Container handling vehicle having motor at lower height than first and second lift shafts, system including container handling vehicle and method of driving first and second lift shaft

Abstract

The present invention relates to a container handling vehicle for moving storage containers stacked in a stack within an automated storage and retrieval system wherein the container handling vehicle is configured to move on a guide rail system above a storage column wherein the container handling vehicle comprises a lifting assembly (60) comprising: a first lifting shaft (25) and a second lifting shaft (26), the support is supported in the upper part of the vehicle; and a motor (13) for driving the drive belt (20) to rotate the first lifting shaft (25) and the second lifting shaft (26), and wherein the motor (13) is arranged at a lower height than the first lifting shaft (25) and the second lifting shaft (26).

Description

Technical Field

[0001] The present invention relates to a container handling vehicle for moving storage containers stacked in a stacked form in an automatic storage and retrieval system, wherein the container handling vehicle is configured to move on a rail system above a storage column. The container handling vehicle comprises a lifting assembly, the lifting assembly comprising a first lifting shaft and a second lifting shaft supported in an upper part of the vehicle, and a motor for driving a drive belt to rotate the first lifting shaft and the second lifting shaft, and wherein the motor is arranged at a lower height than the first lifting shaft and the second lifting shaft.

[0002] The invention also relates to an automated storage and retrieval system comprising a container handling vehicle and a method of lifting a storage container using a container handling vehicle. Background Art

[0003] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100 , and FIGS. 2 , 3 and 4 disclose three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on such a system 1 .

[0004] 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.

[0005] The frame structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged on the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301, 401 can run to lift storage containers 106 from and lower storage containers 106 into the storage array 105, and also to transport storage containers 106 over the storage array 105. The rail system 108 comprises: a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301, 401 to move in a first direction X on the top of the frame structure 100; and a second set of parallel rails 111 arranged perpendicular to the first set of parallel rails 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 array 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the rail 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.

[0006] The upright members 102 of the frame structure 100 may be used to guide storage containers during lifting and lowering of containers from and into the row 105. The stack 107 of containers 106 is generally self-supporting.

[0007] Each prior art container handling vehicle 201, 301, 401 comprises a body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. In Figures 2, 3 and 4, the two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails in the first set of parallel rails 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails in the second set of parallel rails 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 be engaged with a corresponding set of parallel guide rails 110, 111 at any time.

[0008] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting storage containers 106, such as lifting storage containers 106 from storage columns 105 and lowering storage containers 106 into storage columns. The lifting device includes one or more gripping / engaging devices adapted to engage with storage containers 106, and the gripping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the gripping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301, 401 is indicated by reference numerals 304, 404 in FIGS. 3 and 4. The gripping device of the container handling vehicle 201 is located within the vehicle body 201a in FIG. 2 and is therefore not shown. The lifting device may include a lifting frame 404d suspended on a lifting belt 404a. The lifting belt 404a may provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a clamp engagement device / clamp 404b for connecting to a clamp recess of the storage container 106. The guide pin 404c helps align the clamp 404b relative to the clamp recess of the storage container 106.

[0009] Typically and for the purposes of this application, Z=1 represents the uppermost available layer of storage containers below the rails 110, 111, i.e., the layer immediately below the rail system 108, Z=2 represents the second layer below the rail system 108, Z=3 represents the third layer, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 represents the bottom layer of the storage containers at the lowermost side. Similarly, X=1...n and Y=1...n represent the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106' in FIG. 1 occupies a storage position of X=17, Y=1, Z=6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer of Z=0, and each storage column 105 can be identified by its X-coordinate and Y-coordinate. Therefore, it can also be said that the storage containers extending above the rail system 108 shown in FIG. 1 are arranged in the layer of Z=0.

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

[0011] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 when transporting the storage container 106 on the rail system 108. The storage space may include a cavity centrally arranged within the vehicle body 201a, 401a, as shown in Figures 2 and 4, and as described in, for example, WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0012] Figure 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever configuration. Such a vehicle is described in detail in, for example, NO 317366, the contents of which are also incorporated herein by reference.

[0013] The occupied area of ​​the chamber container handling vehicle 201 shown in Figure 2 can cover an area whose dimensions in the X-direction and the Y-direction are approximately equal to the lateral extent of the storage column 105, for example, 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 occupied area of ​​the cavity container handling vehicle 401 can be larger than the lateral area defined by the storage column 105, as shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0015] The guide rail system 108 generally includes a guide rail with a groove in which the wheel of the vehicle travels. Alternatively, the guide rail may include an upwardly protruding element, wherein the wheel of the vehicle includes a flange to prevent derailment. These grooves and upwardly protruding elements are collectively referred to as tracks. Each guide rail may include a track, or each guide rail 110, 111 may include two parallel tracks. In other guide rail systems 108, each guide rail in a direction (e.g., X direction) may include a track, and each guide rail in another vertical direction (e.g., Y direction) may include two tracks. Each guide rail 110, 111 may also include two track members fastened together, and each track member provides one of a pair of tracks provided by each guide rail.

[0016] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a common configuration of a guide rail system 108, which includes guide rails and parallel tracks in both the X-direction and the Y-direction.

[0017] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., in the columns 105, storage containers 106 are stored in the form of stacks 107. However, some columns 105 may have other purposes. In FIG. 1 , columns 119 and 120 are such dedicated columns, which are used by container handling vehicles 201, 301, 401 to unload and / or pick up storage containers 106 so that the storage containers can be transported to access stations (not shown), where the storage containers 106 can be accessed from the outside of the frame structure 100 or 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 may be referred to as "port columns" 119, 120. The transportation to the access stations may be in any direction, i.e., horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in random or dedicated rows 105 within the frame structure 100, then picked up by any container handling vehicle and transported to the port rows 119, 120 for further transport to the access station. Transport from the port to the access station may require movement in a variety of different directions by means such as delivery vehicles, carts or other transport lines. Note that the term "inclined" means that the transport of the storage containers 106 has a conventional transport orientation between horizontal and vertical.

[0018] In Figure 1, the first port column 119 can, for example, be a dedicated unloading port column, where container handling vehicles 201, 301, 401 can unload storage containers 106 to be transported to an access station or a transfer station, and the second port column 120 can be a dedicated picking port column, where container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from the access station or the transfer station.

[0019] The access station can generally be a picking station or an inventory station, at which the product items are removed from or placed in the storage container 106. In the picking station or the inventory station, the storage container 106 is generally not removed from the automatic storage and retrieval system 1, but is returned to the frame structure 100 again after access. The port can also be used to transfer the storage container to another storage facility (e.g., another frame structure or another automatic storage and retrieval system), a transport vehicle (e.g., a train or a truck), or a production facility.

[0020] A conveying system including a conveyor is typically employed to transport the storage containers between the port rows 119, 120 and the access station.

[0021] If the port rows 119, 120 and the access station are located at different levels, the conveying 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.

[0022] The conveying 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.

[0023] The storage system can also use the port rows 119, 120 to transfer storage containers between the rail system 108 on the top of the frame structure 100 and the container transfer vehicle arranged below the lower end of the port row. Such a storage system and a suitable container transfer vehicle are disclosed in WO 2019 / 238694A1 and WO 2019 / 238697A1, the contents of which are incorporated herein by reference.

[0024] A potential disadvantage of using a container transfer vehicle to retrieve / deliver storage containers from / to the lower end of a port column is the time dependency between the (multiple) container transfer vehicles and the container handling vehicles used to retrieve / deliver storage containers through the port column. When a storage container 106 stored in one of the multiple columns 105 disclosed in FIG. 1 is to be accessed, one of the multiple container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container from the location where the target storage container 106 is located and transport the target storage container to the unloading port column 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicle 201, 301, 401, and transporting the storage container 106 to the unloading port column 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 includes temporarily moving the storage container located above the target storage container before lifting the target storage container 106 from the storage column 105. This step (which is sometimes referred to as "digging" in the art) can be performed using the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port column 119, or using one or more other cooperative container handling vehicles. Alternatively or additionally, the automatic storage and retrieval system 1 can have a container handling vehicle specifically for the task of temporarily removing the storage container 106 from the storage column 105. After the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be relocated to the initial storage column 105. However, the removed storage container 106 can alternatively be relocated to other storage columns 105.

[0025] When a storage container 106 is to be stored in one of the plurality of rows 105, one of the plurality of container handling vehicles 201, 301, 401 is instructed to pick up a storage container 106 from the pick port row 120 and transport it 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, for example, to monitor and control 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 desired storage container 106 can be delivered to the desired position at the desired 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 object of the present invention is to improve the drive arrangement of a lifting device for a container handling vehicle. Summary of the invention

[0028] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0029] The present invention relates to a container handling vehicle for moving storage containers stacked in a stacked form in an automatic storage and retrieval system, wherein the container handling vehicle is configured to move on a rail system above a storage column and comprises a first set of wheels for moving on the rail system in a first direction and a second set of wheels for moving on the rail system in a second direction perpendicular to the first direction; wherein the container handling vehicle comprises a lifting assembly, the lifting assembly comprising:

[0030] - a lifting frame, which can be connected to the storage container;

[0031] - a first lifting axle and a second lifting axle, supported in the upper part of the vehicle;

[0032] - two lifting belts extending from each of the first lifting axis and the second lifting axis to the lifting frame;

[0033] - a first lifting shaft pulley, adapted to rotate together with the first lifting shaft;

[0034] - a second lifting shaft pulley, adapted to rotate together with the second lifting shaft;

[0035] - at least one guide pulley;

[0036] - Tensioning pulley, used to tension and release the transmission belt;

[0037] - a motor for driving a transmission belt to rotate the first lifting shaft and the second lifting shaft;

[0038] - a transmission belt pulley for outputting drive from the motor;

[0039] - a drive belt defining a closed loop, wherein the drive belt rotatably connects the first lifting shaft pulley, the second lifting shaft pulley, the at least one guide pulley, the tension pulley and the drive belt pulley;

[0040] - the first lifting shaft pulley is in contact with the outer surface of the drive belt; and

[0041] - The second lifting shaft pulley is in contact with the inner surface of the drive belt;

[0042] The motor is arranged at a height lower than that of the first lifting shaft and the second lifting shaft.

[0043] The first lifting shaft and the second lifting shaft may rotate in opposite directions.

[0044] According to the present invention, only one transmission belt connects all the pulleys. That is, the first lifting shaft pulley and the second lifting shaft pulley are driven by another component (that is, the motor arranged lower) via the transmission belt.

[0045] The fact that one of the lifting shaft pulleys is in contact with the inner surface of the drive belt and the other lifting shaft pulley is in contact with the outer surface of the drive belt ensures that the first lifting shaft and the second lifting shaft rotate in opposite directions. For this particular arrangement, the shafts are arranged to run in opposite directions due to the drive of the belt. This means that the shafts can be arranged symmetrically and the lifting belt can extend from the spool to the outside of the spool, increasing the effective occupied area demarcated by the connection points to the lifting frame compared to the case where the lifting shafts rotate in the same direction and thus contributing to the stability of the lift.

[0046] Another advantage is that the arrangement as set out above helps to even out the amount of wear on both sides of the belt.

[0047] Arranging the motor at a lower height than the lifting axle provides a lower center of gravity and thereby a more stable container handling vehicle.

[0048] The contact angle between the drive belt and the drive belt pulley may be at least 60 degrees. Preferably, the contact angle is greater than 90 degrees, even more preferably greater than 120 degrees.

[0049] The contact angle between the drive belt and the first and second lift shaft pulleys may be at least 60 degrees. Preferably, the contact angle between the drive belt and the respective pulleys is greater than 90 degrees, and even more preferably greater than 120 degrees.

[0050] The drive belt pulley may be in contact with the inner surface of the drive belt.

[0051] The tensioning pulley can be arranged outside the closed circuit.

[0052] At least one of the at least one guide pulley may be arranged inside the closed loop.

[0053] The first lifting shaft pulley may be arranged outside the closed loop, and the guide pulley closest to the first lifting shaft pulley is arranged inside the closed loop.

[0054] The axis of the guide pulley closest to the first lifting shaft pulley may be arranged at a higher height than the axis of the first lifting shaft pulley.

[0055] Two guide pulleys of the at least one guide pulley can be arranged inside the closed loop.

[0056] The lifting assembly may include an L-shaped carrier supporting two guide pulleys.

[0057] It may be advantageous to have at least two guide pulleys and one tension pulley in order to obtain a suitable contact between the drive belt and the respective pulleys.

[0058] Another guide pulley of the at least one guide pulley arranged in the closed loop can be arranged to have a distance from the first lifting shaft pulley that is substantially equal to a distance from the guide pulley closest to the first lifting shaft pulley to the first lifting shaft pulley, and a center axis of the another guide pulley can be at a height lower than a center axis of the first lifting shaft pulley.

[0059] The center axis of the other of the at least one guide pulley may be arranged in a vertical plane which is farther from a midpoint between the first and second lifting shafts than from the center axis of the first lifting shaft pulley.

[0060] The tensioning pulley can be mounted on the eccentric. This allows the drive belt to be tensioned or loosened when the tensioning pulley is displaced relative to the eccentric.

[0061] The diameter of the first lift shaft pulley and the diameter of the second lift shaft pulley may be larger than the diameter of the drive belt pulley, the diameter of the at least one guide pulley and the diameter of the tension pulley. The fact that the lift shaft pulleys have a larger diameter than the drive belt pulleys means that the lift shaft pulleys will turn slower than the drive belt pulleys, but on the plus side this means that there is potentially more control over the lifting operation and the lift frame can lift heavier loads better.

[0062] The first lifting axis and the second lifting axis are preferably parallel.

[0063] The lifting frame can be connected to the storage container from above. That is, the lifting frame is connected to the top of the storage container.

[0064] The lifting assembly is configured to lift the storage container to a position above the lowest level of the first set of wheels and the second set of wheels. Thus, the container handling vehicle can move on top of the rail system while carrying the storage container.

[0065] The drive belt is preferably double cogged. That is, the drive belt has teeth on both the inside and the outside. This means that the drive belt can grip the pulleys more properly (the pulleys can be arranged on the inside and the outside of the drive belt). Similarly, all the pulleys can also be toothed to ensure proper grip between the drive belt and the corresponding pulleys. In addition, all the pulleys are preferably arranged in the same vertical plane.

[0066] The first lift shaft pulley and the second lift shaft pulley are preferably a pair of pulleys having the same diameter.

[0067] The motor may include a brake device in the form of a ratchet device for braking the rotation of the first and second lifting shafts. The brake device is configured to brake or lock the rotation of the first and second lifting shafts by locking or braking the rotation of the drive belt. Braking is preferably used during descent to stop or reduce the downward movement or acceleration of the lifting frame (and any connected storage container) when the target depth is reached.

[0068] In one aspect, the brake device is arranged on the side of the motor opposite to the first and second lifting axes. The arrangement of the container handling vehicle according to the present invention provides more space on the side of the motor opposite to the first and second lifting axes. As a result of arranging the motor as in the current arrangement, more space is available for a larger motor and for other additional or more space-demanding components compared to some prior art solutions.

[0069] According to a first embodiment of the container handling vehicle, the container handling vehicle comprises a vehicle module part and a cantilever part, and the cantilever part extends laterally from the vehicle module part, and the first set of wheels, the second set of wheels and the motor are arranged in the vehicle module part. Arranging the motor in the vehicle module part provides the possibility of using a larger motor because there are fewer restrictions in terms of space.

[0070] In one aspect of the first embodiment of the container handling vehicle, the drive belt, the first lifting shaft pulley, the second lifting shaft pulley and the at least one guide pulley are arranged in a vehicle module part.

[0071] According to a second embodiment of the container handling vehicle, the container handling vehicle comprises a vehicle frame defining a first section and a second section of the container handling vehicle arranged side by side, and wherein the second section comprises a cavity for accommodating a storage container, and wherein the motor is arranged in the first section.

[0072] The present invention also relates to an automatic storage and retrieval system, comprising: a rail system, comprising a first group of parallel rails arranged in a horizontal plane and extending along a first direction, and a second group of parallel rails arranged in a horizontal plane and extending along a second direction orthogonal to the first direction, the first group of rails and the second group of rails forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid units, each grid unit comprising an access opening defined by a pair of adjacent rails in the first group of rails and a pair of adjacent rails in the second group of rails; and a plurality of stacks of storage containers arranged in a storage column located below the rail system, wherein each storage column is vertically located below the access opening, and wherein the automatic storage and retrieval system comprises at least one container handling vehicle as defined above.

[0073] A method of lifting a storage container using a container handling vehicle as defined above is also described, wherein the method comprises the following steps:

[0074] - positioning the container handling vehicle above a stack of storage containers in a storage row, wherein the stack includes a target storage container;

[0075] - operating the motor in a first direction to rotate the drive belt and thereby the first and second lifting shafts, thereby lowering the lifting frame into contact with an uppermost storage container of the stack;

[0076] -When the lifting frame contacts the uppermost storage container, the motor is stopped;

[0077] -Connect the lifting frame to the uppermost storage container;

[0078] - operating the motor in a second direction opposite to the first direction to rotate the drive belt and thereby the first and second lifting shafts to lift the lifting frame and the connected storage container above the rail system.

[0079] The first lifting shaft and the second lifting shaft may rotate in opposite directions.

[0080] The automatic storage and retrieval system can include a plurality of upright members, and each storage column is defined by four upright members in the upright members. A guide rail system can be arranged on the top of the upright members, the guide rail system including a first group of parallel guide rails and a second group of parallel guide rails arranged perpendicular to the first group of guide rails. The first group of guide rails and the second group of guide rails provide a horizontal grid-type guide rail system defining a plurality of grid cells. The guide rails of the guide rail system can include one or two tracks. Preferably, the two directions of the guide rail include two tracks (double tracks), for example, as two parallel channels formed in the guide rail, or as channels arranged in each of a pair of guide rail members, which have been fastened to the other to form the guide rail. In this arrangement, the access opening (also referred to as the grid opening) and the track width on each side define a "grid unit". In an arrangement where only a single track is provided in one direction of the guide rail, the grid unit can extend the entire guide rail width on those sides.

[0081] An access opening of the track comprising each rail adjacent to an occupied access opening is also denoted as a “grid unit.” A grid unit may be defined as the cross-sectional area between the midpoints of two rails extending in a first direction and the midpoints of two rails extending in a second direction, including the width of the rails.

[0082] In this specification, the term "storage container" is intended to mean any cargo holder unit having a bottom plate and a side portion adapted to be releasably connected to a container lifting device, such as a box, a tote, a pallet, etc. The side portion may preferably include a clamping recess. The side portion is preferably a side wall. The height of the side wall may vary depending on the intended use of the automatic storage and retrieval system and the cargo to be stored. The clamping recess may be arranged at the upper edge of the side wall. The outer horizontal perimeter of the storage container is preferably rectangular.

[0083] The relative terms "upper", "lower", "below", "above", "higher" etc. are to be understood in their normal sense and as seen in a Cartesian coordinate system.

[0084] The present invention may be used in conjunction with storage containers and systems as described above. However, other areas where the disclosed automated storage and retrieval systems and methods may be used are within vertical farming, microfulfilment or grocery / online grocery. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] The following drawings are attached to assist in understanding the present invention. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, in which:

[0086] FIG1 is a perspective view of a frame structure of an automatic storage and retrieval system of the prior art;

[0087] FIG2 is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying storage containers therein;

[0088] 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath.

[0089] 4 is a perspective view from below of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein;

[0090] FIG5 is a perspective view of the container handling vehicle of FIG4 without the side panels and the top panel;

[0091] FIG. 6A to FIG. 6D A container handling vehicle according to a first embodiment of the present invention is shown, the container handling vehicle comprising a vehicle module portion and a cantilever portion, wherein the cantilever portion extends laterally from the vehicle module portion;

[0092] Fig. 6A is a perspective view of a container handling vehicle according to a first embodiment running on a rail system of an automated storage and retrieval system;

[0093] Figure 6B is a view of a container handling vehicle according to a first embodiment, wherein the side panels and the top panel have been removed to better illustrate the various components within the modular portion of the vehicle;

[0094] Figure 6C is a perspective side view showing details of a lifting assembly of a container handling vehicle according to a first embodiment of the present invention;

[0095] Fig.6D yes Figure 6C A top view of the lifting assembly in FIG.

[0096] FIG. 7A to FIG. 7G A container handling vehicle according to a second embodiment of the invention is shown, the container handling vehicle comprising a vehicle frame defining a first section and a second section of the container handling vehicle arranged side by side, and wherein the second section comprises a cavity for receiving a storage container;

[0097] Fig. 7A is a perspective view of a container transport vehicle according to a second embodiment of the present invention;

[0098] Figure 7B yes Fig. 7A A view of a container handling vehicle in which the side panels and top panels have been removed to better illustrate the various components within the container handling vehicle;

[0099] Figure 7C yes Fig. 7A and Figure 7B a view of the interior of the second section of the container handling vehicle in FIG.

[0100] Fig.7D yes Figure 7C Detailed view of section A in FIG.

[0101] Fig. 7E is with Figure 7C A similar view, but with the first and second lifting shafts removed to better illustrate the drive belt and pulley arrangement;

[0102] Figure 7F is a perspective side view showing details of a lifting assembly of a container handling vehicle according to a second embodiment of the present invention;

[0103] Figure 7G is with Figure 7F Compared to the stereogram viewed from the opposite side;

[0104] Figure 8 An alternative arrangement of a drive belt connecting a first lifting shaft pulley, a second lifting shaft pulley, a guide pulley, a drive belt pulley and a tensioning pulley is shown compared to FIGS. 6 to 7 ;

[0105] Fig. 9 is a detailed view of a drive belt that may be used in any container handling vehicle according to the first and second embodiments of the present invention. DETAILED DESCRIPTION

[0106] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0107] The frame structure 100 of the automatic storage and retrieval system 1 can be constructed in a similar manner to the frame structure 100 of the prior art described above in conjunction with Figure 1. That is, the frame structure 100 can include a plurality of upright members 102 and a first upper rail system 108 extending in the X direction and the Y direction.

[0108] The frame structure 100 may include storage compartments in the form of storage rows 105 arranged between the components 102 , wherein storage containers 106 may be stacked in the form of stacks 107 within the storage rows 105 .

[0109] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, the frame structure 100 can have a horizontal range of more than 700×700 columns and a storage depth of more than 12 containers.

[0110] Referring to Figures 2, 4 and 5, the prior art container handling vehicle including a cavity for accommodating a storage container has certain advantageous features. In particular, relative to the cantilever container handling vehicle 301 shown in Figure 3, when the storage container is accommodated in the cavity, the guidance / support provided to the storage container allows the vehicle to have a greater acceleration / deceleration. However, due to the instability of the vehicle, the potential increase in acceleration / deceleration cannot be fully realized. The instability is caused by the fact that most of the drive components, power components, control components and lifting components of the two vehicles 201, 401 are arranged above the cavity, resulting in a higher center of gravity.

[0111] A rail system 108 can be arranged on top of the upright member 102, the rail system 108 comprising a first set of parallel rails 110 and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110. The first set of rails 110 and the second set of rails 111 provide a horizontal grid-type rail system 108 defining a plurality of grid cells 130. The rails 110, 111 of the rail system 108 may include one or two tracks. Preferably, the two directions of the rails include two tracks (double tracks), for example, as two parallel channels formed in the rails, or as channels provided in each of a pair of rail members, which have been fastened to each other to form the rails. In this arrangement, the access opening (also referred to as the grid opening) and the track width on each side define a "grid cell" 130. In an arrangement where there is only a single track in one direction of the rail, the grid cell 130 may extend the entire rail width on those sides.

[0112] Fig. 6A 1 is a perspective view of a container handling vehicle 501 according to a first embodiment running on the rail system 108 of the automated storage and retrieval system 1. The container handling vehicle 501 comprises a vehicle module part 50 and a cantilever part 51. The cantilever part 51 extends laterally from the vehicle module part 50. The first set of wheels 11, the second set of wheels 12 and the motor 13 are arranged in the vehicle module part 50.

[0113] Figure 6B is a view of a container handling vehicle 501 according to a first embodiment, wherein the side panels and the top panel have been removed to better illustrate the different components inside the vehicle module portion 50.

[0114] Figure 6C 1 is a perspective side view showing details of the lifting assembly 60 of the container transport vehicle 501 according to the first embodiment of the present invention.

[0115] Fig.6D yes Figure 6C A top view of the lifting assembly 60 in FIG.

[0116] Reference now FIG. 6B to FIG. 6D, components forming a portion of the lifting assembly 60 used in the container handling vehicle 501 according to the first embodiment of the present invention will be described in more detail.

[0117] As shown, the lifting assembly 60 includes a lifting frame 18 that can be connected to the storage container 106. The lifting frame 18 has four clamps 40 for connecting to the storage container from above and four guide pins 41 for aligning the lifting frame 18 relative to the storage container 106. The first lifting shaft 25 and the second lifting shaft 26 are supported in the upper part of the vehicle 501. The first lifting shaft 25 and the second lifting shaft 26 are parallel so that the lifting frame 18 is lifted and lowered mainly in the horizontal plane. Two lifting belts 30, 31; 32, 33 extend from each of the first lifting shaft 25 and the second lifting shaft 26 to the lifting frame 18. The lifting belts 30, 31, 32, 33 are preferably made of conductive material and provide power and communication between the container handling vehicle 50 and the lifting frame 18. The first lifting shaft pulley 25' is disposed at one end of the first lifting shaft 25 and rotates with the first lifting shaft 25. Similarly, the second lifting shaft pulley 26' is disposed at one end of the second lifting shaft 26 and rotates with the second lifting shaft 26. The first lifting shaft pulley 25' and the second lifting shaft pulley 26' are arranged on the same side of the container handling vehicle 501, and the first lifting shaft pulley and the second lifting shaft pulley are arranged in the same vertical plane. Two guide pulleys 27, 29 and a tensioning pulley 29 for tightening and loosening the drive belt 20 are arranged in the same vertical plane as the first lifting shaft pulley 25' and the second lifting shaft pulley 26'. The lifting assembly 60 also includes a motor 13 for driving the drive belt 20 to rotate the first lifting shaft 25 and the second lifting shaft 26. The drive belt pulley 13' is arranged at one end of the rotation axis of the motor 13 and is configured to output a drive from the motor 13. The drive belt 20 defines a closed loop, wherein the drive belt 20 rotatably connects the first lifting shaft pulley 25', the second lifting shaft pulley 26', at least one guide pulley 27, 29, the tensioning pulley 28 and the drive belt pulley 13'. Therefore, a single common drive belt 20 is used to rotate both the first lifting shaft 25 and the second lifting shaft 26. The first lifting shaft pulley 25' contacts the outer surface 22 of the drive belt 20, and the second lifting shaft pulley 26' contacts the inner surface 21 of the drive belt 20. As seen in the figure, the motor 13 is arranged at a lower height than the first and second lifting shafts 25 and 26.

[0118] The arrangement of the drive belt 20 relative to the first lifting shaft pulley 25' and the second lifting shaft pulley 26' (i.e., the first lifting shaft pulley 25' is arranged outside the closed loop and the second lifting shaft pulley 26' is arranged in the closed loop) causes the first lifting shaft 25 and the second lifting shaft 26 to rotate in opposite directions.

[0119] As can be seen in the figure, a considerable length of the drive belt 20 is in contact with the drive belt pulley 13'. The contact length (i.e., contact angle) between the drive belt 20 and the drive belt pulley 13' is preferably at least 60 degrees. In the figures, the drive belt pulley 13' is inside the closed loop, i.e., the drive belt pulley 13' is in contact with the inner surface of the drive belt 20. In other configurations (not shown), the drive belt pulley 13' can be arranged outside the closed loop, i.e., in contact with the outer surface of the drive belt 20.

[0120] Similarly, the contact angles between the drive belt 20 and the corresponding first lifting shaft pulley 25 ′, second lifting shaft pulley 26 ′, tension pulley 28 and two guide pulleys 27 , 29 are also at least 60 degrees.

[0121] As shown, the tension pulley 28 is arranged outside the closed loop. However, in other configurations (not shown), the tension pulley 28 can be arranged outside the closed loop, that is, in contact with the outer surface of the drive belt 20. The tension pulley 28 can be mounted on an eccentric member so that when the tension pulley 28 is moved laterally, the drive belt 20 will be tightened or loosened.

[0122] The two guide pulleys 27 are arranged inside the closed loop. However, in other configurations (not shown), at least one of the guide pulleys 27, 29 may be arranged outside the closed loop, ie in contact with the outer surface of the drive belt 20.

[0123] The axis of the guide pulley 29 closest to the first lifting shaft pulley 25' is arranged at a height higher than the axis of the first lifting shaft pulley 25'. This ensures a sufficient contact angle between the first lifting shaft pulley 25' and the transmission belt 20. The L-shaped carrier 37 supports the two guide pulleys 27, 29, and one guide pulley is arranged in each of the ends of the L-shaped carrier 37. In order to further increase the contact angle between the first lifting shaft pulley 25' and the transmission belt 20, the L-shaped carrier 37 surrounds a part of the first lifting shaft pulley 25'. The other guide pulley 27 of the two guide pulleys is arranged at substantially the same distance from the first lifting shaft pulley 25' as the guide pulley 29 closest to the first lifting shaft pulley 25', and the other guide pulley has a height located lower than the central axis of the first lifting shaft pulley 25'. Furthermore, the center axis of the further guide pulley 27 is arranged in a vertical plane which is farther from the midpoint between the first lifting shaft 25 and the second lifting shaft 26 than from the center axis of the first lifting shaft pulley 25 ′.

[0124] As can be seen in the figure, the diameter of the first and second lifting shaft pulleys 25', 26' is larger than the diameter of the drive belt pulley 13', the at least one guide pulley 27, 29 and the tensioning pulley 28. The first and second lifting shaft pulleys 25', 26' are shown as a pair of pulleys having the same diameter.

[0125] As shown, the motor 13 includes a brake device 34 in the form of a ratchet device for braking the rotation of the first lifting shaft 25 and the second lifting shaft 26. As seen in the figure, the brake device 34 is arranged on the side of the motor 13 opposite to the first lifting shaft 25 and the second lifting shaft 26, and is mounted on the through shaft of the motor 13 (i.e., the shaft extending from a position at one end of the motor 13 to a position on the opposite end of the motor 13).

[0126] FIG. 7A to FIG. 7G A container handling vehicle 601 according to a second embodiment of the invention is shown, which comprises a vehicle frame 10 defining a first section S1 and a second section S2 of the container handling vehicle 601 arranged side by side, and wherein the second section S2 comprises a cavity 19 for accommodating a storage container 106 .

[0127] Fig. 7A 1 is a perspective view of a container handling vehicle according to a second embodiment of the present invention. The container handling vehicle according to the second embodiment of the present invention can run on a rail system 108 (the rail system 108 is Fig. 7A Not shown, but see e.g. Fig. 6A ). The container handling vehicle 601 comprises a vehicle frame 10 defining a first section S2 and a second section S2 of the container handling vehicle arranged side by side, and wherein the second section S2 comprises a cavity 19 for accommodating a storage container 106. The motor 13 is arranged in the first section S1.

[0128] Figure 7B yes Fig. 7A 601 , in which the side panels and top panels have been removed to better illustrate the different components of the interior of the container handling vehicle 601 .

[0129] Figure 7C yes Fig. 7A and Figure 7B A view of the interior of a second section of a container handling vehicle 601 .

[0130] Fig.7D yes Figure 7C Detailed view of segment A in .

[0131] Fig. 7E is with Figure 7CA similar view but in which the first and second lifting shafts have been removed to better illustrate the arrangement of the drive belt 20 and pulleys 13 ′, 25 ′, 26 ′, 27 , 28 , 29 .

[0132] Figure 7F 1 is a perspective side view showing details of a lifting assembly 60 of a container handling vehicle 601 according to a second embodiment of the present invention.

[0133] Figure 7G is with Figure 7F Compare the stereogram viewed from the opposite side.

[0134] refer to FIG. 7C to FIG. 7G The arrangement of the lifting assembly 60 for the container handling vehicle 601 according to the second embodiment of the present invention is mostly the same as the lifting assembly 60 for the container handling vehicle 501 according to the first embodiment of the present invention, except that the motor 13, the drive belt pulley 13' and the tension pulley 28 are arranged at a higher height than the lifting assembly 60 for the container handling vehicle 501 according to the first embodiment of the present invention. The relative positions of the remaining components of the lifting assembly 60 are substantially the same as those of the lifting assembly 60 for the container handling vehicle 501 according to the first embodiment of the present invention, and will not be repeated here.

[0135] refer to Fig. 7E , a module 70 for simplifying the assembly of a container handling vehicle 601 is shown. The module 70 is formed by a vertical wall panel 71 and a horizontal base 72. Two wheels of the first set of wheels 11 and two wheels of the second set of wheels 12 are connected to the base 72. Since the available space within the base 72 is created by the extension of the base 72 in the lateral and vertical directions, all wheels connected to the base can be motorized. Furthermore, a first lifting shaft pulley 25', a second lifting shaft pulley 26', at least one guide pulley 27, 29, a tensioning pulley 28, a motor 13, a drive belt pulley 13' and a drive belt 20 are mounted on the wall panel 71. During the assembly of the container handling vehicle 610, Fig. 7E All components of the module 70 shown in FIG. 7R may be pre-assembled, and then the fully assembled module 70 in FIG. 7R may be attached to the vehicle frame 10 (see, e.g., Figure 7B ).

[0136] Figure 8 An alternative arrangement of a single drive belt 20 is shown connecting a first lift shaft pulley 25', a second lift shaft pulley 26', one guide pulley 29, the drive belt pulley 13' and the tensioning pulley 28. As seen in the figures and when compared to the drive belt arrangement in Figures 6-7.

[0137] Fig. 9Detailed view of the drive belt 20 that can be used as the drive belt 20 of any of the container handling vehicles 501, 601 according to the first and second embodiments. Fig. 9 As can be seen in FIG. 2 , the drive belt 20 is double-toothed and has external teeth 35 on its outside and internal teeth 36 on its inside. The double-toothed drive belt 20 provides a better grip on the respective pulleys 13 ′, 25 ′, 26 ′, 28, 29.

[0138] In the foregoing description, various aspects of the independent claims have been described. For explanatory purposes, specific numbers, systems, and configurations have been set forth in order to provide a thorough understanding of the system and its operation. However, the description is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art to which the disclosed subject matter belongs are considered to fall within the scope of the invention as defined by the appended claims.

[0139] Reference numerals list

[0140]

[0141]

[0142]

[0143]

Claims

1. A container handling vehicle (501; 601) for moving storage containers (106) stacked in a stacked form in an automatic storage and retrieval system (1), wherein: The container handling vehicle (501; 601) is configured to move on a rail system (108) above a storage row (105), and the container handling vehicle comprises a first set of wheels (11) for moving on the rail system (108) in a first direction (X) and a second set of wheels (12) for moving on the rail system in a second direction (Y) perpendicular to the first direction (X); wherein the container handling vehicle (501; 601) comprises a lifting assembly (60), the lifting assembly comprising: - a lifting frame (18) connectable to the storage container (106); - a first lifting axle (25) and a second lifting axle (26) supported in an upper part of the container handling vehicle (501); - two lifting belts (30, 31; 32, 33) extending from each of the first and second lifting axes (25, 26) to the lifting frame (18); - a first lifting shaft pulley (25'), adapted to rotate together with the first lifting shaft (25); - a second lifting shaft pulley (26') adapted to rotate together with the second lifting shaft (26); - at least one guide pulley (27, 29); - a tensioning pulley (28) for tensioning and loosening the transmission belt (13); - a motor (13) for driving a transmission belt (20) to rotate the first lifting shaft (25) and the second lifting shaft (26); - a drive belt pulley (13') for outputting drive from the motor (13); - a drive belt (20) defining a closed loop, wherein the drive belt (20) rotatably connects the first lifting shaft pulley (25), the second lifting shaft pulley (26), the tensioning pulley (28), the drive belt pulley (13') and the at least one guide pulley (27, 29); - the first lifting shaft pulley (25') is in contact with the outer surface (22) of the drive belt (20); and - the second lifting shaft pulley (26') is in contact with the inner surface (21) of the transmission belt (20); The motor (13) is arranged at a height lower than that of the first lifting shaft and the second lifting shaft (25, 26).

2. The container transport vehicle according to claim 1, wherein: The first lifting shaft (25) and the second lifting shaft (26) rotate in opposite directions.

3. The container handling vehicle (501; 601) according to claim 1, wherein: The contact angle between the drive belt (20) and the drive belt pulley (13') is at least 60 degrees.

4. The container handling vehicle (501; 601) according to any of the preceding claims, wherein: The contact angle between the transmission belt (20) and the first lifting shaft pulley (25') and the second lifting shaft pulley (26') is at least 60 degrees.

5. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The drive belt pulley (13') contacts the inner surface (21) of the drive belt (20).

6. The container handling vehicle (501; 601) according to claim 4, wherein: The tension pulley (28) is arranged outside the closed loop.

7. The container handling vehicle (501; 601) according to any of the preceding claims, wherein: At least one of the at least one guide pulley (27, 29) is arranged inside the closed loop.

8. The container handling vehicle (501; 601) according to claim 6, wherein: The first lifting shaft pulley (25') is arranged outside the closed loop, and the guide pulley (29) closest to the first lifting shaft pulley (25') is arranged inside the closed loop.

9. The container handling vehicle (501; 601) according to claim 6, 7 or 8, wherein: The axis of the guide pulley (29) closest to the first lifting shaft pulley (25') is arranged at a height higher than the axis of the first lifting shaft pulley (25').

10. The container handling vehicle (501; 601) according to any one of the preceding claims 6 to 9, wherein: Two guide pulleys (27, 29) of the at least one guide pulley are arranged inside the closed loop.

11. The container handling vehicle (501; 601) according to claim 10, wherein: The lifting assembly (60) includes an L-shaped bearing member (37) supporting the two guide pulleys (27, 29).

12. The container handling vehicle (501; 502) according to any one of the preceding claims 6 to 11. 601), of which, Another guide pulley (27) of the at least one guide pulley arranged in the closed loop is arranged at a distance from the first lifting shaft pulley (25') that is substantially equal to the distance from the guide pulley (29) closest to the first lifting shaft pulley (25') to the first lifting shaft pulley, and the center axis of the other guide pulley is at a height lower than the center axis of the first lifting shaft pulley (25').

13. The container handling vehicle (501; 502) according to any one of the preceding claims 6 to 12. 601), of which, The central axis of the other guide pulley (27) of the at least one guide pulley (27) is arranged in a vertical plane, and the distance between the vertical plane and the midpoint between the first lifting shaft and the second lifting shaft (25, 26) is farther than the distance between the midpoint and the central axis of the first lifting shaft pulley (25').

14. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The tension pulley (28) is mounted on an eccentric member (52).

15. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The diameter of the first lifting shaft pulley (25') and the diameter of the second lifting shaft pulley (26') are larger than the diameter of the drive belt pulley (13'), the diameter of the at least one guide pulley (27, 29) and the diameter of the tension pulley (28).

16. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The first lifting axis (25) and the second lifting axis (26) are parallel.

17. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The lifting frame (18) can be connected to the storage container (106) from above.

18. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The lifting assembly (60) is configured to lift the storage container (106) to a position above the lowest height of the first set of wheels and the second set of wheels (11, 12).

19. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The transmission belt (13) is double-toothed.

20. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The first lifting shaft pulley (25') and the second lifting shaft pulley (26') are a pair of pulleys having the same diameter.

21. The container handling vehicle (501; 601) according to any one of the preceding claims, wherein: The motor (13) comprises a brake device (34) in the form of a ratchet device for braking the rotation of the first lifting shaft (25) and the second lifting shaft (26).

22. The container handling vehicle (501; 601) according to claim 21, wherein: The brake device (34) is arranged on a side of the motor (13) opposite to the first lifting shaft and the second lifting shaft (25; 26).

23. The container handling vehicle (501) according to any one of the preceding claims, wherein: The container handling vehicle (501) comprises a vehicle module part (50) and a cantilever part (51), wherein the cantilever part (51) extends laterally from the vehicle module part (50), and wherein the first set of wheels (11), the second set of wheels (12) and the motor (13) are arranged in the vehicle module part (50).

24. The container handling vehicle (501) according to claim 23, wherein: The drive belt (20), the first lifting shaft pulley (25'), the second lifting shaft pulley (26') and the at least one guide pulley (27, 28, 29) are arranged in the vehicle module part.

25. The container handling vehicle (601) according to any one of the preceding claims 1 to 22, wherein: The container handling vehicle (601) comprises a vehicle frame (10), which defines a first section (S2) and a second section (S2) of the container handling vehicle arranged side by side, and wherein the second section (S2) comprises a cavity (19) for accommodating a storage container (106), and wherein the motor (13) is arranged in the first section (S1).

26. An automatic storage and retrieval system comprising: A guide rail system (108) comprising a first set of parallel rails (110) arranged in a horizontal plane (P) and extending along a first direction (X), and a second set of parallel rails (111) arranged in the horizontal plane (P) and extending along a second direction (Y) orthogonal to the first direction (X), wherein the first set of rails and the second set of rails (110, 111) form a grid pattern comprising a plurality of adjacent grid cells (130) in the horizontal plane (P), each of the grid cells comprising a plurality of adjacent grid cells (130) formed by the first set of rails ( 110) and an access opening (112) defined by a pair of adjacent tracks in the first group of tracks (110) and a pair of adjacent tracks in the second group of tracks (111); and a plurality of stacks (107) of storage containers (106) arranged in a storage row (5) located below the guide rail system (8), wherein each storage row (105) is located vertically below the access opening (112), and wherein the automatic storage and retrieval system (1) includes at least one container handling vehicle (501; 601) according to any one of the preceding claims.

27. A method of lifting a storage container (106) using a container handling vehicle (501; 601) according to any one of the preceding claims 1 to 25, wherein: The method comprises the following steps: - positioning the container handling vehicle (501; 601) above a stack (105) of storage containers (106) in a storage row (105), wherein the stack (105) includes a target storage container (106); - operating the motor (13) in a first direction to rotate the drive belt (20) and thereby the first lifting shaft (25) and the second lifting shaft (26), thereby lowering the lifting frame (18) into contact with the uppermost storage container (106) of the stack (105); - when the lifting frame (18) comes into contact with the uppermost storage container (106), the motor (13) is stopped; - connecting the lifting frame (18) to the uppermost storage container (106); - operating the motor (13) in a second direction opposite to the first direction so as to rotate the drive belt (20) and thereby rotate the first lifting shaft (25) and the second lifting shaft (26) to lift the lifting frame (18) and the connected storage container (106) above the guide rail system (108).

28. The method according to claim 26, wherein: The first lifting shaft (25) and the second lifting shaft (26) rotate in opposite directions.

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