Container handling vehicle and automated storage and retrieval system

Abstract

A container handling vehicle (401) for operation on a two-dimensional track system (108) includes a body unit (410) having: a lower section (411); a support section (412) extending vertically from the lower section; a cantilever section (413) extending horizontally from the support section; and a lifting device (414) having a lifting frame (415) suspended from the cantilevered section (413), where a lowermost portion of the lifting frame is above a top surface of the lower section when docked.

Description

[0001] This application is a divisional application of application number 202180028809.3 (corresponding PCT international application number PCT / EP2021 / 059312) entitled "Container transport vehicle with cantilever structure and automatic storage and retrieval system including multiple container transport vehicles". Technical Field

[0002] This invention relates to the field of automated storage and retrieval systems. In particular, this invention relates to a container transport vehicle with a cantilever section and an automated storage and retrieval system comprising multiple container transport vehicles, wherein the container transport vehicles are configured to allow two container transport vehicles to pass each other by occupying fewer grid cells on the lower track system compared to prior art cantilever container transport vehicles. Background Technology

[0003] Figure 1A An automated storage and retrieval system 1 with a frame structure 100, typical of the prior art, is disclosed, and Figure 2 and Figure 3A Two different prior art container handling vehicles 201 and 301 suitable for operation on such system 1 are disclosed.

[0004] The frame structure 100 includes upright members 102, horizontal members 103, and a storage volume comprising storage rows 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 and 103 can typically be made of metal, such as extruded aluminum profiles.

[0005] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged through the top of the frame structure 100, on which multiple container transport vehicles 201, 301 are operated to lift and lower storage containers 106 from and into storage columns 105, and also to transport storage containers 106 above storage columns 105. The track system 108 includes a first set of parallel guide rails 110 arranged to guide the container transport vehicles 201, 301 along a first direction X through the top of the frame structure 100, and a second set of parallel guide rails 111 arranged perpendicular to the first set of guide rails 110 to guide the container transport vehicles 201, 301 along a second direction Y perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container transport vehicles through entry openings / grid openings 112 in grid cells 122 of the track system 108. Container handling vehicles 201 and 301 can move laterally above storage column 105, that is, move in a plane parallel to the horizontal XY plane.

[0006] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the process of lifting the containers out of the column 105 and lowering the containers into the column 105. The stack 107 of the containers 106 is typically self-supporting.

[0007] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c, which respectively enable the container handling vehicle 201, 301 to move laterally in the X and Y directions. Figure 2 and Figure 3A In this configuration, two wheels in each group are fully visible. The first group of wheels 201b and 301b are arranged to engage with two adjacent tracks in the first group of guide rails 110, and the second group of wheels 201c and 301c are arranged to engage with two adjacent tracks in the second group of guide rails 111. At least one group of wheels 201b, 301b, 201c, and 301c can be raised and lowered, such that the first group of wheels 201b and 301b and / or the second group of wheels 201c and 301c can engage with the corresponding group of guide rails 110 and 111 at any given time.

[0008] Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage container 106, such as lifting the storage container 106 from and lowering it into the storage row 105. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices are detachable from the vehicles 201, 301 such that their position relative to the vehicles 201, 301 is adjustable along a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the clamping device of the container handling vehicle 301 is... Figure 3A As shown in the figure, and indicated by reference numeral 304, the clamping device of the container handling device 201 is located at... Figure 2 Inside the 301a body of the vehicle.

[0009] Traditionally, and also for the purposes of this application, Z=1 represents the uppermost layer of the storage container, that is, the layer directly below the orbital system 108; Z=2 represents the second layer below the orbital system 108; Z=3 represents the third layer, and so on. Figure 1A In the exemplary prior art disclosed herein, Z = 8 represents the bottommost layer of the storage container. Similarly, X = 1…n and Y = 1…n represent the position of each storage column 105 in the horizontal plane. Therefore, as an example, and using… Figure 1A The X, Y, Z coordinates indicated in the text are in a Cartesian coordinate system. Figure 1A The storage container denoted as 106' can be said to occupy storage positions X=10, Y=2, Z=3. Container transport vehicles 201 and 301 can be said to travel in layer Z=0, and each storage column 105 can be represented by its X and Y coordinates.

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

[0011] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage container 106 as it is transported through the track system 108. The storage space may include a cavity centrally located within the vehicle body 201a, such as... Figure 2 As shown, and as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0012] Figure 3A An alternative construction of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.

[0013] Figure 2 The central cavity container transport vehicle 201 shown may have a coverage area that is approximately equal in size to the lateral extent of the storage column 105 in the X and Y directions, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0014] Alternatively, the central cavity container transport vehicle 101 may have a coverage area larger than the lateral area defined by the storage column 105, for example, as disclosed in WO2014 / 090684A1.

[0015] The track system 108 typically includes a track with grooves into which the wheels of a vehicle are inserted. Alternatively, the track may include upwardly projecting elements, where 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 (see below). Figures 1B to 1D The so-called "dual rails" described.

[0016] WO2018146304 (the contents of which are incorporated herein by reference) shows a typical construction of a track system 108 comprising tracks and parallel guides in the X and Y directions.

[0017] In the frame structure 100, most columns 105 are storage columns 105, that is, columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may serve other purposes. Figure 1A In this context, columns 119 and 120 are dedicated columns used by container handling vehicles 201 and 301 to unload and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where they can be accessed from outside the frame structure 100, or transferred out of or into the frame structure 100. In the art, such a location is commonly referred to as a “port,” and the columns in which the ports are located may be referred to as “port columns” 119 and 120. Transport to the access station can be in any direction, i.e., horizontal, inclined, and / or vertical. For example, storage containers 106 can be placed in a random or dedicated column 105 within the frame structure 100 and then picked up and transported by any container handling vehicle to port columns 119 and 120 for further transport to the access station. It should be noted that the term “inclined” means transport of storage containers 106 with a general transport direction somewhere between horizontal and vertical.

[0018] exist Figure 1AIn the first port column 119, for example, it can be a dedicated unloading port column, in which container handling vehicles 201 and 301 can unload the storage container 106 to be transported to the storage station or transfer station, and the second port column 120 can be a dedicated picking port column, in which container handling vehicles 201 and 301 can pick up the storage container 106 that has been transported from the storage station or transfer station.

[0019] The retrieval station can typically be a pick-up station or a storage station where product items are removed from or positioned within storage container 106. At the pick-up station or storage station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but is instead returned to the frame structure 100 once retrieved. The port can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0020] Storage containers are typically transported between port columns 119, 120 and the access station using a delivery system that includes a delivery machine.

[0021] If port columns 119, 120 and access stations are located at different heights, the delivery system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

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

[0023] When access is required for a storage container 106 stored in one of the columns 105 shown in Figure 1, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation includes moving the container handling vehicle 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using the lifting device (not shown) of the container handling vehicle 201, 301, 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, the operation also includes temporarily moving the storage container located above it 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 subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have a container handling vehicle specifically designed for the task of temporarily removing storage containers from storage column 105. Once the target storage container 106 has been removed from storage column 105, the temporarily removed storage container can be repositioned back into the original storage column 105. However, the removed storage container can alternatively be repositioned to another storage column.

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

[0025] Each with a cantilever structure (such as) Figure 3A The prior art container handling vehicles disclosed herein occupy at least two grid cells on the track system, which results in at least four grid cells being occupied when two prior art container handling vehicles pass each other on adjacent grid cells.

[0026] Therefore, the object of the present invention is to provide a container transport vehicle, and an associated storage and retrieval system, wherein the number of grid cells occupied by two container transport vehicles passing each other is less than the number of grid cells in prior art solutions.

[0027] In particular, the object of the present invention is to provide a container transport vehicle with a cantilever structure that occupies fewer grid cells on the track system when passing other container transport vehicles with cantilever structures oriented in the same direction. Summary of the Invention

[0028] This invention relates to a container transport vehicle for operation on a two-dimensional track system, the two-dimensional track system comprising a first set of parallel tracks and a second set of parallel tracks. The first set of parallel tracks is arranged to guide the container transport vehicle to move in a first direction through the top of a frame structure, and the second set of parallel tracks is arranged perpendicular to the first set of tracks to guide the container transport vehicle to move in a second direction perpendicular to the first direction. The first and second sets of parallel tracks divide the track system into multiple grid cells, wherein the container transport vehicle comprises:

[0029] - A wheelbase unit, including wheelsets for guiding container transport vehicles along the track system in a first direction and a second direction;

[0030] -Main unit, including:

[0031] The lower segment is disposed on the axis spacing unit, the lower segment has a coverage area whose horizontal range is equal to or less than the horizontal range of one of the grid cells, and the lower segment has a top surface at a first height;

[0032] A support segment extending vertically from the lower segment, the support segment having a coverage area whose horizontal extent is smaller than the coverage area of ​​the lower segment; and

[0033] The cantilever section extends horizontally from the support section beyond the coverage area of ​​the lower section;

[0034] - A lifting device comprising a lifting frame suspended from a cantilever section of the main unit, wherein when the lifting frame is engaged at an upper position adjacent to the cantilever section, the lifting frame has a lowermost portion at a second height.

[0035] - Wherein, when the lifting frame is docked at its upper position, the second height of the lowest part of the lifting frame is higher than the first height of the top surface of the lower section of the main body unit.

[0036] In fact, when the lifting frame is docked at its upper position, the second height of the lowest part of the lifting frame is higher than the first height of the top surface of the lower section of the main body unit. Thus, when the first container vehicle and the second container vehicle pass each other on adjacent grid cells, the lowest part of the docked lifting frame of the first container transport vehicle can pass above the top surface of the lower section of the main body unit of the second container transport vehicle.

[0037] In this way, two container handling vehicles with the same orientation in an automated storage and retrieval system may occupy fewer grid cells when passing each other, because the cantilever section of one container handling vehicle can pass over the lower section and wheelbase cell (with a gap) of the other container handling vehicle. In other words, the cantilever section of one container handling vehicle will vertically overlap with the lower section and wheelbase cell of the other container handling vehicle it is passing. The vertical extension of the support section determines the difference between the first height and the second height. If the support section has a relatively large extension, the difference between the first height and the second height is relatively large. Similarly, if the support section has a relatively small extension, the difference between the first height and the second height is relatively small. In any case, the support section should be extended such that the two container handling vehicles can pass each other with a certain gap between the bottommost part of the lifting frame and the top surface of the lower section. This gap can be at least the same as the expected vertical movement of the lifting frame due to the acceleration and deceleration of the container handling vehicles when the lifting frame is abutting its upper position. In one example, the gap between the two container handling vehicles can range from a few millimeters to a few centimeters.

[0038] The horizontal extent of the top surface (in the X and Y directions) may be equal to or substantially equal to the horizontal extent of the cantilever section extending beyond the support section.

[0039] The wheelbase unit and the body unit can be modules that can be attached to each other. The body unit can be mounted on the upper surface of the wheelbase unit or attached to the upper surface in some other way. Alternatively, the wheelbase unit and the body unit can be formed as a single component, that is, they can form a common unit.

[0040] The wheelbase unit may be characterized by a wheel arrangement having a first set of wheels for movement along a first direction on the track system and a second set of wheels for movement along a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheelbase unit. To change the direction in which the wheelbase unit can travel on the track system, one set of wheels is connected to a wheel displacement assembly. The wheel displacement assembly is capable of raising and lowering the connected set of wheels relative to the other set of wheels, such that only the set of wheels traveling in the desired direction contacts the track system. The wheel displacement assembly is driven by an electric motor. Furthermore, two electric motors powered by a rechargeable battery can be connected to this set of wheels to move the wheelbase unit in the desired direction.

[0041] The first height can be defined as the distance from the top of the track system to the top of the top surface of the lower section when the lower section is installed on the wheelbase device.

[0042] The second height can be defined as the distance from the top of the track system to the bottom of the lifting frame.

[0043] The support section can extend beyond the height of the storage container, and the difference between the second and first heights can at least correspond to the height of the storage container plus a small gap. One advantage of this structure is that robots (i.e., container handling vehicles) can pass over each other in an overlapping manner, regardless of whether there are any, or whether there are one or two, carrying storage containers.

[0044] The lifting device may include a lifting motor and at least two lifting shafts. The at least two lifting shafts may be arranged in a cantilever section, and the lifting motor may be arranged in a lower section. The lifting motor and the at least two lifting shafts may be connected to each other via a flexible force transmission element. The force transmission element may be a belt, chain, or another relatively flexible component capable of transmitting rotational motion between the lifting motor and the lifting shafts.

[0045] The lifting device may also include a clamping device configured to releasably hold the storage container and a power source for driving the lifting device motor, such as a separate rechargeable battery or the same battery for shifting the wheels. To increase the stability of the container handling vehicle, the battery may be arranged in the lower section or wheelbase unit (or both, for example, where there is some overlap between the lower section and the wheelbase unit).

[0046] The lifting device may include a lifting device motor and at least two lifting shafts for raising and lowering the lifting device, wherein the lifting device motor and the at least two lifting shafts may be arranged in a cantilever section. The lifting device motor may include a brushless DC motor. Various types of brushless DC motors are known, including permanent magnet synchronous motors (using permanent magnets) and switched reluctance motors (not using any permanent magnets), as described in WO 2019 / 137870A1 (Applicant: Autostore Technology AS), the contents of which are incorporated herein by reference. However, the lifting device motor may also include other forms of electric motors.

[0047] The main body unit may include an S-shaped housing (e.g., S-shaped when viewed from the side of the main body unit) that connects the lower section, the support section and the cantilever section together.

[0048] In one aspect, the coverage area of ​​the lower segment of the main body unit may be displaced relative to the coverage area of ​​the wheelbase unit by substantially or equal to the wheel width. The width dimension is in the axial direction of the wheel. When the wheel of the wheelbase unit is positioned above the first guide rail (or the guide rail closest to the grid opening), for example, when a container handling vehicle is positioned to lower the lifting frame into / raise it from the storage column of the frame structure, the lower segment may be positioned to extend vertically from the outer edge of the second guide rail of the track system below the cantilever segment and from the inner edge of the first guide rail of the track system on the opposite side of the lower segment. The coverage area is defined as its external dimension when viewed in a plan view of the segment.

[0049] The lifting frame can be suspended on the lifting belt, and the lifting frame can extend horizontally and include clamping devices and corner guides. The lowest point of the corner guides can provide the lowest part of the lifting frame, so that this needs to be taken into account in terms of a first height above or above the upper surface of the lower section.

[0050] An automated storage and retrieval system is also described, comprising a two-dimensional track system including a first set of parallel tracks and a second set of parallel tracks. The first set of parallel tracks is arranged to guide container transport vehicles to move in a first direction through the top of a frame structure, and the second set of parallel tracks is arranged perpendicular to the first set of tracks to guide container transport vehicles to move in a second direction perpendicular to the first direction. The first and second sets of parallel tracks divide the track system into multiple grid cells, wherein the automated storage and retrieval system includes multiple container transport vehicles as defined above.

[0051] Two container transport vehicles in an automated storage and retrieval system can occupy a total of three grid cells as they pass each other, and the two container transport vehicles have the same orientation.

[0052] The two container transport vehicles of the automated storage and retrieval system, namely the first container transport vehicle and the second container transport vehicle, can be configured such that when the first container vehicle and the second container vehicle pass each other on adjacent grid cells, the lowermost part of the lifting frame of the docking of the first container transport vehicle can pass above the top surface of the lower section of the body unit of the second container transport vehicle. This can be achieved, for example, by configuring the horizontal extent of the top surface (in the X and Y directions) to be equal to or substantially equal to the horizontal extent (in the X and Y directions) of the cantilever section that extends horizontally beyond a portion of the support section.

[0053] The first set of tracks and / or the second set of tracks may include a single guide rail or a dual guide rail including two single guide rails, and a grid cell may be defined as the horizontal area occupied by the grid opening defined by the first set of tracks and the second set of tracks, and the area enclosed and closest to the single grid opening occupied by a single guide rail in the first set of tracks and the second set of tracks in the first and second directions.

[0054] A wheelbase element can have a coverage area equal to the horizontal range of the lower-level mesh element in the first and second directions. In other words, a wheelbase element can have a coverage area of ​​a single mesh element.

[0055] At least one container handling vehicle may carry storage containers as it passes another container handling vehicle. In one aspect, two container handling vehicles may carry (standard-sized) storage containers as they pass each other. The clearance between the two container handling vehicles can range from a few millimeters to a few centimeters.

[0056] The lowest point of the storage container during transport can be higher than the first height of the next segment.

[0057] The width of the support section in one direction can correspond to the width of one track and / or two guide rails.

[0058] The automated storage and retrieval system may also include at least one dual-container transport vehicle, which includes a first cantilever section arranged opposite to the second cantilever section. At least the first container transport vehicle may have a first orientation, at least the second container transport vehicle may have a second orientation opposite to the first orientation, and the dual-container transport vehicle, as well as the first and second container transport vehicles, may occupy a total of five grid cells when they pass each other simultaneously.

[0059] The relative terms “up,” “down,” “below,” “above,” and “higher” should be understood in their normal meaning, as they are seen in the Cartesian coordinate system.

[0060] In the following text, numerous specific details are introduced by way of example only to provide a thorough understanding of the implementation of the claimed systems and vehicles. However, those skilled in the art will recognize that these implementations can be practiced without one or more of these specific details, or using other components, systems, etc. In other instances, well-known structures or operations have not been shown or described in detail to avoid obscuring aspects of the disclosed implementations. Attached Figure Description

[0061] The following figures are provided to help understand the invention.

[0062] Figure 1A This is a perspective view of the framework structure of existing automated storage and retrieval systems;

[0063] Figures 1B to 1D This is a top view of the container handling vehicle track system, in which Figure 1B A single-rail track system is shown. Figure 1C A dual-rail track system is shown. Figure 1D A dual-track system is shown, with the width and length of the container handling vehicle grid cells indicated.

[0064] Figure 2 It is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein;

[0065] Figure 3A This is a perspective view of a prior art container handling vehicle with cantilever arms for carrying storage containers underneath;

[0066] Figure 3B and Figure 3CAn exemplary wheelbase unit for a container handling vehicle is shown;

[0067] Figure 4A This is a simplified side view of a container handling vehicle according to the present invention, which includes a wheelbase unit and a main body unit, wherein the main body unit includes a lower section, a support section and a cantilever section;

[0068] Figure 4B This is a perspective view of a container handling vehicle according to the invention, wherein the protective cover has been removed to better show the arrangement of components in the lower section, support section and cantilever section of the main body unit of the container handling vehicle;

[0069] Figure 4C yes Figure 4B Top view;

[0070] Figures 4D to 4I This is an exemplary side view showing different settings for the reverse rotation of the lifting shaft;

[0071] Figure 5 It is an example of a cantilever segment of the main unit, and indicates which parts can form part of the cantilever segment;

[0072] Figure 6A , Figure 6B and Figure 6C A different view of a first embodiment of two container transport vehicles passing each other is shown, wherein only one of the container transport vehicles can carry storage containers during the passing;

[0073] Figure 7A , Figure 7B and Figure 7C A different view of a second embodiment of two container transport vehicles passing each other is shown, wherein both container transport vehicles can carry storage containers during their passage;

[0074] Figure 7D It shows that according to Figures 7A to 7C The second embodiment of the container transport vehicle when not carrying storage containers;

[0075] Figure 8 An embodiment with a dual-container transport vehicle and two container transport vehicles is shown, the dual-container transport vehicle having two cantilever sections at its opposite ends, the two container transport vehicles having opposite orientations relative to each other, such that the three container transport vehicles occupy only five units when they pass each other.

[0076] In the accompanying drawings, unless otherwise expressly stated or understood from the context, the same reference numerals are used to indicate the same parts, elements or features. Detailed Implementation

[0077] In the following, embodiments of the invention will be discussed in more detail by way of example and with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

[0078] The framework structure 100 of the automatic storage and retrieval system 1 is based on the above combination Figures 1A to 1D The existing frame structure 100 is constructed as described above, namely, a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the frame structure 100 also includes a first upper track system 108 in the X and Y directions.

[0079] The frame structure 100 also includes storage compartments arranged in the form of storage columns 105 between the members 102 and 103, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0080] The frame structure 100 can be of any size. In particular, it should be understood that the frame structure can be compared to... Figure 1A The disclosed ones are much wider and / or much longer and / or much deeper. For example, the frame structure 100 may have a horizontal range of more than 700×700 columns and a storage depth of more than twelve containers.

[0081] like Figure 1B As shown, the track system 108 can be a single-track (also referred to as a single-guide rail) system. Alternatively, the track system 108 can be a dual-track (also referred to as a dual-guide rail) system, such as... Figure 1C As shown, this allows a container transport vehicle 201 with a coverage area roughly corresponding to the lateral area defined by the entry opening / grid column 112 to travel along a row of grid columns, even if another container transport vehicle 201 is located above a grid column adjacent to that row. Single-rail systems and dual-rail systems, or combinations of single-rail and dual-rail arrangements in a single-rail system 108, form a grid pattern in the horizontal plane P comprising a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 includes a grid opening 115 defined by a pair of rails 110a, 110b of a first set of rails 110 and a pair of rails 111a, 111b of a second set of rails 111. Figure 1C In the diagram, grid cells 122 are indicated by dashed boxes. For example, in a track-based system, an aluminum segment is a track, and on the upper surface of the track, there is a pair of guide rails through which the vehicle's wheels travel. However, these segments can be separate tracks, each with its own guide rails.

[0082] Therefore, guide rails 110a and 110b form a pair of tracks defining parallel rows of grid cells traveling in the X direction, and guide rails 111a and 111b form a pair of tracks defining parallel rows of grid cells traveling in the Y direction.

[0083] like Figure 1D As shown, each grid cell 122 has a width Wc typically within an interval of 30 to 150 cm and a length Lc typically within an interval of 50 to 200 cm. Each grid opening 115 has a width Wo and a length Lo, which are typically 2 to 10 cm smaller than the width Wc and length Lc of the grid cell 122.

[0084] In the X and Y directions, adjacent grid cells are arranged to contact each other, so that there is no space between them.

[0085] Figure 3A This is a perspective view of a prior art container handling vehicle 301, which has cantilever arms for carrying storage containers underneath.

[0086] Figure 3B and Figure 3C An exemplary wheelbase unit for a container handling vehicle 401 according to the present invention is shown. The wheelbase unit 2 is characterized by wheel arrangements 32a, 32b having a first set of wheels 32a for movement along a first direction on a track system 108 and a second set of wheels 32b for movement along a second direction perpendicular to the first direction. Each set of wheels includes two pairs of wheels arranged on opposite sides of the wheelbase unit 2. To change the direction in which the wheelbase unit can travel on the track system, one set of wheels 32b is connected to a wheel displacement assembly 7. The wheel displacement assembly is capable of raising and lowering the connected set of wheels 32b relative to the other set of wheels 32a, such that only the set of wheels traveling in the desired direction contacts the track system. The wheel displacement assembly 7 is driven by a motor 8. Furthermore, two motors 4, 4' powered by a rechargeable battery 6 are connected to the set of wheels 32a, 32b to move the wheelbase unit in the desired direction.

[0087] Further reference Figure 3B and Figure 3C The dimensions of the horizontal periphery of the wheelbase element 2 are configured to fit within the horizontal region defined by the grid element, such that two wheelbase elements 2 can pass over each other on any adjacent grid element of the track system 108. In other words, the wheelbase element 2 may have a coverage area, i.e., a range in the X and Y directions, which is generally equal to the horizontal area of ​​the grid element, i.e., the range of the grid element in the X and Y directions, for example as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference.

[0088] Figure 4A This is a simplified side view of a container handling vehicle 401 according to an embodiment of the present invention, which includes a wheelbase unit 2 and a main body unit 410, wherein the main body unit 410 includes a lower section 411, a support section 412 and a cantilever section 413.

[0089] refer to Figure 3B and Figure 4A The wheelbase unit 2 has a top panel / flange 9 (i.e., upper surface) configured as a connection interface for connection to the body unit 410 of the container handling vehicle 401. The top panel 9 has a central opening 20 and is characterized by a plurality of through holes 10 (i.e., connecting elements) adapted for bolting via corresponding through holes in the lower section 411 of the body unit 401. In other embodiments, the connecting elements of the top panel 9 may be, for example, threaded pins for interacting with the through holes in the lower section 4111. The presence of the central opening 20 is advantageous because it provides access to internal components of the wheelbase unit 2, such as the rechargeable battery 6 and the electronic control system 21.

[0090] Further reference Figure 4A The main body unit 410 is disclosed as an S-shaped shell that connects the lower section 411, the support section 412 and the cantilever section 413 together. Figure 4A The container handling vehicle 401 can be combined Figures 1A to 1D The track system 108 operates and includes a wheelbase unit 2 and a main body unit 410. The wheelbase unit 2 includes multiple sets of wheels 32a, 32b for guiding a container transport vehicle 401 along the track system 108 in a first direction X and a second direction Y. The main body unit 410 includes a lower section 411, a support section 412, and a cantilever section 413. The lower section 411 is mounted on the upper surface of the wheelbase unit 2. The horizontal extent of the coverage area of ​​the lower section 411 may be equal to or less than the horizontal extent of a grid cell 122, and its top surface is at a first height h1. That is, the first height h1 is the distance from the top of the track system 108 to the top of the top surface of the lower section 411 when the lower section is mounted on the wheelbase unit 2. The support section 412 extends vertically from the lower section 411, and the horizontal extent of its coverage area is less than the coverage area of ​​the lower section 411. The width of the support section 412 (i.e., its extent in the X direction) may be equal to the width of the lower section 411 (in the X direction). The extension of the support segment 412 in the Y direction is less than the extension of the lower segment 411 in the Y direction. Furthermore, refer to... Figure 4C When viewed from above in the plan view, the coverage area of ​​support segment 412 falls within the coverage area of ​​lower segment 411. In other words, as... Figures 4A to 4C As disclosed, the support section 412 does not extend beyond the lower section 411. The cantilever section 413 extends horizontally from the support section 412 beyond the coverage area of ​​the lower section 411 and includes a lifting device 414 suspended from the cantilever section 413. The lifting device 414 includes a lifting frame 415, which has a lowermost position at a second height h2 when it is engaged with the upper position adjacent to the cantilever section 413. Figure 4A and Figure 4B(The docking position of the lifting frame 415 is shown). That is, the second height h2 is the distance from the top of the track system 108 to the lowest point of the lifting frame 415. The lifting frame 415 is suspended from the cantilever section 413 via the lifting belt 419. The lifting frame 415 may include a clamping device 420 extending from its lower surface for connecting the lifting frame to a complementary lifting hole on the storage container 106, thereby enabling the raising and lowering of the storage container 106. In addition, the lifting frame 415 may include a guide 421 disposed in a corner of the lower surface of the lifting frame 415 to align the clamping device 420 of the lifting frame 41 with respect to the complementary lifting hole on the storage container 106. In many cases, the guide 421 or the clamping device 420 may constitute the lowest point of the lifting frame 415, such that the second height h2 is the lowest point of any of these components. However, according to the present invention, when the lifting frame 415 is engaged in its upper position, the second height h2 of the lowermost part of the lifting frame 415 is always above the first height h1 of the top surface of the lower section 411 of the main body unit 410.

[0091] By ensuring that the lowermost part of the lifting frame 415 of the first container transport vehicle 401 can pass above the top surface of the lower section 411 of the main body unit 410 of the second container transport vehicle 401 when the first container transport vehicle 401 passes over each other on adjacent grid cells 122, the first container transport vehicle 401 and the second container transport vehicle 401 can pass over each other, while occupying fewer grid cells overall than required in the prior art.

[0092] Figure 4B This is a perspective view of a container handling vehicle 401 according to an embodiment of the present invention, wherein the protective cover has been removed to better show the arrangement of components in the lower section 411, support section 412, and cantilever section 413 of the main body unit 410 constituting the container handling vehicle 401. Figure 4B In one embodiment, the lifting device 414 is disclosed as including a lifting device motor 416' and at least two lifting shafts 417', 417'". These two lifting shafts 417', 417'" are arranged in parallel within the cantilever section 413. A lifting belt 419, connected to the lifting frame 415, is wound around and unwound from the lifting shafts 417', 417'", thereby moving the lifting frame 416 and any storage container 106 carried by the lifting frame 415 up and down. Lifting shaft wheels 423', 423'" are arranged at each end of the lifting shaft 417' and operate with the lifting shaft 417' respectively. Figure 4BAs shown, the lifting motor 416' is arranged in the lower section 411. The lifting motor 416' and the two lifting shafts 417 are connected to each other via lifting shaft pulleys 423', 423" and an annular flexible force transmission element 418 running via pulley 422 to ensure that the first lifting shaft and the second lifting shaft 417 rotate simultaneously in the same direction. Any necessary power source (not shown) for supplying power to the lifting motor 416' can be arranged in the lower section 413 to obtain a favorable center of gravity when lifting heavy storage containers 106 and / or when the risk of tilting of the container handling vehicle 401 due to excessive acceleration / deceleration is reduced.

[0093] The lifting frame 415 is shown as having a guide 421 arranged in a corner on the lower surface of the lifting frame 415 to align the clamping device 420 of the lifting frame 41 with respect to a complementary lifting hole on the storage container 106.

[0094] Any necessary power source (not shown) for supplying power to the lifting device motor 416” can be arranged in the lower section 413 to obtain a favorable center of gravity in the case of lifting heavy storage containers 106 and / or in the case of reducing the risk of container handling vehicle tilting due to excessive acceleration / deceleration of container handling vehicle 401.

[0095] Figure 4C yes Figure 4B The top view shows the lower section 411, the support section 412, and the cantilever section 413.

[0096] Figures 4D to 4I These are examples of different configurations providing reverse rotation of the lifting shafts 417' and 417" . Figures 4D to 4IIn all the examples disclosed, what is common to all force transmission arrangements is the presence of a rotatable lifting device motor 416', a first lifting shaft wheel 423', and a second lifting shaft wheel 423'", each connected for rotation with a corresponding lifting shaft 417', 417'", at least one pulley 422', 422'", and a force transmission element 418 in the form of an annular belt forming a closed loop, wherein at least one of the pulleys 422', 422' is arranged within the closed loop. Furthermore, either the first lifting shaft wheel 423' or the second lifting shaft wheel 423' contacts the inner surface of the annular belt 418, and the other of the first lifting shaft wheel 423' or the second lifting shaft wheel 423' contacts the outer surface of the annular belt 418. This is achieved by arranging one of the first lifting shaft wheel 423' or the second lifting shaft wheel 423' inside the closed loop formed by the force transmission element 418, and arranging the other of the first lifting shaft wheel 423' or the second lifting shaft wheel 423' outside the closed loop formed by the force transmission element 418. The mutual arrangement of the first lifting shaft 423' and the second lifting shaft 423" (e.g., acting on opposite sides of the annular belt), the guide pulleys 422', 422" and the force transmission element 418 causes the first lifting shaft 417' and the second lifting shaft 417" (via the first lifting shaft 423' and the second lifting shaft 423"', respectively) to rotate in opposite directions (reverse rotation). The first lifting shaft 423' and the second lifting shaft 423" are preferably arranged in the same horizontal plane to ensure horizontal stability during lifting. The pulleys 422', 422" are arranged at fixed positions along the stroke of the force transmission element 418, thus providing a "change" in the direction of travel of the force transmission element 418. Each of the pulleys 422', 422" is arranged to properly guide the force transmission element 418 to the first lifting shaft pulley 423' and the second lifting shaft pulley 423" so as to allow the first lifting shaft pulley 423' and the second lifting shaft pulley 423" and thus the lifting shafts 417', 417" to rotate in opposite directions.

[0097] exist Figure 4D In one example, a pulley 422' is shown.

[0098] exist Figures 4E to 4I Among the examples, several instances of a force transmission arrangement including two pulleys 422', 422" are shown. The pulleys 422', 422" are arranged alternately along the path of the force transmission element 418, such that in both directions of travel of the force transmission element 418, the first lifting shaft pulley 423' is followed by the pulleys 422', 422" and the second lifting shaft pulley 423" is followed by the pulleys 422', 422".

[0099] exist Figure 4G , Figure 4H , Figure 4IIn one example, an example including a tensioning wheel 424 for the tensioning force transmission element 418 is disclosed. The tensioning wheel 424 may be, for example, an eccentric tensioning mechanism comprising a rotatable pulley with a shaft adjustable within an opening in a fixed support. The position of the tensioning wheel 424 along the path of the force transmission element 418 is preferably located where the path length of the force transmission element 418 may be affected (i.e., the path of the force transmission element may be shortened or lengthened to further tension or reduce the tension in the force transmission element). The tensioning wheel 424 may be arranged inside the closed loop formed by the force transmission element 418. Figure 4G and Figure 4I ) or external ( Figure 4H ).

[0100] exist Figures 4D to 4F In the example, a dedicated tensioning mechanism, such as a tensioning wheel, is not shown; however, if a tensioning mechanism is required, one of the pulleys 422' or 422" can be the tensioning mechanism and can be replaced by the tensioning wheel 424.

[0101] Figure 5 Another example of the arrangement of the lifting device 414 is that, in addition to the lifting shaft 417 and the lifting belt that can be wound onto and unwound from the lifting shafts 417', 417', the lifting device motor 416' is also arranged in the cantilever section 413 of the main unit 410. Figure 5 The lifting motor 416” is a brushless DC motor surrounding one of the lifting shafts 417' and 417”. Synchronous operation of the lifting shafts 417' and 417” can be achieved using a synchronizing element, such as in WO2019 / 137870A1 (Applicant: Autostore Technology AS). Figure 5 A to Figure 5 E and Figure 6A The force transmission element disclosed in Figure 6H is incorporated herein by reference.

[0102] Figures 6A to 6C A different view of a first embodiment of two container transport vehicles 401 passing each other is shown, wherein one of the container transport vehicles 401 is capable of carrying storage containers 106 as it passes the other container transport vehicle 401 along the same orientation. Therefore, the two container transport vehicles 401 can occupy fewer grid cells 122 as they pass each other than prior art cantilever container transport vehicles, because the cantilever segment 413 of one can pass over the lower segment 411 and wheelbase cell 2 (with gaps) of the other. During the passage, the cantilever segment 413 of one container transport vehicle will vertically overlap with the lower segment 411 and wheelbase cell 2 of the other container transport vehicle 401.

[0103] like Figures 6A to 6CAs shown, the difference between the first height h1 of the upper surface of the lower segment 411 and the second height h2 of the lowest part of the lifting frame 415 is less than the height of the storage container 106. This results in only the "front" container handling vehicle (i.e., the container handling vehicle on the left in the figure) being able to carry the storage container during transit. However, with this arrangement, the container handling vehicle occupies fewer grid cells 122 during transit compared to prior art cantilever vehicles, i.e., three grid cells 122 instead of four. Figure 6C The lower section 411 of the container handling vehicle 401 on the left and Figure 6C The gap c is shown between the bottom of the lifting frame 415 of the container handling vehicle 401 on the right.

[0104] The container transport vehicle 401 forms part of the automated storage and retrieval system 1, which includes a track system 108 on which the container transport vehicle 401 operates.

[0105] like Figure 6C As shown, the coverage area of ​​the lower segment 413 of the main body unit 410 can be shifted relative to the coverage area of ​​the wheelbase unit 2 by a width substantially or equal to that of the wheels 32a, 32b. When the wheel 32a of the wheelbase unit 2 is located above the first guide rail (or the guide rail closest to the grid opening), the lower segment 411 is positioned to extend vertically from the outer edge of the second guide rail below the cantilever segment 413 and from the inner edge of the first guide rail on the opposite side. When having with Figures 6A to 6C When two container transport vehicles 401 with the same orientation pass each other, they occupy a total of three grid cells 122.

[0106] Figures 7A to 7C A different view of a second embodiment of two container transport vehicles 401 passing each other is shown, wherein both container transport vehicles 401 can carry storage containers during their passage. The container transport vehicles 401 form part of an automated storage and retrieval system 1, on which the container transport vehicles 401 operate.

[0107] Figure 7D It shows that according to Figures 7A to 7C The second embodiment is a container transport vehicle when it does not carry storage containers. For example... Figures 7A to 7D As shown, the difference between the second height h2 and the first height h1 corresponds at least to the smaller gap c (see...). Figure 7C The height of the storage container 106.

[0108] Figure 8 An embodiment with a dual-container transport vehicle 501 is shown, the dual-container transport vehicle including a first cantilever section 513 arranged opposite to a second cantilever section 513'. Figure 8The container transport vehicle 401 in the second embodiment is a container transport vehicle (i.e., such as...) Figures 7A to 7C As disclosed above, both container handling vehicles 401 can carry storage containers during transit. The dual container handling vehicle 501 includes two as described above. Figures 4A to 4C , Figure 5 , Figures 6A to 6C and Figures 7A to 7C The aforementioned lifting device. For example... Figure 8 As shown, the first container transport vehicle 401 has a first orientation, and the second container transport vehicle 401 has a second orientation opposite to that of the first container transport vehicle 401. In the prior art configuration, the two container transport vehicles 501 and the first and second container transport vehicles 401 would occupy seven units when passing each other; however, the container transport vehicles 401 and 501 as defined herein may occupy only five units when passing each other. Figure 8 The dual-container transport vehicle 501 carries two storage containers 106, and each container transport vehicle 401 carries one storage container 106 as it passes by.

[0109] In the foregoing description, various aspects of the automatic storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. However, this specification is not intended to be interpreted in a limiting sense. Various modifications and variations to the illustrative embodiments, as well as other embodiments of the system, which will be apparent to those skilled in the art, are considered to fall within the scope of the invention.

[0110] List of reference numerals in the attached figures

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Claims

1. A container handling vehicle (401) for operation on a two-dimensional track system (108) divided into multiple grid cells (122), wherein, The container handling vehicle (401) includes: - Axle unit (2) includes wheelsets (32a, 32b) for guiding the container handling vehicle (401) along the track system (108); -Main unit (410), including: The lower segment (411) is disposed on the wheelbase unit (2), the lower segment (411) has a coverage area, the horizontal range of the coverage area is equal to or less than the horizontal range of one of the grid units (122), and the lower segment has a top surface at a first height (h1); A support segment (412) extends vertically from the lower segment (411), the support segment (412) having a coverage area whose horizontal extent is smaller than the coverage area of ​​the lower segment (411); and The cantilever section (413) extends horizontally from the support section (412) beyond the coverage area of ​​the lower section (411); - A lifting device (414) comprising a lifting frame (415) suspended from the cantilever section (413) of the main body unit (410), wherein when the lifting frame (415) is engaged in an upper position adjacent to the cantilever section (413), the lifting frame (415) has a lowermost portion at a second height (h2). When the lifting frame (415) is abutted at its upper position, the second height (h2) of the lowermost part of the lifting frame (415) is higher than the first height (h1) of the top surface of the lower section (411) of the main body unit (410).

2. The container handling vehicle (401) according to claim 1, wherein, The support segment (412) extends to a height greater than that of the storage container (106), and the difference between the second height (h2) and the first height (h1) corresponds at least to the height of the storage container (106).

3. The container handling vehicle (401) according to any one of the preceding claims, wherein, The lifting device (414) includes a lifting device motor (416') and at least two lifting shafts (417), wherein the at least two lifting shafts (417) are arranged in the cantilever section (413), the lifting device motor (416') is arranged in the lower section (411), and wherein the lifting device motor (416') and the at least two lifting shafts (417) are connected to each other via a flexible force transmission element (418).

4. The container handling vehicle (401) according to claim 1 or 2, wherein, The lifting device (414) includes a lifting device motor (416”) and at least two lifting shafts (417) for raising and lowering the lifting device (414), wherein the lifting device motor (416”) and the at least two lifting shafts (417) are arranged in the cantilever section (413).

5. The container handling vehicle (401) according to any one of the preceding claims, wherein, The main body unit (410) includes an S-shaped housing that connects the lower section (411), the support section (412), and the cantilever section (413) together.

6. The container handling vehicle (401) according to any one of the preceding claims, wherein, The coverage area of ​​the lower segment (413) of the main body unit (410) is shifted relative to the coverage area of ​​the wheelbase unit (2) by substantially or equal to the width of the wheel (32a, 32b).

7. The container handling vehicle (401) according to any one of the preceding claims, wherein, The lifting frame (415) is suspended on the lifting belt (419), and wherein the lifting frame (415) extends horizontally and includes a clamping device (420) and a corner guide (420), wherein the lowest point of the corner guide (420) provides the lowermost part of the lifting frame (415).

8. An automated storage and retrieval system comprising a two-dimensional track system (108) divided into multiple grid cells (122), wherein, The automated storage and retrieval system includes a plurality of container handling vehicles (401) according to any one of the preceding claims.

9. The automatic storage and retrieval system according to claim 8, wherein, Two container transport vehicles (401) with the same orientation occupy three grid cells (122) as they pass each other.

10. The automatic storage and retrieval system according to claim 9, wherein, The two container transport vehicles (401) are configured such that when the first container vehicle and the second container vehicle pass each other on adjacent grid cells (122), the lowermost part of the lifting frame of the docking of the first container transport vehicle can pass above the top surface of the lower section of the body cell of the second container transport vehicle.

11. The automatic storage and retrieval system according to claim 8, 9 or 10, wherein, The two-dimensional track system includes a first set of parallel tracks (110) and a second set of parallel tracks (111), wherein the first set of tracks (110) and / or the second set of tracks (111) includes a single guide rail, or a double guide rail including two guide rails, and wherein the grid cell (122) is defined as: a horizontal area occupied by a grid opening (115) defined by the first set of tracks and the second set of tracks (110, 111); and an area occupied by a single guide rail of the first set of tracks and the second set of tracks that surrounds a single grid opening (115) in a first direction and a second direction (X, Y) and is arranged to be closest to the single grid opening.

12. The container handling vehicle (401) according to any one of claims 8 to 11, wherein, The axial spacing unit (2) has a coverage area equal to the horizontal range of the grid unit (122) in the first direction and the second direction (X, Y).

13. The automatic storage and retrieval system according to any one of claims 8 to 12, wherein, At least one of the container handling vehicles (401) is capable of carrying storage containers (106) while passing another container handling vehicle (401).

14. The automatic storage and retrieval system according to claim 13, wherein, The lowest point of the storage container (106) when it is being transported is higher than the first height (h1) of the lower section (411).

15. The automatic storage and retrieval system according to any one of claims 8 to 14, wherein, The width of the support section (412) in one direction corresponds to the width of the track and / or the two guide rails (110, 111).

16. The automated storage and retrieval system according to any one of claims 8 to 15 further includes at least one dual-container transport vehicle (501), the at least one dual-container transport vehicle including a first cantilever section (513”) arranged opposite to the second cantilever section (513').

17. The automatic storage and retrieval system according to claim 16, wherein, At least a first container transport vehicle (401) has a first orientation, and at least a second container transport vehicle (401) has a second orientation opposite to the first orientation, wherein the dual container transport vehicle (501) and the first container transport vehicle and the second container transport vehicle (401) occupy five grid cells when they pass each other simultaneously.

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