Modular container handling vehicle

Abstract

A modular container handling vehicle for use in an automated storage and retrieval system, the vehicle being assembled from a kit of parts having three module types (S1, S2, S3), a first and a third module type (S1, S3) having drive wheels and drive motors, a second module type (S2) having lifting means for lifting containers.

Description

Technical Field

[0001] This application relates to a modular container handling vehicle that can be configured from a kit including a first module, a second module, and a third module, which can be arranged in various configurations. Background Technology

[0002] Figure 1 A prior art automated storage and retrieval system 1 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 system 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage rows 105 arranged between the upright members 102. 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 can typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, through which multiple container handling vehicles 201, 301, and 401 can operate to lift storage containers 106 from and lower storage containers 106 into storage columns 105, and also transport storage containers 106 above storage columns 105. The track system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111. The first set of parallel tracks is arranged to guide the container handling vehicles 201, 301, and 401 across the top of the frame structure 100 in a first direction X. The second set of parallel tracks is arranged perpendicular to the first set of parallel tracks 110 to guide the container handling vehicles 201, 301, and 401 in a second direction Y, perpendicular to the first direction X. Containers 106 stored in columns 105 are accessed by the container handling vehicles 201, 301, and 401 through access openings 112 in the track system 108. Container handling vehicles 201, 301, and 401 can move laterally above storage column 105, that is, laterally in a plane parallel to the horizontal XY plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the lifting 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 body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. 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 set of parallel tracks 110, and the second group of wheels 201c, 301c, and 401c are arranged to engage with two adjacent tracks in the second set of parallel 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 parallel tracks 110 and 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, for example, lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices can be lowered from the vehicles 201, 301, 401, allowing the position of the clamping / engaging devices relative to the vehicles 201, 301, 401 to be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Some portions of the clamping devices of the container handling vehicles 301, 401 are... Figure 3 and Figure 4 The clamping device of the container handling device 201 is shown and indicated by reference numerals 304 and 404. Figure 2 The lifting device is located within the vehicle body 201a and is therefore not shown. The lifting mechanism may include a lifting frame 404d suspended on the lifting belt 404a. The lifting belt 404a can provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a clamping engagement device / gripper 404b for connection to a clamping recess of the storage container 106. A guide pin 404c facilitates alignment of the gripper 404b relative to the clamping recess of the storage container 106.

[0008] Conventionally and for the purposes of this application, Z=1 denotes the uppermost layer below tracks 110 and 111 that can be used for storage containers, i.e., the layer immediately below track system 108; Z=2 denotes the second layer below track system 108; Z=3 denotes the third layer, and so on. Figure 1 In the exemplary prior art disclosed herein, Z=8 identifies the bottommost layer of the storage container. Similarly, X=1…n and Y=1…n identify the position of each storage column 105 in the horizontal plane. Therefore, as an example, and using… Figure 1 The Cartesian coordinate system X, Y, Z shown can be said to be in Figure 1 The storage container labeled 106 occupies storage positions X=17, Y=1, Z=6. It can be said that container transport vehicles 201, 301, and 401 travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. 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.

[0009] 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 identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 when transporting it across the track system 108. The storage space may include cavities arranged inside the vehicle bodies 201a, 401a, such as… Figure 2 and Figure 4 The contents of the two applications shown in, and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, are incorporated herein by reference.

[0011] Figure 3 An alternative configuration of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail, for example, in NO 317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2 The occupied area of ​​the cavity container transport vehicle 201 shown can cover an area in the X and Y directions that is approximately equal in size to the lateral extent of the storage column 105, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein can mean “horizontal”.

[0013] Alternatively, the area occupied by the cavity container transport vehicle 401 can be larger than the lateral area defined by the storage column 105, such as... Figure 1 and Figure 4 As shown, for example, as disclosed in WO 2014 / 090684 A1 or WO 2019 / 206487 A1.

[0014] Track system 108 typically includes a track with multiple grooves in which the wheels of a vehicle run. Alternatively, the track may include upwardly extending elements, wherein the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly extending elements are collectively referred to as guide rails. Each track may include one guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, while each track in another perpendicular direction (e.g., the Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.

[0015] WO 2018 / 146304 A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a track system 108, which includes tracks and parallel guide rails in the X and Y directions.

[0016] 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 containers to be transported to retrieval stations (not shown) where they can be accessed from outside the frame structure 100 or moved out of or into the frame structure 100. In the art, such locations are commonly referred to as “ports,” and the columns containing the ports may be referred to as “port columns” 119 and 120. Transport to the retrieval station can take place 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 and transported by any container handling vehicle to port columns 119 and 120 for further transport to the retrieval station. Transport from the port to the retrieval station may require movement along various different directions via delivery vehicles, trolleys, or other transport routes. It should be noted that the term "inclined" refers to the transport of storage container 106 having a general transport orientation in some direction between horizontal and vertical.

[0017] 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.

[0018] The storage and retrieval station is typically a picking station or a stocking station where product items are removed from or positioned into storage containers 106. At the picking or stocking station, storage containers 106 are not typically removed from the automated storage and retrieval system 1; instead, they are returned to the frame structure 100 after storage and retrieval. Ports 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.

[0019] Storage containers are typically transported between port lines 119 and 120 and the access station using a conveyor system that includes conveyors.

[0020] If port columns 119, 120 and access stations are located at different horizontal levels, the conveying system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0021] The conveying system can be arranged to transfer storage container 106 between different frame structures, such as those described in WO2014 / 075937 A1, the contents of which are incorporated herein by reference.

[0022] The storage system can also use a track system 108 on top of the frame structure 100 with port columns 119, 120 to transfer storage containers between them and a container transfer vehicle arranged below the lower end of the port columns. Such a storage system and suitable container transfer vehicles are disclosed in WO 2019 / 238694 A1 and WO 2019 / 238697 A1, the contents of which are incorporated herein by reference.

[0023] A potential drawback of using container transfer vehicles to retrieve and deliver storage containers from the bottom of a port column is the time dependency between one or more container transfer vehicles and the container handling vehicles used to retrieve / deliver storage containers through the port column.

[0024] When you need to access the stored Figure 1When a storage container 106 is in one of the multiple columns 105 disclosed herein, one of the container handling vehicles 201, 301, and 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, and 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 devices (not shown) of the container handling vehicles 201, 301, and 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 positioned above the target storage container 106, the operation also involves 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 with 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. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into its original storage column 105. However, the removed storage container 106 can alternatively 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 container handling vehicles 201, 301, and 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a position above the storage column 105 in which it will be stored. After removing any storage container 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, and 401 position the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0026] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301, 401, so that the required storage container 106 can be delivered to the required location at the required time without the container transport vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0027] Various vehicle configurations

[0028] As described above and as Figure 2 and Figure 3 As shown, some container handling vehicles are equipped with a lifting device arranged to lift containers into the central cavity of the vehicle (see [reference]). Figure 2 (existing technology), while other vehicles are equipped with lifting mechanisms mounted on outwardly projecting cantilever arms (see...). Figure 3 Each of these variations of container handling vehicles has its own inherent advantages, and facility owners typically choose one based on the specific needs of their facility. However, if a facility owner who has purchased one type of vehicle requires a different configuration, they will need to purchase a new set of vehicles and potentially retire their previous ones. This approach is costly and cumbersome. Therefore, there is a need for modular vehicles that can be selectively assembled into various configurations. Summary of the Invention

[0029] The claimed invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the claimed invention.

[0030] This disclosure provides a container handling vehicle that is substantially composed of three modular types; and a kit including these modules, which are adapted to allow the container handling vehicle to be assembled in various configurations. The first and third modular types include drive wheels and associated drive motors, while the second modular type includes a lifting mechanism for raising and lowering containers.

[0031] In the first aspect, these modules can be assembled such that modules with lifting devices are arranged between modules with drive wheels, thereby forming a vehicle with a central cavity, which functions similar to Figure 2 The existing technology vehicles in the field. In other words, the vehicle arrangement according to this aspect is as follows: Wheel Module > Lifting Module > Wheel Module In the second aspect, these modules can also be assembled such that two modules with drive wheels are arranged adjacent to each other, wherein the module with the lifting device is arranged in an external position to form a vehicle with a single outwardly projecting cantilever, which functions similarly to... Figure 3 The prior art vehicle shown is arranged according to this aspect as follows: Wheel Module > Wheel Module > Lifting Module In the third aspect, these modules can be assembled such that two modules with drive wheels are arranged adjacent to each other, wherein two modules with lifting devices are arranged at two opposite outer positions to form a vehicle with two outwardly projecting cantilever arms. The vehicle arrangement according to this aspect is as follows: Lifting Module > Wheel Module > Wheel Module > Lifting Module Therefore, this disclosure provides a container handling vehicle for operation on an automated storage and retrieval system (and in one aspect, a kit for assembling such a vehicle), the automated storage and retrieval system 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 being arranged in a horizontal plane to guide the container handling vehicle to move across the top of a frame structure in a first direction, the second set of parallel tracks being arranged in a horizontal plane 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, the container handling vehicle including a first set of wheels for driving the vehicle in the first direction and a second set of wheels for driving the vehicle in the second direction, the first set of wheels including... The vehicle comprises a first, second, third, and fourth wheel for travel in a second direction, and a second set of wheels including a first, second, third, and fourth wheel for travel in a second direction. The vehicle includes three or more of a first, second, and third module arranged side-by-side. A lateral member connects the first and third modules. The first module includes: a first wheel and a second wheel from the first set of wheels, connected to a first drive motor for driving the first and second wheels in the first set; and a first wheel and a fourth wheel from the second set of wheels, connected to a second drive motor for driving the first and fourth wheels in the second set. - The second module includes a frame whose occupied area is substantially equal to that of the container in the storage system. The second module also includes a lifting device, which includes a clamping mechanism for raising and lowering the container. - The third module includes: a third and a fourth wheel in the first set of wheels, the third and fourth wheels being connected to a third drive motor for driving the third and fourth wheels in the first set of wheels; and a second and a third wheel in the second set of wheels, the second and third wheels being connected to a fourth drive motor for driving the second and third wheels in the second set of wheels. The various aspects include the following configurations, with each module arranged in a prescribed vertical order: a. Module 1, Module 2, and Module 3; b. Module 1, Module 3, Module 2; c. Module 2, Module 1, Module 3, Module 2.

[0032] In another aspect, a parts kit is provided, which includes a first module, one or more second modules, a third module, and a plurality of transverse members.

[0033] The first, second, and third modules are preferably arranged side-by-side with adjacent modules in a horizontal plane.

[0034] When the second module is located directly above a grid cell, the first and / or third modules can extend into the adjacent grid cells.

[0035] The first and fourth wheels in the second set of wheels are preferably operatively connected to the third drive motor via a drive belt.

[0036] The container handling vehicle and / or kit may include a first lifting motor, and the first lifting motor may be arranged in a first module.

[0037] The container handling vehicle and / or kit may include a second lifting motor, and the second lifting motor may be arranged in a third module.

[0038] When the second module is arranged between the first and third modules as in configuration "a" above, the second module can provide a cavity in which a storage container can be accommodated, and the container transport vehicle can include a lifting device in the second section for raising and lowering the storage container in the cavity, and the first and fourth wheels of the second set of wheels can be arranged on the first side of the cavity, and the second and third wheels of the second set of wheels can be arranged on the other second side of the cavity.

[0039] When the second module is positioned externally as in aspect “b” or “c” above, the assembled vehicle accordingly includes one or two cantilevered lifting arms.

[0040] The lifting device of the second module may include at least one rotatable lifting shaft, which is configured to raise and lower the clamping mechanism via a set of lifting belts.

[0041] The first module may have an occupied area, the second module may have an occupied area, and the size ratio of the occupied area of ​​the second module to the occupied area of ​​the first module may be at least 2:1.

[0042] The third module may have an occupied area, and the size ratio of the occupied area of ​​the second module to the occupied area of ​​the third module may be at least 2:1.

[0043] If both the first and third modules are less than half the width of the grid cell compared to the second module, then two container transport vehicles with the same orientation can pass through 5 grid cells instead of 6 grid cells. This is because the two container transport vehicles share a single grid cell, meaning that each container transport vehicle occupies less than 50% of the shared grid cell.

[0044] The first set of wheels can be arranged to move vertically between an upper position and a lower position relative to the vehicle. In the upper position, the second set of wheels allows the vehicle to move in a second direction, and in the lower position, the first set of wheels allows the vehicle to move in a first direction.

[0045] - Each of the third and fourth wheels in the first set of wheels can be mounted to one of the first wheel links in a pair of first wheel links, each first wheel link can include a first pivoting member and a second pivoting member, and each first wheel link can be pivotally connected to the vehicle frame through the first pivoting member. - Each of the first and second wheels in the first set of wheels can be mounted to one of a pair of second wheel links, each second wheel link can include a third pivoting member and a fourth pivoting member, and each first wheel link can be pivotally connected to the vehicle frame via the third pivoting member. - The first wheel link and the second wheel link can be connected via the first coupling link through corresponding second and fourth pivot couplings; and - The first wheel link and the second wheel link can be connected via a second connector link through corresponding second pivot connectors and fourth pivot connectors. - And wherein, when arranged as in aspect “a”, the first connector link and the second connector link extend on opposite sides of the cavity between the first and second sides of the second section.

[0046] When arranged as in aspect “a”, the first connector link and the second connector link can extend from either side of the cavity between the first and second sides of the second module.

[0047] The third module may include an actuation assembly arranged to move the first wheel link between a first angular position and a second angular position about a corresponding first pivoting member. The movement of the first wheel link can be transmitted to the second wheel link via a first connector link and a second connector link, such that when the first wheel link is in the first angular position or the second angular position, the first set of wheels can be in the upper position or the lower position accordingly.

[0048] A lateral member can connect the first module and the third module. The lateral member can provide rigidity to the assembled modules and can also serve other purposes. The first module may include a first lateral member that fixes the angular position of the second wheel link relative to each other, such that the second wheel link moves uniformly about a corresponding third pivot member; and

[0049] - The third module may include a second lateral member that fixes the angular position of the first wheel links relative to each other, such that the first wheel links move uniformly about their respective first pivoting members; and

[0050] - The actuation component can be operatively connected to the wheel lifting mechanism and can be arranged to move the first wheel link between a first angular position and a second angular position about a corresponding first pivoting member.

[0051] The first lateral member can be connected to two second wheel links, such that the positions of the second wheel links are fixed relative to each other.

[0052] The second lateral member can be connected to the two first wheel links, such that the positions of the first wheel links are fixed relative to each other.

[0053] The actuation component is operatively connected between the vehicle frame and at least one first wheel link.

[0054] The actuation components may include wheel lifting motors or linear actuators.

[0055] At least one first wheel link may include a fifth pivoting connection connected to the actuation assembly.

[0056] The actuation assembly may include an actuator link pivotally connected to a first wheel link. The actuator link may be used to drive rotation of the first wheel link.

[0057] The actuator link can be connected to a fifth pivoting connection of at least one first wheel link.

[0058] The actuator link can be a portion of the motion transmission assembly configured to convert the rotational motion of the actuation assembly into or transmit linear motion into a fundamental linear motion acting on a fifth pivoting member of a first wheel link.

[0059] Container handling vehicles may include: - A first drive shaft, disposed in a first module and interconnecting second wheel links, wherein the first drive shaft is operatively connected to drive a first wheel and a second wheel in a first set of wheels; and - A second drive shaft, which is arranged in the third module and interconnects the second wheel links, wherein the second drive shaft is operatively connected to drive the third and fourth wheels in the first set of wheels.

[0060] The first drive shaft is preferably operatively connected to drive the first and second wheels via a corresponding drive belt.

[0061] The second drive shaft is preferably operatively connected to drive the third and fourth wheels via a corresponding drive belt.

[0062] The first drive shaft can be connected to a first driver, such as an electric motor. The rotational motion of the first drive shaft can be transmitted to the first and second wheels in the first set of wheels.

[0063] The second drive shaft can be connected to a second drive, such as an electric motor. The rotational motion of the second drive shaft can be transmitted to the third and fourth wheels in the first set of wheels.

[0064] The first drive shaft and the first lateral member, as well as the second drive shaft and the second lateral member, can be configured to move parallel to each other when the first wheel link and the second wheel link move between a first angular position and a second angular position.

[0065] The first and second drive shafts can be configured to move in unison with the first and second wheel links between a first angular position and a second angular position. By moving in unison with the first and second wheel links and their respective supporting wheels, excessive wear of the drive belt due to tension and maintenance, including tightening the drive belt, are minimized. The belt length and the tension can be set to a preferred value because the spatial relationship between the wheels and the motor supported by the first and second wheel links remains constant relative to each other during angular motion.

[0066] A first drive motor can be fixed to a first wheel link. A first drive shaft can have a first end and a second end, the first drive shaft can extend through the centerline of the first drive motor, such that the first end is operatively connected to a first wheel in a first set of wheels and the second end is operatively connected to a second wheel in the first set of wheels. The first end can be operatively connected to the first wheel via a drive belt, and the second end can be operatively connected to a third wheel via a drive belt.

[0067] The second and third wheels in the second set of wheels are preferably operatively connected to the fourth drive motor via a drive belt.

[0068] The first and second connecting rods can be configured to move toward the first and second wheels in the first group of wheels respectively in a first direction when the first wheel connecting rod moves from the second corner position to the first corner position.

[0069] The first and second connector links are preferably plate-shaped and provide a cover that, when the vehicle is configured as described in aspect “a” above, closes the lower portions of the container on both sides of the transport vehicle, or at least provides a barrier for the cavity of the second module.

[0070] Each connector link may include a wheel recess for connection with a corresponding first wheel link. Each connector link may have a first end pivotally connected to a second pivoting member of a corresponding second wheel link, and a portion of the connector link disposed above the wheel recess may also pivotally connect to the second pivoting member of a corresponding first wheel link.

[0071] The connector link can be used as both a force transmission element between the wheel link arms and the body / cover of the lower part of the side of a closed container transport vehicle.

[0072] The first and third pivoting connectors can be arranged at a horizontal height below the second and fourth pivoting connectors.

[0073] The rechargeable battery can be located in the third module. Alternatively or additionally, the rechargeable battery can be located in the first module.

[0074] The container transport vehicle may include a set of electrodes for receiving power from a charging station, which are preferably arranged in a third module and connected to a rechargeable battery in the third module.

[0075] The container handling vehicle may include a control unit located in the third module.

[0076] Container handling vehicles may include a set of replaceable or adjustable distance pins configured to interact with switchers or sensors on the lifting frame when the lifting frame is in the upper position.

[0077] Adjustable or replaceable distance pins ensure that the efficiency of the container handling vehicle can be optimized for the height of the lifted storage containers. The container handling vehicle may include four distance pins arranged to interact with four corner modules of the lifting frame. The distance pins can be configured to stabilize the lifting frame and any storage containers connected to it when the lifting frame is in the upper position.

[0078] The vehicle frame may include a first vertically extending subframe (e.g., a first vertical subframe) forming part of a first module and a second vertically extending subframe (e.g., a second vertical subframe) forming part of a third module. The vehicle frame may include a horizontally extending upper frame whose occupied area is substantially equal to that of the container (e.g., a horizontal upper member) forming part of the second module, and the horizontally extending upper frame may be positioned above the cavity when the vehicle is configured as described in aspect "a" above, or may form part of a cantilever when the vehicle is configured as described in aspects "b" or "c" above. The horizontally extending upper frame may extend between the first vertically extending subframe of the first module and the second vertically extending subframe of the third module, or may project outwardly from these vertical subframes to form part of the cantilever.

[0079] The horizontally extending upper frame is preferably arranged above the lifting frame (except when arranged above the cavity or as part of the cantilever).

[0080] The horizontally extending upper frame can be connected to the first vertical subframe and / or the second vertical subframe.

[0081] In configuration "a", the first vertical subframe and the second vertical subframe can be arranged on opposite sides of the cavity, or in configuration "b" or "c", the first vertical subframe and the second vertical subframe are arranged side by side.

[0082] The vehicle frame may include lateral transverse members arranged on opposite sides of the cavity in configuration "a", or arranged between adjacent first and third modules in configurations "b" or "c".

[0083] The lateral transverse member can be a horizontal member connected to the lower portion of the first vertical subframe and the lower portion of the second vertical subframe. Alternatively, the lateral transverse member can form a cross connector that connects to the lower portion of one of the first or second vertical subframes and to the upper portion of the other vertical subframe.

[0084] The first and second connector links are preferably arranged below the lateral transverse members.

[0085] A container handling vehicle is also described, comprising a first module, a second module, and a third module. The first and third modules include drive motors located on articulated wheel assemblies for driving wheels arranged in the respective first and third modules. The articulated wheel assemblies in the first and third modules are connectable to opposite sides of a second module. Therefore, the container handling vehicle can be assembled from a kit of parts comprising various components of the assembled vehicle.

[0086] An automated storage and retrieval system including the container handling vehicles defined above is also described, wherein the automated storage and retrieval system includes a frame structure having multiple storage columns for accommodating vertically stacked storage containers, the frame structure having a track system on which the container handling vehicles can move in two mutually perpendicular directions. The automated storage and retrieval system may include multiple container handling vehicles as defined above.

[0087] An automated storage and retrieval system may include multiple upright members, and each storage column may be defined by four upright members.

[0088] A track system can be arranged on top of an upright member. The track system includes a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set. The first and second sets of tracks provide a horizontally grid-based track system defining multiple grid cells. Each track in the track system can include one or two guide rails. Preferably, the tracks in both directions each include two guide rails (double guide rails), for example, forming two parallel channels in one track, or providing one channel in each track member of a pair of track members already fastened together to form the track. In this arrangement, the grid opening and the width of the guide rail on each side define a "grid cell." In an arrangement where the track in one direction has only a single guide rail, the grid cell can extend the entire track width on these sides.

[0089] In one aspect of the automated storage and retrieval system, the second module of the container handling vehicle can occupy an area approximately the size of a grid cell in the track system, while the first and third modules can occupy less than half the area of ​​a grid cell. That is, the first and third modules can extend into less than 50% of the adjacent grid cells.

[0090] A method for assembling a container transport vehicle using the parts kit defined above is also described, the method comprising the following steps: - A first module for assembling the vehicle frame, the first module comprising: The first and second wheels in the first group of wheels The first and fourth wheels in the second group of wheels; One or more wheel drive motors - A third module for assembling the vehicle frame, comprising: The third and fourth wheels in the first group of wheels The second and third wheels in the second group of wheels; One or more drive motors - Connect the first module, the second module and the third module together to form a vehicle with a central cavity or with one or more outwardly projecting cantilevered lifting arms.

[0091] One aspect can be described as follows: A container handling vehicle for operation on an automated storage and retrieval system, the automated storage and retrieval system 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 in a horizontal plane to guide the container handling vehicle to move across the top of a frame structure along a first direction. The second set of parallel tracks is arranged in the horizontal plane perpendicular to the first set of parallel tracks to guide the container handling vehicle to move along a second direction perpendicular to the first direction. The container handling vehicle includes: - A vehicle frame assembled from a first module, a second module and a third module arranged side by side, wherein the first module and the third module are arranged adjacent to each other and the second module is connected to the first module and / or the third module such that the second module protrudes outward to form one or more cantilever arms for raising and lowering storage containers; - A first set of wheels, comprising a first wheel, a second wheel, a third wheel, and a fourth wheel for travel in a first direction; - A second set of wheels, which includes a first wheel, a second wheel, a third wheel and a fourth wheel for travel in a second direction; - A first drive motor for driving the first and second wheels in the first set of wheels; - The second drive motor is used to drive the third and fourth wheels (in the first set of wheels); Furthermore, the first and second wheels of the first set of wheels, along with the first drive motor, are arranged in the first module, while the third and fourth wheels of the first set of wheels, along with the second drive motor, are arranged in the third module.

[0092] In this specification, the term "storage container" is intended to refer to any cargo holding unit suitable for releasable connection to a lifting device of a container handling vehicle and having a bottom portion and side portions, and may be in the form of, for example, a box, handling container, pallet, etc. The side portions may preferably include clamping recesses. The side portions are preferably sidewalls. The height of the sidewalls may vary depending on the intended use of the automated storage and retrieval system and the cargo to be stored. The clamping recesses may be arranged at the upper edge of the sidewalls. The horizontal outer perimeter of the storage container is preferably rectangular.

[0093] The relative terms “upper,” “lower,” “below,” “above,” “higher,” etc., should be understood in their usual sense and as shown in the Cartesian coordinate system.

[0094] The disclosed automated storage and retrieval system and method can be used in conjunction with the storage containers and systems described above. However, the disclosed automated storage and retrieval system and method can be used in other areas, including vertical farming, micro-operations, or grocery / e-grocery stores. Attached Figure Description

[0095] The following figures are attached to aid in understanding this disclosure. The figures illustrate various aspects and examples of this disclosure, which will now be described by way of example only, in which: Figure 1 This is a three-dimensional diagram of the framework structure of an existing automated storage and retrieval system; Figure 2 This is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein; Figure 3 This is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below. Figure 4 This is a perspective view of a prior art container handling vehicle, as seen from below, having an internally arranged cavity for carrying storage containers therein. Figure 5 yes Figure 4 A 3D view of a container transport vehicle, without side panels and a top panel; Figure 6A and Figure 6BDifferent perspective views of container handling vehicles according to configuration "a" are shown, running on a track system of an automated storage and retrieval system; Figure 7A yes Figure 6A and Figure 6B An exploded view of a container handling vehicle, excluding the side panels and top panel; Figure 7B A container transport vehicle is shown, wherein the first coupling link and the first and fourth wheels of the first set of wheels have been removed to better show the components behind the said part; Figure 7C This is a 3D view of the wheel lifting assembly of a container handling vehicle; Figure 7D This is a side perspective view of a container handling vehicle based on configuration "a", showing the first lifting motor in the first module of the container handling vehicle; Figure 8A It is based on Figure 6A and Figure 6B A top view of a container handling vehicle of configuration "a", showing the first, second, and third modules of the container handling vehicle; Figure 8B The occupied areas of the corresponding first, second, and third modules of the container handling vehicle according to configuration "a" are shown; Figures 9A to 9C These are different views of the container transport vehicle shown in Figures 6 to 8, in which the wheels connected to the wheel lifting mechanism are located in the guide rails of the track system; and Figure 10 This is an exploded view of some components of a modular container transport vehicle, and shows various parts in a kit used to assemble such a vehicle.

[0096] Figure 11 This is a side view of a modular vehicle assembled to form a vehicle with a single outwardly projecting cantilever.

[0097] Figure 12 This is a side view of a modular vehicle assembled to form a vehicle with two outwardly projecting cantilever arms. Detailed Implementation

[0098] In the following discussion, various aspects will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit this disclosure to the subjects depicted in the drawings. First, reference will be made to... Figures 6A to 9C The description of various aspects shows a modular vehicle assembled with a central cavity. References will follow thereafter. Figure 11 and Figure 12 Describe an example of a vehicle assembled with one or more cantilever arms.

[0099] The framework structure 100 of the automatic storage and retrieval system 1 can be combined with the above. Figure 1 The existing frame structure 100 is constructed in a similar manner. That is, the frame structure 100 may include a plurality of upright members 102 and a first upper track system 108 extending in the X and Y directions.

[0100] The frame structure 100 may include storage compartments in the form of storage columns 105 disposed between the members 102, wherein storage containers 106 may be stacked in the storage columns 105 in the form of stacks 107.

[0101] The frame structure 100 can have any size. In particular, it should be understood that the frame structure can be larger than... Figure 1 The disclosed frame structure is wider and / or longer and / or deeper. For example, frame structure 100 may have a horizontal range of more than 700x700 columns and a storage depth of more than twelve containers.

[0102] This includes cavities for accommodating storage containers or existing container handling vehicles with cantilevered structures (see [link]). Figure 2 , Figure 3 , Figure 4 and Figure 5 It possesses certain advantageous features. Specifically, it is oriented towards being contained in, for example... Figure 2 The storage container in the cavity shown provides guidance / support, making the vehicle more suitable for... Figure 3 The cantilevered container handling vehicle 301 shown can have greater acceleration / deceleration. However, due to the potential instability of the vehicle, the potential increase in acceleration / deceleration may not be fully realized. This potential instability is caused by the high center of gravity resulting from the numerous drive, power, control, and lifting components arranged above the cavity in both vehicles 201 and 401. Therefore, in certain situations, such as... Figure 3 Vehicles with cantilever arms have advantages over vehicles with central cavity designs.

[0103] Figure 6A and 6B Different perspective views of a container handling vehicle 501 operating on a track system of an automated storage and retrieval system are shown.

[0104] Container handling vehicle 501 is suitable for discussion in the background section and Figure 1 The prior art storage systems shown herein are used, and the discussions relating to those systems can also be applied to the improved container handling vehicles described herein.

[0105] Figure 7A yes Figure 6A and 6BAn exploded view of container handling vehicle 501, without side panels and top panel.

[0106] The container transport vehicle 501 includes a vehicle frame 10 that defines a first module S1, a second module S2, and a third module S3 arranged side-by-side. The first module S1 is arranged on a first side of the second module S2, and the third module is arranged on the other second side of the second module S2.

[0107] The second module S2 includes a lifting device 15 for raising and lowering the storage container 106, and provides a means for accommodating the storage container 106. Figure 7A The cavity 26 of the storage container 106 is not shown. The lifting device 15 has a lifting frame 16 and two rotatable lifting shafts 33, which are configured to raise and lower the lifting frame 16 via a set of lifting belts 5. A first lifting device motor 28a for driving the lifting device 15 (i.e., rotating the lifting shafts 33) is arranged in the first module S1.

[0108] Container handling vehicle 501 includes configurations for making container handling vehicle 501 ( Figure 7A Not shown in the image, see, for example, see Figure 1 The first set of wheels 11 and the second set of wheels 12 move on the track system 108. Track system 108 (see...) Figure 1 The system includes a first set of parallel tracks 110 and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110. The track system 108 is arranged horizontally and in a grid-based manner.

[0109] The first set of wheels 11 includes a first wheel 11a, a second wheel 11b, a third wheel 11c, and a fourth wheel 11d for travel in a first direction X. The first wheel 11a and the second wheel 11b of the first set of wheels 11 are arranged on two opposing portions of the first module S1. A first drive motor 20a for driving the first wheel 11a and the second wheel 11b of the first set of wheels 11 is arranged in the first module S1. A first drive shaft 22a is rotatably connected to the first drive motor 20a and extends between two opposing ends of the first module S1, at which the first wheel 11a and the second wheel 11b of the first set of wheels 11 are arranged. A drive belt 23 (in...) Figure 7A Only one drive belt is shown in the diagram. It extends between the first drive shaft 22a and the corresponding first wheel 11a and second wheel 11b in the first set of wheels, such that the rotation of the first drive motor 20a is transmitted to the first wheel 11a and the second wheel 11b via the first drive shaft 22a and the drive belt 23.

[0110] The third wheel 11c and the fourth wheel 11d of the first set of wheels 11 are arranged on two opposing parts of the third module S3. A second drive motor 20b for driving the third wheel 11c and the fourth wheel 11d of the first set of wheels 11 is arranged in the third module S3. Similar to the arrangement in the first module S1, a second drive shaft 22b is rotatably connected to the second drive motor 20b and extends between two opposing ends of the third module S3, where the third wheel 11c and the fourth wheel 11d of the first set of wheels 11 are arranged. Drive belt 24 ( Figure 7A (Only one drive belt is shown) extends between the second drive shaft 22b and the corresponding third wheel 11c and fourth wheel 11d in the first set of wheels, such that the rotation of the second drive motor 20b is transmitted to the third wheel 11c and fourth wheel 11d via the first drive shaft 22b and the drive belt 24.

[0111] Therefore, all the wheels 11a, 11b, 11c, and 11d in the first group of wheels 11 are drive wheels or motor vehicle wheels.

[0112] The second set of wheels 12 includes a first wheel 12a and a second wheel 12b for travel in the second direction Y. Figure 7A Not shown in the image, see example. Figure 8A ), third wheel 12c (in Figure 7A Not shown in the image, see example. Figure 8A The first wheel 12a and the fourth wheel 12d are arranged on one side of the second module S2, and the second wheel 12b and the third wheel 12c are arranged on the other side of the second module S2. The first wheel 12a and the fourth wheel 12d are arranged in a common vertical plane such that they are arranged relative to each other to travel on the same guide rail below. Similarly, the second wheel 12b and the third wheel 12c are arranged in a common vertical plane such that they are arranged relative to each other to travel on the same guide rail below.

[0113] To allow for changes in the direction of travel of the container transport vehicle 501 on the track system 108, the first set of wheels 11 is arranged to be movable relative to the vehicle frame 10 in the vertical direction Z. The first set of wheels 11 can move between an upper position and a lower position. In the upper position, the second set of wheels 12 allows the vehicle 501 to move in a second direction Y, and in the lower position, the first set of wheels 11 allows the vehicle 501 to move in a first direction X.

[0114] The vertical movement of the first set of wheels 11 is achieved by a wheel lifting mechanism, which includes a pivotable first wheel link 8 and a second wheel link 9. These wheel links are connected by connector links 14a and 14b and driven by an actuation assembly.

[0115] In the wheel lifting mechanism, the fourth wheel 11d of the first set of wheels 11 is mounted to the corresponding first wheel link 8, and the third wheel 11c of the first set of wheels 11 is mounted to the corresponding first wheel link 8. The first wheel link 8 includes a first pivoting connector 3 and a second pivoting connector 4. The first wheel link 8 is pivotally connected to the vehicle frame 10 via the corresponding first pivoting connector 3.

[0116] Similarly, each of the first wheel 11a and the second wheel 11b in the first set of wheels 11 is mounted to a corresponding second wheel link 9, which includes a third pivoting member 29 and a fourth pivoting member 30. The second wheel link 9 is pivotally connected to the vehicle frame 10 via the corresponding third pivoting member 29.

[0117] The second wheel link 9 supporting the first wheel 11a in the first set of wheels 11 and the first wheel link 8 supporting the fourth wheel 11d in the first set of wheels are connected via a first connector link 14a through corresponding second pivot connectors 4 and 30. The first wheel link 8 supporting the fourth wheel 11d and the second wheel link 9 supporting the first wheel 8a are connected via a second connector link 14b through corresponding second pivot connectors 4 and 30. The first connector link 14a and the second connector link 14b extend along opposite sides of the cavity 26 in the first module S1.

[0118] The first coupling link 14a and the second coupling link 14b can be plate-shaped as shown in the figure, and serve as force transmission elements or motion transmission elements between the first wheel link 8 and the second wheel link 9, and as a vehicle body that encloses the two lower sides of the vehicle (or at least provides a barrier for these two lower sides). The dual function of the coupling links 14a and 14b provides a cost-effective, lightweight and simple mechanical solution.

[0119] The first module S1 includes a first lateral member 13b connected to two second wheel links 9. The first lateral member 13b is configured to fix the angular position of the second wheel links 9 relative to each other, such that the second wheel links 9 move uniformly about their respective third pivot couplings 29.

[0120] Similarly, the third module S3 includes a second lateral member 13b connected to the two first wheel links 8. The second lateral member 13b is configured to fix the angular position of the first wheel links 8 relative to each other, such that the first wheel links 8 move uniformly about their respective first pivot couplings 3.

[0121] The actuation assembly is arranged in the third module S3 and includes a wheel lifting motor 6 and an actuator link 7. The actuator link 7 is connected to a first wheel link 8 via a fifth pivoting coupling 27. The actuation assembly is configured to move the first wheel link 8 between a first angular position and a second angular position about a corresponding first pivoting coupling 3. The movement of the first wheel link 8 is transmitted to the second wheel link 9 via a first coupling link 14a and a second coupling link 14b, such that when the first wheel link 8 is in the first angular position and the second angular position, the first set of wheels 11 is correspondingly in the upper position (see...). Figures 7A to 7C ) or lower position (see Figures 9A to 9B )middle.

[0122] The first connecting rod 14a and the second connecting rod 14b are configured to move toward the first wheel 11a and the second wheel 11b in the first group of wheels in the first direction X when the first wheel connecting rod 8 moves from the second corner position to the first corner position, and are configured to move toward the third wheel 11c and the fourth wheel 11d in the first group of wheels in the first direction X when the first wheel connecting rod 8 moves from the first corner position to the second corner position.

[0123] Each second wheel link 9 includes a first edge module 37a extending upward from the horizontal height of the third pivoting connector 29 (see...). Figure 9B ) and the second edge module 37b extending downward from the horizontal height of the third pivot connector 29 (see Figure 9B The first edge module 37a and the second edge module 37b are located away from the connected first wheel link 8 and are tilted relative to each other, such that when moving about the third pivoting coupling 29, the second wheel link 9 does not extend beyond the outer side of the vehicle frame 10.

[0124] The second drive shaft 22b and the second lateral member 13b are configured to move parallel to each other when the first wheel link 8 moves between the first angular position and the second angular position. The second drive shaft 22b and the second lateral member 13b are configured to move in tandem with the first wheel link 9 between the first angular position and the second angular position.

[0125] Similarly, the first drive shaft 22a and the first lateral member 13a are configured to move parallel to each other when the second wheel link 9 moves between the first angular position and the second angular position. The first drive shaft 22a and the first lateral member 13a are configured to move in unison with the second wheel link 9 between the first angular position and the second angular position.

[0126] By moving the first drive shaft 22a, the second drive shaft 22b, the first lateral member 13a, and the second lateral member 13b in unison with the corresponding second wheel link 9 and first wheel link 8, excessive wear of the drive belts 23 and 24 due to tension, as well as maintenance including tightening the drive belts 23 and 24, is minimized. In this way, the relative mounting positions of the wheels and their corresponding drive motors can remain fixed during the angular movement of the first wheel link 8 and the second wheel link 9, so that the belt tension in the drive belts 23 and 24 remains constant during the raising and lowering of the wheels.

[0127] Figure 7D This is a side perspective view of the container handling vehicle 501, showing the second lifting motor 28b in the third module S3 of the container handling vehicle 501.

[0128] Figure 8A yes Figure 6A and Figure 6B A top view of a container handling vehicle 501 is shown, illustrating a first module S1, a second module S2, and a third module S3. As disclosed, the container handling vehicle 501 may include a third drive motor 20c for driving the first wheel 12a and the fourth wheel 12d in the second set of wheels 12. The third drive motor 20c is arranged in the first module S1. The third drive motor 20c can drive the connected first wheel 12a and the fourth wheel 12d in the second set of wheels 12 via a drive belt 34.

[0129] Further reference Figure 8A The container handling vehicle 501 may include a fourth drive motor 20d for driving the second wheel 12b and the third wheel 12c in the second set of wheels 12. The fourth drive motor 20d is arranged in the third module S3. The fourth drive motor 20d can drive the connected second wheel 12b and the third wheel 12c in the second set of wheels 12 via a drive belt 35.

[0130] The power for driving the motor of the container transport vehicle is provided by a rechargeable battery 31 (and / or a high-power capacitor) arranged in the third module S3. The rechargeable battery 31 is connected to a set of electrodes 32. The electrodes 32 are configured to receive power from a charging station. The two electrodes 32 are arranged on opposite sides of a vertical central plane of the container transport vehicle, which extends in a first direction X. An advantageous effect of separating the electrodes 32 in this way is that the lateral skew of the container transport vehicle relative to the first direction X is minimized during initial connection with the charging station. A suitable charging station is disclosed, for example, in PCT / EP2021 / 074340.

[0131] A control unit 19 for controlling at least the drive components (i.e., the first drive motor 20a, the second drive motor 20b, the third drive motor 20c and the fourth drive motor 20d, the wheel lifting motor 6, the first lifting device motor 28a and the second lifting device motor 28b) is arranged in the third module S3.

[0132] A set of replaceable distance pins 25 are arranged above the lifting frame 16. The distance pins 25 are configured to interact with a switch (not shown) on the upper part of the lifting frame 16 when the lifting frame 16 is in the upper position. The distance pins help stabilize the shallower container 106 in the cavity (and these distance pins can then be removed when the vehicle is used for a larger container).

[0133] The distance pin 25 ensures that the efficiency of the container handling vehicle 501 can be optimized for the height of the storage container 106 being lifted. If the container handling vehicle 501 is used for taller storage containers, a shorter distance pin 25 can be installed to ensure that the container is not lifted higher than the height required to enter the cavity 26.

[0134] In alternative aspects, the distance pin 25 can be adjustable, i.e., has an adjustable height, rather than being replaceable. For example, an adjustable distance pin can be achieved by a telescopic or foldable distance pin.

[0135] Each container handling vehicle 501 includes four distance pins 25 arranged to interact with the lifting frame 16 at four corner modules. The distance pins 25 can also be configured to stabilize the lifting frame 16 and any storage containers 106 connected to it when the lifting frame 16 is in the upper position.

[0136] Figures 9A to 9C These are different views of the container handling vehicle shown in Figures 6 to 8, where the wheels connected to the wheel lifting mechanism are located in the guide rails of the track system. In this illustration, the size of the grid cell 130 in the first direction (x-direction) is smaller than the size of the grid cell in the second direction (y-direction). The extension range of the container handling vehicle 501 in the first direction (i.e., the x-direction) is preferably less than two cells. This ensures that the container handling vehicle 501 is relatively compact and proportional in both the first (x-direction) and second (y-direction) directions.

[0137] Figure 11One aspect is shown, in which modules are assembled to form a vehicle configured with a cantilevered lifting arm. According to this aspect, a first module and a third module, including drive wheels, are connected adjacent to each other, wherein a second module is connected to either the first or third module such that the second module protrudes outward. A transverse member 43 connects the first and third modules. Coupler links 14a and 14b can be connected between the first and second modules in the manner described above. Those skilled in the art will recognize that, Figure 11 In the configuration shown, the lengths of the transverse members 43 and / or the connector links 14a and 14b can differ from those described above; for example, they can be shorter because the first and third modules are closer together in this configuration than in the central cavity configuration. Therefore, the parts kit can include transverse members 43 and connector links 14 of various sizes.

[0138] Figure 12 One aspect is shown, in which modules are assembled to form a vehicle configured with two cantilevered lifting arms. According to this aspect, a first module and a third module, including drive wheels, are connected adjacent to each other, wherein both the first and third modules are connected to a second module such that the two second modules protrude outwards. Figure 11 As shown, the transverse member 43 connects the first module and the third module, and the connector links 14a and 14b can be connected between the first module and the third module in the manner described above. Although not shown, it can be... Figure 12 The aspect is modified to include an additional second module between the first and third modules, thereby providing a vehicle with both a central cavity and a cantilever device.

[0139] The configuration of the modular container handling vehicle 501 disclosed herein allows for an efficient assembly method because the first module S1, the second module, the third module S3, and a major component of the vehicle can form a pre-assembled vehicle module. The assembly method may include the following steps: - Provide the first module S1 of the vehicle, the first module S1 comprising: The first wheel 11a and the second wheel 11b in the first set of wheels 11 First drive motor 20a, First wheel connecting rod 8 The first wheel 12a and the fourth wheel 12d in the second group of wheels 12; - Provide a third module S3 for the vehicle, which includes: The third wheel 11c and the fourth wheel 11d in the first group of wheels 11 Second drive motor 20b, Second wheel connecting rod 9 The second wheel 12b and the third wheel 12c in the second group of wheels 12; - Provide one or more second modules S2 for the vehicle and connect the one or more second modules to the first module S1 of the vehicle and / or the third module S3 of the vehicle frame 10, such that the vehicle is configured in one of the following longitudinal configurations: a. Module 1, Module 2, and Module 3; b. Module 1, Module 3, Module 2; c. Module 2, Module 1, Module 3, Module 2; - The first wheel link 8 is interconnected with the corresponding second wheel link 9 via the first connector link 14a and the second connector link 14b; - Connect the transverse member 43 between the first module and the third module.

[0140] Figure 10 These are exploded views of the components required to assemble a modular vehicle, which may include parts kits for assembling Figures 6 through 9. Figure 11 or Figure 12 This refers to certain components required for the modular vehicle frame 10 of the container handling vehicle. As shown, the vehicle frame 10 includes a first vertical subframe 40 forming part of a first module S1 and a second vertical subframe 41 forming part of a third module S3. The container handling vehicle 501 also includes a horizontal upper member 42 forming part of a second module S2. The horizontal upper member 42 is configured to be positioned above the central cavity 26 when using configuration "a", and to project outward as a cantilever when using configurations "b" or "c".

[0141] The horizontal upper component 42 can be connected to the first vertical subframe 40 and / or the second vertical subframe 41. The first vertical subframe 40 and the second vertical subframe 41 are configured to be arranged on opposite sides of the cavity 26, or as follows: Figure 11 and Figure 12 As shown, they are arranged adjacent to each other.

[0142] A vehicle frame 10 having a lateral transverse member 43 is also disclosed, which is configured to be disposed between a first module and a third module. The lateral transverse member 43 may be a horizontal member connected to the lower portion of the first vertical subframe 40 and the lower portion of the second vertical subframe 41, or the lateral transverse member may be as follows: Figure 11 and Figure 12 As shown, they can be arranged diagonally, or in any other suitable manner.

[0143] In the foregoing description, various aspects of the independent claims have been described. Specific reference numerals, systems, and configurations have been set forth for illustrative purposes to provide a comprehensive understanding of the system and its operation. However, this description is not intended to be interpreted in a limiting sense. Various modifications and variations of this disclosure that will be apparent to those skilled in the art to which the disclosed subject matter pertains are considered to fall within the scope of the invention currently claimed as defined in the appended claims.

[0144] List of reference numerals

Claims

1. A container handling vehicle (501) for operating on an automated storage and retrieval system (1), the automated storage and retrieval system (1) comprising a two-dimensional rail system (108) comprising a first set of parallel rails (110) arranged in a horizontal plane (P H ) to guide movement of a container handling vehicle (201, 301, 401) in a first direction (X) across a top of a framework structure (100), and a second set of parallel rails (111) arranged in the horizontal plane (P H ) perpendicular to the first set of parallel rails (110) to guide movement of the container handling vehicle (201, 301, 401) in a second direction (Y) perpendicular to the first direction (X), the container handling vehicle comprising: - a vehicle frame (10) assembled from a first module (SI), a second module (S2) and a third module (S3) arranged side by side, wherein the first module (SI) is arranged adjacent to the third module (S3) and the second module (S2) is connected to the first module and / or the third module such that the second module projects outwards forming one or more cantilevers for lifting storage containers; - a first set of wheels (11) comprising first, second, third and fourth wheels (11a, 11b, 11c, 11d) for travelling in the first direction (X); - a second set of wheels (12) comprising first, second, third and fourth wheels (12a, 12b, 12c, 12d) for travelling in the second direction (Y); - a first drive motor (20a) for driving the first and second wheels (11a, 11b) in the first set of wheels (11); - a second drive motor (20b) for driving the third and fourth wheels (11c, 11d) in the first set of wheels (11); and wherein the first and second wheels (11a, 11b) in the first set of wheels (11) and the first drive motor (20a) are arranged in the first module (SI) and the third and fourth wheels (11c, 11d) in the first set of wheels (11) and the second drive motor (20b) are arranged in the third module (S3).

2. The container handling vehicle (501 ) according to claim 1, comprising a third drive motor (20c) for driving a first wheel (12a) and a fourth wheel (12d) in the second set of wheels (12), and wherein, The third drive motor (20c) is arranged in the first module (SI).

3. The container handling vehicle (501 ) according to claim 2, comprising a fourth drive motor (20d) for driving a second wheel (12b) and a third wheel (12c) of the second set of wheels (12), and wherein, The fourth drive motor (20d) is arranged in the third module (S3).

4. The container handling vehicle (501) according to any of the preceding claims, wherein, The container handling vehicle comprises a first lifting device motor (28a) and wherein the first lifting device motor (28a) is arranged in the first module (SI).

5. The container handling vehicle (501) according to claim 4, wherein, The container handling vehicle comprises a second lifting device motor (28b) and wherein the second lifting device motor (28b) is arranged in the third module (S3).

6. The container handling vehicle (501) according to any of the preceding claims, wherein, The first set of wheels (11) is arranged movable in a vertical direction (Z) relative to the vehicle frame (10) between an upper position in which the second set of wheels (12) allows the vehicle (501) to move in the second direction (Y) and a lower position in which the first set of wheels (11) allows the vehicle (501) to move in the first direction (X); and wherein: - each of the third and fourth wheels (11c, 11d) in the first set of wheels (11) is mounted to one of a pair of first wheel links (8), each first wheel link (8) comprising a first and a second pivotal coupling (3, 4) and being pivotably connected to the vehicle frame (10) by the first pivotal coupling (3); - each of the first and second wheels (11a, 11b) in the first set of wheels (11) is mounted to one of a pair of second wheel links (9), each second wheel link (9) comprising a third and a fourth pivotal coupling (29, 30) and being pivotably connected to the vehicle frame (10) by the third pivotal coupling (29); - the first and second wheel links (8, 9) are connected via respective second and fourth pivotal couplings (4, 30) by a first coupler link (14a); and - the first and second wheel links (8, 9) are connected via respective second and fourth pivotal couplings (4, 30) by a second coupler link (14b), - and wherein the first and second coupler links (14a, 14b) extend between a first side and a second side of the second module (S2) on opposite sides of a cavity (26).

7. The container handling vehicle (501 ) according to claim 6, wherein, The third module (S3) comprises an actuation assembly (6, 7) arranged to move the first wheel links (8) about the respective first pivotal couplings (3) between a first and a second angular position, the movement of the first wheel links (8) being transmitted to the second wheel links (9) via the first and second coupler links (14a, 14b), such that the first set of wheels (11) is respectively in the upper or lower position when the first wheel links (8) are in the first or second angular position.

8. The container handling vehicle (501) according to claim 7, wherein: - the first module (S1) comprises a first cross member (13a) fixing the angular positions of the second wheel links (9) relative to each other such that the second wheel links (9) move in unison about the respective third pivotal couplings (29); and - the third module (S3) comprises a second cross member (13b) fixing the angular positions of the first wheel links (8) relative to each other such that the first wheel links (8) move in unison about the respective first pivotal couplings (3); and - the first and second wheel links (8, 9) are connected via respective second and fourth pivotal couplings (4, 30) by a first coupler link (14a); and - the first and second wheel links (8, 9) are connected via respective second and fourth pivotal couplings (4, 30) by a second coupler link (14b), - and wherein the first and second coupler links (14a, 14b) extend between a first side and a second side of the second module (S2) on opposite sides of a cavity (26). The third module (S3) comprises an actuation assembly (6, 7) arranged to move the first wheel links (8) about the respective first pivotal couplings (3) between a first and a second angular position, the movement of the first wheel links (8) being transmitted to the second wheel links (9) via the first and second coupler links (14a, 14b), such that the first set of wheels (11) is respectively in the upper or lower position when the first wheel links (8) are in the first or second angular position. - the actuation assembly (6, 7) is operatively connected to a wheel lifting mechanism and arranged to move the first wheel link (8) about the respective first pivot coupling (3) between the first and second angular positions.

9. The container handling vehicle (501 ) according to claim 7 or 8, wherein, The actuation assembly comprises a wheel lifting motor (6) or a linear actuator.

10. The container handling vehicle (501 ) according to any of claims 7 to 9, wherein, At least one of the first wheel links (8) comprises a fifth pivot coupling (27) connected to the actuation assembly (6, 7).

11. The container handling vehicle (501 ) according to any of claims 7 to 10, wherein, The actuation assembly comprises an actuator link (7) pivotably connected to one of the first wheel links (8) to drive rotation of the first wheel link (8).

12. The container handling vehicle (501) according to any of the preceding claims, comprising: - a first drive shaft (22a) arranged in the first module (SI) and interconnecting the second wheel links (8), wherein the first drive shaft (22a) is operatively connected to drive a first wheel (11a) and a second wheel (lib) of the first set of wheels (11); and - a second drive shaft (22b) arranged in the third module (S3) and interconnecting the second wheel links (9), wherein the second drive shaft (22b) is operatively connected to drive a third wheel (11c) and a fourth wheel (1 Id) of the first set of wheels (11).

13. The container handling vehicle (501 ) according to any of the preceding claims, wherein, The vehicle frame (10) comprises a first vertical sub-frame (40) forming a part of the first module (SI), a second vertical sub-frame (41) forming a part of the third module (S3), and comprises a horizontal upper member (42) forming a part of the second module (S2), and wherein the horizontal upper member (42) is arranged above the cavity (26).

14. The container handling vehicle (501 ) according to claim 13, wherein, The horizontal upper member (42) is connected to the first vertical sub-frame (40) and the second vertical sub-frame (41).

15. The container handling vehicle (501 ) according to claim 13 or 14, wherein, The vehicle frame (10) comprises side cross members (43) arranged on opposite sides of the cavity (26).

16. A container handling vehicle comprising a first module (SI), a second module (S2) and a third module (S3), wherein, The first module (SI) and the third module (S3) comprise drive motors (20a, 20b) on articulated wheel assemblies for driving wheels arranged in the respective first module (SI) and third module (S3), and wherein the articulated wheel assemblies in the first module (SI) and the third module (S3) are connectable on opposite sides of the second module (S2).

17. A method of assembling a container handling vehicle of at least two different configurations, the container handling vehicle being adapted to operate on a rail system of an automated storage and retrieval system, the method comprising the steps of: i. providing a kit of parts, the kit of parts comprising: - a first module (SI) comprising: • a first wheel (11a) and a second wheel (lib) of a first set of wheels (11) for driving the vehicle in a first direction, ii. assembling the first module (SI) by connecting the first wheel (11a) and the second wheel (lib) of the first set of wheels (11) to the first module (SI), iii. assembling the second module (S2) by connecting the second set of wheels (12) to the second module (S2), iv. assembling the third module (S3) by connecting the third set of wheels (13) to the third module (S3), and v. assembling the vehicle by connecting the first module (SI), the second module (S2) and the third module (S3) to each other. • a first wheel (12a) and a fourth wheel (12d) of a second set of wheels (12) for driving the vehicle in a second direction perpendicular to the first direction; • one or more wheel drive motors, • a mechanism for selectively raising and lowering the wheels of the first or second set of wheels to change the direction of the vehicle, - a second module (S2) comprising a horizontal frame and lifting means for lifting the containers, - a third module comprising: • a third wheel (11c) and a fourth wheel (11d) of the first set of wheels (11), • a second wheel (12b) and a third wheel (12c) of the second set of wheels (12); • one or more wheel drive motors, • a mechanism for selectively raising and lowering the wheels of the first or second set of wheels to change the direction of the vehicle, ii. connecting together the first module, the third module and one or more second modules to form a vehicle having one of the following longitudinal configurations: configuration a. first module, second module, third module; configuration b. first module, third module, second module; configuration c. second module, first module, third module, second module; configuration d. second module, first module, second module, third module, second module.

18. The method of claim 17, wherein, The kit of parts comprises the components required to assemble a vehicle in each of the configuration a and the configuration b.

19. The method of claim 18, wherein, The components in the kit comprise at least two different lengths of transverse members (43) and / or coupler links (14).

Images