first direction and a second direction;

[0036] The wheel module and the track engaging support are vertically movable relative to each other between a first position and a second position, wherein:

[0037] In the first position, the wheel is arranged to engage a rail of the track system and the track engaging support is distal from the track system (or alternatively, in the first position, a lower, lower height portion of the wheel is arranged below a lower portion of the track engaging support such that the wheel may engage the track system while the track engaging support is distal from the track system); and

[0038] In the second position, the track engaging support is arranged to engage the track of the track system, and the wheel is lifted off the track system (alternatively; in the second position, the lower portion of the track engaging support is located below the lower lower height portion of the wheel so that the track engaging support can engage the track system while the wheel is lifted off the track system), so that each of the wheels can pivot about the vertical axis of the wheel module, thereby switching the rotation direction of the wheel between the first direction and the second direction.

[0039] Each track may include at least one wheel guide, and the track engaging support may be configured to support the vehicle via a wheel guide in the first set of tracks or a wheel guide in the second set of tracks.

[0040] The track system may also be referred to as a horizontal track system.

[0041] The wheel module and the track engaging support are vertically movable relative to each other between a first position and a second position, wherein the wheel module or the track engaging support is respectively vertically movable relative to the track engaging support and the wheel module, so that the wheel module and the track engaging support can move between the first position and the second position.

[0042] In one embodiment of a rail vehicle, the wheel module can be arranged at a fixed height relative to the vehicle frame, and the rail engaging portion can be vertically movable relative to the wheel module and the vehicle frame, so that the wheel module and the rail engaging support can be vertically movable relative to each other between a first position and a second position.

[0043] In the second position, the track engaging support may be configured to contact the first set of parallel tracks or the second set of parallel tracks.The track engaging support may have a lower portion configured to fit into a wheel guide in the first set of parallel tracks or a wheel guide in the second set of parallel tracks.

[0044] In one embodiment of the rail vehicle, the rail engaging support is configured to maintain the vehicle frame at a predetermined height relative to the rail system when in the second position. When the vehicle frame is maintained at the predetermined height, the wheel of the wheel module is arranged above the rail system and can pivot about a vertical axis to change the rotation direction of the wheel between the first direction and the second direction.

[0045] In an embodiment of the rail vehicle, the rail engaging supports may be arranged on mutually opposing sides of the vehicle frame.The rail engaging supports may be arranged on opposite sides of the vehicle frame.

[0046] In one embodiment, the rail vehicle may have four lower corner sections, and a wheel module may be arranged at each lower corner section.

[0047] In an embodiment of the rail vehicle, each rail engaging support may include a lower portion having a width equal to or less than a width of the wheel.

[0048] In one embodiment of the rail vehicle, the rail engaging support on each of the two opposite sides of the vehicle frame may be arranged between two wheel modules, that is, the rail vehicle may be arranged with two wheel modules on each of the two opposite sides. The rail engaging support may be arranged such that when the rotation direction of the wheels in the two wheel modules between which the rail engaging support is arranged is in the first direction or the second direction, the rail engaging support is located in a vertical plane where the two wheels are located.

[0049] In one embodiment of a rail vehicle, the track engaging support may be connected to an actuator assembly configured to move the vehicle track support and the wheel relative to each other in a vertical direction, the actuator assembly comprising at least one actuator. The actuator may be a rotary actuator or a linear actuator, such as an electric rotary motor or an electric linear actuator.

[0050] In an embodiment of the rail vehicle, the rail engaging support is vertically movable relative to the vehicle frame and the wheel module.The wheel module and the corresponding wheel may be at a fixed height relative to the vehicle frame.

[0051] In one embodiment of the rail vehicle, the actuator assembly can be configured to move the track engaging support relative to the vehicle frame in a vertical direction. In other words, the actuator assembly can be configured to move the vehicle track support, thereby moving the lower portion of the vehicle track support in a vertical direction.

[0052] In an embodiment of the rail vehicle, each track engaging support may be provided by a portion of a lever arm, and the actuator assembly is configured to pivot the lever arm between a first position and a second position to vertically displace the portion of the lever arm providing the track engaging support relative to the vehicle frame.

[0053] In one embodiment of a rail vehicle, the actuator assembly may include a linkage arrangement located on each of opposite sides of a vehicle frame, each linkage arrangement being coupled to at least one of the track engaging supports, wherein the linkage arrangements are interconnected by a horizontal axis and are configured such that when the horizontal axis is rotated, the track engaging supports move between a first position and a second position.

[0054] In one embodiment, the rail vehicle may include a wheel pivot assembly configured to simultaneously pivot the wheels about corresponding vertical axes, thereby enabling the rotational direction of the wheels to be turned 90 degrees, i.e., thereby enabling the rotational direction of the wheels to be switched between a first direction and a second direction. The term "rotational direction" refers to the direction in which the wheels travel when rotating.

[0055] In one embodiment of the rail vehicle, the wheel pivot assembly may include a plurality of vertical shafts, each vertical shaft being connected to a corresponding wheel module, the vertical shafts being rotatable by a wheel pivot actuator to pivot the wheel about a corresponding vertical axis.

[0056] In one embodiment of the rail vehicle, the wheel pivot assembly may include a connection interconnecting a plurality of vertical shafts and wheel pivot actuators, the connection being configured to convert movement of the wheel pivot actuators into rotational movement of the vertical shafts. Each vertical shaft may include a rod element configured to convert linear movement of the connection into rotational movement of the vertical shaft.

[0057] The connector and the rod element may be configured such that two of the vertical axes rotate in a direction opposite to the direction of the remaining two vertical axes.

[0058] In one embodiment of the rail vehicle, at least one of the wheel modules may comprise a motor for driving the respective wheel of the wheel module.

[0059] In an embodiment of the rail vehicle, at least one of the wheel modules may comprise a sensor for detecting the position of the wheel and thus of the rail vehicle relative to the rail system.

[0060] In an embodiment of the rail vehicle, each wheel module may comprise a single wheel.

[0061] In a second embodiment, the present invention provides a container handling system including a rail vehicle and a rail system including a first set of parallel rails in a first direction and a second set of parallel rails in a second direction perpendicular to the first direction, the rail vehicle comprising:

[0062] - Vehicle frame;

[0063] - Rail engaging supports for supporting the vehicle on the rail system; and

[0064] - a plurality of wheel modules configured to move the vehicle on the track system;

[0065] wherein each wheel module comprises a wheel having a horizontal rotation axis, and the wheel module allows the wheel to pivot 90 degrees about a vertical axis, thereby enabling the rotation direction of the wheel to switch between a first direction and a second direction;

[0066] The wheel module and the track engaging support are vertically movable relative to each other between a first position and a second position, wherein:

[0067] In a first position, the wheel engages a rail of the track system and the track engaging support is disposed above the track system; and

[0068] In the second position, the track engaging support engages the track of the track system and the wheels are arranged above the track system so that each of the wheels can pivot about the vertical axis of the wheel module to switch the rotational direction of the wheels between the first direction and the second direction.

[0069] The term "container handling system" is intended to encompass a handling system that includes any type of container, box, or frame that can hold any type of items, goods, or merchandise, including a growth medium in which plants can be grown. In the case of a growth medium, the container handling system can be used for vertical farming.

[0070] In one embodiment of the container handling system, each track in the first set of parallel tracks and each track in the second set of parallel tracks may include at least one wheel guide for guiding the wheel when in the first position, and each track engagement support includes a lower portion configured to fit within one of the wheel guides when the track engagement support is in the second position. The width of the lower portion of the track engagement support may be equal to or less than the width of the wheel guide. When the track engagement support is in the second position, the rail vehicle may be supported on the upwardly facing surface of the wheel guide via the lower portion of the track engagement support.

[0071] In an embodiment, the container handling system may include vertical row profiles supporting the rail system from below, the row profiles defining a plurality of storage rows in which containers may be stacked on top of each other.

[0072] In other embodiments of the container handling system, the rail vehicle may be a rail vehicle according to any embodiment of the first aspect of the present invention.

[0073] In one embodiment of the container handling system, each storage row is defined by four vertical row profiles.

[0074] In one embodiment of the container handling system, the first set of tracks and the second set of tracks may provide a horizontal grid based track system defining a plurality of grid cells.

[0075] In one embodiment of the container handling system, the footprint of the rail vehicle can be approximately 2x2 grid cells of the rail system. A grid cell can be defined as a cross-sectional area between a vertical center plane of the relative rail extending in a first direction and a vertical center plane of the relative rail extending in a second direction.

[0076] The grid unit opening may be defined as an open cross-sectional area between two opposing tracks extending in a first direction and two opposing tracks extending in a second direction.

[0077] In a third aspect, the present invention provides a method of changing the direction of travel of a rail vehicle running on a rail system, the rail system comprising a first set of parallel rails in a first direction and a second set of parallel rails in a second direction perpendicular to the first direction, the rail vehicle comprising:

[0078] - Vehicle frame;

[0079] - Rail engaging supports for supporting the vehicle on the rail system; and

[0080] - a plurality of wheel modules configured to move the vehicle on the track system;

[0081] wherein each wheel module comprises a wheel having a horizontal rotation axis, the wheel module allowing the wheel to pivot 90 degrees about a vertical axis so that the wheel can change the rotation direction between a first direction and a second direction;

[0082] The wheel module and the track engaging support are vertically movable relative to each other between a first position and a second position, wherein:

[0083] In the first position, the wheel is arranged to engage a rail of the track system and the track engaging support is away from the track system; and

[0084] In the second position, the track engaging support is arranged to engage a track of the track system and the wheel is lifted off the track system so that the wheel can pivot about a vertical axis to change the direction of rotation between a first direction and a second direction, the method comprising the steps of:

[0085] - moving the rail vehicle along a first direction on the rail system;

[0086] - stopping the rail vehicle;

[0087] - moving the wheel module and the rail engaging support relative to each other from a first position to a second position;

[0088] - pivoting the wheel 90 degrees about a vertical axis, thereby switching the direction of rotation of the wheel from a first direction to a second direction;

[0089] - moving the wheel module and the rail engaging support from the second position to the first position; and

[0090] - moving the rail vehicle along the rail system in a second direction.

[0091] In one embodiment of the method, the container handling system may be a container handling system according to any embodiment of the second aspect of the present invention.

[0092] In a fourth aspect, the present invention provides a rail vehicle for moving in two horizontal directions perpendicular to each other on a rail system, wherein the rail system includes a first set of parallel rails in a first direction and a second set of parallel rails in a second direction perpendicular to the first direction, the vehicle includes wheels for engaging the rails, the wheels having horizontal rolling axes and arranged to guide the vehicle along the rails in a first direction or a second direction, the wheels are arranged to pivot 90 degrees around a vertical axis to change the wheels from rolling on one set of rails to rolling on another set of rails, thereby changing the direction of movement of the vehicle, and the vehicle is provided with a rail engaging support, which is arranged to be lowered to engage with the rails, thereby lifting the wheels off the rails when the wheels pivot around the vertical axis.

[0093] In an embodiment of the fourth aspect, the rail vehicle may be a storage container handling vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] Embodiments of the present invention are described in detail by way of example only and with reference to the following drawings:

[0095] Figure 1 It is a stereogram of the framework structure of the automatic storage and retrieval system of the prior art.

[0096] Figure 2is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0097] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever arm for carrying a storage container underneath.

[0098] Figure 4 is a perspective view of a prior art container handling vehicle viewed from below, the container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0099] Figure 5 and Figure 6 is a side perspective view of a first exemplary rail vehicle according to the present invention.

[0100] Figure 7 yes Figure 5 and Figure 6 A perspective view of the upper section of a rail vehicle in FIG.

[0101] Figure 8 yes Figure 5 and Figure 6 A perspective view of the lower section of a rail vehicle in FIG.

[0102] Figures 9 to 12 yes Figure 5 and Figure 6 A perspective view of a lower section of a rail vehicle in FIG. 1 , showing the steps performed when the rail vehicle changes direction of travel.

[0103] Fig.13 yes Figure 5 and Figure 6 Exploded view of an exemplary wheel module for a rail vehicle in FIG.

[0104] Fig.14 yes Figure 5 and Figure 6 0014] A side perspective view of a rail vehicle in FIG. 1, showing the rail vehicle being used as a container handling vehicle.

[0105] Fig.15 is a side perspective view of a second exemplary rail vehicle according to the present invention.

[0106] Fig.16 is a side perspective view of a third exemplary rail vehicle according to the present invention. DETAILED DESCRIPTION

[0107] In the following, embodiments of the present invention will be discussed in more detail with reference to the attached drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0108] As mentioned above, the wheel assembly of the prior art container handling vehicles 201 , 301 , 401 is somewhat complex and requires, for example, eight wheels and at least two wheel drive motors to allow the container handling vehicle to move in both the first direction X and the second direction Y on the track system 108 .

[0109] The present invention provides an alternative type of rail vehicle. The rail vehicle is used to operate on the rail system 108 and can be configured to perform various tasks where the speed of changing the direction of movement does not significantly affect efficiency. Such a rail vehicle can be configured, for example, to retrieve multiple storage containers from the same storage column 105, to retrieve growing frames from / store growing frames in a vertical farming system, and / or to transport human operators.

[0110] The rail vehicle according to the invention is intended for use in an automatic storage and retrieval system, also called a container handling system, which has the above combined Figures 1 to 3 The frame structure 100 is described. The frame structure 100 includes a plurality of upright members 102 (i.e., vertical column profiles) and includes a track system 108 that forms a track grid extending in a first direction X and a second direction Y. The track system 108 is characterized by having a first set of parallel tracks 110 in the first direction and a second set of parallel tracks 111 in the second direction. Each track has at least one wheel guide 16, see Figure 8 Upright members 102 define storage rows 105 in which containers 106 can be stacked on top of each other. The containers of the automated storage and retrieval system can be configured to perform various functions, such as storage of items and goods and growing modules for plants. In the latter case, the automated storage and retrieval system can also be referred to as a vertical farming system.

[0111] A first exemplary embodiment of the rail vehicle 2 according to the invention is Figures 5 to 14 Shown in.

[0112] The rail vehicle 2 has a vehicle frame 3, a rail engaging support 4 for supporting the vehicle on a rail system 108 (see Figures 7 to 12 ) and four wheel modules 5 configured to move the vehicle on the rail system 108. The rail engaging supports 4 are arranged on opposite sides of the vehicle frame 3.

[0113] The wheel modules 5 are arranged at the lower corner sections 14 of the vehicle frame 3. Each wheel module 5 includes a wheel 6 having a horizontal rotation axis and allows the wheel 6 to pivot 90 degrees around a vertical axis so that the wheel can switch the rotation direction between a first direction X and a second direction Y on the track system 108.

[0114] Fig.13, an exploded view of a wheel module 5 is shown. The wheel module 5 shown features an electric wheel motor 11, a wheel 6 and a sensor 12. The wheel motor is coupled to the wheel 6 via a drive belt 18 and a drive wheel assembly 19. In alternative embodiments, the wheel motor 11 may be directly connected to the wheel and / or be an integral wheel hub motor. The sensor 12 is configured to detect the position of the wheel module 5 relative to the track system 108. Each wheel module 5 is pivotably connected to the lower end of a vertical profile 20 of the vehicle frame 3.

[0115] In the rail vehicle 2 shown, each of the four wheel modules 5 is provided with a wheel motor 11 and a sensor 12. However, in alternative embodiments, it is sufficient that at least one of the wheel modules 5 has a wheel motor 11, as long as the rail vehicle 2 can achieve the desired movement. Similarly, depending on the configuration of the sensor, only one wheel module may be required to have a sensor 12.

[0116] During the movement of the rail vehicle 2 on the rail system, the wheels are guided by the wheel guides 16 in the first set of rails or the wheel guides in the second set of rails 110, 111. The wheel guides 16 are defined by flanges 21 extending between the rail intersections 22 of the rail system 108. In order to achieve optimal guidance of the wheels 6, the flanges 21 are extended as far as possible without affecting the movement of the wheels through the rail intersections 22. In order to pivot the wheel module 5 while the wheel 6 is in contact with the rail system 108, it is necessary to make the diameter of the wheel very small, or to make the flange shorter. Neither of these solutions is optimal. For example, smaller wheels provide less traction and have a lower tolerance for slight unevenness of the rail system 108, while shorter flanges 21 cannot provide sufficient guidance for the wheels 6.

[0117] Therefore, in order to allow the wheel module 5 to pivot to switch the travel direction of the rail vehicle 2, the rail engaging support 4 is vertically movable between a first position and a second position relative to the wheel module 5. Note that in the illustrated embodiment, the rail engaging support 4 is vertically movable relative to the vehicle frame 3 and the wheel module 5. However, in alternative embodiments, the opposite configuration may be used, i.e., the wheel module 5 is vertically movable relative to the vehicle frame 3, while the rail engaging support 4 is fixed.

[0118] In the first position, see Fig. 9 and Fig.12 , the wheel 6 is arranged to engage the track system 108, and the track engaging support 4 is away from the track system, that is, the track engaging support is located above the flange 21 of the track system. In other words, the lower lower height portion of the wheel 6 is arranged below the lower portion 7 of the track engaging support 4, so that the wheel 6 can engage the track of the track system 108 while the track engaging support 4 is away from the track system 108.

[0119] In the second position, see Fig.10 and Fig.11 , the track engaging support 4 is arranged to engage the track of the track system, and the wheel 6 is lifted off the track system 108 so that the wheel 6 can pivot about a vertical axis to change the direction of rotation between a first direction X and a second direction Y. In other words, the lower portion 7 of the track engaging support 4 is located below the lower lower height portion of the wheel 6 so that the track engaging support 4 can engage the track system while the wheel 6 is lifted off the track system, thereby enabling the wheel to rotate about a vertical axis without interacting with the track system. The wheel 6 is pivoted by operating a wheel pivot assembly (discussed below).

[0120] In the second position, the rail engaging supports 4 are configured to hold the vehicle frame 3 at a fixed height relative to the rail system 108. Each rail engaging support 4 has a lower portion 7 that fits within the wheel guide 16 when the rail engaging support 4 is in the second position. In other words, the width of the lower portion of the rail engaging support is equal to or less than the width of the wheel guide 16. The rail engaging supports 4 can be considered as a set of feet that are lowered relative to the vehicle frame to lift the rest of the rail vehicle 2 and its wheel modules 5 off the rails of the rail system 108.

[0121] Supporting the vehicle in this manner provides optimal stability of the vehicle in the second position and also avoids potential damage to the flanges 21 of the rails 110, 111. In the illustrated embodiment, the rail engaging support 4 includes a lever arm 15 that moves into the second position in an arcuate motion. In order to reduce the friction generated between the lower portion 7 of the rail engaging support 4 and the rail during movement, the lower portion is in the form of a small wheel. In other embodiments, the lower portion 7 can have any shape or configuration so that the lower portion can slide or move along the rail during the final arcuate movement when moving toward the second position. Note that in other embodiments, for example, in embodiments where the rail engaging support 4 moves to the second position in a linear vertical direction, the lower portion 7 does not need to slide along the rail.

[0122] The track engaging support 4 is connected to an actuator assembly configured to move the track engaging support 4 in a vertical direction relative to the vehicle frame 3 and the wheel module 5. The actuator assembly includes an electric motor 13 (i.e., an actuator), a linkage 23 located on each of the opposite sides of the vehicle frame 3, and a shaft 17 interconnecting the two linkages 23. Each linkage is coupled to two lever arms 15 and is configured such that when the shaft 17 is rotated by operating the motor 13, the lever arms 15 pivot between a first position and a second position. In alternative embodiments, the actuator assembly may have any configuration suitable for moving the track engaging support 4 in a vertical direction between a first position and a second position, such as using at least one electric linear actuator.

[0123] In order to switch the rotation direction of the wheel 6 by 90 degrees when the wheel module 5 is in the second position, the rail vehicle 2 is characterized by having a wheel pivot assembly, which is configured to pivot the wheel 6 simultaneously around the corresponding vertical axis. The wheel pivot assembly includes four vertical shafts 8, each of which is connected to a corresponding wheel module 5. The shaft 8 extends from the wheel module through the vertical profile 20 to the upper higher height portion of the vehicle frame 3. The upper end of the vertical profile 20 is connected to the electric motor 9 (i.e., the wheel pivot actuator) via a set of connectors 10 and rods 24. The connector 10, the rod 24 and the electric motor 9 are configured to rotate the shaft 8 so that the wheel pivots simultaneously around the corresponding vertical axis when the electric motor 9 is operated. In the embodiment shown, the centerline of the shaft 8 is colinear with the vertical axis. In other embodiments, the centerline of the shaft 8 can be parallel to the vertical axis, for example, by transmitting the rotational motion of the shaft to the wheel module through gears and / or drive belts.

[0124] The first exemplary rail vehicle 2 is a container handling vehicle that includes a storage tank 106 adapted to be retrieved from a storage array 105 of an automated storage and retrieval system as described above (see Fig.14 ) or a lifting device for storing storage containers in a storage column of an automatic storage and retrieval system as described above.

[0125] The lifting device features a lifting frame 25 that is similar to the lifting frame 404d of the prior art container handling vehicle described above. The lifting frame 25 is configured to be horizontally movable between a position above the access opening 26 and a position above the storage section 27 within the rail vehicle, see Figure 6 When arranged above the access opening 26 , the lifting frame can be lowered into the storage row 105 . In this way, the lifting device can be used to store storage containers 106 in the storage section 27 in the rail vehicle 2 and to remove storage containers 106 from the storage row 105 or to store storage containers in the storage row.

[0126] A second exemplary embodiment of a rail vehicle 2 ′ according to the invention is Fig.15 Shown in.

[0127] The rail vehicle 2 ′ has most of the same features as the rail vehicle 2 described above, but instead of being configured to carry storage containers, the rail vehicle is configured to transport a human operator 28 on the rail system 108 .

[0128] A third exemplary embodiment of a rail vehicle 2 ″ according to the invention comprises Fig.16 Shown in.

[0129] The rail vehicle 2" has most of the same features as the rail vehicle 2 described above, but instead of being configured to carry storage containers, the rail vehicle is provided with a lifting device 29 for such containers, which are shaped as vertical frames with growth medium for growing plants. The rail vehicle 2" is intended for use in an automated storage and retrieval system configured for vertical farming as described above.

[0130] Reference Numbers List

[0131] 1. Automatic storage and retrieval system of the prior art

[0132] 2 Rail vehicles

[0133] 3 Vehicle frame

[0134] 4 Rail joint support

[0135] 5 Wheel Module

[0136] 6 Wheels

[0137] 7 Lower part (of the track engagement support)

[0138] 8 Vertical axis

[0139] 9 Wheel pivot actuator, electric motor

[0140] 10 Connectors

[0141] 11 Motor, wheel motor

[0142] 12 Sensors

[0143] 13 Electric motors, actuators

[0144] 14 Corner Section

[0145] 15 Lever arm

[0146] 16 Wheel guides

[0147] 17 Horizontal axis

[0148] 18 Drive belt

[0149] 19 Drive wheel

[0150] 20 Vertical Profile

[0151] 21 Flange

[0152] 22 Track intersection

[0153] 23 Connecting rod device

[0154] 24 shots

[0155] 25 Lifting frame

[0156] 26 Access opening

[0157] 27 Storage Sections

[0158] 28 Human Operators

[0159] 29 Lifting device

[0160] 100 Frame structure

[0161] 102 Vertical members of frame structure

[0162] 104 Storage Grid

[0163] 106 Storage Rows

[0164] 106' Storage Container

[0165] 106' Specific location of storage container

[0166] 107 Stacking

[0167] 108 Track System

[0168] 110 Parallel tracks in the first direction (X)

[0169] 112 Access opening

[0170] 119 First port column

[0171] 120 Second port column

[0172] 201 Container handling vehicle of the prior art

[0173] 201a Body of container transport vehicle 201

[0174] 201b Driving device / wheel arrangement / first set of wheels in first direction (X)

[0175] 201c Drive device / wheel arrangement / second set of wheels in second direction (Y)

[0176] 301 Prior art cantilever container handling vehicle

[0177] 301a Body of the container transport vehicle 301

[0178] 301b Driving device in the first direction (X) / first set of wheels

[0179] 301c Driving device in the second direction (Y) / second set of wheels

[0180] 304 Clamping device

[0181] 401 Container handling vehicle of the prior art

[0182] 401a Body of container transport vehicle 401

[0183] 401b Driving device in the first direction (X) / first set of wheels

[0184] 401c Driving device in the second direction (Y) / second set of wheels

[0185] 404 Clamping device

[0186] 404a Lifting belt

[0187] 404b Clamp

[0188] 404c Guide pin

[0189] 404d lifting frame

[0190] 500 Control System

[0191] X first direction

[0192] Y Second direction

[0193] Z third direction

Claims

1. A rail vehicle (2) for moving in two mutually perpendicular horizontal directions on a rail system (108), the rail system comprising a first set of parallel rails (110) in a first direction (X) and a second set of parallel rails (111) in a second direction (Y) perpendicular to the first direction (X), the rail vehicle comprising: - Vehicle frame (3); - a rail engaging support (4) for supporting the vehicle on the rail system (108); as well as - a plurality of wheel modules (5) configured to enable the vehicle to move on the track system; Each of the wheel modules (5) comprises a wheel (6) having a horizontal rotation axis, and the wheel module allows the wheel to pivot 90 degrees around a vertical axis, thereby enabling the rotation direction of the wheel to switch between the first direction (X) and the second direction (Y); The wheel module (5) and the rail engaging support (4) are vertically movable relative to each other between a first position and a second position, wherein: In the first position, the wheel (6) is arranged to engage a rail of the track system and the track engaging support (4) is away from the track system; and In the second position, the track engaging support (4) is arranged to engage the track of the track system and the wheels (6) are lifted off the track system so that each of the wheels can pivot about the vertical axis of the wheel module, thereby switching the rotation direction of the wheels between the first direction (X) and the second direction (Y).

2. The rail vehicle according to claim 1, wherein: The rail engaging support (4) is configured to maintain the vehicle frame (3) at a predetermined height relative to the rail system when in the second position.

3. The rail vehicle according to claim 1 or 2, wherein: The rail engaging supports (4) are arranged on mutually opposite sides of the vehicle frame (3). 4 . The rail vehicle as claimed in claim 1 , wherein the vehicle module has four lower corner sections ( 14 ) and wherein one of the wheel modules ( 5 ) is arranged at each of the lower corner sections. 5 .

5. A rail vehicle according to any one of the preceding claims, wherein: Each of the rail-engaging supports comprises a lower portion (7) having a width equal to or less than the width of the wheel (6).

6. A rail vehicle according to any one of the preceding claims, wherein: The track engaging support (4) is connected to an actuator assembly configured to move the vehicle track support and the wheel relative to each other in a vertical direction, the actuator assembly comprising at least one actuator (13).

7. A rail vehicle according to any one of the preceding claims, wherein: The rail engaging support (4) is vertically movable relative to the vehicle frame (3) and the wheel module (5).

8. The rail vehicle according to claim 6 and 7, wherein: The actuator assembly is configured to move the rail engaging support (4) in a vertical direction relative to the vehicle frame (3).

9. The rail vehicle according to claim 8, wherein: Each track engaging support (4) is provided by a portion of a lever arm (15), and the actuator assembly is configured to pivot the lever arm (15) between the first position and the second position to vertically displace the portion of the lever arm (15) providing the track engaging support (4) relative to the vehicle frame.

10. The rail vehicle according to claim 8 or 9, wherein: The actuator assembly includes a linkage arrangement located on each of opposite sides of the vehicle frame (3), each of the linkage arrangements being coupled to at least one of the track engaging supports (4), wherein the linkage arrangements are interconnected by a horizontal shaft (17) and are configured such that when the horizontal shaft is rotated, the track engaging supports (4) move between the first position and the second position.

11. A rail vehicle according to any one of the preceding claims, comprising a wheel pivot assembly configured to pivot the wheels (6) simultaneously about the corresponding vertical axes.

12. The rail vehicle according to claim 11, wherein: The wheel pivot assembly comprises a plurality of vertical shafts (8), each of which is connected to a corresponding wheel module (5), and the vertical shafts can be rotated by a wheel pivot actuator (9) to enable the wheel to pivot around the corresponding vertical axis.

13. The rail vehicle according to claim 12, wherein: The wheel pivot assembly includes a connection member (10) interconnecting a plurality of the vertical shafts (8) and the wheel pivot actuator (9), the connection member being configured to convert movement of the wheel pivot actuator (9) into rotational movement of the vertical shaft (8).

14. A rail vehicle according to any one of the preceding claims, wherein: At least one of the wheel modules (5) comprises a motor (11) for driving a corresponding wheel (6) in the wheel module.

15. A rail vehicle according to any one of the preceding claims, wherein: At least one of the wheel modules (5) comprises a sensor (12) for detecting the position of the wheel relative to the track system (108).

16. A rail vehicle according to any one of the preceding claims, wherein: Each of the wheel modules (5) comprises a single wheel (6).

17. A container handling system comprising a rail vehicle (2) and a rail system (108), the rail system comprising a first set of parallel rails (110) in a first direction (X) and a second set of parallel rails (111) in a second direction (Y) perpendicular to the first direction (X), the rail vehicle comprising: - Vehicle frame (3); - a rail engaging support (4) for supporting the vehicle on the rail system (108); as well as - a plurality of wheel modules (5) configured to enable the vehicle to move on the track system; Each of the wheel modules (5) comprises a wheel (6) having a horizontal rotation axis, and the wheel module allows the wheel to pivot 90 degrees around a vertical axis, thereby enabling the rotation direction of the wheel to switch between the first direction (X) and the second direction (Y); The wheel module (5) and the rail engaging support (4) are vertically movable relative to each other between a first position and a second position, wherein: In the first position, the wheel (6) engages a rail of the track system (108) and the track engaging support (4) is disposed above the track system; and In the second position, the track engagement support (4) engages the track of the track system, and the wheels (6) are arranged above the track system so that each of the wheels can pivot about the vertical axis of the wheel module (5) so that the rotation direction of the wheels is switched between the first direction (X) and the second direction (Y).

18. The container handling system of claim 17, wherein: Each track of the first set of parallel tracks (110) and each track of the second set of parallel tracks (111) comprises at least one wheel guide (16) for guiding the wheel (6) in the first position, and each track engaging support (4) comprises a lower portion (7) configured to fit within one of the wheel guides when the track engaging support (4) is in the second position.

19. A container handling system according to claim 17 or 18, comprising a vertical column profile (102) supporting the rail system (108) from below, the column profile (101) defining a plurality of storage columns (105) in which containers can be stacked on top of each other.

20. A method of changing the direction of travel of a rail vehicle (2) running on a rail system (108), the rail system comprising a first set of parallel rails (110) in a first direction (X) and a second set of parallel rails (111) in a second direction (Y) perpendicular to the first direction (X), the rail vehicle comprising: - Vehicle frame (3); - a rail engaging support (4) for supporting the vehicle on the rail system (108); as well as - a plurality of wheel modules (5) configured to enable the vehicle to move on the track system; Each of the wheel modules (5) comprises a wheel (6) having a horizontal rotation axis, and the wheel module allows the wheel to pivot 90 degrees around a vertical axis, so that the wheel can change the rotation direction between the first direction (X) and the second direction (Y); The wheel module (5) and the rail engaging support (4) are vertically movable relative to each other between a first position and a second position, wherein: In the first position, the wheel (6) is arranged to engage a rail of the track system and the track engaging support (4) is away from the track system; and In the second position, the track engaging support (4) is arranged to engage the track of the track system and the wheel (6) is lifted off the track system so that the wheel can pivot about the vertical axis to change the rotational direction between the first direction (X) and the second direction (Y), The method comprises the following steps: - moving the rail vehicle on the rail system (108) in the first direction (X); - stopping the rail vehicle; - moving the wheel module (5) and the rail-engaging support (4) relative to each other from the first position to the second position; - pivoting the wheel (6) by 90 degrees about the vertical axis, thereby switching the direction of rotation of the wheel from the first direction (X) to the second direction (Y); - moving the wheel module (5) and the rail engaging support (4) from the second position to the first position; and - moving the rail vehicle on the rail system (108) in the second direction (Y).

Images