Container handling vehicle with all-wheel drive

Abstract

A container handling vehicle (601) for operation on a track system (108) of an automated storage and retrieval system (1), comprising a first set of wheels (601b) for travel in a first direction (X) and a second set of wheels (601c) for travel in a second direction (Y); wherein each of the first set of wheels (601b) and the second set of wheels (601c) comprises a respective first pair of wheels (601b ', 601c') located on the same side of the vehicle and a respective second pair of wheels (601b '', 601c '') located on the other same side of the vehicle, and the first and second pairs of wheels (601b ', 601c', 601b '', 601c '') are each formed by a respective co-force transmission element (606 '; 606 ', 606' ', 607', 607 ''), and wherein the container handling vehicle (601) comprises a wheel motor arrangement, and wherein each force transmission element (606 ', 606' ', 607', 607'') is connected to the wheel motor arrangement.

Description

[0001] This invention relates to the technical field of Automated Storage and Retrieval Systems (ASRS), and more particularly, to an ASRS of the type having a track system on top, on which a container transport vehicle operates. Storage containers are stacked one on top of another below the track system, and the container transport vehicle lifts and lowers the storage containers from above. 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 System 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage rows 105 arranged in rows 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 (e.g., 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 arranged to guide the container handling vehicles 201, 301, and 401 across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 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 containers during the lifting of the storage containers from the column 105 and the lowering of the storage containers into the column. The stack 107 of the 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 first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, which enable the container handling vehicles 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 of wheels 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 track group 110, 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for the vertical transport of 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 It is shown in the figure and indicated by reference numerals 304 and 404. Figure 2 In this case, the clamping device of the container handling device 201 is located inside the vehicle body 201a and is therefore not shown.

[0008] Conventionally and also for the purposes of this application, Z=1 denotes the uppermost layer below tracks 110, 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 1The 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 the layer at 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 of the prior art container handling vehicles 201, 301, and 401 includes a storage compartment or storage space for receiving and loading the storage container 106 during transport across the track system 108. The storage space may include cavities arranged inside the vehicle bodies 201a and 401a, such as… Figure 2 and Figure 4 The contents of these applications, as 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 cavity container handling vehicle 201 shown occupies an area that can cover a region in the X and Y directions with dimensions approximately equal to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0013] Alternatively, the cavity container transport vehicle 401 may occupy a larger area than the lateral area defined by the storage column 105, such as Figure 1 and Figure 4 As shown in, and disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle travel. Alternatively, the tracks may include upwardly projecting elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track may include one guide rail, or each track 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, and 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] The track system 108 can be a single-rail system, such as... Figure 5A As shown. Preferably, the track system 108 is a dual-rail system, such as... Figure 5B As shown, this allows container transport vehicles occupying an area F that roughly corresponds to the lateral extension of grid cell column 12 to travel along the first direction X or the second direction Y of the grid column, even if other container transport vehicles are positioned above the grid column 12 adjacent to that row of grid columns.

[0016] WO2018 / 146304A1 (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 both the X and Y directions.

[0017] In the frame structure 100, most columns are storage columns 105, meaning that the storage containers 106 store data in columns 105 in the form of stacks 107. Besides the storage columns 105, the frame structure also contains dedicated columns. Figure 1In this diagram, 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 in or out of 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, then picked up by any container handling vehicle and transported 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 directions using means such as transport vehicles, trolleys, or other transport routes. Note that the term "inclined" refers to the transport of storage container 106 having a general transport orientation in some direction between horizontal and vertical.

[0018] 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 the storage container 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 the storage container 106 that has been transported from the storage station or transfer station.

[0019] 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.

[0020] Storage containers are typically transported between port lines 119 and 120 and the access station using a transport system that includes a transmitter.

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

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

[0023] When you need to access the stored Figure 1 When a storage container 106 is in one of the multiple 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 devices (not shown) 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 positioned above the target storage container 106, the operation also involves: temporarily moving the storage container positioned above the target storage container 106 before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have 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 is 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.

[0024] When storage container 106 needs 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 the storage container 106 from the pick-up port column 120 and transport the storage container to a position above the storage column 105 in which it will be stored. After any storage container 106 located at or above the target position within the stack 107 is removed, 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.

[0025] 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 transported 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. Summary of the Invention

[0026] The invention is set forth and characterized in the independent claims, while the dependent claims describe other optional features.

[0027] One advantage of this invention is that it can improve the acceleration and deceleration capabilities of container transport vehicles operating on a track system.

[0028] This invention relates to a container transport vehicle for operation on a track system of an automated storage and retrieval system, the container transport vehicle comprising: The first section, the second section, and the third section are arranged side by side in a row, with the first section and the third section arranged on opposite sides of the second section; A first set of wheels for traveling in a first direction and a second set of wheels for traveling in a second direction, the second direction being perpendicular to the first direction; Each of the first and second sets of wheels includes a first pair of wheels and a second pair of wheels, wherein the first pair of wheels and the second pair of wheels are respectively arranged on opposite sides of the second section, and each of the first pair of wheels and the second pair of wheels is driven by a corresponding force transmission element; wherein the container handling vehicle includes a wheel motor assembly, the wheel motor arrangement including at least one wheel motor arranged in the first section, wherein each force transmission element is connected to the wheel motor assembly.

[0029] In other words, the wheels in a pair are connected to each other and driven by the same wheel motor (and force transmission element). All-wheel drive is achieved by connecting a total of four pairs of wheels (i.e., the first and second pairs of wheels in the first set of wheels and the first and second pairs of wheels in the second set of wheels) to the corresponding force transmission elements and wheel motors.

[0030] Each pair of wheels preferably includes at least two wheels. Therefore, all-wheel drive is achieved in both the first and second directions.

[0031] The first pair of wheels in the first set of wheels is arranged in a vertical plane on one side of the container handling vehicle, and the second pair of wheels in the first set of wheels is also arranged in a vertical plane on the other side of the second section. The same applies to the first and second pairs of wheels in the second set of wheels.

[0032] The force transmission element may be a drive belt. Alternatively, the force transmission element may be a drive chain, rope, or the like. The force transmission element is preferably ring-shaped.

[0033] The second section may include a cavity and a lifting device for lifting the storage container into the cavity.

[0034] The lifting device may include a lifting frame suspended by a lifting belt.

[0035] A container handling vehicle may consist of a first chassis for mounting a first set of wheels and a second chassis for mounting a second set of wheels.

[0036] All wheels in a pair of wheels are preferably fixed in place relative to the chassis on which they are mounted.

[0037] The second chassis can be located inside the first chassis.

[0038] The first chassis may have a longer extension length in the first direction than the second chassis, and the first segment and the third segment may be formed accordingly between the first chassis and the second chassis.

[0039] The first and second chassis can move vertically relative to each other.

[0040] The wheel lifting mechanism can be connected to the first chassis or the second chassis.

[0041] The wheel motor assembly may include four wheel motors, wherein two wheel motors may be arranged in a first section and the other two wheel motors may be arranged in a third section.

[0042] A wheel motor for driving the first pair of wheels in the first set of wheels may include a motor shaft, and a wheel motor for driving the first pair of wheels in the second set of wheels may also include a motor shaft, wherein the motor shafts may be arranged perpendicular to each other.

[0043] These motor shafts can be arranged in the first section.

[0044] Similarly, the wheel motor for driving the second pair of wheels in the first set of wheels may include a motor shaft, and the wheel motor for driving the second pair of wheels in the second set of wheels may also include a motor shaft, wherein these motor shafts may be arranged perpendicular to each other. These motor shafts may be arranged in the third section.

[0045] The motor shaft of the wheel motor used to drive the first pair of wheels in the first set of wheels can be connected to the side member of the first section and can extend through the side member to the outside of the first section.

[0046] Similarly, the motor shaft of the wheel motor used to drive the second pair of wheels in the first set of wheels can be connected to the side member of the third section and can extend through the side member to the outside of the third section.

[0047] The first pair of wheels in the first set of wheels and the wheels in the second pair of wheels are also arranged on the outside of the first and third sections. The wheels can be mounted on a short axle extending through the side member, and the short axle and the wheels follow any vertical movement of the side member to which they are mounted.

[0048] Therefore, the first pair of wheels and the second pair of wheels are located on the side of the side member opposite the wheel motors that drive the corresponding first and second pairs of wheels, and the corresponding motor shafts connect the corresponding wheel motors to a pair of wheels. This means that each pair of wheels can employ a simple two-wheel drive system, wherein the motor drives a force transmission element, which in turn drives a pair of wheels. The wheels with the force transmission element are positioned on one side of the side member, while the wheel motors are mounted on the other side. Mass balance can be achieved on either side of the side member.

[0049] The wheel in the wheel assembly may include a wheel rim and a tire disposed on or molded on the wheel rim.

[0050] A wheel assembly consists of one wheel in a pair of wheels, along with the motor shaft and force transmission elements for the corresponding pair of wheels. A wheel is composed of a tire and a wheel pulley. Therefore, the width of a wheel is the total axial width of the wheel pulley and tire of one wheel in the wheel assembly.

[0051] One of the first pair of wheels in the first set of wheels can be supported in the first section, and the other wheel in the first pair of wheels in the first set of wheels can be supported in the third section, and the force transmission element driving the first pair of wheels in the first set of wheels can be connected to the motor shaft on the outside of the first section.

[0052] Similarly, one of the wheels in the second pair of wheels in the first set of wheels can be supported in the first section, and the other wheel in the second pair of wheels in the first set of wheels can be supported in the third section, and the force transmission element driving the second pair of wheels in the first set of wheels can be connected to the motor shaft on the outside of the third section.

[0053] The power supply can be located in the first section or in the third section.

[0054] The power source can be a battery.

[0055] The first section has an area, the second section has an area, and the size ratio of the area occupied by the second section to the area occupied by the first section can be at least 2:1.

[0056] The wheel lifting mechanism can be fixedly connected to either the first chassis or the second chassis. Therefore, when changing the direction of travel between the first and second directions, only one chassis (either the first or the second) is raised or lowered. This allows for the use of a less powerful motor to change the direction of travel, resulting in a cheaper and simpler container handling vehicle with lower power consumption.

[0057] The present invention also relates to an automated storage and retrieval system for storage containers, the storage system comprising a frame structure and a container handling vehicle as defined above, wherein the frame structure includes a track system having a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of tracks; The container handling vehicle includes at least two wheel assemblies, each wheel assembly including a pair of wheels and a wheel pulley located on each of the wheels in the pair for being driven by a force transmission element; each track in the first set of tracks has two sidewalls defining the width of the track and includes two parallel guide rails, wherein two adjacent tracks in the first set of tracks are provided with guide rails for accommodating a first pair of wheels and a second pair of wheels in the first set of tracks; and wherein the width of the wheel assembly is equal to or less than half the width of the track.

[0058] Width is the total axial width of the wheel pulley and tire of a wheel in a wheel assembly. Furthermore, the axial width of the tire and the radially outer wheel width of the wheel pulley on the wheel assembly are both at most half the width of a track. That is, the wheel width occupies half the width of half the track width, while the wheel pulley occupies the other half of the width of half the track width.

[0059] Each of the wheels in a pair has a wheel pulley arranged side by side, and the force transmission element is connected to the wheel pulley of each of the wheels in the pair.

[0060] Alternatively, such wheel assemblies can also be used for the first pair of wheels and the second pair of wheels in the first set of wheels; however, this is not of equal importance, as the wheels and / or force transmission elements can instead extend into the corresponding first or third section, so it is sufficient that the wheel assembly does not occupy any cavity.

[0061] Parallel guide rails are located on the upper surface of the track. Each guide rail is defined by two opposing sidewalls. The guide rails extend along the length of the track.

[0062] The width of the wheel in the wheel assembly can be equal to or less than half the width of the guide rail. The wheel in the wheel assembly may include an inclined side portion for guidance by a corresponding inclined portion of a sidewall of the guide rail.

[0063] The force transmission elements can be arranged within the width of the wheel assembly.

[0064] The method may include the following steps: - At least one wheel motor of the operating wheel motor device drives corresponding force transmission elements connected to the first pair of wheels and the second pair of wheels in the first set of wheels, thereby causing the first pair of wheels and the second pair of wheels in the first set of wheels to travel in a first direction, and - At least one wheel motor of the operating wheel motor device drives the corresponding force transmission element connected to the first pair of wheels and the second pair of wheels in the second set of wheels, thereby causing the first pair of wheels and the second pair of wheels in the second set of wheels to move in a second direction.

[0065] By operating the container handling vehicle according to this method, all wheels of the container handling vehicle are driven.

[0066] The automated storage and retrieval system may include multiple upright members, and each storage column is defined by four upright members.

[0067] 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 gridded track system to define multiple grid cells. The first and second sets of tracks may include one or two guide rails. Preferably, the track includes two guide rails in both directions (double guide rails), for example, forming two parallel channels in one track, or providing a channel in each of a pair of track members that are fastened together to form the track. In this arrangement, the access opening (also called a 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.

[0068] In this specification, the term "storage container" is intended to refer to any cargo holding unit suitable for releasable connection to a container lifting device and having a base plate and side portions, such as a box, suitcase, pallet, or the like. 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 located at the upper edge of the sidewalls. The outer horizontal perimeter of the storage container is preferably rectangular.

[0069] In order to monitor and control vehicles, such as their location, the contents of each storage container, and the movement of the vehicles, so that the required storage containers can be delivered to the required locations at the required time without the vehicles colliding with each other, the automated storage and retrieval system includes a control system, which is typically computerized and usually includes a database for keeping track of the storage containers.

[0070] The relative terms “upper,” “lower,” “below,” “above,” “higher,” etc., should be understood in their usual sense and as shown in the Cartesian coordinate system.

[0071] This invention can be used in conjunction with storage containers and systems as described above. However, the automated storage and retrieval systems and methods disclosed herein can be used in other fields, including vertical agriculture, micro-operations, or grocery / e-grocery stores. Attached Figure Description

[0072] The following figures are attached to aid in understanding the invention. The figures illustrate embodiments of the invention, which will now be described by way of example only. In the figures: 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 5A It is used in Figure 1 A top-side schematic diagram of the track system used in the storage system, where each track has a guide rail; Figure 5B It is used in Figure 1 A top-side schematic diagram of the track system used in the storage system, wherein each track has two guide rails; Figure 5C yes Figure 5B A more detailed view of the dual-rail track system in the image; Figure 6A This is a side perspective view of a container handling vehicle according to the present invention; Figure 6B yes Figure 6A A top view of the container transport vehicle in the image; Figure 7 It shows Figure 6A and Figure 6B An example of a first chassis for a container transport vehicle to travel in a first direction on a track system; Figure 8A It shows Figure 6A and Figure 6B An example of a container handling vehicle used for traveling in a second direction on a track system when the second chassis is not carrying a storage container; Figure 8B It shows Figure 6A and Figure 6B An example of a container transport vehicle carrying storage containers on its second chassis; Figure 9A yes Figure 6A and Figure 6B A side perspective view of the four wheel assemblies and corresponding wheel motors of the wheel motor unit of the container transport vehicle. Figure 9B yes Figure 9A The top view shows the position of the wheel motors of the container handling vehicle's wheel motor unit in the corresponding first and third sections; Figure 10A This is observed along the first direction of the orbital system. Figure 6A and Figure 6B A side view of one wheel in the wheel assembly of the first pair of wheels in the first set of wheels of the container transport vehicle. Figure 10B yes Figure 10A A side-view perspective view of the wheel assembly. Detailed Implementation

[0073] In general, a container handling vehicle includes a first set of wheels (601b) for travel in a first direction (X) and a second set of wheels (601c) for travel in a second direction (Y). Each set of wheels in the first set (601b) and the second set (601c) includes a corresponding first pair of wheels (601b', 601c') on the same side of the vehicle and a corresponding second pair of wheels (601b, 601c") on the other side of the vehicle, and each of the first pair of wheels and the second pair of wheels (601b', 601c', 601b", 601c") is driven by a corresponding common force transmission element (606'; 606"; 607'; 607"). Therefore, achieving all-wheel drive by jointly driving each pair of wheels (e.g., two pairs per set) not only simplifies control but also provides improvements in aspects such as acceleration / deceleration, travel speed, and lifting speed, while enhancing the performance and stability of the vehicle operating on a track system. By driving a pair of wheels located on the same side of the vehicle—that is, each wheel in the pair is positioned on the same side of the vehicle or in the same vertical plane—the positioning of the motor can be optimized, thereby improving the vehicle's inertial behavior.

[0074] It can improve the acceleration capability when moving along the first direction X and the second direction Y on the orbital system.

[0075] In the following, embodiments of the invention 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 the invention to the subject matter depicted therein.

[0076] The framework structure 100 of the automatic storage and retrieval system 1 can be combined with the above. Figures 1 to 3 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.

[0077] The existing frame structure 100 may also 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.

[0078] The frame structure 100 can have any size. Specifically, it should be understood that the frame structure can be larger than... Figure 1 The frame structure disclosed herein is wider and / or longer and / or deeper. For example, frame structure 100 may have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0079] Figure 5C yes Figure 5BA more detailed view of the dual-rail track system.

[0080] The track system / rail system 110 forms a grid structure or grid pattern in a horizontal plane P. The grid 1 includes multiple rectangular and consistent grid locations or grid cells 14, wherein each grid cell 14 includes an access opening 112 defined by a pair of rails 110a, 110b from a first set of rails 110 and a pair of rails 111a, 111b from a second set of rails 111. The rails 110a, 110b, 111a, 111b form the track system 108 on which one or more container handling vehicles run. Figure 5C In the diagram, grid cells 14 are represented by dashed boxes, and access openings 112 are represented by shaded areas.

[0081] Therefore, guide rails 110a and 110b form a pair of guide rails defining rows of mutually parallel grid cells extending along the first direction X, and guide rails 111a and 111b form a pair of guide rails defining rows of mutually parallel grid cells extending along the second direction X.

[0082] Each grid cell 14 has a width W that is typically in the range of 30 cm to 150 cm. c And has a length L that is typically in the range of 50 cm to 200 cm. c The width W of each access opening 112 o and length L o Typically, the width W of the grid cell 14 is... c and length L c Smaller than 2 cm to 10 cm.

[0083] In the first direction X and the second direction Y, adjacent grid cells are arranged to contact each other, such that there is no space between them.

[0084] exist Figure 5C In the guide rail system shown, each horizontal member constituting guide rails 110a, 110b, 111a, and 111b includes two guide rails. Therefore, each horizontal member can accommodate two wheels in parallel (simultaneously). In this guide rail system, the boundary between adjacent grid cells extends along the centerline of the horizontal member, as shown... Figure 5C As shown.

[0085] Figure 6A This is a side perspective view of the container handling vehicle 601 according to the present invention.

[0086] Figure 6B yes Figure 6A A top view of container transport vehicle 601.

[0087] refer to Figure 6A and Figure 6B The container handling vehicle 601 has a first section S1, a second section S2, and a third section S3 arranged side by side in a row. (The last sentence appears to be incomplete and unrelated to the preceding text.) Figure 6B As seen in the image, the first section S1 and the third section S3 are arranged on opposite sides of the second section S2.

[0088] In the example shown, the second segment S2 has substantially similar dimensions to the grid cell 14. A lifting device 615 and an associated lifting frame 616 are arranged in the upper end of the second segment S2. A cavity for accommodating the storage container 106 is formed below the lifting frame 616. The first segment S1 and the third segment S3 are shown to have substantially the same dimensions. Both the first segment S1 and the third segment S3 are smaller than the second segment S2. The area F2 occupied by the second segment S2 is at least 2:1 in size ratio to the area F1 occupied by the first segment S1. Similarly, the area F2 occupied by the second segment S2 is at least 2:1 in size ratio to the area F3 occupied by the third segment S3. The first segment S1 and the third segment S3 accommodate, for example, a power source 609 (e.g., a battery 609) and a wheel lifting mechanism 617.

[0089] The container handling vehicle 601 includes: a first set of wheels 601b for traveling on top of the track system 108 along a first direction X; and a second set of wheels 601c for traveling on top of the track system 108 along a second direction Y. The second direction Y is perpendicular to the first direction X.

[0090] The first set of wheels 601b includes a first pair of wheels 601b' arranged on one side of the second section S2 and a second pair of wheels 601b' arranged on the other side of the second section S2. The first pair of wheels 601b' includes a first wheel 602' and a second wheel 602'. The first wheel 602' and the second wheel 602' are driven by a force transmission element 606' in the form of a drive belt. The first wheel 602' is supported at the first section S1 and arranged on the outside of the first section, and the second wheel 602' is supported at the third section S3 and arranged on the outside of the third section S3 in the same vertical plane as the first wheel 602'. The force transmission element 606' is arranged on the outside of the first section S1, the second section S2, and the third section S3. A motor device for driving the first pair of wheels 601b' is arranged in the first section S1, and the motor device includes a wheel motor 621. The motor shaft 621' of the wheel motor 621 extends to the outside of the first section S1 for driving the force transmission element 606' (and thereby driving the first wheel 602' and the second wheel 602"). Since the force transmission element 606' is connected to the two wheels 602', 602"', dual-wheel drive is achieved on one side of the container handling vehicle where the first pair of wheels 601b' of the first set of wheels 601b are arranged.

[0091] The first set of wheels 601b includes a second pair of wheels 601b", which is arranged on the side of the second section S2 opposite to the first pair of wheels 601b'. The second pair of wheels 601b" includes a first wheel 603' and a second wheel 603". The first wheel 603' and the second wheel 603" are driven by a force transmission element 606". The first wheel 603' is supported at the first section S1 and arranged on the outside of the first section, and the second wheel 603" is supported at the third section S3 and arranged on the outside of the third section S3 in the same vertical plane as the first wheel 603'. Force transmission element 606” is arranged on the outer side of the first section S1, the second section S2, and the third section S3. A motor for driving the second pair of wheels 601b’ is arranged in the third section S3, and this motor assembly includes a wheel motor 622. The motor shaft 622’ of the wheel motor 622 extends to the outer side of the third section S3 to drive force transmission element 606”, and thereby drive the first wheel 603’ and the second wheel 603”. Since force transmission element 606” is connected to the two wheels 603’, 603”, dual-wheel drive is achieved on the side of the container handling vehicle where the second pair of wheels 601b” of the first set of wheels 601b is arranged.

[0092] Since both sides of the container handling vehicle 601 have dual-wheel drive in the first direction X, the container handling vehicle 601 has all-wheel drive in the first direction X (i.e., four-wheel drive in the illustrated embodiment).

[0093] The second set of wheels 601c includes a first pair of wheels 601c' arranged on one side of the second section S2 and a second pair of wheels 601c' arranged on the other side of the second section S2. The first pair of wheels 601c' includes a first wheel 604' and a second wheel 604'. The first wheel 604' and the second wheel 604' are driven by a force transmission element 607'. The first wheel 604' and the second wheel 604' are arranged in the same vertical plane and in the third section S3. The first wheel 604' and the second wheel 604' are supported by side members that separate the second section S2 and the third section S3.

[0094] The force transmission element 607' is also arranged in the third section S3.

[0095] The motor assembly for driving the first pair of wheels 601c' is arranged in the third section S3. This motor assembly includes a wheel motor 624 and a motor shaft 624' of the wheel motor 624 (in...). Figure 6B Not shown in the figure, see example Figure 9A or Figure 9B The force transmission element 607' is driven by the motor shaft 624'.

[0096] Since the force transmission element 607' is connected to the two wheels 604', 604'", dual-wheel drive is achieved on one side of the first pair of wheels 601c' in the arrangement of the second set of wheels 601c in the container handling vehicle.

[0097] The second set of wheels 601c includes a second pair of wheels 601c”, which are arranged on the side of the second section S2 opposite to the first pair of wheels 601c’. The second pair of wheels 601c” includes a first wheel 605’ and a second wheel 605”. The first wheel 605’ and the second wheel 605” are driven by a force transmission element 607”. The first wheel 605’ and the second wheel 605” are arranged in the same vertical plane and in the first section S1. The first wheel 605’ and the second wheel 605” are supported by side members that separate the second section S2 and the first section S1.

[0098] The force transmission element 607 is also arranged in the first section S1.

[0099] A motor assembly for driving the second pair of wheels 601c” is arranged in the first section S1. This motor assembly includes a wheel motor 623 and a motor shaft 623' of the wheel motor 623 (in...). Figure 6B Not shown in the figure, see example Figure 9A or Figure 9B The force transmission element 607” is driven by the motor shaft 623'.

[0100] Since the force transmission element 607” is connected to the two wheels 605', 605”, dual-wheel drive is achieved on the side of the container handling vehicle where the second pair of wheels 601c” of the second set of wheels 601c is arranged.

[0101] Since both sides of the container handling vehicle 601 have dual-wheel drive in the second direction Y, the container handling vehicle 601 has all-wheel drive in the second direction Y (i.e., four-wheel drive in the illustrated embodiment).

[0102] In summary, since the container handling vehicle 601 has dual-wheel drive on all four sides of the second section S2, it achieves all-wheel drive in both the first direction X and the second direction Y.

[0103] like Figure 6A As shown, the container handling vehicle 601 consists of a first chassis 650 for mounting a first set of wheels 601b and a second chassis 660 for mounting a second set of wheels 601c.

[0104] During forward movement in direction F, the weight transfer of the container handling vehicle during acceleration and deceleration acts on wheel 602' (and the wheel on the other side). The amount of weight transfer is typically in the range of 10% to 25%. Similarly, during backward movement in direction B, the weight transfer of the container handling vehicle 601 during acceleration and deceleration acts on wheel 602' (and the wheel on the other side).

[0105] A shorter wheelbase, higher acceleration, and a higher center of gravity (COG) result in a greater amount of weight transfer. Therefore, wheels with diameters of 602' and 602" will have different acceleration potentials. A=u g % Acceleration potential = coefficient of friction 9.81 The load percentage on wheels 601' and 602".

[0106] A simple and energy-efficient motor and firmware control solution is achieved by driving two wheels 601' and 602' on the same side via a shared wheel motor (and force transmission element 606').

[0107] Figure 7 It shows Figure 6A and Figure 6B An example of a first chassis 650 of a container transport vehicle 601 for traveling in a first direction X on a track system 108. First set of wheels 601b ( Figure 7 Only the first pair of wheels 601b' is shown, fixedly connected to the first chassis 650, meaning the first set of wheels 601b follows any vertical movement of the first chassis 650. The first chassis 650 may have reinforcements 611 at the mounting positions of wheels 602', 602'', 603', and 603''. The first chassis 650 supports a power supply 609 and a wheel lifting mechanism 617. The wheel assembly of the first pair of wheels 601b' in the first set of wheels 601b is shown located on the outside of the first chassis 650. A force transmission element 606' connects the motor shaft 623' to the first wheel 602' and the second wheel 602' in the first pair of wheels 601b'. A tension pulley 612 for tensioning the force transmission element 606' is mounted to the first chassis 650. The tension pulley 612 is configured to adjust the tension in the force transmission element 606'.

[0108] Although Figure 7 Not shown, but the first chassis 650 has a similar arrangement for the wheel assembly on the other side of the first chassis 650.

[0109] Figure 8A It shows Figure 6A and Figure 6BAn example of a second chassis 660 of a container transport vehicle 601 for traveling in a second direction Y on a track system 108. Figure 8A In the middle, the second chassis 660 does not carry the storage container 106.

[0110] Figure 8B It shows Figure 6A and Figure 6B An example of a container handling vehicle 601 carrying a storage container 106 on its second chassis 660. A second set of wheels 601c is fixedly connected to the second chassis 660, meaning the second set of wheels 601c follows any vertical movement of the second chassis 660. The second chassis 660 is disclosed to have an interface 613 for connection to a first chassis 650.

[0111] The relative dimensions of the first chassis 650 and the second chassis 660 cause the second chassis 660 to be configured to be disposed inside the first chassis 650 (e.g., in...). Figure 6A (As shown in the diagram). To achieve this, the first chassis 650 has a longer extension length in the first direction X (and in the second direction Y) than the second chassis 660. The first segment S1 and the third segment S3 are respectively formed between the first chassis 650 and the second chassis 650.

[0112] The first chassis 650 and the second chassis 660 can move relative to each other in the vertical direction.

[0113] Figure 9A yes Figure 6A and Figure 6B A side perspective view of the four wheel assemblies and the corresponding wheel motors of the wheel motor assembly of the container transport vehicle 601.

[0114] Figure 9B yes Figure 9A The top view shows the position of the wheel motors of the wheel motor assembly in the corresponding first and third sections of the container handling vehicle 601.

[0115] Many components have been described above in conjunction with Figures 6 to 8. Figure 9A and Figure 9B This only shows some further details regarding the relative positions of the different wheel motors 621, 622, 623, 624 and the force transmission elements 606', 606" , 607' , 607" . (See also: From...) Figure 9AAs seen in the diagram, the wheel motors 621 and 623 for driving the first pair of wheels 601b' and the second pair of wheels 601b” of the first set of wheels 601b are positioned at a higher height than the first pair of wheels 601c' and the second pair of wheels 601c” of the second set of wheels 601c. While positioning the wheel motors 621 and 623 for driving the first pair of wheels 601b' and the second pair of wheels 601b” of the first set of wheels 601b at a lower position would help the container handling vehicle 601 achieve a lower center of gravity, this is not feasible because these wheel motors could collide with one of the wheels 604” of the first pair of wheels 601c' of the second set of wheels 601c.

[0116] As from Figure 9A and Figure 9B As seen in the diagram, the wheel motors 622 and 624 for driving the first pair of wheels 601b' and the second pair of wheels 601b” in the first set of wheels 601b are arranged diagonally opposite each other. Similarly, the wheel motors 621 and 623 for driving the first pair of wheels 601c' and the second pair of wheels 601c” in the second set of wheels 601c are arranged opposite each other. This positioning of the wheel motors for driving the respective pairs of wheels has the advantage of helping the container handling vehicle 601 to achieve a more ideal center of gravity, thereby improving the overall stability of the container handling vehicle 601.

[0117] Figure 10A This is seen along the first direction of orbital system 108. Figure 6A and Figure 6B A side view of one of the wheels in the first pair of wheels 601b' of the first set of wheels 601b of the container transport vehicle 601.

[0118] Figure 10B yes Figure 10A A side-view perspective view of the wheel assembly.

[0119] like Figure 10A As shown, each track 110 in the first set of tracks has two sidewalls 121 defining the width W1 of the track, and includes two parallel guide rails 110a and 110b. The parallel guide rails 110a and 110b are located on the upper surface of the tracks 110 and 111. Each guide rail is defined by two opposing sidewalls 18. The guide rails 110a and 110b extend along the length of the tracks 110 and 111.

[0120] The width W2 of the wheel assembly is equal to or less than half the width W1 of the track 110. Width W2 is the total axial width of the wheel pulley 608 and tire of one wheel 602' in the wheel assembly. Furthermore, the axial width of the tire on the wheel assembly and the wheel width radially outward of the wheel pulley 608 are both at most half the width W3 of the track 110. That is, the wheel width occupies half the width of the track, while the wheel pulley occupies the other half of the track width.

[0121] Each of the two wheels 602' has a wheel pulley 608 arranged side by side, and the force transmission element 606' is connected to the wheel pulley 608 of each of the two wheels.

[0122] Therefore, the wheel assemblies, including at least the first pair of wheels and the second pair of wheels in the second set of wheels, are so narrow that they do not occupy any space in the cavity or in the adjacent grid cells.

[0123] Alternatively, such wheel assemblies can also be used for the first pair of wheels and the second pair of wheels in the first set of wheels; however, this is not of equal importance, as the wheels and / or force transmission elements can instead extend into the corresponding first or third section, so it is sufficient that the wheel assembly does not occupy any cavity.

[0124] The width W4 of the wheel 602' of the wheel assembly is equal to or less than half the width W3 of the guide rail 110. The wheel 602' of the wheel assembly includes an inclined side portion 19 for guidance by a corresponding inclined portion of a sidewall 18 of the guide rail.

[0125] Force transmission elements 606', 606”, 606”', and 606”” are arranged within the width W2 of the wheel assembly.

[0126] According to one aspect, the container handling vehicle may be provided with: a first chassis carrying wheels for movement in a first direction; a second chassis carrying wheels for movement in a second direction; and a wheel lifting mechanism, wherein one of the first and second chassis also carries the wheel lifting mechanism.

[0127] In the foregoing description, various aspects of the invention have been described with reference to illustrative embodiments. Specific reference numerals, systems, and configurations have been set forth for purposes of explanation to provide a comprehensive understanding of the system and its operating principles. However, this description is not intended to be interpreted in a limiting sense. Various modifications and variations of the illustrative embodiments that will be apparent to those skilled in the art to which this disclosure pertains, as well as other embodiments of the system, are considered to fall within the scope of the invention as defined in the appended claims.

[0128] Some examples of this disclosure are set forth in the following numbered clauses: 1. A container handling vehicle (601) for operation on a track system (108) of an automated storage and retrieval system (1), the container handling vehicle (601) comprising: The first section (S1), the second section (S2), and the third section (S3) are arranged side by side in a row, wherein the first section (S1) and the third section (S3) are arranged on opposite sides of the second section (S2); A first set of wheels (601b) for traveling in a first direction (X) and a second set of wheels (601c) for traveling in a second direction (Y), the second direction (Y) being perpendicular to the first direction (X); Each of the first set of wheels (601b) and the second set of wheels (601c) includes a first pair of wheels (601b', 601c') and a second pair of wheels (601b, 601c"). The first pair of wheels (601b', 601c') and the second pair of wheels (601b, 601c") are respectively arranged on opposite sides of the second section (S2), and each pair of wheels (601b', 601c', 601b", 601c") is driven by a corresponding force transmission element (606'; 606"; 607'; 607"). The container handling vehicle (601) includes a wheel motor assembly, the wheel motor arrangement including at least one wheel motor (621, 622, 623, 624) arranged in a first section (S1), wherein each force transmission element (606'; 606”; 607'; 607”) is connected to the wheel motor assembly.

[0129] 2. The container handling vehicle (601) according to Clause 1, wherein the second section (S2) includes a cavity (610) and a lifting device (615) for lifting the storage container (106) into the cavity (610).

[0130] 3. The container handling vehicle (601) according to any of the preceding clauses, wherein the container handling vehicle (601) comprises a first chassis (650) for mounting a first set of wheels (601b) and a second chassis (660) for mounting a second set of wheels (601c).

[0131] 4. The container handling vehicle (601) according to Clause 3, wherein the second chassis (660) is arranged inside the first chassis (650).

[0132] 5. The container handling vehicle (601) according to Clause 4, wherein the first chassis (650) has a longer extension length in a first direction (X) than the second chassis (660), and wherein the first section (S1) and the third section (S3) are respectively formed between the first chassis (650) and the second chassis (660).

[0133] 6. A container handling vehicle (601) according to any one of the preceding clauses 3 to 5, wherein the first chassis (650) and the second chassis (660) are movable relative to each other in the vertical direction.

[0134] 7. The container handling vehicle (601) according to Clause 6 includes a wheel lifting mechanism for raising or lowering a first set of wheels or a second set of wheels relative to the track system, wherein the wheel lifting mechanism (617) is connected to a first chassis (650) or to a second chassis (660).

[0135] 8. A container handling vehicle (601) according to any of the preceding clauses, wherein the wheel motor assembly includes four wheel motors (621, 622, 623, 624), wherein two wheel motors (621, 623) are arranged in a first section (S1) and the other two wheel motors (622, 624) are arranged in a third section (S3).

[0136] 9. The container handling vehicle (601) according to Clause 8, wherein the wheel motor (621) for driving the first pair of wheels (601b') in the first set of wheels (601b) includes a motor shaft (621'), and the wheel motor (623) for driving the first pair of wheels (601c') in the second set of wheels (601c) also includes a motor shaft (623'), wherein the motor shafts (621', 623') are arranged perpendicular to each other.

[0137] 10. The container handling vehicle (601) according to Clause 9, wherein the motor shaft (621') of the wheel motor (621) for driving the first pair of wheels (601b') in the first set of wheels (601b) is connected to a side member of the first section (S1) and extends through the side member to the outside of the first section (S1).

[0138] 11. A container handling vehicle (601) according to Clause 10, wherein one wheel (602") of the first pair of wheels (602b') in the first set of wheels is supported at a first section (S1), and the other wheel (602') of the first pair of wheels (602b') in the first set of wheels is supported at a third section (S3), and wherein a force transmission element (606') driving the first pair of wheels (602b') in the first set of wheels is connected to a motor shaft (621') on the outside of the first section (S1).

[0139] 12. The container handling vehicle (601) according to any of the preceding clauses includes a power source (609) for driving the wheel motor device, wherein the power source (609) is arranged in the first section (S1) or in the third section (S3).

[0140] 13. A container handling vehicle (601) according to any of the preceding clauses, wherein a first section (S1) has an area (F1) and a second section (S2) has an area (F2), and wherein the size ratio of the area (F2) of the second section (S2) to the area (F1) of the first section (S1) is at least 2:1.

[0141] 14. An automated storage and retrieval system (1) for storing containers (106), the storage system comprising a frame structure (100) and a container handling vehicle (601) according to any of the preceding clauses: The frame structure includes a track system (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 vehicle (601) includes at least two wheel assemblies, each wheel assembly including a pair of wheels (601b', 601b") and a wheel pulley (608) located on each of the pairs of wheels for being driven by a force transmission element (606'; 606"). Each track (110, 111) in the first set of tracks has two sidewalls (121) defining the width (W1) of the track and includes two parallel guide rails (110a, 110b), wherein two adjacent tracks in the first set of tracks are provided with guide rails for accommodating the first pair of wheels and the second pair of wheels (601b', 601b') in the first set of wheels; and The width (W2) of the wheel assembly is equal to or less than half the width (W1) of the track (110, 111).

[0142] 15. A method for operating a container handling vehicle (601) pursuant to any one of clauses 1 to 13 on an automated storage and retrieval system (1), wherein the method comprises the following steps: - At least one wheel motor (621, 623) of the operating wheel motor device drives corresponding force transmission elements (606', 606") connected to the first pair of wheels and the second pair of wheels (601b', 601b") in the first set of wheels, thereby causing the first pair of wheels and the second pair of wheels in the first set of wheels to travel in a first direction (X), and - At least one wheel motor (622, 624) of the operating wheel motor device drives the corresponding force transmission elements (607', 607") connected to the first pair of wheels and the second pair of wheels (601c', 601c") in the second set of wheels, thereby causing the first pair of wheels and the second pair of wheels in the second set of wheels to travel in the second direction (Y).

[0143] List of reference numerals

Claims

1. A container handling vehicle (601) for operating on a rail system (108) of an automated storage and retrieval system (1), the container handling vehicle (601) comprising: a first set of wheels (601b) for travelling in a first direction (X) and a second set of wheels (601c) for travelling in a second direction (Y); wherein each of the first set of wheels (601b) and the second set of wheels (601c) comprises a respective first pair of wheels (601b', 601c') on one and the same side of the container handling vehicle and a respective second pair of wheels (601b", 601c") on another and the same side of the container handling vehicle, and each pair of wheels (601b', 601c', 601b", 601c") is driven by a respective common force transmitting element (606'; 606"; 607'; 607"); wherein the container handling vehicle (601) comprises a wheel motor arrangement, and wherein each of the force transmitting elements (606'; 606"; 607'; 607") is connected to the wheel motor arrangement.

2. The container handling vehicle (601) according to claim 1, further comprising a first section (SI), a second section (S2) and a third section (S3) arranged side by side in a row, wherein, the first section (SI) and the third section (S3) are arranged on opposite sides of the second section (S2); optionally, the second direction (Y) is perpendicular to the first direction (X); optionally wherein the first pair of wheels (601b', 601c') and the second pair of wheels (601b", 601c") of the first set of wheels and the second set of wheels are arranged on opposite sides of the second section (S2), respectively; and optionally at least one wheel motor (621, 622, 623, 624) is arranged in the first section (SI).

3. The container handling vehicle (601) according to claim 2, wherein, the second section (S2) comprises a cavity (610) and a lifting device (615) for lifting a storage container (106) into the cavity (610).

4. The container handling vehicle (601) according to any of the preceding claims, wherein, the container handling vehicle (601) is constituted by a first chassis (650) for mounting the first set of wheels (601b) and a second chassis (660) for mounting the second set of wheels (601c), optionally wherein the second chassis (660) is arranged inside the first chassis (650).

5. The container handling vehicle (601) according to claim 4, wherein, the first chassis (650) has a longer extension in the first direction (X) than the second chassis (660), and wherein the first section (SI) and the third section (S3) are formed between the first chassis (650) and the second chassis (650), respectively.

6. The container handling vehicle (601) according to any of the preceding claims 3-5, wherein, the first chassis (650) and the second chassis (660) are movable in a vertical direction relative to each other.

7. The container handling vehicle (601) according to claim 6, comprising a wheel lifting mechanism for lifting or lowering the first set of wheels or the second set of wheels relative to the rail system, wherein, the wheel lifting mechanism (617) is connected to the first chassis (650) or to the second chassis (660).

8. The container handling vehicle (601) according to any of the preceding claims, wherein, The wheel motor assembly comprises four wheel motors (621, 622, 623, 624), wherein two of the wheel motors (621, 623) are arranged in the first section (SI) and the other two of the wheel motors (622, 624) are arranged in the third section (S3), optionally wherein the wheel motor (621) for driving a first pair of wheels (601b') of the first group of wheels (601b) comprises a motor shaft (621') and the wheel motor (623) for driving a first pair of wheels (601c') of the second group of wheels (601c) also comprises a motor shaft (623'), wherein the motor shafts (621', 623') are arranged perpendicular to each other.

9. The container handling vehicle (601) according to claim 9, wherein, The motor shaft (621') of the wheel motor (621) for driving a first pair of wheels (601b') of the first group of wheels (601b) is connected to a side member of the first section (SI) and extends through the side member to the outside of the first section (SI), optionally wherein one wheel (602") of the first pair of wheels (602b') of the first group of wheels is supported at the first section (SI) and the other wheel (602') of the first pair of wheels (602b') of the first group of wheels is supported at the third section (S3), and wherein a force transmission element (606') driving the first pair of wheels (602b') of the first group of wheels is connected to the motor shaft (621') outside of the first section (SI).

10. The container handling vehicle (601) according to any of the preceding claims, comprising a power supply ( ) for driving the wheel motor arrangement, wherein, The power supply (609) is arranged in the first section (SI) or in the third section (S3).

11. The container handling vehicle (601) according to any of the preceding claims, wherein, The first section (SI) has an area footprint (FI) and the second section (S2) has an area footprint (F2), and wherein the area footprint (F2) of the second section (S2) has a size ratio of at least 2:1 to the area footprint (FI) of the first section (SI).

12. An automated storage and retrieval system (1) for storage containers (106), the automated storage and retrieval system comprising a framework structure (100) and a container handling vehicle (601) according to any of the preceding claims.

13. The automated storage and retrieval system of claim 12, wherein, The framework structure comprises a rail system (108) having a first set of parallel rails (110) and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110); the container handling vehicles (601) comprise at least two wheel assemblies each comprising a pair of wheels (601b', 601b") and a wheel carrier (608) on each of the pair of wheels for being driven by the force transmitting element (606'; 606"); optionally, each rail (110, 111) of the first set of rails has two side walls (121) defining a width (W1) of the rail and comprises two parallel rails (110a, 110b), wherein two adjacent rails of the first set of rails are provided with rails for accommodating a first and a second pair of wheels (601b', 601b") of the first set of wheels; and optionally wherein a width (W2) of the wheel assembly is equal to or less than half the width (W1) of the rail (110, 111).

14. A method of operating a container handling vehicle (601) according to any of claims 1-11 on an automated storage and retrieval system (1), wherein, The method comprises the steps of: - operating at least one of the wheel motor devices to drive the respective force transmitting element (606', 606") connected to a first and a second pair of wheels (601b', 601b") of the first set of wheels, thereby causing the first and the second pair of wheels of the first set of wheels to travel in the first direction (X), and - operating at least one of the wheel motor devices to drive the respective force transmitting element (607', 607") connected to a first and a second pair of wheels (601c', 601c") of the second set of wheels, thereby causing the first and the second pair of wheels of the second set of wheels to travel in the second direction (X).

Images