Container handling vehicle

Abstract

To provide a container handling vehicle for avoiding or moderating a defect of a lifting device of previous technology, and an automatic storage and collection system comprising the container handling vehicle.SOLUTION: In a container handling vehicle comprising a lifting device, the lifting device comprises a lifting band driving assembly, a lifting frame, and four lifting bands. The lifting band driving assembly comprises a lifting shaft assembly having a lifting shaft. The lifting shaft comprises a first end section and a second end section. Two of the lifting bands are connected to the first and second end sections of the lifting shaft, respectively. The lifting shaft assembly comprises an electric insulation element arranged so that the lifting band connected to the first end section is electrically insulated from the lifting band connected to the second end section.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to container handling vehicles and automated storage and retrieval systems including container handling vehicles. [Background technology]

[0002] Storage systems comprising a three-dimensional storage grid structure in which storage containers / bins are stacked on top of each other are well known.

[0003] Figure 1 discloses the framework of a typical prior art automated storage and retrieval system 1, and Figures 2a and 2b disclose known container handling vehicles of such a system. Storage systems are disclosed in detail, for example, in NO317366 and WO2014 / 090684A1.

[0004] The frame structure comprises a number of vertical members / profiles 2 and a number of horizontal members 3 supported by the vertical members 2. The members 2, 3 may typically be made of metal, for example extruded aluminium profiles.

[0005] The framework structure defines a storage grid 4 that includes a plurality of grid columns 12 arranged in rows. Most of the grid columns 12 are storage columns 5 in which storage containers 6, also known as containers, are stacked on top of each other to form stacks 7. Each storage container 6 (or containers for short) can typically hold multiple product items (not shown), and the products within a storage container 6 may be the same or may be of different product types depending on the application. The framework structure prevents horizontal movement of the stack 7 of storage containers 6 and guides vertical movement of the containers 6, but typically does not otherwise support the storage containers 6 when stacked.

[0006] The upper horizontal member 3 comprises a rail system 8 arranged in a grid pattern across the top of the grid columns 12, on which a plurality of container handling vehicles 9 operate to raise and lower storage containers 6 from and into the storage columns 5, and to transport storage containers 6 up the storage columns 5. The rail system 8 comprises a first set of parallel rails 10 arranged to guide movement of the container handling vehicles 9 in a first direction X across the top of the frame structure 1, and a second set of parallel rails 11 arranged perpendicular to the first set of rails 10 to guide movement of the container handling vehicles 9 in a second direction Y perpendicular to the first direction X, see FIG. 3 . In this manner, the rail system 8 defines the upper end of the storage columns 5, on which the container handling vehicles 9 may move laterally above the storage columns 5, i.e., in a plane parallel to the horizontal XY plane.

[0007] Each container handling vehicle 9 comprises a body 13 and first and second wheel sets 14, 15 which enable lateral movement of the container handling vehicle 9, i.e., movement in the X and Y directions. Two wheels of each set are visible in Figure 2. The first wheel set 14 is arranged to engage two adjacent rails of the first set of rails 10, and the second wheel set 15 is arranged to engage two adjacent rails of the second set of rails 11. One of the wheel sets 14, 15 can be raised and lowered so that the first wheel set 14 and / or the second wheel set 15 can be engaged with their respective rail sets 10, 11 at any one time.

[0008] Each container handling vehicle 9 also includes a lifting device 18 (not shown in Figures 1 and 2a, but seen in Figure 2b) for vertical transportation of storage containers 6, e.g., raising storage containers 6 from storage columns 5 and lowering storage containers 6 into storage columns 5. Lifting device 18 includes a lifting frame (not shown in Figure 2a, but similar to that shown in Figure 2b and labeled 17) adapted to engage storage containers 6, which can be lowered from carbody 12 so that the position of the lifting frame relative to carbody 12 can be adjusted in a third direction orthogonal to first direction X and second direction Y.

[0009] By convention, and in this application, Z=1 identifies the top layer of grid 4, i.e., the layer immediately below rail system 8 (rail system 8 is referred to in this application as the top of the grid), Z=2 is the second layer below rail system 8, Z=3 is the third layer, and so on. In the embodiment disclosed in FIG. 1, Z=8 identifies the bottom, lowest layer of grid 4. Thus, by way of example and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, the storage container identified as 6' in FIG. 1 can be said to occupy grid position or cell X=10, Y=2, Z=3. Container handling vehicles 9 can be said to move within layer Z=0, and each grid column 12 can be identified by its X and Y coordinates.

[0010] Each container handling vehicle 9 comprises a storage compartment or space for receiving and storing storage containers 6 as they are transported across the grid 4. The storage space may comprise a cavity 21 centrally located within the vehicle body 13, for example as described in WO2014 / 090684A1, the contents of which are incorporated herein by reference.

[0011] Alternatively, the container handling vehicle may have a cantilevered structure, such as that described in NO317366, the contents of which are also incorporated herein by reference.

[0012] The container handling vehicle 9 may have a footprint F, i.e., horizontal perimeter in the X and Y directions (see FIG. 4), which is approximately equal to the lateral or horizontal extent of the lattice column 12, i.e., the perimeter / outer perimeter of the lattice column 12 in the X and Y directions, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. Alternatively, the container handling vehicle 9 may have a footprint that is larger than the lateral extent of the lattice column 12, for example, a footprint that is approximately twice the lateral extent, as disclosed in WO 2014 / 090684 A1.

[0013] The rail system 8 may be a single track system, as shown in Figure 3. The rail system 8 is preferably a double track system, as shown in Figure 4, thus allowing a container handling vehicle 9 having a footprint F that corresponds roughly to the lateral extent of a grid column 12 to move in either the X or Y direction along a row of grid columns, even if another container handling vehicle 9 is positioned on a grid column 12 adjacent to that row.

[0014] In a storage grid, the majority of grid columns 12 are storage columns 5, i.e., grid columns in which storage containers are stored in stacks. However, the grid will typically have at least one grid column 12 that is not used to store storage containers, but which includes a location where a container handling vehicle can drop off and / or pick up a storage container so that the storage container can be transported to an access station, i.e., a container handling station, where the storage container 6 can be accessed from outside the grid or transported out or into the grid. In the industry, such locations are commonly referred to as "ports," and the grid column in which the port is located may be referred to as a port column.

[0015] The grate 4 in Figure 1 comprises two port columns 19 and 20. The first port column 19 may be a dedicated unloading port column where a container handling vehicle 9 can unload storage containers to be transported to, for example, an access station or transfer station (not shown), and the second port column 20 may be a dedicated pick-up port column where a container handling vehicle 9 can pick up storage containers that have been transported to the grate 4 from an access station or transfer station.

[0016] To monitor and control the automated storage and retrieval system, for example, to monitor and control the location of each storage container within the grid 4, the contents of each storage container 6, and the movements of the container handling vehicles 9 so that the desired storage containers can be delivered to the desired locations at the desired times without the container handling vehicles 9 colliding with each other, the automated storage and retrieval system includes a control system, which is typically computerized and includes a database for tracking the storage containers.

[0017] When a storage container 6 stored within the grid 4 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 9 is commanded to retrieve the target storage container from its position within the grid 4 and transport it to the unloading port 19. This operation involves moving the container handling vehicle 9 to a grid position above the storage column 5 where the target storage container is located, retrieving the storage container 6 from the storage column 5 using the container handling vehicle's lifting device (not shown, located inside the vehicle's central cavity, but similar to the lifting device 18 of the second prior art vehicle of FIG. 2b), and transporting the storage container to the unloading port 19. To better illustrate the general design of the lifting device, the second prior art vehicle 9 is shown in FIG. 2b. Details of the second vehicle 9 are described in Norwegian Patent No. 317366. The lifting device 18 of both prior art vehicles 9 comprises a set of lifting bands 16 extending vertically and connected proximate to the corners of a lifting frame 17 (which may also be called a gripping device) for releasable connection to the storage container. The lifting frame 17 features container connection elements 24 for releasably connecting to a storage container, and guide pins 30 .

[0018] The lifting bands 16 are connected to a band drive assembly for raising or lowering the lifting frame 17 (and possibly the connected storage container 6). In a band drive assembly, the lifting bands 16 are typically wound / unwound onto at least two rotating lifting shafts or reels (not shown) located within the container handling vehicle, where the lifting shafts are further connected via belts / chains to at least one common rotor shaft that provides synchronous rotational movement to the at least two lifting shafts. Various designs of lifting shafts are described, for example, in WO2015 / 193278A1 and PCT / EP2017 / 050195.

[0019] Because the lifting bands tend to stretch slightly during use, the length of the lifting bands must be adjusted initially and at various inspection intervals to obtain the correct length of all lifting bands 16 relative to the lifting frame, i.e., to ensure that the lifting frame 17 remains horizontal during operation. In prior art lifting devices, the lifting bands are typically connected to and wound onto separate reels located on the upper tiers within the container handling vehicle 9. To adjust the lifting bands, the corresponding reels are detached from the rotating shaft, and the lifting bands can be adjusted by the reel's free rotation relative to the rotating shaft. Subsequently, once the lifting bands have the desired length, the reels are secured to the rotating shaft. To gain access to the separate reels, the inspector is typically required to remove at least some of the bodywork covering the vehicle body 13 or enter the vehicle's cramped interior.

[0020] Most prior art container handling vehicles with a central cavity for receiving storage boxes, such as that in FIG. 2a, feature a lifting device 18 having a band drive assembly including at least one rotor shaft centrally located within the upper section of the vehicle and connected to a lifting motor. In addition to the centrally located rotor shaft, such lifting devices also include an assembly of secondary shafts and / or sheaves around which the lifting bands are wound and unwound. The secondary shafts and / or sheaves are rotated by being connected to the centrally located rotor shaft via belts / chains and are located at the corners of the central cavity to provide the required positioning of the lifting bands 16 relative to the lifting frame 17. Having such an assembly of multiple moving parts is not an optimal solution, as the lifting device requires relatively high maintenance, is noisy, and occupies a large volume inside the robot.

[0021] A container handling vehicle featuring a centrally located rotatable lifting shaft around which a lifting band is wound is disclosed in WO2017 / 129384A1. Summary of the Invention [Problem to be solved by the invention]

[0022] In view of the above, it would be desirable to provide a container handling vehicle and an automated storage and retrieval system comprising said container handling vehicle in which the drawbacks of prior art lifting devices are avoided or at least mitigated. [Means for solving the problem]

[0023] The invention is defined by the appended claims and below.

[0024] In a first aspect, the present invention provides a container handling vehicle for picking up a storage container from a three-dimensional lattice of an underlying storage system, comprising a vehicle body and at least one lifting device for lifting the storage container from the lattice, a lifting device comprising a lifting band drive assembly connected to the vehicle body, a horizontal lifting frame for releasable connection to the storage container, and four lifting bands connecting the lifting band drive assembly to the lifting frame; the lifting band drive assembly comprises a lifting shaft assembly having a lifting shaft and at least one motor for rotating the lifting shaft; the lifting shaft comprises a first end section and a second end section; - two of the lifting bands are connected to each of the first and second end sections of the lifting shaft; A container handling vehicle is provided in which the lifting shaft assembly comprises at least one electrical insulating element arranged so that the lifting band connected to the first end section is electrically insulated from the lifting band connected to the second end section, i.e. so that the lifting band connected to the first end section can have a different electrical potential from the lifting band connected to the second end section.

[0025] By electrically isolating the lifting band connected to the first end section from the lifting band connected to the second end section, the lifting band can be used to control the releasable connection of the lifting frame to a storage container, for example, at the same time as having the lifting bands connected to a common lifting shaft.

[0026] The at least one electrically insulating element is made of an electrically insulating material, such as a suitable polymer or composite material.

[0027] In one embodiment of the container handling vehicle, the lifting band drive assembly is at least one band guide assembly arranged to change the orientation of the band from a substantially horizontal to a vertical orientation.

[0028] In one embodiment of the container handling vehicle, a dual band reel is disposed on each of the first end section and the second end section, with each dual band reel connected to two separate lifting bands.

[0029] In one embodiment of the container handling vehicle, each of the dual band reels provides electrical contacts between at least one of the lifting bands connected to the dual band reel and a control unit located within the container handling vehicle so that electrical signals and / or power can be transmitted from the control unit through the dual band reel to the at least one lifting band.

[0030] In one embodiment of the container handling vehicle, each dual band reel is provided with a current collecting ring for electrical signal transmission between a control unit located within the container handling vehicle and the lifting bands via conductive brushes in contact with the current collecting ring.

[0031] At least the outer layer and current collector ring of the dual band reel are made of a conductive material, such as an aluminum alloy. The dual band reel is preferably made as a single reel element including the current collector ring. However, the dual band reel can also include two separate band reels and current collector rings, provided that the separate band reels and current collector rings are in electrical contact.

[0032] In one embodiment of the container handling vehicle, the double band reels are electrically insulated from each other by electrical insulating elements, i.e. at least the portions of each double band reel that are in contact with the lifting bands connected to the double band reel are electrically insulated from each other.

[0033] In one embodiment of the container handling vehicle, the electrical insulating element is positioned between at least one of the end sections and the corresponding double band reel (i.e., between at least one of the end sections and the double band reel positioned on said end section), or between the end sections.

[0034] In one embodiment, the container handling vehicle is provided with two electrical insulating elements, and each of the double band reels is electrically insulated from the end section by one of the electrical insulating elements at the end section in which the double band reel is located.

[0035] In one embodiment of the container handling vehicle, the electrically insulating element provides an electrically insulating layer between each of the band reels and the corresponding end section. Each double band reel may also be defined as including an electrically insulating layer forming an inner circumference or inner section of the reel, i.e., each double band reel includes an inner section of electrically insulating material.

[0036] In one embodiment of the container handling vehicle, the electrically insulating element is an intermediate shaft element of the lifting shaft.

[0037] In one embodiment of the container handling vehicle, each dual band reel comprises a first and second reel section, each reel section featuring a reel band connector for connection to a first end of a lifting band. The reel band connector of the first reel section is staggered / offset by 0 to 180 degrees relative to the reel band connector of the second reel section. The reel band connector of the first reel section is preferably staggered / offset within the range of -15 to 15 degrees, 75 to 105 degrees, or 165 to 195 degrees. The offset of the reel band connectors depends on the positioning of the band guide assembly and the lifting shaft assembly. The reel band connectors of the first reel section are positioned in the same radial position relative to the centerline of the lifting shaft. The reel band connectors of the second reel section have the same radial position relative to the centerline of the lifting shaft. The radial positions of the reel band connectors of the first reel section are staggered / offset relative to the radial positions of the reel band connectors of the second reel section within a range of 0 to 180 degrees, preferably -15 to 15 degrees, 75 to 105 degrees, or 165 to 195 degrees.

[0038] In one embodiment of the container handling vehicle, at least one motor is connected to an end of the first end section or the second end section.

[0039] In one embodiment of the container handling vehicle, the at least one motor is a brushless DC motor having a stator element and a rotor element, the rotor element being connected to or forming part of the lifting element such that the lifting shaft and the rotor element have a common centerline.

[0040] In one embodiment of the container handling vehicle, the stator element is rigidly connected to the carbody via a motor bracket, and the lifting shaft is rotatably connected to the carbody by ball bearing elements located on each of the first and second end sections. The motor bracket is preferably part of the stator housing or the stator connecting element.

[0041] In one embodiment of the container handling vehicle, at least one brushless DC motor is located between the first and second end sections. By locating the BLDC motor between the end sections, i.e., between the dual band reels, a very compact lifting shaft assembly is provided in which the overall length of the lifting shaft assembly is minimized relative to the distance / length required between the lifting bands.

[0042] In one embodiment, the container handling vehicle includes first and second brushless DC motors, each with a rotor element connected to or forming part of a lifting shaft such that the lifting shaft and rotor elements have a common centerline.

[0043] In one embodiment of the container handling vehicle, the lifting frame comprises four corner sections, gripping elements for releasable connection to a storage container, lifting band connectors disposed at each of the corner sections, and a control module for controlling the gripping elements, the control module being in electrical contact with one of the lifting bands connected to the first end section and one of the lifting bands connected to the second end section.

[0044] In one embodiment of the container handling vehicle, at least three of the lifting band connectors are adjustable so that the vertical distance between each corner portion and the lifting band drive assembly (or the height of each corner portion) can be adjusted.

[0045] In one embodiment, the container handling vehicle is equipped with wheels for moving the vehicle above or on top of the three-dimensional grid.

[0046] In one embodiment, the container handling vehicle comprises: - a first set of wheels disposed on either side of the vehicle body (or on either side of the cavity of the vehicle body) for moving the vehicle along a first direction on the grid; - second sets of wheels arranged on each side of the vehicle body for moving the vehicle on the grid in a second direction perpendicular to the first direction; Equipped with - the first set of wheels may be positioned vertically in a first position where the first set of wheels allows movement of the vehicle along a first direction, and in a second position where the second set of wheels allows movement of the vehicle along a second direction; The second position is displaceable between a first position allowing the

[0047] In one embodiment of the container handling vehicle, the body encloses a cavity for accommodating at least one storage container, and a lifting band drive assembly of the at least one lifting device is arranged on an upper level of the cavity.

[0048] In one embodiment, the container handling vehicle comprises at least two lifting devices, which may be adjacent.

[0049] In one embodiment, the container handling vehicle comprises four lifting devices.

[0050] In one embodiment, the cavity is for accommodating at least two adjacent storage containers and at least two adjacent lifting devices.

[0051] In a second aspect, the present invention provides an automated storage and retrieval system comprising a three-dimensional grid and at least one container handling vehicle according to the first aspect, wherein the grid comprises a plurality of storage columns in which storage containers may be stored in vertical stacks on top of one another, and port columns for receiving and transporting storage containers to access stations, and the container handling vehicle operates on rails located at the top level of the grid to retrieve storage containers from the storage columns, to store storage containers in the storage columns, and to transport storage containers horizontally across the grid.

[0052] In a third aspect, the present invention provides a method of operating a gripping element on a lifting frame of a container handling vehicle, the lifting frame being connected to first and second end sections of a single lifting shaft via at least two lifting bands, the first and second end sections being electrically insulated from each other (or the first and second end sections being arranged such that the at least two lifting bands are electrically insulated from each other), the method comprising: - transmitting power and / or signals via the two lifting bands to drive and / or control the gripping elements; The present invention provides a method comprising:

[0053] In the present invention, the term "lifting band drive assembly" is intended to mean any assembly consisting of at least one lifting shaft and any combination of reels, sheaves and / or motors suitable for winding and horizontal positioning of lifting bands, preferably four lifting bands, such that a lifting frame located below the lifting band assembly can be raised / lowered vertically while being maintained in a horizontal plane.

[0054] Some embodiments of the invention will now be described in detail, by way of example only, and with reference to the following drawings: [Brief explanation of the drawings]

[0055] [Figure 1] FIG. 1 is a side perspective view of a prior art storage and retrieval system. [Figure 2a] 1 is a diagram of a prior art container handling vehicle. [Figure 2b] 1 is a diagram of a prior art container handling vehicle. [Figure 3] FIG. 2 is a top schematic view of one type of rail system for use in the storage system of FIG. 1. [Figure 4] FIG. 2 is a top schematic view of one type of rail system for use in the storage system of FIG. 1. [Figure 5]1 is a side perspective view of an exemplary embodiment of a container handling vehicle in accordance with the present invention; [Figure 6a] FIG. 6 is a side view of the container handling vehicle in FIG. 5. [Figure 6b] FIG. 6 is a top view of the container handling vehicle in FIG. 5. [Figure 7a] FIG. 6 is a side cross-sectional view of the container handling vehicle in FIG. 5. [Figure 7b] FIG. 7b is an enlarged view of the detail shown in FIG. 7a. [Figure 8] FIG. 8 is a side perspective view of a lifting frame of the container handling vehicle in FIGS. [Figure 9a] FIG. 9 is a perspective view of an adjustable band connector of the lifting frame in FIG. 8. [Figure 9b] FIG. 9 is a top view of the adjustable band connector of the lifting frame in FIG. 8. [Figure 9c] FIG. 9 is a cross-sectional view of an adjustable band connector of the lifting frame in FIG. 8. [Figure 10] FIG. 6 is an exploded view of the lifting device of the container handling vehicle in FIG. 5. [Figure 11] FIG. 6 is a side perspective view of a lifting device of the container handling vehicle in FIG. 5. [Figure 12] FIG. 12 is a side view of the lifting shaft assembly of the lifting device in FIGS. 10 and 11 . [Figure 13] FIG. 13 is a cross-sectional side view of the lifting shaft assembly in FIG. 12. [Figure 14] FIG. 12 is a side view of an alternative lifting shaft assembly for use in the lifting device in FIGS. 10 and 11 . [Figure 15] FIG. 15 is a cross-sectional side view of the lifting shaft assembly in FIG. 14. [Figure 16] FIG. 16 is a perspective view from below of the lifting shaft assembly of FIGS. 14 and 15. [Figure 17] FIG. 17 is a perspective view from above of the lifting shaft assembly in FIGS. 14 to 16. [Figure 18] FIG. 18 is an exploded view of the lifting shaft assembly in FIGS. [Figure 19] FIG. 18 is a perspective view from below of the lifting device frame with the lifting shaft assembly in FIGS. 14 to 17. [Figure 20] 20 is a side perspective view of the lifting device frame in FIG. 19, including lifting bands and a lifting frame. FIG. [Figure 21] FIG. 21 is a side perspective view of the lifting frame shown in FIG. 20 with the top cover omitted. [Figure 22] 22A-22C are two side perspective views of the adjustable lifting band connector of the lifting frame in FIG. 21. [Figure 23] FIG. 21 is a side view of a container handling vehicle equipped with a lifting frame and lifting device as shown in FIG. 20. [Figure 24] 1A and 1B are side and cross-sectional views of an exemplary container handling vehicle in accordance with the present invention; [Figure 25] FIG. 25 is a cross-sectional side perspective view of the container handling vehicle in FIG. 24. [Figure 26] FIG. 25 is an enlarged view of detail A shown in FIG. 24. [Figure 27] 10 is a side perspective view of a further exemplary embodiment of a container handling vehicle according to the present invention; [Figure 28] FIG. 28 is a perspective view of the container handling vehicle in FIG. 27, seen from below. DETAILED DESCRIPTION OF THE INVENTION

[0056] Embodiments of the invention will now be discussed in more detail, by way of example only, with reference to the accompanying drawings, in which it should be understood, however, that the drawings are not intended to limit the invention to the matter shown in the drawings, in which:

[0057] As mentioned above, a drawback of the prior art lifting device 18 is the need for a lifting band drive assembly featuring multiple secondary shafts and / or sheaves about which the lifting band 16 is wound and unwound to provide the required positioning of the lifting band relative to the lifting frame. Furthermore, to rotate the secondary shafts and / or sheaves, they are connected to the rotor shaft via belts / chains.

[0058] An exemplary embodiment of a container handling vehicle 9' according to the present invention is shown in Figures 5, 6a and 6b. The main differentiating feature of the vehicle 9' from the prior art vehicle 9 is the inventive lifting device 18'.

[0059] As described for the prior art vehicle 9, the container handling vehicle 9' is suitable for picking up storage containers 6 from a three-dimensional grid 4 of an underlying storage system 1, see FIG. 1 . The vehicle 9' features a first set of wheels 14 disposed on either side of the body 13 for moving the vehicle 9' along a first direction X of the grid 4, and a second set of wheels 15 disposed on either side of the body 13 for moving the vehicle 9' along a second direction Y of the grid 4 that is perpendicular to the first direction X. By use of a wheel displacement assembly 51, the first set of wheels can be displaced in the vertical direction Z between a first position in which the first set of wheels 14 allows movement of the vehicle 9' along the first direction X, and a second position in which the second set of wheels 15 allows movement of the vehicle 9' along the second direction Y.

[0060] The body 13 encloses a cavity 21 sized to accommodate a storage container 6 suitable for a storage system as described above. A lifting device 18' is connected to the upper section of the cavity 21. The lifting device is arranged to lift / lower the storage container 6 from / to the grid 4. When the storage container is accommodated within the cavity 21, the bottom of the storage container is located at a height above the minimum height of the second set of wheels 15.

[0061] 5 and 10, the lifting device 18' comprises a horizontal lifting shaft assembly 47 including a lifting shaft 22 and two electric motors 23a, 23b for rotating the lifting shaft 22, a lifting frame 17 for releasable connection to the storage container 6, and a pair of first and second lifting bands 16a, 16b. The lifting bands 16a, 16b connect the lifting shaft 22 to the lifting frame 17.

[0062] The lifting shaft 22 comprises a first end section 27 a and a second end section 27 b interconnected via an intermediate shaft element 35 .

[0063] Each lifting band 16a, 16b has a first end connected to the lifting shaft 22 and a second end connected to the lifting frame 17. Each pair of lifting bands 16a, 16b has a first lifting band connected at a first end section 27a of the lifting shaft and a second lifting band connected at a second end section 27b of the lifting shaft. The first pair of lifting bands 16a extend in a substantially horizontal direction from the lifting shaft 22 toward a pair of sheaves 31 (i.e., band guide assemblies). The sheaves 31 are positioned to redirect the first pair of lifting bands 16a so that they extend vertically. The second pair of lifting bands 16b extend vertically directly from the lifting shaft 22.

[0064] The lifting band drive assembly, or lifting device 18', of the container handling vehicle 9' disclosed herein requires only a minimum of individual parts, namely the lifting shaft assembly 47 and the pair of sheaves 31, to achieve its function.

[0065] When extending vertically, the lifting bands 16 a , 16 b are spaced apart from one another by a horizontal distance that corresponds to the horizontal distance between corresponding lifting band connection elements 32 on the lifting frame 17 .

[0066] By positioning the lifting shaft assembly 47 so that the second pair of lifting bands 16b extend vertically from the lifting shaft towards the corresponding band connection elements 32 on the lifting frame 17, the lifting device 18' occupies minimal space inside the robot. In other words, the required position and / or orientation of the second pair of lifting bands 16b is achieved without an additional band guide assembly. Furthermore, it uses minimal rotating parts (i.e., only the lifting shaft 22 and sheaves 31) and does not require gears, sprockets, and By avoiding the use of chains and / or bolts (e.g., commonly used in prior art lifting devices to transfer rotational motion from a motor to various shaft assemblies), lifting device 18' is significantly quieter than prior art lifting devices, the latter being particularly important in storage systems with large numbers of container handling vehicles.

[0067] Although the disclosed band guide assembly comprises a pair of sheaves 31, the pair of sheaves 31 may alternatively be replaced by any suitable means, such as a rotating shaft, for changing the orientation of the first pair of lifting bands from a substantially horizontal orientation to a vertical orientation. In the container handling vehicle 9', each of the sheaves 31 is separately connected to the carbody 13. However, depending on the specific design and space requirements, the sheaves 31 may instead be arranged with a common shaft 53 extending between both sides of the carbody 13, see FIG. 19.

[0068] As shown in Figure 16, a spring-suspended guide wheel 61 is arranged to ensure accurate movement and positioning of the lifting band as it is wound onto / unwound from the dual band reel 48 and as it passes over the sheave 31 of the band guide assembly.

[0069] In the exemplary embodiment, the second pair of lifting bands 16b extend vertically from the lifting shaft 22 on the side of the lifting shaft facing away from the band guide assembly 31. In this way, the required horizontal position of the vertically extending second pair of lifting bands 16b with respect to the corresponding band connection elements of the lifting frame 17 is obtained, while keeping the lifting device (and therefore the container handling vehicle) as compact as possible. In other words, the horizontal extent of the lifting device does not significantly exceed the horizontal perimeter of the lifting frame, as would be the case if the second pair of lifting bands 16b extended vertically from the lifting shaft 22 on the side of the lifting shaft facing the band guide assembly 31.

[0070] To provide secure winding of the lifting bands onto the lifting shaft 22, a dual band reel 48 is disposed on each of the end sections 27a, 27b, see Figures 12 and 13. The dual band reel 48 comprises a first reel portion 48a and a second reel portion 48b. Each reel portion features a reel band connector 75a, 75b for connecting two separate lifting bands, in this case lifting bands from each of the pair of first and second lifting bands 16a, 16b. In the lifting device 18' (and in the lifting device 18" described below), the two pairs of lifting bands 16a, 16b extend from the lifting shaft assembly 47 in two different directions, i.e., the first pair of lifting bands 16a extends in a substantially horizontal direction and the second pair of lifting bands 16b extends in a vertical direction. To obtain the same travel distance of all the lifting bands when the lifting shaft is rotated, it is important that all the lifting bands always have the same length wound on the double band reel. The thickness of the lifting bands is typically about 0.15 mm, and the travel distance of the lifting bands per rotation of the lifting shaft (or double band reel) depends on the number of layers of lifting band wound on the double band reel. In the disclosed embodiment, this This is achieved by staggering the two reel band connectors 75a, 75b of each dual band reel 48 by approximately 90 degrees, preferably within the range of 75 to 105 degrees. In other words, the two reel band connectors 75a, 75b are disposed on their corresponding reel portions at positions offset / staggered by approximately 90 degrees relative to each other and to the centerline of the lifting shaft. Furthermore, the dual band reel 48 is disposed so that the reel band connectors 75a connecting the first pair of lifting bands have the same radial position (i.e., are not staggered) and the reel band connectors 75b connecting the second pair of lifting bands have the same radial position. The offset / staggering of the reel band connectors 75a, 75b is achieved by adjusting the position of the band guide assembly relative to the lifting shaft assembly. It is noted that this is dependent on body positioning.

[0071] It is noted that in an alternative embodiment in which all four lifting bands extend horizontally from the dual-band reel, the offset can be within a range of -15 to 15 degrees, preferably approximately 0 degrees, or within a range of 165 to 195 degrees, preferably approximately 180 degrees, depending on the band guide assembly. That is, if all four lifting bands extend in the same horizontal direction, the reel band connectors are not staggered, i.e., all reel band connectors have the same radial position. If two of the four lifting bands, i.e., one lifting band from each dual-band reel, extend in the opposite horizontal direction from the other two lifting bands, the reel band connectors are staggered by approximately 180 degrees. Referring to Figures 5-6, this latter embodiment would require an additional set of sheaves 31 located on both sides of the lifting shaft.

[0072] The required accuracy of the stagger / offset depends on the thickness of the lifting bands and the maximum lifting length of the lifting device (i.e. the maximum distance between the lifting frame and the lifting band drive assembly).

[0073] As discussed above, to obtain the correct length of all lifting bands 16 relative to the lifting frame, i.e., to ensure that the lifting frame 17 remains level during operation, the lengths of the lifting bands must be adjusted initially as well as at various inspection intervals, as they tend to lengthen slightly during use. In prior art lifting devices, the lifting bands are typically connected to and wound on separate reels located on the upper tiers within the container handling vehicle 9. To adjust a lifting band, the corresponding reel is disconnected from the rotating shaft, and the free rotation of the reel relative to the rotating shaft allows the lifting band to be adjusted. Thereafter, once the lifting band has the desired length, the reel is secured to the rotating shaft. To gain access to the separate reels, an inspector is typically required to remove at least some of the bodywork covering the carbody 13 or to enter the cramped interior of the cavity 21. Variations of the described prior art solution may also be accommodated in the exemplary embodiment, for example by replacing each dual band reel with two separate band reels that can be individually released to allow free rotation relative to the lifting shaft 22 when the band needs to be adjusted. However, a more efficient and novel solution as described below is preferred.

[0074] In the exemplary embodiment, adjustment of the lifting bands is obtained by using a lifting frame 17 featuring adjustable lifting band connectors 32 (or band connection elements), see Figures 7-9. The lifting frame comprises four corner portions 36, a top side 37, and a bottom side 38. Four gripping elements 24 for interaction with storage containers are located on the bottom side 38 of the lifting frame 17. A vertical guide pin 30 and a vertically adjustable lifting band connector 32 are located at each corner portion 36.

[0075] As shown in FIGS. 9a-9c, each lifting band connector 32 includes a bracket 39 and a band connector hub 40. The bracket 39 is rigidly connected to the top side of the lifting frame 17. The band connector hub 40 includes a lifting band clamp 41 (i.e., a band fastening assembly) and is adjustably connected to the bracket 39 so that the band connector hub 40 can be adjusted vertically relative to the bracket 39. The band connector hub 40 is connected to the bracket 39 via an adjustment bolt 42 (i.e., an adjustment element) that is positioned so that rotation (i.e., actuation) of the adjustment bolt 42 moves the band connector hub 40 vertically relative to the bracket 39. The bracket features a vertical recess / notch 43, and the band connector hub 40 includes an extension 44 that is positioned within the vertical recess. The recess includes two vertically opposed smooth bores 45, and the extension features a threaded bore 46 aligned with the smooth bores 45. Adjustment bolt 42 to a smooth bolt By locating the adjustment bolt 42 in the bracket and threaded bore, rotation of the adjustment bolt 42 moves the band connector hub 40 vertically relative to the bracket. The distance between the lifting frame 17 and the carbody 13 can therefore be adjusted so that the lifting frame is level. The adjustable feature of the lifting bands on the lifting frame is highly advantageous, since no internal access to the body of the container handling vehicle is required. Furthermore, the lifting shaft assembly is simplified in that the double band reel 48, on which the lifting bands are wound, does not have to be releasably connected to the lifting shaft 22. The latter also entails that the lifting assembly, and any other systems present on higher levels in the container handling vehicle, can be configured in such a way that access to the required reels does not have to be taken into account. It is noted that the solution of having adjustable lifting band connectors on the lifting frame would also be highly advantageous in prior art container handling vehicles.

[0076] Metal lifting bands can tear when subjected to high, unstable loads. To minimize the risk of unstable loads and tearing, the lifting band connector includes a pivot point P that allows some movement of the lifting band connector in the vertical plane of the connected lifting band; i.e., the pivot point has a central axis perpendicular to the vertical plane of the lifting band. In lifting band connector 32, pivot point P is achieved by a pivot connection 67 between lifting band clamp 41 and the remainder of band connector hub 40.

[0077] By use of this lifting frame 17, and the lifting frame 17' shown in Figures 20-23, the lifting bands can be adjusted in an easy and time-efficient manner. If an adjustment is required (i.e., the lifting frame is slightly tilted relative to the horizontal; a situation that could cause the lifting frame to become stuck inside the storage column 12, see Figure 1), the following steps can be taken: - placing the container handling vehicles in suitable locations, for example empty grid columns at the periphery of the storage grid 4; - lowering the lifting frame out of the cavity of the container handling vehicle to allow inspection personnel access to the lifting frame; and - Adjusting the lifting bands by moving the band connection hub of each lifting band connection 32 so that the lifting frame is positioned in a horizontal plane. In the particular lifting band connection disclosed in Figures 7-9, this step involves rotating the respective adjustment bolt (i.e., adjustment element).

[0078] Optionally, when the lifting frame is lowered out of the cavity, it is lowered onto a base structure on which the frame is supported in the desired horizontal position. When the lifting frame is maintained horizontal, lifting bands that have been stretched / tensioned during use are no longer under tension, i.e., they have some slack relative to the other lifting bands. Adjustment of the lifting bands is then easily accomplished by simply tensioning the slack lifting bands through the use of the respective adjustable band connectors 32.

[0079] In the exemplary embodiment, and in some prior art container handling vehicles, the lifting bands are made of metal (typically alloy steel) and are used to conduct signals and power to the exit switch module 29 and control module 69 located on the lifting frame 17. The exit switch module 29 includes a spring-loaded pin 68 (see FIG. 21) for detecting when the lifting frame is in contact with the storage container 6 and when the lifting frame is raised to its top height within the cavity. To avoid shorting signals / power passing through the lifting bands, at least a portion of the bracket 39 is oriented such that the lifting bands (i.e., the lifting bands from each of the dual band reels 48) make electrical contact with the lifting frame 17 (via electrical wires 71) only at the control module 69. In addition, the lifting band clamps 41 are made of a non-conductive material, such as a suitable plastic or composite material. Thus, at least a portion of the lifting band clamps 41 are made of a conductive material, such as any suitable metal. In an alternative embodiment, the lifting bands may be used solely for power transmission, for example, and signals to the end switch module 29 and control module 69 may be transmitted wirelessly or via separate cables.

[0080] Each kill switch module 29 is electrically connected (wires 72) via the control module to two lifting band clamps 41 (or band connector hubs) having different electrical potentials so that signals / power can be received from or sent to a main control unit (not shown, but similar to main control unit 58 in FIG. 16) in the container handling vehicle.

[0081] The control module 69 is also connected to and controls a gripping motor 70 that drives the gripping elements 24 .

[0082] To transmit signals / power from the main control unit, each dual band reel 48 features a current collector ring 49 for electrical signal transmission between the main control unit and the lifting band via conductive brushes 50 in contact with the current collector ring 49 (see FIG. 13). The dual band reels are made of a conductive material such as a suitable metal. Although shown as a single reel, each dual band reel may include two separate reels, one for each lifting band, so long as the two separate reels are in electrical contact with each other and with the current collector ring.

[0083] For illustrative purposes, the lifting device 18' (i.e., the lifting shaft assembly 47, the lifting frame 17, and the two pairs of lifting bands) is shown in an exploded view in FIG. 10 and in a perspective view separated from the carbody 13 in FIG. 11.

[0084] In the lifting shaft assembly 47, the two electric motors 23a, 23b are brushless DC (BLCD) electric motors each including a stator 33, a stator connecting element 55, and a rotor element 34, see Figures 12 and 13. To transmit rotational motion from the rotor elements 34a, 34b of the electric motors to the lifting shaft 22 (i.e., the shaft comprised of the first end section 27a, the second end section 27b, and the intermediate shaft element 35), the rotor elements 34a, 34b are interconnected via the intermediate shaft element 35, and each rotor element is connected to a respective end section 27a, 27b. The rotor elements, end sections, and intermediate shaft element have a common centerline C. In order to allow winding of all lifting bands (i.e., both pairs of lifting bands 16a, 16b) onto a single lifting shaft 22 while at the same time allowing the lifting bands to be used as conductors for signals / power as described above, the double band reel 48 (or end sections 27a, 27b) must be electrically insulated from each other. In this way, a lifting band connected to the double band reel 48 at the first end section 27a may have a different electrical potential relative to a lifting band connected to the double band reel 48 at the second end section 27b. In the lifting shaft assembly 47, this is achieved by having the intermediate shaft element 35 made of an electrically insulating material, such as a suitable plastic / synthetic material (i.e., by providing an electrically insulating element).

[0085] The lifting shaft assembly 47 includes ball bearing elements 52 on each of the end sections 27a, 27b for rotatable connection of the end sections to the body 13 of the container handling vehicle. The stator connection element 55 of each stator 33a, 33b includes a motor bracket 28 for rigid connection to the body 13 of the container handling vehicle and a ball bearing 60 for rotational connection to the lifting shaft. In this way, the lifting shaft 22 can rotate relative to the body 13 while the stator remains stationary. To avoid short circuits through the body 13, To avoid shorting through the motor bracket 28, ball bearing elements 52 have plastic housings that insulate their respective end sections from the car body 13. Similarly, stator connecting element 55 is insulated from end sections 27a, 26b by plastic housing 74 of ball bearing element 73.

[0086] An alternative embodiment of the lifting shaft assembly 47' is shown in Figures 14-18.

[0087] A distinguishing feature of the alternative lifting shaft assembly 47' from the above-described lifting shaft assembly 47 is the structure of the lifting shaft 22' as a single element; i.e., the lifting shaft 22' may be referred to as a one-piece lifting shaft. In the lifting shaft assembly 47, the intermediate shaft element 35 interconnecting the first end section 27a and the second end section 27b is made of an electrically insulating material, thereby electrically insulating the two end sections, and therefore the two double band reels 48. The alternative lifting assembly 47' features sleeve-shaped elements 54 made of an electrically insulating material (i.e., electrically insulating elements) disposed between each of the first end section 27a and the second end section 27b and the corresponding double band reel 48 to achieve the same electrically insulating feature of the double band reels 48 (alternatively, each double band reel 48 may be defined as including an inner section / element 54 made of an electrically insulating material). An advantageous effect of insulating each double band reel from its respective end section is that the lifting shaft assembly 47' does not need to be electrically insulated from the carbody 13 at its contact points, e.g., ball bearings 52 with plastic housings, see above.

[0088] The motor 23 of the lifting shaft assembly 47' features two stators 33a, 33b, two rotor elements 34a, 34b, and a stator connection element 55 that is common to both stators 33a, 33b. The stator connection element 55 includes a motor bracket 28 for rigid connection to the body 13 of the container handling vehicle and a ball bearing 60 for rotational connection to the lifting shaft 22'. A lift brake wheel 57 is disposed at one end of the lifting shaft assembly 47'. A cooperating brake actuator arm 59 is typically connected to the carbody 13 for actuating the brake wheel. Although not shown, the lifting shaft assembly 47' is rotatably connected to the carbody by ball bearings similar to those described above.

[0089] A lifting device 18" based on an alternative lifting shaft assembly 47' is shown in Figures 19 and 20. In this particular embodiment, the lifting device 18" is arranged within a frame 56. The frame 56 forms the upper part of the body 18 of the assembled container handling vehicle 9', see Figure 23.

[0090] The lifting frame 17' of the lifting device 18" has most of its features in common with the lifting frame disclosed in Figures 7-9, but includes an alternative type of adjustable lifting band connector 32', see Figures 21 and 22. Each of the adjustable lifting band connectors 32' includes a bracket 39' and band connector hubs 63, 64, see Figures 21 and 22. By having the bracket 39' pivotally disposed on the upper side of the lifting frame 17' via a pivot connection 66 to the connection block 62 (or intermediate bracket element), a pivot point P is provided. The purpose of the pivot point P is to allow the lifting frame 17' to be mounted in a position similar to that shown in Figures 7-9. 9. The band connector hub includes a lifting band reel 63 and a tightening bolt 64 (i.e., an adjustment element). The lifting band reel features a connection interface 65 (i.e., a band fastening assembly) for the lifting band and is rotatably connected to the bracket 39'. The rotational connection of the lifting band reel is controlled by the tightening bolt 64. When the tightening bolt 64 is tightened, the lifting band reel 63 cannot rotate, and when the tightening bolt is loosened, the lifting band reel can rotate. By rotating it, the lifting band connected thereto can be wound / loosed so that the distance between the lifting frame and the carbody can be adjusted. An advantage of the lifting band connector 32' is that the vertical adjustment range is increased. To avoid short circuits, at least a part of the lifting band connector, such as the bracket 39' or the connection block 62, is made of a non-conductive material, such as a suitable plastic or synthetic material.

[0091] A container handling vehicle featuring a frame 56 and lifting device 18' is shown in FIG.

[0092] It should be noted that in other embodiments, the lifting shaft assembly 47, 47′ may include only one motor or three or more motors. This depends on the torque requirements of the lifting shaft 22, 22′ and the torque and size of the current BLDC motor. For example, if the motor 23a connected to the first end section 27a of the lifting shaft assembly 47 is capable of supplying sufficient torque by itself, the other motor 23b may be replaced by an element that simply connects the second end section 27b to the intermediate shaft element 35. Based on the teachings of this disclosure, various alternative solutions will be apparent to those skilled in the art. A common feature of all the disclosed lifting shaft assemblies 47, 47′ is that at least one motor 23a, 23b is disposed between the first and second end sections of the lifting shaft 22, 22′ to ensure a compact lifting shaft assembly.

[0093] Various types of brushless DC motors are known, including permanent magnet synchronous motors (which use permanent magnets) and switched reluctance motors (which do not use any permanent magnets).

[0094] The operating principles of a permanent magnet synchronous brushless DC motor are well known to those skilled in the art, as explained, for example, at https: / / en.wikipedia.org / wiki / Brushless_DC_electric_motor, and typically use one or more permanent magnets in the rotor and an electromagnet on a rotor housing for the stator. A motor controller converts the DC to AC. This design is mechanically simpler than a brushed motor design, as it eliminates the complexity of transferring power from outside the motor to the rotating rotor.

[0095] A further exemplary container handling vehicle 9" according to the present invention is shown in Figures 24-26. The vehicle features a lifting device similar to the lifting devices 18', 18" disclosed above (i.e., a lifting shaft assembly 47", two pairs of lifting bands 16a, 16b, a lifting frame 17', and a band guide assembly). The main differentiating feature of this embodiment is that the lifting shaft assembly 47" does not include a motor located between the two double band reels 48 on the lifting shaft 22'. Instead, a motor 76 is connected to the end of the end section 27b, see Figure 24 (section AA). The band guide assembly is not shown, but includes two sheaves 31 located on a common shaft 53 as shown in Figure 19. Space for the motor 76 is provided by having a body design that includes side sections in addition to the main section where the lifting frames are located. The main section has a footprint similar to that of the container handling vehicle 9' in Figure 5. An advantage of this solution is that it allows for a larger and more powerful motor if necessary. Furthermore, the motor 76 can be any suitable type of electric motor. Electrical isolation of the two dual band reels 48 is obtained as disclosed for the embodiment in Figure 15. The lifting bands are connected to adjustable lifting band connectors 32' on the lifting frame 17 similar to the connectors disclosed in Figures 21 and 22.

[0096] A further exemplary container handling vehicle 9''' according to the present invention is shown in Figures 27-28. The vehicle features a lifting device similar to the lifting devices 18', 18" disclosed above (i.e., a lifting shaft assembly 47'", two pairs of lifting bands 16a, 16b, a lifting frame (not shown), and a band guide assembly). The main differentiating feature of this embodiment from the container handling vehicle in Figures 24-26 is that the motor 76' of the lifting shaft assembly 47'" is located between the two dual band reels 48 on the lifting shaft 22'. The motor is positioned substantially horizontally above the cavity to allow room for storage containers within the cavity.

[0097] The lifting shaft assemblies 47-47''' and lifting frames 17, 17' have been disclosed in connection with particular lifting band drive assemblies 47-47''', 31 and container handling vehicles 9', 9" of a type having a cavity cleared to receive a single storage container. However, both the lifting shaft assemblies 47-47''' and lifting frames 17, 17' may be used to advantage independently or in any combination with any type of lifting band drive assembly or container handling vehicle.

[0098] The lifting shaft assemblies 47, 47', 47" and lifting frames 17, 17' have been disclosed in connection with particular lifting band drive assemblies 47, 47', 47", 31 and container handling vehicles 9', 9" of a type having a cavity cleared to receive a single storage container. However, both the lifting shaft assemblies 47, 47', 47" and lifting frames 17, 17' may be used to advantage independently or in any combination with any type of lifting band drive assembly or container handling vehicle.

Claims

1. A container handling vehicle (9') for picking up a storage container (6) from a three-dimensional grid (4) of a lower storage system (1), comprising a vehicle body (13) and at least one lifting device (18') for lifting said storage container (6) from said three-dimensional grid (4), the lifting device (18') comprises a lifting band drive assembly (47, 47', 31) connected to the car body (13), a horizontal lifting frame (17) for releasable connection to a storage container (6), and four lifting bands (16a, 16b) connecting the lifting band drive assembly (47, 47', 31) to the lifting frame (17); the lifting band drive assembly (47, 47', 31) comprises a lifting shaft assembly (47, 47') having a lifting shaft (22, 22') and at least one motor (23) for rotating the lifting shaft (22, 22'); - said lifting shaft (22) comprises a first end section (27a) and a second end section (27b); two of the lifting bands (16a, 16b) are connected to each of the first and second end sections of the lifting shaft; The container handling vehicle (9'), wherein the lifting shaft assembly comprises at least one electrical insulating element (35, 54) arranged such that the lifting band connected to the first end section is electrically insulated from the lifting band connected to the second end section.

2. 2. The container handling vehicle of claim 1, wherein a double band reel (48) is disposed on each of the first end section (27a) and the second end section (27b), each double band reel (48) being connected to two separate lifting bands.

3. 3. The container handling vehicle of claim 2, wherein each of the dual band reels (48) provides electrical contacts between at least one of the lifting bands connected to the dual band reel and a control unit (58) located within the container handling vehicle, such that electrical signals and / or power can be transmitted from the control unit (58) to the at least one lifting band via the dual band reel (48).

4. 4. A container handling vehicle according to claim 2 or 3, wherein each double band reel (48) is provided with a current collector ring (49) for the transmission of electrical signals and / or power between a control system (58) and the lifting band via conductive brushes (50) contacting the current collector ring (49).

5. 5. A container handling vehicle according to any one of claims 2 to 4, wherein the double band reels (48) are electrically insulated from each other by the electrical insulating elements (35, 54).

6. 6. A container handling vehicle according to claim 2, wherein the electrical insulating element (35, 54) is arranged between at least one of the end sections (27a, 27b) and the corresponding double band reel (48), or between the end sections (27a, 27b).

7. 7. A container handling vehicle as claimed in any one of claims 1 to 6, comprising two electrical insulating elements (54), and each of the double band reels (48) is electrically insulated from the end section (27a, 27b) by one of the electrical insulating elements (54) at the end section (27a, 27b) in which the double band reel (48) is arranged.

8. The electrical insulating elements (54) are connected to the respective double band reels (48).

8. A container handling vehicle according to claim 7, wherein an electrical insulating layer is provided between the end sections (27a, 27b).

9. 9. A container handling vehicle according to any one of claims 1 to 8, wherein the at least one motor (23) is a brushless DC motor having a stator element (33) and a rotor element (34), the rotor element being connected to or forming part of the lifting shaft (22, 22') such that the lifting shaft and the rotor element have a common centre line (C).

10. 10. A container handling vehicle according to claim 9, wherein the stator element (33) is rigidly connected to the car body (13) via a motor bracket (28), and the lifting shaft (22, 22') is rotatably connected to the car body (13) by ball bearing elements (52) arranged on the first and second end sections (27a, 27b).

11. Container handling vehicle according to claim 9 or 10, wherein the at least one brushless DC motor (23) is arranged between the first end section (27a) and the second end section (27b).

12. 12. A container handling vehicle as claimed in any one of claims 9 to 11, comprising first and second brushless DC motors (23a, 23b), each said rotor element (34a, 34b) being connected to or forming part of said lifting shaft (22, 22') such that said lifting shaft and said rotor element have a common centre line (C).

13. 13. A container handling vehicle according to any one of claims 1 to 12, wherein the lifting frame (17, 17') comprises four corner portions (36), gripping elements (24) for releasable connection to a storage container (6), lifting band connectors (32, 32') arranged at each of the corner portions, and a control module (69) for controlling the gripping elements (24), the control module (69) being in electrical contact with one of the lifting bands connected to the first end section and one of the lifting bands connected to the second end section.

14. An automated storage and retrieval system (1) comprising a three-dimensional grid (4) and at least one container handling vehicle (9') according to any one of claims 1 to 13, the grid (4) comprises a plurality of storage columns (5) in which storage containers (6) can be stored one above the other in vertical stacks (7); The container handling vehicle (9') operates on rails (10, 11) located at the highest height of the grid (4) to retrieve storage containers (6) from the storage columns (5), store the storage containers (6) in the storage columns (5), and transport the storage containers (6) horizontally across the grid (4).

15. A method for operating a gripping element on a lifting frame (17, 17') of a container handling vehicle, said lifting frame being connected to first and second end sections of a single lifting shaft (22, 22') via at least two lifting bands (16a, 16b), said first and second end sections being electrically insulated from each other, said method comprising: - transmitting power and / or signals through said two lifting bands to drive and / or control said gripping elements; A method comprising:

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