Rail vehicle

Abstract

A rail vehicle for moving horizontally at right angles to each other on a rail system, the rail system comprising a first set of rails parallel to a first direction and a second set of rails parallel to a second direction (Y) perpendicular to the first direction (X), the rail vehicle comprising a vehicle frame, a rail engagement support, and a plurality of wheel modules configured to move the vehicle on the rail system, each wheel module comprising a wheel having a horizontal axis of rotation, the wheel module enabling the wheel to pivot 90 degrees about a vertical axis such that the direction of rotation of the wheel can be switched between the first direction (X) and the second direction (Y), the wheel module and the rail engagement support being vertically movable relative to each other between a first position and a second position so as to engage and disengage the wheel with and from the rail.

Description

Technical Field

[0001] The present invention relates to a rail vehicle, an automatic storage and retrieval system including the rail vehicle, and a method for changing the traveling direction of the rail vehicle.

Background Art

[0002] FIG. 1 discloses a prior art automatic storage and retrieval system 1 together 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.

[0003] The framework structure 100 includes an upright member 102 and a storage volume including storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106, also known as bins, are stacked on top of each other to form a stack 107. The member 102 can usually be made of metal, for example, an aluminum extrusion profile.

[0004] The framework structure 100 of the automatic storage and retrieval system 1 includes a horizontal grid base rail system 108 (i.e., rail grid) disposed across the upper part of the framework structure 100. On the rail system 108, a plurality of container handling vehicles 201, 301, 401 are operated to lift the storage container 106 from the storage column 105, lower the storage container 106 into the storage column 105, and can also be operated to transport the storage container 106 above the storage column 105. The rail system 108 includes a first set of parallel rails 110 disposed across the upper part of the framework structure 100 to guide the movement of the container handling vehicles 201, 301, 401 in the first direction X, and a second set of parallel rails 111 disposed perpendicular to the first set of rails 110 to guide the movement of the container handling vehicles 201, 301, 401 in the second direction Y perpendicular to the first direction X. The container 106 stored in the column 105 is accessed by the container handling vehicles 201, 301, 401 through the access opening 112 in the rail system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage column 105, i.e., in a plane parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the framework structure 100 can be used to guide the storage container while lifting the container from the column 105 and lowering the container into the column 105. The stack 107 of containers 106 is usually self-supporting.

[0006] Each of the prior art container handling vehicles 201, 301, 401 includes a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c, and the first and second sets enable lateral movement of the container handling vehicles 201, 301, 401 in the X and Y directions, respectively. In FIGS. 2, 3, and 4, all two wheels of each set can be seen. The first set of wheels 201b, 301b, 401b is arranged to engage two adjacent rails of the first set of rails 110, and the second set of wheels 201c, 301c, 401c is arranged to engage two adjacent rails of the second set of rails 111. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered, whereby the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can be engaged with their respective sets of rails 110, 111 at any time.

[0007] Each of the prior art container handling vehicles 201, 301, 401 also includes a lift device 404 (i.e., a container lift device) (see FIG. 4) for vertical transportation of the storage container 106, and the lift device 404, for example, raises the storage container 106 from the storage column 105 and lowers the storage container 106 into the storage column. The lift device 404 features a lift frame 404d that includes a container connector 404b and a guide pin 404c adapted to engage the storage container 106. The lift frame 404d can be lowered from the vehicles 201, 301, 401, whereby the position of the lift frame 404d relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z that is orthogonal to the first direction Y and the second direction X. The lift device of the container handling vehicle 201 is located within the vehicle body 201a in FIG. 2.

[0008] To raise or lower the lift frame 404d (and optionally the connected storage container 106), the lift frame 404d is suspended from the band drive assembly by a lift band 404a. In the band drive assembly, the lift band is generally wound onto / unwound from at least one rotating lift shaft or reel disposed within the container handling vehicle. Various designs of the band drive assembly are described, for example, in International Patent Application Publication No. 2015 / 193278 (Patent Document 1), International Patent Application Publication No. 2017 / 129384, and International Patent Application Publication No. 2019 / 206438.

[0009] Conventionally, for the purposes of this application as well, Z = 1 identifies the uppermost layer available for storage containers below the rails 110, 111, i.e., the layer immediately below the rail system 108, Z = 2 identifies the second layer below the 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 lowermost layer at the bottom of the storage container. Similarly, X = 1 ··· n and Y = 1 ··· n identify the positions of each storage column 105 in the horizontal plane. Thus, as an example, using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106' in FIG. 1 occupies the storage position X = 17, Y = 1, Z = 6. The container handling vehicles 201, 301, 401 can be said to travel within the layer Z = 0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in FIG. 1 that extend above the rail system 108 are also said to be disposed in the layer Z = 0.

[0010] The storage volume of the framework structure 100 is often referred to as a grid, and the possible storage positions within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, and each storage cell can be identified by the container numbers in the X, Y, and Z directions.

[0011] When transporting the storage container 106 across the rail system 108, each of the conventional container handling vehicles 201, 301, 401 is provided with a storage compartment or storage space for receiving and storing the storage container 106. The storage space is shown in FIGS. 2 and 4 and may comprise a cavity arranged inside the vehicle bodies 201a, 401a, as described, for example, in International Patent Application Publication No. 2015 / 193278 and International Patent Application Publication No. 2019 / 206487, the contents of which are incorporated herein by reference.

[0012] FIG. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail, for example, in Norwegian Patent No. 317366, the contents of which are also incorporated herein by reference.

[0013] The cavity container handling vehicle 201 shown in FIG. 2 may have an occupancy area covering an area having dimensions in the X and Y directions that are approximately equal to the lateral extent of the storage column 105, as described, for example, in International Patent Application Publication No. 2015 / 193278, the contents of which are incorporated herein by reference. As used herein, the term "lateral" may mean "horizontal".

[0014] Alternatively, the cavity container handling vehicle 401 may have an occupancy area larger than the lateral area defined by the storage column 105 as shown in FIGS. 1 and 4, as disclosed, for example, in International Patent Application Publication No. 2014 / 090684 (Patent Document 2) or International Patent Application Publication No. 2019 / 206487.

[0015] The lateral area defined by the storage column is equal to the lateral area defined by the grid cell 122 of the rail system 108. The lateral area of the grid cell includes the area of the access opening 112 and half the width of the rail around the access opening.

[0016] The rail system 108 typically comprises rails having grooves in which the wheels of the vehicle run. Alternatively, the rails may comprise upwardly projecting elements and the wheels of the vehicle are provided with flanges to prevent derailment. These grooves and upwardly projecting elements are collectively known as the track. Each rail may comprise one track or each of the rails 110, 111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g., the X direction) may comprise one track and each rail in the other perpendicular direction (e.g., the Y direction) may comprise two tracks. Each of the rails 110, 111 may comprise two track members fastened together, each track member providing one of a pair of tracks provided by each rail.

[0017] International Patent Application Publication No. 2018 / 146304, the content of which is incorporated herein by reference, shows a typical configuration of a rail system 108 comprising rails in both the X and Y directions and parallel tracks.

[0018] In the framework structure 100, most of the columns 105 are storage columns 105, that is, columns 105 in which the storage containers 106 are stored in the stack 107. However, some of the columns 105 may have other purposes. In FIG. 1, columns 119 and 120 are dedicated columns used by the container handling vehicles 201, 301, 401 to drop off and / or pick up the storage containers 106, whereby the storage containers can be transported to an access station (not shown) where the storage container 106 can be accessed from outside the framework structure 100, or can be transferred out of or into the framework structure 100. In the art, such a location is usually referred to as a "port", and the column where this port is located can be referred to as the "port columns" 119, 120. The transport to the access station can be in any direction, horizontal, inclined, and / or vertical. For example, the storage container 106 is placed randomly within the framework structure 100 or within a dedicated column 105, and then picked up by any of the container handling vehicles and transported to the port columns 119, 120 for further transport to the access station. The transport from the port to the access station may require movement along various different directions by means such as delivery vehicles, trolleys, or other transport lines. Note that the term "inclined" means the transport of the storage container 106 having a general transport direction somewhere between horizontal and vertical.

[0019] In FIG. 1, the first port column 119 can be a dedicated drop-off port column where, for example, the container handling vehicles 201, 301, 401 can drop off the storage containers 106 to be transported to an access station or a transfer station, and the second port column 120 can be a dedicated pick-up port column where the container handling vehicles 201, 301, 401 can pick up the storage containers 106 transported from an access station or a transfer station.

[0020] The access station can typically be a picking station or a stocking station, and product items are removed from or placed into the storage container 106. At the picking or stocking station, when the storage container 106 is accessed, it is usually not removed from the automated storage and retrieval system 1 but is returned back into the framework structure 100. The ports can also be used to transfer the storage container to another storage facility (e.g., to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a manufacturing facility.

[0021] A conveyor system with multiple conveyors is typically employed to transport the storage container between the port columns 119, 120 and the access station.

[0022] When the port columns 119, 120 and the access station are located in different planes, the conveyor system can include a lift device having a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0023] The conveyor system can be arranged to transfer the storage container 106 between different framework structures, as described, for example, in International Patent Application Publication No. WO 2014 / 075937, the content of which is incorporated herein by reference.

[0024] When the storage container 106 stored within one of the columns 105 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container 106 from its location and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201, 301, 401 to a location above the storage column 105 where the target storage container 106 is located, using the lift device 404 of the container handling vehicle 201, 301, 401 to retrieve the storage container 106 from the storage column 105, and transporting the storage container 106 to the drop-off 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 disposed above the target storage container 106, the operation also involves temporarily moving the storage containers disposed above before lifting the target storage container 106 out of the storage column 105. This step, sometimes referred to in the art as "digging," can be performed by the same container handling vehicle that will later be used to transport the target storage container to the drop-off port column 119, or by 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 specialized for the task of temporarily removing the storage container 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 can be repositioned in the original storage column 105. However, the removed storage container 106 can alternatively be moved to another storage column 105.

[0025] If storage container 106 is to be stored in one of columns 105, one of container handling vehicles 201, 301, 401 is instructed to pick up storage container 106 from pickup port column 120 and transport the storage container to a location above the storage column 105 where the storage container is to be stored. After any storage container 106 located at or above the target position within stack 107 has been removed, container handling vehicles 201, 301, 401 place storage container 106 at the desired position. The removed storage container 106 can then be lowered back into storage column 105 or moved to another storage column 105.

[0026] To monitor and control automated storage and retrieval system 1, for example, the location of each storage container 106 within framework structure 100, the contents of each storage container 106, and the movement of container handling vehicles 201, 301, 401, and to enable container handling vehicles 201, 301, 401 to deliver the desired storage container 106 to the desired location at the desired time without colliding with each other, automated storage and retrieval system 1 typically comprises a computerized control system 500, typically with a database for continuously tracking storage containers 106.

[0027] The prior art container handling vehicles 201, 301, 401 described above are characterized by a wheel assembly that enables very rapid changes in movement between the x and y directions on a rail system. This is highly advantageous in a vehicle that undergoes multiple changes in its direction of movement in order to follow a transport route when performing the task of efficiently removing and storing a single storage container. However, the prior art wheel assembly is somewhat complex and requires, for example, eight wheels and at least two wheel drive motors.

[0028] Other types of vehicles operating on the rail system as described above, i.e., rail vehicles, can be configured to perform various tasks where the speed of changing the direction of movement is not an important issue for efficiency.

[0029] In view of the above, it is desirable to provide a rail vehicle in which the wheel assembly is less complex and / or more cost - efficient.

Prior Art Documents

Patent Documents

[0030]

Patent Document 1

Patent Document 2

Summary of the Invention

Means for Solving the Problems

[0031] The present invention is defined by the appended claims and as follows.

[0032] In a first aspect, the present invention provides a rail vehicle for moving on a rail system in two mutually perpendicular horizontal directions, the rail system comprising a first set of rails parallel to a first direction and a second set of rails parallel to a second direction perpendicular to the first direction, the rail vehicle comprising - a vehicle frame, - a rail engagement support for supporting the vehicle on the rail system, - a plurality of wheel modules configured to move the vehicle on the rail system and comprising, each wheel module comprising a wheel having a horizontal axis of rotation, the wheel module enabling the wheel to pivot 90 degrees about a vertical axis such that the direction of rotation of the wheel can be switched between the first direction and the second direction, the wheel module and the rail engagement support being vertically movable relative to each other between a first position and a second position. In the first position, the wheels are arranged to engage the rails of the rail system, the rail engagement support is remote from the rail system, (alternatively, in the first position, the lower level of the wheels is disposed below the lower portion of the rail engagement support such that the wheels can engage the rail system while the rail engagement support is remote from the rail system), and In the second position, the rail engagement support is arranged to engage the rails of the rail system, the wheels are lifted away from the rail system (alternatively, in the second position, the lower portion of the rail engagement support is below the lower level of the wheels such that the rail engagement support can engage the rail system while the wheels are lifted away from the rail system), whereby each of the wheels can be pivoted about the vertical axis of the wheel module to switch the rotational direction of the wheels between a first direction and a second direction.

[0033] Each of the rails may comprise at least one wheel track, and the rail engagement support may be configured to support the vehicle via the first or second set of wheel tracks of the rail.

[0034] The rail system may also be referred to as a horizontal rail system.

[0035] The wheel module and the rail engagement support are vertically movable relative to each other between the first position and the second position in that the wheel module or the rail engagement support is vertically movable relative to the rail engagement support and the wheel module, respectively, such that the wheel module and the rail engagement support can move between the first position and the second position.

[0036] In one embodiment of the rail vehicle, the wheel module may be disposed at a level fixed relative to the vehicle frame, while the rail engagement portion is vertically movable relative to the wheel module and the vehicle frame, whereby the wheel module and the rail engagement support are vertically movable relative to each other between the first position and the second position.

[0037] In the second position, the rail engagement support may be configured to contact the first or second set of parallel rails. The rail engagement support may have a lower portion configured to fit into the wheel tracks of the first or second set of parallel rails.

[0038] In one embodiment of the rail vehicle, the rail engagement support is configured to hold the vehicle frame at a predetermined level with respect to the rail system when in the second position. When the vehicle frame is held at the predetermined level, the wheels of the wheel module are disposed above the rail system and can be pivoted about a vertical axis to change the direction of rotation of the wheels between a first direction and a second direction.

[0039] In one embodiment of the rail vehicle, the rail engagement supports may be disposed on both sides of the vehicle frame. The rail engagement supports may be disposed on two opposite side surfaces of the vehicle frame.

[0040] In one embodiment, the rail vehicle may have four lower corner sections, and the wheel modules may be disposed at each of the lower corner sections.

[0041] In one embodiment of the rail vehicle, each of the rail engagement supports may comprise a lower portion having a width equal to or smaller than the width of the wheels.

[0042] In one embodiment of the rail vehicle, the rail engagement supports on each of the two opposite side surfaces of the vehicle frame may be disposed between two wheel modules, i.e., the rail vehicle may have two wheel modules disposed on each of the two opposite side surfaces. The rail engagement support may be disposed in a vertical plane including the wheels of the two wheel modules, and the rail engagement support is disposed between those wheel modules when the rotational directions of the two wheels are in a first direction or a second direction.

[0043] In one embodiment of a rail vehicle, the rail engagement support may be connected to an actuator assembly configured to move the vehicle rail support and the wheels vertically relative to each other, the actuator assembly comprising at least one actuator. The actuator may be a rotary actuator or a linear actuator such as an electric rotary motor or an electric linear actuator.

[0044] In one embodiment of a rail vehicle, the rail engagement support is vertically movable relative to the vehicle frame and the wheel module. The wheel module and the corresponding wheels may be at a level fixed relative to the vehicle frame.

[0045] In one embodiment of a rail vehicle, the actuator assembly may be configured to move the rail engagement support vertically relative to the vehicle frame. In other words, the actuator assembly may be configured to move the vehicle rail support such that the lower portion of the vehicle rail support is vertically displaced.

[0046] In one embodiment of a rail vehicle, each of the rail engagement supports may be provided by a portion of a lever arm, and the actuator assembly is configured to pivot the lever arm between a first position and a second position to vertically displace the portion of the lever arm providing the rail engagement support relative to the vehicle frame.

[0047] In one embodiment of a rail vehicle, the actuator assembly may comprise a connection arrangement on each of two opposite sides of the vehicle frame, each connection arrangement being coupled to at least one of the rail engagement supports, the connection arrangements being interconnected by a horizontal shaft such that the rail engagement supports are configured to move between a first position and a second position as the shaft rotates.

[0048] In one embodiment, the rail vehicle may include a wheel turning assembly configured to simultaneously turn the wheels around the corresponding vertical axes such that the rotation direction of the wheels can be rotated by 90 degrees, that is, the rotation direction of the wheels can be switched between a first direction and a second direction. The term "rotation direction" is intended to mean the direction in which the wheels can travel during rotation.

[0049] In one embodiment of the rail vehicle, the wheel turning assembly may include a plurality of vertical shafts, each shaft being connected to a corresponding wheel module, and the shaft being rotatable by a wheel turning actuator to turn the wheel around the corresponding vertical axis.

[0050] In one embodiment of the rail vehicle, the wheel turning assembly may include a link interconnecting the plurality of vertical shafts and the wheel turning actuator, the link being configured to convert the movement of the wheel turning actuator into a rotational movement of the vertical shaft. Each of the shafts may include a lever element configured to convert the linear movement from the link into a rotational movement of the shaft.

[0051] The link and the lever element may be configured such that two of the shafts rotate in the opposite direction to the remaining two shafts.

[0052] In one embodiment of the rail vehicle, at least one of the wheel modules may include an electric motor for driving each wheel of the wheel module.

[0053] In one embodiment of the rail vehicle, at least one of the wheel modules may include a sensor for detecting the wheels with respect to the rail system and thus the position of the rail vehicle.

[0054] In one embodiment of the rail vehicle, each wheel module may include a single wheel.

[0055] In a second embodiment, the present invention provides a container handling system comprising a rail vehicle and a rail system, the rail system comprising a first set of rails parallel to a first direction and a second set of rails parallel to a second direction perpendicular to the first direction, the rail vehicle comprising - a vehicle frame, - a rail engagement support for supporting the vehicle on the rail system, - a plurality of wheel modules configured to move the vehicle on the rail system and comprising, each wheel module comprising a wheel having a horizontal axis of rotation, the wheel module enabling the wheel to pivot 90 degrees about a vertical axis such that the direction of rotation of the wheel can be switched between the first direction and the second direction, the wheel module and the rail engagement support being vertically movable relative to each other between a first position and a second position, in the first position, the wheels engage the rails of the rail system and the rail engagement support is disposed above the rail system, in the second position, the rail engagement support engages the rails of the rail system and the wheels are disposed above the rail system, whereby each of the wheels can be pivoted about the vertical axis of the wheel module to switch the direction of rotation of the wheel between the first direction and the second direction.

[0056] The term "container handling system" is intended to encompass any type of handling system comprising any type of item, article or commodity that can contain a growing medium in which plants can be cultivated, and any type of container, bin or frame that can contain such items. In the latter case, the container handling system can be used for vertical farming.

[0057] In one embodiment of the container handling system, each rail of the first set of parallel rails and the second set of parallel rails may include at least one wheel track for guiding wheels when in a first position, and each of the rail engagement supports includes a lower portion configured to fit inside one of the wheel tracks when the rail engagement support is in a second position. The width of the lower portion of the rail engagement support may be equal to or less than the width of the wheel track. When the rail engagement support is in the second position, the rail vehicle may be supported on the upward-facing surface of the wheel track via the lower portion of the rail engagement support.

[0058] In one embodiment, the container handling system may include a vertical column profile that supports the rail system from below, and the column profile defines a plurality of storage columns in which containers can be stacked on top of each other.

[0059] In a further embodiment of the container handling system, the rail vehicle can be a rail vehicle according to any embodiment of the first aspect of the present invention.

[0060] In one embodiment of the container handling system, each storage column is defined by four of the vertical column profiles.

[0061] In one embodiment of the container handling system, the first and second sets of rails can provide a horizontal grid-based rail system that defines a plurality of grid cells.

[0062] In one embodiment of the container handling system, the footprint of the rail vehicle can be the size of approximately 2×2 grid cells of the rail system. The grid cell can be defined as the cross-sectional area between the vertical center planes of opposing rails extending in the X direction and the vertical center planes of opposing rails extending in the Y direction.

[0063] The grid cell opening can be defined as the open cross-sectional area between two opposing rails extending in a first direction and two opposing rails extending in a second direction.

[0064] In a third aspect, the present invention provides a method for changing the traveling direction of a rail vehicle operating on a rail system, the rail system comprising a first set of rails parallel to a first direction and a second set of rails parallel to a second direction perpendicular to the first direction, the rail vehicle comprising: - a vehicle frame; - a rail engagement support for supporting the vehicle on the rail system; - a plurality of wheel modules configured to move the vehicle on the rail system wherein each wheel module comprises a wheel having a horizontal axis of rotation, and the wheel module enables the wheel to pivot 90 degrees about a vertical axis such that the wheel can switch its direction of rotation between the first and second directions. The wheel module and the rail engagement support are vertically movable relative to each other between a first position and a second position. In the first position, the wheels are arranged to engage the rails of the rail system and the rail engagement support is spaced from the rail system. In the second position, the rail engagement support is arranged to engage the rails of the rail system and the wheels are lifted away from the rail system, whereby the wheels can pivot about a vertical axis to change their direction of rotation between the first and second directions. The method comprises: - moving the rail vehicle in a first direction on the rail system; - stopping the rail vehicle; - moving the wheel module and the rail engagement support relative to each other from the first position to the second position; - pivoting the wheels 90 degrees about a vertical axis so that the wheels switch their direction of rotation from the first direction to the second direction; - moving the wheel module and the rail engagement support from the second position to the first position; - moving the rail vehicle in a second direction on the rail system. ​ including

[0065] In one embodiment of the method, the container handling system can be according to any of the embodiments of the second aspect of the present invention.

[0066] In a fourth aspect, the present invention provides a rail vehicle for moving horizontally in two perpendicular directions on a rail system, the rail system comprising a first set of rails parallel to a first direction and a second set of rails parallel to a second direction perpendicular to the first direction, the vehicle comprising wheels for engaging the rails, the wheels having a horizontal rolling axis and being arranged to guide the vehicle along the rails in either the first direction or the second direction, the wheels being arranged to pivot 90 degrees about a vertical axis in order to change the direction of movement of the vehicle by switching the wheels from rolling on one set to the other set of rails, the vehicle being provided with a rail engagement support, the rail engagement support being arranged to be lowered so as to engage the rails in order to lift the wheels off the rails when the wheels are pivoted about the vertical axis.

[0067] In one embodiment of the fourth aspect, the rail vehicle can be a storage container handling vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Embodiments of the present invention will be described in detail by way of example only with reference to the following drawings.

[0069]

Figure 1

[0070]

Figure 2

[0071]

Figure 3

[0072]

Figure 4

[0073]

Figure 5

Figure 6

[0074]

Figure 7

[0075]

Figure 8

[0076]

Figure 9

Figure 10

Figure 11

Figure 12

[0077]

Figure 13

[0078]

Figure 14

[0079]

Figure 15

[0080]

Figure 16

[0081] Embodiments of the present invention are discussed in more detail below with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter shown therein.

[0082] As described above, the wheel assemblies of the prior art container handling vehicles 201, 301, 401 are somewhat complex and require, for example, eight wheels and at least two wheel drive motors to enable movement in both the first direction X and the second direction Y on the rail system 108.

[0083] The present invention provides an alternative type of rail vehicle. The rail vehicle is for operating on the rail system 108 and can be configured to perform various tasks where the speed of changing the direction of movement is not an important issue for efficiency. Such a rail vehicle can be configured, for example, to retrieve a plurality of storage containers from the same storage column 105, to retrieve / store a growing frame in a vertical farming system, and / or to transport a human operator.

[0084] The rail vehicle according to the present invention is intended for use in an automated storage and retrieval system, also called a container handling system, having a framework structure 100 as described above in connection with FIGS. 1-3. The framework structure 100 comprises a plurality of upright members 102 (i.e., vertical column profiles) and a rail system 108 forming a rail grid extending in a first direction X and a second direction Y. The rail system 108 is characterized by a first set of rails 110 parallel to the first direction and a second set of rails 111 parallel to the second direction. Each rail has at least one wheel track 16 (see FIG. 8). The upright members 102 define storage columns 105 on which containers 106 can be stacked on top of each other. The containers of the automated storage and retrieval system can be configured to perform various functions such as storage of items and goods and growing modules for plants. In the latter case, the automated storage and retrieval system can also be called a vertical farming system.

[0085] A first exemplary embodiment of the rail vehicle 2 according to the present invention is shown in FIGS. 5-14.

[0086] The rail vehicle 2 has a vehicle frame 3, a rail engagement support 4 for supporting the vehicle on the rail system 108 (see FIGS. 7-12), and four wheel modules 5 configured to move the vehicle on the rail system 108. The rail engagement supports 4 are arranged on both sides of the vehicle frame 3.

[0087] The wheel modules 5 are arranged at the lower corner sections 14 of the vehicle frame 3. Each wheel module 5 comprises a wheel 6 having a horizontal axis of rotation, and the wheel 6 is enabled to pivot 90 degrees about a vertical axis so that the wheel can switch its direction of rotation between the first direction X and the second direction Y on the rail system 108.

[0088] The exploded view of the wheel module 5 is shown in FIG. 13. The illustrated wheel module 5 features an electric wheel motor 11, a wheel 6, and a sensor 12. The wheel motor is coupled to the wheel 6 via an assembly of a drive band 18 and a drive wheel 19. In an alternative embodiment, the wheel motor 11 can be directly connected to the wheel and / or can be an integrated wheel hub motor. The sensor 12 is configured to detect the position of the wheel module 5 relative to the rail system 108. Each of the wheel modules 5 is pivotally connected to the lower end of the vertical profile 20 of the vehicle frame 3.

[0089] In the illustrated rail vehicle 2, each of the four wheel modules 5 is provided with a wheel motor 11 and a sensor 12. However, in an alternative embodiment, it is sufficient for at least one of the wheel modules 5 to have a wheel motor 11 if the required movement of the rail vehicle 2 can be obtained. Similarly, depending on the configuration of the sensors, only one of the wheel modules may be required to characterize the sensor 12.

[0090] During the movement of the rail vehicle 2 on the rail system, the wheels are guided by the first or second set of wheel tracks 16 of the rails 110, 111. The wheel tracks 16 are defined by a flange 21 that extends between the rail intersections 22 of the rail system 108. To obtain optimal guidance of the wheel 6, the flange 21 extends as far as possible without impeding the movement of the wheel through the rail intersection 22. In order to pivot the wheel module 5 while the wheel 6 is in contact with the rail system 108, the diameter of the wheel would have to be very small or the flange would have to be shorter. Neither of these solutions is optimal. For example, smaller wheels provide less traction and a lower tolerance for small irregularities in the rail system 108, and a shorter flange 21 does not provide sufficient guidance for the wheel 6.

[0091] Thus, in order to enable the wheel module 5 to pivot and switch the traveling direction of the rail vehicle 2, the rail engagement support 4 is vertically movable relative to the wheel module 5 between a first position and a second position. Note that in the illustrated embodiment, the rail engagement support 4 is vertically movable relative to the vehicle frame 3 and the wheel module 5. However, in an alternative embodiment, the opposite configuration may be used (i.e., by having a wheel module 5 vertically movable relative to the vehicle frame 3 and a rail engagement support 4 fixed thereto).

[0092] In the first position (see FIGS. 9 and 12), the wheels 6 are arranged to engage the rail system 108, and the rail engagement support 4 is remote from the rail system (i.e., above the flange 21 of the rail system). In other words, the lower level of the wheels 6 is disposed below the lower portion 7 of the rail engagement support 4 such that the wheels 6 can engage the rails of the rail system 108 while the rail engagement support 4 is remote from the rail system 108.

[0093] In the second position (see FIGS. 10 and 11), the rail engagement support 4 is arranged to engage the rails of the rail system, and the wheels 6 are lifted away from the rail system 108, whereby the wheels 6 can pivot about a vertical axis to change the direction of rotation between a first direction X and a second direction Y. In other words, the lower portion 7 of the rail engagement support 4 is below the lower level of the wheels 6, whereby the rail engagement support 4 can engage the rails of the rail system while the wheels 6 are lifted away from the rail system to enable the rail engagement support 4 to pivot about a vertical axis without the wheels interacting with the rail system. The wheels 6 are pivoted by operating a wheel pivoting assembly as discussed below.

[0094] In the second position, the rail engagement support 4 is configured to hold the vehicle frame 3 at a fixed level relative to the rail system 108. Each of the rail engagement supports 4 has a lower portion 7 that fits within the wheel track 16 when the rail engagement support 4 is in the second position. In other words, the lower portion has a width equal to or smaller than the width of the wheel track 16. The rail engagement support 4 can be seen as a set of feet that are lowered relative to the vehicle frame to lift the rest of the rail vehicle 2 and its wheel modules 5 off the rails of the rail system 108.

[0095] Having the vehicle supported in this way provides optimal stability of the vehicle in the second position and further avoids potential damage to the flanges 21 of the rails 110, 111. In the illustrated embodiment, the rail engagement support 4 comprises a lever arm 15 that is moved to the second position in an arc motion. To reduce the friction between the lower portion 7 of the rail engagement support 4 and the rail during this movement, the lower portion is in the form of a small wheel. The lower portion can have any shape or configuration in other embodiments that allows the lower portion 7 to slide or move along the rail while ultimately moving arcuately towards the second position. For example, it should be noted that in a further embodiment where the rail engagement support 4 is moved to the second position in a straight vertical direction, the lower portion 7 does not need to slide along the rail.

[0096] The rail engagement support 4 is connected to an actuator assembly configured to move the rail engagement support 4 vertically relative to the vehicle frame 3 and the wheel module 5. The actuator assembly includes an electric motor 13 (i.e., the actuator), a connection arrangement 23 on each of two opposing sides of the vehicle frame 3, and a shaft 17 interconnecting the two connection arrangements 23. Each of the connection arrangements is coupled to two lever arms 15, and is configured such that when the shaft 17 is rotated by operating the motor 13, the lever arms 15 pivot between a first position and a second position. In an alternative embodiment, the actuator assembly may have any configuration suitable for vertically moving the rail engagement support 4 between a first position and a second position, for example by use of at least one electric linear actuator.

[0097] When the wheel module 5 is in the second position, the rail vehicle 2 is characterized by a wheel turning assembly configured to simultaneously turn the wheels 6 about corresponding vertical axes in order to switch the rotational direction of the wheels 6 by 90 degrees. The wheel turning assembly includes four vertical shafts 8, each shaft being connected to a corresponding wheel module 5. The shafts 8 extend from the wheel modules through a vertical profile 20 to the upper level of the vehicle frame 3. The upper end of the vertical profile 20 is coupled to an electric motor 9 (i.e., the wheel turning actuator) via a set of links 10 and a lever 24. The links 10, lever 24, and electric motor 9 are configured to rotate the shafts 8 such that the wheels turn simultaneously about the corresponding vertical axes when the electric motor 9 is operated. In the illustrated embodiment, the centerline of the shafts 8 is in line with the vertical axis. In other embodiments, the centerline of the shafts 8 may be parallel to the vertical axis (e.g., by transmitting the rotational movement of the shafts to the wheel modules by means of gears and / or drive bands).

[0098] The first exemplary rail vehicle 2 is a container handling vehicle equipped with a lift device suitable for retrieving / storing the storage container 106 (see FIG. 14) from / to the storage column 105 of the automatic storage and retrieval system as described above.

[0099] The lift device features a lift frame 25 similar to the lift frame 404d of the prior art container handling vehicle described above. The lift frame 25 is configured to be horizontally movable within the rail vehicle between a position above the access opening 26 and a position above the storage section 27 (see FIG. 6). When disposed above the access opening 26, the lift frame can be lowered into the storage column 105. In this way, the lift device can store the storage container 106 in the storage section 27 within the rail vehicle 2 and can be used to retrieve / store the storage container 106 from / to the storage column 105.

[0100] A second exemplary embodiment of the rail vehicle 2' according to the present invention is shown in FIG. 15.

[0101] The rail vehicle 2' has most of the common features of the rail vehicle 2 described above, but instead of being configured to handle storage containers, it is configured to carry a human operator 28 on the rail system 108.

[0102] A third exemplary embodiment of the rail vehicle 2'' according to the present invention is shown in FIG. 16.

[0103] The rail vehicle 2'' has most of the common features of the rail vehicle 2 described above, but instead of being configured to handle storage containers, it is composed of a lift device 29 for a container formed as a vertical frame having a growing medium for cultivating plants. The rail vehicle 2'' is for use in the automatic storage and retrieval system described above configured for vertical farming.

[0104] (List of reference numerals) 1 Prior art automatic storage and retrieval system 2 Rail vehicle 3 Vehicle frame 4 Rail engagement support 5 Wheel module 6 Wheel 7 Lower part of (rail engagement support) 8 Vertical shaft 9 Wheel turning actuator, electric motor 10 Link 11 Motor, wheel motor 12 Sensor 13 Electric motor, actuator 14 Corner section 15 Lever arm 16 Wheel track 17 Horizontal shaft 18 Drive band 19 Drive wheel 20 Vertical profile 21 Flange 22 Rail intersection 23 Connecting arrangement 24 Lever 25 Lift frame 26 Access opening 27 Storage section 28 Human operator 29 Lift device 100 Framework structure 102 Upright member of framework structure 104 Storage grid 105 Storage column 106 Storage container 106’ Specific position of storage container 107 Stack 108 Rail system 110 Rails parallel to the first direction (X) 112 Access opening 119 First port column 120 Second port column 201 Prior art container handling vehicle Vehicle body of the container handling vehicle 201a Driving means / wheel arrangement / first set of wheels in the first direction (X) of the container handling vehicle 201b Driving means / wheel arrangement / second set of wheels in the second direction (Y) of the container handling vehicle 201c Conventional single - supported container handling vehicle 301 Vehicle body of the container handling vehicle 301a Driving means / first set of wheels in the first direction (X) of the container handling vehicle 301b Driving means / second set of wheels in the second direction (Y) of the container handling vehicle 301c Gripping device 304 Conventional container handling vehicle 401 Vehicle body of the container handling vehicle 401a Driving means / first set of wheels in the first direction (X) of the container handling vehicle 401b Driving means / second set of wheels in the second direction (Y) of the container handling vehicle 401c Gripping device 404 Lift band 404a Gripping part 404b Guide pin 404c Lift frame 404d Control system 500 X First direction Y Second direction Z Third direction

Claims

1. A rail vehicle (2) for moving horizontally in two perpendicular directions on a rail system (108), wherein the rail system comprises a first set (110) of parallel rails in a first direction (X) and a second set (111) of parallel rails in a second direction (Y) perpendicular to the first direction (X), and the rail vehicle is Vehicle frame (3) and A rail engagement support (4) for supporting the vehicle on the rail system (108), A plurality of wheel modules (5) configured to move the vehicle on the rail system and Equipped with, Each wheel module (5) comprises a wheel (6) having a horizontal axis of rotation, and the wheel module allows the wheel to rotate 90 degrees around a vertical axis so that the direction of rotation of the wheel can be switched between the first direction (X) and the second direction (Y). The wheel module (5) and the rail engagement support (4) are movable vertically relative to each other between a first position and a second position. In the first position, the wheel (6) is positioned to engage with the rail of the rail system, and the rail engagement support (4) is separated from the rail system. A rail vehicle in which, in the second position, the rail engagement support (4) is positioned to engage with the rails of the rail system, and the wheels (6) are lifted away from the rail system, so that each of the wheels can be swung around the vertical axis of the wheel module to switch the direction of rotation of the wheel between a first direction (X) and a second direction (Y).

2. The rail vehicle according to claim 1, wherein the rail engagement support (4) is configured to hold the vehicle frame (3) at a predetermined level relative to the rail system when in the second position.

3. The rail vehicle according to claim 1 or 2, wherein the rail engagement support (4) is arranged on both sides of the vehicle frame (3).

4. The rail vehicle according to claim 1, having four lower corner sections (14), wherein a wheel module (5) is positioned in each of the lower corner sections.

5. The rail vehicle according to claim 1, wherein each of the rail engagement supports has a lower portion (7) having a width equal to or less than the width of the wheel (6).

6. The rail vehicle according to claim 1, wherein the rail engagement support (4) is connected to an actuator assembly, the actuator assembly is configured to move the vehicle rail support and the wheel vertically relative to each other, and the actuator assembly comprises at least one actuator (13).

7. The rail vehicle according to claim 1, wherein the rail engagement support (4) is vertically movable relative to the vehicle frame (3) and the wheel module (5).

8. The rail vehicle according to claim 6, wherein the actuator assembly is configured to move the rail engagement support (4) in a vertical direction relative to the vehicle frame (3).

9. Each of the rail engagement support members (4) is provided by a portion of a lever arm (15), and the actuator assembly is configured to displace the portion of the lever arm (15) that provides the rail engagement support members (4) vertically with respect to the vehicle frame by pivoting the lever arm (15) between a first position and a second position, according to claim 8.

10. The rail vehicle according to claim 8 or 9, wherein the actuator assembly comprises coupling arrangements on each of two opposing sides of the vehicle frame (3), each coupling arrangement being coupled to at least one of the rail engagement supports (4), the coupling arrangements being interconnected by a horizontal shaft (17), and the rotation of the shaft causes the rail engagement supports (4) to move between the first position and the second position.

11. The rail vehicle according to claim 1, further comprising a wheel swivel assembly configured to simultaneously rotate the wheels (6) around the corresponding vertical axis.

12. The rail vehicle according to claim 11, wherein the wheel swivel assembly comprises a plurality of vertical shafts (8), each shaft connected to a corresponding wheel module (5), and the shafts are rotatable by a wheel swivel actuator (9) to swivel the wheels around the corresponding vertical axes.

13. The rail vehicle according to claim 12, wherein the wheel swivel assembly comprises a link (10) that interconnects the plurality of vertical shafts (8) and the wheel swivel actuator (9), the link being configured to convert the movement of the wheel swivel actuator (9) into rotational movement of the vertical shafts (8).

14. The rail vehicle according to claim 1, wherein at least one of the wheel modules (5) is equipped with a motor (11) for driving each of the wheels (6) of the wheel module.

15. The rail vehicle according to claim 1, wherein at least one of the wheel modules (5) is equipped with a sensor (12) for detecting the position of the wheel relative to the rail system (108).

16. The rail vehicle according to claim 1, wherein each wheel module (5) comprises a single wheel (6).

17. A container handling system comprising a rail vehicle (2) and a rail system (108), wherein the rail system comprises a first set (110) of parallel rails in a first direction (X) and a second set (111) of parallel rails in a second direction (Y) perpendicular to the first direction (X), and the rail vehicle is Vehicle frame (3) and A rail engagement support (4) for supporting the vehicle on the rail system (108), A plurality of wheel modules (5) configured to move the vehicle on the rail system and Equipped with, Each wheel module (5) comprises a wheel (6) having a horizontal axis of rotation, and the wheel module allows the wheel to rotate 90 degrees around a vertical axis so that the direction of rotation of the wheel can be switched between the first direction (X) and the second direction (Y). The wheel module (5) and the rail engagement support (4) are movable vertically relative to each other between a first position and a second position. In the first position, the wheel (6) engages with the rail of the rail system (108), and the rail engagement support (4) is positioned above the rail system. A container handling system in which, in the second position, the rail engagement support (4) engages with the rails of the rail system, and the wheels (6) are positioned above the rail system, so that each of the wheels can be swung around the vertical axis of the wheel module (5) to switch the direction of rotation of the wheel between a first direction (X) and a second direction (Y).

18. The container handling system according to claim 17, wherein each of the first set of parallel rails (110) and the second set of parallel rails (111) is provided with at least one wheel track (16) for guiding the wheel (6) when in the first position, and each of the rail engagement support (4) is provided with a lower portion (7) configured to fit inside one of the wheel tracks when the rail engagement support (4) is in the second position.

19. A container handling system according to claim 17 or 18, comprising a vertical column profile (102) supporting the rail system (108) from below, wherein the column profile (102) defines a plurality of storage columns (105) on which containers can be stacked.

20. A method for changing the direction of travel of a rail vehicle (2) operating on a rail system (108), wherein the rail system comprises a first set (110) of parallel rails in a first direction (X) and a second set (111) of parallel rails in a second direction (Y) perpendicular to the first direction (X), and the rail vehicle is Vehicle frame (3) and A rail engagement support (4) for supporting the vehicle on the rail system (108), A plurality of wheel modules (5) configured to move the vehicle on the rail system and Equipped with, Each wheel module (5) comprises a wheel (6) having a horizontal axis of rotation, and the wheel module allows the wheel to rotate 90 degrees around a vertical axis so that the wheel can change its direction of rotation between the first direction (X) and the second direction (Y). The wheel module (5) and the rail engagement support (4) are movable vertically relative to each other between a first position and a second position. In the first position, the wheel (6) is positioned to engage with the rail of the rail system, and the rail engagement support (4) is separated from the rail system. In the second position, the rail engagement support (4) is positioned to engage with the rails of the rail system, and the wheel (6) is lifted away from the rail system, thereby the wheel pivots around the vertical axis to change the direction of rotation between the first direction (X) and the second direction (Y). The aforementioned method, The steps include moving the rail vehicle in the first direction (X) on the rail system (108), The steps include stopping the aforementioned rail vehicle, The steps include moving the wheel module (5) and the rail engagement support (4) relative to each other from the first position to the second position, The steps include rotating the wheels (6) 90 degrees around the vertical axis so that the wheels switch their direction of rotation from the first direction (X) to the second direction (Y), The steps include moving the wheel module (5) and the rail engagement support (4) from the second position to the first position, A step of moving the rail vehicle in the second direction (Y) on the rail system (108) Methods that include...

Images