Remote controlled transport vehicle

Abstract

To pick up a storage container from a storage system below.SOLUTION: A lift assembly for lifting a storage container from a storage system to a position above a lowest position of a carrier body includes a lift frame 7, a rotatable lift shaft 6, a first lift band assembly 8a, and a second lift band assembly, in which the lift frame is connectable to the storage container, and the rotatable lift shaft is provided in an upper portion of the carrier body, and each of the first lift band assembly and the second lift band assembly includes at least one lift band 12 and two frame connection band ends 21 connected to a lift frame, and the lift bands of the first lift band assembly and the second lift band assembly are connected to the rotatable lift shaft 6 such that the lift bands are unwound or wound from the lift shaft in a direction in which the lift shaft rotates, causing the lift frame to rise and fall vertically.SELECTED DRAWING: Figure 4a

Description

[Technical field]

[0001] The present invention relates to the field of storage systems, and more specifically to a remotely operated transporter or robot for picking up storage containers from a storage system. [Background technology]

[0002] Remotely operated vehicles are known for picking up storage containers from a storage system. A detailed description of a relevant prior art storage system is given in WO 98 / 49075 and details of a prior art carrier suitable for such a storage system are disclosed in detail in Norwegian Patent No. 317366. Such prior art storage systems comprise a three-dimensional storage grid that accommodates storage containers that are stacked on top of each other to a certain height. The storage grid is typically configured as an aluminium row interconnected by a top rail arranged for a plurality of remotely operated carriers or robots to move laterally. Each carrier is equipped with a carrier lift assembly for picking up, transporting and placing the containers stored in the storage grid, and a rechargeable battery for powering a motor mounted on the carrier. The carriers typically communicate with a control system via a wireless link and are recharged at a charging station when necessary, typically overnight.

[0003] In known remotely operated transporters / robots, the lift assembly used to pick up, transport and place the storage containers typically comprises a lift frame connected to the transporter by two pairs of wirelines / bands. Each pair of wirelines / bands is wound on a separately rotatable lift shaft. Prior art lift assemblies required precise synchronization of the independently rotatable lift shafts to avoid the storage containers being lifted at an angle. Summary of the Invention [Problem to be solved by the invention]

[0004] SUMMARY OF THE PRESENT EMBODIMENT It is therefore an object of the present invention to provide a transport / robot having an improved lift assembly in which at least some of the disadvantages of the prior art are mitigated. [Means for solving the problem]

[0005] The invention is defined in the accompanying claims and below. In a first aspect, the present invention provides a remotely operated transporter (1) for picking up a storage container (2) from an underlying storage system (3), comprising a transporter body (4) having a cavity adapted to receive the entire storage container, transporter rolling means for movement of the transporter in the underlying storage system (3), and a lift assembly for lifting the storage container from said underlying storage system (3) to a position above a lowest position of the transporter rolling means, The lift assembly includes a lift frame (7), a rotatable lift shaft (6), a first lift band assembly (8a), and a second lift band assembly (8b); The lift frame is connectable to a storage container (2); A rotatable lift shaft (6) is provided in the upper part of the carrier body, Each of the first lift band assembly (8a) and the second lift band assembly (8b) comprises at least one lift band (12) and two frame connection band ends (21) connected to a lift frame; The lift bands (12) of the first lift band assembly (8a) and the second lift band assembly (8b) are connected to the rotatable lift shaft (6) such that the lift bands are unwound or unreeled from the lift shaft (6) depending on the direction the rotatable lift shaft (6) rotates, causing the lift frame (7) to be vertically lowered or raised. A remote controlled transport vehicle is provided.

[0006] The first lift band assembly and the second lift band assembly are connected to a common or same rotatable lift shaft such that as the lift shaft rotates, each of the lift bands is wound onto or unwound from the other.

[0007] A rotatable lift shaft is provided in the upper portion of the carrier body, preferably above a cavity provided in the carrier body such that the storage container is suspended inside the carrier body, preferably below the lift shaft. Each of the frame connection band ends is preferably connected adjacent to or to a distinct corner of the lift frame. The first lift band assembly and the second lift band assembly are connected to the rotatable lift shaft such that the frame connection band ends move at equal speeds when the lift frame is lowered / raised. The rotatable lift shaft is preferably located centrally in the upper portion of the cavity. The lift shaft extends horizontally, i.e. perpendicular to the direction of movement of the lift frame when it is raised or lowered.

[0008] In one embodiment, the lift frame rises (vertically) when at least one lift band is wrapped around the rotatable lift shaft and lowers when at least one lift band is unwound from the rotatable lift shaft.

[0009] In one embodiment of the remotely operated transporter, at least one of the first lift band assembly and the second lift band assembly comprises a single lift band having two frame connecting band ends and an intermediate portion connected to a rotatable lift shaft.

[0010] In one embodiment of the remotely operated transporter, at least one of the first lift band assembly (8a) and the second lift band assembly comprises two separate lift bands, each having a frame connection band end and a shaft connection band end, the shaft connection band end being connected to a rotatable lift shaft.

[0011] In one embodiment of the remotely operated transporter, the first lift band assembly and the second lift assembly each comprise a single lift band having two frame connection band ends (21) and a mid-portion, or two separate lift bands (12) each having a frame connection band end (21) and a shaft connection band end (26), and the mid-portions or shaft connection band ends of the first lift assembly and the second lift assembly are connected to the rotatable lift shaft at locations in a common plane intersecting the centerline of the rotatable lift shaft such that all frame connection band ends move an equal distance when the lift shaft rotates in use. Connecting the shaft connection band ends and / or mid-portions to said locations prior to winding the lift bands onto the lift shaft ensures that the diameter of the lift bands, i.e. the wound diameter of the lift bands formed on the lift shaft, is always equal, and as a result, ensures that all frame connection band ends have the same transition speed or transition distance (i.e. the distance the frame connection band ends move vertically) as the lift shaft rotates.

[0012] In a further embodiment of the remotely operated transporter, the shaft connection band ends are connected to a rotatable lift shaft at different longitudinal positions along the shaft.

[0013] In a further embodiment of the remotely operated transport, the first and second lift band assemblies are disposed at opposite ends of a rotatable lift shaft (6).

[0014] In a further embodiment of the remotely operated transporter, the transporter is adapted to move from a substantially horizontal to a vertical orientation. A deflection means is provided for deflecting the lift band. The deflection means is configured to deflect the lift band from a substantially horizontal to a vertical direction and may comprise any suitable device such as a pulley, a rotatable shaft, etc. The deflection means is preferably located in an upper portion of the transport body.

[0015] In a further embodiment of the remotely operated transport, the rotatable lift shaft is operatively connected to a drive assembly capable of rotating the lift shaft about its longitudinal axis. The drive assembly may comprise any suitable type of electric drive motor. Preferably, the drive assembly is located in an upper portion of the transport body.

[0016] In a further embodiment of the remotely operated transport vehicle, the drive assembly comprises a reluctance motor and the rotatable lift shaft is connected to or comprises part of a rotor element of the reluctance motor, or the drive assembly may form an integral part of the rotatable lift shaft.

[0017] In a further embodiment of the remotely operated transporter, the drive assembly comprises an electric motor having a rotor element connected to or comprising one end of a rotatable lift shaft, preferably such that a centerline of the rotatable lift shaft is aligned with a centerline of the rotor element.

[0018] In a preferred embodiment, at least a portion of the drive assembly is disposed within the rotatable lift shaft. Preferably, the entire drive assembly is disposed within the rotatable lift shaft.

[0019] In a second aspect, the present invention provides a storage system for storage of storage containers, the storage containers comprising: a container storage grid comprising a plurality of storage rows each configured to receive a vertical stack of storage containers; a remotely operated transporter according to the preceding claim, located on top of the container storage grid; Equipped with.

[0020] In a third aspect, the present invention provides the use of a remotely operated transporter according to the first aspect in a storage system for storage of storage containers.

[0021] In a further embodiment, the first carrier rolling means comprises a first rolling set and a second rolling set arranged on opposite side walls of the carrier body, e.g., four wheels or two belts, which allows the movement of the carrier assembly along a first direction (X) on the underlying storage system in use, and a second carrier rolling means comprises a first rolling set and a second rolling set arranged on opposite side walls of the carrier body, e.g., four wheels or two belts, which allows the movement of the carrier along a second direction (Y) perpendicular to the first direction (X) on the underlying storage system in use. The first and second rolling sets may be wheels, belts, or chain tracks. However, these rolling sets may include any mechanism or combination of mechanisms that allows the carrier to move forward and / or backward on the underlying storage system.

[0022] The transporter preferably comprises a first drive means located on or at least partially within the first transporter rolling means and suitable for providing a rolling set specific drive force to the transporter assembly in a first direction (X), and a second drive means located on or at least partially within the second transporter rolling means and suitable for providing a rolling set specific drive force to the transporter assembly in a second direction (Y). In use, at least one of the first and second transporter rolling means is in contact with the underlying storage system.

[0023] In a further embodiment, at least one of the drive means comprises an electric motor using permanent magnets, such as a brushless electric DC (direct current) motor.

[0024] In another embodiment, at least one of the first and second drive means comprises a rotor magnet disposed on an inner surface of the outer periphery of the corresponding respective carrier rolling means.

[0025] In another embodiment, at least one of the first and second drive means comprises a stator arranged at least partially, preferably completely, in the same rotation plane as the carrier rolling means and at least partially, preferably completely, in the carrier body, whereby the rotation plane means in this embodiment the plane extending at right angles from the rotation axis of the carrier rolling means.

[0026] In another embodiment, the transporter comprises means suitable for (at least indirectly) measuring the electromotive force (emf) of at least one transporter rolling means, in signal communication with one of the stator and rotor, thereby enabling rolling set specific speed registration of the transporter during operation. For example, a back-emf measuring circuit may be placed in signal communication with the transporter rolling means. Alternatively or in combination therewith, Hall sensors may be used.

[0027] In another embodiment, the carrier comprises a rotary encoder (at least indirectly) connected to at least one of the first and second carrier rolling means, thereby enabling angular position feedback during operation. Such a rotary encoder is suitable for converting the angular movement of the carrier rolling means into an analog or digital code. The rotary encoder (or shaft decoder) may be of the type of absolute rotary encoder and / or absolute multi-turn encoder. The absolute rotary encoder may be at least one of a mechanical encoder, an optical encoder, a magnetic encoder and a capacitive encoder. Furthermore, the absolute multi-turn encoder may be at least one of a battery-powered multi-turn encoder, a gear-powered multi-turn encoder and a self-powered multi-turn encoder.

[0028] In another embodiment, the rotary encoder is a rotary encoder disk disposed within the outer periphery of at least one of the first and second carrier rolling means, preferably between the outer periphery and the rotor magnet.

[0029] In another embodiment, the transporter further comprises means suitable for measuring the acceleration of at least one of the first and second transporter rolling means, in signal communication with the stator. Such means preferably comprise one or more piezoelectric sensors, for example accelerometers from PCB™ Piezotronics. As an alternative to or in combination with the piezoelectric sensors, one or more inductive sensors may be used.

[0030] In another embodiment, each rolling set comprises at least two wheels, and the transport further comprises motor control electronics arranged in a volume between two of the wheels of each rolling set, said motor control electronics being in this embodiment configured to provide power to the first and second transport rolling means, and preferably also capable of transmitting communication signals.

[0031] In another embodiment, the first carrier rolling means comprises four X-wheels having their rotation direction in a first direction, and the second carrier rolling means comprises four X-wheels having their rotation direction in a second direction. Y-wheels, each of the X-wheels and each of the Y-wheels being drivingly connected to a first drive means and a second drive means, respectively. Each of the wheels preferably comprises a plurality of rotor magnets (e.g. in the form of rotor magnet disks) arranged within the inner surface of the outer periphery of the wheel, and a plurality of stators (e.g. in the form of stator disks) arranged at least partially, e.g. completely, within the carrier body, preferably at the same or approximately the same height as the position of the rotation axis of the wheel. In this embodiment, the height refers to the distance from the highest point of the underlying storage system during use. The said stators include both windings and yokes, with the stator field windings following the outer periphery of the wheel.

[0032] In another embodiment, at least a part, and preferably all, of the drive means is located within the outer periphery of the wheel.

[0033] For example, if four belts are applied to drive the transport of the present invention in the X and Y directions, a total of four motors may be placed in operative engagement with each of the four belts to achieve the desired rolling set specific driving force. Similarly, if eight wheels are applied to drive the transport in the X and Y directions, a total of eight motors may be placed in operative engagement with each of the eight wheels to achieve the desired rolling set specific driving force.

[0034] In a further concept, the present specification also discloses a highly advanced drive assembly for a rotatable lift shaft in a remotely operated transport. This concept is independent of the inventive lift assembly described above, but may be advantageously used in combination with said lift assembly. This concept can be defined as follows:

[0035] a remotely operated transporter for picking up a storage container from an underlying storage system, the remotely operated transporter comprising: a transport body; a transport rolling means for moving the transport in the underlying storage system; and a lift assembly for lifting the storage container out of the underlying storage system; The lift assembly includes a lift frame and a rotatable lift shaft. The lift frame is connectable to a storage container (2); A rotatable lift shaft (6) is provided in the upper part of the carrier body, a lift assembly connected to the rotatable lift shaft such that the lift frame vertically rises or lowers depending on the direction the rotatable lift shaft rotates; The rotatable lift shaft is operatively connected to a drive assembly disposed within the lift shaft capable of rotating the lift shaft about its longitudinal axis, and may include any suitable type of electric motor as described herein.

[0036] In the following description, specific details are introduced to provide a thorough understanding of embodiments of the claimed transporter and storage system. However, those skilled in the art will understand that these embodiments may be practiced without one or more of the specific details, or with other components, systems, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the disclosed embodiments. [Brief description of the drawings]

[0037] [Figure 1] FIG. 1 is a perspective view of a conventional storage system including a grid and multiple remotely operated vehicles / robots. [Diagram 2] FIG. 2 is a perspective view of a remote-controlled transporter according to an embodiment of the present invention, as viewed from above. [Diagram 3] FIG. 3 is a perspective view of the carrier of FIG. 2 as seen from below. [Figure 4a] FIG. 4a is a cross-sectional view of the carrier of FIGS. 2 and 3 taken along one main orientation of the carrier. [Figure 4b] FIG. 4b shows a cross-sectional view of the rotatable lift shaft of FIG. 4a. [Figure 5ab] 5a and 5b are cross-sectional views of a first configuration of the lift band assembly. [Figure 5c] FIG. 5c is a cross-sectional view of an embodiment with an electric motor on one end of the lift shaft. [Figure 6] FIG. 6 is a top perspective view of a storage system according to one embodiment of the present invention, in which a transporter of the present invention is shown positioned directly above five adjacent rows of storage. [Figure 7A] FIG. 7A is a cross-sectional view of the storage system of FIG. 6 showing the transporters of the present invention on adjacent rows along one primary orientation of the transporters. [Figure 7B] FIG. 7B is a cross-sectional view of the storage system of FIG. 6 showing the transporters of the present invention on adjacent rows along another primary orientation of the transporters. [Figure 8]FIG. 8 is a perspective view of a rolling set forming part of a carrier according to one embodiment of the present invention. [Figure 9] FIG. 9 is a perspective view of a wheel forming part of a transporter according to an embodiment of the present invention. [Figure 10A] Figure 10A shows the rolling set of Figure 8 with one of the wheels removed;Figure 10A is a cross-sectional view of the rolling set taken along one main orientation of the carrier; [Figure 10B] 10A shows the rolling set of FIG. 8 with one of the wheels removed. FIG. 10B is a cross-sectional view of the rolling set taken along one of the main orientations of the carrier. [Figure 10C] 10A and 10B show the rolling set of FIG. 8 with one of the wheels removed. FIG. 10C is a perspective side view of a portion of the rolling set with the wheel removed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] All relative terms such as up, down, sideways, vertical, X-direction, Y-direction, Z-direction, etc. used to describe the transporter of the present invention (hereafter referred to as the robot) shall be interpreted using the prior art storage system referred to above (FIG. 1) as a reference system. For clarity, the X, Y, and Z directions are illustrated in FIGS. 1-3, 6-8, and 10 by means of a Cartesian coordinate system 100.

[0039] 1 shows an example of a prior art storage system 3. The storage system 3 includes a number of robots 1 configured to move in X and Y directions (with reference to a Cartesian coordinate system 100) on dedicated support rails 13 and to receive storage containers 2 from storage rows in a container storage grid 15. The prior art storage system 3 may also include a dedicated container lift device 50 configured to receive the storage containers 2 from the robots 1 at a top level of the storage system 3 and transport the storage containers 2 vertically down to a delivery station or port 60.

[0040] 2 and 3 provide perspective views from two different angles of the robot 1, which comprises a rectangular carrier body or framework 4 defining a centrally located cavity therein, a top lid 72 covering an upper part of the body 4, a first carrier rolling means 10 with four X wheels 101-104 for moving in an X direction on the support rails 13 of the underlying receptacle storage grid 15, and a second carrier rolling means 11 with four Y wheels for moving in a Y direction on the support rails 13 of the underlying receptacle storage grid 15, both the first and second rolling means 10, 11 being attached to the outer wall of the body 4. The size of the cavity in the robot 1 (FIG. 3) is adapted to accommodate at least a major part of the largest storage receptacle 2 intended to be picked up by the robot 1, most preferably the entire receptacle. The operation of picking up a storage receptacle 2 is performed by a lift assembly comprising a lift frame 7 shown in a retracted position at the upper end of the cavity in FIG. 3. The lift frame is mounted on the lift frame 7, which ... There are a number of guide pins 17 at each corner of the frame, and gripping means 18 for connecting to the storage container to be picked up.

[0041] FIG. 4a is a cross-sectional view along the X-direction of the robot 1 (i.e., the remotely operated transporter) showing details of a lift assembly for picking up a storage container 2 from a storage row. The lift assembly comprises a rotatable lift shaft 6, a first lift band assembly 8a, a second lift band assembly 8b (not shown, see FIGS. 5a and 5b), and a lift frame 7. Each lift band assembly comprises at least one lift band 12 connected to the rotatable lift shaft 6 and the lift frame 7. By wrapping the lift band around the rotatable lift shaft, the lift frame is raised and lowered in an up and down direction as the lift shaft rotates. As an example, when the lift shaft in FIG. 4a rotates in a counterclockwise direction (from the reader's perspective), as shown by the curved arrow, the lift band 12 is wrapped / unwound around the lift shaft and the lift frame (with any attached storage containers) is raised vertically, as shown by the straight arrow along the lift band. The lift bands are connected to the lift frame such that the lift frame is horizontal (i.e., not tilted or inclined relative to the horizontal). When the lift shaft in FIG. 4a rotates clockwise, the lift band is unwound from the lift shaft and the lift frame is lowered. When wound on the lift shaft, the lift band is wound on itself and the distance traveled by the lift frame during one revolution of the lift shaft varies depending on the vertical position of the lift frame relative to the shaft. In other words, when the lift frame is near the topmost position in the robot cavity (closest to the lift shaft), the distance traveled by the lift shaft during one revolution is greater than when the lift frame is in a lower position. Due to the different travel distances caused by the band being wound on itself and the feature of having a common lift shaft, it is important that all the lift bands are connected to the lift shaft 6 in the same plane (P) before being wound on themselves. See FIG. 4b for a schematic diagram of the plane (P) and center line (C). Otherwise, during one revolution from a given vertical position, the transition distances of the different lift bands will vary and the lift frame will be distorted.The plane (P) contains the centerline (C) of the lift shaft 6. The thickness of the lift bands is typically about 0.5 mm, and even slight differences in the location where the lift bands connect to the lift shaft can result in unacceptable distortion of the lift frame.

[0042] Rotation of the lift shaft is driven by an electric motor 14 (i.e., drive assembly) shown in Figures 5a-5c, which is controlled by a lift control system to ensure the correct speed, acceleration, and position of the lifting frame, and the correct placement of the storage container. The lift bands 12 are preferably metal bands, such as steel bands. Such bands have the advantageous characteristics of low maintenance and no stretching during their life. These characteristics are particularly useful in lift assemblies that require very high precision, such as the storage system 3 described above. Although shown to be located adjacent to the lift shaft, the electric motor may be located in any suitable location relative to or within the conveyor, so long as it is operably connected to the lift shaft, for example by one or more drive belts.

[0043] Two different configurations of the first lifting band assembly and the second lifting band are shown in Figures 5a and 5b.

[0044] In the configuration of Figure 5a, the first lift band assembly 8a and the second lift band assembly 8b each comprise a single lift band having two frame connection ends (i.e., frame connection band ends) connected to the lift frame. Each of the single lift bands is attached to a lift shaft at a mid-portion of the lift band or the lift shaft. The intermediate portion of the lift band passes through the centerline (C) of the lift shaft, and at both frame connection ends the lifting distance per shaft revolution is equal. The advantage of the configuration of Figure 5a is the provision of a very simple lift assembly. By only requiring a single connection between each lift band assembly and the lift shaft, a more reliable lifting assembly is obtained.

[0045] In the configuration of FIG. 5b, both the first lift band assembly and the second lift band assembly include two separate lift bands, each of which has a frame connection end and a shaft connection end. The frame connection end is connected to the lift shaft at a location in plane (P). Each of the separate lift bands is wound on the lift shaft at a separate location. The configuration of FIG. 5b may thereby be advantageous when the vertical lift distance is large, since the diameter of the lift band wound on the lift shaft is smaller than the configuration of FIG. 5a. This allows the lift shaft to be located closer to the ceiling of the robot, allowing more space below for the lift frame and storage container.

[0046] A particularly important advantage of the lift assembly shown in FIG. 6 and the configurations of FIGS. 5a, 5b (or any combination thereof) is that the lift band assemblies are essentially synchronized with each other by being wound on the same lift shaft. This ensures that the storage containers lifted via the lift frame are always in a horizontal plane. That is, the storage containers do not tilt due to different lifting speeds / distances at one of the ends or corners that would be caused by unsynchronized lift bands. This feature is very important because a tilted storage container grid 15 can easily get stuck or jammed in the storage row and / or a tilted lift frame cannot be properly attached to the storage containers.

[0047] To be able to raise the lift frame as high as possible inside the robot 1, the direction of the lift bands is guided from a substantially horizontal to a vertical direction relative to the lift shaft by two guide rods 20 (direction changing means) arranged at opposite ends parallel to the lift shaft. In other embodiments, the two guide rods 20 may be replaced by, for example, four sheaves, pulleys or short guide rods, each directed towards a separate frame connection end.

[0048] In the embodiment of Figures 5a and 5b, the electric motor is located along the lift shaft as shown, and the lift shaft is connected to the electric motor 14 via a drive belt 16. However, the location or type of motor is not an essential feature of the lift assembly, and many different approaches are possible. For example, the motor itself may be located in any suitable location, as long as power transmission, i.e. rotational motion, to the lift shaft 6 can be provided. In one embodiment, one end of the lift shaft 6 may form an integral part of the electric motor 14, as shown in Figure 5c. In this particular case, the electric motor is a reluctance motor, for example a switched reluctance motor, comprising a stator element having a number of stator poles 22 and a rotor element 27 (shown as part BB (rotor poles not shown)) featuring a number of rotor poles, connected to or part of the drive shaft (i.e. in a similar approach to the wheel drive described below, but with the rotor element located inside the stator element). In this particular embodiment, the lift shaft 6 is part of or connected to the rotor element 27. The rotor element (or drive shaft) of the reluctance motor may be aligned with the centerline of the lift shaft or may comprise a portion of one end of the lift shaft. In another advantageous embodiment, the stator element is located inside the rotor element (or vice versa) and the rotor element itself is located inside the lift shaft, either as part of the lift shaft or operatively connected to the lift shaft. This latter approach may free up the most space within the cavity of the transport body. The approach shown in FIG. 5c may increase the interior space of the robot 1 regardless of the type of electric motor. In particular, the electric motor may be a sliding element. The internal space of the robot 1 can be increased if the electric motor is as small as possible in the longitudinal direction of the lift shaft (for example the design found in so-called pancake motors). The operating principle of switched reluctance motors is well known to those skilled in the art and is described, for example, in JIn-Woo Ahn (2011), Switched Reluctance Motors, Torque Control, Prof. Moulay Tahar Lamchich (Ed.), ISBN: 978-953-307-428-3, InTech, and R. Krishnan (2011), Switched Reluctance Motor Drives: Modeling, Simulation, Analysis, Design, and Applications; CRC Press.

[0049] 6 and 7 show a portion of a storage system 3 in which robots 1 are positioned in various adjacent positions on top of a receptacle storage grid 15. In four of the five positions, the robots 1 are positioned directly above a storage row of the grid 15. As is most evident in FIGS. 7A and 7B, which show the storage system 3 of FIG. 6 in cross-section along the Y and X directions, respectively, the robots 1 are dimensioned such that their maximum cross-sectional area along the XY plane occupies less than or equal to the cross-sectional area of ​​the corresponding (underlying) storage row. Thus, two or more robots 1 can operate simultaneously over adjacent rows of the grid 15, freeing up more space compared to prior art systems.

[0050] One side of the first carrier rolling means 10 is shown in a perspective side view in Figure 8. The rolling means 10, in this particular embodiment of the invention, comprises two wheels 101, 102 with outer rims / edges 9 located along the X direction near the corners of the carrier body 4. A cover plate 25, which forms part of the carrier body 4, is arranged between the two wheels 101, 102.

[0051] Further details of one of these wheels 101, 102 are provided in Figures 9A and 9B, showing the outer and inner faces, respectively. In Figure 9B, a rotary encoder 23 of the type of optical rotary quadrature encoder is arranged within the inner radial surface of the outer rim 9. Other types of encoders may be used, such as magnetic encoders, linear encoders, voltage-based analog encoders, etc. The rotor 5 in Figure 9, shown as a set of permanent magnets 5, is arranged inside the perimeter defined by the rotary encoder 23, i.e. closer to the axis of rotation of the wheel 101.

[0052] The corresponding stator 19 is shown in Figure 10 with electrical windings 19a wound around a yoke 19b, however, those skilled in the art will appreciate that the stator 19 and rotor 5 may (in other embodiments of the invention) be comprised of stator magnets and rotor yoke / windings, respectively.

[0053] Figures 10B and 10C also show an arrangement in which the means for measuring acceleration 24 are connected in signal communication with the stator 19 of each wheel 101, 102, for example by using a piezoelectric sensor. Figure 10A is a cross-sectional view of a portion of the first transporter rolling means 10 along the X direction, showing the stator 19 surrounded by the outer rim 9.

[0054] All components and their interactions / configuration are valid for the second carrier rolling means 11 as well.

[0055] The arrangement of the drive means 5, 19 close to or within the rolling means 10, 11 of the robot 1 contributes to freeing up space on the storage system during operation, thereby allowing the design of a more compact robot 1 compared to prior art robots.

[0056] All movements of the robot 1 are controlled by wireless communication means and a remote control unit. This includes one or more of controlling the robot movement, controlling the transporter lift device 7, measuring the robot position, measuring the robot velocity, and measuring the robot acceleration.

[0057] In the above description, various aspects of the transporter and storage system according to the present invention have been described with reference to embodiments. For purposes of explanation, the system and configurations have been described to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, will be apparent to those skilled in the art to which the disclosed subject matter pertains, and are deemed to be within the scope of the present invention. [Explanation of symbols]

[0058] 1 Remotely controlled transport vehicle / robot 2. Storage Containers 3. Storage System 4. Carrier body / framework 5 Rotor / Permanent Magnet 6 Rotatable lift shaft 7 Lift Frame 8a First lift band assembly 8b Second lift band assembly 9 Outer Rim / Outer Circumference of Rolling Means 10 First conveyor rolling means / first wheel set 11 Second conveyor rolling means / second wheel set 12 Lift Band 12a First Lift Band 12b 2nd lift band 13 Support Rail 14 Electric motor 15 Container storage grid 16 Drive belt 17 Guide pin 18 Gripping means 19 Stator 19a Winding 19b York 20 Guide rod / direction change means 21 Frame connection band end 22 stator poles 23 Rotary Encoder 24 Means for measuring acceleration / piezoelectric sensor 25 Cover plate 26 Shaft connection band end 27 Rotor elements 50 Container lifting device 60 Shipping Stations / Ports 72 Top lid 100 Cartesian Coordinate System 101 1st X Wheel 101 2nd X Wheel 102 3rd X-Wheel 103 4th X-Wheel 111 1st Y Wheel 112 2nd Y Wheel 113 3rd Y Wheel 114 4th Y Wheel

Claims

1. A remotely operated transporter (1) for picking up a storage container (2) from an underlying storage system (3), comprising: a transporter body (4) having a cavity adapted to accommodate the entire storage container; transporter rolling means for movement of said transporter in said underlying storage system (3); and a lift assembly for lifting said storage container from said underlying storage system (3) to a position above a lowest position of said transporter rolling means, The lift assembly comprises a lift frame (7), a rotatable lift shaft (6), a first lift band assembly (8a), and a second lift band assembly (8b); The lift frame is connectable to the storage container (2); The rotatable lift shaft (6) is provided in the upper part of the carrier body, Each of the first lift band assembly (8a) and the second lift band assembly (8b) comprises at least one lift band (12) and two frame connection band ends (21) connected to the lift frame; the lift bands (12) of the first lift band assembly (8a) and the second lift band assembly (8b) are connected to the rotatable lift shaft (6) such that depending on the direction the rotatable lift shaft (6) rotates, the lift bands are unwound or reeled from the lift shaft, causing the lift frame (7) to vertically rise or fall; Remote controlled transport vehicle.

2. 2. The remote controlled transport vehicle of claim 1, wherein the lift frame (7) rises when the at least one lift band (12) is wrapped around the rotatable lift shaft (6) and lowers when the at least one lift band (12) is unwound from the rotatable lift shaft (6).

3. 3. The remote-controlled transport vehicle of claim 1, wherein at least one of the first lift band assembly (8a) and the second lift band assembly (8b) comprises a single lift band having two frame connection band ends (21) and an intermediate portion connected to the rotatable lift shaft.

4. 4. The remote controlled transport vehicle of claim 1, wherein at least one of the first lift band assembly (8a) and the second lift band assembly (8b) comprises two separate lift bands (12), each having a frame connection band end (21) and a shaft connection band end (26), the shaft connection band end being connected to the rotatable lift shaft.

5. 5. The remote controlled transport of claim 1, wherein each of the first lift band assembly (8a) and the second lift band assembly (8b) comprises a single lift band having two frame connection band ends (21) and a mid-portion, or comprises two separate lift bands (12) each having a frame connection band end (21) and a shaft connection band end (26), and the mid-portions or the shaft connection band ends of the first lift assembly and the second lift assembly are connected to the rotatable lift shaft at locations in a common plane (P) that includes a centerline (C) of the rotatable lift shaft such that all frame connection band ends move an equal distance when the lift shaft rotates in use.

6. 6. A remote controlled transport system according to claim 4 or 5, wherein the shaft connection band ends (26) are connected to the rotatable lift shaft (6) at different longitudinal positions along the shaft. Conveyor.

7. 7. The remote controlled transport vehicle of claim 1, wherein the first lift band assembly (8a) and the second lift band assembly (8b) are disposed at opposite ends of the rotatable lift shaft (6).

8. 8. A remote controlled transporter as claimed in any one of claims 1 to 7, comprising a direction changing means (20) for changing the direction of the lift band from a substantially horizontal direction to a vertical direction.

9. 9. The remote controlled transport vehicle of claim 1, wherein the rotatable lift shaft (6) is operatively connected to a drive assembly (14) capable of rotating the lift shaft (6) about its longitudinal axis.

10. 10. The remote controlled vehicle of claim 9, wherein the drive assembly comprises a reluctance motor and the rotatable lift shaft (6) is connected to or comprises part of a rotor element (27) of the reluctance motor.

11. 11. The remote-controlled transport vehicle of claim 9 or 10, wherein the drive assembly comprises an electric motor having a rotor element connected to or comprising one end of the rotatable lift shaft (6), the centerline of the rotatable lift shaft (6) being aligned with the centerline of the rotor element.

12. 12. The remotely operated transport vehicle of claim 9, wherein at least a portion of the drive assembly is disposed within the rotatable lift shaft.

13. 13. The remote controlled transporter according to any one of claims 1 to 12, wherein the rotatable lift shaft (6) is arranged in an upper part of the cavity of the transport body (4), preferably centrally in said upper part.

14. A storage system (3) for the storage of a storage container (2), comprising: a container storage grid (15) comprising a plurality of storage rows each configured to accommodate a vertical stack of storage containers (2); A remotely operated transporter according to any one of claims 1 to 13, arranged on top of the container storage grid (15); A storage system comprising:

15. Use of a remotely operated transporter according to any one of claims 1 to 12 in a storage system (3) for the storage of storage containers (2).

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