Container transport vehicle

Abstract

There is provided a container handling vehicle for operation on a track system of a storage and retrieval system, comprising: a vehicle body; a first set of wheels connected to the vehicle body, the first set of wheels configured for driving the container handling vehicle in a first direction (X) on top of the rail system, the first set of wheels comprising a first wheel (504) and a second wheel (502); a second set of wheels connected to the vehicle body, the second set of wheels configured for driving the container handling vehicle in a second direction (Y) on top of the rail system, the second set of wheels comprising a third wheel (503) and a fourth wheel; and a cantilever extending horizontally forward from the vehicle body in a first direction (X); wherein a third wheel (503) and a fourth wheel are arranged on a first side of the vehicle body, from which the boom extends, and wherein the third wheel and the fourth wheel are rotatable about two parallel and horizontally offset wheel axes (WAY), and wherein the boom extends from the first side of the vehicle body, a vertical plane (602) defined by the second set of wheels is a vertical plane in which an outer face of the third wheel (503) and an outer face of the fourth wheel are located, in which the first wheel (504) and the second wheel (502) are arranged on a second side and a third side of the vehicle body, the second side and the third side being opposite sides of the vehicle body and each perpendicular to the first side, and in which the first wheel (504) and the second wheel (502) are arranged on a second side and a third side of the vehicle body. The first wheel (504) and the second wheel (502) are rotatable about a common wheel axis (WAX) positioned forward in the first direction (X) than a vertical plane defined by the second set of wheels.

Description

TECHNICAL FIELD

[0001] The present invention relates to an automated storage and retrieval system for storing and retrieving containers, in particular to a container handling vehicle having a cantilevered portion, wherein a first set of wheels is mounted to a support extending outwardly from a main body of the container handling vehicle. BACKGROUND

[0002] Figure 1 A prior art automated storage and retrieval system 1 having a framework structure 100 is disclosed, and Figure 2 、 Figure 3 and Figure 4 Three different prior art container handling vehicles 201, 301, 401 adapted to operate on such a system 1 are disclosed.

[0003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106, also referred to as bins, are stacked one on top of another to form stacks 107. The members 102 can typically be made of metal, e.g. extruded aluminium profiles.

[0004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of the framework structure 100, on which a number of container handling vehicles 201, 301, 401 can operate to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide the movement of the container handling vehicles 201, 301, 401 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage columns 105, i.e. in a plane parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework structure 100 can be used to guide the storage containers during lifting of containers from and lowering of containers into the columns 105. The stacks 107 of containers 106 are 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 201b, 301b, 401b and a second set of wheels 201c, 301c, 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 set of wheels are fully visible. The first set of wheels 201b, 301b, and 401b are arranged to engage with two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c, and 401c are arranged to engage with two adjacent tracks in the second set of tracks 111. At least one set of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered, such that the first set of wheels 201b, 301b, and 401b and / or the second set of wheels 201c, 301c, and 401c can engage with the corresponding set of 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, raising 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 with the storage container 106, and these clamping / engaging devices can be lowered from vehicles 201, 301, 401 such that the position of the clamping / engaging devices relative to vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. The components of the clamping devices of 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 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 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, 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 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 WO2015 / 193278A1, 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 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 a guide rail for a pair of guide rails of each track.

[0015] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) illustrates a typical configuration of a track system 108, which includes tracks and parallel guide rails in both 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 have other uses. 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 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, the storage container 106 can be placed in a random or dedicated column 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 different directions using means such as delivery vehicles, trolleys, or other transport routes. Note that the term "tilt" indicates that the transport of storage container 106 has a general transport orientation between horizontal and vertical.

[0017] exist Figure 1In 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, but are instead returned to the frame structure 100 after 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 transport system that includes a transmitter.

[0020] If port columns 119, 120 and access stations are located at different horizontal heights, 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 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.

[0022] 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 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 above the target storage container 106, the operation also involves: temporarily moving the above storage containers before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle 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 the original storage column 105. However, the removed storage container 106 can alternatively be repositioned into another storage column 105.

[0023] When storage container 106 needs to be stored in a column 105, a container handling vehicle 201, 301, or 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 where it will be stored. After all storage containers 106 located at or above the target position within the stack 107 have been removed, the container handling vehicles 201, 301, and 401 position the storage containers 106 to the desired location. The removed storage containers 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0024] 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 desired storage container 106 can be delivered to the desired location at a desired 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.

[0025] EP4178884 (A1) describes a container handling vehicle with a cantilever solution operating in an automated storage and retrieval system. The container handling vehicle has two sets of wheels for movement in a first direction X and two sets of wheels for movement in a second direction Y. In this solution, the wheels closest to the cantilever portion of the container handling vehicle for movement in the first direction X can be extended to ensure stability. However, this solution does not involve permanent wheel extension. It aims to provide slightly better stability when the vehicle is carrying a container. When the container handling vehicle is not carrying a container, the wheels can be retracted. These wheels drive the container handling vehicle in the first direction X. The extension of these wheels involves a complex and delicate solution to ensure that driving force is maintained in both the extended and retracted positions.

[0026] EP3713855 (A1) describes a solution for a container handling vehicle operating in a storage and retrieval system. The container handling vehicle includes a base to which a body of the container handling vehicle is attached. The body of the container handling vehicle can rotate on the base, allowing the body to face in any direction. The container handling vehicle in this solution also has a cantilever. Furthermore, the base has wheels for travel in both a first direction (X) and a second direction (Y). One of the wheels in the set for travel in the X direction is attached to an extension of the base. Summary of the Invention

[0027] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention.

[0028] In one aspect, the present invention relates to a container transport vehicle for operation on a track system of a storage and retrieval system, wherein the container transport vehicle comprises: a vehicle body; a first set of wheels connected to the vehicle body, the first set of wheels being configured to drive the container transport vehicle in a first direction (X) on top of the track system, the first set of wheels including a first wheel and a second wheel; a second set of wheels connected to the vehicle body, the second set of wheels being configured to drive the container transport vehicle in a second direction (Y) on top of the track system, the second set of wheels including a third wheel and a fourth wheel; a cantilever extending horizontally forward from the vehicle body in the first direction (X); and a container lifting device disposed below the cantilever, wherein the third wheel and the fourth wheel are disposed on a first side of the vehicle body, the cantilever extends from the first side of the vehicle body, and the third wheel and the fourth wheel are rotatable about two parallel and horizontally offset wheel axes (WAY), and wherein the vertical plane defined by the second set of wheels is the vertical plane in which the outer sides of the third wheel and the fourth wheel are located.

[0029] The first wheel and the second wheel are arranged on the second and third sides of the vehicle body, which are opposite sides of the vehicle body and are perpendicular to the first side, and the first wheel and the second wheel can rotate about a common wheel axis (WAX). The container handling vehicle includes a first support and a second support, the first support extending from the vehicle body in a first direction (X) for supporting a first wheel, the second support extending from the vehicle body in the first direction (X) for supporting a second wheel, and wherein the first support and the second support are configured to position the first wheel and the second wheel such that a common wheel axis (WAX) is positioned forward in the first direction (X) beyond the vertical plane defined by the second set of wheels.

[0030] A first and second support are arranged within an area defined by the vertical projection of the cantilever. The container handling vehicle includes a first pulley for driving a first wheel and a second pulley for driving a second wheel, wherein the first and second pulleys are rotatable about a common pulley axis (PAX), and the wheel axis (WAX) and pulley axis (PAX) are arranged parallel and offset relative to each other. The first pulley is configured to drive a first toothed pulley, which is configured to drive the first wheel, and the second pulley is configured to drive the second toothed pulley, which is configured to drive the second wheel.

[0031] The first wheel includes a toothed inner circumferential surface for engaging with a first toothed wheel, and the second wheel includes a toothed inner circumferential surface for engaging with a second toothed wheel.

[0032] Container handling vehicles include: - A first wheel motor and a first drive belt, wherein the first drive belt is configured to transmit driving force from the first wheel motor to a first pulley; and - A second wheel motor and a second drive belt, wherein the second drive belt is configured to transmit driving force from the second wheel motor to the second pulley, wherein the first wheel motor and the second wheel motor have a common motor rotation axis (MAX), and wherein the motor rotation axis (MAX) is arranged parallel and offset relative to the wheel axis (WAX) and the pulley axis (PAX), the motor rotation axis (MAX) being arranged inside the vehicle body, a first wheel being attached to a first pulley and a second wheel being attached to a second pulley, and both the first wheel and the second wheel, as well as the first pulley and the second pulley, have the same common axis (WAX, PAX). This container handling vehicle includes: - A first wheel motor and a first drive belt, wherein the first drive belt is configured to transmit driving force from the first wheel motor to a first pulley; and - A second wheel motor and a second drive belt, wherein the second drive belt is configured to transmit driving force from the second wheel motor to the second pulley.

[0033] Container transport vehicles operate on a storage and retrieval system, which includes a track system as part of a frame structure. The track system includes a first set of parallel tracks and a second set of parallel tracks. The first set of parallel tracks is arranged to guide the container transport vehicle across the top of the frame structure in a first direction (X). The second set of parallel tracks is arranged perpendicular to the first set of tracks to guide the container transport vehicle in a second direction (Y) perpendicular to the first direction (X). The first and second sets of parallel tracks divide the track system into multiple grid cells. The frame structure includes upright members that define storage columns for storing containers within the frame structure.

[0034] The combined width (WW) of the first wheel and the first pulley is less than or equal to half the width (WR) of the track of the track system, and the combined width (WW) of the second wheel and the second pulley is less than or equal to half the width (WR) of the track of the track system. Each of the first wheel and the second wheel includes a rim and a tire arranged or molded on the rim. The rim and the pulley are different parts of a single integral component. The individual wheel component is mounted on the hub of the container handling vehicle via a pair of bearing rings.

[0035] This solution provides stability for container handling vehicles both when they are carrying containers and when they are not. Attached Figure Description

[0036] The following figures are attached to facilitate understanding of the present 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.

[0037] Figure 2 This is a perspective view of a prior art container handling vehicle having an internal cavity for carrying storage containers therein.

[0038] Figure 3 This is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0039] Figure 4 This is a bottom perspective view of a prior art container handling vehicle having an internal cavity for carrying storage containers therein.

[0040] Figure 5 This is a side view of a container handling vehicle having front wheels that extend beyond the body of the container handling vehicle in a first direction X.

[0041] Figure 6 It is a perspective view of a container handling vehicle with a cantilever.

[0042] Figure 7a yes Figure 5 Detailed perspective view of the components of the container handling vehicle, in which redundant covers are intentionally omitted to better show the wheels, gears, drive belts, brackets, wheel motors, etc. Figure 7b yes Figure 7a An enlarged view of part A in the image.

[0043] Figure 7c yes Figure 7b A detailed view, in which the bracket connecting the gear and the wheel has been removed to better show the engagement between the gear and the wheel; Figure 8a It is a front view of a wheel used for traveling in the first direction X, wherein the wheel is narrower than the guide rail to leave space for the drive mechanism inside the wheel so that it does not obstruct the lifting mechanism.

[0044] Figure 8b yes Figure 8a A three-dimensional side view of the wheel in the picture.

[0045] Figure 8c It is based on Figure 8a and Figure 8b An exploded 3D view of the wheels. Detailed Implementation

[0046] Overall, the container handling vehicle for operation on a track system of a storage and retrieval system includes a first set of wheels for driving the container handling vehicle in a first direction (X) on top of the track system. A second set of wheels for driving the container handling vehicle in a second direction (Y) on top of the track system defines a vertical plane (602), in which the outer surfaces of the second set of wheels lie. A cantilever extends horizontally forward from the vehicle body in the first direction (X), and the first set of wheels is rotatable about a common wheel axis (WAX) positioned further forward in the first direction (X) than the vertical plane defined by the second set of wheels.

[0047] Thus, by placing the drive wheels in the first direction X on a permanently extended structure, this container handling vehicle with a cantilever solution can achieve continuous stability.

[0048] In the following discussion, embodiments of the invention will be described 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 in the drawings.

[0049] The framework structure 100 of the automatic storage and retrieval system 1 is based on the above. Figures 1 to 3 The existing frame structure 100 is constructed in a similar manner. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper track system 108 extending in the X and Y directions.

[0050] The frame structure 100 also includes storage compartments in the form of storage columns 105 disposed between the members 102, wherein the storage containers 106 can be stacked into a stack 107 within the storage columns 105.

[0051] The frame structure 100 can be of any size. Specifically, it should be understood that the frame structure can be larger than... Figure 1 The width and / or length and / or depth disclosed herein are much greater. For example, the frame structure 100 may have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0052] Now refer to Figure 5 An embodiment of the automatic storage and retrieval system according to the present invention will be discussed in more detail up to Figure 8.

[0053] Figure 5This is a side view of a container handling vehicle having front wheels extending beyond the main body of the vehicle in a first direction X. The container handling vehicle with a cantilever 520 is visible here, extending outward in the first direction X. A set of front wheels 502 for travel in the first direction X extends beyond the main body of the container handling vehicle. This set of wheels is configured to extend forward below the cantilever of the container handling vehicle. When a lifting platform on the container handling vehicle lifts a container to the top, the first set of wheels extends outside the space occupied by the container.

[0054] The container transport vehicle 501 has a vehicle body 524. A first set of wheels 502, 502' and a second set of wheels are connected to the vehicle body. The first set of wheels is configured to drive the container transport vehicle 501 in a first direction X on top of the track system 108.

[0055] The container handling vehicle 501 includes a cantilever section 520 and a lifting device 522, which includes a lifting frame for lifting the storage container 106. The lifting frame is suspended on the cantilever section, as will be well known to those skilled in the art.

[0056] The lifting device includes one or more grippers adapted to engage the storage container 106. The lifting frame and grippers can be lowered from the cantilever portion of the vehicle 501, such that the position of the grippers relative to the vehicle 501 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. The grippers preferably engage the storage container 106 from above.

[0057] Preferably, the guide pin or guide member helps to align the clamp relative to the clamping recess (not shown) of the storage container 106, and also helps to align the lifting frame relative to the upright member 102 of the frame structure 100 (see [link to documentation]). Figure 1 )alignment.

[0058] Figure 6 This is a perspective view of a container handling vehicle with a cantilever section 520, showing the wheel axle WAY of the third wheel 600 used for transporting the container handling vehicle in the second direction YWAY. Additionally, the vertical plane YZ defined by the outer surface of the Y-direction wheel is shown as 602 at the point where it intersects with WAY.

[0059] Figures 7a to 7c A first solution for a drive mechanism for the front wheels in the X direction is shown.

[0060] Figures 7a to 7c This is a detailed front perspective view of the components of the container handling vehicle 501, in which redundant covers are omitted to better show the wheels 502, 504, gears 510, drive belts 507, brackets 505, and wheel motors 506.

[0061] The diagram shows all the wheels in the first set of wheels for travel in the first direction X. The first set of wheels has a first wheel 504 and a second wheel 502, which are arranged to engage with two adjacent guide rails in a first set of parallel tracks 110 of the track system 108 in the first direction X. Therefore, the first wheel 504 and the second wheel 502 are arranged on opposite sides of the body of the vehicle 501 and are rotatable about a common wheel axis WAX. The first set of wheels for travel in the first direction X also has: a fifth wheel 504', arranged on the same side of the vehicle as the second wheel 504 for engaging the same guide rail; and a sixth wheel 502', arranged on the same side as the second wheel 502 for engaging the same guide rail.

[0062] Figure 7b yes Figure 7a An enlarged view of part A in the image.

[0063] The first wheel 504 includes a toothed circumferential surface 508 disposed radially inside the rim of the first wheel 504. The surface 508 is disposed on the inner surface of the rim and points inward toward the wheel axis WAX.

[0064] Figure 7c yes Figure 7a The perspective view of part A shows that the bracket 505 connecting the gear 510 and the wheel 504 has been removed to better illustrate the engagement between the gear 510 and the wheel 504.

[0065] The container handling vehicle 501 also has a first gear 510, which engages the toothed surface 508 of the first wheel 504 via a first portion of the gear 510 having a toothed outer surface 509. The first gear 510 is rotatable about a gear axis PAX.

[0066] like Figure 7b As shown, the wheel axle (WAX) and gear axle (PAX) are arranged to be parallel to each other and offset at least horizontally. In this embodiment, WAX and PAX are shown to be horizontally offset; however, they can be offset both horizontally and vertically.

[0067] The first wheel 504 is connected to a bracket 505. The bracket 505 has a connecting end that can be connected to the vehicle body 501 and includes a central web that extends to a surface flush with one side of the container handling vehicle 501. The central web supports the first wheel 504 and the gear 508.

[0068] Gear 508 includes a second portion having a pulley for engaging with the first drive belt 507. The pulley is disposed at the other end of gear 510 relative to the toothed outer surface 509 that contacts the circular surface 508 of wheel 504. The pulley is disposed outside the rim; therefore, the pulley is laterally displaced in the Y direction and is not radially inside the rim of the first wheel 504.

[0069] A first drive belt 507 connects a pulley and the output shaft of a first wheel motor 506, and is configured to drive a first gear 510 by rotation of the first wheel motor 506. The output shaft rotates about the motor axis MAX. The motor axis MAX is parallel to the wheel axis WAX and the gear axis PAX.

[0070] Similarly, the second drive belt connects the pulley and the output shaft of the second wheel motor, and is configured to drive the second gear by the rotation of the second wheel motor.

[0071] The first wheel 504, the first gear 510, the first drive belt 507, the first bracket 505 and the first wheel motor 506 form part of the first wheel assembly.

[0072] Similarly, the second wheel 502, the second gear, the second drive belt, the second bracket, and the second wheel motor form part of the second wheel assembly.

[0073] It should be noted that, in order to better illustrate the other components, [the text is incomplete and likely refers to a separate section]. Figures 7a to 7c The second set of wheels is omitted. However, it can be seen that, due to the wheel mounting arrangement, the axle WAX ​​is shifted by a distance of 700 in the X direction, thus extending beyond the plane 602 of the Y-direction wheel. Furthermore, although in Figures 7a to 7c Not disclosed in the text, but the container transport vehicle 501 also has a wheel lifting mechanism for lifting the first set of wheels and / or the second set of wheels to change which set of wheels is in contact with the track system 108 at any given time.

[0074] Figures 8a to 8c This is an example of an alternative solution for the drive mechanism of the front wheels in the X direction.

[0075] Figure 8a This is a front cross-sectional view of a wheel used for travel in the first direction X, wherein the wheel is narrower than the guide rail to allow space for the drive mechanism inside the wheel so that it does not obstruct the lifting mechanism. The wheel assembly includes a tire, a flange, and a pulley.

[0076] Tires can be made of any material that provides good grip with the rail surface, such as rubber.

[0077] The tire is attached to the rim. The rim connects the tire to the pulley. The pulley has an outer surface divided into two parts: the first part is attached to the rim, and the second part includes a toothed outer surface. The toothed outer surface interacts with the drive belt, which transmits power from the wheel motor to the wheel. A set of bearings is located on the inner surface of the pulley. These bearings allow the wheel to rotate about its axis. The width of the pulley is the same as the wheel width (WW).

[0078] As can be seen, the wheel's tire is narrower than the guide rail width (WT), and the guide rail width is half the track width (WR).

[0079] Figure 8b yes Figure 8a A three-dimensional side view of the wheel in the picture.

[0080] Figure 8c It is based on Figure 8a and Figure 8b An exploded 3D view of the wheels.

[0081] In the foregoing description, various aspects of the transport vehicle and automated storage and retrieval system according to the invention have been described with reference to illustrative embodiments. Specific figures, systems, and configurations have been set forth for illustrative purposes to provide a thorough 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 the illustrative embodiments and other embodiments of the system 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.

[0082] Examples of this disclosure are set forth in the following numbered clauses: 1. A container handling vehicle for operation on a track system of a storage and retrieval system, wherein the container handling vehicle comprises: Vehicle body; The first set of wheels, connected to the vehicle body, is configured to drive the container transport vehicle in a first direction (X) on top of the track system. The first set of wheels includes a first wheel (504) and a second wheel (502). The second set of wheels, connected to the vehicle body, is configured to drive the container transport vehicle in a second direction (Y) on top of the track system. The second set of wheels includes a third wheel (503) and a fourth wheel. The cantilever extends horizontally forward from the vehicle body in a first direction (X); and The container lifting device is located below the cantilever. The third wheel (503) and the fourth wheel are arranged on the first side of the vehicle body, the cantilever extends from the first side of the vehicle body, and the third wheel and the fourth wheel are rotatable about two parallel and horizontally offset wheel axes (WAY). The vertical plane defined by the second set of wheels is the vertical plane where the outer surfaces of the third wheel (503) and the fourth wheel are located. The first wheel (504) and the second wheel (502) are arranged on the second and third sides of the vehicle body, which are opposite sides of the vehicle body and are perpendicular to the first side, and the first wheel (504) and the second wheel (502) can rotate around a common wheel axis (WAX). The container handling vehicle includes a first support (505) and a second support (505). The first support extends from the vehicle body in a first direction (X) to support the first wheel (504), and the second support extends from the vehicle body in the first direction (X) to support the second wheel (502). Furthermore, the first bracket and the second bracket (505) are configured to position the first wheel and the second wheel (504, 502) such that the common wheel axis (WAX) is positioned further forward in the first direction (X) than the vertical plane defined by the second set of wheels.

[0083] 2. The container handling vehicle according to Clause 1, wherein the first support and the second support (505) are arranged in the occupied area of ​​the cantilever defined by the vertical projection of the cantilever.

[0084] 3. A container handling vehicle according to any of the preceding clauses, comprising a first pulley (510) for driving a first wheel (504) and a second pulley (510) for driving a second wheel (502), wherein the first pulley (510) and the second pulley (510) are rotatable about a common pulley axis (PAX).

[0085] 4. A container handling vehicle pursuant to Clause 3, wherein the wheel axle (WAX) and pulley axle (PAX) are arranged to be parallel and offset relative to each other.

[0086] 5. A container handling vehicle according to Clause 3 or 4, wherein a first pulley is configured to drive a first toothed wheel, the first toothed wheel is configured to drive a first wheel, and a second pulley is configured to drive a second toothed wheel, the second toothed wheel is configured to drive a second wheel.

[0087] 6. A container handling vehicle according to Clause 5, wherein the first wheel (504) includes a toothed inner circumferential surface (508) for engaging with a first toothed wheel (509), and the second wheel (502) includes a toothed inner circumferential surface (508) for engaging with a second toothed wheel (510).

[0088] 7. A container handling vehicle according to any one of clauses 3 to 7, wherein the container handling vehicle includes: - A first wheel motor (506) and a first drive belt (507), wherein the first drive belt (507) is configured to transmit driving force from the first wheel motor (506) to a first pulley (510); and - A second wheel motor (506) and a second drive belt (507), wherein the second drive belt (507) is configured to transmit the driving force from the second wheel motor (506) to the second pulley (510).

[0089] 8. A container handling vehicle according to Clause 8, wherein the first wheel motor and the second wheel motor (506) have a common motor rotation axis (MAX), and wherein the motor rotation axis (MAX) is arranged to be parallel and offset relative to the wheel axis (WAX) and the pulley axis (PAX).

[0090] 9. A container handling vehicle (501) pursuant to Clause 8, wherein the motor rotation axis (MAX) is arranged inside the vehicle body (501a).

[0091] 10. A container handling vehicle pursuant to Clause 1, wherein a first wheel (502) is attached to a first pulley and a second wheel (502) is attached to a second pulley, and the first wheel (504) and the second wheel (502), as well as the first pulley and the second pulley, have the same common axle (WAX, PAX).

[0092] 11. A container handling vehicle pursuant to Clause 11, wherein the container handling vehicle comprises: - A first wheel motor (506) and a first drive belt (507), wherein the first drive belt (507) is configured to transmit driving force from the first wheel motor (506) to a first pulley (603); and - A second wheel motor (506) and a second drive belt (507), wherein the second drive belt (507) is configured to transmit the driving force from the second wheel motor (506) to the second pulley (603).

[0093] 12. A container handling vehicle according to Clause 1, wherein the container handling vehicle operates on a storage and retrieval system comprising a track system as part of a frame structure, wherein the track system comprises a first set of parallel tracks and a second set of parallel tracks, the first set of parallel tracks being arranged to guide the container handling vehicle across the top of the frame structure in a first direction (X), the second set of parallel tracks being arranged perpendicular to the first set of tracks to guide the container handling vehicle in a second direction (Y) perpendicular to the first direction (X), the first set of parallel tracks and the second set of parallel tracks dividing the track system into a plurality of grid cells, the frame structure comprising upright members defining storage columns for storing containers within the frame structure.

[0094] 13. A container transport vehicle pursuant to Clause 12, wherein the combined width (WW) of the first wheel (504) and the first pulley is less than or equal to half the width (WR) of the track (605) of the track system.

[0095] 14. A container transport vehicle pursuant to Clause 12, wherein the combined width (WW) of the second wheel (502) and the second pulley is less than or equal to half the width (WR) of the track (605) of the track system.

[0096] 15. A container handling vehicle pursuant to any of the foregoing provisions, wherein each of the first wheel and the second wheel (504, 502) comprises a rim (602) and a tire (601) disposed on or molded on the rim.

[0097] 16. A container handling vehicle pursuant to Clause 15, wherein the rim (602) and pulley (603) are different parts of a single integral component.

[0098] 17. A container handling vehicle pursuant to Clause 16, wherein a single wheel component is mounted on the wheel hub of the container handling vehicle via a pair of bearing rings (606).

[0099] List of reference numerals

[0100] Existing technology ( Figures 1 to 4 ):

Claims

1. A container handling vehicle for operation on a track system of a storage and retrieval system, wherein, The container transport vehicle includes: Vehicle body; A first set of wheels, connected to the vehicle body, is configured to drive the container transport vehicle in a first direction (X) on top of the track system. The first set of wheels includes a first wheel (504) and a second wheel (502). A second set of wheels, connected to the vehicle body, is configured to drive the container transport vehicle in a second direction (Y) on top of the track system. The second set of wheels includes a third wheel (503) and a fourth wheel. The cantilever extends horizontally forward from the vehicle body in the first direction (X); The third wheel (503) and the fourth wheel are arranged on a first side of the vehicle body, the cantilever extends from the first side of the vehicle body, and the third wheel and the fourth wheel are rotatable about two parallel and horizontally offset wheel axes (WAY). The vertical plane (602) defined by the second set of wheels is the vertical plane containing the outer surfaces of the third wheel (503) and the fourth wheel. The first wheel (504) and the second wheel (502) are arranged on the second and third sides of the vehicle body, which are opposite sides of the vehicle body and are perpendicular to the first side, and the first wheel (504) and the second wheel (502) are rotatable about a common wheel axis (WAX) positioned further forward in the first direction (X) than the vertical plane defined by the second set of wheels.

2. The container handling vehicle according to claim 1, further comprising a container lifting device disposed below the cantilever, and / or wherein, The container handling vehicle includes a first support (505) and a second support (505), the first support extending from the vehicle body in the first direction (X) to support the first wheel (504), and the second support extending from the vehicle body in the first direction (X) to support the second wheel (502), wherein the first support and the second support (505) are configured to position the first wheel and the second wheel (504, 502) such that the common wheel axis (WAX) is positioned further forward in the first direction (X) than the vertical plane defined by the second set of wheels.

3. The container handling vehicle according to claim 1 or 2, wherein, The first bracket and the second bracket (505) are arranged in the occupied area of ​​the cantilever defined by the vertical projection of the cantilever.

4. The container handling vehicle according to any one of the preceding claims, comprising a first pulley or first gear (510) for driving the first wheel (504) and a second pulley or second gear (510) for driving the second wheel (502), wherein, The first pulley (510) and the second pulley (510) are rotatable about a common pulley axis (PAX).

5. The container handling vehicle according to claim 3 or 4, wherein, The common wheel axis (WAX) and the common pulley axis (PAX) are arranged to be parallel to each other and offset.

6. The container handling vehicle according to claim 5, wherein, The first pulley is configured to drive a first toothed wheel, the first toothed wheel is configured to drive the first wheel, and the second pulley is configured to drive a second toothed wheel, the second toothed wheel is configured to drive the second wheel.

7. The container handling vehicle according to claim 6, wherein, The first wheel (504) includes a toothed inner circumferential surface (508) for engaging with the first toothed wheel (509), and the second wheel (502) includes a toothed inner circumferential surface (508) for engaging with the second toothed wheel (510).

8. The container handling vehicle according to any one of claims 4 to 7, wherein, The container transport vehicle includes: - A first wheel motor (506) and a first drive belt (507), wherein the first drive belt (507) is configured to transmit driving force from the first wheel motor (506) to the first pulley (510); and - A second wheel motor (506) and a second drive belt (507), wherein the second drive belt (507) is configured to transmit driving force from the second wheel motor (506) to the second pulley (510).

9. The container handling vehicle according to claim 8, wherein, The first wheel motor and the second wheel motor (506) have a common motor rotation axis (MAX), and wherein the common motor rotation axis (MAX) is arranged to be parallel and offset relative to the common wheel axis (WAX) and the common pulley axis (PAX), or wherein the common motor rotation axis (MAX) is arranged inside the vehicle body (501a).

10. The container handling vehicle according to any one of the preceding claims, wherein, The first wheel (502) is attached to the first pulley or the first gear and the second wheel (502) is attached to the second pulley or the second gear, and the first wheel (504) and the second wheel (502) as well as the first pulley and the second pulley have the same common axis (WAX, PAX).

11. The container handling vehicle according to claim 10, wherein, The container transport vehicle includes: - A first wheel motor (506) and a first drive belt (507), wherein the first drive belt (507) is configured to transmit driving force from the first wheel motor (506) to the first pulley (603); and - A second wheel motor (506) and a second drive belt (507), wherein the second drive belt (507) is configured to transmit driving force from the second wheel motor (506) to the second pulley (603).

12. A storage and retrieval system comprising a container transport vehicle according to any one of the preceding claims, wherein, The storage and retrieval system includes a track system as part of a frame structure, wherein the track system includes a first set of parallel tracks and a second set of parallel tracks. The first set of parallel tracks is arranged to guide a container transport vehicle across the top of the frame structure in a first direction (X), and the second set of parallel tracks is arranged perpendicular to the first set of parallel tracks to guide the container transport vehicle in a second direction (Y) perpendicular to the first direction (X). The first set of parallel tracks and the second set of parallel tracks divide the track system into a plurality of grid cells. The frame structure includes upright members that define storage columns for storing containers within the frame structure.

13. The storage and retrieval system according to claim 12, wherein, The combined width (WW) of the first wheel (504) and the first pulley is less than or equal to half the width (WR) of the track (605) of the track system.

14. The container handling vehicle according to claim 12, wherein, The combined width (WW) of the second wheel (502) and the second pulley is less than or equal to half the width (WR) of the track (605) of the track system.

15. The container handling vehicle according to any one of the preceding claims, wherein, Each of the first wheel and the second wheel (504, 502) includes a rim (602) and a tire (601) arranged or molded on the rim. Optionally, the rim (602) and the pulley (603) are different parts of a single integral component. Optionally, the single wheel component is mounted on the hub of the container handling vehicle via a pair of bearing rings (606).

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