Container handling vehicle

Abstract

To provide a container handling vehicle or a robot for loading storage containers from a storage system, and a storage system including such vehicles.SOLUTION: The present invention provides a container handling vehicle (10) for lifting a storage container (106) from an underlying framework (100). The vehicle includes a vehicle body (8) and a container lifting assembly (3, 5) for lifting the storage container. The vehicle body (8) includes a wheeled base part (9), a support part (11), and at least one cantilevered section (6). The support part (11) holds the cantilevered section (6) above the wheeled base part (9) at a height corresponding to the height of multiple storage containers such that when the lifting frame (3) is in an upper position, a vertical distance (H3) between the lifting frame (3) and a lower end part (17) of the support part (11) is greater than the height of two storage containers stacked on top of each other.SELECTED DRAWING: None

Description

[Technical Field]

[0001] The present invention relates to a container handling vehicle or robot for loading storage containers from a storage system, and to a storage system comprising such a vehicle. [Background technology]

[0002] FIG. 1 discloses a typical prior art automated warehouse system 1 with a framework structure 100, and FIGS. 2-4 disclose two different prior art container handling vehicles 201, 301 suitable for operating on such a system 1.

[0003] The skeleton structure 100 comprises upright members 102, horizontal members 103, and a storage volume comprising storage columns 105 arranged in rows between the upright members 102 and the horizontal members 103. In these storage columns 105, storage containers 106, also known as receptacles, are stacked on top of each other to form stacks 107. The members 102, 103 may typically consist of metal, for example extruded aluminum profiles.

[0004] The skeleton structure 100 of the automated warehouse system 1 includes a rail system 108 arranged in a grid pattern across the top of the skeleton structure 100, on which a plurality of container handling vehicles 201, 301 operate to lift storage containers 106 from storage columns 105, lower storage containers 106 into storage columns 105, and transport storage containers 106 up the storage columns 105. The horizontal extent of one of the grid cells 122 that make up the grid pattern is marked by a bold line.

[0005] The rail system 108 (i.e., rail grid) comprises a first set 110 of parallel rails arranged to guide movement of the container handling vehicles 201, 301 in a first direction X across the top of the frame structure 100, and a second set 111 of parallel rails arranged perpendicular to the first set of rails 110 for guiding movement of the container handling vehicles 201, 301 in a second direction Y that is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles through access openings 112 in the rail system 108. The container handling vehicles 201, 301 can move laterally above the storage columns 105, i.e., in a plane that is parallel to the horizontal XY plane. Typically, at least one of the sets of rails 110, 111 consists of dual-track rails that allow two container handling vehicles to pass each other over adjacent grid cells 122. Dual track rails are well known and are disclosed, for example, in WO2015 / 193278A1 and WO2015 / 140216A1, the contents of which are incorporated herein by reference.

[0006] The uprights 102 of the skeletal structure 100 may be used to guide the storage containers during lifting and lowering of the containers out of and into the columns 105. The stacks 107 of containers 106 are typically freestanding.

[0007] Each prior art container handling vehicle 201, 301 includes a body 201a, 301a and first and second sets of wheels 201b, 301b, 201c, 301c, which allow lateral movement of the container handling vehicle 201, 301 in the X and Y directions, respectively. In Figures 2 and 3, two wheels in each set are fully visible. The first set of wheels 201b, 301b are arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c are arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 301b, 201c, 301c can be raised and lowered so that the first set of wheels 201b, 301b and / or the second set of wheels 201c, 301c can be engaged with a respective set of rails 110, 111 at any one time.

[0008] Each prior art container handling vehicle 201, 301 also includes a container lifting assembly 2 (shown in FIG. 4 ) for vertical transportation of the storage containers 106, e.g., lifting the storage containers 106 from the storage columns 105 and lowering the storage containers 106 therein. The container lifting assembly 2 includes a lifting frame 3 having one or more gripping / engaging devices 4 adapted to engage with the storage containers 106 and guide pins 304 for correct positioning of the lifting frame 3 relative to the storage containers 106. The lifting frame 3 can be lowered from the vehicle 201, 301 by lifting bands 5 so that the position of the lifting frame relative to the vehicle 201, 301 can be adjusted in a third direction Z, orthogonal to the first direction X and the second direction Y.

[0009] The lifting frame 3 (not shown) of the container handling vehicle 201 in FIG. 2 is located in the cavity of the vehicle body 201a.

[0010] Conventionally, and for purposes of this application, Z=1 identifies the top layer of a storage container, i.e., the layer immediately below rail system 108; Z=2 identifies the second layer below rail system 108; Z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the lowest bottom layer of a storage container. Similarly, X=1...n and Y=1...n identify the position of each storage column 105 in the horizontal plane. Consequently, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, the storage container identified as 106' in FIG. 1 may be said to occupy storage location X=10, Y=2, Z=3. Container handling vehicles 201, 301 may be said to travel in layer Z=0, and each storage column 105 may be identified by its X and Y coordinates.

[0011] The storage volume of the skeleton structure 100 is often referred to as a grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column may be identified by a position in the X and Y directions, while each storage cell may be identified by a container number in the X, Y, and Z directions.

[0012] Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and containing the storage container 106 as it is transported across the rail system 108. The storage space may include a cavity centrally arranged within the vehicle body 201a, as shown in FIG. 2 and as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference.

[0013] 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in No. 317366, the contents of which are also incorporated herein by reference.

[0014] 2 may have a footprint covering an area with dimensions in the X and Y directions generally equal to the lateral extent of the storage column 105, as described, for example, in WO 2015 / 193278 A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0015] Alternatively, the central hollow container handling vehicle 201 may have a footprint that is greater than the lateral area defined by the storage column 105, for example as disclosed in WO2014 / 090684A1.

[0016] Rail system 108 typically includes rails with grooves along which vehicle wheels run. Alternatively, the rails may include upwardly protruding elements, and the vehicle wheels may include flanges to prevent derailment. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may include one track, or each rail may include two parallel tracks.

[0017] WO2018146304 (the contents of which are incorporated herein by reference) illustrates a typical configuration of a rail system 108, comprising rails and parallel tracks in both the X and Y directions.

[0018] In the skeleton structure 100, the majority of the columns 105 are storage columns 105, i.e., columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In FIG. 1 , columns 119 and 120 are such special-purpose columns used by container handling vehicles 201, 301 to unload and / or load storage containers 106 so that they can be accessed from outside the skeleton structure 100 or transported to an access station (not shown) where they can be transferred out of or into the skeleton structure 100. Within the art, such locations are typically referred to as "ports," and the columns in which the ports are located may be referred to as "port columns" 119, 120. Transport to the access station may be in any direction, horizontal, diagonal, and / or vertical. For example, storage containers 106 may be installed in random or dedicated columns 105 within the framework structure 100, then loaded by any container handling vehicle and transported to port columns 119, 120 for further transport to an access station. Note that the term "diagonal" refers to the transportation of storage containers 106 having a general transport orientation somewhere between horizontal and vertical.

[0019] In FIG. 1, the first port column 119 may be, for example, a dedicated loading port column where container handling vehicles 201, 301 may unload storage containers 106 to be transported to an access or transfer station, and the second port column 120 may be a dedicated loading port column where container handling vehicles 201, 301 may load storage containers 106 being transported from an access or transfer station.

[0020] An access station may typically be a picking station or stockpiling station where product items are removed from or placed into storage containers 106. At a picking or stockpiling station, the storage containers 106 are typically not removed from the automated storage system 1, but once accessed, are placed back into the backbone structure 100. Ports can also be used to transfer storage containers to another storage facility (e.g., to another backbone structure or to another automated storage system), to a transport vehicle (e.g., a train or lorry), or to a production facility.

[0021] A conveyor system comprising conveyors is typically employed to transport storage containers between the port columns 119, 120 and the access stations.

[0022] If the port columns 119, 120 and the access stations are located at different levels, the conveyor system may include a lifting device with a vertical component for transporting the storage containers 106 vertically between the port columns 119, 120 and the access stations.

[0023] The conveyor system may be arranged to transfer storage containers 106 between different skeletal structures, for example as described in WO2014 / 075937A1 (the contents of which are incorporated herein by reference).

[0024] 1 is to be accessed, one of the container handling vehicles 201, 301 is commanded to retrieve the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicle 201, 301 to a location above the storage column 105 in which the target storage container 106 is located, and using a lifting device (not shown) of the container handling vehicle 201, 301 to retrieve the storage container 106 from the storage column 105 and transport the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, this operation also involves temporarily moving the above-positioned storage container prior to raising the target storage container 106 from the storage column 105. This step, sometimes referred to within the art as "digging," may be performed using the same container handling vehicle used to subsequently transport the target storage container to the unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively, or in addition, the automated warehouse system 1 may have container handling vehicles specialized for the task of temporarily removing storage containers from storage columns 105. Once the target storage container 106 is removed from storage column 105, the temporarily removed storage container can be repositioned in the original storage column 105. However, the removed storage container may alternatively be relocated to another storage column.

[0025] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201, 301 is commanded to load the storage container 106 from the load port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage container located at or above the target location in the storage column stack 107 is removed, the container handling vehicle 201, 301 positions the storage container 106 in the desired location. The removed storage container may then be lowered back into the storage column 105 or relocated to another storage column.

[0026] To monitor and control the automated warehouse system 1, for example, to monitor and control the locations of the individual storage containers 106 within the skeletal structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301 so that the desired storage containers 106 can be delivered to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other, the automated warehouse system 1 typically includes a control system 500 that is computerized and typically includes a database for tracking the storage containers 106.

[0027] In addition to the prior art container handling vehicles 201, 301 described above, other container handling vehicles are known which are designed to perform excavation operations more efficiently.

[0028] Prior art vehicles for improved excavation operations are disclosed in WO2019 / 101366A1 and WO2019 / 101725A1.

[0029] It is an object of the present invention to provide a container handling vehicle that has improved efficiency in performing excavation operations in a storage system such as that described above. [Prior art documents] [Patent documents]

[0030] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2015 / 140216 [Patent Document 3] International Publication No. 2018 / 146304 [Patent Document 4] International Publication No. 2014 / 075937 [Patent Document 5] International Publication No. 2019 / 101366 [Patent Document 6] International Publication No. 2019 / 101725 Summary of the Invention [Means for solving the problem]

[0031] The invention is defined by the appended claims and below.

[0032] In a first aspect, the present invention provides a container handling vehicle for elevating a storage container from an underlying framework, the vehicle comprising: a vehicle body; and a container lifting assembly for elevating the storage container; the vehicle body includes a wheeled base, a support, and at least one cantilever section; the wheeled base comprises a first set of wheels arranged on either side of the car body for moving the vehicle along a first direction on a rail grid at a top level of the underlying framework structure, and a second set of wheels arranged on the other side of the car body for moving the vehicle along a second direction on the rail grid, the second direction being perpendicular to the first direction; the support has a lower end connected to the wheeled base and an upper portion connected to the cantilevered section; the container lifting assembly includes a lifting frame and a plurality of lifting bands, the lifting frame for releasable connection to the storage container and suspended from the cantilevered section by the lifting bands, whereby the lifting frame can be raised or lowered relative to the cantilevered section; the cantilevered section extends laterally from the upper portion of the support and is arranged to rotate horizontally about a vertical axis relative to the wheeled base between a first position and a second position, wherein in the first position the cantilevered section extends beyond the wheeled base whereby the lifting frame can retrieve storage containers from or deliver storage containers to the storage columns of the skeletal structure, and in the second position the cantilevered section extends in an opposite direction relative to its direction in the first position; the support holds the cantilevered section above the wheeled base at a height corresponding to the height of the storage containers such that when the lifting frame is in an upper position, the vertical distance between the lifting frame and a lower end of the support is greater than the height of two storage containers stacked on top of each other; Provide container handling vehicles.

[0033] In other words, when the lifting frame is in the upper position, the vertical distance between the lifting frame and the level of the lower end of the support may be greater than the height of two storage containers stacked on top of each other.

[0034] In the second position, the cantilevered section may extend beyond the wheeled base or above the container carrying section of the wheeled base.

[0035] In one embodiment, the vertical distance between the lifting frame and the lower level of the first set of wheels when the lifting frame is in the upper position may be greater than the height of two storage containers stacked on top of each other.

[0036] In some embodiments, the vertical distance between the lifting frame and the top surface or upper side of the wheel base unit when the lifting frame is in the upper position may be greater than the height of two storage containers stacked on top of each other.

[0037] In some embodiments, the vertical distance may be greater than the height of three storage containers stacked on top of each other.

[0038] In one embodiment of the vehicle, the vertical distance may be at least 660 mm so that the lifting frame can be positioned above a stack of at least two storage containers when each storage container has a height of 330 mm and the bottom of the stack is supported at a level corresponding to the level of the lower end of the support.

[0039] In one embodiment of the vehicle, the lifting frame may be positionable above a stack of at least two storage containers when the bottom of the stack is supported at a level corresponding to the level of the lower end of the support, and the cantilevered section is in the second position.

[0040] In some embodiments of the vehicle, the vertical distance between the lifting frame and the lower end of the support when the lifting frame is in the upper position may be greater than the height of three storage containers stacked on top of each other.

[0041] In certain embodiments of the vehicle, the height of the support may be at least twice, preferably at least three times, the height of the wheeled base.

[0042] In some embodiments of the vehicle, the horizontal periphery of the support can be arranged to be within the horizontal periphery of the wheeled base during rotation of the cantilevered section. This feature prevents the support from extending above any grid cell adjacent to the grid cell occupied by the wheeled base when the vehicle is arranged on the rail grid. In other words, the support or the periphery of the support can be arranged not to extend further than the second and first sets of wheels in the first or second direction, respectively, during rotation of the cantilevered section.

[0043] The horizontal perimeter of the support may have a maximum length equal to or less than the width of the wheeled base.

[0044] In some embodiments of the vehicle, the first set of wheels are vertically displaceable between a first position, in which the first set of wheels enable movement of the vehicle along a first direction, and a second position, in which the second set of wheels enable movement of the vehicle along a second direction.

[0045] In some embodiments of the vehicle, the first set of wheels may include a first pair of wheels and a second pair of wheels arranged on opposite sides of the vehicle body, and the second set of wheels may include a third pair of wheels and a fourth pair of wheels arranged on opposite other sides of the vehicle body. In other words, the wheeled base may feature four sides, each side featuring at least two wheels. The four sides of the wheeled base may form a horizontal perimeter of a generally square or rectangular shape.

[0046] In some embodiments of the vehicle, the horizontal periphery of the support can be arranged to lie within the horizontal periphery of the wheeled base during rotation of the cantilevered section, and the horizontal periphery of the wheeled base can be defined by four vertical planes, each plane including the outer vertical surface of a wheel in one of the first, second, third, or fourth pairs of wheels. The horizontal periphery of the wheeled base can also be defined by four horizontal straight lines that intersect the outer vertical surfaces of the wheels in the first and second sets of wheels.

[0047] In one embodiment of the vehicle, the lower end of the support is rotatably connected to the wheeled base by a rotating ring, which may have an outer diameter slightly smaller than or corresponding to the width of the wheeled base.

[0048] In certain embodiments of the vehicle, the support is a column, i.e. a support column. The horizontal periphery of the support can be circular, oval or polygonal.

[0049] In some embodiments of the vehicle, the support comprises a sidewall, which may be a peripheral sidewall and may define a horizontal periphery of the support.

[0050] In one embodiment of the vehicle, the container lifting assembly features a lifting frame guide assembly including a first guide device and a cooperating second guide device; The first guide device is provided on the lifting frame, the second guide device is slidably connected to the vehicle body via at least one vertical rail such that the second guide device can move vertically relative to the support; The first guide device and the second guide device may be arranged to interact with each other when the lift frame is adjacent to the at least one vertical rail so that horizontal movement of the lift frame relative to the cantilevered section is limited.

[0051] In one embodiment of the vehicle, the vertical rail extends from a lower level on the support towards the cantilevered section so that the second guide device can move vertically between a lower position adjacent to the support and an upper position where the lifting frame docks with the cantilevered section.

[0052] In one embodiment of the vehicle, the first guide device comprises at least one first guide element and the second guide device comprises at least one second guide element, the first guide element and the second guide element having complementary shapes such that when the first guide element interacts with the second guide element, horizontal movement between the first guide element and the second guide element is limited. In other words, the first guide element and the second guide element have complementary shapes such that when the first guide element interacts with the second guide element, horizontal movement between the first guide element and the second guide element is limited.

[0053] In certain embodiments of the vehicle, the second guide device may be slidably connected to the side wall of the support by at least one vertical rail.

[0054] In certain embodiments of the vehicle, the second guide device may be slidably connected to the side wall such that horizontal movement of the second guide element relative to the side wall is limited or prevented.

[0055] In one embodiment of the vehicle, the vertical rail extends from a lower position on the side wall toward the cantilevered section so that the second guide device can move vertically between a lower position adjacent the side wall and an upper position where the lifting frame contacts and / or docks with the cantilevered section.

[0056] In one embodiment of the vehicle, the section of the second guide device is arranged between the cantilevered section and the lifting frame.

[0057] In one embodiment of the vehicle, one of the first guide device and the second guide device includes at least one guide element that is a pin, protrusion, recess, or hole, and the other of the first guide device and the second guide device includes a complementary guide element for interacting with the at least one pin, protrusion, recess, or hole such that horizontal movement of the first guide device relative to the second guide device is limited.

[0058] In one embodiment of the vehicle, the first guide device comprises two first guide elements spaced apart in the horizontal direction, and the second guide device comprises two second guide elements, each of the first guide elements arranged to interact with a corresponding second guide element.

[0059] In some embodiments of the vehicle, one of the first guide device and the second guide device includes at least one pin or vertical recess, and one of the first guide device and the second guide device includes a cooperating hole or protrusion, respectively, such that horizontal movement of the first guide device relative to the second guide device is limited.

[0060] In some embodiments of the vehicle, one of the first guide device and the second guide device may include a spring arranged to damp interaction between the first guide device and the second guide device in the vertical direction.

[0061] In one embodiment of the vehicle, the wheeled base includes a container transport section having a support surface on which storage containers can be arranged, and the cantilevered section extends above the container transport section in the second position so that the lifting frame can retrieve storage containers from or deliver storage containers to the surface of the container transport section. The container transport section can include a storage container support. The container transport support can be configured to restrict horizontal movement of the storage container in at least three orthogonal horizontal directions. The storage container support can include at least two vertical corner sections, each corner section configured to accommodate a corner of a storage container.

[0062] In one embodiment of the vehicle, the support surface of the container transport section may be arranged at a level that substantially corresponds to the level of the lower end of the support, in other words, at a level that allows the lifting frame to be arranged above a stack of at least two storage containers arranged on the support surface of the container transport section.

[0063] In a second aspect, the present invention provides a vehicle assembly comprising a first container handling vehicle according to any embodiment of the first aspect and a second container handling vehicle, the second container handling vehicle comprising a wheeled base, a container transport device arranged on the wheeled base, and the wheeled base of the second container handling vehicle positionable adjacent to the wheeled base of the first container handling vehicle, whereby the lifting frame of the first container handling vehicle is positionable above the container transport device of the second container handling vehicle.

[0064] In a third aspect, the present invention provides a storage system comprising a skeleton structure according to any of the preceding claims and a first container handling vehicle, the skeleton structure comprising a plurality of storage columns in which storage containers may be stored and stacked on top of each other in vertical stacks, the first container handling vehicle being operated on a rail grid at a top level of the skeleton structure to retrieve storage containers from the storage columns, store the storage containers therein, and transport the storage containers horizontally across the rail grid.

[0065] In one embodiment, the storage system includes a second container handling vehicle operated on the rail grid to transport storage containers horizontally across the rail grid and optionally to retrieve storage containers from the storage columns and store them therein, and the cantilevered section of the first container handling vehicle is arranged at a level that allows the second container handling vehicle to be positioned below the lifting frame of the first container handling vehicle when the lifting frame is in its uppermost position to raise the storage containers.

[0066] The second or second type of container handling vehicle may include a wheeled base and at least a container lifting assembly for retrieving storage containers from the storage columns or a container transport apparatus for accommodating storage containers on the wheeled base. In other words, the second container handling vehicle may include a car body including a first set of wheels arranged on either side of the car body for moving the car along a first direction on a rail grid at a top level of the underlying framework and a second set of wheels arranged on another side of the car body for moving the car along a second direction on the rail grid, the second direction being perpendicular to the first direction, and at least a container lifting assembly for retrieving storage containers from the storage columns or a container transport apparatus for accommodating storage containers on the car body.

[0067] In one embodiment of the storage system, the rail grid forms a plurality of grid cells, each grid cell providing access to the upper end of a storage column, and the second container handling vehicle can be positioned in any grid cell adjacent to the wheeled base of the first container handling vehicle during rotation of the cantilevered section.

[0068] In other words, the second container handling vehicle may be positioned in any grid cell adjacent to the grid cell occupied by the wheeled base of the first container handling vehicle. The wheeled base of the first container handling vehicle may occupy one or two grid cells, i.e., the horizontal periphery of the wheeled base fits within one or two adjacent grid cells.

[0069] In one embodiment of the storage system, the cantilevered section of the first container handling vehicle may be rotatable between a first position and a second position, wherein in the first position the cantilevered section extends beyond the wheeled base so that the lifting frame is aligned directly above the first storage column adjacent the wheeled base, and in the second position the cantilevered section extends in an opposite direction to that in the first position.

[0070] In certain embodiments of the storage system, the second container handling vehicle may be configured to be positioned directly above the first storage column when the cantilevered section of the first container handling vehicle is in the first position, such that the second container handling vehicle may be positionable to retrieve a storage container from the first storage column or to receive a storage container from the first container handling vehicle.

[0071] In certain embodiments of the storage system, when in the second position, the cantilevered section may be arranged directly above either the wheeled base, the container transport section of the wheeled base, or a second storage column adjacent to a container transport device of the second container handling vehicle.

[0072] In some embodiments of the storage system, the second container handling vehicle is configured to be positioned below the lift frame of the first container handling vehicle when the lift frame is connected to the storage container.

[0073] In a fourth aspect, the present invention provides a method of retrieving a target storage container from a storage system according to any embodiment of the third aspect, the method comprising the steps of: a. identifying a first storage column in which the target storage container is stored; b. moving the first container handling vehicle on the rail grid to a position where the wheeled base is adjacent to the first storage column. c. arranging the cantilevered section in a first position, the cantilevered section being arranged directly above the first storage column; d. retrieving a non-target storage container from the stack of storage containers in the first storage column by use of a lifting frame. e. rotating the cantilevered section to a second position, the cantilevered section extending in an opposite direction relative to its direction in the first position; f. placing the non-target storage container in a second storage column adjacent to the wheeled base on the wheeled base's container transport device or on a second container handling vehicle that includes the container transport device. g. rotating the cantilevered section to a first position h. repeating step df and optionally step g until the target storage container is the top storage container in the first storage column. i. retrieving the target storage container from the first storage column by use of a lifting frame; or j. Retrieving the target storage container from the first storage column by use of a second container handling vehicle (301) equipped with a container lifting assembly. In one embodiment of the method, step e is initiated before the lift frame is in the upper position.

[0074] In certain embodiments of the method, step h creates a stack of multiple non-target storage containers stacked on top of each other, where at least an upper non-target storage container may be arranged above an upper level of the rail grid.

[0075] In one embodiment of the method, step h creates a stack of multiple non-target storage containers stacked on top of each other, and the retrieved non-target storage containers are arranged above an upper level of the rail grid and can be transported by a container handling vehicle.

[0076] In one embodiment of the method, the target storage container retrieved in step i is subsequently lowered onto a container transport device of a second container handling vehicle that is arranged below the cantilevered section.

[0077] In a fifth aspect, the present invention provides a method of retrieving a plurality of storage containers from a storage system according to any embodiment of the third aspect, the method comprising the steps of: a. identifying a storage column having a plurality of storage containers stored therein; b. moving the first container handling vehicle on the rail grid to a position where the wheeled base is adjacent to the storage column. c. arranging the cantilevered section in a first position, the lifting frame being arranged directly above the storage column; d. retrieving one of the plurality of storage containers from the storage column by use of a lifting frame. e. rotating the cantilevered section to a second position, the cantilevered section extending in an opposite direction relative to its direction in the first position; f. placing the storage container on the container transport section of the wheeled base or on the container transport device of the second container handling vehicle. g. rotating the cantilevered section to a first position; and h. repeating step df and optionally step g until a plurality of storage containers are collected as a stack of storage containers stacked on top of each other. In one embodiment, the method according to the fifth aspect comprises the following steps: i. moving a first or second container handling vehicle carrying the stack of storage containers to a location where the stack of storage containers is retrieved from the respective container handling vehicle. In a sixth aspect, the present invention provides a method of storing a plurality of storage containers in a storage system according to any embodiment of the third aspect, the method comprising the steps of: a. placing a plurality of storage containers on a container transport section of a wheeled base of a first container handling vehicle or on a container transport device of a second container handling vehicle as a stack of storage containers stacked on top of each other; b. identifying a storage column having a plurality of storage containers stored therein; c. moving the first container handling vehicle on the rail grid to a position where the wheeled base is adjacent to the storage column. d. arranging the cantilevered section in a second position, the lift frame being arranged directly above the container transport section or container transport device; e. retrieving one of the plurality of storage containers from a stack of storage containers on a container transport section or container transport device by use of a lifting frame. f. rotating the cantilevered section to a first position, the cantilevered section extending in an opposite direction relative to the direction in the second position, and the lifting frame mosquito Steps arranged directly above the ram g. storing the storage container in the storage column by lowering the lifting frame into the storage column, releasing the storage container from the lifting frame, and lifting the lifting frame. h. rotating the cantilevered section to a second position; and i. repeating step dg and optionally step h until a plurality of storage containers are stored within the storage column. The term "horizontal movement" is intended to include both lateral and rotational horizontal movement. The present invention provides, for example, the following items. (Item 1) A container handling vehicle (10) for lifting a storage container (106) from an underlying framework (100), comprising: The vehicle comprises a vehicle body (8) and a container lifting assembly (3, 5) for lifting the storage container; The vehicle body (8) comprises a wheeled base (9), a support (11) and at least one cantilever section (6); the wheeled base (9) comprises a first set (21 a) of wheels arranged on both sides of the car body (8) for moving the vehicle (10) along a first direction (X) on a rail grid (108) at the top level of the underlying framework (100), and a second set (21 b) of wheels arranged on the other both sides of the car body (8) for moving the vehicle (10) along a second direction (Y) on the rail grid (108), the second direction (Y) being perpendicular to the first direction (X); the support (11) having a lower end (17) connected to the wheeled base (9) and an upper portion (18) connected to the cantilevered section (6); the container lifting assembly comprises a lifting frame (3) and a plurality of lifting bands (5), the lifting frame (3) being for releasable connection to a storage container (106) and being suspended from the cantilevered section (6) by the lifting bands (5), whereby the lifting frame (3) can be raised or lowered relative to the cantilevered section (6); the cantilevered section (6) extends laterally from the upper portion (18) of the support (11) and is arranged to rotate horizontally about a vertical axis relative to the wheeled base (9) between a first position and a second position, wherein in the first position the cantilevered section (6) extends beyond the wheeled base (9) so that the lifting frame (3) can retrieve storage containers (106) from or deliver storage containers (106) to storage columns of the skeletal structure (100), and in the second position the cantilevered section (6) extends in an opposite direction to that in the first position; the support (11) holds the cantilevered section (6) above the wheeled base (9) at a height corresponding to the height of a plurality of storage containers such that when the lifting frame (3) is in its upper position, a vertical distance (H3) between the lifting frame (3) and a lower end (17) of the support (11) is greater than the height of two storage containers stacked on top of each other; Container handling vehicle (10). (Item 2) 2. The vehicle according to item 1, wherein the vertical distance (H3) is at least 660 mm so that the lifting frame (3) can be positioned above a stack of at least two storage containers (106, 106') when each storage container has a height of 330 mm and the bottom of the stack is supported at a level corresponding to the level of the lower end (17) of the support (11). (Item 3) The vehicle according to any of the preceding items, wherein the lifting frame (3) is positionable above a stack of at least two storage containers (106, 106') when the bottom of the stack is supported at a level corresponding to the level of the lower end (17) of the support (11), and the cantilevered section is in the second position. (Item 4) 2. A vehicle according to any of the preceding items, wherein the horizontal periphery of the support (11) is arranged to be within the horizontal periphery of the wheeled base (9) during rotation of the cantilevered section (6). (Item 5) 2. A vehicle according to any of the preceding items, wherein the lower end (17) of the support is rotatably connected to the wheeled base (9) by a rotating ring (30). (Item 6) 2. The vehicle according to any of the preceding items, wherein the support (11) is a column. (Item 7) The container lifting assembly is characterized by a lifting frame guide assembly comprising a first guide device (12) and a cooperating second guide device (13), The first guide device (12) is provided on the lifting frame (3), the second guide device (13) is slidably connected to the car body (8) via at least one vertical rail (19) so that the second guide device can move vertically relative to the support (11); the first guide device (12) and the second guide device (13) are arranged to interact with each other when the lifting frame is adjacent to the at least one vertical rail (19) so that horizontal movement of the lifting frame relative to the cantilevered section (6) is limited; A vehicle according to any of the preceding items. (Item 8) 8. The vehicle according to item 7, wherein the vertical rail (19) extends from a lower level on the support (11) towards the cantilevered section (6) so that the second guide device (13) can move vertically between a lower position adjacent to the support (11) and an upper position in which the lifting frame (3) docks with the cantilevered section (6). (Item 9) A vehicle according to any of the preceding items, wherein the wheeled base (9) comprises a container transport section (20) having a support surface (24) on which storage containers can be arranged, and the cantilevered section (6) extends above the container transport section in the second position, whereby the lifting frame (3) can retrieve storage containers from the surface of the container transport section or deliver storage containers to the surface of the container transport section. (Item 10) A vehicle assembly comprising a first container handling vehicle (10) according to any of the preceding items and a second container handling vehicle (401), wherein the second container handling vehicle comprises a wheeled base (9') and a container transport device (29) arranged on the wheeled base so that the lift frame (3) of the first container handling vehicle can be positioned above the container transport device (29) of the second container handling vehicle, and the wheeled base (9') of the second container handling vehicle (401) can be positioned adjacent to the wheeled base (9) of the first container handling vehicle (10). (Item 11) A storage system comprising a skeleton structure (100) according to any one of items 1-10 and a first container handling vehicle (10), wherein the skeleton structure (100) comprises a plurality of storage columns (105) in which storage containers (106) can be stored and stacked one on top of the other in vertical stacks (107), and the first container handling vehicle is operated on a rail grid (108) at the top level of the skeleton structure to retrieve storage containers (106) from the storage columns, store the storage containers therein, and transport the storage containers horizontally across the rail grid (108). (Item 12) Item 12. The storage system according to item 11, further comprising a second container handling vehicle (201, 301, 401) operated on the rail grid (108) to transport storage containers horizontally across the rail grid (108) and, optionally, to retrieve storage containers (106) from the storage columns and store them in the storage columns, wherein the cantilevered section (6) of the first container handling vehicle is arranged at a level that allows the second container handling vehicle to be positioned below the lifting frame of the first container handling vehicle when the lifting frame is in an uppermost position for lifting storage containers. (Item 13) Item 13. The storage system of item 12, wherein the second container handling vehicle is configured to be positioned above the first storage column when the cantilevered section of the first container handling vehicle is in the first position such that the second container handling vehicle can be positioned to retrieve a storage container from or receive a storage container from the first storage column. (Item 14) A method for retrieving a target storage container (106') from a storage system according to any one of items 11-13, the method comprising: a. identifying a first storage column (105') in which the target storage container (106') is stored; b. moving the first container handling vehicle on the rail grid (108) until the wheeled base (9) is adjacent to the first storage column (105'); c. arranging the cantilevered section (6) in a first position, the cantilevered section (6) being arranged directly above the first storage column (105'); d. retrieving a non-target storage container (106) from the stack of storage containers in the first storage column (105') by using the lifting frame (3); e. rotating the cantilevered section (6) to a second position, wherein the cantilevered section (6) extends in an opposite direction to the direction in the first position; f. placing the non-target storage container in a second storage column (105'') adjacent to the wheeled base (9) on the container transport section (20) of the wheeled base or on the container transport device (29) of a second container handling vehicle (401); g. rotating the cantilevered section (6) to the first position; h. repeating step df and optionally step g until the target storage container is the top storage container in the first storage column (105'); i. retrieving the target storage container (106') from the first storage column by using the lifting frame; j. retrieving the target storage container (106') from the first storage column by use of a container handling vehicle (301) equipped with a container lifting assembly; A method comprising: (Item 15) Item 15. The method according to item 14, wherein step h creates a stack of multiple non-target storage containers (106) stacked on top of each other, at least the upper non-target storage container being arranged above an upper level of the rail grid (108). (Item 16) The method according to items 14-15, wherein step h creates a stack of a plurality of non-target storage containers (106) stacked on top of each other, and the collected non-target storage containers are arranged above an upper level of the rail grid (108) and transported by a container handling vehicle. (Item 17) 14. A method for retrieving a plurality of storage containers (106) from a storage system according to any one of items 11-13, the method comprising: a. identifying a storage column (105) in which the plurality of storage containers are stored; b. moving the first container handling vehicle (10) on the rail grid (108) until the wheeled base (9) is adjacent to the storage column; c. arranging the cantilevered section (6) in a first position, wherein the lift frame (3) is arranged directly above the storage column (105); d. retrieving one of a plurality of storage containers (106) from the storage column by use of the lifting frame (3); e. rotating the cantilevered section to a second position, the cantilevered section extending in an opposite direction relative to its direction in the first position; f. placing a storage container on the container transport section (20) of the wheeled base or on the container transport device (29) of the second container handling vehicle (401); g. rotating the cantilevered section to the first position; h. repeating step df and optionally step g until the plurality of storage containers are collected as a stack of storage containers (106) stacked on top of each other; A method comprising: (Item 18) 14. A method for storing a plurality of storage containers (106) in a storage system according to any one of items 11-13, the method comprising: a. placing the plurality of storage containers (106) on the container transport section (20) of the wheeled base (9) of the first container handling vehicle (10) or on the container transport device (29) of the second container handling vehicle (401) as a stack of storage containers stacked on top of each other; b. identifying a storage column (105) in which said plurality of storage containers (106) are stored; c. moving the first container handling vehicle (10) on the rail grid (108) until the wheeled base (9) is adjacent to the storage column (105); d. arranging the cantilevered section (6) in a second position, wherein the lifting frame (3) is arranged directly above the container transport section (20) or the container transport device (29); e. retrieving one of a plurality of storage containers (106) from a stack of storage containers on the container transport section (20) or the container transport device (29) by using the lifting frame (3); f. rotating the cantilevered section (6) to a first position, the cantilevered section extending in a direction opposite to that in the second position, and the lifting frame (3) being aligned directly above the storage column (105); g. storing said storage container (106) in said storage column; h. rotating said cantilevered section (6) to said second position; i. repeating step dg and optionally step h until said plurality of storage containers (106) are stored within the storage column (105); A method comprising: [Brief explanation of the drawings]

[0078] Embodiments of the present invention will be described in detail by referring to the following drawings. [Figure 1] FIG. 1 is a perspective view of the skeleton structure of a prior art automated warehouse system. [Figure 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein. [Figure 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for carrying storage containers underneath. [Figure 4] FIG. 4 is a side view of the container handling vehicle of FIG. 3, showing the lifting device. [Figure 5] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 6] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 7] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 8] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 9] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 10] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 11]5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 12] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 13] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 14] 5-14 are perspective views and details of a first exemplary container handling vehicle according to the present invention. [Figure 15] 15-20 are perspective views of a second exemplary container handling vehicle in accordance with the present invention. [Figure 16] 15-20 are perspective views of a second exemplary container handling vehicle in accordance with the present invention. [Figure 17] 15-20 are perspective views of a second exemplary container handling vehicle in accordance with the present invention. [Figure 18] 15-20 are perspective views of a second exemplary container handling vehicle in accordance with the present invention. [Figure 19] 15-20 are perspective views of a second exemplary container handling vehicle in accordance with the present invention. [Figure 20] 15-20 are perspective views of a second exemplary container handling vehicle in accordance with the present invention. [Figure 21] 21-22 are perspective views of a third exemplary container handling vehicle in accordance with the present invention. [Figure 22] 21-22 are perspective views of a third exemplary container handling vehicle in accordance with the present invention. [Figure 23] 23a-23b are perspective views of a fourth exemplary container handling vehicle in accordance with the present invention. [Figure 24] 24 and 25 are perspective views of different lifting frame guide assemblies for use in any of the container handling vehicle embodiments according to the present invention. [Figure 25]24 and 25 are perspective views of different lifting frame guide assemblies for use in any of the container handling vehicle embodiments according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0079] In the following, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings, which, however, are not intended to limit the present invention to the subject matter depicted therein.

[0080] The present invention relates to a remotely operated container handling vehicle for use within an automated storage system featuring at least one rail system, for example, rail system 108, as discussed with respect to the prior art storage system disclosed in FIG.

[0081] A first exemplary embodiment of a container handling vehicle 10 according to the present invention is shown in Figures 5-14. The vehicle 10 is for lifting storage containers 106 from an underlying framework structure 100. The framework structure may be, for example, a structure such as that shown in Figure 1, comprising a plurality of storage columns in which the storage containers are stacked on top of each other.

[0082] The vehicle comprises a body 8 and container lifting assemblies 3, 5 for raising a storage container 106. The body 8 features a wheeled base 9 having a container transport section 20 having a support surface 24, a support column 11 (i.e., support), and at least one cantilevered section 6, on which the storage container 106 may be arranged.

[0083] The wheeled base 9 has a first set of wheels 21a arranged on both sides of the car body 8 and a second set of wheels 21b arranged on the other side of the car body 8. The first set of wheels 21a is for moving the vehicle 10 along a first direction X on a rail grid 108 at the top level of the underlying framework structure 100, and the second set of wheels is for moving the vehicle 10 along a second direction Y on the rail grid 108, the second direction Y being perpendicular to the first direction X. The wheeled base 9 has at least one electric motor for driving the first and second sets of wheels. Suitable wheeled bases are described, for example, in WO2019 / 238703A1. The wheeled base 9 of the first exemplary embodiment is composed of two connected wheeled base units, for example, as disclosed in WO2019 / 238703A1.

[0084] Support column 11 has a lower end 17 that connects to the upper side of wheeled base 9 and an upper portion 18 that connects to cantilevered section 6. In this embodiment, lower end 17 of support column 11 is rotatably connected to wheeled base 9 by a rotating ring 30. The rotating ring may have an outer diameter that corresponds to or slightly smaller than the width of wheeled base 9.

[0085] The container lifting assembly includes a lifting frame 3 and four lifting bands 5. The lifting frame 3 is configured to releasably connect to a storage container 106 and is suspended from a cantilevered section 6 by the lifting bands 5. The lifting bands are connected to a lifting shaft assembly 7, which allows the lifting frame 3 to be raised or lowered relative to the cantilevered section 6.

[0086] The cantilevered section 6 extends laterally from the upper portion 18 of the support column 11 and is arranged to rotate horizontally about a vertical axis relative to the wheeled base 9 between a first position and a second position. In the first position, the cantilevered section 6 extends beyond the wheeled base 9, thereby enabling the lifting frame 3 to retrieve storage containers 106 from or deliver storage containers 106 to the storage columns 105 of the skeletal structure 100 (see, for example, FIG. 9 ). In the second position, the cantilevered section 6 extends in the opposite direction relative to the direction in the first position, thereby enabling the lifting frame 3 to lower storage containers onto or retrieve storage containers from the container transport section 20.

[0087] The support column 11 holds the cantilevered section 6 above the wheeled base 9 at a height corresponding to the height of multiple storage containers, such that when the lift frame 3 is in its upper position, the vertical distance H3 (see FIG. 6 ) between the lift frame 3 and the lower end 17 of the support column 11 is greater than the height of two storage containers stacked on top of each other. The vertical distance H3 may alternatively be defined as the distance between the lift frame 3 and the upper side 27 of the wheeled base 9. In the first embodiment, the level of the support surface 24 is approximately equal to the level of the lower end of the support column, and this vertical distance to the lift frame allows multiple storage containers to be stacked on top of each other while arranged on the support surface. The container transport section 20 features vertical storage container supports 23 for providing stability to storage containers stacked on the support surface. The storage container supports have two vertical corner sections 28 for supporting corresponding corners of the storage containers 106 and for guiding the vertical movement of the lift frame 3 and any storage containers 106 connected thereto.

[0088] In storage systems suitable for the container handling vehicle 10, the height of the storage containers is typically 220 mm, 330 mm, or 425 mm. The vertical distance H3 is therefore at least 440 mm, but preferably at least 660 mm, to allow two storage containers having a height of 330 mm to be stacked on top of each other on the support surface 24 with the use of the lifting frame 3. In the embodiment shown in Figures 5-14, the vertical distance H3 is slightly longer than 990 mm (see Figure 13) to allow three storage containers to be stacked on top of each other on the container transport device 20.

[0089] To obtain the desired functionality of the container handling vehicle 10, the height H1 of the support 11 is preferably at least twice the height H2 of the wheeled base 9.

[0090] The horizontal perimeter of the support column 11, i.e., the boundary of the peripheral sidewall 14, is arranged to be within the horizontal perimeter of the wheeled base 9 during rotation of the cantilevered section 6. In this manner, a second type of container handling vehicle 301 (see, e.g., FIG. 13) can move on a grid cell 122 (see FIG. 5) adjacent to the exemplary container handling vehicle 10 without interfering with its operation.

[0091] As in prior art vehicles 201, 301, lift frame 3 features a combined guide pin / contact sensor 26 arranged on the upper side of lift frame 3. Guide pin / contact sensor 26 interacts with cantilever beam section 6 to inhibit horizontal movement between lift frame 3 and cantilever beam section 6 when the lift frame is fully raised, i.e., in the upper position.

[0092] To limit horizontal movement of the lift frame 3 during rotation of the cantilevered sections and during movement of the container handling vehicle 10 on the rail grid 108, the container handling vehicle 10 features a lift frame guide assembly having a first guide device 12 and a cooperating second guide device 13 (see Figures 8-10 and 23a-b). The first guide device 12 features at least one first guide element, in this case two vertical pins 15, and the second guide device 13 features at least one second guide element, in this case two holes 16. The first and second guide elements, e.g., the vertical pins 15 and the holes 16, have complementary shapes. The complementary shapes are designed to limit horizontal movement, i.e., both lateral and rotational horizontal movement, between the first and second guide elements when the guide elements interact with each other.

[0093] The second guide device 13 of the lift frame guide assembly may be described as a carriage (e.g., comprised of plate sections 22a, 22b, see below) that is slidably connected to the support column 11 or peripheral side wall 14, for example, via at least one rail 19. The carriage couples to the lift frame 3 via the first guide device 12 and moves with the lift frame 3 as it moves from a lowered position to where it docks with the cantilever section 6.

[0094] The complementary shapes of the vertical pins 15 and holes 16 serve to position the first guide device 12 and the second guide device 13 together as the lifting frame 3 is lifted and emerges from a storage grid, for example, from a storage column 105 as shown in FIG. 9 . In further embodiments, the complementary shapes may be any shape or form provided that the first and second guide devices are restrained from horizontal movement relative to each other when positioned together. When positioned within the storage column 105, the horizontal movement of the lifting frame 3 is limited by the inner perimeter of the storage column 105. When the lifting frame 3 emerges from the storage column 105, horizontal restraint of the lifting frame 3 is provided by the second guide device 13, which locks horizontal movement through its connection with the first guide device 12.

[0095] A portion of the second guide device 13, featuring two holes 16, extends laterally from the side wall 14 at a position between the cantilevered section 6 and the lift frame 3. In this embodiment, the second guide device is composed of a first plate section 22a and a second plate section 22b. The first plate section 22a is connected to the rail 19, and the second plate section 22b, featuring two holes 16, extends from the upper end of the first plate section 22a between the cantilevered section 6 and the lift frame 3.

[0096] The pins 15 and holes 16 are arranged such that when the lift frame 3 is adjacent the support column 11 or side wall 14, they interact with each other, i.e., each pin 15 is housed within a corresponding hole 16, so that horizontal movement of the lift frame 3 relative to the car body 8 is limited. By having two pins 15 and complementary holes 16, rotational horizontal movement, i.e., twisting, of the lift frame relative to the car body 8 is limited.

[0097] It should be noted that the circular perimeters (i.e., complementary shapes) of pins 15 and holes 16 require a two-of-a-kind solution to limit rotational movement of the lift frame relative to the car body 8. However, in other embodiments of the invention, having at least two first guide elements and at least two complementary second guide elements is not essential to limit rotational movement. In other embodiments, rotational movement of the lift frame 3 relative to the cantilevered section 6 can be limited, for example, by designing the first guide element as a pin / protrusion having a square or rectangular perimeter shape and the second guide element as a cooperating hole having a complementary square or rectangular perimeter shape. In another embodiment, there can be two (or more) pins 15 that engage with the interior surface of a slot or other shaped opening configured to receive the pins 15. In general, it may be sufficient to have a single first guide element and a single second guide element, while providing the first and second guide elements with complementary non-circular peripheral shapes to limit rotational horizontal movement between the lift frame and the vehicle body.

[0098] By slidably connecting the second guide device 13 to the support column 11 or the peripheral side wall 14 of the car body 8, the lifting frame 3 can be lifted from a lower position, where it emerges from the lateral restraints of the storage grid, proximate the rail system 108, to a higher position adjacent the support column 11, while horizontal movement of the lifting frame 3 relative to the cantilevered section 6 is limited or prevented. Such limitation of horizontal movement will exist between the lower and upper positions. The lower position may be when the lowest level of the lifting frame 3 is above the highest level of the rail grid 108, on which the container handling vehicles are arranged. In the upper position, the lifting frame 3 can be fully lifted toward the cantilevered section 6.

[0099] Thus, due to the lifting frame guide assemblies 12, 13, a container handling vehicle according to the present invention can begin rotating the cantilevered section 6 as soon as the lifting frame reaches the lower position, for example, after storing a storage container 106 in the storage column 105. In most cases, when the lifting frame is not connected to a storage container 106, the lifting frame is kept in the lower position while the container handling vehicle moves on the rail system 108. In this way, time and energy are also saved by not requiring the lifting frame to be elevated between the cantilevered section and the lower position when a storage container is to be retrieved. The lifting frame guide assemblies 12, 13 will also ensure that the container handling vehicle 10 can move on the rail system 108 as soon as a storage container connected to the lifting frame 3 has been elevated above the rail system 108 (see, for example, FIG. 12b).

[0100] The lift frame guide is described with a specific combination of guide elements, namely, vertical pins and holes, for limiting the horizontal movement of the lift frame. However, based on this disclosure, multiple alternative combinations of guide elements having complementary shapes, such as various combinations of protrusions / recesses, that provide limited horizontal movement can be readily envisioned. Further exemplary embodiments of lift frame guides having guide elements such as pins 25, protrusions 18, recesses 17, and holes 24 are shown in Figures 24 and 25.

[0101] A second exemplary embodiment of a container handling vehicle 10' according to the present invention is shown in Figures 15-20. The second embodiment differs from the first embodiment in Figures 5-14 only in that the wheeled base 9' is smaller and does not include a container transport section 20. As shown, the wheeled base 9' of the second embodiment fits within a single grid cell 122 of the rail system, while the wheeled base 9 of the first embodiment fits within two adjacent grid cells 122. The smaller wheeled base 9' is advantageous, particularly when the container handling vehicle operates in cooperation with other container handling vehicles 401 featuring container transport devices 29. For handling of storage containers, a vehicle featuring only a wheeled base 9' and container transport devices 29 may also be referred to as a container transfer vehicle. The wheeled base 9' and container transfer vehicle 401 of the second exemplary embodiment may be, for example, a wheeled base unit as disclosed in WO2019 / 238703A1.

[0102] A third exemplary embodiment of a container handling vehicle 10'' according to the present invention is shown in Figures 21-22. The third embodiment is distinguished from the second embodiment in that the cantilevered section features two lifting frames 3 extending on either side of two support columns 11. The third embodiment can therefore handle two storage containers simultaneously, a feature that can be advantageous in various excavation operations.

[0103] All embodiments of the container handling vehicle according to the present invention are highly advantageous in performing various excavation operations in storage systems such as that shown in Figure 1. Additionally, all embodiments allow for improved transportation of multiple storage containers in a storage system, either by transporting the stack of storage containers onto the container handling vehicle itself or by using a dedicated container transfer vehicle to transport the stack of storage containers.

[0104] In an exemplary digging operation (see Figures 9-14 for the first embodiment and Figures 15-20 for the second embodiment), the container handling vehicle 10-10'' of the present invention can retrieve a target storage container 106' from a storage system such as that shown in Figure 1, for example, by the following steps: a. identifying a first storage column 105' in which a target storage container 106' is stored; b. moving the first container handling vehicle on the rail grid 108 to a position where the wheeled base 9, 9' is adjacent to the first storage column 105'; c. Arranging the cantilevered section 6 in a first position, where the cantilevered section 6 is arranged directly above the first storage column 105′, i.e., whereby the lifting frame 3 can be lowered into the first storage column 105′. d. Retrieving a non-target storage container 106 from the stack of storage containers in the first storage column 105' by use of the lifting frame 3 (see FIGS. 9 and 16). e. Rotating the cantilevered section 6 to a second position (see Figures 11 and 17a), where the cantilevered section 6 extends in the opposite direction to that in the first position. Due to the lifting frame guides, rotation can begin as soon as the bottom of the storage container is level above the upper side 27 of the wheeled base 9, 9'. f. Placing the non-target storage container in a second storage column 105″ adjacent to the wheeled base on the container transport section 20 of the wheeled base 9 (see FIG. 11) or on a second container handling vehicle 401 (see FIG. 17a) equipped with a container transport device 29. g. rotating the cantilevered section to a first position h. repeating step df and optionally step g until the target storage container is the top storage container in the first storage column (see FIGS. 12a-b and 18a-b); and i. retrieving the target storage container 106' from the first storage column 105' by use of the lifting frame 3; or j. retrieving the target storage container 106' from the first storage column 105' by using a second container handling vehicle 301 equipped with a container lifting assembly. In step f, one option is to place the non-target storage containers 106 in a second storage column 105'' adjacent to the wheeled base 9'. This option is only possible when using the second or third embodiment, and the cantilevered section may be arranged such that the lifting frame can access the second storage column 105'' when the cantilevered section is in the second position.

[0105] When step h is repeated, a stack of multiple non-target storage containers 106 stacked on top of each other is created, with at least the upper non-target storage container 106 in the stack arranged above the upper level of the rail grid 108. When the stack is arranged on the container transport section 20 or container transport device 29, all of the non-target storage containers in the stack are arranged above the upper level of the rail grid 108.

[0106] The target storage container 106' (see FIG. 20) retrieved in step i may then be lowered onto the container transport device 29 of the second container handling vehicle 401, which is arranged below the cantilevered section 6.

[0107] The container handling vehicle 10-10'' of the present invention is also highly advantageous in operations where multiple storage containers are to be retrieved from or stored within a storage column or system.

[0108] Reference Number List

[0109] [Table 1-1]

[0110] [Table 1-2]

Claims

1. A container handling vehicle (10) for raising and lowering a storage container (106) from a skeletal structure (100), The container handling vehicle comprises a vehicle body (8) and a container lifting assembly (3, 5) for lifting and lowering the storage container; The vehicle body (8) comprises a wheeled base (9), a support (11) and at least one cantilever section (6); the wheeled base (9) comprises a first set (21 a) of wheels arranged on both sides of the car body (8) for moving the container handling vehicle (10) along a first direction (X) on a rail grid (108) on top of the skeleton structure (100), and a second set (21 b) of wheels arranged on the other both sides of the car body (8) for moving the container handling vehicle (10) along a second direction (Y) on the rail grid (108), the second direction (Y) being perpendicular to the first direction (X); The support (11) comprises a lower end (17) connected to the wheeled base (9) and an upper portion (18) connected to the cantilevered section (6); the cantilevered section (6) extends laterally from the upper portion (18) of the support (11) and is arranged to rotate horizontally about a vertical axis relative to the wheeled base (9) between a first position and a second position, wherein in the first position the cantilevered section (6) extends beyond the wheeled base (9) so that the container lifting assembly (3, 5) can retrieve storage containers (106) from or deliver storage containers (106) to storage columns of the skeletal structure (100), and in the second position the cantilevered section (6) extends in an opposite direction to that in the first position; the support (11) holds the cantilevered section (6) above the wheeled base (9) at a height such that when the container lifting assembly (3, 5) is in its upper position, a vertical distance (H3) between the lifting frame (3) of the container lifting assembly (3, 5) and the lower end (17) of the support (11) is greater than the height of two storage containers stacked on top of each other; Container handling vehicle (10).

2. A container handling vehicle as described in claim 1, wherein each storage container has a height of 330 mm and when the bottom of a stack of at least two storage containers (106, 106') is supported at a level corresponding to the level of the lower end (17) of the support portion (11), the vertical distance (H3) is at least 660 mm so that the container lifting assembly (3, 5) can be positioned above the stack.

3. A container handling vehicle as described in claim 1, wherein the container lifting assembly (3, 5) is positionable above a stack of at least two storage containers (106, 106') when the bottom of the stack is supported at a level corresponding to the level of the lower end (17) of the support portion (11), and the cantilevered section is in the second position.

4. A container handling vehicle as described in claim 1, wherein the horizontal periphery of the support portion (11) is arranged so as to be within the horizontal periphery of the wheeled base portion (9) during rotation of the cantilevered section (6).

5. A container handling vehicle as described in claim 1, wherein the lower end (17) of the support part is rotatably connected to the wheeled base (9) by a rotating ring (30).

6. A container handling vehicle as described in claim 1, wherein the support portion (11) is a column.

7. The container lifting assembly comprises a lifting frame (3) and a plurality of lifting bands (5), the lifting frame (3) being for releasable connection to a storage container (106) and being suspended from the cantilevered section (6) by the lifting bands (5), whereby the lifting frame (3) can be raised or lowered relative to the cantilevered section (6); 2. The container handling vehicle of claim 1, wherein the lifting frame (3) is a first lifting frame extending from a first side of the support (11), and the container lifting assembly (3, 5) comprises a second lifting frame extending from a second side of the support (11), the first side being opposite the second side.

8. The container lifting assembly is characterized by a lifting frame guide assembly comprising a first guide device (12) and a cooperating second guide device (13); The first guide device (12) is provided on the lifting frame (3), the second guide device (13) is slidably connected to the car body (8) via at least one vertical rail (19) so that the second guide device can move vertically relative to the support (11); the first guide device (12) and the second guide device (13) are arranged to interact with each other when the lifting frame is adjacent to the at least one vertical rail (19) so that horizontal movement of the lifting frame relative to the cantilevered section (6) is limited; 8. The container handling vehicle according to claim 7.

9. A container handling vehicle as described in Claim 8, wherein the vertical rail (19) extends from a lower level of the support (11) towards the cantilevered section (6) so that the second guide device (13) can move vertically between a lower position adjacent to the support (11) and an upper position where the lifting frame (3) docks with the cantilevered section (6).

10. A container handling vehicle as described in claim 1, wherein the wheeled base (9) comprises a container transport section (20) having a support surface (24) on which storage containers can be arranged, and the cantilevered section (6) extends above the container transport section in the second position, whereby the container lifting assembly (3, 5) can retrieve storage containers from the surface of the container transport section or deliver the storage containers to the surface of the container transport section.

11. A container handling vehicle as described in claim 1, wherein the rail grid (108) forms a plurality of grid cells (122) and the wheeled base (9') is arranged within one grid cell (122) of the rail grid (108).

12. A container handling vehicle as described in claim 1 arranged to form a vehicle assembly, wherein the container handling vehicle comprises a first container handling vehicle, and the vehicle assembly comprises the first container handling vehicle and a second container handling vehicle (401), the second container handling vehicle comprising a wheeled base (9') and a container transport device (29) arranged on the wheeled base, and the wheeled base (9') of the second container handling vehicle (401) is positionable adjacent to the wheeled base (9) of the first container handling vehicle (10), whereby the container lifting assembly (3, 5) of the first container handling vehicle is positionable above the container transport device (29) of the second container handling vehicle.

13. A storage system comprising a first container handling vehicle (10) as described in any one of claims 1 to 11 and a skeletal structure (100), wherein the skeletal structure (100) comprises a plurality of storage columns (105) in which storage containers (106) can be stored and stacked on top of each other in vertical stacks (107), and wherein the first container handling vehicle is operated on a rail grid (108) on top of the skeletal structure to retrieve storage containers (106) from the storage columns, store the storage containers in the storage columns, and transport the storage containers horizontally across the rail grid (108).

14. A storage system as described in claim 13, comprising a second container handling vehicle (201, 301, 401) operated on the rail grid (108) to transport storage containers horizontally across the rail grid (108) and optionally to retrieve storage containers (106) from the storage columns and store them in the storage columns, wherein the cantilevered section (6) of the first container handling vehicle is arranged at a level that allows the second container handling vehicle to be positioned below the container lifting assembly of the first container handling vehicle when the container lifting assembly is in its uppermost position for lifting and lowering storage containers.

15. A storage system as described in claim 14, wherein the second container handling vehicle is configured to be positioned above a first of the storage columns when the cantilevered section of the first container handling vehicle is in the first position, whereby the second container handling vehicle can be positioned to retrieve a storage container from the first storage column or receive the storage container from the first container handling vehicle.

16. A method for retrieving a target storage container (106′) from the storage system of claim 13, the method comprising: a. identifying a first one of the storage columns (105'), wherein the target storage container (106') is stored in the first storage column (105'); b) moving the first container handling vehicle on the rail grid (108) until the wheeled base (9) is adjacent to the first storage column (105'); c. arranging the cantilevered section (6) in a first position, wherein the cantilevered section (6) is arranged directly above the first storage column (105'); retrieving a non-target storage container (106) from the stack of storage containers in the first storage column (105') by using the container lifting assembly (3, 5); e. Rotating the cantilevered section (6) to a second position, wherein the cantilevered section (6) extends in an opposite direction to that in the first position; f) placing the non-target storage container in a second one of the storage columns adjacent to the wheeled base (9), on a container transport section (20) of the wheeled base, or on a container transport device (29) of a second container handling vehicle (401); g. Rotating the cantilevered section (6) to the first position; h. Repeating steps df and optionally step g until the target storage container is the top storage container in the first storage column (105'); i. retrieving the target storage container (106') from the first storage column by use of the container lifting assembly; or j. Retrieving the target storage container (106') from the first storage column by use of a container handling vehicle (301) equipped with a container lifting assembly; A method comprising:

17. The method described in claim 16, wherein step h creates a stack of multiple non-target storage containers (106) stacked on top of each other, at least an upper non-target storage container being arranged above an upper level of the rail grid (108).

18. The method described in claim 16, wherein step h creates a stack of multiple non-target storage containers (106) stacked on top of each other, and the recovered non-target storage containers are arranged above an upper level of the rail grid (108) and transported by a container handling vehicle.

19. A method for retrieving a plurality of storage containers (106) from a storage system as described in claim 13, the method comprising: a. identifying a storage column (105) of said storage columns, said storage column (105) storing said plurality of storage containers; b. moving the first container handling vehicle (10) on the rail grid (108) until the wheeled base (9) is adjacent to the storage column; c. arranging the cantilevered section (6) in a first position, wherein the container lifting assembly (3, 5) is arranged directly above the storage column (105); retrieving one of the plurality of storage containers (106) from the storage column by use of the container lifting assembly (3, 5); e. rotating the cantilevered section to a second position, the cantilevered section extending in an opposite direction relative to its direction in the first position; f) placing said storage container on the container transport section (20) of said wheeled base or on the container transport device (29) of a second container handling vehicle (401); g. rotating the cantilevered section to the first position; h. Repeating steps d-f and optionally step g until the plurality of storage containers are collected as a stack of storage containers (106) stacked on top of each other; A method comprising:

20. A method of storing a plurality of storage containers (106) in a storage system as defined in claim 13, said method comprising: placing the plurality of storage containers (106) on the container transport section (20) of the wheeled base (9) of the first container handling vehicle (10) or on the container transport device (29) of a second container handling vehicle (401) as a stack of storage containers stacked on top of each other; b. identifying a storage column (105) among said storage columns, said storage column (105) storing said plurality of storage containers (106); c) moving the first container handling vehicle (10) on the rail grid (108) until the wheeled base (9) is adjacent to the storage column (105); d. Arranging the cantilevered section (6) in a second position, wherein the container lifting assembly (3, 5) is arranged directly above the container transport section (20) or the container transport device (29); e. retrieving one of the plurality of storage containers (106) from the stack of storage containers on the container transport section (20) or the container transport device (29) by using the container lifting assembly (3, 5); f. rotating the cantilevered section (6) to a first position, wherein the cantilevered section extends in an opposite direction relative to its direction in the second position, and the container lifting assembly (3, 5) is aligned directly above the storage column (105); g. storing said storage container (106) in said storage column (105); h) rotating said cantilevered section (6) to said second position; i. repeating steps d-g and optionally step h until said plurality of storage containers (106) are stored within said storage column (105); A method comprising:

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