Lifting frame cart assembly, lifting frame and system including assembly, and associated methods

Abstract

The invention relates to a crane cart assembly (604 ', 604' ', 604 ''') comprising:-a crane cart (603a, 603b, 603c, 603d, 603e, 603f) configured for being guided for movement along a beam (601, 602) of a crane (600); -a lifting frame (504) configured for connection to the storage container (106) to lift the storage container (106) from above through a first vertical range of movement (R1) and a second vertical range of movement (R2) of the lifting frame (504); -a plurality of lifting members (505) suspending the lifting frame (504) below the crane cart (603a, 603b, 603c, 603d, 603e, 603f) for lifting and lowering the lifting frame (504) at least through a second range of vertical movement (R2); and-a stabilizer (620 ', 620' ', 620 ''') extending below the crane cart (603a, 603b, 603c, 603d, 603e, 603f), and-a stabilizer (620 ', 620'', 620 ''') extending below the crane cart (603a, 603b, 603c, 603d, 603e, 603f); wherein, during a first vertical range of movement (R1) of the lifting frame (504), a lower end (620L ', 620L' ', 620L ''') of the stabilizer (620 ', 620'', 620 ''') is configured to interact with the lifting frame (504) to stabilize the lifting frame (504), and wherein, when in a second vertical range of movement (R2) of the lifting frame (504), the stabilizer (620 ', 620'', 620 ''') and the lifting frame (504) are configured to move vertically relative to each other. The invention also relates to an associated automated storage and retrieval system and a method of transferring storage containers.

Description

Technical Field

[0001] The present invention relates to a crane trolley assembly and an associated automated storage and retrieval system and method for transferring storage containers. Background Art

[0002] 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 .

[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 another to form container 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 rail system 108 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 the storage array 105, and also to transport storage containers 106 over the storage array 105. The rail system 108 includes: a first set of parallel rails 110 arranged to guide the container handling vehicles 201, 301, 401 to move across the top of the frame structure 100 in a first direction X; and a second set of parallel rails 111 arranged perpendicular to the first set of parallel rails 110 to guide the movement of the container handling vehicles 201, 301, 401 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.

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

[0006] Each prior art container handling vehicle 201, 301, 401 comprises a vehicle 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 tracks of the first set of parallel tracks 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent tracks of the second set of parallel tracks 111. At least one set of wheels 201b, 201c, 301b, 301c, 401b, 401c may be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c may engage with a corresponding set of parallel tracks 110, 111 at any time.

[0007] 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 clamping / engaging devices suitable for engaging storage containers 106, and these clamping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the clamping / engaging device relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z (e.g., as can be seen in FIG. 1) that is orthogonal to the first direction X and the second direction Y. Some parts of the clamping device of the container handling vehicle 301, 401 are shown in FIG. 3 and FIG. 4, indicated by reference numerals 304, 404. The clamping device of the container handling device 201 is located in 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 can provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d can include a clamping engagement device / clamp 404b for connecting to the clamping recess of the storage container 106. The guide pin 404c helps to align the clamp 404b relative to the clamping recess of the storage container 106.

[0008] Conventionally, and also for the purposes of the present application, Z=1 identifies the uppermost layer of storage containers that can be used below the rails 110, 111, i.e., the layer directly below the rail system 108, Z=2 identifies the second layer below the rail system 108, Z=3 identifies the third layer, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the lowermost bottom layer of the storage containers. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, the storage container identified as 106' in FIG. 1 can be referred to as occupying storage position X=17, Y=1, Z=6. The container handling vehicles 201, 301, 401 can be referred to as traveling in the Z=0 layer, and each storage column 105 can be identified by its X-coordinate and Y-coordinate. Thus, the storage containers shown in FIG. 1 extending above the rail system 108 can also be referred to as being arranged in the Z=0 layer.

[0009] The storage volume of the frame structure 100 is generally referred to as a grid 104, 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.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading a storage container 106 when transporting the storage container 106 across the track system 108. The storage space may include a cavity centrally disposed within the vehicle body 201a, 401, 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.

[0011] Fig. 3 shows an alternative construction of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail in, for example, N0317366, the contents of which are also incorporated herein by reference.

[0012] The chamber container handling vehicle 201 shown in Figure 2 may have a footprint covering an area in the X-direction and the Y-direction, the size of which is generally equal to the lateral extent of the storage row 105, for example as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may refer to "horizontally".

[0013] Alternatively, the footprint of the cavity container handling vehicle 401 can be larger than the lateral area defined by the storage row 105, as shown in Figures 1 and 4 and as disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] Track system 108 typically includes a track with a groove, and the wheel of the vehicle travels in the groove. Alternatively, the track may include an element extending upward, wherein the wheel of the vehicle includes a flange to prevent derailment. These grooves and the elements extending upward are collectively referred to as guide rails. Each track may include a guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in a direction (e.g., X direction) may include a guide rail, and each track in other vertical directions (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.

[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical construction of a track system 108 comprising tracks and parallel guides in both the X-direction and the Y-direction.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which 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 for unloading and / or picking up storage containers 106 by using container handling vehicles 201, 301, 401, so that they can be transported to access stations (not shown), where 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 in which the ports are located can be referred to as "port columns" 119, 120. Transportation to the access station can be in any direction, i.e., horizontal, inclined and / or vertical. For example, storage containers 106 may be placed in a random or dedicated row 105 within the frame structure 100, then picked up by any container handling vehicle and transported to a port row 119, 120 for further transport to a storage and retrieval station. Transportation from the port to the storage and retrieval station may require movement along a plurality of different directions by, for example, a delivery vehicle, a cart or other transport line. Note that the term "inclined" refers to the transportation of storage containers 106 with a general transport orientation in a direction between horizontal and vertical.

[0017] In Figure 1, the first port column 119 can be, for example, an unloading port column, where the container handling vehicles 201, 301, 401 can unload the transported storage containers 106 to the access station or transfer station, and the second port column 120 can be a picking port column, where the container handling vehicles 201, 301, 401 can pick up the storage containers 106 that have been transported from the access station or transfer station.

[0018] The access station can typically be a pick-up station or a staging station where product items are removed from or positioned in the storage container 106. In the pick-up or staging station, the storage container 106 is usually not removed from the automated storage and retrieval system 1, but is returned to the frame structure 100 after access. The port can 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.

[0019] A conveyor system including conveyors is typically employed to transport storage containers between the port rows 119, 120 and the access station.

[0020] 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.

[0021] 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.

[0022] 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 / 238694AL and WO 2019 / 238697AL, the contents of which are incorporated herein by reference.

[0023] A potential disadvantage of using a container transfer vehicle to retrieve and deliver storage containers from and to the lower end of a port column is the time dependency between the container transfer vehicle and the container handling vehicles used to retrieve / deliver storage containers through the port column.

[0024] When a storage container 106 stored in one of the rows 105 disclosed in FIG. 1 is to be accessed, one container handling vehicle 201, 301, 401 is instructed to take out the target storage container 106 from its position and transport the storage container to the unloading port row 119. This 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 a lifting device (not shown) 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 within the stack 107, that is, one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above before lifting the target storage container 106 from the storage row 105. This step, sometimes referred to in the art as "digging," can 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 using one or more other cooperating container handling vehicles. Alternatively or in addition, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 that are specifically dedicated to the task of temporarily removing storage containers 106 from storage rows 105. Once the target storage container 106 has been removed from the storage row 105, the temporarily removed storage container 106 can be relocated to the original storage row 105. Alternatively, however, the removed storage container 106 can be relocated to other storage rows 105.

[0025] When a storage container 106 is to be stored in one row 105, one container handling vehicle 201, 301, 401 is instructed to pick up a storage container 106 from the pick-up port row 120 and transport the storage container to a position above the storage row 105 in which it is to be stored. After any storage container 106 positioned at or above a target position within the stack 107 has been removed, the container handling vehicle 201, 301, 401 positions the storage container 106 at a 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 location 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 tracking the storage containers 106.

[0027] The object of the present invention is to provide a solution for continuously guiding a lifting frame of a lift trolley assembly. 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] A guiding solution is described which ensures that a lifting frame suspended from a lifting frame trolley assembly is always guided so as to prevent or minimize horizontal movement. The solution has a first vertical movement range and a second vertical movement range.

[0030] For example, in case the lifting frame trolley assembly is arranged above a rail system of an automated storage and retrieval system, guidance of the lifting frame is also ensured when the lifting frame is above the rail system. The first vertical movement range may be above the rail system and the second vertical movement range may be below the rail system, guided against upright members of the frame structure, wherein the upright members may be arranged in each corner of the lifting frame.

[0031] The present invention relates to a lifting frame trolley assembly, comprising:

[0032] - a crane trolley configured to be guided along a beam of the crane;

[0033] - a lifting frame configured to be connected to the storage container to lift the storage container from above through a first vertical range of movement and a second vertical range of movement of the lifting frame;

[0034] - a plurality of lifting members suspending the lifting frame below the lifting frame cart for raising and lowering the lifting frame through at least a second vertical range of movement; and

[0035] - Stabilizer, extending under the lift trolley;

[0036] wherein during a first vertical range of movement of the lift frame, the lower end of the stabilizer is configured to interact with the lift frame to stabilize the lift frame, and wherein when in a second vertical range of movement of the lift frame, the stabilizer and the lift frame are configured to move vertically relative to each other.

[0037] As the lifting frame continues to move vertically below the extension of the lower end of the stabilizer, the distance between the stabilizer and the lifting frame increases.

[0038] The lifting member may be a lifting belt. Alternatively, the lifting member may be a wire or a rope.

[0039] The stabilizer may have a maximum extension that is shorter than a maximum extension of the lifting member.

[0040] The stabilizer can be thought of as a guide or a guiding arm.

[0041] The first vertical movement range and the second vertical movement range may be consecutive movement ranges, i.e., the second vertical movement range follows the first vertical movement range, or vice versa. In other words, the first vertical movement range and the second vertical movement range do not overlap each other. The first vertical movement range starts at the lift carriage and extends downwards for a first distance, while the second vertical movement range starts at the end of the first distance and extends downwards for a second distance.

[0042] The stabilizer may be configured to stabilize the lifting and lowering of the lift frame by guiding the movement of the lift frame in a vertical direction under the lift frame cart while limiting horizontal movement of the lift frame when the lower end of the stabilizer interacts with the lift frame during a first vertical range of movement of the lift frame.

[0043] The lifting frame may be rectangular and include guides at the corners of the lifting frame for guiding the lifting frame within a storage column of the frame structure of the automated storage and retrieval system during the second vertical range of movement.

[0044] The beam may be a first beam extending in a first direction or a second beam extending in a second direction perpendicular to the first direction, and the crane cart may be movable along the first beam and / or the second beam.

[0045] The crane trolley may comprise first lateral movement means for moving along the first beam and / or the second beam.

[0046] Thus, the crane trolley may be movable in a horizontal plane along the first beam and / or the second beam.

[0047] The lateral movement means may be different means such as but not limited to a rack and pinion arrangement or wheel(s) on the crane cart that travel along the first beam and / or the second beam.

[0048] The stabilizer may include an extendable mechanism for moving the lower end relative to the crane cart.

[0049] The extendable mechanism may be a telescopic mechanism, wherein the major part of the extension and retraction occurs at or beneath the lift cart.

[0050] The stabilizer may extend through the lift cart. That is, the stabilizer may have a fixed length, and at least a portion of the stabilizer may be vertically movable between a position above the lift cart and a position below the lift cart.

[0051] A plurality of lifting members may be arranged to be wound onto and unwound from a reel. The reel may be arranged in one end of the lifting member and the lifting frame may be arranged in the opposite end of the lifting member. The reel may serve as a lifting shaft. Alternatively, the lifting shaft may be arranged between the reel and the lifting frame to ensure correct guidance of the lifting member and thus the lifting frame.

[0052] In a first embodiment, the reel may be positioned at the lift trolley. In this embodiment, the lifting member extends from the lift trolley to the lift frame and provides all vertical movements of the lift frame. That is, the lifting member ensures vertical movement of the lift frame and the stabilizer even within the first vertical movement range. Thus, the stabilizer may be passive during vertical movement, but sufficiently hard or rigid in the horizontal direction to guide the lift frame within the first vertical movement range. The stabilizer may have different embodiments, such as a telescopic solution connected to the lift trolley or having a fixed length that can be vertically moved through or adjacent to the lift trolley depending on the position of the lift frame. If the lift frame is in the upper part of the first vertical movement range (e.g., parked in an upper position towards the lift trolley), the stabilizer may extend upwards and above the lift trolley, while if the lift frame is in the second vertical movement range, the stabilizer is below the lift trolley.

[0053] In the solution in which the reel is arranged at the crane trolley, the stabilizer is arranged between the lifting members.

[0054] In the first embodiment, preferably, the lower end of the stabilizer is fixedly connected to the stabilizer, that is, the lower end of the stabilizer follows any movement of the stabilizer.

[0055] Furthermore, the lifting frame may be provided with a slot for positioning the lower end of the stabilizer, whereby the side of the slot engaging with the lower end of the stabilizer may limit the horizontal movement of the lifting frame during the first vertical movement range.

[0056] The lower end of the stabiliser may be arranged to engage with a slot of the lifting frame.

[0057] In a second embodiment, the reel may be positioned at the lower end of the stabilizer. Thus, in contrast to the first embodiment, the lifting member is not extended from the lifting frame trolley, but is connected to the lower end of the stabilizer. Other components such as a lifting shaft, a lifting motor, etc. may also be arranged at the lower end of the stabilizer.

[0058] In this second embodiment, the lower end of the stabilizer is preferably fixedly connected to the stabilizer. That is, the lower end of the stabilizer follows any movement of the stabilizer.

[0059] In the third embodiment, the lower end of the stabilizer is rotatably connected to the stabilizer. That is, the lower end of the stabilizer can rotate relative to the stabilizer.

[0060] Therefore, the lower end of the stabilizer may include a rotating device for rotating the lower end of the stabilizer relative to the stabilizer.

[0061] The rotating means may be connected to a gear arrangement or the like for rotating the lower end of the stabilizer.

[0062] According to the second and third embodiments, the extendable mechanism of the stabilizer can be a telescopic mechanism in which the stabilizer is formed by sections that can be folded into each other and / or a rack and pinion arrangement in which the stabilizer is, for example, a rod or beam of fixed length that can be moved from the lower end to the upper end of the lift trolley. In contrast to the first embodiment in which the stabilizer passively follows the winding up or unwinding of the lift frame, in either case of the stabilizer according to the second and third embodiments, the stabilizer actively moves the lower end of the stabilizer relative to the lift trolley. According to the second and third embodiments, the stabilizer can be driven up and down by a stabilizer motor arranged at the lift trolley. The independent driving of the stabilizer provides the possibility of an increased acceleration of the lower end of the stabilizer and therefore of the lift frame compared to the acceleration caused only by gravity.

[0063] Alternatively, according to the second and third embodiments, the extendable mechanism can be formed by a rigid chain actuator. The rigid chain actuator works by pairing a drive (usually an electric motor) with a length of chain with a shoulder on each link. The motor output shaft, which is equipped with a special sprocket or pinion, applies a tangential force to the chain. The chain then comes out and straightens, with the shoulders of its links locked to form a rigid series. When the motor is operated in the opposite direction, the chain shoulders are disengaged and winding is allowed.

[0064] A crane is also described, comprising a beam from which a crane trolley of a crane trolley assembly as defined above is suspended.

[0065] The crane may comprise at least two crane carts suspended from the same beam or from parallel beams.

[0066] The second crane trolley and any additional crane trolleys preferably comprise the same components as the first crane trolley.

[0067] An automatic storage and retrieval system is further described, which includes a two-dimensional track system and a lifting frame as described above, wherein the two-dimensional track system includes: a first set of parallel tracks in a horizontal plane, arranged to guide the movement of a container handling vehicle in a first direction across the top of a first frame structure formed by a plurality of upright members; and a second set of parallel tracks in the horizontal plane, arranged perpendicular to the first set of parallel tracks to guide the movement of the container handling vehicle in a second direction perpendicular to the first direction, the first frame structure defining a plurality of storage columns for accommodating vertical stacks of storage containers.

[0068] According to one aspect:

[0069] - a first vertical movement range of the lifting frame may be represented by a first distance between the lifting frame trolley and the rail system; and

[0070] - A second vertical movement range of the lifting frame may be represented by a second distance between the base of the first frame structure and the rail system.

[0071] Alternatively, according to another aspect:

[0072] - a first vertical range of movement of the lift frame may be represented by a first distance between the lift frame trolley and a first position represented by a storage container height below the rail system; and

[0073] - A second vertical movement range of the lifting frame can be represented by a second distance below the first position and the base of the first frame structure. Thus, the stabilizer can place and remove boxes at the uppermost part of a stack of storage containers, such as for example so-called top boxes and boxes directly below the rail system.

[0074] When in the second vertical range of movement, the lifting frame may be guided against upright members at its corners.

[0075] The lifting frame can span at least a portion of the first frame structure and at least a portion of the second frame structure. Thus, the lifting frame cart can transfer storage containers between separate frame structures of the automated storage and retrieval system.

[0076] The second frame structure may be oriented perpendicular to the first frame structure, and the lift may include a lift cart and a stabilizer, wherein a lower end of the stabilizer may include a swivel device for rotating the lower end of the stabilizer relative to the stabilizer so that the lift cart can transfer storage containers between the first frame structure and the second frame structure. Orienting the second frame structure perpendicular to the first frame structure may be advantageous if, for example, the location or arrangement of the access station is most efficiently or conveniently oriented in a different orientation than the orientation of the track system.

[0077] In one aspect, the automated storage and retrieval system may include:

[0078] a first type of container handling vehicle operating on a track system, the first type of container handling vehicle comprising: a first set of wheels for moving on the track system in a first direction; and a second set of wheels for moving on the track system in a second direction; and a container carrier for supporting a storage container, the container carrier being configurable to receive the storage container from above;

[0079] In which, the lifting frame can be configured to be at a height above the uppermost part of the storage container carried by the container carrying part of the first type of container handling vehicle when at least in the upper part of the first vertical movement range, so that the lifting frame can transfer the storage container between the container carrying part and the column.

[0080] A column can be a storage column or a port column.

[0081] An automatic storage and retrieval system may include a second type of container handling vehicle operating on a rail system, wherein the second type of container handling vehicle may include: a first set of wheels for moving in a first direction on the rail system; and a second set of wheels for moving in a second direction on the rail system; and a first lifting device including a first lifting frame suspended on a lifting member, wherein the first lifting frame can be raised to a height above the uppermost portion of a storage container carried by a container carrying portion of the first type of container handling vehicle, and the first lifting frame is configured to transfer storage containers stored in a stack of storage containers to the container carrying portion of the first type of container handling vehicle.

[0082] A method for transferring storage containers between a container carrier of a first type of container handling vehicle and a train of an automated storage and retrieval system as defined above using a lifting frame is also described, wherein the method may comprise the following steps:

[0083] - aligning a first type of container handling vehicle with storage containers arranged on a container carrier directly below the lifting frame of the lifting frame;

[0084] - lowering the lifting frame in a downward direction under the guidance of the stabilizer to contact the storage container carried by the container carrying part;

[0085] - connecting the storage container to the lifting frame and lifting the storage container off the container carrier;

[0086] - moving the first type of container handling vehicle to another location on the rail system;

[0087] - lowering the lifting frame and therefore the connected storage container into the access opening at the top of the row; and

[0088] - lowering the lifting frame and the connected storage container by unwinding the lifting members when the lifting frame is within a second vertical movement range guided by the upright members of the frame structure.

[0089] In order to transfer the storage containers from the row to the container carrier of the first type of container handling vehicle, the method steps may be performed in reverse order.

[0090] The cart may always be stationary above one column, and the first type container handling vehicle is positioned on top of the column and directly below the lifting frame, so that the lifting frame of the gantry arrangement can lift the storage container off the container carrying portion of the first type container handling vehicle. Once the storage container has been lifted, the first type container handling vehicle can be moved to another position, and the stabilizers of the gantry arrangement can guide the lifting frame and the connected storage container down into the access opening at the top of the column.

[0091] Also described is a method of transferring a storage container between a first frame structure having a first orientation and a second frame structure having a second orientation different from the first orientation using a lift, the lift spanning at least a portion of the first frame structure and at least a portion of the second frame structure, wherein the lift comprises a lift cart assembly as defined above, wherein a lower end of a stabilizer of the lift cart assembly is rotatably connected to the stabilizer, wherein the method comprises the steps of:

[0092] - picking up a storage container from a first type of container handling vehicle or a location within a first frame structure using a lifting frame suspended from a lifting frame trolley;

[0093] - moving the lifting frame trolley into position directly above the column of the second frame structure;

[0094] - Rotate the lower end of the stabilizer;

[0095] - Lowering the lifting frame and thus the connected storage container into the column.

[0096] The first frame structure may define a two-dimensional track system arranged across the upright members of the first frame structure, the two-dimensional track system comprising:

[0097] - a first set of parallel tracks in a horizontal plane arranged to guide movement of a container handling vehicle in a first direction, and

[0098] - A second set of parallel tracks in a horizontal plane, arranged perpendicularly to the first set of parallel tracks, to guide the container handling vehicle to move in a second direction perpendicular to the first direction.

[0099] An automated storage and retrieval system is also described, comprising a frame structure and a two-dimensional track system, the frame structure comprising upright members, a storage volume, the storage volume comprising storage columns arranged in rows between the upright members for accommodating vertical stacks of storage containers, the two-dimensional track system arranged across the top of the frame structure, the track system comprising: a first set of parallel tracks in a horizontal plane arranged to guide a container handling vehicle to move across the top of the frame structure in a first direction; and a second set of parallel tracks in a horizontal plane arranged perpendicular to the first set of parallel tracks to guide the container handling vehicle to move in a second direction perpendicular to the first direction, wherein the automated storage and retrieval system comprises:

[0100] A lifting frame above the rail system, the lifting frame comprising:

[0101] - a lifting frame trolley assembly, including a movable stabilizer and a lifting device, wherein the lifting

[0102] The device includes:

[0103] o at least one lifting shaft and a plurality of lifting members that can be wound onto and unwound from the at least one lifting shaft;

[0104] o a lifting frame suspended from the lifting member; and wherein the stabilizer is configured to guide the lifting frame when the lifting frame is located above the rail system, and wherein a lower end of the stabilizer is movable between an upper position and a lower position such that:

[0105] o in the upper position of the lower end of the stabilizer, the lifting frame is arranged at a distance above the rail system; and

[0106] o In the lower position of the lower end of the stabilizer, the lifting frame is arranged at or below the rail system.

[0107] In other words, the stabilizer is arranged to be movable in a downward direction to guide the lifting frame to move into an access opening in the underlying rail system.The stabilizer is configured to minimize movement of the lifting frame in a horizontal plane during movement of the stabilizer between the upper position and the lower position.

[0108] The upright members are configured for guiding the lifting frame when the lifting frame is within the frame structure, ie beneath the track system.

[0109] The automated storage and retrieval system may include a plurality of upright members, with each storage column being defined by four upright members.

[0110] A track system may be arranged on top of the upright member, the track system comprising a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks. The first set of tracks and the second set of tracks provide a horizontal grid-like track system defining a plurality of grid cells.

[0111] In this specification, the term "storage container" is intended to mean any cargo holder unit, such as a box, a tote, a pallet, etc., having a bottom plate and a side portion suitable for releasably connecting to a container lifting device. 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.

[0112] Relative terms "upper", "lower", "below", "above", "higher" etc. are to be understood in their ordinary sense and as shown in a Cartesian coordinate system.

[0113] 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, micro-fulfillment or grocery / e-grocery. BRIEF DESCRIPTION OF THE DRAWINGS

[0114] To facilitate understanding of the present invention, the following drawings are attached. The drawings illustrate embodiments of the present invention, which will now be described by way of example only, in which:

[0115] FIG1 is a perspective view of a frame structure of an automatic storage and retrieval system of the prior art;

[0116] FIG2 is a perspective view of a prior art container handling vehicle having a cavity disposed internally for carrying a storage container therein;

[0117] FIG3 is a perspective view of a prior art container handling vehicle having a cantilever arm for carrying a storage container thereunder;

[0118] FIG. 4 is a perspective view of a prior art container handling vehicle viewed from below, the container handling vehicle having a cavity disposed inside for carrying a storage container therein;

[0119] FIG5 is a perspective view of the container handling vehicle in FIG4 without the side panels and the top panel;

[0120] FIG. 6A to FIG. 6D are different views of a crane cart assembly according to a first embodiment, wherein the lifting member extends to the crane cart, wherein Fig. 6A is a three-dimensional diagram of the lifting frame in the first vertical movement range, Figure 6B yes Fig. 6A Side view of Figure 6C is perpendicular to Figure 6B Another side view of the Fig.6D is a three-dimensional diagram of the lifting frame within the second vertical movement range;

[0121] Fig. 7A is a side perspective view of an automatic storage and retrieval system having a rail system and a lifting frame above the rail system, the lifting frame being arranged at the end area of ​​the rail system and comprising a first beam and a second beam, and according to a first embodiment FIG. 6A to FIG. 6D The lifting frame cart assembly is suspended from the first beam and the second beam;

[0122] Figure 7B is a perspective view of an automated storage and retrieval system having a rail system and three lifts above the rail system, the lifts being arranged at a port area of ​​the rail system and comprising a first beam and a second beam, and a lift cart assembly according to a first embodiment being suspended from the first beam and the second beam;

[0123] Figure 7C and Fig.7D yes Fig. 7A Stereoscopic images of the automatic storage and retrieval system from different angles;

[0124] Fig. 7E and Figure 7F yes Fig. 7A Different side views of the automatic storage and retrieval system;

[0125] Figure 7G yes Fig. 7A A top view of the automatic storage and retrieval system;

[0126] Figure 7H is a perspective view of a first beam or a second beam of a crane, with three crane trolley assemblies according to a first embodiment suspended from the beam;

[0127] Fig.7I yes Figure 7H A perspective view of the beam and lift cart assembly as viewed from below;

[0128] Figure 7J yes Figure 7H and Fig.7I a detailed view of a first beam or a second beam in;

[0129] Figure 7K is from Fig. 7A A three-dimensional view of the lift as viewed from below;

[0130] Figure 7Lis a side perspective view of an automated storage and retrieval system having a track system and a crane above and partially outside the track system, the crane being arranged at a port area of ​​the track system and comprising a first beam and a second beam, and a crane cart assembly according to a first embodiment being suspended from the first beam and the second beam;

[0131] FIG. 8A to FIG. 8C are different views of a crane cart assembly according to a second embodiment, wherein the lifting member extends to the lower end of the stabilizer of the crane cart assembly, wherein Fig. 8A is a three-dimensional diagram of the lifting frame in the second vertical moving range, Figure 8B yes Fig. 8A a side view from a first angle, and Figure 8C yes Fig. 8A a side view of the device viewed from a second angle;

[0132] Fig.9A is a side perspective view of an automated storage and retrieval system having a track system and a crane above and partially outside the track system, the crane being arranged at a port area of ​​the track system and comprising a first beam and a second beam, and a crane cart assembly according to a second embodiment being suspended from the first beam and the second beam;

[0133] Fig. 9B yes Fig.9A Another view of the automatic storage and retrieval system in;

[0134] Fig. 9C yes Fig.9A and Fig. 9B , wherein a mezzanine is arranged beside the rail system, two storage and retrieval stations are arranged on the mezzanine, and two storage and retrieval stations are arranged below the mezzanine, and wherein the lifting frame extends partly over the rail system and partly over the mezzanine;

[0135] Fig.9D yes Fig. 9C Side view of

[0136] Fig.9E is from 9A to 9D A side perspective view of a lift frame viewed from below, wherein a lift frame cart assembly according to a second embodiment is suspended from the lift frame;

[0137] Fig.9F is a perspective view of a first beam or a second beam of a crane with four crane trolley assemblies according to a second embodiment suspended therefrom;

[0138] Figure 9Gis from Fig.9F A three-dimensional view of the first beam or the second beam viewed from below;

[0139] Figure 9H yes Fig.9F and Figure 9G a detailed view of a first beam or a second beam in;

[0140] Fig.10 is a perspective view of a lift cart assembly according to a third embodiment, wherein the lift member extends to a lower end of a stabilizer of the lift cart assembly, and wherein the lower end of the stabilizer can rotate relative to the stabilizer;

[0141] Fig.11A and Fig. 11B are different views of an automated storage and retrieval system and a lift, the automated storage and retrieval system comprising: a first frame structure having a first orientation and a second frame structure having a second orientation different from the first orientation, the lift spanning the first frame structure and the second frame structure, wherein a lift cart assembly according to a third embodiment is suspended from the lift;

[0142] Fig. 11C yes Fig.11A and Fig. 11B A top view of the automatic storage and retrieval system in FIG.

[0143] Fig.11D is a perspective view of a first beam or a second beam with six crane cart assemblies according to a third embodiment suspended therefrom;

[0144] Fig.12 is a side perspective view of an exemplary first type container handling vehicle;

[0145] Fig.13 is an exemplary multi-cantilever container handling vehicle that may operate with a lift on a rail system. DETAILED DESCRIPTION

[0146] 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.

[0147] The frame structure 100 of the automated storage and retrieval system 1 may be constructed in a similar manner to the prior art frame structure 100 described above in conjunction with Figure 1. That is, the frame structure 100 may include a plurality of upright members 102 and include a first upper track system 108 extending in the X and Y directions.

[0148] 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 .

[0149] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be significantly wider and / or longer and / or deeper than the frame structure disclosed in Figure 1. For example, the horizontal extent of the frame structure 100 can be greater than 700×700 columns and its storage depth can be greater than 12 containers.

[0150] Referring to Figures 2, 4 and 5, prior art container handling vehicles including cavities for accommodating storage containers have certain advantageous features. In particular, relative to the cantilever container handling vehicle 301 shown in Figure 3, the guidance / support provided to the storage container allows the vehicle to have greater acceleration / deceleration when the storage container is accommodated in the cavity. However, due to the instability of the vehicle, the potential increase in acceleration / deceleration is not 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.

[0151] First embodiment of the lifting frame cart assembly, FIGS. 6 and 7

[0152] FIG. 6A to FIG. 6D is a different view of the crane cart assembly 604' according to the first embodiment, wherein the lifting member 505 is extended to the crane cart 603a. Fig. 6A 4 is a perspective view of the lifting frame 504 in the first vertical movement range R1. Figure 6B yes Fig. 6A Side view of Figure 6C is perpendicular to Figure 6B Another side view of the Fig.6D A perspective view of the lifting frame 504 within the second vertical movement range R2.

[0153] refer to FIG. 6A to FIG. 6D , the details of the lifting frame trolley assembly 604' according to the first embodiment will be described in more detail. The lifting frame trolley 603a is configured to move along the lifting frame 600 ( FIG. 6A to FIG. 6D Not shown, see for example Fig. 7A ) of beams 601, 602 ( FIG. 6A to FIG. 6D Not shown, see for example Fig. 7A ) is guided to move and has a configuration for connecting to the storage container 106 ( FIG. 6A to FIG. 6D Storage containers not shown in FIG. Fig. 7A ) of the lifting frame 504 to lift the storage container 106 from above through the first vertical movement range R1 and the second vertical movement range R2 of the lifting frame 504.

[0154] The lift trolley assembly 604' has a plurality of lifting members 505 and a stabilizer 620' extending below the lift trolley 603a, the plurality of lifting members suspending the lift frame 504 below the lift trolley 603a for lifting and lowering the lift frame 504 through at least a second vertical range of motion R2. During the first vertical range of motion R1 of the lift frame 504, the lower end 620L' of the stabilizer 620' is configured to interact with the lift frame 504 to stabilize the lift frame 504. The stabilizer 620' and the lift frame 504 are configured to move vertically relative to each other when within the second vertical range of motion R2 of the lift frame 504. As the lift frame 504 continues to move vertically downward below the extension of the lower end 620L' of the stabilizer 620', the distance between the stabilizer 620' and the lift frame 504 increases.

[0155] When the lower end 620L' of the stabilizer 620' interacts with the lifting frame 504 during the first vertical movement range R1 of the lifting frame 504, the stabilizer 620' is configured to stabilize the lifting and lowering of the lifting frame 504 by guiding the movement of the lifting frame 504 in the vertical direction under the lifting frame cart 603a and simultaneously limiting the horizontal movement of the lifting frame 504. The lifting frame 504 is provided with a groove 507 for positioning the lower end 620L' of the stabilizer 620', whereby the side of the groove 507 engaged with the lower end 620L' of the stabilizer limits the horizontal movement of the lifting frame 504 during the first vertical movement range R1.

[0156] Depending on the use of the lift cart assembly, the stabilizer 620 ′ may have a maximum extension that is shorter than the maximum extension of the lift member 505 .

[0157] The first vertical moving range R1 and the second vertical moving range R2 are successive moving ranges, that is, the second vertical moving range R2 is after the first vertical moving range R1, and vice versa. In other words, the first vertical moving range R1 and the second vertical moving range R2 do not overlap each other. The first vertical moving range is closer to the lifting frame trolley than the second vertical moving range R2.

[0158] The lifting frame 504 is preferably rectangular and includes guides 506 at its corners for moving the frame structure 100 ( FIG. 6A to FIG. 6D Not shown, but see for example Fig. 7A ) storage column 105 ( FIG. 6A to FIG. 6D Not shown, but see for example Fig. 7A ) guides the lifting frame 504. The guide member 506 helps to align the clamp 508 relative to the clamping recess of the storage container 106.

[0159] The crane trolley 603a is disclosed as having a first lateral movement device 608 for moving along the first beam 601 and / or the second beam 602. The lateral movement device 608 is shown in the form of a wheel 608 driven by a first wheel motor 608'. Thus, the crane trolley 603a can move in a horizontal plane along the first beam 601 and / or the second beam 602.

[0160] The stabilizer 620' includes an extendable mechanism for moving the lower end 620L' relative to the crane cart 603a. FIG. 6A to FIG. 6D The extendable mechanism of the stabilizer 620 ′ in FIG. 5 is shown as a telescopic mechanism. The stabilizer 620 ′ is arranged between the lifting members 505 .

[0161] A plurality of lifting members 505 are arranged to be wound onto and unwound from a reel 611. The reel 611 is positioned at the lifting frame cart 603a.

[0162] Fig. 7A 1 is a side perspective view of an automatic storage and retrieval system 1 having a rail system 108 and a lifting frame 600 above the rail system 108. The lifting frame 600 is arranged at the end area 50 of the rail system 108 and includes a first beam 601 and a second beam 602. FIG. 6A to FIG. 6D The lifting frame trolley assembly 604' is suspended on the first beam 601 and the second beam 602. The first beam and the second beam extend in the same direction as the second set of parallel rails 111 of the rail system 108.

[0163] The access station 150 is arranged at floor level below the lift 600 so that the lift cart assembly 604' can deliver storage containers to the access station 150. A plurality of first type container handling vehicles 30 in the form of delivery vehicles 30 having a container carrier 35 for supporting storage containers 106 operate on the rail system 108. The container carrier 35 is configured to receive the storage container 106 from above. The delivery vehicle 30 can position itself directly below the lift frame 504 so that the storage container 106 can be lifted from or placed onto the container carrier 35 by the lift frame 504 of the lift cart assembly 604.

[0164] The ports (ie, access stations 150) may be arranged in the lower portion of the port columns 119, 120, and the lift frame 504 of the lift cart assembly 604 may be raised and lowered between a docking position at the lift cart 603a and the ports.

[0165] The lifting frame 600 or gantry device 600 can be raised to a height above the uppermost portion of the storage container 106 carried by the container carrier 35 of the first type container handling vehicle 30, and is configured to transfer the storage container (106) between the container carrier 35 and the port rows 119, 120.

[0166] The lifting frame 600 is arranged at a fixed position within the port area 50 and at a fixed position above the port rows 119 , 120 .

[0167] Figure 7B 1 is a perspective view of an automated storage and retrieval system 1 having a rail system 108 and three lifts 600 above the rail system 108. The lifts 600 are arranged at the port area 50 of the rail system 108 and include a first beam 601 and a second beam 602. A lift trolley assembly 604' according to a first embodiment is suspended on the first beam 601 and the second beam 602.

[0168] A plurality of first type container handling vehicles 30 and a cantilever container handling vehicle 501 operate on the track system.

[0169] Figure 7C and Fig.7D yes Fig. 7A Perspective views of the automatic storage and retrieval system 1 from different angles.

[0170] Fig. 7E and Figure 7F yes Fig. 7A Different side views of the automatic storage and retrieval system 1.

[0171] Figure 7G yes Fig. 7A A top view of the automatic storage and retrieval system 1.

[0172] Figure 7H 601 or the second beam 602 of the crane 600, wherein three crane trolley assemblies 604' according to the first embodiment are suspended from the beams 601, 602. The beams 601, 602 have second lateral movement devices 609 for moving the beams in a vertical direction relative to the first lateral movement devices 608 (see, e.g. Fig. 6A , Figure 6B , Fig.6D ). The second lateral movement means 609 is shown in the form of a wheel 609 driven by a second wheel motor 609'.

[0173] Figure 71 is viewed from below Figure 7H A perspective view of the beams 601, 602 and the lift cart assembly 604'.

[0174] Figure 7J yes Figure 7Hand a detailed view of the first beam 601 or the second beam 602 in FIG. 71 .

[0175] Figure 7K is from Fig. 7A A three-dimensional view as seen from below the lifting frame 600.

[0176] Figure 7L 1 is a side perspective view of an automated storage and retrieval system 1 having a rail system 108 and a lift 600 above and partially outside the rail system 108. The lift 600 is arranged at the end area 50 of the rail system 108 and includes a first beam 601 and a second beam 62, and a lift cart assembly 604' according to a first embodiment is suspended on the first beam 601 and the second beam 602.

[0177] Second embodiment of the lifting frame cart assembly, FIGS. 8 and 9

[0178] refer to FIG. 8A to FIG. 8C , which is a different view of the lift cart assembly 604" according to the second embodiment, wherein the lifting member 505 extends to the lower end 620L" of the stabilizer 620" of the lift cart assembly 604". Fig. 8A is a three-dimensional diagram of the lifting frame 504 in the second vertical moving range, Figure 8B yes Fig. 8A a side view from a first angle, and Figure 8C yes Fig. 8A A side view from a second angle.

[0179] The lifting frame cart 603a is configured to move along the lifting frame 600 ( FIG. 8A to FIG. 8C Not shown, see for example Fig.9A ) of beams 601, 602 ( FIG. 8A to FIG. 8C Not shown, see for example Fig.9A ) is guided to move, and the lifting frame cart has a configuration for connecting to the storage container 106 ( FIG. 8A to FIG. 8C Storage containers not shown in FIG. Fig.9A ) of the lifting frame 504 to lift the storage container 106 from above through the first vertical movement range R1 and the second vertical movement range R2 of the lifting frame 504.

[0180] The lift cart assembly 604" has a plurality of lift members 505 that suspend the lift frame 504 below the lift cart 603a for lifting and lowering the lift frame 504 through at least a second vertical range of motion R2, and a stabilizer 620" extending below the lift cart 603a.

[0181] As shown, the stabilizer 620" is a telescopic mechanism, wherein the stabilizer 620" is formed by sections that can be folded into each other when the stabilizer 620" is retracted. The stabilizer 620" actively moves the lower end 620" of the stabilizer relative to the lifting frame cart 603a. The stabilizer 620" can be driven up and down by a stabilizer motor 610 arranged at the lifting frame cart 603a. The independent drive of the stabilizer 620" provides the possibility of increasing the acceleration of the lower end of the stabilizer and therefore the acceleration of the lifting frame compared to the acceleration caused by gravity alone.

[0182] During a first vertical movement range R1 of the lifting frame 504, a lower end 620L" of the stabilizer 620' is configured to interact with the lifting frame 504 to stabilize the lifting frame 504. When within a second vertical movement range R2 of the lifting frame 504, the stabilizer 620" and the lifting frame 504 are configured to move vertically relative to each other. When the lifting frame 504 continues to move vertically below the range of the lower end 620L" of the stabilizer 620", the distance between the stabilizer 620" and the lifting frame 504 increases.

[0183] During the first vertical movement range R1 of the lifting frame 504, when the lower end 620L" of the stabilizer 620" interacts with the lifting frame 504, the stabilizer 620" is configured to stabilize the lifting and lowering of the lifting frame 504 by guiding the movement of the lifting frame 504 in the vertical direction under the lifting frame cart 603a and at the same time limiting the horizontal movement of the lifting frame 504. The lower end 620L" of the stabilizer 620" is fixedly connected to the stabilizer 620", that is, the lower end 620L" of the stabilizer 620" moves together with the stabilizer 620".

[0184] Depending on the use of the lift cart assembly, the stabilizer 620" may have a maximum extension that is shorter than the maximum extension of the lift member 505.

[0185] The first vertical moving range R1 and the second vertical moving range R2 are successive moving ranges, that is, the second vertical moving range R2 is after the first vertical moving range R1, and vice versa. In other words, the first vertical moving range R1 and the second vertical moving range R2 do not overlap each other. The first vertical moving range is closer to the lifting frame trolley than the second vertical moving range R2.

[0186] The lifting frame 504 is preferably rectangular and includes guides 506 at its corners for moving the frame structure 100 ( FIG. 8A to FIG. 8C Not shown, but see for example Fig.9A ) storage column 105 ( FIG. 8A to FIG. 8C Not shown, but see for example Fig.9A) guides the lifting frame 504. The guide 506 helps align the clamp 508 relative to the clamping recess of the storage container 106 (see, for example Figure 9H Detail of the guide 506 and the clamp 508 in FIG. 5 ).

[0187] The crane trolley 603a is disclosed as having a first lateral movement device 608 for moving along the first beam 601 and / or the second beam 602. The lateral movement device 608 is shown in the form of a wheel 608 driven by a first wheel motor 608'. Thus, the crane trolley 603a can move in a horizontal plane along the first beam 601 and / or the second beam 602.

[0188] The stabilizer 620" includes an extendable mechanism for moving the lower end 620L" relative to the lift cart 603a. FIG. 8A to FIG. 8C The extendable mechanism of the stabilizer 620" in FIG. 6 is shown as the stabilizer 620", which can extend through the lifting frame cart 603a.

[0189] A plurality of lifting members 505 are arranged to be wound onto and unwound from a reel 611. The reel 611 is positioned at a lower end 620L" of a stabilizer 620". A lift motor 607 is also arranged at a lower end 620L" of the stabilizer 620".

[0190] Fig.9A 1 is a side perspective view of an automated storage and retrieval system 1 having a rail system 108 and a lifting frame 600 above and partially outside the rail system 108, the lifting frame 600 being arranged at the port area 50 of the rail system 108. The lifting frame 600 includes a first beam 601 and a second beam 602, and a lifting frame trolley assembly 604″ according to a second embodiment is suspended on the first beam 601 and the second beam 602.

[0191] Fig. 9B yes Fig.9A Another view of the automatic storage and retrieval system 1 in FIG.

[0192] Fig. 9C yes Fig.9A and Fig. 9B 1, wherein a mezzanine 200 is arranged next to the rail system 108, two storage and retrieval stations 150 are arranged on the mezzanine 200, and two storage and retrieval stations 150 are arranged below the mezzanine 200. The lifting frame 600 extends partially above the rail system 108 and partially above the mezzanine 200.

[0193] The ports (i.e., access stations 150) can be arranged in the lower portion of the port columns 119, 120, and the lift frame 504 of the lift cart assembly 604" can be raised and lowered between a docking position at the lift cart 603a and the port.

[0194] Fig.9D yes Fig. 9C Side view of.

[0195] Fig.9E is from 9A to 9D 600, wherein a lift trolley assembly 604" according to a second embodiment is suspended from the lift 600.

[0196] Fig.9F 601 or the second beam 602 of the crane 600, wherein four crane trolley assemblies 604" according to the second embodiment are suspended on the beams 601, 602. The beams 601, 602 have second lateral movement devices 609 for moving the beams in a vertical direction relative to the first lateral movement devices 608 (see e.g. FIG. 8A to FIG. 8C ). The second lateral movement means 609 is shown in the form of a wheel 609 driven by a second wheel motor 609'.

[0197] Figure 9G is from Fig.9F A three-dimensional view of the first beam 601 or the second beam 602 viewed from below.

[0198] Figure 9H yes Fig.9F and 9G a detailed view of a first beam or a second beam in;

[0199] A third embodiment of the lifting frame cart assembly, Fig.10 and Figure 11

[0200] refer to Fig.10 , which shows a stereoscopic view of a lift cart assembly 604'" according to a third embodiment, wherein a lifting member 505 extends to a lower end 620L''' of a stabilizer 620'' of the lift cart assembly 604'', and wherein the lower end 620L''' of the stabilizer 620'' can rotate relative to the stabilizer 620''. Fig.10 Most features of the lift cart assembly 604'' are similar to those of the FIG. 8A to FIG. 8C The second embodiment of the lifting frame cart assembly 604" is shown in FIG.

[0201] The rotation is performed using a rotation device 612 which is connected to a gear arrangement 613 or the like for rotating the lower end 620L'" of the stabilizer.

[0202] The lifting frame cart 603a is configured to move along the lifting frame 600 ( Fig.10 Not shown, see for example Fig.11A ) of beams 601, 602 ( Fig.10 Not shown, see for example Fig.11A ) is guided to move, and the lifting frame cart has a configuration for connecting to the storage container 106 ( Fig.10 Storage containers not shown in FIG. Fig.11A ) of the lifting frame 504 to lift the storage container 106 from above through the first vertical movement range R1 and the second vertical movement range R2 of the lifting frame 504.

[0203] The lift cart assembly 604'" has a plurality of lift members 505 that suspend the lift frame 504 below the lift cart 603a for lifting and lowering the lift frame 504 through at least a second vertical range of motion R2 and a stabilizer 620'" extending below the lift cart 603a.

[0204] The stabilizer 620'" as shown is a telescopic mechanism, wherein the stabilizer 620'" is formed by sections that can be folded into each other when the stabilizer 620'" is retracted. The stabilizer 620'" actively moves the lower end 620'" of the stabilizer relative to the lift trolley 603a. The stabilizer 620'" can be driven up and down by a stabilizer motor 610 arranged at the lift trolley 603a. The independent drive of the stabilizer 620'" provides the possibility of increasing the acceleration of the lower end of the stabilizer and therefore the acceleration of the lift frame compared to the acceleration caused by gravity alone.

[0205] During a first vertical movement range R1 of the lifting frame 504, the lower end 620L"' of the stabilizer 620' is configured to interact with the lifting frame 504 to stabilize the lifting frame 504. When within a second vertical movement range R2 of the lifting frame 504, the stabilizer 620"' and the lifting frame 504 are configured to move vertically relative to each other. When the lifting frame 504 continues to move vertically below the range of the lower end 620L"' of the stabilizer 620"', the distance between the stabilizer 620"' and the lifting frame 504 increases.

[0206] During the first vertical movement range R1 of the lifting frame 504, when the lower end 620L"' of the stabilizer 620"' interacts with the lifting frame 504, the stabilizer 620"' is configured to stabilize the lifting and lowering of the lifting frame 504 by guiding the movement of the lifting frame 504d in the vertical direction under the lifting frame cart 603a and at the same time limiting the horizontal movement of the lifting frame 504. The lower end 620L"' of the stabilizer 620"' is fixedly connected to the stabilizer 620"', that is, the lower end 620L"' of the stabilizer 620"' moves together with the stabilizer 620"'.

[0207] Depending on the use of the lift cart assembly, the stabilizer 620'" may have a maximum extension that is shorter than the maximum extension of the lift member 505.

[0208] The first vertical moving range R1 and the second vertical moving range R2 are successive moving ranges, that is, the second vertical moving range R2 is after the first vertical moving range R1, and vice versa. In other words, the first vertical moving range R1 and the second vertical moving range R2 do not overlap each other. The first vertical moving range is closer to the lifting frame trolley than the second vertical moving range R2.

[0209] The lifting frame 504 is preferably rectangular and includes guides 506 at its corners for moving the frame structure 100 ( Fig.10 Not shown, but see for example Fig.11A ) storage column 105 ( Fig.10 Not shown, but see for example Fig.11A ) guides the lifting frame 504. The guide member 506 helps to align the clamp 508 relative to the clamping recess of the storage container 106.

[0210] The crane trolley 603a is disclosed as having a first lateral movement device 608 for moving along the first beam 601 and / or the second beam 602. The lateral movement device 608 is shown in the form of a wheel 608 driven by a first wheel motor 608'. Thus, the crane trolley 603a can move in a horizontal plane along the first beam 601 and / or the second beam 602.

[0211] The stabilizer 620'" includes an extendable mechanism for moving the lower end 620L'" relative to the crane cart 603a. Fig.10 The extendable mechanism of the stabilizer 620'" in s is shown as a stabilizer 620'" which can extend through the crane cart 603a.

[0212] A plurality of lifting members 505 are arranged to be wound onto and unwound from a reel 611. The reel 611 is positioned at a lower end 620L"' of a stabilizer 620"'. A lift motor 607 is also arranged at a lower end 620L"' of the stabilizer 620"'.

[0213] Fig.11A and Fig. 11B1 are different views of an automated storage and retrieval system 1 and a lifting frame 600, the automated storage and retrieval system comprising a first frame structure 100 having a first orientation and a second frame structure 100' having a second orientation different from the first orientation, the lifting frame spanning the first frame structure 100 and the second frame structure 100', wherein a lifting frame trolley assembly 604''' according to a third embodiment is suspended from the lifting frame 600. The second frame structure 100' is oriented perpendicularly to the first frame structure 100. The lifting frame trolley assembly 604''' can transfer storage containers 106 between the first frame structure 100 and the second frame structure 100'' by rotating the lower end 620L''' of the stabilizer 620''' relative to the stabilizer 620'''. As shown in the figure, two of the access stations 150 (i.e., the access stations connected to the second frame structure 100') are oriented perpendicularly to the access stations 150 connected to the first frame structure 100 and the third frame structure 100''. In addition, the lifting frame cart assembly 604'" is suitable for lifting and lowering storage containers 106 from a first type container handling vehicle 30 operating on a rail system, and transferring the storage containers 106 to different ports 150 within the same first frame structure 100 or to an access station 150 at any other second frame structure 100' or third frame structure 100", to be used as a buffer or temporary storage for frequently used storage containers 106, etc.

[0214] Fig. 11C yes Fig.11A and Fig. 11B A top view of the automatic storage and retrieval system in Figure 1. Fig. 11C As shown, the lift cart assembly 604'" forms part of the same lift 600, and because the lift 600 spans all three frame structures 100, 100', 100'", the lift cart assembly 604'" can move storage containers 106 between all three frame structures 100, 100', 100'". The rotating device of the lift cart assembly 604'" makes it possible to transfer storage containers between the vertically oriented frame structures 100, 100" and the frame structure 100'.

[0215] Fig.11D 601 or a second beam 602, wherein six crane trolley assemblies 604'' according to the third embodiment are suspended on the beams 601, 602. The beams 601, 602 have second lateral movement devices 609 for moving the beams in a vertical direction relative to the first lateral movement devices 608 (see e.g. Fig.10 ). The second lateral movement means 609 is shown in the form of a wheel 609 driven by a second wheel motor 609'.

[0216] Fig.12is a side perspective view of an exemplary first type container handling vehicle 30 that can be used with all three embodiments of the lift cart assemblies 604', 604", 604'". The first type container handling vehicle 30 is in the form of a delivery vehicle 30 having a container carrier 35 for supporting a storage container 106. The container carrier 35 is configured to receive the storage container 106 from above. The delivery vehicle 30 includes a vehicle body 30a. A first set of wheels 30b for moving in a first direction X on a track system 108 and a second set of wheels 30c for moving in a second direction Y on the track system 108 are mounted on the vehicle body 30a of the delivery vehicle.

[0217] Fig.13 An exemplary multi-cantilever container handling vehicle 501 is shown that may operate on the rail system 108 along with the crane 600 and other container handling vehicles.

[0218] A multi-cantilever container handling vehicle 501 having four lifting devices 503a, 503b, 503c, 503d is disclosed. Each lifting device 503a, 503b, 503c, 503d is suspended from a corresponding cantilever section 502a, 502b, 502c, 502d and includes a lifting frame 504 suspended from a lifting member 505.

[0219] As disclosed, the multi-cantilever container handling vehicle 501 has a first cantilever section 502a. A first lifting device 503a is suspended from the first cantilever section 502a. In addition, the multi-cantilever container handling vehicle 501 has a second cantilever section 502b, which is located on the opposite side of the vehicle body 501 of the multi-cantilever container handling vehicle 501 from the first cantilever section 502a. A second lifting device 503b is suspended from the second cantilever section 502b. Therefore, the multi-cantilever container handling vehicle 501 is configured to pick up storage containers 106 from two different stacks 107 on different sides of the multi-cantilever container handling vehicle 501.

[0220] The multi-cantilever container handling vehicle 501 also has: a third cantilever section 502c and a third lifting device 503c suspended on the third cantilever section 502c, wherein the third cantilever section is arranged to be perpendicular to the first cantilever section 502a and the second cantilever section 502b; and a fourth cantilever section 502d and a fourth lifting device 503d suspended on the fourth cantilever section 502d, wherein the fourth cantilever section is arranged to be perpendicular to the first cantilever section 502a and the second cantilever section 502b, on the opposite side of the main body 501a to the third cantilever section 502c.

[0221] The multiple cantilever container handling vehicles 501 are preferably configured to perform high speed excavation operations, however, they are not designed to move quickly between position A and position B on top of the track system 108. However, the first type container handling vehicles 30 are not capable of excavation, but are designed with maximum stability to quickly transfer storage containers between position A and position B on top of the track system 108. The prior art cantilever container handling vehicle 301 picks up a storage container 106 from a stack below and brings the storage container 106 itself to the port area 50.

[0222] Therefore, in order to make the system 1 effective, the multi-cantilever container handling vehicle 501 is preferably arranged at a relatively large distance from the port area 50, so that the first type container handling vehicle 30 receives the storage container 106 from the multi-cantilever container handling vehicle 501 and transfers the storage container to the port area 50, while the prior art cantilever container handling vehicle 301 is preferably arranged at a relatively close distance from the port area 50. Common to all three embodiments is that the storage container 106 can be arranged in a stack 107 of storage containers at the port area 50. In addition, in the case of, for example, "hot items" (i.e., items stored in frequently used storage containers 106), such storage containers 106 can be arranged in a stack 107 of storage containers 106 within the port area 50, or such storage containers can be temporarily stored in any lifting frame 504 of the lifting frame 600.

[0223] In the foregoing description, various aspects of the independent claims have been described. For the purpose of explanation, specific numbers, systems, and configurations are set forth in order to provide a thorough understanding of the system and its operation. However, this description is not intended to be interpreted as having a limiting meaning. Various modifications and variations of the illustrative embodiments and other embodiments of the system that are obvious to those skilled in the art of the disclosed subject matter are considered to be within the scope of the invention as defined by the appended claims.

[0224] Reference numerals list

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Claims

1. A lifting frame cart assembly (604', 604", 604"'), comprising: - a crane trolley (603a, 603b, 603c, 603d, 603e, 603f) configured to be guided and moved along the beams (601, 602) of the crane (600); - a lifting frame (504) configured to be connected to a storage container (106) to lift the storage container (106) from above through a first vertical movement range (R1) and a second vertical movement range (R2) of the lifting frame (504); - a plurality of lifting members (505) suspending the lifting frame (504) below the lifting frame trolley (603a, 603b, 603c, 603d, 603e, 603f) for lifting and lowering the lifting frame (504) at least through the second vertical movement range (R2); as well as - a stabilizer (620', 620", 620'") extending below the crane trolley (603a, 603b, 603c, 603d, 603e, 603f); wherein, during the first vertical movement range (R1) of the lifting frame (504), the lower end (620L', 620L", 620L"') of the stabilizer (620', 620", 620"') is configured to interact with the lifting frame (504) to stabilize the lifting frame (504), and wherein, when in the second vertical movement range (R2) of the lifting frame (504), the stabilizer (620', 620", 620"') and the lifting frame (504) are configured to move vertically relative to each other.

2. The crane trolley assembly (604', 604", 604'") according to claim 1, wherein: During the first vertical movement range (R1) of the lifting frame (504), when the lower ends (620L', 620L", 620L'") of the stabilizers (620', 620'") interact with the lifting frame (504), the stabilizers (620', 620'") are configured to stabilize the lifting and lowering of the lifting frame (504) by guiding the movement of the lifting frame (504) in the vertical direction under the lifting frame cart (603a, 603b, 603c, 603d, 603e, 603f) while limiting the horizontal movement of the lifting frame (504).

3. The crane trolley assembly (604', 604", 604'") according to any one of the preceding claims, wherein: The lifting frame (504) is rectangular and includes guides (506) at the corners of the lifting frame (504) for guiding the lifting frame (504) within the storage column (105) of the frame structure (100) of the automatic storage and retrieval system (1) during the second vertical movement range (R2).

4. The crane trolley assembly (604', 604', 604") according to any one of the preceding claims, wherein: The beam (601, 602) is a first beam extending in a first direction (X) or a second beam (602) extending in a second direction (Y) perpendicular to the first direction (X), and wherein the lifting frame trolley (603a, 603b, 603c, 603d, 603e, 603f) can move along the first beam (601) and / or the second beam (602).

5. The crane trolley assembly (604', 604", 604'") according to claim 4, wherein: The crane trolley (603a, 603b, 603c, 603d, 603e, 603f) comprises a first lateral movement device (608) for moving along the first beam (601) and / or the second beam (602).

6. The crane trolley assembly (604', 604", 604'") according to any one of the preceding claims, wherein: The stabilizer (620', 620", 620'") includes an extendable mechanism for moving the lower end (620L', 620L", 620L'") relative to the crane cart (603a, 603b, 603c, 603d, 603e, 603f).

7. The crane trolley assembly (604', 604", 604'") according to any one of the preceding claims 1 to 5, wherein: The stabilizers (620', 620", 620'") extend through the crane carts (603a, 603b, 603c, 603d, 603e, 603f).

8. A crane trolley assembly (604', 604",) according to any one of the preceding claims. 604”'), of which, The plurality of lifting members (505) are arranged to be wound onto and unwound from a reel (611).

9. The crane cart assembly (604', 604", 604'") according to claim 8, wherein: The reel (611) is positioned at the crane cart (603a, 603b, 603c, 603d, 603e, 603f).

10. A crane trolley assembly (604', 604",) according to any one of the preceding claims. 604”'), of which, The stabilizer (620') is arranged between the lifting members (505).

11. A crane trolley assembly (604', 604",) according to any one of the preceding claims 604”'), of which, The lifting frame (504) is provided with a slot (507) for positioning the lower end (620L') of the stabilizer (620'), whereby during the first vertical movement range (R1), the side of the slot (507) engaging with the lower end (620L') of the stabilizer limits the horizontal movement of the lifting frame (504).

12. The crane cart assembly (604', 604", 604'") according to claim 8, wherein: The reel (611) is positioned at the lower end (620L", 620L'") of the stabilizer (620'", 620"").

13. The crane cart assembly of claim 12, wherein: The lower end (620L") of the stabilizer (620'") is fixedly connected to the stabilizer (620'").

14. The crane cart assembly (604', 604", 604'") according to claim 12, wherein: The lower end (620L") of the stabilizer (620") is rotatably connected to the stabilizer (620"").

15. The crane cart assembly (604', 604", 604'") according to claim 14, wherein: The lower end (620L'") includes a rotating device (612) for rotating the lower end (620L'") of the stabilizer (620"") relative to the stabilizer (620"").

16. A lift (600) comprising a beam (601, 602) from which a lift trolley (603a, 603b, 603c, 603d, 603e, 603f) of a lift trolley assembly (604', 604", 604'") according to any one of claims 1 to 15 is suspended.

17. A lifting frame (600) according to claim 16, comprising at least two lifting frame trolleys (603a, 603b, 603c, 603d, 603e, 603f) suspended on the same beam (601, 602) or parallel beams (601, 602).

18. An automatic storage and retrieval system (1), comprising: A two-dimensional track system (108) comprising: A first set of parallel tracks (110) is arranged in a horizontal plane to guide a container handling vehicle (201, 301, 401, 501) to move in a first direction (X) across the top of a first frame structure (100) formed by a plurality of upright members (102); and a second set of parallel tracks (111) is arranged in the horizontal plane perpendicular to the first set of parallel tracks (110) to guide the container handling vehicle (201, 301, 401, 501) to move in a second direction (Y) perpendicular to the first direction (X), the first frame structure (100) defining a plurality of storage columns (105) for accommodating vertical stacks of storage containers (106), the automatic storage and retrieval system also comprising a lifting frame (600) according to claim 16 or 17.

19. The automatic storage and retrieval system (1) according to claim 18, wherein: - the first vertical movement range (R1) of the lifting frame (504) is represented by a first distance between the lifting frame trolley (603a, 603b, 603c, 603d, 603e, 603f) and the rail system (108); and - the second vertical movement range (R2) of the lifting frame (504) is represented by a second distance between the base of the first frame structure (100) and the rail system (108).

20. The automatic storage and retrieval system (1) according to claim 19, wherein: When in the second vertical movement range (R2), the lifting frame (504) is guided at its corners against the upright members (102).

21. The automatic storage and retrieval system (1) according to any one of claims 18 to 20, further comprising a second frame structure (100') separated from the first frame structure (100), and wherein: The lifting frame (600) spans over at least a portion of the first frame structure (100) and at least a portion of the second frame structure (100').

22. The automatic storage and retrieval system according to claim 21, wherein: The second frame structure (100') is oriented to be perpendicular to the first frame structure (100), and wherein the lifting frame (600) includes a lifting frame trolley (603a, 603b, 603c, 603d, 603e, 603f) and a stabilizer (620""), wherein the lower end (620L"') of the stabilizer (620"") includes a rotating device (612), and the rotating device is used to rotate the lower end (620L"') of the stabilizer (620"") relative to the stabilizer (620"") so that the lifting frame trolley (603a, 603b, 603c, 603d, 603e, 603f) can transfer the storage container (106) between the first frame structure (100) and the second frame structure (100').

23. The automatic storage and retrieval system (1) according to any one of the preceding claims 18 to 22, wherein: The automatic storage and retrieval system (1) comprises a first type of container handling vehicle (30) operating on the track system (108), the first type of container handling vehicle (30) comprising: a first set of wheels (30b) for moving along the first direction (X) on the track system (108); and a second set of wheels (30c) for moving along the second direction (Y) on the track system (108); and a container carrier (35) for supporting a storage container (106), the container carrier (35) being configured to receive the storage container (106) from above; Wherein, the lifting frame (504) is configured to be at a height above the uppermost part of the storage container (106) carried by the container carrying part (35) of the first type of container handling vehicle (30) when at least in the upper part of the first vertical movement range (R1), so that the lifting frame (504) can transfer the storage container (106) between the container carrying part (35) and the column (105, 119, 120).

24. The automatic storage and retrieval system (1) according to claims 18 to 23, wherein: The automatic storage and retrieval system (1) includes a second type of container handling vehicle (501) operating on the track system (108), wherein the second type of container handling vehicle (501) includes: a first set of wheels (501b) for moving along the first direction (X) on the track system (108); and a second set of wheels (501c) for moving along the second direction (Y) on the track system (108); and a first lifting device (503a) including a first lifting frame (504) suspended on a lifting member (505), wherein the first lifting frame (504) can be raised to a height above the uppermost part of a storage container (106) carried by the container carrying portion (35) of the first type of container handling vehicle (30), and the first lifting frame is configured to transfer a storage container (106) stored in a stack (107) of storage containers to the container carrying portion (35) of the first type of container handling vehicle (30).

25. A method for transferring storage containers (106) between a container carrier (35) of a first type of container handling vehicle (30) and a train (105, 119, 120) of an automated storage and retrieval system (1) according to any one of the preceding claims 18 to 24 using a lifting frame (600), wherein: The method comprises the following steps: - aligning the first type of container handling vehicle (30) with storage containers (106) arranged on the container carrying portion (35) directly below the lifting frame (504) of the lifting frame (600); - lowering the lifting frame (504) in a downward direction under the guidance of the stabilizer (620', 620", 620'") to contact the storage container (106) carried by the container carrying portion (35); - connecting the storage container (106) to the lifting frame (504) and lifting the storage container (106) off the container carrying portion (35); - moving the first type of container handling vehicle (30) to another position on the rail system (108); - lowering the lifting frame (504) and therefore the connected storage container (106) into the access opening () at the top of the column (105, 119, 120); and - Lowering the lifting frame (504) and the connected storage container (106) by unwinding the lifting members (505) while allowing the lifting frame (504) to be guided by the upright members (102) of the frame structure (100) in the second vertical movement range (R2).

26. The method according to claim 25, wherein: The lifting frame trolley (603a, 603b, 603c, 603d, 603e, 603f) are movable.

27. A method of transferring a storage container between a first frame structure (100) having a first orientation and a second frame structure (100') having a second orientation different from the first orientation using a lift (600), the lift spanning at least a portion of the first frame structure (100) and at least a portion of the second frame structure (100'), wherein: The crane (600) comprises a crane trolley assembly (604', 604", 604'") according to any one of the preceding claims 1 to 15, wherein a lower end (620L") of the stabilizer (620"") of the crane trolley assembly (604', 604", 604'") is rotatably connected to the stabilizer (620""), wherein the method comprises the following steps: - picking up a storage container (106) from a location within the first frame structure (100) or a first type of container handling vehicle (30) using the lifting frame (504) suspended from the lifting frame trolley (603a, 603b, 603c, 603d, 603e, 603f); - moving the crane trolley (603a, 603b, 603c, 603d, 603e, 603f) to a position directly above the column (105, 119, 120) of the second frame structure (100'); - rotating the lower end (620L''") of the stabilizer (620""); - Lowering the lifting frame (504) and thereby the connected storage container (106) into the row (105, 119, 120).

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