Container transport vehicle

Abstract

The invention provides a container handling vehicle (2) for moving in two horizontal directions perpendicular to each other on a rail system comprising a first set of parallel rails and a second set of parallel rails arranged perpendicular to the first set of rails, the container handling vehicle comprising: a vehicle frame (4); a base (6); an interior space (5) defined by the vehicle frame (4) and a base (6), the base (6) providing at least one storage section on which at least two storage containers stacked on top of each other can be supported; a lifting device comprising a vertically movable lifting frame (7) for releasably connecting to the storage container; and an opening (8) allowing the lifting frame (7) to vertically pass between the inner space (5) and a position below the base; wherein the lifting device is configured to be horizontally movable between a position above the opening (8) and a position above the at least one storage section.

Description

Technical Field

[0001] The invention relates to a container handling vehicle, a storage system comprising the container handling vehicle and a method for taking out a storage container in the storage system. 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 the 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 referred to as boxes) are stacked one on top of another to form stacks 107. The members 102 may typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a horizontal and grid-based track system 108 (i.e., a track grid) arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301, 401 can operate to raise and lower storage containers 106 from and into storage rows 105, and also to transport storage containers 106 over storage rows 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 to move in a first direction X across the top of the frame structure 100, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. Containers 106 stored in the row 105 are accessed by 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 over 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 storage containers during raising and lowering of containers from and into the row 105. The stack 107 of containers 106 is generally self-supporting.

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

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device 404 (i.e., a container lifting device) for vertical transportation of storage containers 106, see FIG. 4, for example, lifting storage containers 106 from storage columns 105 and lowering storage containers 106 into storage columns. The lifting device 404 is characterized by having a lifting frame 404d, which includes a container connector 404b and a guide pin 404c adapted to engage with the storage container 106. The lifting frame 404d can be lowered from the vehicle 201, 301, 401 so that the position of the lifting frame 404d relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. In FIG. 2, the lifting device of the container handling vehicle 201 is located within the vehicle body 201a.

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

[0009] Conventionally and for the purposes of this application, Z=1 identifies the uppermost layer below the rails 110, 111 that can be used to store storage containers, i.e., the layer immediately 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 bottom layer of the lowermost side of the storage container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Therefore, 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 vehicle 201, 301, 401 travels in the layer of Z=0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Therefore, the storage container extending above the rail system 108 shown in FIG. 1 is also referred to as being arranged in the layer of Z=0.

[0010] The storage volume of the frame structure 100 is often referred to as a grid, wherein the possible storage positions 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 storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the track system 108. The storage space may include a cavity arranged inside the vehicle body 201a, 401a, as shown in Figures 2 and 4 and described, for example, in 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 structure. 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 with dimensions in the X-direction and the Y-direction that are approximately equal to the lateral extent of the storage column 105, such as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0014] Alternatively, the occupied area 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 disclosed in, for example, WO2014 / 090684A1 or WO2019 / 206487A1.

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

[0016] Track system 108 generally includes a track with a groove, in which the wheel of the vehicle runs. Alternatively, the track may include an element protruding upward, wherein the wheel of the vehicle includes a flange to prevent derailment. These grooves and the elements protruding 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 one direction (e.g., X direction) may include a guide rail, and each track in another vertical direction (e.g., Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one guide rail in a pair of guide rails provided by each track.

[0017] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108, which includes tracks and parallel guides in both the X-direction and the Y-direction.

[0018] 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 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 the storage containers can be moved out of or into the frame structure 100. In the art, such positions are generally referred to as "ports", and the columns in which the ports are located can be referred to as "port columns" 119, 120. Transportation to the access station can be carried out in any direction (i.e., horizontal, inclined, and / or vertical). For example, a storage container 106 may be placed in a random or dedicated row 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to a port row 119, 120 for further transport to a storage station. Transport from the port to the storage station may require movement in a variety of different directions by means such as a delivery vehicle, a cart, or other transport lines. Note that the term "inclined" refers to the transport of a storage container 106 with a general transport orientation in a direction between horizontal and vertical.

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

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

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

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

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

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

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

[0026] In order to monitor and control the automatic storage and retrieval system 1, 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 required storage containers 106 can be delivered to the required locations within the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0027] The prior art container handling vehicles 201, 301, 401 described above can only handle and transport one storage container 106 per operation, thereby limiting the efficiency of certain operations performed by the storage system, including retrieving / storing multiple storage containers and "digging".

[0028] WO 2019 / 101366 A1 discloses a container handling vehicle for handling and transporting a plurality of storage containers. The vehicle is characterized in that it has at least two lifting devices, and each lifting device can handle / transport a storage container.

[0029] In view of the above, it is desirable to provide a more efficient container handling vehicle, an automated storage and retrieval system including the container handling vehicle, and a method of operating the system. Summary of the invention

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

[0031] In a first aspect, the present invention provides a container handling vehicle for moving in two mutually perpendicular horizontal directions on a track system, 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 container handling vehicle comprising:

[0032] - vehicle frame;

[0033] - base;

[0034] - an interior space defined by the vehicle frame and a base providing at least one storage section on which at least two storage containers stacked on top of each other can be supported;

[0035] - a lifting device comprising a vertically movable lifting frame for releasably connecting to a storage container; and

[0036] - an opening allowing the lifting frame to pass vertically between the interior space and a position below the base;

[0037] Wherein, the lifting device is configured to be horizontally movable between a position above the opening and a position above at least one storage section.

[0038] The base may be fixed relative to the vehicle frame. The base may include any structural elements (such as a floor, brackets and / or bars) suitable for providing at least one storage section on which a storage container can be supported. The base may also be referred to as a floor.

[0039] At least one of the storage sections may be characterized by a horizontal surface area of ​​the base that is at least equal in size to a horizontal perimeter of the storage container.

[0040] The lifting device may be arranged in an upper part of the container handling vehicle and / or in an upper part of the interior space.

[0041] The horizontal inner periphery of the opening may be larger than the horizontal outer periphery of the lifting frame.The opening may be arranged in the base.

[0042] In one embodiment, the container handling vehicle may include a plurality of storage sections, and the lifting device is configured to be horizontally movable between a position above the opening and a position above any one of the storage sections. The plurality of storage sections may be arranged adjacent to each other.

[0043] In one embodiment, the container handling vehicle may include a first storage section and a second storage section, wherein the lifting device is configured to be movable along a first horizontal direction between a position above an opening and a first position above the first storage section, and the lifting device is movable along a second horizontal direction between a position above the opening and a second position above the second storage section.

[0044] In one embodiment of the container handling vehicle, the second horizontal direction may be perpendicular to the first horizontal direction.

[0045] In one embodiment of the container handling vehicle, the lifting device may include a trolley movably connected to the upper portion of the container handling vehicle so that the trolley can move relative to the base in a first horizontal direction. The trolley may alternatively be referred to as a shuttle device.

[0046] In one embodiment of the container handling vehicle, the trolley may include at least one lifting axle, and the lifting frame is suspended from the at least one lifting axle by lifting belts, which can be wound on or unwound from the lifting axle to raise or lower the lifting frame relative to the trolley.

[0047] In an embodiment of the container handling vehicle, the trolley is movably connected at an upper portion of the container handling vehicle such that the trolley can be moved relative to the base in a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction.

[0048] In one embodiment of the container handling vehicle, the trolley is movably connected to a hanger element at an upper portion of the container handling vehicle, the hanger element being movably connected to the upper portion of the container handling vehicle such that the hanger element and the trolley can be moved in a second horizontal direction relative to the base.

[0049] The trolley and the hanger element may be movably connected together by any suitable arrangement that provides linear horizontal movement, such as a track / wheel connector. The trolley may, for example, include wheels that run on tracks provided on the hanger element. Similarly, the hanger element may include wheels that run on tracks provided at an upper portion of the vehicle. The linear movement of the trolley and hanger elements may be provided by at least one electric motor, a motor wheel, or a linear actuator.

[0050] In an embodiment, the container handling vehicle may comprise a third storage section, wherein the lifting device is movable in the second horizontal direction between a first position above the first storage section and a third position above the third storage section.

[0051] In an embodiment of the container handling vehicle, when the lifting frame is in the upper position, the vertical distance between the base and the lifting frame may be configured such that at least two storage containers can be stacked on top of each other while being supported on at least one storage section.

[0052] In other words, when the lifting frame is in the upper position, the lifting frame may be moved to a position above a stack of at least two storage containers supported on the storage section to connect with an upper storage container in the stack.

[0053] In one embodiment, the container handling vehicle may include a vertical guide profile extending from the base, the guide profile being arranged at at least two corner positions of at least one storage section and configured to prevent horizontal movement of a storage container supported on the at least one storage section. At least one guide profile may form an integral part of the vehicle frame to enhance the structural strength of the vehicle frame.

[0054] The container handling vehicle may comprise two adjacent storage sections, and a vertical guide profile may extend between the storage sections to support a storage container supported on either of the two storage sections.

[0055] In one embodiment, the container handling vehicle may include a wheel assembly configured to move the vehicle along any one of the first set of parallel tracks and the second set of parallel tracks, the wheel assembly including at least four wheels.

[0056] At least four wheels may be pivotable about a vertical axis so as to be movable along either a first set of parallel tracks or a second set of parallel tracks, or the at least four wheels may be part of a first set of wheels arranged to engage with the first set of tracks and a second set of wheels arranged to engage with the second set of tracks, wherein at least one of the sets of wheels may be raised and lowered so that the first set of wheels and / or the second set of wheels may be engaged with the respective set of tracks at any time.

[0057] In one embodiment of the container handling vehicle, the base is arranged at a height below the upper higher height portion of at least four wheels. In other words, the base is configured so that the storage section supports the storage container at a height below the upper higher height portion of the wheels.

[0058] In a second aspect, the present invention provides a storage system comprising a container handling vehicle according to any embodiment of the first aspect, the storage system comprising a frame structure having: a plurality of storage rows for accommodating vertical stacks of storage containers; and a rail system on which the container handling vehicle can move in two directions perpendicular to each other above the storage rows.

[0059] In one embodiment of the storage system, the track system includes a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks to provide a horizontal and grid-based track system defining a plurality of grid cells, and openings can be arranged above the grid cells to enable the lifting frame to move between the interior space and the storage columns. The grid cell can be defined as a cross-sectional area between a vertical center plane of the tracks extending in the X direction and a vertical center plane of the tracks extending in the Y direction. The grid cell opening can be defined as a cross-sectional area of ​​an opening between two tracks extending in the X direction and two tracks extending in the Y direction.

[0060] In one embodiment, the storage system includes a plurality of upright members, and each storage row is defined by four upright members.

[0061] In one embodiment of the storage system, the rail system is arranged on top of the upright members.

[0062] In one embodiment of the storage system, the occupied area of ​​the container handling vehicle can be sized to at least two grid units, at least three grid units, or at least four grid units of the track system. In the case of at least four grid units, the occupied area of ​​the container handling vehicle can preferably cover an area of ​​at least 2x2 grid units.

[0063] In a third aspect, the present invention provides a method for removing a storage container in a storage system according to any embodiment of the second aspect, the method comprising the following steps:

[0064] - moving the container handling vehicle to arrange the opening above a storage row containing stacks of storage containers;

[0065] - lowering the lifting frame through the opening into the storage row;

[0066] - connecting the lifting frame to the first storage container in the stack;

[0067] - raising the lifting frame and the connected first storage container into the interior space;

[0068] - moving the lifting frame in a horizontal direction between a position above the opening and a position above the at least one storage section;

[0069] - lowering the lifting frame until the connected first storage container is supported on at least one storage section;

[0070] - disconnecting the first storage container from the lifting frame; and

[0071] - Move the lifting frame to a position above the opening.

[0072] In a first step, an opening of a container handling vehicle may be aligned with an opening of a grid cell of the rail system.

[0073] In one embodiment, the method may further include the following steps:

[0074] - lowering the lifting frame through the opening into the storage row;

[0075] - connecting the lifting frame to a second storage container in the stack;

[0076] - raising the lifting frame and the connected second storage container into the interior space;

[0077] - moving the lifting frame in a horizontal direction between a position above the opening and a position above the at least one storage section;

[0078] - lowering the lifting frame until the connected second storage container rests on the first storage container;

[0079] - disconnecting the second storage container from the lifting frame; and

[0080] - Move the lifting frame to a position above the opening.

[0081] In one embodiment of the method, wherein the container handling vehicle comprises a first storage section and a second storage section, the first storage container is supported on the first storage section, and the lifting frame is configured to be movable along a first horizontal direction between a position above the opening and a first position above the first storage section, and the lifting frame is movable along a second horizontal direction between a position above the opening and a second position above the second storage section, the method may further comprise the following steps:

[0082] - lowering the lifting frame through the opening into the storage row;

[0083] - connecting the lifting frame to a third storage container in the stack;

[0084] - Raising the lifting frame and the connected third storage container into the interior space;

[0085] - moving the lifting frame in a second horizontal direction between a position above the opening and a position above the second storage section;

[0086] - lowering the lifting frame until the connected third storage container is supported on the second storage section;

[0087] - disconnecting the third storage container from the lifting frame; and

[0088] - Move the lifting frame to a position above the opening.

[0089] In one embodiment of the method, the second horizontal direction may be perpendicular to the first horizontal direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Embodiments of the present invention are described in detail by way of example only and with reference to the following drawings:

[0091] FIG. 1 is a perspective view of the framework structure of an automatic storage and retrieval system of the prior art.

[0092] 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0093] 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath.

[0094] 4 is a perspective view from below of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

[0095] Figures 5 to 7 is a perspective view of an exemplary container handling vehicle according to the present invention.

[0096] Figure 8 Figure 9 is Figures 5 to 7 A top cross-sectional view of a container handling vehicle in FIG.

[0097] Fig.10 yes Figures 5 to 7 A perspective view of the upper section of a container handling vehicle in FIG.

[0098] Figures 11 to 15 It contains multiple storage containers Figures 5 to 7 A perspective view of a container handling vehicle.

[0099] Figure 16 to Figure 17 yes Figures 5 to 7 A cross-sectional view of a wheel assembly of a container handling vehicle. DETAILED DESCRIPTION

[0100] In the following, embodiments of the present invention will be discussed in more detail with reference to the attached drawings. It should be understood, however, that the drawings are not intended to limit the present invention to the subject matter depicted in the drawings.

[0101] As mentioned above, it would be very advantageous to have a container handling vehicle that could handle and transport multiple storage containers in an efficient manner.

[0102] The container handling vehicle according to the present invention is intended for an automatic storage and retrieval system having a frame structure 100 as described above in conjunction with Figures 1 to 3, also referred to as a container handling system. The frame structure 100 includes a plurality of upright members 102 (i.e., vertical column profiles) and includes a track system 108, which forms a track grid extending in a first direction X and a second direction Y. The track system 108 is characterized by having a first set of parallel tracks 110 in a first direction and a second set of parallel tracks 111 in a second direction. The upright members 102 define a storage column 105, in which storage containers 106 can be stacked on top of each other. The storage containers of the automatic storage and retrieval system can be configured to implement various functions such as storage articles and goods and plant growth modules. In the case of plant growth modules, the automatic storage and retrieval system can also be referred to as a vertical agricultural system.

[0103] An exemplary embodiment of the container handling vehicle 2 according to the invention is Figures 5 to 17 Shown in.

[0104] The container handling vehicle 2 has a vehicle frame 4 and a base 6. The interior space 5 of the vehicle is defined by the vehicle frame 4 and the base 6. The base 6 provides a first storage section 9a, a second storage section 9b and a third storage section 9c (i.e., at least one storage section). A stack of three storage containers (i.e., at least two storage containers) can be supported on each of the storage sections 9a-9c.

[0105] The vehicle features a lifting device 7 , 10 for moving storage containers between a storage row 105 of a container storage system and storage sections 9 a - 9 c arranged in the interior 5 .

[0106] The lifting device features a vertically movable lifting frame 7 and a trolley 10. The lifting frame 7 is used to releasably connect to the storage container 106 and is similar to the lifting frames of the vehicles 201, 301, 401 of the prior art.

[0107] The trolley 10 is movably connected to a hanger element 13 at an upper portion of the container handling vehicle 2, such that the trolley 10 can move in a first horizontal direction D1 relative to the hanger element 13 and the base 6, see Fig.10 The hanger element 13 can move relative to the base 6 in a second horizontal direction D2 perpendicular to the first horizontal direction D1. In this way, the trolley 10 and the lifting frame 7 can move relative to the base 6 in both the first horizontal direction D1 and the second horizontal direction D2.

[0108] The trolley 10 includes two lifting shafts 11a, 11b (i.e., at least one lifting shaft), and the lifting frame 7 is suspended on these lifting shafts by lifting belts 12. The lifting belts 12 can be wound on or unwound from the lifting shafts 11a, 11b to raise or lower the lifting frame 7 relative to the trolley 10. By moving the trolley 10 in the first horizontal direction and the second horizontal direction, the lifting frame can be moved between a position above any one of the storage sections 9a-9c and a position above the opening 8 provided in the base 6. In an alternative embodiment, the trolley 10 can be characterized, for example, as having: a single lifting shaft, connected to four lifting belts; and a plurality of direction-changing elements (such as wheels) for guiding the lifting belts to move between the trolley and the lifting frame.

[0109] The opening 8 enables the lifting frame 7 to pass vertically between the interior space 5 and a position below the base 6. In other words, the opening allows the lifting frame 7 to be lowered into the storage row 105 arranged below the opening 8, see Fig.11 and Fig.12 (Rail system 108 and storage columns 105 are not shown).

[0110] In the embodiment shown, when the lifting frame 7 is Fig.10 When shown in the upper position in FIG. 8 , the vertical distance between the base 6 and the lifting frame 7 is configured such that three storage containers 106 can be stacked on top of each other while being supported on one of the storage sections 9a - 9c .

[0111] A vertical guide profile 14 is arranged in the inner space 5. The vertical guide profile 14 extends from the base 6. The guide profile 14 is arranged at the corner position of the storage section 9a-9c to prevent or minimize the horizontal movement of the storage container 106 supported on the storage section. The guide profile can also be configured to interact with the guide pin 15 of the lifting frame 7 so that the lifting frame can be guided to align with the storage container supported on the storage section. The guide profile 14 is configured (i.e., the height of the guide profile is set to) so that when the lifting frame 7 is in the upper position, the lifting frame 7 connected with the storage container 106 can pass from above the guide profile 14.

[0112] The illustrated container handling vehicle 2 features a wheel assembly configured to move the vehicle 2 along either a first set of parallel tracks 110 or a second set of parallel tracks 111. The wheel assembly includes a track engaging support 16 for supporting the vehicle on the track system 108 and four wheel modules 17.

[0113] The rail engaging supports 16 are arranged at opposite sides of the vehicle frame 4 .

[0114] The container handling vehicle 2 shown is configured to accommodate, in addition to the storage container connected to the lifting frame 7, up to nine storage containers 106 supported on the storage sections 9a-9c, see Figures 13 to 15 . In other embodiments, the storage capacity of the container handling vehicle can be configured as needed, which depends only on the occupied area and height of the vehicle. The occupied area of ​​the container handling vehicle can correspond to at least two grid cells of the track system, preferably at least three grid cells. In the case of at least three grid cells, at least two storage containers are allowed to be supported on a separate storage section. The height of the interior space 5 of the container handling vehicle can be sufficient to allow at least one storage container to be supported on each of the two storage sections, preferably to allow at least two storage containers to be supported on each of the two storage sections stacked on top of each other.

[0115] The wheel modules 17 are arranged at the lower corner sections of the vehicle frame 4. Each wheel module 17 has wheels 18 which have a horizontal axis of rotation and which can pivot 90 degrees about a vertical axis so that the wheels can change their direction of rotation between a first direction X and a second direction Y on the rail system 108. At least one of the wheel modules 17 features a wheel motor 19 and a sensor 20.

[0116] During movement of the vehicle 2 on the rail system, the wheels are guided by the wheel guides 21 of the first set of rails 110 or the second set of rails 111. In order to allow the wheel module 17 to pivot, i.e. to change the direction in which the container handling vehicle 2 is traveling, the wheel module 17 and the rail engaging support 16 can be vertically moved relative to each other between a first position and a second position, see Fig.16 and Fig.17 .

[0117] In the first position, see Fig.16 , the wheels 18 are arranged to engage the track system 108, and the track engaging support 16 is away from the track system. In other words, the lower lower height portion of the wheel 18 is arranged below the lower portion of the track engaging support 16, so that the wheel 18 can engage the track system 108, while the track engaging support 16 is away from the track system 108.

[0118] In the second position, see Fig.17 , the track engaging support 16 is arranged to engage the track system, and the wheel 18 is lifted off the track system 108 so that the wheel 18 can pivot about a vertical axis to change the direction of rotation between a first direction X and a second direction Y. In other words, the lower portion of the track engaging support 16 is located below the lower lower height portion of the wheel 18 so that the track engaging support 16 can engage the track system 108 while the wheel 18 is lifted off the track system 108, thereby enabling the wheel to pivot about a vertical axis without interacting with the track system. The wheel 18 can be pivoted by operating a wheel pivot assembly (discussed below).

[0119] The track engaging support 16 is connected to an actuator assembly configured to move the track engaging support 16 in a vertical direction relative to the vehicle frame 4 and the wheel module 17. The actuator assembly includes an electric motor 22 (i.e., an actuator), a linkage 23 located on each of the opposite sides of the vehicle frame 4, and a shaft 24 interconnecting the two linkages 23. Each linkage is coupled to two lever arms 25, and is configured such that when the shaft 24 is rotated by operating the electric motor 22, the lever arms 25 will pivot between a first position and a second position. The shaft 24 is configured to extend above a boundary line between adjacent grid cells 122 when the vehicle 2 is arranged on the track system 108.

[0120] In order to change the rotational direction of the wheel 18 by 90 degrees when the wheel module 17 is in the second position, the vehicle 2 is characterized by having a wheel pivot assembly that is configured to pivot the wheels 18 simultaneously around corresponding vertical axes. The wheel pivot assembly includes four vertical shafts (not shown), each of which is connected to a corresponding wheel module 17. These shafts extend from the wheel module 17 through the vertical profile 27 of the vehicle frame 4 to the upper higher height portion of the vehicle frame 4. The upper ends of the vertical shafts are connected to the electric motor 28 (i.e., the wheel pivot actuator) via a set of connectors 29 and rods 30. The connectors 29, rods 30, and the electric motor 28 are configured to rotate these vertical shafts, thereby causing the wheels 18 to pivot simultaneously around corresponding vertical axes when the electric motor 28 is operated.

[0121] To provide the container handling vehicle with optimal stability (ie, a low center of gravity), the chassis 6 is configured such that the storage sections 9a - 9c support the storage containers at a height below the upper, higher elevation portions of the wheels 18 .

[0122] The container handling vehicle features an electronic control module 26 and a rechargeable battery 31, the electronic control module being used to wirelessly communicate with the control system 500 of the automated storage system as described above.

[0123] The container handling vehicle according to the present invention can improve the efficiency of several operations performed in an automated storage system as described above. For example, the vehicle can perform a "digging" operation to reach a target container without moving the vehicle 2 on the track system 108 during the operation. In addition, the vehicle 2 can be used to change the stacking order of storage containers 106 within a single storage column 105 without moving the vehicle 2 on the track system 108 during the operation. The vehicle 2 can also be used to transport multiple storage containers to or from a port area where the storage containers are transferred between a frame structure and a pick-up station.

[0124] As described above, the illustrated embodiment of the container handling vehicle 2 of the present invention has a wheel assembly that features four pivotable wheels 18 for moving the vehicle in two mutually perpendicular directions on the track system 108. In alternative embodiments of the vehicle, the wheel assembly may alternatively be configured in a manner similar to the wheel assembly of the prior art vehicle in Figures 2 to 4. In other words, the vehicle of the present invention may have a first set of wheels and a second set of wheels, as described above in conjunction with the prior art vehicles 201, 301, 401 and, for example, as described in WO2015 / 193278A1 and WO2017 / 153583. The first set of wheels may be arranged to engage with two parallel tracks in the first set of tracks 110, and the second set of wheels may be arranged to engage with two parallel tracks in the second set of tracks 111. At least one of the sets of wheels may be raised and lowered so that the first set of wheels and / or the second set of wheels may engage with the respective set of tracks 110, 111 at any time.

[0125] Reference Numbers List

[0126] 1. Automatic storage and retrieval system of the prior art

[0127] 2 Container handling vehicles

[0128] 4 Vehicle frame

[0129] 5. Internal Space

[0130] 6 Base

[0131] 7 Lifting frame

[0132] 8 Opening

[0133] 9a-9c Storage Section

[0134] 10 Car

[0135] 11a-11b Lifting axis

[0136] 12 Lifting belt

[0137] 13 Hanger element

[0138] 14 Vertical guide profile

[0139] 15 Guide pin

[0140] 16 Rail joint support

[0141] 17 Wheel Module

[0142] 18 Wheels

[0143] 19 Wheel Motor

[0144] 20 Sensors

[0145] 21 Wheel guide

[0146] 22 Electric Motor

[0147] 23 Connecting rod device

[0148] 24 Axis

[0149] 25 Lever arm

[0150] 26 Electronic Control Module

[0151] 27 Vertical Profile

[0152] 28 Electric Motor

[0153] 29 Connectors

[0154] 30 shots

[0155] 31 Rechargeable battery

[0156] 100 Frame structure

[0157] 102 Vertical members of the frame structure

[0158] 104 Storage Grid

[0159] 105 Storage Rows

[0160] 106 Storage Container

[0161] 106' Specific location of storage container

[0162] 107 Stacking

[0163] 108 Track System

[0164] 110 Parallel tracks in the first direction (X)

[0165] 112 Access opening

[0166] 119 First port column

[0167] 120 Second port column

[0168] 201 Container handling vehicle of the prior art

[0169] 201a Body of container transport vehicle 201

[0170] 201b Driving device / wheel arrangement / first set of wheels in first direction (X)

[0171] 201c Driving device / wheel arrangement / second set of wheels in second direction (Y)

[0172] 301 Prior art cantilever container handling vehicle

[0173] 301a Body of container transport vehicle 301

[0174] 301b Driving device in the first direction (X) / first set of wheels

[0175] 301c Driving device in the second direction (Y) / second set of wheels

[0176] 304 Clamping device

[0177] 401 Container handling vehicle of the prior art

[0178] 401a Body of container transport vehicle 401

[0179] 401b Driving device in the first direction (X) / first set of wheels

[0180] 401c Driving device in the second direction (Y) / second set of wheels

[0181] 404 Clamping device

[0182] 404a Lifting belt

[0183] 404b Clamp

[0184] 404c Guide pin

[0185] 404d lifting frame

[0186] 500 Control System

[0187] X first direction

[0188] Y Second direction

[0189] Z third direction

Claims

1. A container handling vehicle (2) for moving in two mutually perpendicular horizontal directions on a track system (108), the track system comprising a first set of parallel tracks (110) and a second set of parallel tracks (111) arranged perpendicular to the first set of tracks (110), the container handling vehicle comprising: - vehicle frame (4); - a base (6); - an interior space (5) defined by the vehicle frame (4) and the base (6), the base (6) providing at least one storage section (9a-9c) on which at least two storage containers (106) stacked on top of each other can be supported; - a lifting device comprising a vertically movable lifting frame (7) for releasably connecting to a storage container (106); and - an opening (8) allowing the lifting frame (7) to pass vertically between the inner space (5) and a position below the base; The lifting device is configured to be horizontally movable between a position above the opening (8) and a position above the at least one storage section (9a-9c).

2. The container handling vehicle (2) according to claim 1 comprises a plurality of storage sections (9a-9c), and the lifting device is configured to be able to move horizontally between a position above the opening (8) and a position above any one of the storage sections (9a-9c).

3. The container handling vehicle (2) according to claim 1 or 2, comprising a first storage section (9a) and a second storage section (9b), wherein: The lifting device is configured to be movable along a first horizontal direction between a position above the opening (8) and a first position above the first storage section (9a), and the lifting device is configured to be movable along a second horizontal direction between a position above the opening (8) and a second position above the second storage section (9a).

4. The container handling vehicle (2) according to claim 3, wherein: The second horizontal direction is perpendicular to the first horizontal direction.

5. The container handling vehicle (2) according to claim 3 or 4, wherein: The lifting device comprises a trolley (10) which is movably connected to the upper part of the container handling vehicle (2) so that the trolley can move in the first horizontal direction relative to the base.

6. The container handling vehicle (2) according to claim 5, wherein: The trolley (10) comprises at least one lifting shaft (11a, 11b), and the lifting frame (7) is suspended on the at least one lifting shaft via a lifting belt (12), and the lifting belt can be wound around or unwound from the lifting shaft to raise or lower the lifting frame (7) relative to the trolley (10).

7. The container handling vehicle (2) according to claim 5 or 6, wherein: The trolley is movably connected to the upper portion of the container handling vehicle (2) so that the trolley can move relative to the base in the second horizontal direction, which is perpendicular to the first horizontal direction.

8. The container handling vehicle (2) according to claim 7, wherein: The trolley (10) is movably connected to a hanger element (13) located at the upper part of the container handling vehicle, and the hanger element is movably connected to the upper part of the container handling vehicle so that the hanger element (13) and the trolley (10) can be moved in the second horizontal direction relative to the base (6).

9. The container handling vehicle (2) according to any one of claims 3 to 8, comprising a third storage section (9c), wherein: The lifting device is movable along the second horizontal direction between the first position above the first storage section (9a) and the third position above the third storage section (9c).

10. The container handling vehicle (2) according to any one of the preceding claims, wherein: When the lifting frame is in the upper position, the vertical distance between the base and the lifting frame is configured such that at least two storage containers can be stacked on top of each other while being supported on the at least one storage section (9a-9c).

11. A container handling vehicle (2) according to any one of the preceding claims, comprising a vertical guide profile (14) extending from the base (6), the guide profile being arranged at at least two corner positions of the at least one storage section (9a-9c), and the guide profile being configured to prevent horizontal movement of a storage container (106) supported on the at least one storage section.

12. A container handling vehicle (2) according to any one of the preceding claims, comprising a wheel assembly, wherein the wheel assembly is configured to move the vehicle (2) along any one of the first set of parallel tracks (110) and the second set of parallel tracks (111), and the wheel assembly includes at least four wheels (18).

13. The container handling vehicle (2) according to claim 12, wherein: The base is arranged at a height below the upper higher elevation portions of the at least four wheels (18).

14. A storage system comprising a container handling vehicle (2) according to any one of the preceding claims, the storage system comprising a frame structure (100), the frame structure having: a plurality of storage rows (105) for accommodating vertical stacks of storage containers (106); and a rail system (108), the vehicle being able to move on the rail system in two directions perpendicular to each other above the storage rows.

15. The storage system according to claim 14, wherein: The track system (108) includes a first set of parallel tracks (110) and a second set of parallel tracks (111) arranged perpendicular to the first set of tracks (110), thereby providing a horizontal and grid-based track system defining a plurality of grid cells (122), and the opening (8) can be arranged above the grid cells (122) to enable the lifting frame (7) to move between the interior space (5) and the storage column (105).

16. A method for removing a storage container in the storage system according to claim 14 or 15, the method comprising the following steps: - moving the container handling vehicle (2) so as to arrange the opening (8) above a storage row (105) containing stacks of storage containers (106); - lowering the lifting frame (7) through the opening (8) into the storage row (105); - connecting the lifting frame (7) to a first storage container (106) in the stack; - raising the lifting frame (7) and the connected first storage container into the inner space (5); - moving the lifting frame (7) in a horizontal direction between a position above the opening (8) and a position above the at least one storage section (9a-9c); - lowering the lifting frame (7) until the connected first storage container is supported on the at least one storage section (9a-9c); - disconnecting the first storage container (106) from the lifting frame; as well as - moving the lifting frame to a position above the opening (8).

17. The method according to claim 16, further comprising the steps of: - lowering the lifting frame through the opening (8) into the storage row; - connecting the lifting frame (7) to a second storage container (106) in the stack; - raising the lifting frame and the connected second storage container into the interior space; - moving the lifting frame in a horizontal direction between a position above the opening (8) and a position above the at least one storage section (9a-9c); - lowering the lifting frame until the connected second storage container is supported on the first storage container; - disconnecting the second storage container from the lifting frame; as well as - moving the lifting frame to a position above the opening (8).

18. The method according to claim 16 or 17, wherein: The container handling vehicle comprises a first storage section (9a) and a second storage section (9b), the first storage container being supported on the first storage section, wherein the lifting frame (7) is configured to be movable along a first horizontal direction between a position above the opening (8) and a first position above the first storage section (9a), and the lifting frame is movable along a second horizontal direction between a position above the opening (8) and a second position above the second storage section (9b), the method further comprising the following steps: - lowering the lifting frame through the opening (8) into the storage row; - connecting the lifting frame (7) to a third storage container (106) in the stack; - raising the lifting frame and the connected third storage container into the interior space; - moving the lifting frame along the second horizontal direction between a position above the opening (8) and a position above the second storage section (9b); - lowering the lifting frame until the connected third storage container is supported on the second storage section (9b); - disconnecting the third storage container from the lifting frame; and - moving the lifting frame to a position above the opening (8).

19. The method according to claim 18, wherein: The second horizontal direction is perpendicular to the first horizontal direction.

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