Container handling vehicle, system and method

Abstract

A container handling vehicle (501) for an automated storage and retrieval system (1) is described, the container handling vehicle (501) comprising a vehicle body (501a) and a lifting assembly (502) comprising: a lifting frame (508) for lifting storage containers (106) from above; a lifting shaft (509) rotatably mounted in the vehicle body (501a), wherein the lifting frame (508) is suspended on the lifting shaft (509); a drive assembly (510) comprising at least one electric motor (511; 511', 511'') having a motor drive shaft (513; 513', 513'') for outputting a rotary drive force; and a transmission (515) connected between the motor drive shaft (513; 513', 513'') of the at least one electric motor (511; 511', 511'') and the lifting shaft (509), wherein the transmission (515) is configured to: for a first type of lifting operation, transmit the rotary drive force from the drive assembly to the lifting shaft (509) at a first transmission ratio; and for a second type of lifting operation, transmit the rotary drive force from the drive assembly to the lifting shaft at a second transmission ratio, wherein the first transmission ratio is higher than the second transmission ratio. Also described is an automated storage and retrieval system (1), and a method of switching between the first transmission ratio and the second transmission ratio.

Description

Technical Field

[0001] This invention relates to container handling vehicles, related systems, and related methods. Specifically, this invention relates to a container handling vehicle for an automated storage and retrieval system, an automated storage and retrieval system, and a method for operating the container handling vehicle. 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, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a guide rail system 108 arranged on 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 the storage column 105, and also transport storage containers 106 above the storage column 105. The guide rail system 108 includes a first set of parallel guide rails 110 and a second set of parallel guide rails 111. The first set of parallel guide rails is arranged to guide the container handling vehicles 201, 301, and 401 to move along a first direction X on top of the frame structure 100, and the second set of parallel guide rails is arranged perpendicular to the first set of parallel guide rails 110 to guide the container handling vehicles 201, 301, and 401 to move along a second direction Y, perpendicular to the first direction X. The containers 106 stored in column 105 are accessed by container transport vehicles 201, 301, and 401 through access openings 112 in the guide rail system 108. The container transport vehicles 201, 301, and 401 can move laterally above the 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 and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. Figure 2 , Figure 3 and Figure 4 In this configuration, two wheels in each group are fully visible. The first group of wheels 201b, 301b, and 401b are arranged to engage with two adjacent rails in the first group of parallel guide rails 110, and the second group of wheels 201c, 301c, and 401c are arranged to engage with two adjacent rails in the second group of parallel guide rails 111. At least one group of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered, such that the first group of wheels 201b, 301b, and 401b and / or the second group of wheels 201c, 301c, and 401c can engage with the corresponding set of parallel guide rails 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, such as 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. A portion of the clamping device of the container handling vehicles 301, 401 is... Figure 3 and Figure 4 The clamping device of the container handling device 201 is shown and indicated by reference numerals 304 and 404. Figure 2 The lifting device is located within the vehicle body 201a and is therefore not shown. The lifting mechanism may include a lifting frame 404d suspended on the lifting belt 404a. The lifting belt 404a provides power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a clamping engagement device / gripper 404b for attachment to a clamping recess of the storage container 106. A guide pin 404c assists in aligning the gripper 404b relative to the clamping recess of the storage container 106.

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

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading the storage container 106 during transport on the guide rail system 108. The storage space may include cavities arranged inside the vehicle bodies 201a, 401a, such as… Figure 2 and Figure 4 The contents of the applications shown (in which a cavity container transport vehicle is illustrated) and those 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 (referred to as a cantilever container handling vehicle) is shown. Such a vehicle is described in detail in, for example, 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 may cover an area in the X and Y directions that is approximately equal in size to the lateral extent of the storage column 105, for example, as described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “lateral” as used herein may mean “horizontal”.

[0013] Alternatively, Figure 4 and Figure 5 The cavity container transport vehicle 401 shown can occupy an area larger than the lateral area defined by the storage column 105, such as Figure 1 and Figure 4 As shown, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

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

[0015] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a guide rail system 108, which includes guide rails and parallel tracks 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 serve other purposes. Figure 1 In this context, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, enabling the storage containers to be transported to retrieval stations (not shown), where they can be accessed from outside the frame structure 100 or moved into 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, and 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 in various directions via means such as conveyor vehicles, trolleys, or other transport routes. Note that the term "inclined" indicates that the transport of storage container 106 has a general transport orientation in a direction between horizontal and vertical.

[0017] exist Figure 1In the first port column 119, for example, it can be an 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 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 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. 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 multiple transport mechanisms.

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

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

[0022] The storage system can also use a guide rail system 108 on top of the frame structure 100 with port columns 119, 120 to transfer storage containers between them and a container transfer vehicle arranged below the lower end of the port columns. Such a storage system and suitable container transfer vehicles are disclosed in WO2019 / 238694A1 and WO2019 / 238697A1, the contents of which are incorporated herein by reference.

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

[0024] When you need to access the stored Figure 1When a storage container 106 is located in one of the multiple columns 105 disclosed herein, one of the container handling vehicles 201, 301, and 401 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301, and 401 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting device 116 of the container handling vehicles 201, 301, and 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above it before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into its original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

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

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

[0027] The purpose of this invention is to provide a container handling vehicle that is more efficient than existing container handling vehicles. Summary of the Invention

[0028] The summary of this invention is provided to introduce some conceptual options in a simplified form, which will be further described herein. This summary is not intended to identify key or essential features of the invention.

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

[0030] This invention relates to a container transport vehicle for an automated storage and retrieval system, wherein the automated storage and retrieval system includes a guide rail system extending in a horizontal plane, the guide rail system being supported by a plurality of upright members to form a frame structure, the guide rail system including a first set of parallel guide rails extending along a first direction, and a second set of parallel guide rails extending along a second direction and perpendicular to the first set of parallel guide rails, to guide the container transport vehicle to move on the frame structure along the first and second directions, the container transport vehicle comprising: Vehicle body; A first set of wheels for movement in a first direction and a second set of wheels for movement in a second direction; and The lifting assembly includes: Lifting frame, used to lift storage containers from above; A lifting shaft is rotatably mounted in the vehicle body, wherein a lifting frame is suspended on the lifting shaft; The drive assembly includes at least one electric motor having a motor drive shaft for outputting rotational driving force; and A transmission device is connected between the motor drive shaft of at least one electric motor and the lifting shaft, wherein the transmission device is configured to: transmit rotational driving force from the drive assembly to the lifting shaft at a first transmission ratio for a first type of lifting operation; and transmit rotational driving force from the drive assembly to the lifting shaft at a second transmission ratio for a second type of lifting operation, wherein the first transmission ratio is higher than the second transmission ratio.

[0031] The term "higher gear ratio" should be understood as: the first gear ratio provides a higher rotational speed to the lifting shaft than the second gear ratio.

[0032] Container handling vehicles provide a solution for optimizing the operation of lifting components to reduce the total time spent on lifting operations.

[0033] In the case where the drive assembly includes only one electric motor, at least one electric motor can be that electric motor.

[0034] In cases where the drive assembly includes more than one electric motor, at least one electric motor may be the first electric motor.

[0035] The first gear ratio can transmit rotational driving force at a first level of torque, and the second gear ratio can transmit rotational driving force at a second level of torque. The torque at the second level can be greater than the torque at the first level.

[0036] When the weight of the storage container lifted by the lifting assembly exceeds a threshold, the container handling vehicle can use a second gear ratio. When the weight of the storage container and any product items contained therein is below the threshold, the lifting assembly can use a first gear ratio. Therefore, compared to prior art container handling vehicles, the total time spent on storage and retrieval operations is reduced. This threshold can be, for example, between 10 kg and 20 kg, preferably substantially 15 kg.

[0037] Alternatively, this threshold can be calculated as a percentage of the maximum permissible total weight of the storage containers and the products contained therein. This maximum total weight can be calculated based on the maximum load that the bottommost storage container in a stack of containers can withstand without collapsing. Typically, the weight of the storage containers should not exceed 30 kg to avoid exceeding the total weight limit of the storage column. To enable the use of a first gear ratio of up to 15 kg, this percentage of the maximum permissible total weight of the storage containers and the products contained therein can be as high as 50%.

[0038] To lower the center of gravity of the container handling vehicle, at least one electric motor is preferably positioned at a horizontal height lower than the lifting shaft.

[0039] The lifting shaft can be positioned relatively centrally above the lifting frame to allow the lifting belt to be wound around it from both sides.

[0040] Container handling vehicles may have a cantilever configuration, referred to as cantilever container handling vehicles. In such cantilever container handling vehicles, the cantilever configuration includes at least a lifting frame and a lifting axle. The cantilever configuration extends from a vehicle body portion that includes at least a first set of wheels and a second set of wheels. Preferably, the vehicle body portion includes heavy and bulky components such as batteries, wheel motors, and / or electric motors for rotating the lifting axle.

[0041] The lifting shaft is preferably located in the upper part of the container handling vehicle, for example, in the upper third of the container handling vehicle, so as to leave space below for the lifting frame that carries any storage containers.

[0042] The rotational driving force from the drive assembly to the lifting shaft can be transmitted via force transmission devices such as belts, chains, or ropes. However, preferably, the force transmission device is a lightweight component so that even if the force transmission device is positioned relatively high in the vehicle, it will not cause instability in the container handling vehicle.

[0043] The transmission device may include a first gear providing a first transmission ratio and a second gear providing a second transmission ratio.

[0044] For a given input rotational speed, the first gear operates the lifting shaft at a first gear ratio (i.e., the first rotational speed), and the second gear operates the lifting shaft at a second gear ratio (i.e., the second rotational speed).

[0045] The central axes of the first and second gears can coincide with the central axis of the lifting shaft.

[0046] In other words, the first gear and the second gear can be arranged on the same axis as the lifting shaft.

[0047] The diameter of the second gear can be larger than the diameter of the first gear.

[0048] The lifting frame can be suspended on the lifting shaft via multiple lifting belts.

[0049] Preferably, four lifting belts are used, with one lifting belt connected at each corner of the lifting frame.

[0050] The lifting shaft may include multiple reels corresponding to the number of lifting belts, and each lifting belt may be wound onto one reel of the lifting shaft.

[0051] The reels are preferably identical. This minimizes the risk of the lifting frame tilting during lifting. All lifting belts (e.g., all four lifting belts) can be wound onto the same lifting shaft.

[0052] The lifting assembly may include a first guide device disposed on a first side of the lifting shaft and a second guide device disposed on a second side of the lifting shaft, wherein the second side may be disposed opposite to the first side, and wherein the first guide device and the second guide device may each be configured to guide one or more lifting belts.

[0053] The lifting frame can be rectangular, and each of the multiple lifting belts can be connected at or near each corner of the lifting frame.

[0054] The drive assembly may include a braking device for braking the downward movement of the lifting frame.

[0055] At least one electric motor in the drive assembly can be a first electric motor and a second electric motor, wherein: the first electric motor can have a motor drive shaft, and the transmission device can include a first force transmission device, wherein the motor drive shaft of the first electric motor can be connected to a first gear via the first force transmission device; and the second electric motor can have a motor drive shaft, and the transmission device can include a second force transmission device, wherein the motor drive shaft of the second electric motor can be connected to a second gear via the second force transmission device.

[0056] The first and second electric motors can be connected to a common mounting bracket. This common mounting bracket can be fixed to the wall of the vehicle body facing the cantilever structure and immediately below the protruding end of the lifting shaft. Therefore, the distance between the first electric motor and the lifting shaft is the same as the distance between the second electric motor and the lifting shaft.

[0057] The common mounting base may include a spacer whose width corresponds to the width of the first gear and the second gear. This ensures that the first gear, the motor drive shaft of the first electric motor, and the first force transmission device are in the same vertical plane. Similarly, the second gear, the motor drive shaft of the second electric motor, and the second force transmission device are in the same vertical plane. This ensures proper guidance of the force transmission device.

[0058] The first and second electric motors can be positioned at a horizontal height lower than the lifting shaft and at a distance from the lifting shaft to allow space for the force transmission device.

[0059] The first electric motor can be connected to the first pivotable bracket.

[0060] The second electric motor can be connected to the second pivotable bracket.

[0061] Tensioning of the force transmission device connecting the first electric motor to the lifting shaft can be achieved by pivoting the first pivotable bracket.

[0062] Tensioning of the force transmission device that connects the second electric motor to the lifting shaft can be achieved by pivoting the second pivotable bracket.

[0063] The first and second electric motors can rotate in opposite directions around a common mounting base to accurately transmit tension.

[0064] The first and second electric motors can be arranged on either side of the centerline of the common mounting base to increase stability.

[0065] The first pivotable support and the second pivotable support can be similar components, that is, the same components.

[0066] Force transmission devices can be similar components.

[0067] The first electric motor and the second electric motor can be similar components.

[0068] Using similar components will reduce the number of different components required.

[0069] Since both the first and second electric motors can be connected to the same lifting shaft, when the lifting shaft rotates, the motor drive shafts of both the first and second electric motors can rotate together. Because the two motor drive shafts rotate together, a common braking device is sufficient to brake the downward movement of the lifting frame; that is, a common braking device is provided on only one motor drive shaft.

[0070] The first force transmission device and the second force transmission device can be a drive belt.

[0071] The drive assembly may include only one electric motor, which may have a motor drive shaft, which may include a first motor gear and a second motor gear.

[0072] The transmission device may include: a first force transmission device connected between a first motor gear and a second gear; a second force transmission device connected between a second motor gear and a second gear; and a clutch device, wherein the clutch device may be configured to switch between a first transmission ratio and a second transmission ratio.

[0073] The clutch device may include a first electrical connector for engaging a first force transmission device and a first gear to the lifting shaft, and a second electrical connector for engaging a second force transmission device and a second gear to the lifting shaft.

[0074] The electric motor may have a motor drive shaft. The motor drive shaft may extend from one side of the electric motor through the motor and to the other side of the electric motor. Corresponding first and second motor gears may be arranged on opposite sides of the electric motor, and both may be securely connected to the motor drive shaft so that they always rotate together with the motor drive shaft.

[0075] The first force transmission device of the transmission can be connected between the first motor gear and the first gear. The second force transmission device can be connected between the second motor gear and the second gear. The clutch device can be configured to switch between a first transmission ratio and a second transmission ratio, that is, to switch accordingly between the operative engagement of the first gear and the lifting shaft and the operative engagement of the second gear and the lifting shaft.

[0076] The clutch shaft may extend through the clutch mechanism. The clutch shaft may form an extension of the lifting shaft at its first end and may have the same central axis as the lifting shaft. The clutch shaft and the lifting shaft preferably rotate together at all times and can therefore be considered a single shaft. A braking device may be arranged at the second end of the clutch shaft.

[0077] A securely connected connecting plate may surround the clutch shaft. This connecting plate does not rotate with the clutch shaft. A first gear may surround the clutch shaft. A first magnetic spool may be connected to the connecting plate. A first electrical connector may be arranged adjacent to the first magnetic spool. A first axially movable clutch plate may be securely connected to the first gear and may be positioned between the first electrical connector and the first gear.

[0078] When it is determined that the first gear should engage with the clutch shaft such that a first gear ratio for the first type of lifting operation should be used, the first magnetic coil can be energized, thereby pushing the first clutch plate (which is magnetic) and the first gear toward the first magnetic coil, so that the first electrical connector transmits rotation from the first gear to the clutch shaft, and thus to the lifting shaft.

[0079] A similar operation is performed when it is determined that the second gear should engage with the clutch shaft, such that a second gear ratio for the second type of lifting operation should be used. The second gear may surround the clutch shaft. A second magnetic coil may be connected to a connecting plate. A second electrical connector may be arranged adjacent to the second magnetic coil. A second axially movable clutch plate may be securely connected to the second gear and may be positioned between the second electrical connector and the second gear.

[0080] When it is determined that the second gear should engage with the clutch shaft so that a second gear ratio for the second type of lifting operation should be used, the second magnetic coil is energized, thereby pushing the second clutch plate (which is magnetic) and the second gear toward the second magnetic coil, so that the second electrical connector transmits rotation from the first gear to the clutch shaft, and thus to the lifting shaft.

[0081] Therefore, gear shifting can be performed between different first and second gear ratios.

[0082] The container handling vehicle may include a receiver that communicates with the control system of the automated storage and retrieval system, such that the container handling vehicle can be configured to receive instructions from the control system regarding when to use a first gear ratio or a second gear ratio.

[0083] The lifting assembly may include an electronic module that communicates with the drive assembly, wherein the electronic module may be configured to determine whether a first gear ratio or a second gear ratio should be used.

[0084] The electronic module can be configured to measure the power (e.g., amperes) used by the drive components when lifting the storage container, and to use a first transmission ratio if the measured power is below a predetermined threshold.

[0085] Similarly, if the measured power is higher than a predetermined threshold, a second transmission ratio is used.

[0086] The electronic module can receive wireless data representing the power used by an electric motor in operation, or connect to any electric motor to measure the power used by that electric motor in operation.

[0087] The container handling vehicle may include a weighing device for measuring the weight of the storage containers being lifted, and the weighing device may communicate with an electronic module, which may be configured to determine whether a first gear ratio or a second gear ratio should be used based on the measured weight transmitted from the weighing device.

[0088] The weighing device can be arranged, for example, above the lifting frame at or near the lifting shaft, to measure the weight of the lifting frame and the connected storage container.

[0089] The first gear ratio can be used when no storage container is connected to the lifting frame.

[0090] When the storage container is connected to the lifting frame, the second transmission ratio can be used.

[0091] An automated storage and retrieval system is described, comprising a guide rail system extending in a horizontal plane, the guide rail system being supported by a plurality of upright members to form a frame structure, the guide rail system including a first set of parallel guide rails extending in a first direction and a second set of parallel guide rails extending in a second direction and perpendicular to the first set of parallel guide rails, for guiding container transport vehicles to move on the frame structure in the first and second directions, wherein the automated storage and retrieval system includes one or more container transport vehicles as defined above.

[0092] The automated storage and retrieval system may include a control system that stores weight data for each storage container, and the control system may be configured to determine whether a first gear ratio or a second gear ratio should be used based on the stored weight data, and issue instructions to the container handling vehicle accordingly.

[0093] An automated storage and retrieval system may include a control system and a port having a weighing device for measuring the weight of the storage containers in the port. The control system may be configured to receive the measured weight, determine whether a first gear ratio or a second gear ratio should be used based on the measured weight, and issue instructions to the container handling vehicle accordingly.

[0094] A method is described for switching between a first gear ratio and a second gear ratio of a lifting assembly of a container transport vehicle operating in an automated storage and retrieval system. The automated storage and retrieval system includes a guide rail system extending in a horizontal plane, the guide rail system being supported by a plurality of upright members to form a frame structure. The guide rail system includes a first set of parallel guide rails extending along a first direction and a second set of parallel guide rails arranged in a second direction in the horizontal plane and perpendicular to the first set of parallel guide rails, to guide the container transport vehicle to move along the first and second directions on the frame structure. The container transport vehicle includes: - The vehicle itself; - A first set of wheels for moving in a first direction and a second set of wheels for moving in a second direction; - A lifting assembly, comprising: Lifting frame, used to lift storage containers from above; A lifting shaft is connected to the vehicle body, and a lifting frame is suspended on the lifting shaft; A drive assembly includes at least one electric motor having a motor drive shaft for outputting rotational driving force; A transmission device, connected between a drive assembly and a lifting shaft, is configured to: transmit rotational driving force from the drive assembly to the lifting shaft at a first transmission ratio for a first type of lifting operation; and transmit rotational driving force from the drive assembly to the lifting shaft at a second transmission ratio for a second type of lifting operation, wherein the first transmission ratio is higher than the second transmission ratio; and wherein the method includes the following steps: When no storage container is connected to the lifting frame, switch to the first gear ratio.

[0095] When the storage container is connected to the lifting frame, the second transmission ratio can be used.

[0096] The lifting assembly may include an electronic module that communicates with the drive assembly, wherein the method includes: An electronic module is used to determine whether the first or second gear ratio should be used.

[0097] The electronic module can be configured to measure the power used by the drive component when lifting the storage container, and the method can include determining whether a first gear ratio or a second gear ratio should be used based on whether the measured power is higher or lower than a predetermined threshold.

[0098] The automated storage and retrieval system may include a control system that stores weight data for each storage container, and the method may include: using the control system to determine, based on the stored weight data, whether a first gear ratio or a second gear ratio should be used; and accordingly issuing instructions to the container handling vehicle.

[0099] An automated storage and retrieval system may include a control system and a port having a weighing device for measuring the weight of a storage container in the port, and the control system may be configured to receive the measured weight; and the method may include: using the control system to determine, based on the measured weight, whether a first gear ratio or a second gear ratio should be used; and accordingly issuing instructions to a container handling vehicle.

[0100] In this specification, the term "storage container" is intended to refer to any cargo holding unit (e.g., a box, suitcase, pallet, or similar device) having a base plate and a side portion suitable for releasable connection to a container lifting device. The side portion may preferably include a clamping recess. The side portion is preferably a sidewall. The height of the sidewall may vary depending on the intended use of the automated storage and retrieval system and the cargo to be stored. The clamping recess may be located at the upper edge of the sidewall. The outer horizontal perimeter of the storage container is preferably rectangular.

[0101] The relative terms “upper,” “lower,” “below,” “above,” “higher,” etc., should be understood in their usual sense and as shown in the Cartesian coordinate system.

[0102] This invention can be used in conjunction with the storage containers and systems described above. However, the disclosed automated storage and retrieval systems and methods can be used in other areas, including vertical agriculture, micro-operations, or grocery / e-grocery stores. Attached Figure Description

[0103] The following figures are attached to aid in understanding the present invention. The figures illustrate embodiments of the invention, which will now be described by way of example only, in which: Figure 1 This is a three-dimensional diagram of the framework structure of an existing automated storage and retrieval system; Figure 2 This is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein; Figure 3 This is a perspective view of a prior art container handling vehicle having a cantilever structure for supporting storage containers below. Figure 4 This is a perspective view of a prior art container handling vehicle, as seen from below, having an internally arranged cavity for carrying storage containers therein. Figure 5 It does not have side panels and top panels. Figure 4 A 3D view of the container handling vehicle in the image; Figure 6A and Figure 6BThese are different side views of a container handling vehicle with a cantilever structure, in which... Figure 6A It is a side view, and Figure 6B This is the front view; Figures 7A to 7D yes Figure 6A and Figure 6B Different views of a container transport vehicle in which some covers have been removed, the container transport vehicle includes a lifting assembly according to a first embodiment, wherein the lifting assembly includes a drive assembly including a first electric motor and a second electric motor; Figure 8 Is with Figures 7A to 7D A similar view, but in this figure, the container transport vehicle body has been omitted in order to better show the details of the lifting assembly according to the first embodiment; Figure 9A and Figure 9B yes Figure 6A and Figure 6B Different views of a container transport vehicle in which some covers have been removed, the container transport vehicle includes a lifting assembly according to a second embodiment, wherein the drive assembly includes only one electric motor; Figures 10A to 10F Is with Figure 9A and Figure 9B Similar views, but in these figures, the container transport vehicle body has been omitted in order to better show the details of the lifting assembly according to the second embodiment; Figure 11 An automated storage and retrieval system including a rail system and ports is shown, with container transport vehicles running on the rail system and ports arranged at a horizontal height lower than the top of the rail system. Detailed Implementation

[0104] Overall, a container handling vehicle (501) includes a vehicle body (501a) and a lifting assembly (502). The lifting assembly includes: a lifting frame (508) for lifting storage containers (106) from above; a lifting shaft (509) rotatably mounted in the vehicle body (501a), wherein the lifting frame (508) is suspended on the lifting shaft (509); a drive assembly (510) including at least one electric motor (511; 511', 511''), the at least one electric motor having a motor drive shaft (513; 513', 513'') for outputting rotational driving force; and a transmission device (5... 15), a motor drive shaft (513; 513', 513'') connected between at least one electric motor (511; 511', 511'') and a lifting shaft (509), wherein the transmission device (515) is configured to: transmit rotational driving force from the drive assembly to the lifting shaft (509) at a first transmission ratio for a first type of lifting operation; and transmit rotational driving force from the drive assembly to the lifting shaft at a second transmission ratio for a second type of lifting operation, wherein the first transmission ratio is higher than the second transmission ratio.

[0105] 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.

[0106] The framework structure 100 of the automatic storage and retrieval system 1 can be combined with the above. Figure 1 The existing frame structure 100 is constructed in a similar manner. That is, the frame structure 100 may include a plurality of upright members 102 and a guide rail system 108 extending in a first direction (X direction) and a second direction (Y direction). Specifically, the guide rail system 108 may be arranged on top of the upright members 102, and the guide rail system 108 includes a first set of parallel guide rails 110 and a second set of parallel guide rails 111 arranged perpendicular to the first set of guide rails 110. The first set of guide rails 110 and the second set of guide rails 111 provide a horizontal grid-type guide rail system 108 defining a plurality of grid cells 130. The first set of guide rails 110 and the second set of guide rails 111 of the guide rail system 108 may include one or two rails. Preferably, the guide rail includes two rails in both directions (double rails), for example, as two parallel channels formed in the guide rail, or as channels provided in each of a pair of guide rail members that are fastened to each other to form the guide rail. In this configuration, the access opening (also called the grid opening) and the track width on each side define the "grid cell" 130. In a configuration where the guide rail has only a single track in one direction, the grid cell 130 can extend the entire width of the guide rail on those sides.

[0107] The frame structure 100 may include storage compartments in the form of storage columns 105 disposed between the members 102, wherein storage containers 106 may be stacked in the storage columns 105 in the form of stacks 107.

[0108] 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 700x700 columns and a storage depth of more than twelve containers.

[0109] Including prior art container handling vehicles (cavity container handling vehicles) for housing storage containers, see [link to relevant documentation]. Figure 2 , Figure 4 and Figure 5 It possesses certain advantageous features. Specifically, providing guidance / support to the storage container when housed within the cavity makes cavity container handling vehicles more efficient than... Figure 3 The cantilevered container transport vehicle 301 shown can have greater acceleration / deceleration. However, due to the instability of the cavity container transport vehicle, the potential increase in acceleration / deceleration is not fully realized. This instability is caused by the fact that most of the drive, power, control, and lifting components of the cavity container transport vehicles 201 and 401 are arranged above the cavity, providing a high center of gravity.

[0110] Figures 6A to 6B These are different side views of a container handling vehicle 501 with a cantilever structure 503, wherein, Figure 6A It is a side view, and Figure 6B This is the front view. That is, Figure 6A and Figure 6B The views in the images are perpendicular to each other.

[0111] Figure 6A and Figure 6B The container handling vehicle 501 is shown with all protective covers, etc.; however, the vehicle body 501a, the first set of wheels 501b, and the second set of wheels 501c are visible.

[0112] exist Figure 6A In the image, the guide pin 507 of the lifting frame (not shown) can be seen. Figure 6B In the image, two guide pins 507 and two clamps 506 of the lifting frame (not shown) can be seen.

[0113] Figures 7A to 7D yes Figure 6A and Figure 6BDifferent views of the container transport vehicle in the image, with some covers removed. The container transport vehicle 501 includes a lifting assembly 502 according to a first embodiment, wherein the lifting assembly 502 includes a drive assembly 510, which includes a first electric motor 511' and a second electric motor 511''. Figure 7A This is a side view of the container handling vehicle 501, viewed from the side opposite to the side where the cantilever structure 503 is located. Figure 7B It is a side-view 3D view. Figure 7C It is a three-dimensional view taken from above, and Figure 7D This is a perspective view taken from the side of container handling vehicle 501.

[0114] Figures 7A to 7D The container handling vehicle 501 is configured as described above regarding Figure 1 The described automated storage and retrieval system 1 operates. A container handling vehicle 501 is disclosed having a vehicle body 501a, a first set of wheels 501b for movement along a first direction X on a guide rail system 108, and a second set of wheels 501c for movement along a second direction Y on the guide rail system 108. According to... Figures 7A to 7D The lifting assembly 502 of the first embodiment includes: a lifting frame 508 for lifting the storage container 106 from above; a lifting shaft 509 rotatably mounted in the vehicle body 501a, wherein the lifting frame 508 is suspended on the lifting shaft 509; and a drive assembly 510 including a first electric motor 511' and a second electric motor 511''. The first electric motor 511' has a motor drive shaft 513' for outputting rotational driving force. The second electric motor has a motor drive shaft 513'' for outputting rotational driving force.

[0115] The first force transmission device 521 of the transmission device 515 is connected between the motor drive shaft 513' of the first electric motor 511' and the lifting shaft 509 via the first gear 516.

[0116] The second force transmission device 522 of the transmission device 515 is connected between the motor drive shaft 513'' of the second electric motor 511'' and the lifting shaft 509 via the second gear 517.

[0117] The corresponding first force transmission device 521 and second force transmission device 522 are configured to transmit the rotational driving force from the drive assembly 510 to the lifting shaft 509 at a first transmission ratio for a first type of lifting operation, and to transmit the rotational driving force from the drive assembly to the lifting shaft at a second transmission ratio for a second type of lifting operation, wherein the first transmission ratio is higher than the second transmission ratio.

[0118] The transmission device 515 is disclosed as having a first gear 516 providing a first transmission ratio and a second gear 517 providing a second transmission ratio. For a given input rotational speed, the first gear 516 operates the lifting shaft 509 at the first transmission ratio (i.e., the first rotational speed), and the second gear 517 operates the lifting shaft 509 at the second transmission ratio (i.e., the second rotational speed). The second gear 517 has a larger diameter than the first gear 516. The first gear 516 (i.e., the gear with the relatively smaller diameter) is disclosed as being closest to the cantilever structure 503.

[0119] As from Figure 7A and Figure 7B As seen in the diagram, the first gear 516 and the second gear 517 are arranged on the same axis as the lifting shaft 509. Therefore, the central axis 516C of the first gear 516 and the central axis 517C of the second gear 517 coincide with the central axis 509C of the lifting shaft 509.

[0120] As in Figure 7C As can be seen, the lifting frame 508 is suspended from the lifting shaft 509 by multiple lifting belts 505', 505'', 505''', and 505''''. Preferably, four lifting belts are used, with one lifting belt connected to each corner of the lifting frame 508.

[0121] The lifting shaft 509 is disclosed to have multiple reels 518', 518'', 518''', 518''' corresponding to the number of lifting belts 505', 505'', 505''', 505''''. Each of the lifting belts 505', 505'', 505''', 505'''' is wound onto one of the reels 518', 518'', 518''''''' of the lifting shaft 509. The reels are disclosed to be identical to each other. This minimizes the risk of tilting during lifting of the lifting frame 508. Figures 7A to 7D In this implementation, all lifting belts 505', 505'', 505''', 505''', for example, all four lifting belts, are wound onto the same lifting shaft 509.

[0122] As in Figure 7CAs best seen, the lifting assembly 502 is disclosed having a first guide device 519' arranged on a first side of the lifting shaft 509 and a second guide device 519'' arranged on a second side of the lifting shaft 509. The second side is arranged opposite to the first side. The first guide device 519' and the second guide device 519'' are each configured to guide one or more of the lifting belts 505', 505'', 505''', 505''''. The lifting frame 508 is shown as rectangular, and each of the plurality of lifting belts 505', 505'', 505'''', 505'''' is connected at or near each corner of the lifting frame 508.

[0123] As shown, the drive assembly 510 is disclosed to have a braking device 520 for braking the downward movement of the lifting frame 508. The braking device 520 is shared by the first electric motor 511' and the second electric motor 511'' (i.e., the drive assembly 510 includes only one braking device 520 in total). This is because both the first electric motor 511' and the second electric motor 511'' are connected to the same lifting shaft 509, so when the lifting shaft 509 rotates, the motor drive shaft 513' of the first electric motor 511' and the motor drive shaft 513'' of the second electric motor 511'' rotate together. Since the motor drive shafts 513' and 513'' rotate together, providing a common braking device 520 for the lifting assembly—that is, providing only one common braking device on one of the motor drive shafts 513' and 513''—is sufficient to brake the downward movement of the lifting frame 508.

[0124] The first and second electric motors can be connected to a common mounting bracket 535 (e.g., in...). Figure 7B and Figure 7C (Best viewed from the center). The common mounting bracket 535 can be fixed to the wall 537 of the vehicle body facing the cantilever structure 503 and immediately below the protruding end of the lifting shaft 509 (i.e., below the first gear 516 and the second gear 517). Therefore, the distance between the first electric motor 511' and the lifting shaft 509 and the distance between the second electric motor 511'' and the lifting shaft 509 are substantially the same.

[0125] The common mounting base 535 may include a spacer 538, the width of which corresponds to the width of the first gear 516 and the second gear 517. This ensures that the first gear 516, the motor drive shaft 513' of the first electric motor 511', and the first force transmission device 521 are in the same vertical plane. Similarly, the second gear 517, the motor drive shaft 513'' of the second electric motor 511'', and the second force transmission device 522 are in the same vertical plane. This ensures the proper guidance of the force transmission devices 521 and 522.

[0126] The first electric motor 511' and the second electric motor 511'' are arranged at a horizontal height lower than the lifting shaft 509 and at a distance from the lifting shaft 509, so as to leave space for the force transmission devices 521 and 522.

[0127] The first electric motor 511' can be connected to the first pivotable bracket 536'.

[0128] The second electric motor 511'' can be connected to the second pivotable bracket 536''.

[0129] The tensioning of the force transmission device 521, which connects the first electric motor 511' to the lifting shaft 509, can be achieved by pivoting the first pivotable bracket 536'.

[0130] The tensioning of the force transmission device 522, which connects the second electric motor 511'' to the lifting shaft 509, can be achieved by pivoting the second pivotable bracket 536''.

[0131] The first pivotable bracket 536' connected to the first electric motor 511' and the second pivotable bracket 536'' connected to the second electric motor 511'' can rotate in opposite directions around the common mounting base 535 in order to accurately transmit the tension force 521, 522.

[0132] The first electric motor 511' and the second electric motor 511'' can be arranged on both sides of the center line (not shown) of the common mounting base 535 to increase stability.

[0133] The first pivotable support 536' and the second pivotable support 536'' can be similar components, i.e., the same components.

[0134] Force transmission devices 521 and 522 can be similar components.

[0135] The first electric motor 511' and the second electric motor 511'' can be similar components.

[0136] Using similar components will reduce the number of different parts required to assemble and manufacture the container handling vehicle 501.

[0137] Figure 8 Is with Figures 7A to 7D A similar view is shown, but in this figure, the container transport vehicle body 501a has been omitted in order to better show the details of the lifting assembly 502 according to the first embodiment.

[0138] Figure 9A and Figure 9B yes Figure 6A and Figure 6B Different views of the container transport vehicle 501 are shown, with some covers removed. The container transport vehicle 501 includes a lifting assembly 502 according to a second embodiment, wherein the drive assembly 510 includes only one electric motor 511. The remaining components, such as the vehicle body 501a, the cantilever structure 503, the wall 537 of the vehicle body 501a facing the cantilever structure 503, the first set of wheels 501b, and the second set of wheels 501c, are similar. Figures 7A to 7D The container handling vehicle 501 in the text will not be repeated here.

[0139] exist Figures 10A to 10F The container handling vehicle body 501a has been omitted in order to better illustrate the details of the lifting assembly according to the second embodiment.

[0140] Reference Figures 10A to 10C The diagram shows a lifting frame 508 suspended from a lifting shaft 509 via multiple lifting belts 505', 505'', 505''', and 505''''. Preferably, four lifting belts are used, with one belt connected at each corner of the lifting frame 508.

[0141] The lifting shaft 509 is disclosed to have multiple reels 518', 518'', 518''', 518''' corresponding to the number of lifting belts 505', 505'', 505''', 505''''. Each of the lifting belts 505', 505'', 505''', 505'''' is wound onto one of the reels 518', 518'', 518'''''' on the lifting shaft 509. The reels are disclosed to be identical to each other. This minimizes the risk of tilting during lifting of the lifting frame 508. Figures 7A to 7D In this implementation, all lifting belts 505', 505'', 505''', 505''', for example, all four lifting belts, are wound onto the same lifting shaft 509.

[0142] The lifting assembly 502 is disclosed as having a first guide device 519' arranged on a first side of the lifting shaft 509 and a second guide device 519'' arranged on a second side of the lifting shaft 509. The second side is arranged opposite to the first side. The first guide device 519' and the second guide device 519'' are each configured to guide one or more of the lifting belts 505', 505'', 505''', 505''''. The lifting frame 508 is shown as rectangular, and each of the plurality of lifting belts 505', 505'', 505'''' is connected at or near each corner of the lifting frame 508.

[0143] As shown, the drive assembly 510 is disclosed as having a braking device 520 connected to an extension of the clutch device 524 extending through the lifting assembly 502 of the lifting shaft 509 for braking the downward movement of the lifting frame 508.

[0144] The drive assembly 510 includes only one electric motor 511.

[0145] like Figure 10D and Figure 10E As shown in the optimal configuration, the electric motor 511 has a motor drive shaft 513. The motor drive shaft 513 extends from one side of the electric motor 511 through the electric motor 511 and extends to the other side of the electric motor 511. Corresponding first motor gears 523' and second motor gears 523'' are arranged on opposite sides of the electric motor 511, and both are securely connected to the motor drive shaft 513 such that they always rotate together with the motor drive shaft 513.

[0146] The transmission device 515 is disclosed as having a first force transmission device 521 connected between the first motor gear 523' and the first gear 516. The transmission device 515 is also disclosed as having a second force transmission device 522 connected between the second motor gear 523'' and the second gear 517. The transmission device 515 is further disclosed as having a clutch device 524 configured to switch between a first gear ratio and a second gear ratio, i.e., correspondingly switching between operative engagement of the first gear 516 and the lifting shaft 509 and operative engagement of the second gear 517 and the lifting shaft 509.

[0147] The following will refer to Figure 10D and Figure 10E A more detailed description of the clutch mechanism 524, in which, Figure 10E yes Figure 10DAn exploded view of section A. The clutch shaft 531 extends through the clutch device 524. The clutch shaft 531 forms an extension of the lifting shaft 509 at its first end and has the same central axis (not shown) as the lifting shaft 509. The clutch shaft 531 and the lifting shaft 509 always rotate together and can therefore be considered as a single shaft. A braking device 520 is arranged at the second end of the clutch shaft 531.

[0148] A securely connected connecting plate 530 surrounds the clutch shaft 531. The connecting plate 530 does not rotate with the clutch shaft 531. A first gear 516 surrounds the clutch shaft 531. A first magnetic coil 529' is connected to the connecting plate 530. A first electrical connector 525' is arranged adjacent to the first magnetic coil 529'. A first axially movable clutch plate 528' is securely connected to the first gear 516 and positioned between the first electrical connector 525' and the first gear 516.

[0149] When it is determined that the first gear 516 should engage with the clutch shaft 531 so that a first gear ratio for the first type of lifting operation should be used, the first magnetic coil 529' is energized, thereby pushing the first clutch plate 528' (which is magnetic) and the first gear 516 toward the first magnetic coil 529', so that the first electrical connector 525' transmits rotation from the first gear 516 to the clutch shaft 531 (and thus to the lifting shaft 509).

[0150] A similar operation is performed when it is determined that the second gear 517 should engage with the clutch shaft 531 so that the second gear ratio for the second type of lifting operation should be used.

[0151] The second gear 516 surrounds the clutch shaft 531. The second magnetic coil 529'' is connected to the connecting plate 530. The second electrical connector 525'' is arranged adjacent to the second magnetic coil 529''. The second axially movable clutch plate 528'' is securely connected to the second gear 517 and positioned between the second electrical connector 525'' and the second gear 517.

[0152] When it is determined that the second gear 517 should engage with the clutch shaft 531 so that a second gear ratio for the second type of lifting operation should be used, the second magnetic coil 529'' is energized, thereby pushing the second clutch plate 528'' (which is magnetic) and the second gear 517 toward the second magnetic coil 529'', so that the second electrical connector 525'' transmits rotation from the second gear 517 to the clutch shaft 531 (and thus to the lifting shaft 509).

[0153] Therefore, gear shifting can be performed between different first and second gear ratios.

[0154] Figure 10FIt is the electric motor 511 and the transmission device 515, and Figures 10A to 10E Exploded view of clutch device 524.

[0155] Figures 7A to 7D and Figure 8 The lifting assembly 502 in the first embodiment and Figures 9A to 9B and Figures 10A to 10F In the second embodiment, both lifting components share the characteristic that when the lifting component 502 lifts a storage container 106 with a weight exceeding a threshold, the container transport vehicle 501 can use a second gear ratio. When the weight of the storage container 106 and any product items therein is below this threshold, the lifting component 502 can use a first gear ratio. This threshold can be, for example, between 10 kg and 20 kg, preferably substantially 15 kg. Different methods may exist to measure and determine which of the first and second gear ratios should be used.

[0156] For example, container handling vehicle 501 may include receiver 539 that communicates with control system 500 of automated storage and retrieval system 1 (see [link]). Figure 7A and Figure 9A This allows the container handling vehicle 501 to receive instructions from the control system 500 regarding when to use the first gear ratio or the second gear ratio.

[0157] Alternatively or additionally, the lifting assembly 502 may include an electronic module 533 that communicates with the drive assembly 510. The electronic module 533 may be configured to determine whether a first gear ratio or a second gear ratio should be used. For example, the electronic module 533 may be configured to measure the power used by the drive assembly 510 when lifting the storage container 106, and if the measured power is below a predetermined threshold, use the first gear ratio. Similarly, if the measured power is above a predetermined threshold, use the second gear ratio.

[0158] The electronic module can receive wireless data representing the power used by an electric motor in operation, or connect to any electric motor to measure the power used by that electric motor in operation.

[0159] Alternatively, the container handling vehicle 501 may include a weighing device 534 for measuring the weight of the storage container 106 being lifted. The weighing device 534 may communicate with an electronic module 533, and the electronic module 533 may be configured to determine whether a first gear ratio or a second gear ratio should be used based on the measured weight transmitted from the weighing device 534.

[0160] A weighing device may be arranged, for example, above the lifting frame 508 at or near the lifting shaft 509, to measure the weight of the lifting frame 508 (and any connected storage containers 106).

[0161] If weighing or measurement is not required and a simpler setup is needed, the lifting assembly 502 can be configured such that a first gear ratio is always used when no storage container 106 is connected to the lifting frame 508, and a second gear ratio is always used when the storage container 106 is connected to the lifting frame 508.

[0162] Figure 11 An automated storage and retrieval system 1 is shown, comprising a rail system 108 and a port 526. A container transport vehicle 501 runs on the rail system, and the port is positioned at a horizontal height lower than the top of the rail system 108. Although in Figure 11 Only one container handling vehicle 501 is shown, but it is obvious that more than one container handling vehicle 501 can exist. Additional container handling vehicles can have the same... Figure 11 The container handling vehicles 501 in the system may be of the same type, or they may be different, for example, as shown in the prior art as container handling vehicles represented by 201, 301, or 401. As described above, the automated storage and retrieval system 1 may include a guide rail system 108 extending in a horizontal plane, which is supported by a plurality of upright members 102 to form a frame structure 100. The guide rail system 108 may include a first set of parallel guide rails 110 extending along a first direction X and a second set of parallel guide rails 111 extending along a second direction Y and perpendicular to the first set of parallel guide rails 110, to guide the container handling vehicles 201, 301, 401, and 501 to move on the frame structure 100 along the first direction X and the second direction Y.

[0163] Port 526 may include a weighing device (not shown) located therein for measuring the weight of the storage container 106 located in port 526. The weighing device may be configured to measure the weight and transmit a value representing the measured weight of the storage container 106 in the port to control system 500. Control system 500 may be configured to receive the measured weight. Based on the measured weight, control system 500 may determine whether a first gear ratio or a second gear ratio should be used, and accordingly issue instructions to container handling vehicle 501.

[0164] In the preceding description, various features of the implementation have been described. Specific designations, systems, and configurations have been set forth for illustrative purposes to provide a thorough understanding of the system and its operating principles. However, this description is not intended to be interpreted in a limiting sense. Although the accompanying drawings show a container handling vehicle (e.g., with a cantilever configuration 503) arranged in a cantilever configuration 503... Figure 3 , Figure 6A and Figure 6B The lifting assembly is shown in the container handling vehicle, but it is obvious that the lifting assembly can also be used in other container handling vehicles, such as: Figure 2The prior art container handling vehicle shown has an internal cavity for carrying storage containers therein; or as... Figure 4 and Figure 5 The prior art container handling vehicle shown has an internal cavity for carrying storage containers therein. Various other modifications and variations of the illustrative embodiments, as well as 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 as defined in the appended claims.

[0165] List of reference numerals

[0166] 1. Existing automated storage and retrieval systems

[0167] 10 parking spaces

[0168] 11 Devices for locking transport vehicles

[0169] 100 frame structure

[0170] 102 upright components

[0171] 104 storage volume section

[0172] 105 storage columns

[0173] 106 storage containers

[0174] Specific location of 106' storage container

[0175] 107 stacks

[0176] 108 guide rail system

[0177] 110 First set of parallel guide rails (in the first direction (X))

[0178] 111 Second set of parallel guide rails (in the second direction (Y))

[0179] 112 Access Opening

[0180] 116 Lifting Device

[0181] 119 transport train

[0182] 120 transport train

[0183] 130 grid cells

[0184] 201 Container handling vehicles of the prior art

[0185] 201a Container Handling Vehicle 201 Vehicle Body

[0186] 201b Drive mechanism / wheel assembly / first set of wheels in the first direction (X)

[0187] 201c Drive mechanism / wheel assembly / second set of wheels in the second direction (Y)

[0188] 301 Prior art cantilever container handling vehicles

[0189] 301a Container Handling Vehicle 301 Vehicle Body

[0190] 301b Drive mechanism / first set of wheels in the first direction (X)

[0191] 301c Drive mechanism / second set of wheels in the second direction (Y)

[0192] 302 cantilever

[0193] 304 guide pin

[0194] 401 Container handling vehicles of the prior art

[0195] 401a Container Handling Vehicle 401 Vehicle Body

[0196] 401b Drive mechanism / first set of wheels in the first direction (X)

[0197] 401c Drive mechanism / second set of wheels in the second direction (Y)

[0198] 404 clamping device

[0199] 404a lifting belt

[0200] 404b clamp

[0201] 404c pilot pin

[0202] 404d lifting frame

[0203] 500 control system

[0204] 501 Container Handling Vehicle

[0205] 501a Container Handling Vehicle, Vehicle Body of 501

[0206] 501b Drive mechanism / wheel assembly / first set of wheels in the first direction (X)

[0207] 501c Drive mechanism / wheel assembly / second set of wheels in the second direction (Y)

[0208] 502 Lifting Component

[0209] 503 cantilever structure

[0210] 504 clamping device

[0211] 505', 505'', 505''', 505''' Lifting Belt

[0212] 506 clamp

[0213] 507 Guide Pin

[0214] 508 Lifting Frame

[0215] 509 lifting shaft

[0216] 509c lifting shaft, 509 center axis

[0217] 510 driver components

[0218] 511 electric motor

[0219] 511' First Electric Motor

[0220] 511'' Second Electric Motor

[0221] 512 Gear

[0222] 513 electric motor drive shaft

[0223] 513' First electric motor 511' motor drive shaft

[0224] 513'' Second electric motor 511'' Motor drive shaft

[0225] 515 Transmission Device

[0226] 516 First Gear

[0227] The central axis of the first gear 516c.

[0228] 517 Second Gear

[0229] 517c second gear, 517 central axis

[0230] 518', 518'', 518''', 518''' scroll

[0231] 519' First guide device / first guide shaft

[0232] 519'' Second guide device / second guide shaft

[0233] 520 braking device

[0234] 521 First force transmission device / first drive belt

[0235] 522 Second force transmission device / second drive belt

[0236] 523' First Motor Gear

[0237] 523'' Second motor gear

[0238] 524 clutch device

[0239] 525' First Electrical Connector

[0240] 525'' Second Electrical Connector

[0241] Port 526

[0242] 527 Operator

[0243] 528' First Clutch Plate

[0244] 528'' Second Clutch Plate

[0245] 529' First Magnetic Coil

[0246] 529'' Second magnetic coil

[0247] 530 connecting board

[0248] 531 clutch shaft

[0249] 533 Electronic Module

[0250] 534 Weighing Device

[0251] 535 Mounting bracket for the first and second electric motors

[0252] 536' First pivotable stent

[0253] 536'' Second pivotable stent

[0254] The wall of vehicle body facing the cantilever structure of vehicle 537

[0255] 538 spacer

[0256] 539 receiver

[0257] X First Direction

[0258] Y second direction

[0259] Z is a third-party direction.

Claims

1. A container handling vehicle (501) for an automated storage and retrieval system (1), the container handling vehicle (501) comprising: Vehicle body (501a); as well as Lifting assembly (502), the lifting assembly comprising: A lifting frame (508) is used to lift the storage container (106) from above. A lifting shaft (509) is rotatably mounted in the vehicle body (501a), wherein the lifting frame (508) is suspended on the lifting shaft (509); The drive assembly (510) includes at least one electric motor (511; 511', 511''), said at least one electric motor having a motor drive shaft (513; 513', 513'') for outputting rotational driving force; and A transmission device (515) is connected between the motor drive shaft (513; 513', 513'') of the at least one electric motor (511; 511', 511'') and the lifting shaft (509), wherein the transmission device (515) is configured to: transmit the rotational driving force from the drive assembly to the lifting shaft (509) at a first transmission ratio for a first type of lifting operation; and transmit the rotational driving force from the drive assembly to the lifting shaft at a second transmission ratio for a second type of lifting operation, wherein the first transmission ratio is higher than the second transmission ratio.

2. The container handling vehicle (501) according to claim 1, wherein, The automated storage and retrieval system (1) includes a guide rail system (108) extending in a horizontal plane, the guide rail system being supported by a plurality of upright members (102) to form a frame structure (100), the guide rail system (108) including a first set of parallel guide rails (110) extending along a first direction (X), and a second set of parallel guide rails (111) extending along a second direction (Y) and perpendicular to the first set of parallel guide rails (110) to guide container transport vehicles (201; 301; 401; 501) to move on the frame structure (100) along the first direction (X) and the second direction (Y), the container transport vehicle (501) further including: The first set of wheels (501b) is used for movement along the first direction (X); and The second set of wheels (501c) is used for movement in the second direction (Y).

3. The container handling vehicle (501) according to claim 1 or claim 2, wherein, The transmission device (515) includes a first gear (516) providing the first transmission ratio and a second gear (517) providing the second transmission ratio.

4. The container handling vehicle (501) according to any one of the preceding claims, wherein, The central axes (516C; 517C) of the first gear (516) and the second gear (517) coincide with the central axis (509C) of the lifting shaft (509).

5. The container handling vehicle (501) according to claim 3 or 4, wherein, The diameter of the second gear (517) is greater than the diameter of the first gear (516).

6. The container handling vehicle (501) according to any one of the preceding claims, wherein, The lifting frame (508) is suspended on the lifting shaft (509) via multiple lifting belts (505'; 505''; 505'''; 505'''').

7. The container handling vehicle (501) according to claim 6, wherein, The lifting shaft (509) includes a plurality of reels (518'; 518''; 518'''; 518''') corresponding to the number of the lifting belts (505'; 505''; 505'''; 505''') and wherein each of the lifting belts (505'; 505''; 505'''; 505''') is wound onto one of the reels (518'; 518''; 518'''; 518''') of the lifting shaft (509).

8. The container handling vehicle (501) according to claim 7, wherein, The lifting assembly (502) includes a first guide device (519') disposed on a first side of the lifting shaft (509) and a second guide device (519'') disposed on a second side of the lifting shaft (509), wherein the second side is disposed opposite to the first side, and wherein the first guide device (519') and the second guide device (519'') are each configured to guide one or more of the lifting belts (505'; 505''; 505'''; 505'''').

9. The container handling vehicle (501) according to claim 7 or 8, wherein, The lifting frame (508) is rectangular, and each of the plurality of lifting belts (505'; 505''; 505'''; 505''') is connected at or near each corner of the lifting frame (508).

10. The container handling vehicle (501) according to any one of the preceding claims, wherein, The drive assembly (510) includes a braking device (520) for braking the downward movement of the lifting frame (508).

11. The container handling vehicle (501) according to any one of claims 2 to 9, wherein, The at least one electric motor of the drive assembly (510) is a first electric motor (511') and a second electric motor (511''), wherein: The first electric motor (511') has a motor drive shaft (513'), and the transmission device (515) includes a first force transmission device (521), wherein the motor drive shaft (513') of the first electric motor (511') is connected to the first gear (516) via the first force transmission device (521); and The second electric motor (511'') has a motor drive shaft (513''), and the transmission device (515) includes a second force transmission device (522), wherein the motor drive shaft (513'') of the second electric motor (511'') is connected to the second gear (517) via the second force transmission device (522).

12. The container handling vehicle (501) according to claim 11, wherein, The first force transmission device (521) and the second force transmission device (522) are drive belts (521; 522).

13. The container handling vehicle (501) according to any one of claims 3 to 10, wherein: The drive assembly (510) includes only one electric motor (511), the electric motor (511) having a motor drive shaft (513), the motor drive shaft (513) including a first motor gear (523') and a second motor gear (523''). The transmission device (515) includes: a first force transmission device (521) connected between the first motor gear (523') and the first gear (516); a second force transmission device (522) connected between the second motor gear (523'') and the second gear (517); and a clutch device (524), wherein the clutch device (524) is configured to switch between the first transmission ratio and the second transmission ratio.

14. The container handling vehicle according to claim 13, wherein, The clutch device (524) includes a first electrical connector (525') and a second electrical connector (525''), the first electrical connector being used to engage the first force transmission device (521) and the first gear (516) to the lifting shaft (509), and the second electrical connector being used to engage the second force transmission device (522) and the second gear (517) to the lifting shaft (509).

15. The container handling vehicle (501) according to any one of the preceding claims, wherein, The container transport vehicle (501) includes a receiver (539) that communicates with the control system (500) of the automated storage and retrieval system (1), such that the container transport vehicle (501) is configured to receive instructions from the control system (500) regarding when to use the first gear ratio or the second gear ratio.

16. The container handling vehicle (501) according to any one of the preceding claims, wherein, The lifting assembly (502) includes an electronic module (533) that communicates with the drive assembly (510), wherein the electronic module (533) is configured to determine whether the first gear ratio or the second gear ratio should be used.

17. The container handling vehicle (501) according to claim 16, wherein, The electronic module (533) is configured to measure the power used by the drive assembly (510) when lifting the storage container (106), and to use the first transmission ratio if the measured power is below a predetermined threshold.

18. The container handling vehicle (501) according to claim 16 or 17, wherein, The container handling vehicle (501) includes a weighing device (534) for measuring the weight of the lifted storage container (106), wherein the weighing device (534) communicates with the electronic module (533), and wherein the electronic module (533) is configured to determine whether the first gear ratio or the second gear ratio should be used based on the measured weight transmitted from the weighing device (534).

19. The container handling vehicle (501) according to any one of the preceding claims, wherein, When no storage container (106) is connected to the lifting frame (508), the first transmission ratio is used.

20. The container handling vehicle (501) according to any one of the preceding claims, wherein, The second transmission ratio is used when the storage container (106) is connected to the lifting frame (508).

21. An automatic storage and retrieval system (1), wherein, The automated storage and retrieval system (1) includes one or more container handling vehicles (501) according to any one of the preceding claims.

22. The automatic storage and retrieval system (1) according to claim 21, wherein, The automated storage and retrieval system (1) includes a guide rail system (108) extending in a horizontal plane, the guide rail system being supported by a plurality of upright members (102) to form a frame structure (100), the guide rail system (108) including a first set of parallel guide rails (110) extending along a first direction (X) and a second set of parallel guide rails (111) extending along a second direction (Y) and perpendicular to the first set of parallel guide rails (110) to guide container transport vehicles (201; 301; 401; 501) to move on the frame structure (100) along the first direction (X) and the second direction (Y).

23. The automatic storage and retrieval system (1) according to claim 21 or claim 22, wherein, The automatic storage and retrieval system (1) includes a control system (500) that stores weight data for each storage container (106), and wherein the control system (500) is configured to determine whether the first gear ratio or the second gear ratio should be used based on the stored weight data, and accordingly issue instructions to the container handling vehicle (501).

24. The automatic storage and retrieval system (1) according to any one of claims 21 to 23, wherein, The automatic storage and retrieval system (1) includes a control system (500) and a port (526) having a weighing device for measuring the weight of the storage container (106) in the port (526), ​​wherein the control system (500) is configured to receive the measured weight, determine whether the first gear ratio or the second gear ratio should be used based on the measured weight, and issue instructions to the container handling vehicle (501) accordingly.

25. A method for switching between a first transmission ratio and a second transmission ratio of a lifting assembly (502) of a container handling vehicle (501) operating in an automated storage and retrieval system (1), wherein, The container handling vehicle (501) includes a vehicle body (501a) and a lifting assembly (502), the lifting assembly including: a lifting frame (508) for lifting a storage container (106) from above; a lifting shaft (509) connected to the vehicle body (501a), wherein the lifting frame (508) is suspended on the lifting shaft (509); a drive assembly (510) including at least one electric motor (511; 512), the at least one electric motor having a motor drive shaft (513; 514) for outputting rotational driving force; and a transmission device (515) connected between the drive assembly (510) and the lifting shaft (509), wherein the transmission device (515) is configured to: for a first type of lifting operation, transmit the rotational driving force from the drive assembly (510) to the lifting shaft (509) at a first transmission ratio; and for a second type of lifting operation, transmit the rotational driving force from the drive assembly to the lifting shaft at a second transmission ratio, wherein the first transmission ratio is higher than the second transmission ratio, the method including: When no storage container (106) is connected to the lifting frame (508), switch to the first transmission ratio.

26. The method of claim 25, wherein, The automated storage and retrieval system (1) includes a guide rail system (108) extending in a horizontal plane, the guide rail system being supported by a plurality of upright members to form a frame structure, the guide rail system including a first set of parallel guide rails (110) extending along a first direction (X), and including a second set of parallel guide rails (111) arranged in the horizontal plane along a second direction (Y) and perpendicular to the first set of parallel guide rails (110) to guide container transport vehicles (201; 301; 401; 501) to move on the frame structure (100) along the first direction (X) and the second direction (Y), wherein the container transport vehicle (501) further includes a first set of wheels (501b) for moving along the first direction (X) and a second set of wheels (501b) for moving along the second direction (Y).

27. The method according to claim 25 or 26, wherein, The second transmission ratio is used when the storage container (106) is connected to the lifting frame (508).

28. The method according to any one of claims 25 to 27, wherein, The lifting assembly (502) includes an electronic module (533) communicating with the drive assembly (510), wherein the method includes: The electronic module (533) is used to determine whether the first gear ratio or the second gear ratio should be used.

29. The method according to claim 28, wherein, The electronic module (533) is configured to measure the power used by the drive assembly (510) when lifting the storage container (106), and wherein the method includes: The first or second gear ratio is determined based on whether the measured power is higher or lower than a predetermined threshold.

30. The method according to any one of claims 25 to 27, wherein, The automated storage and retrieval system (1) includes a control system (500) for storing weight data of each storage container (106), and wherein the method includes: Using the control system (500), it is determined whether the first gear ratio or the second gear ratio should be used based on the stored weight data; and Accordingly, instructions are issued to the container handling vehicle (501).

31. The method according to any one of claims 25 to 27, wherein, The automatic storage and retrieval system (1) includes a control system (500) and a port (526), ​​the port having a weighing device for measuring the weight of a storage container (106) in the port (526), ​​wherein the control system (500) is configured to receive the measured weight; and wherein the method includes: Using the control system (500), it is determined whether the first gear ratio or the second gear ratio should be used based on the measured weight; and Accordingly, instructions are issued to the container handling vehicle (501).

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