Container handling vehicle and storage system

Abstract

The invention provides a container handling vehicle (501, 601) for picking up storage containers (106) in a storage system (1) comprising a frame structure (100) having a plurality of storage rows (105) for accommodating vertical stacks of storage containers (106) and a track system (108), the vehicle being movable in two directions perpendicular to each other on the track system above the storage rows, the container handling vehicle comprises a vehicle body (6) and at least one lifting device for lifting a storage container (106) in any one of a plurality of storage rows (105); the lifting device comprises a horizontal lifting frame (2) suspended on a vehicle body (6) by a plurality of lifting belts (5) connected to at least one rotatable lifting shaft (8) such that the lifting frame can move in a vertical direction relative to the vehicle body between an upper position and a lower position; the container handling vehicle comprises a lifting frame stop device comprising a plurality of first stops (9, 20) connected to the vehicle body (6) at a plurality of locations above the lifting frame (2), and a plurality of second stops (10) interworking with the plurality of first stops (9, 20) connected to the vehicle body (6) at a plurality of locations above the lifting frame (2), the plurality of second stoppers are arranged at the upper surface (24) of the lifting frame; and each of the plurality of first stops (9, 20) and a second stop (10) cooperating therewith are configured to engage each other in order to stop the vertical upward movement of the lifting frame when the lifting frame is in the upper position.

Description

Technical Field

[0001] The present invention relates to a container handling vehicle and a storage system including the container handling vehicle. Background Art

[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 (i.e., storage system) having a frame structure 100, and FIGS. 2, 3, and 4 disclose three different prior art container handling vehicles 201, 301, 401 adapted to operate on the system 1.

[0003] The frame structure 100 includes upright members 102 and a storage volume including storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as bins) are stacked one on top of the other to form stacks 107. The members 102 can generally be made of metal (e.g., extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 (i.e., track grid) disposed 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 to the storage rows 105 and also transport the storage containers 106 above the 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 across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage rows 105, i.e., move laterally in a plane parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the container during raising and lowering the storage container from and to the rows 105. The stacks 107 of the containers 106 are generally self-supporting.

[0006] Each of the prior art container handling vehicles 201, 301, 401 includes a vehicle 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 vehicles 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. In FIGS. 2, 3 and 4, two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c, 401c are arranged to engage two adjacent tracks in the second set of tracks 111. At least one set of the wheels 201b, 301b, 201c, 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 the corresponding set of tracks 110, 111 at any one time.

[0007] Each of the prior art container handling vehicles 201, 301, 401 also includes a lifting device 404 (i.e., a container lifting device) for vertically transporting the storage container 106 (see FIG. 4), for example, raising the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting device 404 includes a lifting frame 2, which includes a container connector 3 and a guide pin 4. The container connector is adapted to engage a connection recess 13 located at the upper edge of the side wall 14 of the storage container 106 (see FIG. 5). The guide pin 4 is arranged to interact with a guide pin recess 7 located at the corner of the storage container and to ensure the accurate alignment of the lifting frame 2 and the container connector 3 relative to the storage container. The guide pin 4 also helps to guide the lifting frame 2 to align with the upright members of the storage row 105. The lifting frame 2 can be lowered from the vehicles 201, 301, 401 so that the position of the lifting frame 2 relative to the vehicles 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] To raise or lower the lifting frame 2 (and optionally the connected storage container 106), the lifting frame 2 is suspended on a belt drive assembly by a lifting belt 5. In this belt drive assembly, a plurality of lifting belts are typically wound around / unwound from at least one rotating lifting shaft or reel arranged in the container handling vehicle. For example, various designs of the belt drive assembly are described, for example, in WO 2015 / 193278 A1, WO 2017 / 129384 A1 and WO 2019 / 206438 A1.

[0009] Conventionally, and also for the purposes of the present application, Z = 1 identifies the uppermost layer for storing storage containers below the rail system 108, 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, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the lowermost bottom layer of the storage containers. Similarly, X = 1...n and Y = 1...n identify the positions of each storage column 105 in the horizontal plane. Thus, by way of 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 the storage position of X = 17, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer of Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Therefore, the storage containers extending above the rail system 108 shown in FIG. 1 are also referred to as being arranged in the layer of Z = 0.

[0010] The storage volume part of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage positions within this grid are referred to as storage units. Each storage column can be identified by its position in the X direction and the Y direction, while each storage unit can be identified by the container number in the X direction, Y direction, and Z direction.

[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 rail system 108. The storage space can include a cavity arranged inside the vehicle body 201a, as shown in FIGS. 2 and 4, and as described, for example, in WO 2015 / 193278A1 and WO 2019 / 206487A1, the contents of which are incorporated herein by reference.

[0012] FIG. 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0013] The occupied area of the cavity-type container handling vehicle 201 shown in FIG. 2 can cover an area whose dimensions in the X direction and the Y direction are approximately equal to the lateral range of the storage column 105, as described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term "lateral" as used herein can mean "horizontal".

[0014] Alternatively, the footprint of the chamber container handling vehicle 401 may be larger than the lateral area defined by the storage columns 105, as shown in FIGS. 1 and 4 and as disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0015] The track system 108 generally includes tracks having grooves in which the wheels of the vehicle travel. Alternatively, the tracks may include upwardly projecting elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track may include two parallel guide rails.

[0016] WO2018 / 146304A1 (the content of which is incorporated herein by reference) shows a typical configuration of the track system 108, which includes tracks and parallel guide rails in both the X and Y directions to form a track grid.

[0017] 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 of the columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, such that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100 or removed from or moved into the frame structure 100. In the art, such locations are commonly referred to as "ports", and the columns in which the ports are located may be referred to as "port columns" 119, 120. The transportation to the access station can be in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 106 can be placed in a random column or a dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. Note that the term "inclined" refers to the transportation of the storage container 106 having a generally transport orientation in a direction between horizontal and vertical.

[0018] In FIG. 1, the first port column 119 may be, for example, a dedicated unloading port column in which the container handling vehicles 201, 301, 401 can unload the storage containers 106 to be transported to the access station or transfer station, and the second port column 120 may be a dedicated pick-up 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 transfer station.

[0019] An access station can typically be a pick-up station or a replenishment station where product items are removed from or positioned into a storage container 106. In the pick-up or replenishment 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 ports can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a production facility.

[0020] A conveyor system including conveyors is typically employed to transport the storage container between the port columns 119, 120 and the access station.

[0021] If the port columns 119, 120 and the access station are at different levels, the conveyor system can include a lifting device having a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0022] The conveyor system can be arranged to transfer the storage container 106 between different frame structures, as described, for example, in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0023] When accessing a storage container 106 stored in one of the multiple storage columns 105 disclosed in FIG. 1, one of the container handling vehicles 201, 301, 401 is instructed to retrieve 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 vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, using the lifting device 404 of the container handling vehicles 201, 301, 401 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, this operation also involves temporarily moving the overlying storage containers before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle that will subsequently be used to transport the target storage container to the unloading port column 119, or using one or more other collaborative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

[0024] When a storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport the storage container to a position above the storage column 105 where the storage container is to be stored. After removing any storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0025] To monitor and control the storage system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401 such that the desired storage container 106 can be transported to the desired location at the desired time without the container handling vehicles 201, 301, 401 colliding with each other, the storage system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0026] Each storage container 106 in the storage system 1 has a horizontal perimeter configured to adapt to the cross-sectional area of the storage column 105. However, the height of the storage container may vary, for example, depending on the type of item to be stored in the storage system. All storage containers in a given storage system typically have the same height to facilitate monitoring and operation of the storage system. Conventional container handling vehicles are configured to lift storage containers of different heights, but the container handling vehicle cannot be optimized for lifting storage containers with a height lower than the maximum container height of the container handling vehicle.

[0027] An object of the present invention is to provide a container handling vehicle that can be easily optimized for storage containers of different heights, thereby improving the utilization rate of time and energy. Summary of the Invention

[0028] The present invention is defined by the appended claims and the following:

[0029] In a first aspect, the present invention provides a container handling vehicle for picking up storage containers in a storage system, the storage system including a frame structure and a track system, the frame structure having a plurality of storage columns for accommodating a vertical stack of storage containers, the vehicle being movable in two mutually perpendicular directions on the track system above the storage columns, the container handling vehicle including a vehicle body and at least one lifting device for lifting the storage container in any one of the plurality of storage columns;

[0030] The lifting device includes a horizontal lifting frame suspended from the vehicle body by a plurality of lifting belts, the lifting belts being connected to at least one rotatable lifting shaft such that the lifting frame can move vertically between an upper position and a lower position relative to the vehicle body;

[0031] The container handling vehicle includes a lifting frame stop device including a plurality of first stoppers and a plurality of second stoppers cooperating with the first stoppers, the plurality of first stoppers being connected to the vehicle body at a plurality of positions above the lifting frame, the plurality of second stoppers being arranged on the upper surface of the lifting frame; and

[0032] Each first stopper of the plurality of first stoppers and the second stopper cooperating with the first stopper are configured to engage with each other to stop the vertical upward movement of the lifting frame when the lifting frame is in the upper position.

[0033] The first stopper may be directly or indirectly connected to the vehicle body. The first stopper may also be defined as being rigidly connected to the vehicle body.

[0034] In an embodiment of a container handling vehicle, at least a portion of each first stop or at least a portion of each second stop may be removable, or replaceable with a corresponding portion having a different height, or each of the first and second stops may be telescopic in a vertical direction such that the horizontal height of the lifting frame when in the upper position can be adjusted.

[0035] In an embodiment of a container handling vehicle, at least one of the first stop and the second stop may be coupled to a sensor for detecting when the first stop and the second stop engage with each other; the sensor may communicate with a control system of the vehicle such that rotation of at least one rotatable lifting shaft is stopped when the lifting frame is in the upper position.

[0036] In an embodiment of a container handling vehicle, each of the plurality of first stops may include a pin having a first end and a second end, the first end of the pin being connectable to the vehicle body and the second end being arranged to interact with and / or engage a second stop that cooperates with the first stop when the lifting frame is in the upper position.

[0037] In an embodiment of a container handling vehicle, the vehicle body may include a cantilever section below which the lifting frame is suspended.

[0038] In an embodiment of a container handling vehicle, each of the plurality of first stops and a second stop corresponding to the first stop may be configured for sliding engagement with each other such that horizontal movement of the lifting frame relative to the vehicle body is prevented when the lifting frame is in the upper position.

[0039] In an embodiment of a container handling vehicle, the second end of the first stop may include a recess or a protrusion configured to interact with a corresponding protrusion or a corresponding recess of the second stop, respectively, such that horizontal movement of the lifting frame relative to the vehicle body is prevented when the lifting frame is in the upper position.

[0040] In an embodiment of a container handling vehicle, the second stop may include a spring-loaded pin connected to a sensor for detecting when the first stop and the second stop engage and when the lifting frame is in the upper position.

[0041] In an embodiment of a container handling vehicle, the lifting frame may include clamping elements for releasably connecting to a storage container, wherein a second stop is provided at each corner of the lifting frame

[0042] In an embodiment of a container handling vehicle, the first stop includes a bracket connected to the vehicle body. The bracket may include an interface for engaging a corresponding second stop and / or an interface for releasably attaching to a pin.

[0043] In an embodiment of the container handling vehicle, the first stop includes a pin, and the pin is releasably attached to the bracket.

[0044] In a second embodiment, the present invention provides a storage system, which includes: a container handling vehicle according to any embodiment of the first aspect; a frame structure having a plurality of storage columns for accommodating a vertical stack of storage containers; and a track system on which the vehicle can move in two mutually perpendicular directions above the storage columns.

[0045] In an embodiment of the storage system, at least a part of each first stop or at least a part of each second stop can be removable, or can be replaced with a corresponding part having a different height, or each stop among the first stop and the second stop can be telescopic in the vertical direction, such that the horizontal height of the lifting frame when in the upper position can be adjusted between a first horizontal height and a second horizontal height, wherein the first horizontal height is higher than the second horizontal height;

[0046] The storage container can be a first type of storage container or a second type of storage container, and the first type of storage container and the second type of storage container have a height difference; and

[0047] This height difference is equal to the height difference between the first horizontal height and the second horizontal height.

[0048] In a third embodiment, the present invention provides a method for optimizing a container handling vehicle according to any embodiment of the first aspect, which is used in a storage system according to any embodiment of the second aspect. In this storage system, a vertical stack of first-type storage containers is to be replaced with a vertical stack of second-type storage containers. The method includes the following steps:

[0049] - Adjust the horizontal height of the lifting frame from the second horizontal height to the first horizontal height in the following ways:

[0050] o Remove at least a part of the first stop or at least a part of the second stop; or

[0051] o Replace at least a part of the first stop or at least a part of the second stop with a corresponding part having a different height; or

[0052] o Shorten at least a part of the first stop or at least a part of the second stop in the vertical direction. Description of the Drawings

[0053] Embodiments of the present invention will be described in detail with reference to the following drawings:

[0054] Figure 1 is a perspective view of the framework structure of an automated storage and retrieval system of the prior art.

[0055] Figure 2 is a perspective view of a container handling vehicle of the prior art, the container handling vehicle having a centrally disposed cavity for carrying a storage container therein.

[0056] Figure 3 is a perspective view of a container handling vehicle of the prior art, the container handling vehicle having a cantilever section for carrying a storage container therebelow.

[0057] Figure 4 is a perspective view of a container handling vehicle of the prior art, showing a container lifting assembly therein.

[0058] Figure 5 is a perspective view of a storage container used in the storage system of Figure 1.

[0059] Figure 6 and Figure 7 shows a first exemplary container handling vehicle according to the present invention.

[0060] Figure 8 through Figure 11, Figure 13 and Figure 15 show a second exemplary container handling vehicle according to the present invention.

[0061] Figure 12 and Figure 14 show a third exemplary container handling vehicle according to the present invention. DETAILED DESCRIPTION

[0062] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. The drawings are not intended to limit the present invention to the subject matter shown.

[0063] As discussed above, the storage system 1 may include storage containers 106 having different heights. Storage containers 106 used in a particular framework structure 100 typically have the same height to simplify the handling and control of the storage system. To allow for storage containers 106 of different heights to be used in the storage system, prior art container handling vehicles 201, 301, 401 are configured to be able to lift storage containers of different heights up to a maximum container height without any modification to the vehicle.

[0064] In the prior art container handling vehicles 201, 301, 401, regardless of the height of the storage container, the lifting frame 2 and the upper edge of the connected storage container are always lifted to the same horizontal height relative to the vehicle. This is to ensure that before the container handling vehicle moves, the storage container with the maximum container height is lifted to a position where its bottom is off the track system. However, when using a storage container with a height lower than the maximum container height configured for the container handling vehicle, a potential drawback of the prior art container handling vehicle is exposed. That is, these lower storage containers are lifted to a height higher than the minimum height required to be off the track system. And lifting the storage container to a height higher than the required height is both time-consuming and energy-consuming.

[0065] The present invention provides a container handling vehicle that can save both time and energy regardless of the height of the storage container used.

[0066] A first exemplary container handling vehicle 501 is shown in Figure 6 and Figure 7 The container handling vehicle 501 is intended for use in the prior art storage system shown in FIG. 1. Like the prior art vehicles, the container handling vehicle 501 is used to store or retrieve storage containers and includes a vehicle body 6 and a first set of wheels and a second set of wheels that enable the container handling vehicle to move in a first direction X and a second direction Y, respectively.

[0067] The container handling vehicle includes a lifting device for lifting and lowering the storage container 106 in the storage row 105. The lifting device includes a horizontal lifting frame 2 suspended on the vehicle body 6 by a plurality of lifting belts 5, and the plurality of lifting belts are connected to at least one rotatable lifting shaft 8 so that the lifting frame 2 can move vertically between an upper position and a lower position relative to the vehicle body 6.

[0068] To ensure that the lifting frame is at the required horizontal height when in the upper position, the container handling vehicle includes a lifting frame stop device. The lifting frame stop device includes: a plurality of pins 9 (i.e., first stoppers), which are connected to the vehicle body 6 at a plurality of positions above the lifting frame 2; and a plurality of sensor switches 10 (i.e., second stoppers) that cooperate with the plurality of pins, and the plurality of sensor switches are arranged on the upper surface 24 of the lifting frame 2. Each of the plurality of pins 9 and the sensor switch 10 that cooperates with the pin are configured to engage with each other so that when the lifting frame is in the upper position, the vertical upward movement of the lifting frame is stopped.

[0069] The pin 9 and the sensor switch 10 ensure that the operating efficiency of the container handling vehicle 501 can be optimized for the height of the storage container 106 to be lifted. If the container handling vehicle 501 is to be used for taller or shorter storage containers, shorter or longer pins can be installed accordingly to ensure that the storage container 106 is not lifted to a height higher than the required height. In Figure 7 the pin 9 in Figure 6 has been replaced with a shorter pin 9'. In other embodiments, the same result can be achieved by, for example, replacing the sensor switch 10 with a similar sensor switch having a different height, or by using pins that can be extended / retracted (e.g., telescopic pins).

[0070] Each of the plurality of pins 9 has a first end 12 and a second end 17. The first end 12 of the pin is connected to the vehicle body 6, and the second end 17 is arranged to interact with the cooperating sensor switch 10 when the lifting frame 2 is in the upper position.

[0071] The sensor switch 10 is coupled to a sensor (not shown) for detecting when the pin 9 and the sensor switch engage with each other. The sensor can communicate with the control system 23 of the vehicle 501 such that when the lifting frame is in the upper position, the rotation of at least one rotatable lifting shaft 8 is stopped.

[0072] A second exemplary container handling vehicle 601 is shown in Figure 8 to FIG. 11 and FIG. 14. In this second embodiment, the vehicle body 6 includes a cantilever section 22, and the lifting frame 2 is suspended below the cantilever section, i.e., similar to the prior art container handling vehicle 301 in FIG. 3. The vehicle 601 has a first set of wheels 21a and a second set of wheels 21b such that the container handling vehicle can move in a first direction X and a second direction Y, respectively.

[0073] Similar to Figure 6 and Figure 7 the first exemplary container handling vehicle, the second exemplary container handling vehicle includes a lifting frame stop device to ensure that the lifting frame is at the required horizontal height when in the upper position. The lifting frame stop device includes: a plurality of pins 9 that are connected to the vehicle body 6 via brackets 20 at a plurality of positions above the lifting frame 2 (i.e., the pins and the brackets form a first stop); and a plurality of sensor switches 10 that cooperate with the plurality of pins (i.e., a second stop), and the plurality of sensor switches are arranged at the upper surface 24 of the lifting frame 2. Each of the plurality of sensor switches includes a spring-loaded pin 10 coupled to a sensor 11. Each of the plurality of pins 9 and the sensor switch 10 that cooperates with the pin are configured to engage with each other so as to stop the vertical upward movement of the lifting frame when the lifting frame is in the upper position.

[0074] The second end 17 of the pin 9 includes a recess 18 or a projection configured to interact with a corresponding projection 19 or a corresponding recess of the spring-loaded pin 10, respectively, such that when the lifting frame is in the upper position, horizontal movement of the lifting frame 2 relative to the vehicle body 6 is prevented.

[0075] The pin 9 is releasably connected to the bracket 20, see Figure 10 , so that the pin can be easily replaced with a similar pin of a different length or removed. Shown in Figure 11a is a side view of the container handling vehicle in Figure 8 , where the lifting frame is in the upper position. Shown in Figure 11b is a side view of the same vehicle including a shorter pin 9.

[0076] A third exemplary container handling vehicle 601 is shown partially in the left half of Figure 12 and in Figure 13 . The vehicle 601 is similar to the second exemplary container handling vehicle, the main difference being that the pin 9 is removed and instead a spring-loaded pin 10 is used, which is releasably attached to the lifting frame and can thus be easily replaced with a similar spring-loaded pin of a different length.

[0077] List of reference numerals

[0078] 1 Automated storage and retrieval system of the prior art

[0079] 2 Lifting frame

[0080] 3 Container connector

[0081] 4 Guide pin

[0082] 5 Lifting belt

[0083] 6 Vehicle body

[0084] 7 Guide pin recess

[0085] 8 Rotatable lifting shaft

[0086] 9 First stop, pin

[0087] 10 Second stop, pin

[0088] 11 Sensor

[0089] 12 First end

[0090] 13 Connecting recess in the upper edge of the storage container

[0091] 14 Side wall of the storage container

[0092] 15 Lower bottom surface of the lifting frame

[0093] Upper edge of the 16 storage container

[0094] 17 Second end

[0095] 18 Recess

[0096] 19 Protrusion

[0097] 20 First stop, bracket

[0098] 21a, 21b First set of wheels and second set of wheels

[0099] 22 Cantilever section

[0100] 23 Control system

[0101] 24 Upper surface

[0102] 100 Frame structure

[0103] 102 Upright member of the frame structure

[0104] 103 Horizontal member of the frame structure

[0105] 104 Storage grid

[0106] 105 Storage column

[0107] 106 Storage container

[0108] 106’ Storage container at a specific position

[0109] 107 Stack

[0110] 108 Track system

[0111] 110 Parallel tracks in the first direction (X)

[0112] 110a First track in the first direction (X)

[0113] 110b Second track in the first direction (X)

[0114] 111 Parallel tracks in the second direction (Y)

[0115] 111a First track in the second direction (Y)

[0116] 111b Second track in the second direction (Y)

[0117] 112 Access opening

[0118] 119 First port column

[0119] 120 Second port column

[0120] 201 Container handling vehicle of the prior art

[0121] 201a Body of the container handling vehicle 201

[0122] 201b Driving device / wheel arrangement, first direction (X)

[0123] 201c Driving device / wheel arrangement, second direction (Y)

[0124] 301 Cantilever type container handling vehicle of the prior art

[0125] 301a Body of the container handling vehicle 301

[0126] 301b Driving device in the first direction (X)

[0127] 301c Driving device in the second direction (Y)

[0128] 401 Container handling vehicle of the prior art

[0129] 401a Body of the container handling vehicle 401

[0130] 401b Driving device in the first direction (X)

[0131] 401c Driving device in the second direction (Y)

[0132] Y Second direction

[0133] Z Third direction

Claims

1. A container handling vehicle (501, 601) for picking up storage containers (106) in a storage system (1), the storage system comprising a frame structure (100) and a rail system (108), the frame structure having a plurality of storage columns (105) for accommodating vertical stacks of storage containers (106), the vehicle being movable in two mutually perpendicular directions on the rail system above the storage columns, the container handling vehicle comprising a vehicle body (6) and at least one lifting device for lifting and lowering the storage container (106) in any one of the plurality of storage columns (105); The lifting device comprises a horizontal lifting frame (2) suspended on the vehicle body (6) by a plurality of lifting belts (5), the lifting belts being connected to at least one rotatable lifting shaft (8) such that the lifting frame is movable vertically between an upper position and a lower position relative to the vehicle body; The container handling vehicle comprises a lifting frame stop device, the lifting frame stop device comprising a plurality of first stops (9, 20) and a plurality of second stops (10) cooperating with the plurality of first stops, the plurality of first stops being connected to the vehicle body (6) at a plurality of positions above the lifting frame (2), the plurality of second stops being arranged at an upper surface (24) of the lifting frame; and Each first stop (9, 20) of the plurality of first stops and the second stop (10) cooperating therewith are configured to engage with each other to stop the vertical upward movement of the lifting frame when the lifting frame is in the upper position.

2. The container handling vehicle according to claim 1, wherein, At least a part of each first stop or at least a part of each second stop (9, 10) is removable, or can be replaced by a corresponding part with a different height, or each stop of the first stops and the second stops can be telescopic in the vertical direction such that the horizontal height of the lifting frame when in the upper position can be adjusted.

3. The container handling vehicle according to claim 1 or 2, wherein, At least one of the first stops and the second stops is coupled to a sensor (11) for detecting when the first stops and the second stops engage with each other; the sensor communicates with a control system (23) of the vehicle such that rotation of the at least one rotatable lifting shaft (8) is stopped when the lifting frame is in the upper position.

4. The container handling vehicle according to any one of the preceding claims, wherein, Each first stop of the plurality of first stops comprises a pin (9) having a first end and a second end, the first end (12) of the pin being connected to the vehicle body (6), the second end (17) being arranged to interact with a second stop (10) cooperating therewith when the lifting frame is in the upper position.

5. The container handling vehicle according to any one of the preceding claims, wherein, The vehicle body comprises a cantilever section (22), and the lifting frame (2) is suspended below the cantilever section.

6. The container handling vehicle according to any one of the preceding claims, wherein, Each of the plurality of first stoppers and the second stopper corresponding to the first stopper is configured to slidably engage with each other to prevent horizontal movement of the lifting frame relative to the vehicle body when the lifting frame is in the upper position.

7. The container handling vehicle according to claim 4, wherein, The second end (17) of the first stopper (9) includes a recess (18, 18') or a protrusion, and the recess or protrusion at the second end of the first stopper is configured to interact with the corresponding protrusion (19, 19') or corresponding recess of the second stopper (10) respectively to prevent horizontal movement of the lifting frame relative to the vehicle body when the lifting frame is in the upper position.

8. The container handling vehicle according to any one of the preceding claims, wherein, The second stopper includes a spring-loaded pin (10), and the spring-loaded pin is connected to a sensor (11) for detecting when the first stopper and the second stopper engage and when the lifting frame is in the upper position.

9. The container handling vehicle according to any one of the preceding claims, wherein, The lifting frame (2) includes a clamping element (3) for releasably connecting to a storage container (106), and a second stopper (10) is provided at each corner of the lifting frame.

10. The container handling vehicle according to any one of the preceding claims, wherein, The first stopper includes a bracket (20) connected to the vehicle body.

11. The container handling vehicle according to claim 4 and 10, wherein, The pin (9) is releasably attached to the bracket (20).

12. A storage system, comprising: A container handling vehicle according to any one of the preceding claims; A frame structure (100) having a plurality of storage rows (105) for accommodating a vertical stack of storage containers (106); and a track system (108) on which the vehicle can move in two mutually perpendicular directions above the storage rows.

13. The storage system according to claim 12, wherein, At least a part of each first stopper or at least a part of each second stopper (9, 10) is removable, or can be replaced with a corresponding part having a different height, or each of the first stopper and the second stopper can be telescopic in the vertical direction so that the horizontal height of the lifting frame when in the upper position can be adjusted between a first horizontal height and a second horizontal height, wherein the first horizontal height is higher than the second horizontal height; The storage container can be a first type of storage container or a second type of storage container, and there is a height difference between the first type of storage container and the second type of storage container; The height difference is equal to the height difference between the first horizontal height and the second horizontal height.

14. A method for optimizing a container handling vehicle according to any one of claims 1 to 11, the container handling vehicle being used in a storage system according to claim 13, in which a vertical stack of the first type of storage containers is to be replaced with a vertical stack of the second type of storage containers, the method comprising the following steps: - Adjusting the horizontal height of the lifting frame when in the upper position from the second horizontal height to the first horizontal height by: o Removing at least a part of the first stopper or at least a part of the second stopper; or o Replace at least a portion of the first stopper or at least a portion of the second stopper with corresponding portions having different heights; or o Shorten at least a portion of the first stopper or at least a portion of the second stopper in the vertical direction.

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