A container handling vehicle with a first and second compartment together with a motor in the second compartment

Abstract

To provide a container handling vehicle.SOLUTION: A container handling vehicle (9') for picking up a storage container (6) from a three-dimensional grid (4) of a lower layer storage system (1) includes: a first set of wheels (22) arranged on an opposite part of a vehicle body (13) of the container handling vehicle for moving the vehicle (9') along a first direction (X) on a rail system (8) of the grid (4); and a second set of wheels (23) arranged on the opposite part of the vehicle body (13) for moving the vehicle (9') along a second direction (Y) on the rail system (8) of the grid (4), the second direction (Y) comprising the second set of wheels (23) perpendicular to the first direction (X).SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a field container handling vehicle for an automated storage and retrieval system and to an automated storage and retrieval system comprising such a container handling vehicle. [Background technology]

[0002] The Applicant's already known Autostore system is a storage system with a three-dimensional storage grid structure, in which the storage container / containers are stacked one above the other at a certain height. Such a prior art system is shown in Figure 1. Storage systems are disclosed in detail, for example, in patent application No. 317366 and patent application WO 2014 / 090684 A1.

[0003] FIG. 1 discloses the framework structure of a typical prior art automated storage and retrieval system 1, and FIGS. 2a and 2b disclose known container handling vehicles of such a system.

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

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

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

[0007] Each container handling vehicle 9 comprises a vehicle body 13 and first and second sets of wheels 22, 23 that enable lateral movement of the container handling vehicle 9, i.e., movement in the X and Y directions. Two wheels in each set are visible in Figure 2. The first set of wheels 22 is arranged to engage two adjacent rails of the first set of rails 10, and the second set of wheels 23 is arranged to engage two adjacent rails of the second set of rails 11. One of the sets of wheels 22, 23 can be raised and lowered so that the first set of wheels 22 and / or the second set of wheels 23 can be engaged with their respective sets of rails 10, 11 at any one time.

[0008] Each container handling vehicle 9 also includes a lifting device 18 (not shown in Figures 1 and 2a, but visible in Figure 2b) for vertical transportation of storage containers 6, e.g., lifting storage containers 6 from storage columns 5 and lowering storage containers 6 therein. Lifting device 18 includes a lifting frame (not shown in Figure 2a, but similar to that shown in Figure 2b and labeled 17) adapted to engage storage containers 6, which can be lowered from vehicle body 13 such that the position of the lifting frame relative to vehicle body 13 can be adjusted in a third direction Z, orthogonal to first direction X and second direction Y.

[0009] Conventionally, for purposes of this application, Z=1 identifies the uppermost layer of grid 4, i.e., the layer immediately below rail system 8 (herein, rail system 8 is referred to as the top level of the grid), Z=2 is the second layer below rail system 8, Z=3 is the third layer, and so on. In the embodiment disclosed in FIG. 1 , Z=8 identifies the lowermost bottom layer of grid 4. As a result, using the Cartesian coordinate system X, Y, Z shown in FIG. 1 as an example, a storage container identified as 6′ in FIG. 1 can be considered to occupy grid location or cell X=10, Y=2, Z=3. A container handling vehicle 9 can be considered to travel at layer Z=0, and each grid column 12 can be identified by its X and Y coordinates.

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

[0011] Alternatively, the container handling vehicle may have a cantilever structure as described in No. 317366, the contents of which are also incorporated herein by reference.

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

[0013] The rail system 8 may be a single track system, as shown in Figure 3. Preferably, the rail system 8 is a dual track system, as shown in Figure 4, thus allowing a container handling vehicle 9 having a footprint F generally corresponding to the lateral extent of a grid column 12 to travel along the row of the grid column in either the X or Y direction, even if another container handling vehicle 9 is positioned above a grid column 12 adjacent to that row.

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

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

[0016] When a storage container 6 stored within the grid 4 disclosed in FIG. 1 is to be accessed, one of the container handling vehicles 9 is commanded to retrieve the target storage container from its position within the grid 4 and transport it to an unloading port 19. This operation involves moving the container handling vehicle 9 to a grid location above the storage column 5 where the target storage container is located, and using the container handling vehicle's lifting device (not shown, arranged internally within the vehicle's central cavity, but similar to the lifting device 18 of the second prior art vehicle of FIG. 2b) to retrieve the storage container 6 from the storage column 5 and transport the storage container to the unloading port 19. The second prior art vehicle 9 is shown in FIG. 2b to better illustrate the general design of the lifting device. Details of the second vehicle 9 are described in Norwegian Patent No. NO 317366. The lifting devices 18 of both prior art vehicles 9 comprise sets of lifting bands connected proximate corners of the lifting frame 17 (which may also be called a gripping device) for releasable connection to the storage container. To raise or lower the lifting frame 17 (and optionally the connected storage container 6), the lifting bands are wound onto / unwound from at least one rotating lifting shaft or drum (not shown) arranged within the container handling vehicle. Various designs of the at least one lifting shaft are described, for example, in WO 2015 / 193278 A1 and PCT / EP2017 / 050195. The lifting frame 17 features container connection elements and guide pins for releasable connection to the storage container. If the target storage container is located deep within stack 7, i.e., one or more other storage containers are positioned above the target storage container, the operation also involves temporarily moving the above-positioned storage container prior to lifting the target storage container from the storage column. This step, sometimes referred to in the art as "digging," may be performed using the same container handling vehicle or one or more other cooperating container handling vehicles that are subsequently used to transport the target storage container to unloading port 19.Alternatively, or in addition, the automated storage and retrieval system may have container handling vehicles specifically specialized for the task of temporarily removing storage containers from storage columns. Once the target storage container is removed from the storage column, the temporarily removed storage container can be repositioned within the original storage column. However, the removed storage container may alternatively be relocated to another storage column.

[0017] When a storage container 6 is to be stored in a grid 4, one of the container handling vehicles 9 is commanded to pick up the storage container from the pickup port 20 and transport it to the grid location above the storage column 5 where it is to be stored. After any storage container located at or above the target location in the storage column stack is removed, the container handling vehicle 9 positions the storage container in the desired location. The removed storage container can then be lowered back into the storage column or relocated to another storage column.

[0018] To monitor and control the automated storage and retrieval system, for example, to monitor and control the location of individual storage containers within grid 4, the contents of each storage container 6, and the movements of container handling vehicles 9 so that desired storage containers can be delivered to desired locations at desired times without the container handling vehicles 9 colliding with each other, the automated storage and retrieval system includes a control system, which is typically computerized and includes a database for tracking the storage containers.

[0019] Prior art solutions include both so-called cantilever robots and single-cell robots. Cantilever robots may have available space for larger motors; however, the robot may be less stable than its single-cell counterpart. Therefore, larger motors with increased acceleration may cause the robot to tilt excessively. Some embodiments of single-cell robots have wheel hub motors in an in-wheel motor configuration. The in-wheel configuration allows the wheel hub motor to fit inside the wheel and vehicle body so as not to occupy space in the cavity for receiving the storage container. Therefore, prior art single-cell robots do not have any available space for a larger hub motor without interfering with the storage container space inside the robot.

[0020] As a result, prior art solutions may have potential drawbacks related to robot stability and / or limited space for larger, more powerful wheel motors, particularly for single-cell robots, which may be so-called in-wheel motor configurations so that the motors are as small as possible to fit within the wheels and vehicle body while not occupying a cavity for receiving a storage container.

[0021] In light of the above, it would be desirable to provide a container handling vehicle, an automated storage and retrieval system comprising the container handling vehicle, that solves or at least mitigates one or more of the aforementioned problems associated with robots.

[0022] In particular, it is an object of the present invention to provide a robot with improved acceleration and / or velocity.

[0023] It is a further object of the present invention to provide a robot having a lifting device with improved acceleration, lifting capacity, and / or speed. [Prior art documents] [Patent documents]

[0024] [Patent Document 1] International Publication No. 2014 / 090684 Summary of the Invention [Means for solving the problem]

[0025] The invention is defined in the appended claims and below.

[0026] In a first aspect, the present invention provides a method for manufacturing a semiconductor device comprising: a first set of wheels arranged on opposing portions of a vehicle body of the container handling vehicle for moving the vehicle along a first direction on the rail system of the grid; a second set of wheels arranged on an opposing portion of the vehicle body for moving the vehicle along a second direction on the grid rail system, the second direction being perpendicular to the first direction; the vehicle body having walls on all sides (the walls being substantially vertical) forming an footprint defined by the horizontal perimeter in the X and Y directions of the vehicle body, the container handling vehicle further comprising: a first section and a second section arranged side by side such that a center point of the footprint of the first section is arranged off-center with respect to a center point of the footprint FV of the vehicle body; a size ratio of the footprint F1 of the first section to the footprint F2 of the second section is at least 2:1; the first section is configured to accommodate a storage container; the second section comprises an assembly of motors for driving at least one wheel of each of the set of wheels; A container handling vehicle is provided for picking up storage containers from a three-dimensional grid of a sub-level storage system.

[0027] The present invention according to a first aspect also provides a method for manufacturing a semiconductor device comprising: a first set of wheels arranged on opposing portions of a vehicle body of the container handling vehicle for moving the vehicle along a first direction on the rail system of the grid; a second set of wheels arranged on an opposing portion of the vehicle body for moving the vehicle along a second direction on the grid rail system, the second direction being perpendicular to the first direction; Equipped with The vehicle body has walls on all sides (the walls are generally vertical) forming an footprint defined by the horizontal perimeter in the X and Y directions of the vehicle body, and the container handling vehicle further comprises: a first section and a second section arranged side by side such that a center point of the footprint of the first section is arranged off-center with respect to a center point of the footprint FV of the vehicle body; a size ratio of the footprint F1 of the first section to the footprint F2 of the second section is at least 2:1; the first section is configured to accommodate a storage container; the second section comprises any of a plurality of hub motors for driving two wheels of each of the set of wheels, a motor for driving the lifting device, and / or a rechargeable battery; It may be defined as a container handling vehicle for picking up storage containers from the three-dimensional grid of the underlying storage system.

[0028] In an embodiment of the container handling vehicle, the first section comprises a cavity for accommodating storage containers and a lifting device arranged in an upper section / upper level of the cavity.

[0029] In some embodiments of the container handling vehicle, the first set of wheels is vertically displaceable between a first position, in which the first set of wheels enables movement of the vehicle along a first direction, and a second position, in which the second set of wheels enables movement of the vehicle along a second direction.

[0030] In one embodiment of the container handling vehicle, the motor assembly includes at least one first motor for driving the first set of wheels and at least one second motor for driving the second set of wheels.

[0031] In one embodiment, the container handling vehicle includes a lifting device for picking up storage containers from the three-dimensional grid, and the motor assembly includes a lifting device motor connected to the lifting device.

[0032] In one embodiment of the container handling vehicle, the first section houses a first wheel, a second wheel, a third wheel, and a fourth wheel of the first set of wheels and a first wheel and a second wheel of the second set of wheels, and the second section houses a third wheel and a fourth wheel of the second set of wheels.

[0033] In one embodiment of the container handling vehicle, the first section houses the first wheel and the third wheel of the first set of wheels and the first wheel and the second wheel of the second set of wheels, and the second section houses the second wheel and the fourth wheel of the first set of wheels and the third wheel and the fourth wheel of the second set of wheels.

[0034] In one embodiment of the container handling vehicle, the first segment has four corners, and the rims of the first wheel, the second wheel, the third wheel, and the fourth wheel of the first set of wheels and the rims of the first wheel and the second wheel of the second set of wheels are arranged at the corners of the first segment.

[0035] In one embodiment of the container handling vehicle, the at least one first motor comprises a hub motor for each of the first and fourth wheels of the first set of wheels, and the at least one second motor comprises a hub motor for each of the third and fourth wheels in the second set of wheels, In other words, each of the first and fourth wheels of the first set of wheels and each of the third and fourth wheels in the second set of wheels are driven by separate / dedicated hub motors.

[0036] In some embodiments of the container handling vehicle, the first and second sets of wheels are arranged at or within certain lateral extents of the vehicle body.

[0037] In one embodiment of the container handling vehicle, the footprint of the first segment corresponds to a grid cell of the rail system, and during use, the container handling vehicle is in a position to lift or lower a storage container and the second segment is displaced horizontally relative to the grid cell and extends partially into an adjacent grid cell.

[0038] In one embodiment of the container handling vehicle, the motor assembly comprises a plurality of hub motors, wherein the first and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels each comprise a separate hub motor. Preferably, the hub motors of the first and fourth wheels of the first set of wheels and the third and fourth wheels of the second set of wheels extend into the second section.

[0039] In a second aspect, the present invention provides an automated storage and retrieval system comprising a three-dimensional grid and at least one container handling vehicle, the grid comprising a rail system on which the container handling vehicle may travel, and a plurality of stacks of storage containers; the rail system comprises a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, the first and second sets of tracks forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell comprising a grid opening defined by a pair of opposing tracks of the first set of tracks and a pair of opposing tracks of the second set of tracks; a plurality of stacks of storage containers arranged in storage columns located beneath the rail system, each storage column located vertically below a grid opening; The container handling vehicle is characterized by a vehicle body having substantially vertical walls on all sides and a first section and a second section arranged side by side, the first section and the second section forming an footprint defined by horizontal perimeters in the X and Y directions of the vehicle body; the first section is configured to accommodate a storage container; the second section includes at least an assembly of motors for driving at least one wheel of each of the set of wheels; The footprint of the first segment is substantially equal to a grid cell defined by a cross-sectional area, including a width of the tracks, between an opposing pair of tracks in the first set of tracks and an opposing pair of tracks in the second set of tracks, and the second segment extends partially into an adjacent grid opening when the first segment is positioned across the adjacent grid opening.

[0040] In one embodiment of the automated storage and retrieval system, the extent of the container handling vehicle's footprint in the X direction (LX) and the extent of the container handling vehicle's footprint in the Y direction (LY) are: LX = 1.0 grid cell in the X direction, 1 in the Y direction <LY<1.5グリッドセルであり、 A grid cell is defined as the cross-sectional area encompassing the width of the track between the midpoint of two rails extending in the X direction and the midpoint of two rails extending in the Y direction.

[0041] In some embodiments of the automated storage and retrieval system, the second section extends less than 50% into adjacent grid openings.

[0042] In an embodiment of the automated storage and retrieval system, the container handling vehicle is a container handling vehicle according to any embodiment of the first aspect.

[0043] As shown above, the container handling vehicle has a first and a second segment, where the footprint of the first segment may be equal to the size of an underlying grid cell, and the second segment is a protruding segment that extends horizontally beyond the footprint of the first segment.

[0044] A grid cell opening may be defined as the open cross-sectional area between two opposing rails extending in the X direction and two opposing rails extending in the Y direction.

[0045] The footprint of the second segment is less than half the size of the footprint of the first segment (a size ratio of less than 1:2 relative to the first segment). When a container handling vehicle is positioned above a grid cell in a position where it can lift or lower storage containers into or out of the first segment, the second segment extends into adjacent grid cells. However, the footprint of the vehicle body is less than 1.5 cells (in the Y direction) and at most one grid cell wide in the other direction (the X direction). In other words, the lateral extent of the container handling vehicle in a first direction corresponds to the lateral extent of the track in one cell and at most 1.5 grid cells in a direction perpendicular to the first direction. As a result, in an exemplary system for storing and retrieving storage containers, when two of the container handling vehicles described above are operated and oriented in opposite directions, they may occupy three grid cells when traveling in a first direction, e.g., the X direction, while when traveling in a second direction, e.g., the Y direction, they may travel along adjacent rows of grid cells occupying two grid cells.

[0046] The first segment of the container handling vehicle may comprise a cavity for accommodating a storage container and a lifting device arranged to transport the storage container vertically between a storage position in the stack and a transport position inside the cavity. The lifting device may comprise a gripping device configured to releasably grip the storage container and a lifting motor configured to raise and lower the gripping device relative to the cavity.

[0047] The second section makes it possible to utilize hub motors for driving at least some of the wheels that are larger and more powerful than is possible in prior art single-cell robots.

[0048] The hub motors arranged within (or extending into) the second section are arranged with a limited distance between them. Due to the smaller distance between the motors, fewer, for example, one brushless direct current (BLDC) card may be required instead of the four BLDC cards in the prior art single-cell robot. In prior art solutions, the distance between the motors driving the wheels in a container handling vehicle is typically such that four BLDC cards are required. The cost of BLDC cards is very high. However, because the distance between the motors can be substantially reduced by arranging the motors within the second section, the overall cost for the container handling vehicle can be reduced because fewer BLDC cards (e.g., only one BLDC card) are required.

[0049] In an embodiment of the first aspect, the container handling vehicle includes a replaceable battery. The replaceable battery can be arranged in an upper portion of the vehicle above the container storage compartment and the lifting device. A replacement sequence for the replaceable battery can include the following steps: The vehicle or overall control system determines that the battery should be replaced. The vehicle is operated to travel to a battery exchange station. The replaceable battery is removed from the battery housing. The vehicle is operated to travel to a battery exchange station with a charged battery, for example, using a capacitor power supply arranged in a controller box within the vehicle. A charged battery is disposed within the battery housing. The vehicle is ready for use.

[0050] In the following, numerous specific details are introduced by way of example only to provide a thorough understanding of embodiments of the present invention. However, those skilled in the art will recognize that these embodiments may be practiced without one or more of the specific details, or with other components, systems, etc. In other instances, well-known structures or operations are not shown or described in detail to avoid obscuring aspects of the disclosed embodiments.

[0051] In this disclosure, relative terms such as upper, lower, lateral, vertical, X-direction, Y-direction, Z-direction, etc. shall be interpreted using the prior art storage system (FIG. 1) referred to above as a reference system. Thus, a lateral feature in relation to the extent of a vehicle in the X-direction and Y-direction shall be understood to be the extent of the vehicle in the X-direction and Y-direction, e.g., the footprint of the vehicle in the X-direction and Y-direction. The present invention provides, for example, the following. (Item 1) a container handling vehicle (9') for picking up a storage container (6) from a three-dimensional grid (4) of a lower storage system (1), a first set of wheels (22) arranged on opposite parts of the vehicle body (13) of the container handling vehicle for moving the vehicle (9') along a first direction (X) on the rail system (8) of the grid (4); a second set of wheels (23) arranged on opposite parts of the vehicle body (13) for moving the vehicle (9') on the rail system (8) of the grid (4) along a second direction (Y), the second direction (Y) being perpendicular to the first direction (X); Equipped with The vehicle body (13) has walls on all sides forming a footprint (FV) defined by the horizontal perimeter in the X and Y directions of the vehicle body (13), and the container handling vehicle further comprises: a first section (204) and a second section (205), the first section (204) and the second section (205) being arranged side by side such that a center point of the footprint (F1) of the first section (204) is arranged off-center with respect to a center point of the footprint (FV) of the vehicle body (13), and a size ratio of the footprint (F1) of the first section (204) to the footprint (F2) of the second section (205) is at least 2:1; A container handling vehicle (9'), wherein the first section (204) is configured to accommodate a storage container (6), and the second section (205) comprises a motor assembly for driving at least one wheel of each of the sets of wheels. (Item 2) The container handling vehicle (9') according to item 1, wherein the motor assembly comprises at least one first motor (203) for driving the first set of wheels and at least one second motor (203) for driving the second set of wheels. (Item 3) A container handling vehicle (9') according to item 1 or 2, comprising a lifting device (18) for picking up a storage container (6) from the three-dimensional grid (4), and the motor assembly comprising a lifting device motor (211) connected to the lifting device (18). (Item 4) The container handling vehicle (9') according to any of the preceding items, wherein the first section (204) accommodates the first wheel (201'), the second wheel (201"), the third wheel (201'") and the fourth wheel (201"") of the first set of wheels and the first wheel (202') and the second wheel (202") of the second set of wheels, and the second section (205) accommodates the third wheel (202"") and the fourth wheel (202"") of the second set of wheels. (Item 5) The container handling vehicle (9') according to any one of items 1-3, wherein the first section (204) accommodates a first wheel (201') and a third wheel (201''') of the first set of wheels and a first wheel (202') and a second wheel (202'') of the second set of wheels, and the second section (205) accommodates a second wheel (201'') and a fourth wheel (201'''') of the first set of wheels and a third wheel (202''') and a fourth wheel (202'''') of the second set of wheels. (Item 6) A container handling vehicle (9') according to any of the preceding items, wherein the first section (204) has four corners, and the rims of the first wheel (201'), the second wheel (201"), the third wheel (201'") and the fourth wheel (201"") of the first set of wheels and the rims of the first wheel (202') and the second wheel (201") of the second set of wheels are arranged at the corners of the first section (204). (Item 7) the at least one first motor (203) comprises a hub motor for each of a first wheel (201') and a fourth wheel (201'''') of the first set of wheels; the at least one second motor (203) comprises a hub motor for each of a third wheel (202''') and a fourth wheel (202'''') of the second set of wheels; Container handling vehicle (9') as described in item 2. (Item 8) 10. A container handling vehicle (9') according to any of the preceding items, wherein the first and second sets of wheels are arranged at or within a lateral extent of the vehicle body (13). (Item 9) A container handling vehicle (9') according to any of the preceding items, wherein the footprint (F1) of the first section (204) corresponds to a grid cell (14) of the rail system (8), and during use, when the container handling vehicle (9') is in a position for lifting or lowering a storage container (6), the second section (205) is displaced horizontally relative to the grid cell (14) and extends partially into an adjacent grid cell (14). (Item 10) A container handling vehicle (9') according to any of the preceding items, wherein the motor assembly comprises a plurality of hub motors, and each of the first wheel (201') and fourth wheel (201'''') of the first set of wheels and each of the third wheel (202''') and fourth wheel (202'''') of the second set of wheels comprises a separate hub motor. (Item 11) 11. The container handling vehicle (9') according to item 7 or 10, wherein the hub motors of the first wheel (201') and the fourth wheel (201'''') of the first set of wheels and the third wheel (202''') and the fourth wheel (202'''') of the second set of wheels extend into the second section (205). (Item 12) An automated storage and retrieval system, said automated storage and retrieval system comprising a three-dimensional grid (4) and at least one container handling vehicle (9'), said grid comprising a rail system (8) on which said container handling vehicle can move, and a plurality of stacks (7) of storage containers; The rail system (8) comprises a first set (10) of parallel tracks arranged in a horizontal plane (P) and extending in a first direction (X), and a second set (11) of parallel tracks arranged in the horizontal plane (P) and extending in a second direction (Y) perpendicular to the first direction (X), the first and second sets (10, 11) of tracks forming a grid pattern in the horizontal plane (P) comprising a plurality of adjacent grid cells (14), each grid cell comprising a grid opening (15) defined by a pair of opposing tracks (10a, 10b) of the first set (10) of tracks and a pair of opposing tracks (10a, 10b) of the second set (11) of tracks; A plurality of stacks (7) of the storage containers (6) are arranged in storage columns (5) located directly below the rail system (8), each storage column (5) being located vertically below a grid opening (15); The container handling vehicle (9') is characterized by a vehicle body (13) having substantially vertical walls on all sides forming an area defined by the horizontal perimeters in the X and Y directions of the vehicle body (13), and a first section (204) and a second section (205) arranged side by side; The first section (204) is configured to accommodate a storage container (6); said second section (205) comprising at least a motor assembly (203) for driving at least one wheel of each of said sets of wheels; an automated storage and retrieval system, wherein the footprint (F1) of the first section (204) is substantially equal to a grid cell (14) defined by a cross-sectional area including a width of the tracks between a pair of opposing tracks (10a, 10b) of the first set (10) of tracks and a pair of opposing tracks (10a, 10b) of the second set (11) of tracks, and wherein the second section (205) extends partially into an adjacent grid opening (15) when the first section is positioned across the adjacent grid opening; (Item 13) The range (LX) of the occupied area FV of the container handling vehicle (9') in the X direction and the range (LY) of the occupied area FV of the container handling vehicle (9') in the Y direction are In the X direction, LX = 1.0 grid cell (14), In the Y direction, 1 <LY<1.5グリッドセル(14)であり、 Item 14. The automated storage and retrieval system of item 13, wherein a grid cell (14) is defined as a cross-sectional area including the width of the track between the midpoint of the two rails extending in the X direction and the midpoint of the two rails extending in the Y direction. (Item 14) 14. The automated storage and retrieval system of claim 12 or 13, wherein the motor assembly comprises a plurality of hub motors (203), and each of the first wheel (201') and fourth wheel (201'''') of the first set of wheels and each of the third wheel (202''') and fourth wheel (202'''') of the second set of wheels comprises a separate hub motor extending into the second section. [Brief explanation of the drawings]

[0052] Certain embodiments of the invention will now be described in detail, by way of example only, and with reference to the following drawings, in which:

[0053] [Figure 1] FIG. 1 is a perspective side view of a prior art storage and retrieval system. [Figure 2] 2A and 2B depict two different prior art container handling vehicles, and FIG. 2C shows the prior art container handling vehicle of FIG. 2B in a second configuration. [Figure 3] 3 and 4A are top schematic views of two types of rail systems for use in the storage system of FIG. [Figure 4A] 3 and 4A are top schematic views of two types of rail systems for use in the storage system of FIG. [Figure 4B]4B and 4C are top views of a rail system similar to FIG. 4A illustrating the extent of the grid cells and the extent of the single-cell vehicles operating thereon. [Figure 4C] 4B and 4C are top views of a rail system similar to FIG. 4A illustrating the extent of the grid cells and the extent of the single-cell vehicles operating thereon. [Figure 5] Figure 5A is an enlarged perspective side view of a portion of an exemplary lifting device that may be mounted within a container handling vehicle and an associated container that may be lifted thereby. Figures 5B, 5C, and 5D show the footprints of an exemplary container handling vehicle FV, first segment F1, and second segment F2, respectively, with the footprint in each case indicated by the shaded area. [Figure 6] Figure 6A is an angled side view from above of a container handling vehicle. Figure 6B is a top view of the container handling vehicle of Figure 6A illustrating the extent of the container handling vehicle in the X and Y directions on the rail system. [Figure 7] FIG. 7 is a top view of three such container handling vehicles passing each other and operating on a rail system. [Figure 8] Figure 8A is a perspective view from below of the interior of the container handling vehicle with the lifting device in an upper position inside the first section, and Figure 8B is a perspective view from below of the interior of the container handling vehicle with some detail omitted and the lifting device in a lower position being lowered from the first section. [Figure 9] FIG. 9 is a side view of the container handling vehicle of FIG. 8A with two batteries visible in the second section. [Figure 10-1] Figure 10A is a perspective side view of the container handling vehicle of Figure 8A with certain details omitted, including a cover removed to reveal interior details, for example, a replaceable battery arranged inside a battery receiving unit in an upper portion of the container handling vehicle. Figure 10B is another perspective view of the container handling vehicle of Figure 10A in which a motor assembly including a lifting device motor can be seen in a second section. [Figure 10-2]Figure 10C is a perspective view of the alternative container handling vehicle of Figure 10B, in which the lifting device motor and angled transmission (angled gear) can be seen in the second section. Figures 10D and 10E are different views of the alternative container handling vehicle of Figure 10C, in which the lifting device motor and angled gear are rotated 90 degrees relative to the lifting device motor and angled transmission of Figure 10C. [Figure 10-3] Figures 10F and 10G are perspective views of the alternative container handling vehicle of Figure 10B, in which the lifting device motor and hollow shaft gear can be seen in the second section, and Figure 10H is an exploded view of the lifting device motor and hollow shaft gear used to connect the lifting axle. [Figure 11-1] Figure 11A is a side perspective view of two container handling vehicles passing each other in the X direction of the rail system, and Figure 11B is a top perspective view of Figure 11A. [Figure 11-2] Figure 11C is another side view of Figure 11A showing the gap between two container handling vehicles passing each other in the X direction of the rail system. Figure 11D shows a perspective view from below of a container handling vehicle. [Figure 12] Figures 11a-C show the difference in the center of gravity of a storage container inside the storage container cavity relative to the center of the footprint of the vehicle body, where Figure 11a illustrates a prior art single cell robot, Figure 11b is a prior art central cavity robot, and Figure 12C shows a container handling vehicle according to the present invention. [Figure 13] 13A-C show the difference between imaginary lines extending between each of two pairs of opposing wheels of the same set of wheels, and which of said lines may or may not intersect with imaginary lines between other wheels, with FIG. 13A illustrating a prior art single-cell robot, FIG. 13B a ​​prior art central cavity robot, and FIG. 13C showing a container handling vehicle according to the present invention.

[0054] In the drawings, like reference numerals have been used to denote like parts, elements or features unless otherwise expressly stated or implicitly understood from the context. DETAILED DESCRIPTION OF THE INVENTION

[0055] In the following, embodiments of the invention will be discussed in more detail, by way of example only, 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 in the drawings, and that features illustrated in one drawing are not necessarily dependent on the presence of other features shown in the same drawing, but may be combined with features from embodiments of other drawings.

[0056] Referring to Figures 3-4C, top views of two different rail systems of an automated storage and retrieval system are shown.

[0057] The rail system forms a grid structure or grid pattern in a horizontal plane P (see FIG. 1). The grid 4 comprises a plurality of rectangular, uniform grid locations or grid cells 14 (see FIG. 4B), each grid cell 14 comprising a grid opening 15 (i.e., the top of a storage column 12) bounded by a pair of opposing rails 10a, 10b of a first set of tracks and a pair of opposing rails 11a, 11b of a second set of tracks. The rails 10a, 10b, 11a, 11b form the rail system 8 on which the container handling vehicles 9′ operate. In FIG. 4B, the grid cells 14 are indicated by dashed boxes and the grid openings 15 are indicated by parallel line areas.

[0058] As a result, pairs of opposing rails 10a and 10b define parallel rows of grid cells extending in the X direction, and pairs of opposing rails 11a and 11b, which extend perpendicular to rails 10a and 10b, define parallel rows of grid cells extending in the Y direction.

[0059] Each grid cell 14 has a width W that is typically spaced 30-150 cm apart. c and length L, which is typically within an interval of 50 to 200 cm. c Each grid cell 14 has W c <Lc Each grid opening 15 may be rectangular as shown, typically having a width W of a grid cell 14. c and length L c 2 to 10 cm less than the width W o and length L o W c and W o Between and L c and L o This difference between corresponds to the width of the two opposing rails 10a, 10b, 11a, 11b (i.e. the width of the set of tracks), or in effect the width of the dual track rail, since the grid cells extend to the midpoint of such a dual track rail (i.e. a dual track rail comprising 10a and 10b or 11a and 11b).

[0060] The dual track rail may be contoured to provide two parallel channels for the wheels of the container handling vehicles to run within.

[0061] 3 shows a prior art rail system featuring a single track rail 10, 11. When such a rail system is used, two container handling vehicles are not allowed to pass each other in adjacent grid cells 14.

[0062] If a single track rail is used in one of the directions, the grid cell boundaries extend to the side of the track on the opposite side of the grid opening to the one being worked on (adjacent grid cells will overlap by this track width in a similar manner).

[0063] The rail system shown in Figures 4B and 4C features horizontal dual-track rails, so that each rail can accommodate two parallel wheels. In such a rail system, the boundary between adjacent grid cells 14 extends along the centerline of the horizontal rail, as shown in Figure 4B.

[0064] 4C , a grid cell 14 in the middle of the section of the illustrated grid system includes a grid opening / grid cell opening 15. To the left (west) of grid cell 14 is an adjacent grid cell 14W with grid opening 15W. Similarly, to the right (east) of grid cell 14 is an adjacent grid cell 14E with grid opening 15E. Also, below (south) grid cell 14 is an adjacent grid cell 14S with grid opening 15S, and above (north) grid cell 14 is an adjacent grid cell 14N with grid opening 15N.

[0065] In Figure 4C, the footprint 30 of a prior art container handling vehicle is diagrammatically illustrated. In this embodiment, the footprint 30 is defined by the horizontal extent of the vehicle's wheels. As is apparent from the figure, the footprint 30 has a horizontal extent that is less than the horizontal extent of a grid cell.

[0066] 5A is a perspective side view of a portion of a lifting device 18 that may be mounted within a container handling vehicle and a container 6 to be lifted by the lifting device. The lifting device comprises a lifting frame 17 that is generally connected via lifting bands to at least one rotatable lifting shaft, which is arranged at an upper level within the cavity of the container handling vehicle.

[0067] 5B shows the footprint, i.e., the dashed area of ​​the diagram, designated FV, of an exemplary container handling vehicle 9' in accordance with the present invention. The footprint FV is equal to the lateral extent of the container handling vehicle 9' in both directions. The container handling vehicle 9' consists of a first section 204 and a second section 205.

[0068] 5C shows the footprint of first section 204, i.e., the dashed area of ​​the diagram designated as F1. In the disclosed embodiment, the first section comprises a cavity for accommodating storage container 6 and lifting device 18 as shown in FIG. 5A.

[0069] FIG. 5D shows the footprint of the second section 205, ie, the dashed area of ​​the diagram designated F2.

[0070] 6A is a perspective side view from above of a container handling vehicle 9'. The container handling vehicle 9' operates on a rail system 8 and is configured to move laterally in the X and Y directions shown in the figure. The X direction is perpendicular to the Y direction.

[0071] The vehicle 9′ comprises a first set of wheels (not shown, see FIG. 8A ) arranged on opposite portions of the vehicle body 13 for moving the vehicle 9′ along a first direction X on the rail system 8 of the storage system 1, and a second set of wheels (only two of the wheels (202″, 202′″) of the second set of wheels are shown) arranged on opposite portions of the vehicle body 13 for moving the vehicle 9′ along a second direction Y on the rail system 8. The second direction Y is perpendicular to the first direction X. The first set of wheels is displaceable in a vertical direction Z between a first position and a second position. In the first position, the first set of wheels allows movement of the vehicle 9′ along the first direction X, and in the second position, the second set of wheels allows movement of the vehicle 9′ along the second direction Y. Construction details of suitable assemblies for providing a set of displaceable wheels are disclosed, for example, in WO2015 / 193278 A1 and WO2017 / 153583, the contents of which are incorporated by reference.

[0072] FIG. 6B is a top view of the container handling vehicle 9' of FIG. 6A, showing the ranges (LX and LY) in the X and Y directions of the container handling vehicle 9' on the rail system 8. Line C indicates the center line of the grid cell 14 and the grid cell opening 15 in the Y direction. The occupied area (LX) of the container handling vehicle 9' in the X direction is substantially equal to the dimension of the grid cell 14 in the X direction, and the occupied area (line LY) of the container handling vehicle 9' in the Y direction is larger than the dimension of the grid cell 14 in the Y direction such that a part of the vehicle body extends into an adjacent cell (in the illustrated embodiment, this is the adjacent cell to the left of the cell being worked). The extension of the vehicle body into the adjacent cell is sized to be less than half of the lateral range in the Y direction of the grid cell opening in the adjacent cell, and the length LY exceeds 1.0 grid cell but is less than 1.5 grid cells 14 in the Y direction (1.0 < LY < 1.5 grid cells).

[0073] When operating on the rail system 8 as shown in FIG. 6B using the rectangular grid cells 14, the occupied area of the container handling vehicle 9' is substantially square because the range of the grid cell 14 is longer in the X direction than in the Y direction and the container handling vehicle occupies more than one grid cell 14 in the Y direction and only one grid cell 14 in the X direction. The substantially square occupied area has the advantage that the overall stability of the vehicle 9' is improved compared to prior art solutions showing a more rectangular occupied area, often in combination with a relatively high center of gravity.

[0074] 7 is a top view of three similar container handling vehicles 9' oriented in the same direction, passing each other, and operating on a rail system 8 featuring dual track rails as discussed above. As shown in the figure, each container handling vehicle 9' has a footprint corresponding to the dimension of a grid cell 14 in the X direction, allowing other container handling vehicles 9' traveling in the Y direction to pass within adjacent cells on either side of the vehicle 9' (the container handling vehicles 9' occupy two rows of the rail system 8 as they pass each other). However, because the size of the overlap into adjacent cells is less than half the lateral extent of a grid cell in the Y direction, similar container handling vehicles 9' traveling in the X direction can pass each other occupying three rows.

[0075] The presence of the second section 205 makes it possible to utilize motors 203 (see FIG. 8A) for driving the wheels that are larger and more powerful than those in the prior art single-cell robot shown in FIG. 2A, while retaining many of the advantages of such robots.

[0076] As disclosed in FIG. 8A , the first section 204 houses the first wheel 201′, the second wheel 201″, the third wheel 201′″, and the fourth wheel 201′″ of the first set of wheels, and the first wheel 202′ and the second wheel 202″ of the second set of wheels, and the second section houses the third wheel 202′″ and the fourth wheel 202′″ of the second set of wheels. This particular wheel arrangement is highly advantageous because it allows for the use of more powerful wheel hub motors 203 to drive the second wheel 201″ and the fourth wheel 201′″ of the first set of wheels, and the third wheel 202′″ and the fourth wheel 202′″ of the second set of wheels.

[0077] Alternatively, the second wheel 201'' and the fourth wheel 201'''' of the first set of wheels can be housed in a second section (not shown), provided that the hub motors of said wheels are also arranged in the second section. To improve the stability of the vehicle 9', the rims of the wheels 201', 201''', 202', 202'', 202''', 202'''' are preferably arranged at the corners of the vehicle 9'.

[0078] The wheels 201', 201'', 201''', 201'''', 202', 202'', 202'''', 202'''' are preferably all arranged inside the lateral ranges LX, LY in the X and Y directions of the vehicle body 13 (see also the description related to Figure 9).

[0079] The first section 204 and the second section 205 may be completely separated by a physical barrier, such as a wall or board or the like, at the intersection between the first and second sections 204, 205. Alternatively, the first and second sections 204, 205 may be partially separated at the intersection between the first and second sections 204, 205, for example, by providing a barrier across part of the intersection.

[0080] In FIG. 8A , the first and second sections are separated by a wheel connection element 212 (i.e., a connecting plate or beam) to which the second wheel 201″ and fourth wheel 201″″ of the first set of wheels and their respective hub motors 203 are connected. The wheel connection element 212 is part of a wheel displacement assembly 214 so that the second wheel 201″ and fourth wheel 201″″ of the first set of wheels (along with the first wheel 201′ and third wheel 201″ of the first set of wheels) can be moved in the vertical direction.

[0081] In the disclosed embodiment, the second wheel 201'' and the fourth wheel 201'''' are housed within the first section 204, while the hub motor 203 extends into the second section. In an alternative embodiment, both the second wheel 201'' and the fourth wheel 201'''' and the hub motor may be housed within the second section 205.

[0082] It should be noted that having the second wheel 201'' and the fourth wheel 201'''' of the first set of wheels, and the third wheel 202''', the fourth wheel 202'''' of the second set of wheels, arranged such that their hub motors 203 extend / protrude into the second section 205, allows for the use of more powerful motors than would be the case if the hub motors were arranged such that they would extend into the first section 204. The remaining wheels, i.e., the wheels not featuring hub motors extending into the second section, are either passive or motorized, and may be motorized, for example, by in-wheel hub motors as disclosed in WO 2016 / 120075 A1.

[0083] Figure 8B is a perspective view from below of the interior of the container handling vehicle 9' showing the lifting frame 17 of the lifting device 18 in a lowered position extending downwardly from the first section 204. The lifting device 18 may have similar features to the lifting device described in connection with Figures 2A and 2B.

[0084] FIG. 9 is a side view of a container handling vehicle in which the hub motor 203 and two batteries 213′, 213″ are arranged in the second section 205. For example, as is apparent from FIG. 9, the exterior-facing sides of the wheels may be arranged such that, on one side, they do not extend outside the vehicle body 13 (indicated by the dotted lines on each side of the vehicle 9′ in FIG. 9). For example, the exterior-facing sides of the wheels in the lateral X and Y directions may be flush with the vehicle body 13. Although not shown in FIG. 9 (but shown in FIGS. 8A and 8B+6B), the same applies to the wheels in the opposite direction (X), i.e., they may also be arranged such that they do not extend outside the vehicle body 13.

[0085] The vehicle body 13 includes any of the following elements, if all are present or even if some are missing: a body frame, side cover panels or plates, wheel suspensions, housings for track sensors between the wheels, etc. The rolling outer surfaces of the wheels may therefore be arranged in the same vertical plane as one of the walls within the vehicle body 13. Alternatively, the wheels may be arranged inside the vehicle body 13 so that the rolling outer surfaces of the wheels may be displaced laterally relative to the vertical plane formed by one of the walls within the vehicle body 13. In FIG. 6B, none of the wheels are visible in the top view, showing that the outermost lateral portions of all of the wheels are arranged so that they do not extend outside the vehicle body 13.

[0086] The container handling vehicle 9' may be equipped with an interface 206 (see Figure 8A) for charging batteries 213', 213'' within the container handling vehicle 9'.

[0087] FIG. 10A is a side view of the container handling vehicle 9′ with certain portions, such as a cover, removed. The container handling vehicle 9′ has a replaceable battery 208 arranged inside a battery receiving unit 209 in the upper portion of the container handling vehicle. A controller unit 210, which communicates with the overall control system, is further disclosed. The controller unit 210 may also house a capacitor power supply (not shown). The capacitor power supply typically has the ability to store enough power to operate any of the vehicle 9′'s electric drive components if the main power supply malfunctions or is lost. Such a situation may be, for example, when the battery 208 needs to be replaced. Battery replacement typically occurs at two different locations, i.e., the battery to be replaced (the “empty” battery) is unloaded at a different location from where the replacement battery (the “fully charged” battery) is picked up; therefore, the capacitor power supply may be used to move the robot between the two different locations. Alternatively, if the main battery malfunctions, the capacitor power supply can be used to operate the lifting device and / or move the robot to a maintenance area. Additionally, any regenerative power can be supplied to the capacitor power supply to ensure that the capacitor power supply has sufficient power capacity to perform any of its desired functions.

[0088] 10B is another view of FIG. 10A , showing a motor assembly including a lifting device motor 211 arranged in the second section 205. The lifting device motor 211 is connected to one end of a rotatable lifting shaft (not shown) of a lifting device arranged in the first section. This lifting device motor 211 may function as an auxiliary motor, replacing other lifting device motors (not shown) arranged in the first section, or in addition to any lifting device motors arranged in the first section. Thus, the second section 205 allows the number of lifting device motors in the first section to be reduced to a minimum (and even avoiding the use of lifting device motors in the first section), because the size and lifting capacity of the lifting device motor 211 arranged in the second section 205 are not limited by the available space in the first section. In other words, the lifting device motor 211 in the second section may be the only lifting device motor of the vehicle so that the available space in the upper section of the first section of the vehicle 9' is increased, or the motor 211 may be an auxiliary motor that provides the lifting device with increased lifting capacity.

[0089] FIG. 10C shows an embodiment of a container handling vehicle 9′ in which the lifting device comprises a single lifting device motor 211′ and an angled transmission 215 is arranged in the second section. The embodiment serves to illustrate how the available space in the second section allows for the use of a more powerful (and therefore larger) lifting device motor 211′ than would be possible in the first section alone. This allows for the use of storage containers with a higher total weight (i.e., the weight including the product stored therein). Note that the prior art vehicles of FIGS. 2B and 2C would likely have available space for a similar large lifting device motor, but would not be able to fully utilize the increased lifting capacity potential due to the cantilever design.

[0090] Referring again to FIG. 10C, the angled transmission 215 with the connected lifting device motor 211' is angled downward (ie, primarily vertically).

[0091] 10D and 10E, an embodiment similar to that in FIG. 10C is shown, however, angled transmission 215 with connected lifting device motor 211′ is angled laterally (i.e., primarily horizontally) and rotated 90 degrees relative to the embodiment of FIG. 10C. Additionally, FIG. 10E shows lifting device axle 216 to which is connected an axle lifting band that is connected to lifting device 18 (not shown in FIG. 10E) and that winds up and unwinds during lifting and lowering of the lifting device.

[0092] 10F and 10G are perspective views of an alternative container handling vehicle of FIG. 10B in which the lifting device motor 211' and hollow shaft gear 215 are arranged in the second section.

[0093] Figure 10H is an exploded view of a hollow shaft gear 215 used to connect the lifting device motor 211' and the lifting device axle 216. Compared to the embodiment of Figures 10C-10E, the lifting axle 217 in Figures 10F-10H is extended, and the gear 215 is directly connected to the extended lifting axle 217 without a dedicated connection. To make this direct connection possible, the hollow shaft gear 215 is used instead of an angled transmission.

[0094] 11A is a side view of two container handling vehicles 9' traveling in the X direction of rail system 8 passing each other using a total of three cells in the Y direction of rail system 8. This particular rail system comprises a single track rail in the X direction and a dual track rail in the Y direction. A combination of single and dual track rails may, in some cases, be the most cost-effective solution, even if a rail system using only dual track rails is optimal for the possible travel paths of the container handling vehicles arranged thereon.

[0095] FIG. 11B is a top view of FIG. 11A showing the gap G between the vehicle bodies 13 in the Y direction, which allows two vehicles 9′ traveling in the X direction to occupy only three rows in the Y direction.

[0096] 12A-C show the difference in the center of gravity of a storage container inside the storage container cavity relative to the center of the footprint of the vehicle body, where FIG. 12A illustrates a prior art single-cell robot, FIG. 12B is a prior art central cavity robot, and FIG. 12C shows an exemplary container handling vehicle according to the present invention.

[0097] In the single-cell and central cavity robot (FIG. 12A), the center of gravity of the storage container, CGSC, is at the center of the cavity, which also coincides with the center of the vehicle body footprint, CGV.

[0098] In the central cavity robot (FIG. 12B), the center of gravity CGSC of the storage container is at the center of the cavity, which also coincides with the center of the vehicle body footprint CGV.

[0099] FIG. 12C illustrates an exemplary container handling vehicle in accordance with the present invention, where the center of gravity CGSC of the storage container is displaced relative to the center of the vehicle body footprint CGV.

[0100] 13A-C are plan views showing the difference between imaginary lines extending between pairs of wheels of the same set of wheels and how they may or may not intersect imaginary lines between other wheels. Figure 13A illustrates a prior art single-cell robot, Figure 13B is a prior art central cavity robot, and Figure 13C shows an exemplary container handling vehicle in accordance with the present invention.

[0101] In FIG. 13A, for single-cell and central cavity robots, each imaginary line L1, L2, L3, L4 extending between each of the two pairs of opposing wheels in each set of wheels intersects two other imaginary lines L1, L2, L3, L4.

[0102] In FIG. 13B, in a central cavity robot, none of the imaginary lines L1, L2, L3, L4 extending between each of the two pairs of opposing wheels in each set of wheels intersects another imaginary line L1, L2, L3, L4.

[0103] FIG. 13C shows an exemplary container handling vehicle according to the present invention in which imaginary lines L1, L2 between each of two pairs of opposing wheels in a first set of wheels intersect with one imaginary line L3 extending between two wheels in a second set of wheels, and one imaginary line L4 between two wheels in the second set of wheels does not intersect with any imaginary line.

[0104] The present invention has been described with reference to the figures; however, those skilled in the art will appreciate that variations or modifications to the described embodiments may be made without departing from the scope of the invention as set forth in the appended claims.

[0105] [Table 1]

Claims

1. A container handling vehicle (9') for picking up a storage container (6) from a three-dimensional grid (4) of a storage system (1), comprising: A vehicle body (13), a first set of wheels (22) for moving said container handling vehicle (9') along a first direction (X) on the rail system (8) of said grid (4); a second set of wheels (23) for moving the container handling vehicle (9') along a second direction (Y) on the rail system (8) of the grid (4), the second direction (Y) being perpendicular to the first direction (X); Equipped with the vehicle body (13) has a first section (204) and a second section (205) arranged side by side, an occupied area (F1) of the first section (204) being substantially equal to an occupied area of ​​one grid cell (14) of the grid (4), and an occupied area (F2) of the second section (205) being less than half the size of the occupied area (F1) of the first section (204); the first section (204) is configured to accommodate a storage container (6); The second section (205) of the container handling vehicle (9') comprises an assembly of motors for driving at least one wheel of each of said sets of wheels.

2. A container handling vehicle (9') as described in claim 1, wherein the motor assembly comprises at least one first motor (203) for driving the first set of wheels (22) and at least one second motor (203) for driving the second set of wheels (23).

3. A container handling vehicle (9') as described in claim 1 or 2, comprising a lifting device (18) for picking up a storage container (6) from the grid (4), and the motor assembly comprising a lifting device motor (211) connected to the lifting device (18).

4. A container handling vehicle (9') as described in any one of claims 1 to 3, wherein the first section (204) accommodates the first wheel (201'), second wheel (201'', third wheel (201''') and fourth wheel (201'''') of the first set of wheels (22) and the first wheel (202') and second wheel (202'') of the second set of wheels (23), and the second section (205) accommodates the third wheel (202''') and fourth wheel (202'''') of the second set of wheels (23).

5. A container handling vehicle (9') as described in any one of claims 1 to 3, wherein the first section (204) accommodates a first wheel (201') and a third wheel (201''') of the first set of wheels (22) and a first wheel (202') and a second wheel (202'') of the second set of wheels (23), and the second section (205) accommodates a second wheel (201'') and a fourth wheel (201'''') of the first set of wheels (22) and a third wheel (202''') and a fourth wheel (202'''') of the second set of wheels (23).

6. A container handling vehicle (9') as described in any of claims 1 to 5, wherein the first section (204) has four corners, and the rims of the first wheel (201'), second wheel (201'', third wheel (201'''') and fourth wheel (201'''') of the first set of wheels (22) and the rims of the first wheel (202') and second wheel (202'') of the second set of wheels (23) are arranged at the corners of the first section (204).

7. The at least one first motor (203) comprises a hub motor for each of a first wheel (201′) and a fourth wheel (201″″) of the first set of wheels (22); the at least one second motor (203) comprises a hub motor for each of a third wheel (202''') and a fourth wheel (202'''') of the second set of wheels (23); Container handling vehicle (9') according to claim 2.

8. A container handling vehicle (9') as described in any one of claims 1 to 7, wherein the first and second sets of wheels are arranged at or within a lateral extent of the vehicle body (13).

9. A container handling vehicle (9') as described in any of claims 1 to 8, wherein during use, when the container handling vehicle (9') is in a position for lifting or lowering a storage container (6), the second section (205) is displaced horizontally relative to the grid cell (14) and extends partially into an adjacent grid cell (14).

10. A container handling vehicle (9') as described in any one of claims 1 to 9, wherein the motor assembly comprises a plurality of hub motors, and each of the first wheel (201') and fourth wheel (201'''') of the first set of wheels (22) and each of the third wheel (202''') and fourth wheel (202'''') of the second set of wheels (23) comprises a separate hub motor.

11. A container handling vehicle (9') as described in claim 7 or 10, wherein the hub motors of the first wheel (201') and fourth wheel (201'''') of the first set of wheels (22) and the third wheel (202''') and fourth wheel (202'''') of the second set of wheels (23) extend into the second section (205).

12. A container handling vehicle (9') as described in any of claims 1 to 11, wherein the rail system (8) includes a first set of tracks extending in the first direction (X) and a second set of tracks extending in the second direction (Y), and the grid (4) includes a plurality of grid cells (14).

13. An automated storage and retrieval system, the automated storage and retrieval system comprising a three-dimensional grid (4) and at least one container handling vehicle (9'), the grid (4) comprising: a rail system (8), wherein the container handling vehicle (9') is configured to move on the rail system (8); a plurality of grid cells (14) containing a plurality of storage containers (6); Equipped with the rail system (8) comprises a first set (10) of tracks extending in a first direction (X) on the rail system (8) of the grid (4) and a second set (11) of tracks extending in a second direction (Y) on the rail system (8) of the grid, the second direction (Y) being perpendicular to the first direction (X); The container handling vehicle (9') a vehicle body (13) having a first section (204) and a second section (205) arranged side by side; a first set of wheels (22) for moving said container handling vehicle (9') along said first direction (X) on the rail system (8) of said grid (4); a second set of wheels (23) for moving the container handling vehicle (9') along the second direction (Y) on the rail system (8) of the grid (4); Equipped with the first section (204) is configured to accommodate a storage container (6); said second section (205) comprising an assembly of motors (203) for driving at least one wheel of each of said sets of wheels; an occupancy area (F1) of the first section (204) is substantially equal to an occupancy area of ​​a grid cell (14) of the grid (4); An automated storage and retrieval system, wherein the footprint (F2) of said second section (205) is less than half the size of the footprint (F1) of said first section (204).

14. An automated storage and retrieval system as described in claim 13, wherein the motor assembly comprises a plurality of hub motors (203), and each of the first wheel (201') and fourth wheel (201'''') of the first set of wheels (22) and each of the third wheel (202''') and fourth wheel (202'''') of the second set of wheels (23) comprises a separate hub motor extending into the second section (205).

Images