Wheel assembly for container handling vehicle

Abstract

A wheel assembly for a container handling vehicle, comprising: an outer wheel element (50) configured to be received in a guide rail recess; and a pulley (34) for the drive belt (11), in which a width (W2) of the wheel assembly (30) in the axial direction is equal to or less than a width (W3) of the guide rail (17) of the guide rail recess.

Description

Technical Field

[0001] This invention relates to a wheel assembly for a storage system for storing containers. Background Technology

[0002] Figure 1 A prior art automated storage and retrieval system 1 (i.e., storage system) with a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201, 301, and 401 suitable for operation on such a system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 can typically 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., a track grid) arranged across the top of the frame structure 100, through which multiple container handling vehicles 201, 301, and 401 can operate to raise storage containers 106 from storage columns 105 and lower storage containers 106 into the storage columns, and also transport storage containers 106 above the storage columns 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, and 401 in a first direction. X The upper transverse frame structure 100 moves across its top; and a second set of parallel tracks 111 are arranged perpendicular to the first set of tracks 110 to guide container transport vehicles 201, 301, and 401 in a direction perpendicular to the first direction. X Second direction Y The containers 106 stored in column 105 are accessed by container transport vehicles 201, 301, and 401 through access openings 112 in the track system 108. The container transport vehicles 201, 301, and 401 can move laterally above the storage column 105, that is, parallel to the horizontal. XY Move laterally within the plane of the plane.

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

[0006] Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a and a wheel assembly, the wheel assembly having a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, these sets of wheels enable the container handling vehicles 201, 301, 401 to respectively... X direction and Y Move laterally in the direction. Figure 2 , Figure 3 and Figure 4 In this configuration, two wheels in each group are fully visible. The first group of wheels 201b, 301b, and 401b are arranged to engage with two adjacent tracks in the first group of tracks 110, and the second group of wheels 201c, 301c, and 401c are arranged to engage with two adjacent tracks in the second group of tracks 111. At least one group of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered, such that the first group of wheels 201b, 301b, and 401b and / or the second group of wheels 201c, 301c, and 401c can engage with the corresponding set of tracks 110 and 111 at any time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device 404 (i.e., a container lifting device) for vertically transporting the storage container 106, see [link to previous document]. Figure 4 For example, raising storage container 106 from storage column 105 and lowering storage container 106 into storage column. Lifting device 404 has 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 storage container 106 (see...). Figure 5 The guide pin 4 is arranged to interact with the guide pin recess 7 located at the corner of the storage container, ensuring proper alignment of the lifting frame 2 and the container connector 3 relative to the storage container. The guide pin 4 also assists in guiding the lifting frame 2 relative to the upright members of the storage column 105. The lifting frame 2 can be lowered from vehicles 201, 301, 401, allowing it to be lowered in the first direction. X Second direction Y Orthogonal third direction Z Adjust the position of the lifting frame 2 relative to vehicles 201, 301, and 401. Figure 2 In the container handling vehicle 201, the lifting device is located inside 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 from the belt drive assembly by a lifting belt 5. In the belt drive assembly, the lifting belt is typically wound on / unwound from at least one rotating lifting shaft or reel arranged in the container handling vehicle. 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 this application, Z =1 indicates the topmost layer below the orbital system 108 used for storing storage containers (i.e., the layer immediately below the orbital system 108). Z =2 indicates the second layer below track system 108. Z =3 indicates the third layer, and so on. In Figure 1 In the exemplary prior art disclosed herein, Z =8 indicates the bottom layer of the storage container. Similarly, X =1…… n and Y =1…… n This identifies the position of each stored column 105 in the horizontal plane. Therefore, as an example, and using... Figure 1 The Cartesian coordinate system represented X , Y , Z It can be considered that in Figure 1 The storage container marked 106' occupies the storage space. X =17, Y =1, Z=6. It can be said that container handling vehicles 201, 301, and 401 are... Z Proceeding through layers of 0, and each storage column 105 can be accessed through its... X coordinates and Y Coordinates are used for identification. Therefore, Figure 1 The storage container shown extending above the orbital system 108 is also referred to as being arranged in the layer at Z=0.

[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 called storage cells. Each storage column can be composed of... X direction and Y The location is used to identify the storage unit, and each storage unit can be identified by its orientation. X direction, Y direction and Z The container is identified by its directional container number.

[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 it across the track system 108. The storage space may include a cavity internally arranged within the vehicle body 201a, such as... Figure 2 and Figure 4 As shown, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

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

[0013] Figure 2 The cavity container handling vehicle 201 shown may have a floor area covering a region whose dimensions in the X and Y directions are generally equal to the lateral extent of the storage column 105, 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 cavity container transport vehicle 401 can have, for example... Figure 1 and Figure 4 The large footprint of the horizontal region defined by storage column 105 is shown, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0015] The track system 108 typically includes a track with grooves / rails in which the vehicle's wheels travel. Each track may include one rail, or each track may include two parallel rails, i.e., a double-rail track.

[0016] exist Figure 6a / Figure 6b It shows Figure 3 The prior art container handling vehicle shown has dual guide rails 110 and 111 and a wheel assembly. The wheel assembly includes a rim 8, a tire 9 molded onto the rim 8, and a pulley 10 for a drive belt 11.

[0017] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) illustrates a common configuration of orbital system 108, which includes X direction and Y The tracks in the direction and the parallel guide rails form a track grid.

[0018] In the frame structure 100, most columns 105 are storage columns 105, that is, columns 105 in which storage containers 106 are stored in a stack 107. However, some columns 105 may serve other purposes. Figure 1 In this context, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, enabling the transport of storage containers to retrieval stations (not shown) where they can be accessed from outside the frame structure 100 or moved from or into the frame structure 100. Such locations are commonly referred to in the art as “ports,” and the columns containing the ports may be referred to as “port columns” 119 and 120. Transport to the retrieval station can be carried out in any direction (i.e., horizontal, inclined, and / or vertical). For example, storage containers 106 can be placed in random or dedicated columns 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to port columns 119 and 120 for further transport to the retrieval station. Note that the term “inclined” refers to the transport of storage containers 106 with a general transport orientation in one of the directions between horizontal and vertical.

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

[0020] The storage and retrieval station is typically a pick-up station or a stocking station where product items are removed from or positioned into storage container 106. At the pick-up station or stocking station, storage container 106 is not typically removed from the automated storage and retrieval system 1, but rather returned to the frame structure 100 after retrieval. 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.

[0021] Storage containers are typically transported between port lines 119 and 120 and the access station using a transport system that includes a transmitter.

[0022] If port columns 119, 120 and access stations are located at different levels, the transport system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0023] A transport system can be arranged to transfer storage containers 106 between different frame structures, such as as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference. The transport system in WO2014 / 075937A1 is a storage container lift arranged to transport storage containers between two vertically separated frame structures 100. A potential disadvantage of the storage container lift is that it is a potential single point of failure, and repairing a defective storage container lift can be time-consuming.

[0024] When you need to access the stored Figure 1 When a storage container 106 is in one of the multiple storage columns 105 disclosed herein, one of the multiple container handling vehicles 201, 301, 401 is instructed to remove the target storage container 106 from its location and transport it 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; removing the storage container 106 from the storage column 105 using the lifting device 404 of the container handling vehicles 201, 301, 401; 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 located above the target storage container 106, the operation also involves: temporarily moving the storage container located above the target storage container 106 before lifting it 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 container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. Once the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, alternatively, the removed storage container 106 can be repositioned to another storage column 105.

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

[0026] In order to monitor and control the storage system 1, such as monitoring and controlling the position of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container transport vehicles 201, 301, 401, so that the desired storage containers 106 can be transported to the desired location at the desired time without causing the container transport vehicles 201, 301, 401 to collide 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. Summary of the Invention

[0027] This invention is defined by the appended claims and the following: In a first aspect, the present invention provides a storage system for storing containers, the storage system comprising a frame structure and a container transport vehicle, wherein the frame structure includes a track grid having a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks, wherein the container transport vehicle includes two sets of wheels that can move along the track grid in two perpendicular directions via the two sets of wheels, at least one of the wheels being formed by a wheel assembly, wherein the wheel assembly includes an outer wheel element and a pulley for a drive belt, wherein each track in the first set of tracks has two sidewalls whose outer edges define the width of the track and includes two parallel guide rails, each guide rail for guiding one of the wheels in the set of wheels, and wherein the width of the wheel assembly in the axial direction is equal to or less than the width of the guide rail of the track.

[0028] This setup allows the drive belt to be positioned outside the vehicle body of the container handling vehicle. This increases the internal installation space within the vehicle body and allows for component repositioning, improving the vehicle's dynamic characteristics, such as center of gravity position. Additionally, rolling mass can be reduced. Using an external belt simplifies drive belt maintenance and / or replacement, as it eliminates the need to remove vehicle sidewalls or other components to access the drive belt.

[0029] Each guide rail can be defined by two opposing guide rail walls and a maximum guide rail width, the two opposing guide rail walls being arranged to define the path of the wheels of a vehicle traveling along the guide rail. The maximum guide rail width is the maximum gap width between the guide rail walls. The width of the outer wheel element of the wheel assembly can be equal to or less than half the maximum guide rail width. Therefore, the width of the outer wheel element can be approximately half the width of a typical wheel for a storage container transport vehicle. The remaining axial dimension of the wheel assembly can be used for pulleys.

[0030] The outer wheel element of the wheel assembly may include a sloping side for guidance by a corresponding sloping portion of one of a plurality of guide walls. Therefore, the radially outer portion of the outer wheel element is chamfered, wherein the chamfer engages with the sloping portion of the guide wall to guide the outer wheel element. This facilitates providing self-steering capability to the outer wheel element. It should be understood that wheels or outer wheel elements on opposite sides of the vehicle may have the same sloping portion or chamfer, but in a mirror-reversed manner. Thus, opposite wheels may be a pair, their outer or inner edges guided by guide walls on opposite sides of the vehicle.

[0031] In one embodiment, the wheel assembly does not extend beyond the sidewalls of the track in the axial direction. Therefore, the wheel assembly does not intersect or intersect with the vertical protrusions of either of the two opposite sidewalls of the track; that is, the wheel assembly does not extend beyond the vertical planes arranged on opposite sides of the track.

[0032] The track grid can define multiple access openings, and when a container transport vehicle is running on the track grid, the wheel assembly does not extend beyond the inner perimeter of any of the access openings. Therefore, when the container transport vehicle is located in the grid space adjacent to an access opening, the wheel assembly does not overhang the access opening. In this context, the term "inner" refers to the horizontal inner perimeter, i.e., the lateral or axial direction as viewed from the axial extension of the wheel assembly.

[0033] The outer wheel element of a wheel assembly may include a rim and a tire disposed on or molded on the rim.

[0034] The rim and pulley can be parts of a single wheel component. Therefore, the rim and pulley can be manufactured as a single piece.

[0035] However, the pulley may have teeth or ribs (as an alternative), which extend axially and are configured to partially engage with complementary grooves in the inner circumference of the toothed ring forming the rim. The pulley may have a width corresponding to the width of the wheel assembly, and the rim may have a width corresponding to the width of the outer wheel element. The outer wheel element is thus mounted on the teeth of the pulley, while the axial portion of the pulley that does not engage with the rim is used to engage with the belt. Therefore, in this respect, the term "pulley" refers to a component having the dual function of transmitting torque to the outer wheel assembly and to the belt. These two portions of the pulley form a single coaxial component with teeth that can serve two purposes: engaging the belt and engaging the tire.

[0036] The wheel assembly can be mounted on the hub of the container handling vehicle via a pair of bearings.

[0037] Container handling vehicles may include a drive belt for rotating pulleys, the drive belt being arranged within the width of the wheel assembly.

[0038] In an embodiment of the storage system, the container transport vehicle may include a wheel assembly having a first set of wheels and a second set of wheels, which enable the container transport vehicle to move in two perpendicular directions on a track system. The first set of wheels may be arranged to engage with a first set of parallel tracks of the track system, and the second set of wheels may be arranged to engage with a second set of parallel tracks of the track system. At least one set of wheels may be raised and lowered relative to the other sets of wheels, such that the first set of wheels and / or the second set of wheels may engage with the corresponding set of tracks at any time.

[0039] The container handling vehicle may include a first set of wheels and a second set of wheels, wherein at least one set of wheels can be raised and lowered relative to the other set of wheels, such that the first set of wheels and the second set of wheels can engage with a corresponding set of tracks, and wherein at least one set of wheels includes four wheel assemblies, with two wheel assemblies arranged on each of two opposite sides of the vehicle.

[0040] The pulleys of two wheel assemblies located on the same side of the vehicle can be interconnected by a single belt. This belt can be a drive pulley. The belt can be at least partially wound around a drive pulley connected to a motor. The motor can be located inside the vehicle body, while the drive pulley can preferably be located on the outside of the vehicle body.

[0041] In one implementation, each wheel may be formed from a wheel assembly.

[0042] The pulley of the wheel assembly can be arranged axially further inward than the outer wheel element. Therefore, the pulley, and thus the belt, is positioned between the outer wheel element and the vehicle body. This protects the belt and increases the distance between the two wheels on the shared axle, improving the vehicle's dynamic characteristics.

[0043] However, as an alternative, the pulley of the wheel assembly can be arranged further out than the outer wheel element. This improves the accessibility of the belt.

[0044] The framework structure of the storage system can define multiple storage columns, in which storage containers are arranged vertically, one on top of another.

[0045] Container handling vehicles can be arranged above storage columns on a track system that allows them to move in two vertical directions.

[0046] The track system can be arranged on top of and supported by the vertical column profile defining the storage column. The track system may include: a first set of parallel tracks arranged to guide the container handling vehicle to move across the top of the frame structure in a first direction; and a second set of parallel tracks arranged perpendicular to the first set of parallel tracks to guide the container handling vehicle to move in a second direction perpendicular to the first direction.

[0047] Container handling vehicles may include a vertically movable lifting frame for lifting storage containers from storage columns.

[0048] In an implementation of the storage system, the lifting frame may be configured to be releasably connected to the upper part of the storage container. The lifting frame may include a clamp configured to be releasably connected to a connector recess disposed in the upper edge of the storage container.

[0049] In a second aspect, the present invention provides a container transport vehicle comprising two sets of wheels, the container transport vehicle being able to move along two perpendicular directions on a track grid of a storage system via the two sets of wheels, at least one of the wheels being formed by a wheel assembly, wherein the wheel assembly includes an outer wheel element and a pulley for a drive belt, wherein the width of the wheel assembly in the axial direction is equal to or less than the width of the track of the track grid, and wherein the wheel assembly is arranged on the outside of the vehicle body.

[0050] Referring to the above-described implementation of the storage system, several features of the container transport vehicle have been mentioned and explained, and these features relate only to the container transport vehicle. Attached Figure Description

[0051] The embodiments of the present invention are described in detail with reference to the following figures: Figure 1This is a three-dimensional diagram of the framework structure of an existing automated storage and retrieval system.

[0052] Figure 2 This is a perspective view of a prior art container handling vehicle having a centrally located cavity for carrying storage containers therein.

[0053] Figure 3 This is a perspective view of a prior art container handling vehicle having a cantilever section for supporting storage containers below.

[0054] Figure 4 This is a perspective view of a prior art container handling vehicle, showing the container lifting assembly.

[0055] Figure 5 Is it as in Figure 1 A three-dimensional diagram of the storage containers used in the storage system.

[0056] Figure 6a and Figure 6b A prior art wheel assembly is shown.

[0057] Figure 7a and Figure 7b A cross-sectional view of a wheel assembly according to the present invention is shown.

[0058] Figure 8 An exploded view of the wheel assembly according to the present invention is shown.

[0059] Figure 9 The components of the wheel assembly according to the invention and the double guide rails are shown in a two-dimensional view.

[0060] Figure 10 A perspective view shows the wheel assembly according to the invention on the pulley and belt.

[0061] Figure 11 The load-carrying vehicle is shown in a perspective view and in detail in a side view.

[0062] Figure 12 The load-carrying vehicle is shown in a perspective view and in detail in a side view. Detailed Implementation

[0063] In summary, the wheel assembly for a container handling vehicle includes: an outer wheel element (50) configured to be received in a guide rail recess; and a pulley (34) for a drive belt (11), wherein the wheel assembly (30) has a width (W2) in the axial direction that is equal to or less than the width (W3) of the guide rail (17) of the guide rail recess. This provides an improved wheel assembly for a container handling vehicle operating on a track grid in a storage system. Specifically, the drive belt, due to its thin outer profile, can be positioned outside the container vehicle, thus providing additional flexibility for positioning other components.

[0064] In the following discussion, embodiments of the invention will be described in more detail with reference to the accompanying drawings. The drawings are not intended to limit the invention to the subject matter shown.

[0065] As discussed above, Figure 6a and Figure 6b The diagram illustrates a prior art wheel assembly. The wheel assembly is arranged on one of two guide rails 110, 111, each having two parallel guide rails 17. The wheel assembly includes a rim 8 on which a tire 9 is molded. The tire 9 contacts one of the guide rails 17. A pulley 10 is arranged and connected to the rim 8 on the side of the rim 8 opposite to the guide rails 110, 111. The rim 8 and the pulley 10 are concentric, and the pulley 10 transmits rotation to the rim 8.

[0066] The pulley 10 has a series of teeth or ribs that engage with correspondingly shaped teeth or grooves of the drive belt 11. The width of the wheel assembly, i.e., the overall axial dimension of the combination of the rim 8 and the pulley 10, can be substantially equal to or greater than the width W1 of the tracks 110, 111. The pulley 10 can be arranged inside the vehicle body 6, while the rim 8 can be arranged outside the vehicle body 6. Therefore, the plane of the side wall of the vehicle body 6 can extend between the drive rim 8 and the pulley 10.

[0067] In Figure 7 to Figure 12 The image shows a container handling vehicle used in a storage system for storing containers.

[0068] like Figure 7a and Figure 7b As shown, the wheel assembly 30 has a rim 31 with a first axial section 32 and a second axial section 33, which are directly adjacent to each other, meaning they are axially adjacent and coaxial. The outer diameter of the first axial section 32 is slightly larger than the outer diameter of the second axial section 33. The tire 9 is molded onto the first axial section 31 of the rim 31. The first axial section 32 and the tire 9 together form the outer wheel element 50.

[0069] The pulley 34 is formed on the second axial section 33. The wheel assembly 30 has a width W2 in the axial direction, which is equal to or less than half the width W1 of the tracks 110, 111.

[0070] The rim 31 holds two ball bearings 35 and 36, or ball bearing races, which are spaced apart in the axial direction and do not extend beyond the rim 31. The pulley 34 contacts the drive belt 11. When the drive belt 11 is driven, the rim 31 is driven to move the vehicle along the corresponding guide rails 17 of the tracks 110, 111.

[0071] The first axial segment 32 and the second axial segment 33 can be formed in the rim 31, which can be formed as a single component. However, the two segments 32 and 33 can be formed in separate components that are joined together to form at least a portion of the rim 31.

[0072] Therefore, the wheel assembly 30 is a component that can be assembled to the end of the axle together with ball bearings 35, 36 or the like for rolling along the guide rails 17 of the tracks 110, 111, wherein the wheel assembly 30 also has an integral pulley 34 for providing driving force. The wheel portion (i.e., the first axial section 32) and the drive portion (i.e., the second axial section 33) may involve different, non-overlapping sections of the rim surface.

[0073] The tire 9 or outer wheel element 50 has a width W4, which is equal to or less than half the maximum guide width W3. Therefore, the pulley 34 can have a width of at least half the maximum guide width W3.

[0074] The tire 9 has an inclined side 37 on the axially outer side of the wheel assembly 30, that is, on the side of the tire 9 opposite to the vehicle body, or on... Figure 7a On the left side of the vehicle 30, the inclined side forms an angle of approximately 10° with the vertical plane. The inclined side 37 is guided by an inclined portion of the guide wall 18 of a complementary shape to follow the guide rail 17. On the opposite side of the vehicle 30, the same wheel assembly 30 is provided, but arranged in a mirror-reversed manner. The tire 9 on the opposite side preferably also has an inclined side 37 on the side of the tire 9 facing away from the vehicle body, and is guided in the same manner by the inclined portion of the guide wall 18. The side of the tire 9 facing the vehicle body does not require an inclined portion, and exemplarily terminates with a vertical extension of the tread and a rounded edge.

[0075] Figure 8 The wheel assembly 30 in a disassembled state is shown. It is evident that the first axial section 32 is formed by a rim 38 on which the tire 9 is molded. On the radially inner side, the rim 38 has a plurality of grooves 39 that complement the teeth or ribs 40 of the pulley 34.

[0076] The pulley 34 extends axially by a width W2 and is configured to fit into the rim 38, wherein teeth or ribs 40 engage with grooves 39. Due to the difference in axial extension distance between the pulley 34 and the rim 38, half the length of the teeth 40 remains outside the rim 38 and can be accessed from the outside by the belt 11. Therefore, the teeth or ribs 40 have a dual function of engaging with the belt 11 and transmitting torque to the rim 38 and thus to the tire 9. This simplifies the manufacturing of the wheel assembly 30.

[0077] exist Figure 8 On the right-hand side, bearings 35 and 36 are shown, which can be placed in the complementary-shaped recesses 41 and 42 of the pulley 34. A shaft, not shown herein, can be inserted into bearings 35 and 36 to support the wheel assembly 30 on the shaft.

[0078] Figure 9 A front view of the various components of the wheel assembly 30 and the dual guide rails 110, 111 is shown. It is evident that the pulley 34 has a width W2, which is, exemplarily, twice the width W4 of the tire 9. On the right-hand side of the pulley 34, a collar 41 extends radially from the pulley 34 to prevent the belt 11 from slipping off the pulley 34 during operation. Figure 9 On the right-hand side, a simplified illustration of a hub 51 is shown, on which bearings 35 and 36 may be arranged. In the context of the invention, it is apparent that the hub 51 extends from the inside of the vehicle through the vehicle body to the outside of the vehicle to hold bearings 35 and 36, thereby supporting pulley 34 and outer wheel element 50.

[0079] exist Figure 10 The diagram shows a belt 11 arranged on a pulley 34 between a rim 38 and a collar 41. It can be seen that both the rim 38 and the collar 41 extend further in the radial direction than the belt 11. Therefore, the belt 11 is reliably guided to remain within the channel, groove, or channel formed by the collar 41 and the rim 38.

[0080] exist Figure 11 The container handling vehicle 42 is shown in perspective view. A lateral side 44 is visible, where two wheel assemblies 30 are arranged. The two wheel assemblies 30 are driven by a common belt 11, which in turn is driven by a drive pulley 45. The drive pulley 45 is driven by a motor (not shown in detail) located inside the vehicle body 43. The drive pulley 45 extends from the vehicle body 43 to the lateral side 44. The belt 11 is wound around the two pulleys 34 of the two wheel assemblies 30. The belt 11 is deflected at two deflection points 46, for example by rollers or pins (not shown in detail).

[0081] exist Figure 11On the left side, a front view of the wheel assembly 30 and drive pulley 45 is shown. The wheel assembly 30, with a belt 11 wound around the pulley 34, is significantly narrower than that in the prior art, allowing the vehicle body 43 to extend to the tracks 110, 111, while still allowing the belt 11 to be arranged on the outside of the vehicle 42.

[0082] exist Figure 12 The image shows a vehicle 48, which includes a wheel assembly 47. The wheel assembly 47 differs from the previously shown wheel assembly 30 in that the pulley 34 is arranged in an axially outer position, and the outer wheel element 50 is arranged in an axially inner position. The individual elements may be identical to those of wheel assembly 30, but wheel assembly 47 is attached in a mirror-reversed manner. This means that the tire 9 has a sloping side 37 located axially inside the outer wheel element 50. The vehicle 48 will therefore be guided along guides by sloping portions of the nearest guide wall 18 of a pair of nearest guides extending along opposite sides of the vehicle 48.

[0083] The belt 11 connecting the wheel assembly 47 thus extends outside the outer wheel element 50, that is, outside the tire 9, which further simplifies the replacement or inspection of the belt 11.

[0084] Examples of this disclosure are set forth in the following numbered clauses: 1. A storage system (1) for storing containers (106), the storage system comprising a frame structure (100) and container handling vehicles (42, 48).

[0085] The frame structure includes a track grid (108) having a first set of parallel tracks (110) and a second set of parallel tracks (111) arranged perpendicular to the first set of tracks (110). The container handling vehicles (42, 48) include two sets of wheels (30), which allow the containers (42, 48) to move along two perpendicular directions on the track grid (108). At least one of the wheels (30) is formed by a wheel assembly (30). The wheel assembly (30) includes an outer wheel element (50) and a pulley (34) for the drive belt (11). Each track (110, 111) in the first set of tracks has two sidewalls (12), the outer edges of which define the width (W1) of the track, and includes two parallel guide rails (17), each guide rail for guiding one of the wheels (30) in a set of wheels (30). The width (W2) of the wheel assembly (30) in the axial direction is equal to or less than the width (W3) of the guide rail (17) of the track (110, 111).

[0086] 2. The storage system pursuant to Clause 1, Each guide rail (17) is defined by two opposing guide rail walls (18) and a maximum guide rail width (W3). The two opposing guide rail walls are arranged to define the path of the wheels (30) of a vehicle (42, 48) traveling along the guide rail. The maximum guide rail width is the maximum gap width between the guide rail walls (18). Among them, the width (W4) of the outer wheel element (50) of the wheel assembly (30) is equal to or less than half of the maximum guide rail width (W3) of the guide rail (17).

[0087] 3. The storage system (1) according to Clause 2, wherein the outer wheel element (50) of the wheel assembly (30) includes an inclined side (37) for being guided by a corresponding inclined portion of one of the plurality of guide walls (18).

[0088] 4. The storage system (1) according to any of the preceding clauses, wherein the wheel assembly (30) does not extend beyond the sidewall (12) of the track (110, 111) in the axial direction.

[0089] 5. A storage system (1) according to any of the preceding clauses, wherein a track grid (108) defines a plurality of access openings (112), and when a container transport vehicle (42, 48) is running on the track grid (108), a wheel assembly (30) does not extend beyond the inner periphery of any of the access openings (112).

[0090] 6. The storage system (1) according to any of the preceding clauses, wherein the outer wheel element (50) of the wheel assembly (30) includes a rim (8) and a tire (9) disposed or molded on the rim (8).

[0091] 7. Storage system (1) pursuant to Clause 6 Among them, the rim (8) and pulley (10) are parts of a single wheel component.

[0092] 8. Storage system (1) pursuant to Clause 6 The pulley (34) has teeth or ribs (40) that extend in the axial direction and are configured to partially engage with complementary grooves (39) in the inner circumference of the rim (38) forming the rim (31). The pulley (34) has a width corresponding to the width (W2) of the wheel assembly (30), and The wheel rim (38) has a width corresponding to the width (W4) of the outer wheel element (50).

[0093] 9. The storage system (1) pursuant to any of the foregoing clauses. The wheel assembly (30) is mounted on the wheel hub (51) of the container handling vehicle (42, 48) via a pair of bearings (35, 36).

[0094] 10. The storage system (1) pursuant to any of the foregoing clauses. The container handling vehicle (42, 48) includes a drive belt (11) for rotating the pulley (10), which is arranged within the width (W2) of the wheel assembly (30).

[0095] 11. The storage system (1) pursuant to any of the foregoing clauses. Among them, the container handling vehicle (42, 48) includes a first set of wheels (30) and a second set of wheels (30). Among them, at least one set of wheels (30) can be raised and lowered relative to the other set of wheels (30), so that the first set of wheels (30) and the second set of wheels (30) can engage with the corresponding set of tracks (110, 111), and At least one of the two sets of wheels (30) includes four wheel assemblies (30), and the two wheel assemblies (30) are arranged on each of the two opposite sides of the vehicle (42, 48).

[0096] 12. Storage system (1) pursuant to Clause 11 In this configuration, the pulleys (34) of two wheel assemblies (30) arranged on the same side of the vehicle (42, 48) are interconnected by a single belt (11).

[0097] 13. The storage system (1) pursuant to any of the foregoing clauses. Each wheel (30) is formed by a wheel assembly (30).

[0098] 14. The storage system (1) pursuant to any of the foregoing clauses. The pulley (34) of the wheel assembly (30) is arranged to be more axially inward than the outer wheel element (50).

[0099] 15. The storage system (1) according to any of the foregoing clauses. In this case, the pulley (34) of the wheel assembly (47) is arranged further out than the outer wheel element (50).

[0100] 16. A container handling vehicle (42, 48) for a storage system for storing containers. The container handling vehicle (42, 48) includes two sets of wheels, which can move along two perpendicular directions on the track grid of the storage system via the two sets of wheels. At least one of the wheels (30) is formed by a wheel assembly (30). The wheel assembly (30) includes an outer wheel element (50) and a pulley (34) for the drive belt (11). Wherein, the width (W2) of the wheel assembly (30) in the axial direction is equal to or less than the width of the guide rail of the track grid, and The wheel assembly (30) is located on the outside of the vehicle body (45).

[0101] List of reference numerals

[0102] 1. Existing automated storage and retrieval systems

[0103] 2. Lifting frame, Type 1 lifting frame

[0104] 3. Container connectors, clamps

[0105] 4. Guide pin

[0106] 5. Lifting belt

[0107] 6. Vehicle body

[0108] 7. Guide pin recess

[0109] 8 rims

[0110] 9 Molded tires

[0111] 10 Pulleys

[0112] 11. Transmission belt

[0113] 12 sidewalls

[0114] 13 Connector recess

[0115] 14. Side walls of storage containers

[0116] 15. Lower bottom surface of the lifting frame

[0117] 16. Top edge of the storage container

[0118] 17 guide rails

[0119] 18 guide rail wall

[0120] 30 Wheel assemblies

[0121] 31 Wheel rims

[0122] 32 First Axial Section

[0123] 33 Second Axial Section

[0124] 34 Pulleys

[0125] 35 bearing

[0126] 36 bearings

[0127] 37. Sloping side

[0128] 38-inch wheels

[0129] 39 Grooves

[0130] 40 teeth / ribs

[0131] 41 recess

[0132] 42 Container handling vehicles

[0133] 43 Vehicle body

[0134] 44 Lateral side

[0135] 45 Drive pulley

[0136] 46 Deflection Point

[0137] 47 Wheel assembly

[0138] 48 vehicles

[0139] 50 Outer wheel components

[0140] 51 Wheel

[0141] 100, 100' First frame structure, second frame structure

[0142] 102. Upright members of a frame structure

[0143] 103 Horizontal members of frame structures

[0144] 104 Storage Grid

[0145] 105 Storage Columns

[0146] 106 Storage Containers

[0147] 106' Specific location of the storage container

[0148] 107 Stacking

[0149] 108 orbital system

[0150] 110 Parallel orbits in the first direction (X)

[0151] 110a First track in the first direction (X)

[0152] 110b Second orbit in the first direction (X)

[0153] 111 Parallel track in the second direction (Y)

[0154] 111a First track in the second direction (Y)

[0155] 111b Second track in the second direction (Y)

[0156] 112 Access opening, storage column

[0157] 113 Access opening, buffer column

[0158] 119 First Port Column

[0159] 120 Second Port Column

[0160] 201 Container handling vehicles of the prior art

[0161] 201a Container handling vehicle 201 vehicle body

[0162] 201b Drive unit / wheel assembly, first direction (X)

[0163] 201c Drive unit / wheel unit, second direction (Y)

[0164] 301 Prior art cantilever container handling vehicles

[0165] 301a Container handling vehicle 301 vehicle body

[0166] 301b Drive device in the first direction (X)

[0167] 301c Drive device in the second direction (Y)

[0168] 401 Container handling vehicles of the prior art

[0169] 401a Container handling vehicle 401 vehicle body

[0170] 401b Drive device in the first direction (X)

[0171] 401c Drive device in the second direction (Y)

[0172] X First Direction

[0173] Y Second Direction

[0174] Z Third Direction

[0175] Width of track W1

[0176] W2 wheel assembly width

[0177] W3 guide rail width

[0178] W4 outer wheel element width

Claims

1. A wheel assembly for a container handling vehicle, comprising: The outer wheel element (50) is configured to be received in the guide rail recess; And a pulley (34) for the drive belt (11), wherein the width (W2) of the wheel assembly (30) in the axial direction is equal to or less than the width (W3) of the guide rail (17) of the guide rail recess.

2. The wheel assembly (1) according to claim 1, wherein, The outer wheel element (50) of the wheel assembly (30) includes an inclined side (37) for being guided by a corresponding inclined portion of one of the plurality of guide walls (18).

3. The wheel assembly (1) according to any one of the preceding claims, wherein, The outer wheel element (50) of the wheel assembly (30) includes a rim (8) and a tire (9) disposed on or molded on the rim (8), optionally wherein the rim (8) and the pulley (10) are part of a single wheel component, optionally, The pulley (34) has teeth or ribs (40) that extend in the axial direction and are configured to partially engage with complementary grooves (39) in the inner circumference of the rim (38) forming the rim (31). The width of the pulley (34) corresponds to the width (W2) of the wheel assembly (30), and The width of the rim (38) corresponds to the width (W4) of the outer wheel element (50), optionally... The wheel assembly (30) is mounted on the wheel hub (51) of the container handling vehicle (42, 48) via a pair of bearings (35, 36).

4. A container handling vehicle (42, 48) for a storage system for storing containers, comprising a wheel assembly according to any of the preceding claims.

5. The container handling vehicle according to claim 4, comprising two sets of wheels, the container handling vehicle (42, 48) being movable in two perpendicular directions on the track grid of the storage system by means of the two sets of wheels, at least one of the wheels (30) being formed by the wheel assembly (30). in, The wheel assembly (30) is located on the outside of the vehicle body (45).

6. The container handling vehicle according to claim 4 or 5, in, The container handling vehicle (42, 48) includes a drive belt (11) for rotating the pulley (10), the drive belt being arranged within the width (W2) of the wheel assembly (30).

7. The container handling vehicle according to any one of claims 4 to 6, in, The container handling vehicle (42, 48) includes a first set of wheels (30) and a second set of wheels (30). At least one set of wheels (30) can be raised and lowered relative to the other set of wheels (30), such that the first set of wheels (30) and the second set of wheels (30) can engage with a corresponding set of tracks (110, 111), and At least one of the two sets of wheels (30) includes four wheel assemblies (30), and the two wheel assemblies (30) are arranged on each of the two opposite sides of the vehicle (42, 48).

8. The container handling vehicle (1) according to claim 7. in, The pulleys (34) of the two wheel assemblies (30) located on the same side of the vehicle (42, 48) are interconnected by a single belt (11), or Each wheel (30) is formed by a wheel assembly (30).

9. The container handling vehicle according to any one of claims 4 to 8, in, The pulley (34) of the wheel assembly (30) is arranged axially further inward than the outer wheel element (50), or The pulley (34) of the wheel assembly (47) is arranged further out than the outer wheel element (50).

10. A storage system (1) for storing containers (106), the storage system comprising a frame structure (100) and container handling vehicles (42, 48) according to any one of claims 4 to 9. in, The frame structure includes a track grid (108), the track grid having a first set of parallel tracks (110) and a second set of parallel tracks (111) arranged perpendicular to the first set of tracks (110), and Each track (110, 111) in the first set of tracks has two sidewalls (12), the outer edges of which define the width (W1) of the track, and includes two parallel guide rails (17), each guide rail for guiding the wheels (30) in the set of wheels (30).

11. The storage system according to claim 10, in, Each guide rail (17) is defined by two opposing guide rail walls (18) and a maximum guide rail width (W3) of the guide rail, the two opposing guide rail walls being arranged to define the path of the wheels (30) of a vehicle (42, 48) traveling along the guide rail, the maximum guide rail width being the maximum gap width between the guide rail walls (18), and The width (W4) of the outer wheel element (50) of the wheel assembly (30) is equal to or less than half of the maximum guide rail width (W3) of the guide rail (17).

12. The storage system (1) according to claim 11 or 12, wherein, The wheel assembly (30) does not extend beyond the sidewall (12) of the track (110, 111) in the axial direction. Optionally, the track grid (108) defines a plurality of access openings (112), and when the container transport vehicle (42, 48) is running on the track grid (108), the wheel assembly (30) does not extend beyond the inner periphery of any of the access openings (112).

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