CONTAINER HANDLING VEHICLE WITH ALL WHEEL DRIVE IN AT LEAST ONE DIRECTION, ASSOCIATED SYSTEM, AND METHOD OF ASSEMBLY - Patent application

Abstract

A container handling vehicle (501) and a method of assembling the container handling vehicle are described, the container handling vehicle being configured for operation on an automated storage and retrieval system (1), the automated storage and retrieval system (1) comprising a two-dimensional rail system (108) arranged to guide movement of the container handling vehicle (201, 301, 401) in a first direction (X) across an upper portion of a framework structure (100). H ) and a horizontal plane (P) disposed perpendicular to the first set of parallel rails (110) for guiding the movement of the container handling vehicles (201, 301, 401) in a second direction (Y) perpendicular to the first direction (X). H and a second set of parallel rails (111) in the first set of parallel rails (112).

Description

[Technical field]

[0001] The present invention relates to a container handling vehicle comprising a first section, a second section and a third section, the first section being disposed on a first side of the second section and the third section being disposed on an opposite second side of the second section, a first drive motor being disposed within the first section and a second drive motor being disposed within the third section.

[0002] The invention further relates to a method of assembling a container handling vehicle.The container handling vehicle may be formed from different modules which, when assembled, form a first section, a second section and a third section. [Background technology]

[0003] FIG. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100, and FIGS. 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on such a system 1.

[0004] The framework structure 100 comprises upright members 102 and a storage volume comprising storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106, also known as bins, are stacked one on top of the other to form stacks 107. The members 102 may typically be made of metal, for example extruded aluminum profiles.

[0005] The framework 100 of the automated storage and retrieval system 1 comprises a rail system 108 disposed throughout the top of the framework 100, on which a plurality of container handling vehicles 201, 301, 401 may be operated to raise storage containers 106 from, lower storage containers 106 into, and transport storage containers 106 up the storage rows 105. The rail system 108 comprises a first set of parallel rails 110 disposed throughout the top of the framework 100 for guiding movement of the container handling vehicles 201, 301, 401 in a first direction X, and a second set of parallel rails 111 disposed perpendicular to the first set of parallel rails 110 for guiding movement of the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by container handling vehicles 201, 301, 401 through access openings 112 in the rail system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage rows 105, i.e. in a plane that is parallel to the horizontal XY plane.

[0006] The uprights 102 of the framework structure 100 may be used to guide the storage containers during their ascent out of and descent into the row 105. The stack 107 of containers 106 is typically self-supporting.

[0007] Each prior art container handling vehicle 201, 301, 401 comprises a vehicle body 201a, 301a, 401a and first and second wheel sets 201b, 201c, 301b, 301c, 401b, 401c that allow lateral movement of the container handling vehicle 201, 301, 401 in the X and Y directions, respectively. In Figures 2, 3 and 4, two wheels in each set are fully visible. The first wheel set 201b, 301b, 401b is arranged to engage two adjacent rails of the first set of parallel rails 110, and the second wheel set 201c, 301c, 401c is arranged to engage two adjacent rails of the second set of parallel rails 111. At least one of the wheel sets 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first wheel set 201b, 301b, 401b and / or the second wheel set 201c, 301c, 401c can be engaged with the respective parallel rail sets 110, 111 at any one time.

[0008] Each prior art container handling vehicle 201, 301, 401 also comprises a lifting device for vertical transport of the storage containers 106, e.g. lifting the storage containers 106 from the storage row 105 and lowering the storage containers 106 therein. The lifting device comprises one or more gripping / engaging devices adapted to engage the storage containers 106, which can be lowered from the vehicle 201, 301, 401 such that the position of the gripping / engaging devices relative to the vehicle 201, 301, 401 can be adjusted in a third direction Z perpendicular to the first direction X and the second direction Y. Parts of the gripping devices of the container handling vehicles 301, 401 are shown in Figures 3 and 4 and are designated with reference numbers 304, 404. The gripping devices of the container handling device 201 are located in the vehicle body 201a in Figure 2 and are therefore not shown. The lifting device may include a lifting frame 404d suspended from a lifting band 404a. The lifting band 404a may provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may include a gripping / engagement device / gripper 404b for connection to grip a recess in the storage container 106. Guide pins 404c help align the gripper 404b with the gripping recess in the storage container 106.

[0009] Conventionally, and for purposes of this application, Z=1 identifies the top layer available for storage containers below the rails 110, 111, i.e., the layer immediately below the rail system 108, Z=2 the second layer below the rail system 108, Z=3 the third layer, etc. In the exemplary prior art disclosed in FIG. 1, Z=8 identifies the lowest bottom layer of storage containers. Similarly, X=1···n and Y=1···n identify the location of each storage row 105 in the horizontal plane. As a result, by way of example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1, the storage container identified as 106′ in FIG. 1 can be said to occupy storage position X=17, Y=1, Z=6. The container handling vehicles 201, 301, 401 can be said to travel in layer Z=0, and each storage row 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in FIG. 1 extending above the rail system 108 are also said to be located in tier Z=0.

[0010] The storage volume of the framework 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 row may be identified by a location in the X- and Y-directions, while each storage cell may be identified by a container number in the X-, Y-, and Z-directions.

[0011] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and storing the storage containers 106 as they are transported across the rail system 108. The storage space may include a cavity disposed internally within the vehicle body 201a, 401a, as shown in Figures 2 and 4 and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0012] 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 US Pat. No. 3,173,666, the contents of which are also incorporated herein by reference.

[0013] 2 may have a footprint generally covering an area with dimensions in the X and Y directions equal to the lateral extent of a storage row 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal."

[0014] Alternatively, the hollow container handling vehicle 401 may have a footprint larger than the lateral area defined by the storage row 105, as shown in Figures 1 and 4, for example, as disclosed in WO2014 / 090684A1 (Patent Document 2) or WO2019 / 206487A1.

[0015] Rail systems 108 typically include rails with grooves in which the vehicle wheels run. Alternatively, the rails may include upwardly protruding elements and the vehicle wheels may include flanges to prevent derailment. The grooves and upwardly protruding elements are collectively known as tracks. Each rail may include one track, or each rail 110, 111 may include two parallel tracks. In other rail systems 108, each rail in one direction (e.g., the X direction) may include one track and each rail in the other orthogonal direction (e.g., the Y direction) may include two tracks. Each rail 110, 111 may include two track members fastened together, each track member providing one of the pair of tracks provided by each rail.

[0016] WO2018 / 146304A1, the contents of which are incorporated herein by reference, illustrates an exemplary configuration of a rail system 108 comprising rails and parallel tracks in both the X and Y directions.

[0017] In the framework 100, the majority of the rows 105 are storage rows 105, i.e. rows 105 in which storage containers 106 are stored in stacks 107. However, some rows 105 may have other purposes. In Fig. 1, rows 119 and 120 are such special purpose rows used by container handling vehicles 201, 301, 401 to drop off and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where they can be accessed from outside the framework 100 or transported in and out of the framework 100. Within the art, such locations are commonly referred to as "ports" and the rows in which the ports are located may be referred to as "port rows" 119, 120. Transportation to the access station may be in any orientation, horizontal, inclined, and / or vertical. For example, the storage containers 106 may be placed in a random or dedicated row 105 within the framework structure 100 and then picked up by any container handling vehicle and transported to the port rows 119, 120 for further transportation to the access station. Transportation from the port to the access station may require movement along a variety of different directions by means such as delivery vehicles, dollies, or other transportation lines. It is noted that the term "inclined" refers to transportation of the storage containers 106 having a general transportation orientation anywhere between horizontal and vertical.

[0018] In FIG. 1 , the first port row 119 may be, for example, a dedicated drop-off port row where the container handling vehicles 201, 301, 401 may drop off storage containers 106 to be transported to an access or transfer station, and the second port row 120 may be a dedicated pick-up port row where the container handling vehicles 201, 301, 401 may pick up storage containers 106 transported from an access or transfer station.

[0019] An access station may typically be a picking or stocking station where product items are removed from or placed into a storage container 106. At a picking or stocking station, the storage container 106 is typically not removed from the automated storage and retrieval system 1, but is accessed and then placed back into the framework 100 again. A port may also be used to transport storage containers to another storage facility (e.g., another framework or another automated storage and retrieval system), a transportation vehicle (e.g., a train or cart), or a production facility.

[0020] A conveyor system comprising conveyors is typically employed to transport the storage containers between the port rows 119, 120 and the access stations.

[0021] If the rows of ports 119, 120 and the access stations are located at different levels, the conveyor system may include a lifting device with a vertical component for vertically transporting the storage containers 106 between the rows of ports 119, 120 and the access stations.

[0022] A conveyor system may be arranged to transport the storage containers 106 between the different framework structures, for example as described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0023] The storage system may also use the rows of ports 119, 120 to transport storage containers between the rail system 108 above the framework structure 100 and container transport vehicles positioned below the lower ends of the rows of ports. Such storage systems and suitable container transport vehicles are disclosed in WO2019 / 238694A1 and WO2019 / 238697A1, the contents of which are incorporated herein by reference.

[0024] A potential disadvantage of using container transport vehicles to retrieve and deliver storage containers from / to the lower end of the port row is the time dependency between the container transport vehicles and the container handling vehicles used to retrieve / deliver the storage containers through the port row.

[0025] When a storage container 106 stored in one of the rows 105 disclosed in Figure 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is commanded to retrieve the target storage container 106 from its location and transport it to the row of drop-off ports 119. This action involves moving the container handling vehicle 201, 301, 401 to a location above the storage row 105 in which the target storage container 106 is located, and using a lifting device (not shown) of the container handling vehicle 201, 301, 401 to retrieve the storage container 106 from the storage row 105 and transport the storage container 106 to the row of drop-off ports 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage container prior to lifting the target storage container 106 from the storage row 105. This step, sometimes also referred to in the art as "digging", may then be performed using the same container handling vehicle used to transport the target storage container to the drop-off port row 119 or using one or more other cooperating container handling vehicles. Alternatively or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically dedicated to the task of temporarily removing the storage container 106 from the storage row 105. Once the target storage container 106 has been removed from the storage row 105, the temporarily removed storage container 106 can be repositioned back into the storage row 105. However, the removed storage container 106 may alternatively be transferred to another storage row 105 .

[0026] When a storage container 106 is to be stored in one of the rows 105, one of the container handling vehicles 201, 301, 401 is commanded to pick up the storage container 106 from the pickup port row 120 and transport it to a location above the storage row 105 where it is to be stored. After any storage container 106 positioned at or above the target location in the stack 107 is removed, the container handling vehicle 201, 301, 401 positions the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into the storage row 105 or transferred to another storage row 105.

[0027] To monitor and control the automated storage and retrieval system 1, e.g., to monitor and control the location of each storage container 106 within the framework structure 100, the contents of each storage container 106, and the movements of the container handling vehicles 201, 301, 401 so that the desired storage containers 106 may be delivered to the desired locations at the desired times without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for tracking the storage containers 106.

[0028] It is an object of the present invention to provide an improved vehicle that can more reliably transport larger / heavier containers. [Prior art documents] [Patent documents]

[0029] [Patent Document 1] International Publication No. 2015 / 193278 [Patent Document 2] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0030] The present invention is set forth and characterized in the independent claims, while the dependent claims describe further features of the invention.

[0031] A container handling vehicle for operation on an automated storage and retrieval system is described, the automated storage and retrieval system comprising a two dimensional rail system including a first set of parallel rails in a horizontal plane arranged to guide movement of the container handling vehicle in a first direction across a top of a framework structure, and a second set of parallel rails in the horizontal plane arranged perpendicular to the first set of parallel rails to guide movement of the container handling vehicle in a second direction perpendicular to the first direction, the container handling vehicle comprising: a vehicle frame defining a first section, a second section, and a third section of a side-by-side container handling vehicle, the first section being disposed on a first side of the second section and the third section being disposed on an opposite second side of the second section; the second section comprises a cavity for accommodating a storage container; A vehicle frame; a first wheel set including a first wheel, a second wheel, a third wheel, and a fourth wheel for driving in a first direction; a second wheel set including a first wheel, a second wheel, a third wheel, and a fourth wheel for driving in a second direction; a first drive motor for driving a first wheel and a second wheel of a first wheel set; a second drive motor for driving a third wheel and a fourth wheel of the first wheel set; wherein the first and second wheels of the first wheel set and the first drive motor may be disposed in the first section, and the third and fourth wheels of the first wheel set and the second drive motor may be disposed in the third section.

[0032] In other words, the first section and the third section are separated by the second section.

[0033] The first section, the second section, and the third section are preferably disposed side-by-side with the next section in a horizontal plane.

[0034] An access opening, including each track of the rails adjacent to an occupied access opening, is also referred to as a "grid cell." A grid cell may be defined as the cross-sectional area that includes the width of the rails, the midpoint between the two rails extending in a first direction, and the midpoint between the two rails extending in a second direction.

[0035] When the second segment is directly above a grid cell, the first segment extends into the neighboring grid cell and the third segment extends into the opposite grid cell.

[0036] The container handling vehicle may include a third drive motor for driving the first wheel and the fourth wheel of the second wheel set, the third drive motor may be disposed within the first section.

[0037] The container handling vehicle may include a fourth drive motor for driving the second wheel and the third wheel of the second wheel set, the fourth drive motor may be disposed in the third section.

[0038] The first wheel and the fourth wheel of the second wheel set are preferably operatively connected to a third drive motor by a drive band.

[0039] The container handling vehicle may include a first lifting device motor, and the first lifting device motor may be disposed within the first section.

[0040] The container handling vehicle may include a second lifting device motor, which may be disposed in the third section.

[0041] The second section may provide a cavity in which a storage container may be accommodated, the container handling vehicle may include a lifting device within the second section for lifting and lowering the storage container into the cavity, and a first wheel and a fourth wheel of the second wheel set may be positioned on a first side of the cavity and a second wheel and a third wheel of the second wheel set may be positioned on an opposite second side of the cavity.

[0042] The lifting device may include at least one rotatable lifting shaft configured to lift the lifting frame via the set of lifting bands, the lifting shaft being disposed within the upper second section of the cavity.

[0043] The first section can have a footprint and the second section can also have a footprint, and a size ratio of the footprint of the second section to the footprint of the first section can be at least 2:1.

[0044] The third section may also have a footprint, and a size ratio of the footprint of the second section to the footprint of the third section may be at least 2:1.

[0045] If both the first and third segments are smaller than half a grid cell width compared to the second segment, this allows the passage of two container handling vehicles with the same orientation over five grid cells instead of six cells, since the two container handling vehicles share one grid cell, i.e., each of the container handling vehicles occupies less than 50% of the shared grid cell.

[0046] The first set of wheels may be positioned to be vertically movable relative to the vehicle frame between an upper position in which the second set of wheels enables movement of the vehicle along the second direction and a lower position in which the first set of wheels enables movement of the vehicle along the first direction; Each of the third and fourth wheels of the first wheel set may be mounted to one of a pair of first wheel links, each first wheel link may include a first pivot coupling and a second pivot coupling, and each first wheel link may be pivotally connected to the vehicle frame by the first pivot coupling; Each of the first and second wheels of the first wheel set may be mounted to one of a pair of second wheel links, each second wheel link may include a third pivot coupling and a fourth pivot coupling, and each first wheel link may be pivotally connected to the vehicle frame by the third pivot coupling; the first wheel link and the second wheel link may be connected by a first coupler link via respective second and fourth pivotal couplings; the first wheel link and the second wheel link may be connected via respective second and fourth pivot connections by a second coupler link; The first coupler link and the second coupler link extend on opposite sides of a cavity between the first side and the second side of the second section.

[0047] The first and second coupler links may extend on opposite sides of a cavity between the first and second sides of the second section.

[0048] The third section may include an actuator assembly arranged to move the first wheel links about their respective first pivot joints between a first angular position and a second angular position, the movement of the first wheel links being transmitted to the second wheel links via the first coupler link and the second coupler link, whereby the first set of wheels may be in an upper position or a lower position when the first wheel links are in the first angular position or the second angular position, respectively.

[0049] the first section may include a first cross member that fixes angular positions of the second wheel links relative to one another so that the second wheel links move in unison about their respective third pivot joints; the third section may comprise a second cross member that fixes the angular positions of the first wheel links relative to one another, whereby the first wheel links move in unison about their respective first pivot joints; The actuator assembly may be operatively connected to the wheel lift mechanism and is arranged to move the first wheel link about its first pivot joint between a first angular position and a second angular position.

[0050] The first cross member may be connected to both of the second wheel links such that the positions of the second wheel links are fixed relative to one another.

[0051] The second cross member may be connected to both of the first wheel links such that the positions of the first wheel links are fixed relative to one another.

[0052] The actuator assembly may be operatively connected between the vehicle framework and at least one of the first wheel links.

[0053] The actuator assembly may include a wheel lift motor or a linear actuator.

[0054] At least one of the first wheel links may include a fifth pivot connection connected to the actuator assembly.

[0055] The actuator assembly may include an actuator link pivotally connected to one of the first wheel links, the actuator link may be used to drive rotation of the first wheel link.

[0056] The actuator link may be connected to a fifth pivot joint of the at least one first wheel link.

[0057] The actuator link may be part of a motion transfer assembly configured to convert or transfer rotational motion of the actuator assembly into a substantially linear motion acting on a fifth pivot joint of one of the first wheel links.

[0058] Container handling vehicles: a first drive shaft disposed within the first section and interconnecting a second wheel link, the first drive shaft operatively connected to drive a first wheel and a second wheel of the first wheel set; a second drive shaft disposed within the third section and interconnecting the second wheel links, the second drive shaft operatively connected to drive a third wheel and a fourth wheel of the first wheel set; and It may comprise:

[0059] The first drive shaft is preferably operatively connected to drive the first wheel and the second wheel via respective drive bands.

[0060] The second drive shaft is preferably operatively connected to drive the third and fourth wheels via respective drive bands.

[0061] The first drive shaft may be connected to a first drive, such as an electric motor. Rotational movement of the first drive shaft may be transmitted to a first wheel and a second wheel of the first wheel set.

[0062] The second drive shaft may be connected to a second drive, such as an electric motor. Rotational movement of the second drive shaft may be transmitted to a third wheel and a fourth wheel of the first wheel set.

[0063] The first drive shaft and first cross member and the second drive shaft and second cross member can be configured to move in parallel when the first wheel link and the second wheel link are moved between the first angular position and the second angular position.

[0064] The first and second drive shafts can be configured to move in unison with the first and second wheel links between the first and second angular positions. By moving in unison with the first and second wheel links and their respective supporting wheels, both excess wear on the drive band due to stretching and repairs related to tensioning of the drive band are minimized. The belt length, and therefore the belt tension, remains constant and can be set to a preferred tension because the wheels and motors supported by the first and second wheel links are fixed in a spatial relationship relative to one another during angular movement.

[0065] The first drive motor may be fixed to one of the first wheel links. The first drive shaft may have a first end and a second end, and the first drive shaft may extend through a centerline of the first drive motor, whereby the first end is operably connected to a first wheel of the first wheel set and the second end is operably connected to a second wheel of the first wheel set. The first end may be operably connected to the first wheel by a drive band and the second end may be operably connected to the third wheel by a drive band.

[0066] The second wheel and the third wheel of the second wheel set are preferably operatively connected to a fourth drive motor by a drive band.

[0067] The first coupler link and the second coupler link may be configured to move in a first direction toward the first wheel and the second wheel of the first wheel set, respectively, when the first wheel link is moved from the second angular position to the first angular position.

[0068] The first coupler link and the second coupler link are preferably plate shaped and provide a cover that closes off the lower portions of the two sides of the container handling vehicle, or at least provides a barrier to the cavity of the second section.

[0069] Each of the coupler links may include a wheel recess for a wheel connected to a respective first wheel link. Each of the coupler links may feature a first end pivotally connected to a second pivotal coupling of a respective second wheel link, and a portion of the coupler link disposed above the wheel recess is pivotally connected to the second pivotal coupling of the respective first wheel link.

[0070] The coupler link may act both as a force transmission element between the wheel link arms and as a body / cover that closes the lower portions of the two sides of the container handling vehicle.

[0071] The first and third pivot joints may be located at a level below the second and fourth pivot joints.

[0072] A rechargeable battery may be disposed in the third section. Optionally, an additional rechargeable battery may be disposed in the first section.

[0073] The container handling vehicle may include a set of electrodes for receiving power from a charging station, the electrodes preferably being disposed within the third segment and connected to a rechargeable battery within the third segment.

[0074] The container handling vehicle may include a control unit disposed in the third section.

[0075] The container handling vehicle may be equipped with a set of replaceable or adjustable distance pins that are configured to interact with a switch or sensor on the lift frame when the lift frame is in the upper position.

[0076] The adjustable or replaceable distance pins ensure that the efficiency of the container handling vehicle can be optimized for the height of the storage container being lifted. The container handling vehicle can include four distance pins positioned to interact with the four corner sections of the lift frame. The distance pins can be configured to stabilize the lift frame and any storage containers connected thereto when the lift frame is in the upper position.

[0077] The vehicle frame may include a first vertically extending subframe (e.g., a first vertical subframe) forming part of the first section and a second vertically extending subframe (e.g., a second vertical subframe) forming part of the third section. The vehicle frame may include a horizontally extending upper frame (e.g., a horizontal upper member) forming part of the second section, the horizontally extending upper frame may be disposed above the cavity. The horizontally extending upper frame may extend between the first vertically extending subframe and the second vertically extending subframe.

[0078] A horizontally extending upper frame is preferably positioned over the lift frame (in addition to being positioned over the cavity).

[0079] The horizontally extending upper frame may be connected to the first vertical sub-frame and the second vertical sub-frame.

[0080] The first and second vertical sub-frames may be disposed on opposite sides of the cavity.

[0081] The vehicle frame may include side cross-members disposed on opposite sides of the cavity.

[0082] The side cross-members may be horizontal members connected to the lower portions of the first and second vertical sub-frames. Alternatively, the side cross-members may form cross connections connected to the lower portion of one of the first or second vertical sub-frames and the upper portion of the other of the first and second vertical sub-frames.

[0083] The first and second coupler links are preferably located below the side cross members.

[0084] A container handling vehicle is further described that includes a first segment, a second segment, and a third segment, the first segment and the third segment including drive motors on hinged wheel assemblies for driving wheels disposed within the respective first segment and third segment, the hinged wheel assemblies of the first segment and the third segment may be connectable to opposite sides of the second segment. As such, the container handling vehicle is assembled.

[0085] An automated storage and retrieval system comprising a container handling vehicle as defined above is further described, the automated storage and retrieval system comprising a framework structure having a plurality of storage rows for accommodating vertical stacks of storage containers, the framework structure having a rail system, the container handling vehicles may travel on the rail system in two perpendicular directions above the storage rows. The automated storage and retrieval system may comprise a plurality of container handling vehicles as defined above.

[0086] The automated storage and retrieval system may include a plurality of upright members, and each storage row may be defined by four of the upright members.

[0087] The rail system may be disposed on the upright members, the rail system comprising a first set of parallel rails and a second set of parallel rails disposed at right angles to the first set of rails. The first and second sets of rails provide a horizontal grid-based rail system that defines a plurality of grid cells. The rails of the rail system may comprise one or two tracks. Preferably, both directions of the rail comprise two tracks (double tracks), for example, either as two parallel channels formed in the rails or as channels provided on each of the pair of rail members that are fastened to the other and form the rails. In such an arrangement, the grid openings and the track widths on each side define a "grid cell." In an arrangement where one direction of the rails has only a single track, the grid cells may extend the full rail width on those sides.

[0088] In one embodiment of the automated storage and retrieval system, the footprint of the second segment of the container handling vehicles may be about the size of a rail system grid cell, and the first and third segments may have footprints less than half the area of ​​a grid cell, i.e., the first and third segments may extend less than 50 percent into adjacent grid cells.

[0089] There is further described a method of assembling a container handling vehicle as defined above, the method comprising: - assembling a first section of a vehicle frame, the first section comprising: a first wheel and a second wheel of a first wheel pair; a first drive motor; a first wheel link; · 1st wheel and 4th wheel of the 2nd wheel pair and a step comprising: - assembling a third section of a vehicle frame, the third section comprising: a third wheel and a fourth wheel of the first wheel pair; a second drive motor; A second wheel link; · With the second wheel and the third wheel of the second wheel pair a step comprising: - connecting a second section of the vehicle frame to the first section of the vehicle frame and to a third section of the vehicle frame; - interconnecting the first wheel links to respective second wheel links by means of a first coupler link and a second coupler link; Includes.

[0090] In this specification, the term "storage container" is intended to mean any goods holder unit having a bottom suitable for releasable connection to a lifting device of a container handling vehicle and side portions, which may for example be in the form of a bin, a tote box, a tray or the like. The side portions may preferably be provided with gripping recesses. The side portions are preferably side walls. The height of the side walls may vary depending on the intended use of the automated storage and retrieval system and the goods to be stored. The gripping recesses may be located in the upper rim of the side walls. The outer horizontal periphery of the storage container is preferably rectangular.

[0091] The relative terms "upper", "lower", "below", "upper", "higher", etc. shall be understood in their ordinary sense and as viewed in a Cartesian coordinate system.

[0092] The present invention may be used in conjunction with storage containers and systems as described above. However, other areas in which the disclosed automated storage and retrieval systems and methods may be used include vertical farming, micro-fulfillment, or grocery stores / e-grocery stores. [Brief description of the drawings]

[0093] The following drawings are included to facilitate an understanding of the invention and show embodiments of the invention, herein illustrated by way of example only. [Figure 1] FIG. 1 is a perspective view of a framework of a prior art automated storage and retrieval system. [Diagram 2] FIG. 2 is a perspective view of a prior art container handling vehicle having a cavity disposed therein for carrying storage containers. [Diagram 3] FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath. [Figure 4] FIG. 4 is a bottom perspective view of a prior art container handling vehicle having a cavity disposed therein for carrying storage containers. [Diagram 5] FIG. 5 is a perspective view of the container handling vehicle in FIG. 4 without the side and top panels. [Figure 6] 6A and 6B show different perspective views of a container handling vehicle operating on a rail system of an automated storage and retrieval system. [Figure 7A] FIG. 7A is an exploded view of the container handling vehicle of FIGS. 6A and 6B without the side and top panels. [Figure 7B] FIG. 7B shows a container handling vehicle with the first coupler link and the first and fourth wheels of the first wheel set removed to better illustrate the components behind the part. [Figure 7C] FIG. 7C is a perspective view of a wheel lift assembly of a container handling vehicle. [Figure 7D] FIG. 7D is a side perspective view of the container handling vehicle showing a first lifting device motor in a first section of the container handling vehicle. [Figure 8A] FIG. 8A is a top view of the container handling vehicle of FIGS. 6A and 6B showing the first, second, and third sections of the container handling vehicle. [Figure 8B] FIG. 8B shows the footprint of each of the first, second, and third sections of a container handling vehicle. [Figure 9-1] 9A-9C are different views of the container handling vehicle of FIGS. 6-8 in which the wheels are connected to a wheel lifting mechanism within the tracks of a rail system. [Figure 9-2]9A-9C are different views of the container handling vehicle of FIGS. 6-8 in which the wheels are connected to a wheel lifting mechanism within the tracks of a rail system. [Figure 10] FIG. 10 is an exploded view of the vehicle frame of the container handling vehicle of FIGS. 6-9. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0094] In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings, in which it will be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted therein.

[0095] The framework structure 100 of the automated storage and retrieval system 1 may be constructed similarly to the prior art framework structure 100 described above in relation to Figure 1. That is, the framework structure 100 may include a number of upright members 102 and a first upper rail system 108 extending in the X and Y directions.

[0096] The framework structure 100 may include storage compartments in the form of storage rows 105 provided between the members 102 in which storage containers 106 may be stackable in stacks 107 within the storage rows 105 .

[0097] The framework structure 100 can be of any size. In particular, it should be understood that the framework structure can be significantly wider and / or longer and / or deeper than that disclosed in Figure 1. For example, the framework structure 100 can have a horizontal extent of rows greater than 700x700 and a storage depth of greater than 12 containers.

[0098] Prior art container handling vehicles (see Figures 2, 4 and 5) that are equipped with a cavity for accommodating storage containers have certain advantageous features. In particular, the guidance / support provided to the storage containers when accommodated within the cavity entails that the vehicles may have increased acceleration / delay relative to the cantilevered container handling vehicle 301 shown in Figure 3. However, the potential increase in acceleration / delay is not fully realized due to instability of the vehicles. The instability is caused by the fact that both vehicles 201, 401 have many of their drive, power, control and lifting components located above the cavity, providing a high center of gravity.

[0099] The vehicle body of the container handling vehicle in Figures 4 and 5 comprises a first section S1 and a second section S2 arranged side by side. An arrangement with a first section S1 and a second section S2 is disclosed in PCT / EP2018 / 077732. Due to the increased footprint with respect to the footprint of the vehicle in Figure 2, the stability is slightly improved. However, as shown in Figure 5, the prior art container handling vehicle 401 features wheel lifting components including at least a control unit 19, a replaceable battery 18, and a wheel lifting shaft 17 arranged above the cavity 26. The wheel lifting shaft 17 extends above the cavity interconnecting the two opposite wheel lifting plates 21a, 21b. It should be noted that the drive motor of the container handling vehicle 401 is not arranged above the cavity. The positioning of the drive motor is made possible by the use of a wheel hub motor 38. An advantage of using wheel hub motors is that all wheels on the container handling vehicle can be driven wheels providing increased wheel traction.

[0100] The disadvantages of using multiple wheel hub motors are the relatively high cost and potentially increased repairs / maintenance. In addition, at least for the prior art container handling vehicle in FIG. 2, the power and torque that can be provided by the wheel hub motors is limited because: This is because the wheel hub motors must be of a size that allows them to fit within the vehicle without extending into the cavity of the first section or interfering with each other within the second section.

[0101] The present invention provides a container handling vehicle with improved stability and traction of the drive wheels. Further advantages of the container handling vehicle 501 described below include the potential for lower repair costs and improved manufacturing and reduced assembly time of the container handling vehicle 501.

[0102] 6A and 6B show different perspective views of a container handling vehicle 501 operating on a rail system of an automated storage and retrieval system.

[0103] The container handling vehicle 501 is suitable for use in prior art storage systems, such as those discussed in the Background section and shown in FIG. 1, and the discussion relating to those systems above can also be applied to the improved container handling vehicle described herein.

[0104] FIG. 7A is an exploded view of the container handling vehicle 501 of FIGS. 6A and 6B without the side and top panels.

[0105] The container handling vehicle 501 features a vehicle frame 10 that defines a first section S1, a second section S2, and a third section S3 of the container handling vehicle 501 arranged side-by-side. The first section S1 is disposed on a first side of the second section S2, and the third section is disposed on an opposite second side of the second section S2.

[0106] The second section S2 comprises a lifting device 15 for lifting the storage container 106 and provides a cavity 26 in which the storage container 106 (the storage container 106 is not shown in FIG. 7A ) can be accommodated. The lifting device 15 has a lifting frame 16 and two rotatable lifting shafts 33 configured to lift and lower the lifting frame 16 via a set of lifting bands 5. A first lifting device motor 28a for driving the lifting device 15 (i.e. for rotating the lifting shafts 33) is disposed in the first section S1.

[0107] The container handling vehicle 501 includes a first set of wheels 11 and a second set of wheels 12 configured to move the container handling vehicle 501 on a rail system 108 (not shown in FIG. 7A, see e.g., FIG. 1). The rail system 108 (see FIG. 1) includes a first set of parallel rails 110 and a second set of parallel rails 111 arranged at a right angle to the first set of rails 110. The rail system 108 is arranged in a horizontal grid-based fashion.

[0108] The first wheel set 11 comprises a first wheel 11a, a second wheel 11b, a third wheel 11c and a fourth wheel 11d for driving in a first direction X. The first wheel 11a and the second wheel 11b of the first wheel set 11 are arranged in opposite parts of the first section S1. A first drive motor 20a for driving the first wheel 11a and the second wheel 11b of the first wheel set 11 is arranged in the first section S1. A first drive shaft 22a is rotatably connected to the first drive motor 20a and extends between two opposite ends of the first section S1 where the first wheel 11a and the second wheel 11b of the first wheel set 11 are arranged. A drive band 23 (only one drive band is shown in FIG. 7A) extends between the first drive shaft 22a and each of the first and second wheels 11a, 11b of the first wheel set, such that rotation of the first drive motor 20a is transmitted via the first drive shaft 22a and the drive band 23 to the first and second wheels 11a, 11b.

[0109] The third wheel 11c and the fourth wheel 11d of the first wheel set 11 are arranged in opposite parts of the third section S3. A second drive motor 20b for driving the third wheel 11c and the fourth wheel 11d of the first wheel set 11 is arranged in the third section S3. Similar to the setting in the first section S1, a second drive shaft 22b is rotatably connected to the second drive motor 20b and extends between two opposite ends of the third section S3 where the third wheel 11c and the fourth wheel 11d of the first wheel set 11 are arranged. A drive band 24 (only one drive band is shown in FIG. 7A) extends between the second drive shaft 22b and the third wheel 11c and fourth wheel 11d of each of the first wheel set, such that rotation of the second drive motor 20b is transmitted via the first drive shaft 22b and the drive band 24 to the third wheel 11c and fourth wheel 11d.

[0110] All of the wheels 11a, 11b, 11c, 11d of the first wheel set 11 are therefore driven or motorised wheels.

[0111] The second wheel set 12 comprises a first wheel 12a for driving in the second direction Y, a second wheel 12b (not shown in FIG. 7A, see e.g. FIG. 8A), a third wheel 12c (not shown in FIG. 7A, see e.g. FIG. 8A), and a fourth wheel 12d. The first wheel 12a and the fourth wheel 12d are arranged on one side of the second section S2, and the second wheel 12b and the third wheel 12c are arranged on the other side of the second section S2. The first wheel 12a and the fourth wheel 12d are arranged in a common vertical plane, whereby they are arranged relative to one another to drive on the same underlying track. Similarly, the second wheel 12b and the third wheel 12c are arranged in a common vertical plane, whereby they are arranged relative to one another to drive on the same underlying track.

[0112] To enable the container handling vehicle 501 to change its direction of travel on the rail system 108, the first set of wheels 11 is arranged to be movable in a vertical direction Z relative to the vehicle frame 10. The first set of wheels 11 can be moved between an upper position, in which the second set of wheels 12 enables the vehicle 501 to move along a second direction Y, and a lower position, in which the first set of wheels 11 enables the vehicle 501 to move along a first direction X.

[0113] Vertical movement of the first set of wheels 11 is obtained by a wheel lift mechanism featuring pivotable first and second wheel links 8, 9 connected by coupler links 14a, 14b and driven by an actuator assembly.

[0114] In the wheel lifting mechanism, the fourth wheel 11d of the first wheel set 11 is mounted on a corresponding first wheel link 8, and the third wheel 11c of the first wheel set 11 is mounted on a corresponding first wheel link 8. The first wheel link 8 includes a first pivot coupling 3 and a second pivot coupling 4. The first wheel links 8 are pivotally connected to the vehicle frame 10 by their respective first pivot couplings 3.

[0115] Similarly, each of the first wheel 11a and second wheel 11b of the first wheel set 11 is mounted to a corresponding second wheel link 9 having a third pivot coupling 29 and a fourth pivot coupling 30. The second wheel links 9 are pivotally connected to the vehicle frame 10 by their respective third pivot couplings 29.

[0116] The second wheel link 9 supporting the first wheel 11a of the first wheel set 11 and the first wheel link 8 supporting the fourth wheel 11d of the first wheel set are connected by a first coupler link 14a through respective second and fourth pivotal connections 4, 30. The first wheel link 8 supporting the fourth wheel 11d and the second wheel link 9 supporting the first wheel 8a are connected by a second coupler link 14b through respective second and fourth pivotal connections 4, 30. The first coupler link 14a and the second coupler link 14b extend along opposite sides of the cavity 26 in the first section S1.

[0117] The first coupler link 14a and the second coupler link 14b, as shown, are plate shaped and can function both as force or movement transmitting elements between the first wheel link 8 and the second wheel link 9, and as bodywork that closes off (or at least provides a barrier for) the two undersides of the vehicle. The dual function of the coupler links 14a, 14b provides a cost-effective, lightweight, and simple mechanical solution.

[0118] The first section S1 includes a first cross member 13b connected to both second wheel links 9. The first cross member 13a is configured to fix the angular positions of the second wheel links 9 relative to one another, so that the second wheel links 9 will move together about their respective third pivot joints 29.

[0119] Similarly, the third section S3 includes a second cross member 13b connected to both first wheel links 8. The second cross member 13b is configured to fix the angular positions of the first wheel links 8 relative to each other, so that the first wheel links 8 will move together about their respective first pivot joints 3.

[0120] The actuator assembly is disposed in the third section S3 and features a wheel lift motor 6 and an actuator link 7. The actuator link 7 is connected to one of the first wheel links 8 by a fifth pivot coupling 27. The actuator assembly is configured to move the first wheel link 8 about the respective first pivot coupling 3 between a first angular position and a second angular position. The movement of the first wheel link 8 is transferred to the second wheel link 9 via the first coupler link 14a and the second coupler link 14b, such that the first wheel set 11 is in an upper position (see FIGS. 7A-7C) or a lower position (see FIGS. 9A-9B) when the first wheel link 8 is in the first angular position and the second angular position, respectively.

[0121] The first coupler link 14a and the second coupler link 14b are configured to move in a first direction X towards the first wheel 11a and the second wheel 11b of the first wheel set, respectively, when the first wheel link 8 is moved from the second angular position to the first angular position, and are configured to move in the first direction X towards the third wheel 11c and the fourth wheel 11d of the first wheel set 11, respectively, when the first wheel link 8 is moved from the first angular position to the second angular position.

[0122] Each of the second wheel links 9 comprises a first edge section 37a (see FIG. 7B) extending upwards from the level of the third pivot joint 29 and a second edge section 37b (see FIG. 7B) extending downwards from the level of the third pivot joint 29. The first edge section 37a and the second edge section 37b face away from the connected first wheel link 8 and are inclined relative to each other, so that the second wheel link 9 does not extend beyond the outside of the vehicle frame 10 when it is moved around the third pivot joint 29.

[0123] The second drive shaft 22b and the second cross member 13b are configured to move in parallel when the first wheel link 8 is moved between the first and second angular positions. The second drive shaft 22b and the second cross member 13b are configured to move together with the first wheel link 9 between the first and second angular positions.

[0124] Similarly, the first drive shaft 22a and the first cross member 13a are configured to move in parallel when the second wheel link 9 is moved between the first and second angular positions. The first drive shaft 22a and the first cross member 13a are configured to move together with the second wheel link 9 between the first and second angular positions.

[0125] By having the first drive shaft 22a, second drive shaft 22b, first cross member 13a and second cross member 13b move in unison with the respective second wheel link 9 and first wheel link 8, both excessive wear on the drive bands 23, 24 due to stretching and repairs related to tensioning of the drive bands 23, 24 are minimized. In this manner, the relative mounting positions of the wheels and their respective drive motors can remain fixed during angular movement of the first and second wheel links 8, 9, whereby belt tension in the drive bands 23, 24 remains constant during the raising and lowering of the wheels.

[0126] FIG. 7D is a side perspective view of the container handling vehicle 501 showing the second lifting device motor 28b in the third section S3 of the container handling vehicle 501.

[0127] 8A is a top view of the container handling vehicle of FIGS. 6A and 6B showing the first, second and third sections S1, S2, S3 of the container handling vehicle 501. As disclosed, the container handling 501 may include a third drive motor 20c for driving the first wheel 12a and the fourth wheel 12d of the second wheel set 12. The third drive motor 20c is disposed within the first section S1. The third drive motor 20c may drive the connected first wheel 12a and the fourth wheel 12d of the second wheel set 12 via a drive band 34.

[0128] 8A, the container handling vehicle 501 may include a fourth drive motor 20d for driving the second wheel 12b and the third wheel 12c of the second wheel set 12. The fourth drive motor 20d is disposed in the third section S3. The fourth drive motor 20d may drive the connected second wheel 12b and the third wheel 12c of the second wheel set 12 via a drive band 35.

[0129] The power for driving the motor of the container handling vehicle is provided by a rechargeable battery 31 (and / or a high-power capacitor) arranged in the third section S3. The rechargeable battery 31 is connected to a set of electrodes 32. The electrodes 32 are configured to receive power from a charging station. The two electrodes 32 are arranged on opposite sides of a vertical central plane of the container handling vehicle, which vertical central plane extends in a first direction X. An advantageous effect of such separation of the electrodes 32 is that a lateral distortion of the container handling vehicle relative to the first direction X during the initial connection to the charging station is minimized. A suitable charging station is disclosed, for example, in PCT / EP2021 / 074340.

[0130] A control unit 19 for controlling at least the drive components (i.e., the first, second, third and fourth drive motors 20a, 20b, 20c, 20d, the wheel lift motor 6 and the first and second lifting device motors 28a, 28b) is arranged in the third section S3.

[0131] A set of replaceable distance pins 25 are positioned above the lift frame 16. The distance pins 25 are configured to interact with a switch (not shown) on the upper portion of the lift frame 16 when the lift frame 16 is in the upper position. The distance pins help stabilize shallower containers 106 within the cavity (they can then be removed when the vehicle is being used with larger containers).

[0132] The distance pins 25 ensure that the efficiency of the container handling vehicle 501 can be optimized for the height of the storage container 106 being lifted. If the container handling vehicle 501 is to be used for taller storage containers, a shorter distance pin 25 can be installed to ensure that the container is not lifted higher than required to enter the cavity 26.

[0133] In an alternative embodiment, the distance pin 25 may be adjustable, i.e., instead of being replaceable, may have an adjustable height. An adjustable distance pin may be obtained, for example, by having a telescoping or collapsible distance pin.

[0134] Each of the container handling vehicles 501 includes four of the distance pins 25 positioned to interact with the lift frame 16 at four corner sections. The distance pins 25 may also be configured to stabilize the lift frame 16 and any storage containers 106 connected thereto when the lift frame 16 is in the upper position.

[0135] The configuration of the container handling vehicle 501 of the present invention allows for a highly efficient assembly method since the first section S1, the third section S3 and the majority of the components that make up the vehicle can constitute a pre-assembled vehicle module. - assembling a first section S1 of a vehicle frame 10, the first section S1 comprising: a first wheel 11a and a second wheel 11b of a first wheel set 11; A first drive motor 20a; A first wheel link 8, a first wheel 12a and a fourth wheel 12d of the second wheel set 12; and - assembling a third section S3 of the vehicle frame 10, the third section comprising: a third wheel 11c and a fourth wheel 11d of the first wheel set 11; A second drive motor 20b; and A second wheel link 9; a second wheel 12b and a third wheel 12c of the second wheel set 12; and - connecting a second section S2 of the vehicle frame 10 to a first section S1 of the vehicle frame 10 and to a third section S3 of the vehicle frame 10; - interconnecting the first wheel links 8 to the respective second wheel links 9 by means of first coupler links 14a and second coupler links 14b; may include.

[0136] 9A-9C are different views of the container handling vehicle of FIGS. 6-8, where the wheels connected to the wheel lifting mechanism are in the track of the rail system. In the illustrated embodiment, the first direction (x-direction) is the smaller dimension of the grid cell 130 compared to the second direction (y-direction). The extension of the container handling vehicle 501 is preferably less than two cells in the first direction (i.e., x-direction). This ensures that the container handling vehicle 501 is relatively compact and balanced in the first direction (x-direction) and the second direction (y-direction).

[0137] Figure 10 is an exploded view of the vehicle frame 10 of the container handling vehicle of Figures 6-9. As shown, the vehicle frame 10 includes a first vertical sub-frame 40 forming part of the first section S1 and a second vertical sub-frame 41 forming part of the third section S3. The container handling vehicle 501 also includes a horizontal upper member 42 forming part of the second section S2. The horizontal upper member 42 is configured to be disposed above the cavity 26 (cavity 26 is not shown in Figure 10, see e.g., Figure 7A).

[0138] The horizontal upper member 42 is connectable to the first vertical sub-frame 40 and the second vertical sub-frame 41. The first and second vertical sub-frames 40, 41 are configured to be positioned on opposite sides of the cavity 26.

[0139] The vehicle frame 10 is further disclosed, wherein a side cross-member 43 is configured to be disposed on an opposite side of the cavity 26. The side cross-member 43 may be a horizontal member connected to lower portions of the first and second vertical sub-frames 40, 41.

[0140] In the preceding description, various aspects of the independent claims are described. For purposes of explanation, specific numbers, systems, and configurations are set forth to provide a thorough understanding of the system and its operation. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments, as well as other embodiments of the system, that are apparent to those skilled in the art to which the disclosed subject matter pertains, are deemed to be within the scope of the present invention as defined in the appended claims.

[0141] (List of reference numbers)

[0142] [Table 1-1]

[0143] [Table 1-2]

Claims

1. A container handling vehicle (501) for operation on an automated storage and retrieval system (1), said automated storage and retrieval system (1) comprising a rail system (108) comprising a first set of rails (110) arranged to guide movement of the container handling vehicle (201, 301, 401) in a first direction (X) throughout the top of a framework structure (100), and a second set of rails (111) arranged perpendicular to the first set of rails (110) to guide movement of the container handling vehicle (201, 301, 401) in a second direction (Y) perpendicular to the first direction (X); The container handling vehicle is a vehicle frame (10) defining a first section (S1), a second section (S2), and a third section (S3) of the container handling vehicle arranged side by side, the first section (S1) being disposed on a first side of the second section (S2), and the third section being disposed on a second side opposite the second section (S2); a first set of wheels (11) for driving in said first direction (X); a second set of wheels (12) for driving in said second direction (Y); a first drive motor (20a) for driving one or more of said first set of wheels (11); a second drive motor (20b) for driving one or more of the first set of wheels (11); Equipped with The second drive motor (20b) is disposed in the third section (S3).

2. 2. A container handling vehicle according to claim 1, wherein the second section (S2) comprises a cavity (26) for accommodating a storage container (106).

3. the first set of wheels (11) comprises a first wheel (11a), a second wheel (11b), a third wheel (11c) and a fourth wheel (11d) for driving in the first direction (X); the second set of wheels (12) comprises a first wheel (12a), a second wheel (12b), a third wheel (12c), and a fourth wheel (12d) for driving in the second direction (Y); the first drive motor (20a) is for driving the first wheel (11a) and the second wheel (11b) of the first wheel set (11); the second drive motor (20b) is for driving the third wheel (11c) and the fourth wheel (11d) of the first wheel set (11); 2. The container handling vehicle according to claim 1, wherein the first wheel (11a) and the second wheel (11b) of the first wheel set (11) and the first drive motor (20a) are arranged in the first section (S1), and the third wheel (11c) and the fourth wheel (11d) of the first wheel set (11) and the second drive motor (20b) are arranged in the third section (S3).

4. 4. The container handling vehicle (501) according to claim 3, further comprising a third drive motor (20c) for driving the first wheel (12a) and the fourth wheel (12d) of the second wheel set (12), the third drive motor (20c) being arranged within the first section (S1).

5. 5. The container handling vehicle (501) according to claim 4, further comprising a fourth drive motor (20d) for driving the second wheel (12b) and the third wheel (12c) of the second wheel set (12), the fourth drive motor (20d) being arranged in the third section (S3).

6. A container handling vehicle (501) as described in claim 5, wherein the second wheel and the third wheel of the second wheel set are operatively connected to the fourth drive motor by a drive band.

7. The container handling vehicle (501) of claim 1, wherein the container handling vehicle is equipped with a first lifting device motor (28a), the first lifting device motor (28a) being arranged within the first section (S1).

8. The container handling vehicle is provided with a second lifting device motor (28b), 8. The container handling vehicle (501) according to claim 7, wherein the lifting device motor (28b) is arranged in the third section (S3).

9. 2. The container handling vehicle (501) of claim 1, wherein the second section provides a cavity (26) in which a storage container (106) can be accommodated, and the container handling vehicle (501) comprises a lifting device (15) in the second section (S2) for lifting and lowering the storage container (106) into the cavity (26), and the first wheel (12a) and the fourth wheel (12d) of the second wheel set (12) are arranged on a first side of the cavity (26), and the second wheel (12b) and the third wheel (12c) of the second wheel set (12) are arranged on an opposite second side of the cavity (26).

10. A container handling vehicle (501) as described in claim 9, wherein the vehicle frame includes a horizontally extending upper frame forming part of the second section, the horizontally extending upper frame being positioned above the lifting frame and the cavity.

11. 2. The container handling vehicle (501) of claim 1, wherein the first section (S1) has an occupied area (F1), the second section (S2) has an occupied area (F2), and the size ratio of the occupied area (F2) of the second section (S2) to the occupied area (F1) of the first section (S1) is at least 2:

1.

12. 2. The container handling vehicle (501) of claim 1, wherein the third section (S3) has an occupied area (F3), and the size ratio of the occupied area (F2) of the second section to the occupied area (F3) of the third section (S3) is at least 2:

1.

13. the first set of wheels (11) is arranged to be movable in a vertical direction (Z) relative to the vehicle frame (10) between an upper position in which the second set of wheels (12) allows movement of the vehicle (501) along the second direction (Y) and a lower position in which the first set of wheels (11) allows movement of the vehicle (501) along the first direction (X); Each of the third wheel (11c) and the fourth wheel (11d) of the first wheel set (11) is mounted on one of a pair of first wheel links (8), each first wheel link (8) having a first pivot coupling (3) and a second pivot coupling (4), and each first wheel link (8) is pivotally connected to the vehicle frame (10) by the first pivot coupling (3); Each of the first wheel (11a) and the second wheel (11b) of the first wheel set (11) is mounted on one of a pair of second wheel links (9), each second wheel link (9) having a third pivot coupling (29) and a fourth pivot coupling (30), and each first wheel link is pivotally connected to the vehicle frame (10) by the third pivot coupling (29); the first wheel link (8) and the second wheel link (9) are connected by a first coupler link (14a) via the respective second and fourth pivotal couplings (4, 30); the first wheel link (8) and the second wheel link (9) are connected by a second coupler link (14b) via the respective second and fourth pivotal couplings (4, 30); 10. The container handling vehicle (501) of claim 9, wherein the first coupler link (14a) and the second coupler link (14b) extend on opposite sides of the cavity (26) between the first side and the second side of the second section (S2).

14. the third section (S3) comprises actuator assemblies (6, 7) arranged to move the first wheel links (8) about the respective first pivotal couplings (3) between a first angular position and a second angular position, the movement of the first wheel links (8) being transmitted to the second wheel links (9) via the first coupler link (14a) and the second coupler link (14b); 14. A container handling vehicle (501) as described in claim 13, whereby the first wheel set (11) is in the upper position or the lower position when the first wheel link (8) is in the first angular position or the second angular position, respectively.

15. A container handling vehicle (501) as described in claim 13, wherein a first drive motor is fixed to one of the first wheel links, and the first drive shaft has a first end and a second end, and the first drive shaft extends through a centerline of the first drive motor, whereby the first end is operably connected to the first wheel of the first wheel set and the second end is operably connected to the second wheel of the first wheel set.

16. A container handling vehicle (501) as described in claim 15, wherein the first end is operably connected to the first wheel of the first wheel set by a drive band, and the second end is operably connected to the third wheel of the first wheel set by a drive band.

17. A container handling vehicle (501) as described in claim 13, wherein the first coupler link and the second coupler link are configured to move in the first direction toward the first wheel and the second wheel of the first wheel set, respectively, when the first wheel link is moved from a second angular position to a first angular position.

18. A container handling vehicle (501) as described in claim 13, wherein the first coupler link and the second coupler link are plate-shaped and provide a cover that closes the lower portions of the two sides of the container handling vehicle or provide a barrier to the cavity of the second compartment.

19. A container handling vehicle (501) as described in claim 13, wherein each of the first coupler link and the second coupler link is provided with a wheel recess for the wheel connected to the respective first wheel link.

20. A container handling vehicle (501) as described in claim 19, wherein each of the first coupler link and the second coupler link has a first end pivotally connected to the second pivotal coupling of the respective second wheel link, and a portion of the coupler link positioned above the wheel recess is pivotally connected to the second pivotal coupling of the respective first wheel link.

21. A container handling vehicle (501) as described in claim 13, wherein the first swivel coupling and the third swivel coupling are positioned at a level lower than the second swivel coupling and the fourth swivel coupling.

22. A container handling vehicle (501) as described in claim 13, wherein the first wheel link and the second wheel link are connected by the first coupler link and the second coupler link.

23. A container handling vehicle (501) as described in claim 22, wherein the first coupler link and the second coupler link function as both a force transmission element between wheel link arms and a cover closing the lower portions of the two sides of the container handling vehicle.

24. A container handling vehicle (501) as described in claim 1, wherein a rechargeable battery is disposed within the third section or the first section.

25. A container handling vehicle (501) as described in claim 24, wherein the container handling vehicle is provided with a set of electrodes for receiving power from a charging station, the electrodes being positioned within the third section and connected to the rechargeable battery within the third section.

26. A container handling vehicle (501) as described in claim 1, wherein the container handling vehicle is provided with a control unit located within the third section.

27. the first section (S1) comprises a first cross member (13a) that fixes the angular positions of the second wheel links (9) relative to one another, whereby the second wheel links (9) move together around their respective third pivotal joints (29); the third section (S3) comprises a second cross member (13b) that fixes the angular positions of the first wheel links (8) relative to one another, whereby the first wheel links (8) move together around their respective first pivotal joints (3); 15. The container handling vehicle (501) of claim 14, wherein the actuator assembly (6, 7) is operatively connected to a wheel lifting mechanism and is arranged to move the first wheel link (8) about its first pivotal joint (3) between the first angular position and the second angular position.

28. A container handling vehicle (501) as described in claim 27, wherein the first drive shaft and the first cross member and the second drive shaft and the second cross member are configured to move in parallel when the first wheel link and the second wheel link are moved between the first angular position and the second angular position.

29. 15. The container handling vehicle (501) of claim 14, wherein the actuator assembly comprises a wheel lift motor (6) or a linear actuator.

30. 15. The container handling vehicle (501) according to claim 14, wherein at least one of the first wheel links (8) comprises a fifth pivotal coupling (27) connected to the actuator assembly (6, 7).

31. the actuator assembly comprises an actuator link (7) pivotally connected to one of the first wheel links (8) for driving rotation of the first wheel link (8); 31. The container handling vehicle (501) of claim 30, wherein the actuator link is connected to the fifth pivotal connection of the at least one first wheel link.

32. A container handling vehicle (501) as described in claim 31, wherein the actuator link is part of a motion transmission assembly configured to convert or transmit linear motion of the actuator assembly into substantially linear motion acting on the fifth pivot joint of one of the first wheel links.

33. 15. The container handling vehicle (501) of claim 14, wherein the actuator assembly comprises an actuator link (7) pivotally connected to one of the first wheel links (8) for driving rotation of the first wheel link (8).

34. a first drive shaft (22a) disposed within the first section (S1) and interconnecting the first wheel links (8), the first drive shaft (22a) being operatively connected to drive the first wheel (11a) and the second wheel (11b) of the first wheel set (11); a second drive shaft (22b) disposed within the third section (S3) and interconnecting the second wheel links (9), the second drive shaft (22b) being operatively connected to drive the third wheel (11c) and the fourth wheel (11d) of the first wheel set (11); 15. The container handling vehicle (501) of claim 14, comprising:

35. A container handling vehicle (501) as described in claim 34, wherein the first drive shaft is operably connected to drive the first wheel and the second wheel via their respective drive bands.

36. A container handling vehicle (501) as described in claim 34, wherein the second drive shaft is operably connected to drive the third wheel and the fourth wheel via their respective drive bands.

37. A container handling vehicle (501) as described in claim 34, wherein the first drive shaft is connected to a first drive unit having an electric motor, whereby the rotational motion of the first drive shaft is transmitted to the first wheel and the second wheel of the first wheel set.

38. A container handling vehicle (501) as described in claim 34, wherein the second drive shaft is connected to a second drive unit having an electric motor, whereby the rotational motion of the second drive shaft is transmitted to the third wheel and the fourth wheel of the first wheel set.

39. 15. The container handling vehicle (501) of claim 14, wherein the vehicle frame (10) comprises a first vertical sub-frame (40) forming part of the first section (S1), a second vertical sub-frame (41) forming part of the third section (S3), and a horizontal upper member (42) forming part of the second section (S2), the horizontal upper member (42) being positioned above the cavity (26).

40. 40. The container handling vehicle (501) of claim 39, wherein the horizontal upper member (42) is connected to the first vertical sub-frame (40) and the second vertical sub-frame (41).

41. 41. A container handling vehicle (501) according to claim 40, wherein the vehicle frame (10) comprises lateral cross-members (43) located on opposite sides of the cavity (26).

42. A container handling vehicle (501) as described in claim 41, wherein the side cross members may be horizontal members connected to lower portions of the first vertical subframe and the second vertical subframe.

43. A container handling vehicle (501) as described in claim 41, wherein the side cross members form a cross connection connected to a lower portion of one of the first vertical subframe and the second vertical subframe and an upper portion of the other of the first subframe and the second vertical subframe.

44. A container handling vehicle (501) as described in claim 1, wherein at least one of the first set of wheels and the second set of wheels is configured to be raised and lowered, whereby the first set of wheels and / or the second set of wheels can engage with their respective sets of rails at any point in time.

45. A container handling vehicle (501) as described in claim 1, wherein the first section and the third section are separated by the second section.

46. A container handling vehicle (501) as described in claim 1, wherein the first section, the second section and the third section are arranged side by side with the next section in a horizontal plane.

47. A container handling vehicle comprising a first section (S1), a second section (S2) and a third section (S3), wherein the first section (S1) and the third section (S3) are provided with drive motors (20a, 20b) on hinged wheel assemblies for driving wheels disposed within the respective first section (S1) and third section (S3), and the hinged wheel assemblies of the first section (S1) and the third section (S3) are connectable to opposite sides of the second section (S2).

48. 1. An automated storage and retrieval system comprising a container handling vehicle (501) according to any of the preceding claims, the automated storage and retrieval system comprising a framework structure (100) having a plurality of storage rows (105) for accommodating vertical stacks of storage containers (106), the framework structure (100) having a rail system (108) on which the container handling vehicle (501) can move in two perpendicular directions above the storage rows (105).

49. A method of assembling a container handling vehicle according to any one of claims 1 to 47, said method comprising: Assembling the first section (S1) of the vehicle frame (10), the first section (S1) comprising: the first wheel (11a) and the second wheel (11b) of the first wheel set (11); the first drive motor (20a); the first wheel link (8); the first wheel (12a) and the fourth wheel (12d) of the second wheel set (12); a step; Assembling the third section (S3) of the vehicle frame (10), the third section comprising: the third wheel (11c) and the fourth wheel (11d) of the first wheel set (11); the second drive motor (20b); the second wheel link (9); the second wheel (12b) and the third wheel (12c) of the second wheel set (12); a step; connecting the second section (S2) of the vehicle frame (10) to the first section (S1) of the vehicle frame (10) and to the third section (S3) of the vehicle frame (10); interconnecting the first wheel links (8) to the respective second wheel links (9) by the first coupler links (14a) and the second coupler links (14b); A method comprising:

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