Container handling vehicle with all-wheel drive in at least one direction, related system and method of assembly

Abstract

The present disclosure describes a container handling vehicle for operation on an automated storage and retrieval system, the system comprising a two-dimensional rail system comprising a first set of parallel rails and a second set of parallel rails, the container handling vehicle comprising: a vehicle frame, the first section, the second section and the third section define a container handling vehicle and are arranged side by side; a first set of wheels including a first wheel, a second wheel, a third wheel, and a fourth wheel for traveling in a first direction; a second set of wheels including a first wheel, a second wheel, a third wheel, and a fourth wheel for traveling in a second direction; a first drive motor for driving a first wheel and a second wheel in the first set of wheels; the second driving motor is used for driving a third wheel and a fourth wheel in the first group of wheels; and wherein the first and second wheels of the first set of wheels and the first drive motor are arranged in the first section and the third and fourth wheels of the first set of wheels and the second drive motor are arranged in the third section.

Description

[0001] This application is a divisional application, the application number of the parent application is 202380039507.5, the application date is May 4, 2023, and the name of the invention is "Container handling vehicle with all-wheel drive in at least one direction, related systems and assembly methods". Technical Field

[0002] The present invention relates to a container handling vehicle, which comprises a first section, a second section and a third section, wherein the first section is arranged on a first side of the second section and the third section is arranged on an opposite second side of the second section. A first drive motor is arranged in the first section and a second drive motor is arranged in the third section.

[0003] The invention also relates to a method for assembling a container handling vehicle. The container handling vehicle may be formed from different modules which, when assembled, form a first section, a second section and a third section. Background Art

[0004] Figure 1 A prior art automatic storage and retrieval system 1 having a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201 , 301 , 401 suitable for operating on the system 1 are disclosed.

[0005] The frame structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also called boxes) are stacked one on top of the other to form stacks 107. The members 102 may typically be made of metal, such as extruded aluminum profiles.

[0006] 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 in a first direction X across the top of the frame structure 100; and a second set of parallel rails 111 arranged perpendicular to the first set of parallel rails 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the array 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201 , 301 , 401 can move laterally above the storage row 105 , ie in a plane parallel to the horizontal XY plane.

[0007] 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 and into the row 105. The stack 107 of containers 106 is generally self-supporting.

[0008] Each prior art container handling vehicle 201, 301, 401 includes a body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c that enable the container handling vehicle 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. Figure 2 , Figure 3 and Figure 4 , the two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails in the first set of parallel rails 110, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails in the second set of parallel rails 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage with the corresponding set of parallel rails 110, 111 at any time.

[0009] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertical transportation of storage containers 106, such as lifting storage containers 106 from storage column 105 and lowering storage containers 106 into storage column. The lifting device includes one or more clamping / engaging devices adapted to engage with storage containers 106, and the clamping / engaging devices can be lowered from the vehicle 201, 301, 401 so that the position of the clamping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Part of the clamping device of the container handling vehicle 301, 401 is Figure 3 and Figure 4 304, 404. Figure 2 2, the gripping device of the container handling device 201 is located within the vehicle body 201a and is therefore not shown. The lifting device may include a lifting frame 404d suspended from a lifting belt 404a. The lifting belt 404a may provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a gripping engagement device / grip 404b for connecting with a gripping recess of a storage container 106. A guide pin 404c helps align the gripping member 404b relative to the gripping recess of the storage container 106.

[0010] Conventionally and for purposes of this application, Z=1 identifies the uppermost level of storage containers available below rails 110, 111, i.e., the level immediately below rail system 108, Z=2 identifies the second level below rail system 108, Z=3 identifies the third level, etc. Figure 1 In the exemplary prior art disclosed in , Z=8 identifies the bottommost layer of the storage container. Similarly, X=1...n and Y=...n identify the position of each storage column 105 in the horizontal plane. Thus, as an example, and using Figure 1 The Cartesian coordinate system X, Y, Z shown in Figure 1 The storage container identified as 106' in FIG. 1 occupies the storage position at X=17, Y=1, Z=6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer at Z=0, and each storage column 105 can be identified by its X and Y coordinates. Therefore, Figure 1 The storage containers shown in FIG. 1 extending above the rail system 108 can also be referred to as being arranged in the layer with Z=0.

[0011] 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.

[0012] Each of the prior art container handling vehicles 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may include a cavity arranged inside the vehicle body 201a, 401a, such as Figure 2 and Figure 4 As shown in and described, for example, in WO 2015 / 193278 A1 and WO 2019 / 206487 A1, the contents of which are incorporated herein by reference.

[0013] Figure 3 An alternative configuration of a container handling vehicle 301 having a cantilever structure is shown. Such a vehicle is described in detail in, for example, NO 317,366, the contents of which are also incorporated herein by reference.

[0014] Figure 2 The occupied area of ​​the chamber container handling vehicle 201 shown in the figure can cover an area with dimensions in the X-direction and the Y-direction substantially equal to the lateral extent of the storage column 105, such as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0015] Alternatively, the footprint of the cavity container handling vehicle 401 may be larger than the lateral area defined by the storage row 105, such as Figure 1 and Figure 4 As shown in and disclosed, for example, in WO 2014 / 090684 A1 or WO 2019 / 206487 A1.

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

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

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

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

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

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

[0022] If the port rows 119, 120 and the access station are located at different levels, 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] The storage system may also use port rows 119, 120 to transfer storage containers between a rail system 108 located on the top of the frame structure 100 and a container transfer vehicle arranged below the lower end of the port rows. The storage system and suitable container transfer vehicles are disclosed in WO 2019 / 238694A1 and WO 2019 / 238697A1, the contents of which are incorporated herein by reference.

[0025] 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.

[0026] When accessing data stored in Figure 1When a storage container 106 in one of the plurality of rows 105 disclosed in the embodiment of the present invention is removed, one of the plurality of container handling vehicles 201, 301, 401 is instructed to take out the target storage container from the position of the target storage container 106 and transport the target storage container to the unloading port row 119. 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 located above the target storage container 106, the operation also involves temporarily moving the storage container located above before lifting the target storage container 106 from the storage row 105. This step (sometimes referred to in the art as "digging") 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 additionally, the automated storage and retrieval system 1 can 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 can be relocated to the original storage row 105. However, the removed storage container 106 can be relocated to other storage rows 105 instead.

[0027] 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.

[0028] 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 transported to the required locations at the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automatic storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0029] It is an object of the present invention to provide an improved vehicle which can carry larger / heavier containers more reliably. Summary of the invention

[0030] The invention is set forth and characterized in the independent claim, while the dependent claims describe further characteristics of the invention.

[0031] A container handling vehicle for operation on an automated storage and retrieval system is described, the automated storage and retrieval system comprising a two-dimensional rail system, the rail system comprising: a first set of parallel rails located in a horizontal plane, the first set of parallel rails arranged to guide the container handling vehicle to move in a first direction across the top of a frame structure; and a second set of parallel rails located in the horizontal plane, the second set of parallel rails arranged perpendicular to the first set of parallel rails to guide the container handling vehicle to move in a second direction perpendicular to the first direction, the container handling vehicle comprising:

[0032] - a vehicle frame defining a first section, a second section and a third section of the container handling vehicle arranged side by side, wherein the first section is arranged on a first side of the second section and the third section is arranged on an opposite second side of the second section;

[0033] - the second section comprises a cavity for receiving a storage container;

[0034] - a first set of wheels, comprising a first wheel, a second wheel, a third wheel and a fourth wheel for traveling in a first direction;

[0035] - a second set of wheels, comprising a first wheel, a second wheel, a third wheel and a fourth wheel for traveling in a second direction;

[0036] - a first drive motor for driving a first wheel and a second wheel of the first set of wheels;

[0037] - a second drive motor for driving the third and fourth wheels of the first set of wheels;

[0038] And the first and second wheels in the first set of wheels and the first drive motor may be arranged in the first section, and the third and fourth wheels in the first set of wheels and the second drive motor may be arranged in the third section.

[0039] In other words, the first section and the third section are separated by the second section.

[0040] The first section, the second section and the third section are preferably arranged side by side with adjacent sections in a horizontal plane.

[0041] An access opening (including the track of each guide rail adjacent to the occupied access opening) is also referred to as a "grid unit". A grid unit can be defined as the cross-sectional area (including the width of the guide rails) between the midpoints of two guide rails extending in a first direction and the midpoints of two guide rails extending in a second direction.

[0042] When the second section is located directly above a grid cell, the first section extends into an adjacent grid cell, and the third section extends into a grid cell located on an opposite side.

[0043] The container handling vehicle may include a third drive motor for driving the first wheel and the fourth wheel of the second set of wheels, and the third drive motor may be arranged in the first section.

[0044] The container handling vehicle may include a fourth drive motor for driving the second wheel and the third wheel of the second set of wheels, and the fourth drive motor may be arranged in the third section.

[0045] The first and fourth wheels of the second set of wheels are preferably operatively connected to the third drive motor via a drive belt.

[0046] The container handling vehicle may include a first lift motor, and the first lift motor may be arranged in the first section.

[0047] The container handling vehicle may include a second lift motor, and the second lift motor may be arranged in the third section.

[0048] The second section may provide a cavity that can accommodate a storage container, and the container handling vehicle may include a lifting device located in the second section for raising and lowering the storage container into and from the cavity, and the first wheel and the fourth wheel of the second set of wheels may be arranged on a first side of the cavity, and the second wheel and the third wheel of the second set of wheels may be arranged on an opposite second side of the cavity.

[0049] The lifting device may include at least one rotatable lifting shaft configured to raise and lower the lifting frame via a set of lifting belts, the lifting shaft being arranged above the cavity in the second section.

[0050] The first section may have an occupied area, the second section may have an occupied area, and a size ratio of the occupied area of ​​the second section to the occupied area of ​​the first section may be at least 2:1.

[0051] The third section may have a footprint, and a size ratio of the footprint of the second section to the footprint of the third section may be at least 2:1.

[0052] When both the first section and the third section are less than half a grid cell width compared to the second section, this enables two container handling vehicles with the same orientation to pass through 5 grid cells instead of 6 grid cells, because the two container handling vehicles share one grid cell, i.e., each container handling vehicle occupies less than 50% of the shared grid cell.

[0053] The first set of wheels may be arranged to be movable in a vertical direction relative to the vehicle frame between an upper position in which the second set of wheels permits movement of the vehicle in a second direction and a lower position in which the first set of wheels permits movement of the vehicle in a first direction; and

[0054] - each of the third wheel and the fourth wheel in the first set of wheels may be mounted to one of a pair of first wheel links, each of the first wheel links may include a first pivot connection and a second pivot connection, and each of the first wheel links may be pivotally connected to the vehicle frame via the first pivot connection;

[0055] - each of the first wheel and the second wheel in the first set of wheels may be mounted to one of a pair of second wheel links, each second wheel link may include a third pivot link and a fourth pivot link, and each first wheel link may be pivotably connected to the vehicle frame via the third pivot link;

[0056] - the first wheel link and the second wheel link may be connected by a first coupler link via respective second and fourth pivot links; and

[0057] - the first wheel link and the second wheel link may be connected by a second coupler link via respective second and fourth pivot links,

[0058] - and wherein the first coupler link and the second coupler link extend between the first side and the second side of the second section on opposite sides of the cavity.

[0059] The first and second coupler links may extend between the first and second sides of the second section on either side of the cavity.

[0060] The third section may include an actuator assembly that may be configured to move the first wheel link between a first angular position and a second angular position about a corresponding first pivot connection, and movement of the first wheel link may be transmitted to the second wheel link via the first coupler link and the second coupler link, such that when the first wheel link is in the first angular position or the second angular position, the first set of wheels may be in an upper position or a lower position, respectively.

[0061] The first section may include a first cross member that fixes the angular positions of the second wheel links relative to each other, thereby causing the second wheel links to move in unison about the respective third pivot couplings; and

[0062] - the third section may comprise a second cross-member which fixes the angular position of the first wheel links relative to each other, thereby causing the first wheel links to move in unison about the respective first pivot couplings; and

[0063] - An actuator assembly may be operatively connected to the wheel lift mechanism and may be arranged to move the first wheel link about the first pivot coupling between a first angular position and a second angular position.

[0064] The first cross member may be connected to the two second wheel links such that the positions of the second wheel links are fixed relative to each other.

[0065] The second cross member may be connected to the two first wheel links such that the positions of the first wheel links are fixed relative to each other.

[0066] The actuator assembly may be operatively connected between the vehicle frame and at least one of the first wheel links.

[0067] The actuator assembly may include a wheel lift motor or a linear actuator.

[0068] At least one of the first wheel links may include a fifth pivot coupling connected to the actuator assembly.

[0069] The actuator assembly may include an actuator link pivotably connected to one of the first wheel links. The actuator link may be used to drive the rotation of the first wheel link.

[0070] The actuator link may be connected to a fifth pivot coupling of the at least one first wheel link.

[0071] The actuator link may be part of a movement transfer assembly configured to convert or transfer rotational movement of the actuator assembly into a substantially linear movement acting on a fifth pivot connection of one of the first wheel links.

[0072] Container handling vehicles may include:

[0073] - a first drive shaft arranged in the first section and interconnecting the second wheel linkage, wherein the first drive shaft is operatively connected to drive a first wheel and a second wheel of the first set of wheels; and

[0074] - A second drive shaft disposed in the third section and interconnecting the second wheel linkage, wherein the second drive shaft is operatively connected to drive a third wheel and a fourth wheel of the first set of wheels.

[0075] Preferably, the first drive shaft is operatively connected to drive the first wheel and the second wheel via respective drive belts.

[0076] Preferably, the second drive shaft is operatively connected to drive the third and fourth wheels via respective drive belts.

[0077] The first drive shaft may be connected to a first drive (such as an electric motor). The rotational movement of the first drive shaft may be transmitted to the first and second wheels of the first set of wheels.

[0078] The second drive shaft may be connected to a second drive (such as an electric motor).The rotational movement of the second drive shaft may be transmitted to the third and fourth wheels in the first set of wheels.

[0079] The first drive shaft and the first cross member and the second drive shaft and the second cross member may be configured to move in parallel when the first wheel link and the second wheel link move between the first angular position and the second angular position.

[0080] The first drive shaft and the second drive shaft can be configured to move in unison with the first and second wheel links between a first angular position and a second angular position. By moving in unison with the first and second wheel links and the wheels they support respectively, excessive wear of the drive belt due to stretching and maintenance including tightening the drive belt are minimized. Because the wheels and motors supported by the first and second wheel links are fixed in a spatial relationship relative to each other during angular movement, the belt length and therefore the belt tension remains constant and can be set to a preferred tension.

[0081] The first drive motor may be fixed to one of the first wheel links. The first drive shaft may have a first end and a second end, and the first drive shaft may extend through a centerline of the first drive motor such that the first end is operatively connected to a first wheel in the first set of wheels and the second end is operatively connected to a second wheel in the first set of wheels. The first end may be operatively connected to the first wheel via a drive belt, and the second end may be operatively connected to the third wheel via a drive belt.

[0082] The second and third wheels of the second set of wheels are preferably operatively connected to the fourth drive motor by a drive belt.

[0083] The first and second coupler links may be configured to move in a first direction toward the first and second wheels, respectively, of the first set of wheels when the first wheel link moves from the second angular position to the first angular position.

[0084] The first and second coupler links are preferably plate-like to provide a cover that closes off the lower portion of both sides of the container handling vehicle or at least provides a barrier to the cavity of the second section.

[0085] Each coupler link may include a wheel recess for connecting a wheel with the corresponding first wheel link. Each coupler link may be characterized by a first end pivotally connected to a second pivot connection of the corresponding second wheel link and pivotally connected to a second pivot connection of the corresponding first wheel link at a portion of the coupler link disposed above the wheel recess.

[0086] The coupler link may serve as a force transfer element between the wheel link arms and the bodywork / covering closing the lower portion of the container handling vehicle on both sides.

[0087] The first and third pivot connections may be arranged horizontally below the second and fourth pivot connections.

[0088] Rechargeable batteries may be arranged in the third section.Alternatively, additional rechargeable batteries may be arranged in the first section.

[0089] The container handling vehicle may comprise a set of electrodes for receiving power from the charging station, the electrodes being preferably arranged in the third section and connected to the rechargeable battery in the third section.

[0090] The container handling vehicle may include a control unit arranged in the third section.

[0091] The container handling vehicle may include a set of replaceable or adjustable distance pins configured to interact with switches or sensors on the lift frame when the lift frame is in the upper position.

[0092] Adjustable or replaceable distance pins ensure that the efficiency of the container handling vehicle can be optimized for the height of the storage container being lifted. The container handling vehicle can include four distance pins arranged to interact with the four corner sections of the lifting frame. The distance pins can be configured to stabilize the lifting frame and any storage container connected to the lifting frame when the lifting frame is in the upper position.

[0093] The vehicle frame may include a first vertically extending subframe (e.g., a first vertical subframe) forming part of the first section and a second vertically extending subframe (e.g., a second vertical subframe) forming part of the third section. The vehicle frame may include an upper horizontally extending frame (e.g., an upper horizontal member) forming part of the second section, and the upper horizontally extending frame may be arranged above the cavity. The upper horizontally extending frame may extend between the first vertically extending subframe and the second vertically extending subframe.

[0094] The upper horizontally extending frame is preferably arranged above the lifting frame (in addition to being arranged above the cavity).

[0095] The upper horizontally extending frame may be connected to the first vertical sub-frame and to the second vertical sub-frame.

[0096] The first vertical sub-frame and the second vertical sub-frame may be arranged on opposite sides of the cavity.

[0097] The vehicle frame may include side cross members disposed on opposite sides of the cavity.

[0098] The side cross member may be a horizontal member connected to a lower portion of the first vertical subframe and connected to a lower portion of the second vertical subframe. Alternatively, the side cross member may form a cross-connector connected to a lower portion of one of the first vertical subframe or the second vertical subframe and connected to an upper portion of the other of the first vertical subframe and the second vertical subframe.

[0099] The first coupler link and the second coupler link are preferably arranged below the side cross member.

[0100] A container handling vehicle is also described, the container handling vehicle comprising a first section, a second section and a third section, the first section and the third section comprising a drive motor located on an articulated wheel assembly for driving wheels arranged in the respective first section and the third section, and the articulated wheel assemblies in the first section and the third section can be connected on opposite sides of the second section. Thus, the container handling vehicle is assembled.

[0101] An automated storage and retrieval system is also described, the automated storage and retrieval system comprising a container handling vehicle as defined above, wherein the automated storage and retrieval system comprises a frame structure having a plurality of storage columns for accommodating vertical stacks of storage containers, the frame structure having a rail system on which the container handling vehicle can be moved in two vertical directions over the storage columns. The automated storage and retrieval system may comprise a plurality of container handling vehicles as defined above.

[0102] The automated storage and retrieval system may include a plurality of upright members, and each storage column may be defined by four upright members.

[0103] A rail system can be arranged on top of the upright member, the 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 first set of rails and the second set of rails provide a horizontal grid-based rail system to define a plurality of grid cells. The rails in the rail system may include one or two tracks. Preferably, the rails in both directions include two tracks (double tracks), for example, two parallel channels are formed in one rail, or one channel is provided in each rail member of a pair of rail members that have been fastened to each other to form the rails. In this arrangement, the grid opening and the track width on each side define a "grid unit". In an arrangement where the rails in one direction have only a single track, the grid unit may extend the entire rail width on these sides.

[0104] In one embodiment of the automated storage and retrieval system, the occupied area of ​​the second section of the container handling vehicle may be approximately the size of a grid unit of the rail system, and the occupied areas of the first section and the third section may be less than half the area of ​​a grid unit. That is, the first section and the third section may extend to less than 50% of the grid units in the adjacent grid units.

[0105] Also described is a method of assembling a container handling vehicle as defined above, the method comprising the steps of:

[0106] - Assembling a first section of the vehicle frame, the first section comprising:

[0107] o the first and second rounds of the first set of rounds,

[0108] oFirst drive motor,

[0109] o First wheel connecting rod,

[0110] o The first and fourth rounds of the second set of rounds;

[0111] - Assembling the third section of the vehicle frame, the third section comprising:

[0112] o The third and fourth rounds of the first set of rounds,

[0113] oSecond drive motor,

[0114] o Second wheel connecting rod,

[0115] o The second and third rounds of the second set of rounds;

[0116] - connecting the second section of the vehicle frame to the first section of the vehicle frame and to the third section of the vehicle frame;

[0117] - interconnecting the first wheel link to the corresponding second wheel link via the first coupler link and the second coupler link.

[0118] In this specification, the term "storage container" is intended to mean any cargo holding unit suitable for being releasably connected to a lifting device of a container handling vehicle and having a bottom portion and a side portion, and may be in the form of, for example, a box, a tote, a pallet, etc. The side portion may preferably include a clamping recess. The side portion is preferably a side wall. The height of the side wall may vary depending on the intended use of the automated 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 horizontal outer periphery of the storage container is preferably rectangular.

[0119] Relative terms "upper", "lower", "below", "above", "higher" etc. should be understood in their ordinary meaning and as shown in a Cartesian coordinate system.

[0120] The present invention can be used in combination with the storage containers and systems described above. However, the disclosed automated storage and retrieval systems and methods can be used in other areas, including vertical farming, micro-fulfillment, or grocery / e-grocery stores. BRIEF DESCRIPTION OF THE DRAWINGS

[0121] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate various embodiments of the present invention which will now be described by way of example only, in which:

[0122] Figure 1 It is a three-dimensional diagram of the framework structure of the automatic storage and retrieval system of the prior art;

[0123] Figure 2 is a perspective view of a prior art container handling vehicle having an interiorly disposed cavity for carrying a storage container therein;

[0124] Figure 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying a storage container underneath;

[0125] Figure 4 is a perspective view of a prior art container handling vehicle viewed from below, the container handling vehicle having an internally disposed cavity for carrying a storage container therein;

[0126] Figure 5 yes Figure 4 A perspective view of a container handling vehicle without side panels and a top panel;

[0127] Fig. 6A and Figure 6B shows different perspective views of a container handling vehicle running on a rail system of an automated storage and retrieval system;

[0128] Fig. 7A yes Fig. 6A and Figure 6B An exploded view of a container handling vehicle without side and top panels;

[0129] Figure 7B showing a container handling vehicle wherein a first coupler link and first and fourth wheels of a first set of wheels have been removed to better illustrate components rearward of these portions;

[0130] Figure 7C is a perspective view of a wheel lift assembly of a container handling vehicle;

[0131] Fig.7D is a side perspective view of a container handling vehicle showing a first lift motor located in a first section of the container handling vehicle;

[0132] Fig. 8A yes Fig. 6A and Figure 6B A top view of a container handling vehicle in which a first section, a second section, and a third section of the container handling vehicle are shown;

[0133] Figure 8B showing the occupied areas of each of the first section, the second section and the third section of the container handling vehicle;

[0134] 9A to 9C are different views of the container handling vehicle of FIGS. 6 to 8 positioned in tracks of a rail system with wheels connected to wheel lifting mechanisms; and

[0135] Fig.10 6 to 9 are exploded views of the vehicle frame of the container handling vehicle. DETAILED DESCRIPTION

[0136] In the following, embodiments of the present invention will be discussed in more detail with reference to the attached drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0137] The frame structure 100 of the automatic storage and retrieval system 1 can be combined with the above Figure 1 The prior art frame structure 100 described is constructed in a similar manner. That is, the frame structure 100 may include a plurality of upright members 102 and include a first upper rail system 108 extending in the X-direction and the Y-direction.

[0138] 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 .

[0139] The frame structure 100 may be of any size. In particular, it should be understood that the frame structure may be larger than Figure 1 The frame structures disclosed in are wider and / or longer and / or deeper. For example, the frame structure 100 can have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0140] Prior art container handling vehicles including a cavity for accommodating storage containers (see Figure 2 , Figure 4 and Figure 5 ) have certain advantageous features. Specifically, providing guidance / support to the storage container housed in the cavity enables these vehicles to move relative to Figure 3 The cantilever container handling vehicle 301 shown in FIG. 4 has a greater acceleration / deceleration. However, the potential increase in acceleration / deceleration is not fully realized due to the instability of the vehicle. This instability is caused by the fact that most of the drive components, power components, control components and lifting components of both vehicles 201 and 401 are arranged above the cavity, resulting in a higher center of gravity.

[0141] Figure 4 and Figure 5 The body of the container handling vehicle in the present invention comprises a first section S1 and a second section S2 arranged side by side. The configuration having the first section S1 and the second section S2 is disclosed in PCT / EP2018 / 077732. The vehicle in the present application has a relatively large occupied area relative to the vehicle. Figure 2 The vehicle has a larger footprint and slightly improved stability. Figure 5 As shown in , the container handling vehicle 401 of the prior art is characterized in that at least the control unit 19, the replaceable battery 18 and the wheel lifting components including the wheel lifting shaft 17 are arranged above the cavity 26. The wheel lifting shaft 17 extends above the cavity to interconnect the two opposing wheel lifting plates 21a, 21b. It should be noted that the drive motor of the container handling vehicle 401 is not arranged above the cavity. The positioning of the drive motor can be achieved by using a wheel hub motor 38. The advantage of using a wheel hub motor is that all wheels of the container handling vehicle can be drive wheels to make the traction of the wheels greater.

[0142] The disadvantage of using multiple hub motors is the relatively high cost and possible increased repair / maintenance. In addition, at least for Figure 2 For prior art container handling vehicles, the power and torque that the hub motors can provide is limited because the hub motors must be sized so that they can fit within the vehicle without extending into the cavity of the first section or obstructing each other in the second section.

[0143] The present invention provides a container handling vehicle with improved stability and drive wheel traction.Other advantages of the container handling vehicle 501 described below include reduced maintenance costs and the potential to improve the manufacture of the container handling vehicle 501 and reduce assembly time of the container handling vehicle.

[0144] Fig. 6A and Figure 6B Different perspective views of a container handling vehicle 501 running on a rail system of an automated storage and retrieval system are shown.

[0145] The container handling vehicle 501 is suitable for the above-mentioned embodiments and Figure 1 The prior art storage system shown in FIG. 1 is used in the prior art storage system shown in FIG. 1 , and the above discussion regarding the system also applies to the improved container handling vehicle described herein.

[0146] Fig. 7A yes Fig. 6A and Figure 6B An exploded view of the container handling vehicle 501 in FIG. 5 , without the side panels and the top panel.

[0147] The container handling vehicle 501 features a vehicle frame 10 that defines a first section S1, a second section S2, and a third section S3 arranged side by side of the container handling vehicle 501. The first section S1 is arranged on a first side of the second section S2, and the third section is arranged on an opposite second side of the second section S2.

[0148] The second section S2 includes a lifting device 15 for lifting the storage container 106, and provides a storage container 106 (the storage container 106 is Fig. 7A The lifting device 15 has a lifting frame 16 and two rotatable lifting shafts 33 configured to raise and lower the lifting frame 16 via a set of lifting belts 5. A first lifting device motor 28a for driving the lifting device 15 (i.e., rotating the lifting shafts 33) is arranged in the first section S1.

[0149] The container handling vehicle 501 includes a configuration to enable the container handling vehicle 501 to move along the rail system 108 ( Fig. 7A Not shown, see e.g. Figure 1 ) moves on the first set of wheels 11 and the second set of wheels 12. The guide rail system 108 (see Figure 1 ) includes a first set of parallel rails 110 and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110. The rail system 108 is arranged in a horizontal and grid-based manner.

[0150] The first set of wheels 11 includes a first wheel 11a, a second wheel 11b, a third wheel 11c, and a fourth wheel 11d for traveling in a first direction X. The first wheel 11a and the second wheel 11b in the first set of wheels 11 are arranged on two opposite parts of the first section S1. A first drive motor 20a for driving the first wheel 11a and the second wheel 11b in the first set of wheels 11 is arranged in the first section S1. A first drive shaft 22a is rotatably connected to the first drive motor 20a and extends between opposite ends of the first section S1, and the first wheel 11a and the second wheel 11b in the first set of wheels 11 are arranged in the first section. A drive belt 23 ( Fig. 7A The first drive motor 20a is a first drive motor 20a, a second drive belt 23, and a second drive belt 23. The first drive motor 20a is a first drive motor 20a, a second drive belt 23, and a second drive belt 23 are provided to connect the first drive shaft 22a and the first and second wheels 11a, 11b, respectively.

[0151] The third wheel 11c and the fourth wheel 11d in the first set of wheels 11 are arranged on two opposite parts of the third section S3. The second drive motor 20b for driving the third wheel 11e and the fourth wheel 11d in the first set of wheels 11 is arranged in the third section S3. Similar to the arrangement in the first section S1, the second drive shaft 22b is rotatably connected to the second drive motor 20b and extends between opposite ends of the third section S3, and the third wheel 11c and the fourth wheel 11d in the first set of wheels 11 are arranged in the third section. The drive belt 24 ( Fig. 7A The drive belt 24 extends between the second drive shaft 22b and the corresponding third wheel 11c and fourth wheel 11d in the first set of wheels, so that the rotation of the second drive motor 20b is transmitted to the third wheel 11c and the fourth wheel 11d via the first drive shaft 22b and the drive belt 24.

[0152] Therefore, all wheels 11a, 11b, 11c, 11d of the first set of wheels 11 are drive wheels or motorized wheels.

[0153] The second set of wheels 12 includes a first wheel 12a, a second wheel 12b ( Fig. 7A Not shown, see e.g. Fig. 8A )、Third round 12c( Fig. 7A Not shown, see e.g. Fig. 8A) and a fourth wheel 12d. The first wheel 12a and the fourth wheel 12d are arranged on one side of the second section S2, and the second wheel 12b and the third wheel 12c are arranged on the opposite side of the second section S2. The first wheel 12a and the fourth wheel 12d are arranged in a common vertical plane so that they are arranged to travel on the same lower track. Similarly, the second wheel 12b and the third wheel 12c are arranged in a common vertical plane so that they are arranged to drive on the same lower track.

[0154] In order to be able to change the direction in which the container handling vehicle 501 travels on the rail system 108, the first set of wheels 11 is arranged to be movable relative to the vehicle frame 10 in a vertical direction Z. The first set of wheels 11 can be moved between an upper position, in which the second set of wheels 12 allows the vehicle 501 to move in a second direction Y, and a lower position, in which the first set of wheels 11 allows the vehicle 501 to move in a first direction X.

[0155] Vertical movement of the first set of wheels 11 is achieved by a wheel lifting mechanism featuring a pivotable first wheel link 8 and a second wheel link 9 connected by a coupler link 14a, 14b and driven by an actuator assembly.

[0156] In the wheel lifting mechanism, the fourth wheel 11d of the first set of wheels 11 is mounted to the corresponding first wheel link 8, and the third wheel 11c of the first set of wheels 11 is mounted to the corresponding first wheel link 8. The first wheel link 8 includes a first pivot coupling 3 and a second pivot coupling 4. The first wheel link 8 is pivotably connected to the vehicle frame 10 through the corresponding first pivot coupling 3.

[0157] Similarly, each of the first wheel 11a and the second wheel 11b of the first set of wheels 11 is mounted to a corresponding second wheel link 9, which includes a third pivot connection 29 and a fourth pivot connection 30. The second wheel link 9 is pivotably connected to the vehicle frame 10 via the respective third pivot connection 29.

[0158] The second wheel link 9 supporting the first wheel 11a in the first set of wheels 11 and the first wheel link 8 supporting the fourth wheel 11d in the first set of wheels are connected by the first coupler link 14a via the corresponding second pivot link 4 and the fourth pivot link 30. The first wheel link 8 supporting the fourth wheel 11d and the second wheel link 9 supporting the first wheel 8a are connected by the second coupler link 14b via the corresponding second pivot link 4 and the fourth pivot link 30. The first coupler link 14a and the second coupler link 14b extend along opposite sides of the cavity 26 in the first section S1.

[0159] The first and second coupling links 14a, 14b may be plate-shaped (as shown in the figures) and serve as force or movement transmission elements between the first and second wheel links 8, 9 and as a bodywork closing the two lower sides of the vehicle (or at least providing a barrier for the two lower sides). The dual function of the coupling links 14a, 14b provides a cost-effective, lightweight and simple mechanical solution.

[0160] The first section S1 comprises a first cross member 13b connected to two second wheel links 9. The first cross member 13a is configured to fix the angular position of the second wheel links 9 relative to each other, thereby making them move in unison about their respective third pivot couplings 29.

[0161] Similarly, the third section S3 comprises a second cross member 13b connected to two first wheel links 8. The second cross member 13b is configured to fix the angular position of the first wheel links 8 relative to each other, thereby making them move in unison about their respective first pivot couplings 3.

[0162] The actuator assembly is arranged in the third section S3 and is characterized by a wheel lifting motor 6 and an actuator link 7. The actuator link 7 is connected to one of the plurality of first wheel links 8 via a fifth pivot link 27. The actuator assembly is configured to move the first wheel link 8 between a first angular position and a second angular position about the corresponding first pivot link 3. The movement of the first wheel link 8 is transmitted to the second wheel link 9 via the first coupler link 14a and the second coupler link 14b, so that when the first wheel link 8 is in the first angular position and the second angular position, the first set of wheels 11 is in the upper position (see FIG. 7A to FIG. 7C ) or lower position (see FIG. 9A to FIG. 9B ).

[0163] The first coupling link 14a and the second coupling link 14b are configured to move respectively in the first direction X toward the first wheel 11a and the second wheel 11b in the first set of wheels when the first wheel link 8 moves from the second angular position to the first angular position, and are configured to move respectively in the first direction X toward the third wheel 11c and the fourth wheel 11d in the first set of wheels 11 when the first wheel link 8 moves from the first angular position to the second angular position.

[0164] Each second wheel link 9 comprises a first edge section 37a extending upwards from the level of the third pivot connection 29 (see Figure 7B ) and a second edge section 37b extending downwards from the level of the third pivot connection 29 (see Figure 7BThe first edge section 37a and the second edge section 37b face away from the connected first wheel link 8 and are inclined relative to each other so that the second wheel link 9 does not extend beyond the outside of the vehicle frame 10 when moving about the third pivot connection 29.

[0165] The second drive shaft 22b and the second cross member 13b are configured to move in parallel when the first wheel link 8 moves between the first and second angular positions. The second drive shaft 22b and the second cross member 13b are configured to move in unison with the first wheel link 9 between the first and second angular positions.

[0166] Similarly, the first drive shaft 22a and the first cross member 13a are configured to move in parallel when the second wheel link 9 moves between the first angular position and the second angular position. The first drive shaft 22a and the first cross member 13a are configured to move in unison with the second wheel link 9 between the first angular position and the second angular position.

[0167] By moving the first drive shaft 22a, the second drive shaft 22b, the first cross member 13a and the second cross member 13b in unison with the respective second wheel link 9 and the first wheel link 8, excessive wear of the drive belts 23, 24 due to stretching and maintenance including tightening of the drive belts 23, 24 are minimized. In this way, during the angular movement of the first wheel link 8 and the second wheel link 9, the relative mounting position of the wheels and their respective drive motors can remain fixed so that the belt tension in the drive belts 23, 24 remains constant during the raising and lowering of the wheels.

[0168] Fig.7D is a side perspective view of a container handling vehicle 501 showing the second lifting device motor 28 b located in the third section S3 of the container handling vehicle 501 .

[0169] Fig. 8A yes Fig. 6A and Figure 6B 5 , wherein a first section S1, a second section S2, and a third section S3 of the container handling vehicle 501 are shown. As disclosed, the container handling vehicle 501 may include a third drive motor 20c for driving the first wheel 12a and the fourth wheel 12d of the second set of wheels 12. The third drive motor 20c is arranged in the first section S1. The third drive motor 20c may drive the connected first wheel 12a and the fourth wheel 12d of the second set of wheels 12 via a drive belt 34.

[0170] Further references Fig. 8A, the container handling vehicle 501 may include a fourth drive motor 20d for driving the second wheel 12b and the third wheel 12c in the second set of wheels 12. The fourth drive motor 20d is arranged in the third section S3. The fourth drive motor 20d may drive the connected second wheel 12b and the third wheel 12c in the second set of wheels 12 via a drive belt 35.

[0171] The power for driving the motor of the container handling vehicle is provided by a rechargeable battery 31 (and / or a high power capacitor) arranged in the third section S3. The rechargeable battery 31 is connected to a set of electrodes 32. The electrodes 32 are configured to receive power from a charging station. The two electrodes 32 are arranged on opposite sides of a vertical center plane of the container handling vehicle, which extends in a first direction X. The advantageous effect of separating the electrodes 32 in this way is that during the initial connection with the charging station, the lateral deflection of the container handling vehicle relative to the first direction X is minimized. A suitable charging station is disclosed, for example, in PCT / EP2021 / 074340.

[0172] A control unit 19 for controlling at least the drive components, ie the first, second, third, and fourth drive motors 20a, 20b, 20c, 20d, the wheel lift motor 6, the first lift motor 28a, and the second lift motor 28b, is arranged in the third section S3.

[0173] A set of replaceable distance pins 25 are arranged above the lift frame 16. The distance pins 25 are configured to interact with switches (not shown) on the upper portion of the lift frame 16 when the lift frame 16 is in the upper position. The distance pins help stabilize shallower containers 106 in the cavity (and these distance pins can be removed when the vehicle is used for larger containers).

[0174] The distance pins 25 ensure that the efficiency of the container handling vehicle 501 can be optimized for the height of the lifted storage container 106. If the container handling vehicle 501 is used for taller storage containers, shorter distance pins 25 can be installed to ensure that the container is not lifted higher than the height required to enter the cavity 26.

[0175] In an alternative embodiment, the distance pin 25 may be adjustable (ie have an adjustable height) rather than replaceable. For example, the adjustable distance pin may be implemented by a telescopic or foldable distance pin.

[0176] Each of the container handling vehicles 501 includes four distance pins 25 arranged to interact with the lifting frame 16 at four corner sections. The distance pins 25 can also be configured to stabilize the lifting frame 16 and any storage container 106 connected to the lifting frame when the lifting frame 16 is in the upper position.

[0177] The configuration of the container handling vehicle 501 of the present invention allows for an efficient assembly method, since the first section S1, the third section S3 and most of the components constituting the vehicle can constitute a preassembled vehicle module. The assembly method may include the following steps:

[0178] - Assemble the first section S1 of the vehicle frame 10, the first section S1 comprising:

[0179] o a first wheel 11a and a second wheel 11b of the first set of wheels 11,

[0180] o first drive motor 20a,

[0181] o First wheel connecting rod 8,

[0182] o the first wheel 12a and the fourth wheel 12d of the second set of wheels 12;

[0183] - Assembling the third section S3 of the vehicle frame 10, which comprises:

[0184] o the third wheel 11c and the fourth wheel 11d of the first set of wheels 11,

[0185] o second drive motor 20b,

[0186] o Second wheel connecting rod 9,

[0187] o the second wheel 12b and the third wheel 12c of the second set of wheels 12,

[0188] - connecting the second section S2 of the vehicle frame 10 to the first section S1 of the vehicle frame 10 and to the third section S3 of the vehicle frame 10;

[0189] - The first wheel link 8 is interconnected to the respective second wheel link 9 by means of a first coupler link 14a and a second coupler link 14b.

[0190] 9A to 9C 6 to 8 are different views of the container handling vehicle in FIG. 6 to FIG. 8 located in the track of the guide rail system, wherein the wheels are connected to the wheel lifting mechanism. In the embodiment shown, the grid unit 130 has a smaller size in the first direction (x direction) than in the second direction (y direction). The extension of the container handling vehicle 501 in the first direction (i.e., the x direction) is preferably less than two grid units. This ensures that the container handling vehicle 501 is relatively compact and proportional in the first direction (x direction) and the second direction (y direction).

[0191] Fig.106 to 9. As shown, the vehicle frame 10 includes a first vertical subframe 40 forming part of the first section S1 and a second vertical subframe 41 forming part of the third section S3. The container handling vehicle 501 also includes an upper horizontal member 42 forming part of the second section S2. The upper horizontal member 42 is configured to be arranged in the cavity 26 (the cavity 26 is in Fig.10 Not shown, see e.g. Fig. 7A ) above.

[0192] The upper horizontal member 42 can be connected to the first vertical sub-frame 40 and to the second vertical sub-frame 41. The first vertical sub-frame 40 and the second vertical sub-frame 41 are configured to be arranged on opposite sides of the cavity 26.

[0193] The vehicle frame 10 is also disclosed to have side cross members 43 configured to be disposed on opposite sides of the cavity 26. The side cross members 43 may be horizontal members connected to a lower portion of the first vertical sub-frame 40 and to a lower portion of the second vertical sub-frame 41.

[0194] In the foregoing description, various aspects of the independent claims have been described. For illustrative purposes, specific numbers, systems, and configurations have been described to provide a comprehensive understanding of the system and its working principles. However, the description is not intended to be interpreted in a limiting sense. It will be apparent to those skilled in the art to which the disclosed subject matter belongs that various modifications and variations of the illustrative embodiments and other embodiments of the system are considered to fall within the scope of the invention as defined by the appended claims.

[0195] Reference Numbers List

[0196] 1. Automatic storage and retrieval system of the prior art

[0197] 3 First pivot connection

[0198] 4 Second pivot connection

[0199] 5 Lifting belt

[0200] 6-wheel lift motor

[0201] 7 Actuator connecting rod

[0202] 8 First wheel connecting rod

[0203] 9 Second wheel connecting rod

[0204] 10 Vehicle frame

[0205] 11. First set of wheels

[0206] 11a First round of the first set of rounds

[0207] 11b Second round of the first set of rounds

[0208] 11c The third round of the first set of rounds

[0209] 11d Fourth round of the first set

[0210] 12 Second set of wheels

[0211] 12a First round of the second set of rounds

[0212] 12b Round 2 of 2nd set of rounds

[0213] 12c The third round of the second set of rounds

[0214] 12d Round 4 of the second set

[0215] 13a First cross member

[0216] 13b Second cross member

[0217] 14a First connector link

[0218] 14b Second connector link

[0219] 15 Lifting device

[0220] 16 Lifting frame

[0221] 17-wheel lift axle

[0222] 18 Replaceable batteries

[0223] 19 Control Unit

[0224] 20a First drive motor

[0225] 20b Second drive motor

[0226] 20c Third drive motor

[0227] 20d Fourth drive motor

[0228] 21a, 21b wheel lift plate

[0229] 22a First drive shaft

[0230] 22b Second drive shaft

[0231] 23 Drive belt for the first and second wheels of the first set of wheels

[0232] 24 Drive belt for the third and fourth wheels in the first set of wheels

[0233] 25 Distance Pin

[0234] 26 chambers

[0235] 27 Fifth pivot connection member

[0236] 28a First lifting device motor

[0237] 28b Second lifting device motor

[0238] 29 Third pivot connection member

[0239] 30 Fourth pivot connection member

[0240] 31 Batteries

[0241] 32 electrodes

[0242] 33 Lifting axis

[0243] 34 Drive belt for the first and fourth wheels in the second set of wheels

[0244] 35 Drive belt for the second and third wheels in the second set of wheels

[0245] 37a First edge segment

[0246] 37b Second edge segment

[0247] 38 Wheel Hub Motor

[0248] 40 First vertical subframe

[0249] 41 Second vertical subframe

[0250] 42 Upper horizontal member

[0251] 43 Side cross member

[0252] 100 Frame structure

[0253] 102 Upright members

[0254] 104 Storage volume

[0255] 105 Storage Rows

[0256] 106 Storage Container

[0257] 106' Specific location of storage container

[0258] 107 Stacking

[0259] 108 Rail System

[0260] 110 First set of parallel guides (in the first direction (X))

[0261] 111 Second set of parallel guide rails (in the second direction (Y))

[0262] 112 Access opening

[0263] 130 grid cells

[0264] 201 Container handling vehicle of the prior art

[0265] 201a Body of container transport vehicle 201

[0266] 201b Driving device / wheel arrangement / first set of wheels in first direction (X)

[0267] 201c Drive device / wheel arrangement / second set of wheels in second direction (Y)

[0268] 301 Prior art cantilever container handling vehicle

[0269] 301a Body of the container transport vehicle 301

[0270] 301b Driving device / first set of wheels in the first direction (X)

[0271] 301c Driving device in the second direction (Y) / second set of wheels

[0272] 401 Container handling vehicle of the prior art

[0273] 401a Body of container transport vehicle 401

[0274] 401b Driving device in the first direction (X) / first set of wheels

[0275] 401c Driving device in the second direction (Y) / second set of wheels

[0276] 404 Clamping device

[0277] 404a Lifting belt

[0278] 404b Clamp

[0279] 404c Guide pin

[0280] 404d lifting frame

[0281] 500 Control System

[0282] 501 Container handling vehicle

[0283] F1 Occupied area of ​​the first section

[0284] F2 Occupancy area of ​​the second section

[0285] F3 Occupied area of ​​the third section

[0286] S1 first segment

[0287] S2 Second Segment

[0288] S3 Segment 3

[0289] X first direction

[0290] Y Second direction

[0291] Z third direction

Claims

1. A container handling vehicle (501) for operating on an automatic storage and retrieval system (1), the automatic storage and retrieval system (1) comprising a two-dimensional guide rail system (108), the guide rail system comprising: Located in the horizontal plane (P H ), the first set of parallel guide rails (110) being arranged to guide a container handling vehicle (201, 301, 401) to move in a first direction (X) across the top of the frame structure (100); and a first set of parallel guide rails (110) in a horizontal plane (P H ), the second group of parallel guide rails (111) being arranged perpendicular to the first group of parallel guide rails (110) to guide the container handling vehicle (201, 301, 401) to move in a second direction (Y) perpendicular to the first direction (X), the container handling vehicle comprising: - a vehicle frame (10) defining a first section (S1), a second section (S2) and a third section (S3) of the container handling vehicle arranged side by side, wherein the first section (S1) is arranged on a first side of the second section (S2) and the third section is arranged on an opposite second side of the second section (S2); - the second section (S2) comprises a cavity (26) for accommodating a storage container (106); - a first set of wheels (11), comprising a first wheel (11a), a second wheel (11b), a third wheel (11c) and a fourth wheel (11d) for traveling in the first direction (X); - a second set of wheels (12), comprising a first wheel (12a), a second wheel (12b), a third wheel (12c) and a fourth wheel (12d) for traveling in said second direction (Y); - a first drive motor (20a) for driving a first wheel (11a) and a second wheel (11b) in the first set of wheels (11); - a second drive motor (20b) for driving the third wheel (11c) and the fourth wheel (11d) of the first set of wheels (11); And wherein the first wheel (11a) and the second wheel (11b) in the first set of wheels (11) and the first drive motor (20a) are arranged in the first section (S1), and the third wheel (11c) and the fourth wheel (11d) in the first set of wheels (11) and the second drive motor (20b) are arranged in the third section (S3); and wherein the first set of wheels (11) is arranged to be movable relative to the vehicle frame (10) in a vertical direction (Z) between an upper position and a lower position, in which the second set of wheels (12) allows the vehicle (501) to move in the second direction (Y), and in which the first set of wheels (11) allows the vehicle (501) to move in the first direction (X); and wherein: - each of the third wheel (11c) and the fourth wheel (11d) of the first set of wheels (11) is mounted to one of a pair of first wheel links (8), each first wheel link (8) comprising a first pivot connection (3) and a second pivot connection (4), and each first wheel link (8) is pivotably connected to the vehicle frame (10) via the first pivot connection (3); - each of the first wheel (11a) and the second wheel (11b) of the first set of wheels (11) is mounted to one of a pair of second wheel links (9), each second wheel link (9) comprising a third pivot link (29) and a fourth pivot link (30), and each first wheel link is pivotably connected to the vehicle frame (10) via the third pivot link (29); - the first wheel link (8) and the second wheel link (9) are connected by a first coupler link (14a) via respective second and fourth pivot links (4, 30); and - the first wheel link (8) and the second wheel link (9) are connected by a second coupler link (14b) via respective second and fourth pivot links (4, 30), - and wherein the first coupler link (14a) and the second coupler link (14b) extend between the first side and the second side of the second section (S2) on opposite sides of the cavity (26); And wherein the third section (S3) comprises an actuator assembly (6, 7), the actuator assembly (6, 7) being arranged to move the first wheel link (8) between a first angular position and a second angular position about the corresponding first pivot connection (3), the movement of the first wheel link (8) being transmitted to the second wheel link (9) via the first connector link (14a) and the second connector link (14b), so that when the first wheel link (8) is in the first angular position or the second angular position, the first set of wheels (11) is in the upper position or the lower position respectively.

2. The container handling vehicle (501) according to claim 1, wherein: - the first section (S1) comprises a first cross member (13a) which fixes the angular position of the second wheel links (9) relative to each other, thereby enabling the second wheel links (9) to move in unison about the respective third pivot couplings (29); and - the third section (S3) comprises a second cross member (13b) which fixes the angular position of the first wheel links (8) relative to each other, thereby enabling the first wheel links (8) to move in unison about the respective first pivot couplings (3); and - The actuator assembly (6, 7) is operatively connected to the wheel lifting mechanism and is arranged to move the first wheel link (8) about the first pivot connection (3) between the first angular position and the second angular position.

3. The container handling vehicle (501) according to claim 1 or 2, wherein: The actuator assembly comprises a wheel lift motor (6) or a linear actuator.

4. The container handling vehicle (501) according to any one of claims 1 to 3, wherein: At least one of the first wheel links (8) comprises a fifth pivot connection (27) connected to the actuator assembly (6, 7).

5. The container handling vehicle (501) according to any one of claims 1 to 4, wherein: The actuator assembly comprises an actuator link (7) which is pivotally connected to one of the first wheel links (8) to drive the rotation of the first wheel link (8).

6. The container handling vehicle (501) according to any one of the preceding claims, comprising: - a first drive shaft (22a) arranged in the first section (S1) and interconnecting the second wheel link (8), wherein the first drive shaft (22a) is operatively connected to drive a first wheel (11a) and a second wheel (11b) of the first set of wheels (11); and - a second drive shaft (22b) arranged in the third section (S3) and interconnecting the second wheel link (9), wherein the second drive shaft (22b) is operatively connected to drive the third wheel (11c) and the fourth wheel (11d) of the first set of wheels (11).

Images