Container handing vehicle, system and method

Abstract

It is described a container handling vehicle (501) for an automated storage and retrieval system (1), the container handling vehicle (501) comprises: a vehicle body (501a); and a lifting assembly (502) comprising:-a lifting frame (508) for lifting storage containers (106) from above; a lifting shaft (509) rotatably mounted in the vehicle body (501a), wherein the lifting frame (508) is suspended from the lifting shaft (509); a drive assembly (510) comprising at least one electric motor (511;511',511'') having a motor drive shaft (513;513',513'') to output rotational drive; and a transmission (515) connected between the motor drive shaft (513; 513',513'') of the at least one electric motor (511;511',511'') and the lifting shaft (509), wherein the transmission (515) is configured to transfer the rotational drive from the drive assembly to the lifting shaft (509) at a first gear ratio for a first category of lifting operations and at a second gear ratio for a second category of lifting operations, wherein the first gear ratio is higher than the second gear ratio It is further described an automated storage and retrieval system (1) and a method of changing between a first gear ratio and a second gear ratio.

Description

CONTAINER HANDING VEHICLE, SYSTEM AND METHOD

[0001] The invention relates to a container handling vehicle, a related systemand a related method. In particular, the invention relates to a container handling vehicle for an automated storage and retrieval system, an automated storage and retrieval system and a method of operating a container handling vehicle. BACKGROUND AND PRIOR ART

[0002] Fig. 1 discloses a prior art automated storage and retrieval system 1with a frame 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 frame structure 100 comprises upright members 102 and a storagevolume comprising 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 one on top of one another to form stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system1 comprises a rail system 108 arranged across the top of frame structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of parallel rails 110 to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108. The container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the frame structure 100 may be used toguide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting. P224552WO 1

[0006] Each prior art container handling vehicle 201,301,401 comprises avehicle body 201a,301a,401a and first and second sets of wheels 201b, 201c, 301b, 301c,401b,401c which enable the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively. In Figs.2, 3 and 4 two wheels in each set are fully visible. The first set of wheels 201b,301b,401b is arranged to engage with two adjacent rails of the first set of parallel rails 110, and the second set of wheels 201c,301c,401c is arranged to engage with two adjacent rails of the second set of parallel rails 111. At least one of the sets of wheels 201b, 201c, 301b,301c,401b,401c can be lifted and lowered, so that the first set of wheels 201b,301b,401b and / or the second set of wheels 201c,301c,401c can be engaged with the respective set of parallel rails 110, 111 at any one time.

[0007] Each prior art container handling vehicle 201,301,401 also comprises alifting device for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201,301,401 so that the position of the gripping / engaging devices with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs.3 and 4 indicated with reference number 304,404. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig.2 and is thus not shown. The lifting device may comprise a lifting frame 404d suspended from lifting bands 404a. The lifting bands 404a may provide power and communication between the container handling vehicle and the lifting frame 404d. The lifting frame 404d may comprise gripping engaging devices / grippers 404b for connection to gripping recesses of a storage container 106. Guide pins 404c assist in aligning the grippers 404b relative the gripping recesses of the storage container 106.

[0008] Conventionally, and also for the purpose of this application, Z=1identifies the uppermost layer available for storage containers below the rails 110,111, i.e. the layer immediately below the rail system 108, Z=2 the second layer below the rail system 108, Z=3 the third layer etc. In the exemplary prior art disclosed in Fig.1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=1…n and Y=1…n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig.1, the storage container identified as 106’ in Fig.1 can be said to occupy storage position X=17, Y=1, Z=6. The container handling vehicles 201,301,401 P224552WO 2can be said to travel in 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 extending above the rail system 108 are also said to be arranged in layer Z=0.

[0009] The storage volume of the frame structure 100 has often been referredto as a grid 104, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y- direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.

[0010] Each prior art container handling vehicle 201,301,401 comprises astorage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a,401a as shown in Figs.2 and 4 (showing a cavity-type container handling vehicles) and as described in e.g. WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] Fig. 3 shows an alternative configuration of a container handlingvehicle 301 with a cantilever construction (referred to as a cantilever-type container handling vehicle). Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0012] The cavity-type container handling vehicle 201 shown in Fig. 2 mayhave a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

[0013] Alternatively, the cavity-type container handling vehicles 401 shown inFigs.4 and 5 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig.1 and 4, e.g. as is disclosed in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The rail system 108 typically comprises rails with grooves in which thewheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g. an X direction) may P224552WO 3comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

[0015] WO2018 / 146304A1, the contents of which are incorporated herein byreference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.

[0016] In the frame structure 100, a majority of the columns 105 are storagecolumns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Fig.1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and / or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the frame structure 100 or transferred out of or into the frame structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120. The transportation to the access station may be in any direction, that is horizontal, tilted and / or vertical. For example, the storage containers 106 may be placed in a random or dedicated column 105 within the frame structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station. The transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

[0017] In Fig. 1, the first port column 119 may for example be a drop-off portcolumn where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 may be a pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.

[0018] The access station may typically be a picking or a stocking stationwhere product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are returned into the frame structure 100 again once accessed. A port can also be used for transferring P224552WO 4storage containers to another storage facility (e.g. to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

[0019] A conveyor system comprising conveyors is normally employed totransport the storage containers between the port columns 119,120 and the access station.

[0020] If the port columns 119,120 and the access station are located atdifferent levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.

[0021] The conveyor system may be arranged to transfer storage containers106 between different frame structures, e.g. as is described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] A storage system may also use port columns 119,120 to transfer astorage container between the rail system 108 on top of the frame structure 100 and a container transfer vehicle arranged below a lower end of the port column. Such storage systems and suitable container transfer vehicles are disclosed in WO 2019 / 238694 A1 and WO 2019 / 238697 A1, the contents of which are incorporated herein by reference.

[0023] A potential disadvantage of using a container transfer vehicle toretrieve and deliver storage containers from / to the lower end of a port column is the time dependency between the container transfer vehicle(s) and the container handling vehicles used to retrieve / deliver the storage containers through the port column.

[0024] When a storage container 106 stored in one of the columns 105disclosed 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 position 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 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lifting device 116, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 P224552WO 5positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

[0025] When a storage container 106 is to be stored in one of the columns 105,one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105, or relocated to other storage columns 105.

[0026] For monitoring and controlling the automated storage and retrievalsystem 1, e.g. monitoring and controlling the location of respective storage containers 106 within the frame structure 100, the content of each storage container 106; and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

[0027] An objective of the invention is to provide a container handling vehiclewhich is more efficient than prior art container handling vehicles. P224552WO 6SUMMARY OF THE INVENTION

[0028] This summary is provided to introduce in simplified form a selection ofconcepts that are further described herein. The summary is not intended to identify key or essential features of the invention.

[0029] The present invention is set forth and characterized in the independentclaims, while the dependent claims describe other optional features.

[0030] The present invention relates to a container handling vehicle for anautomated storage and retrieval system, wherein the automated storage and retrieval system comprises a rail system extending in a horizontal plane supported by a plurality of upright members to provide a frame structure, the rail system comprising a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction perpendicular to the first set of parallel rails to guide movement of container handling vehicles in the first direction and the second direction across the frame structure, the container handling vehicle comprises: a vehicle body; a first set of wheels for movement in the first direction and a second set of wheels for movement in the second direction; and a lifting assembly comprising: a lifting frame for lifting storage containers from above; a lifting shaft rotatably mounted in the vehicle body, wherein the lifting frame is suspended from the lifting shaft; a drive assembly comprising at least one electric motor having a motor drive shaft to output rotational drive; and a transmission connected between the motor drive shaft of the at least one electric motor and the lifting shaft, wherein the transmission is configured to transfer the rotational drive from the drive assembly to the lifting shaft at a first gear ratio for a first category of lifting operations and at a second gear ratio for a second category of lifting operations, wherein the first gear ratio is higher than the second gear ratio.

[0031] The term higher gear ratio is to be understood as that the first gearratio provides a higher rotational speed to the lifting shaft than the second gear ratio.

[0032] The container handling vehicle provides a solution for optimizingoperation of the lifting assembly in order to reduce the total time spent on lifting operations. P224552WO 7

[0033] In the event the drive assembly comprises only one electric motor, theat least one electric may be the electric motor.

[0034] In the event the drive assembly comprises more than one electricmotor, the at least one electric motor may be a first electric motor.

[0035] The first gear ratio may transmit rotational drive at a first level oftorque and the second gear ratio may transmit rotational drive at a second level of torque. The second level of torque may be larger than the first level of torque.

[0036] When the lifting assembly is lifting a storage container with a weightwhich is above a threshold value, the container handling vehicle may use the second gear ratio. When the weight of the storage container, and any product items therein, is below the threshold value, the lifting assembly may use the first gear ratio. As such, the overall time used for storage and retrieval operations decreases compared to prior art container handling vehicles. The threshold value may for example be between 10 – 20 kg, preferably substantially 15 kg.

[0037] Alternatively, the threshold value may be calculated based on a fractionof a maximum allowable total weight of the storage container with product items therein. This maximum total weight may be calculated based on the maximum load which a lowermost storage container in a stack of storage containers can carry without collapsing. Normally, the storage containers shall not weigh more than 30 kg in order not to exceed a total weight of the storage column. In order to be able to use the first gear ratio which can be used up to 15 kg the fraction of the maximum allowable total weight of the storage container with product items therein may be up to 50 %.

[0038] In order to lower the centre of gravity for the container handlingvehicle, the at least one electric motor is preferably arranged at a lower level than the lifting shaft.

[0039] The lifting shaft may be arranged relatively centrally above the liftingframe for spooling lifting bands from either side of the lifting shaft thereon.

[0040] The container handling vehicle may have a cantilever construction,referred to as a cantilever-type container handling vehicle. In such a cantilever-type container handling vehicle, the cantilever construction comprises at least the lifting frame and the lifting shaft. The cantilever construction protrudes from a vehicle body part comprising at least the first and second sets of wheels. Preferably, the vehicle P224552WO 8body part comprises heavy and bulky components such as battery(ies), wheel motor(s), and / or electric motor(s) for rotating the lifting shaft.

[0041] The lifting shaft is preferably arranged in an upper part, e.g. in anupper third of the container handling vehicle to make space below for the lifting frame carrying any storage container.

[0042] The rotational drive from the drive assembly to the lifting shaft may betransferred via force transferring device / s such as band, belt, chain, rope etc. However, preferably the force transferring device / s are low-weight components such that they don’t contribute in destabilizing the container handling vehicle even though if they are arranged relatively high in the vehicle.

[0043] The transmission may comprise a first gear providing the first gearratio and a second gear providing the second gear ratio.

[0044] The first gear operates the lifting shaft at the first gear ratio, i.e. a firstrotational speed, and the second gear operates the lifting shaft at the second gear ratio, i.e. a second rotational speed, for a given input rotational speed.

[0045] The first gear and the second gear may have a center axis coincidingwith a center axis of the lifting shaft.

[0046] In other words, the first gear and the second gear may be arranged onthe same axis as the lifting shaft.

[0047] The second gear may have a larger diameter than the first gear.

[0048] The lifting frame may be suspended from the lifting shaft via a pluralityof lifting bands.

[0049] Preferably, four lifting bands are used, one lifting band connected toeach corner of the lifting frame.

[0050] The lifting shaft may comprise a plurality of reels corresponding to thenumber of lifting bands, and wherein each of the lifting bands may be reeled onto one of the reels of the lifting shaft.

[0051] The reels are preferably of identical. This minimizes the risk of skewedlifting of the lifting frame. All lifting bands, e.g. all four lifting bands, may be reeled on to the same lifting shaft. P224552WO 9

[0052] The lifting assembly may comprise a first guide device arranged on afirst side of the lifting shaft and a second guide device arranged on a second side of the lifting shaft, wherein the second side may be arranged opposite to the first side, and wherein the first guide device and the second guide device may be each configured to guide one or more of the lifting bands.

[0053] The lifting frame may be rectangular and each of the number of liftingbands may be connected at or close to each corner of the lifting frame.

[0054] The drive assembly may comprise a brake for braking downwardmovement of the lifting frame.

[0055] The at least one electric motor of the drive assembly may be a firstelectric motor and a second electric motor, where: the first electric motor may have a motor drive shaft, and the transmission may comprise a first force transferring device, wherein the motor drive shaft of the first electric motor may be connected to the first gear via the first force transferring device; and the second electric motor may have a motor drive shaft, and the transmission may comprise a second force transferring device, wherein the motor drive shaft of the second electric motor may be connected to the second gear via the second force transferring device.

[0056] The first electric motor and the second electric motor may be connectedto a common mount. The common mount may be secured to a wall of the vehicle body facing the cantilever construction immediately below a protruding end of the lifting shaft. As such, the distance between the first electric motor and the lifting shaft and the distance between the second electric motor and the lifting shaft is the same.

[0057] The common mount may comprise spacers that correspond in width tothe width of the first and second gears. This results in that the first gear, the motor drive shaft of the first electric motor and the first force transferring device are in the same vertical plane. Similarly, the second gear, the motor drive shaft of the second electric motor and the second force transferring device are in the same vertical plane. This ensures proper guiding of the force transferring devices.

[0058] The first electric motor and the second electric motor may be arrangedat a lower level than the lifting shaft and at a distance from the lifting shaft to make space for the force transferring devices.

[0059] The first electric motor may be connected to a first pivotable bracket.P224552WO 10

[0060] The second electric motor may be connected to a second pivotablebracket.

[0061] Tensioning of the force transferring device connecting the first electricmotor to the lifting shaft may be performed by pivoting the first pivotable bracket.

[0062] Tensioning of the force transferring device connecting the secondelectric motor to the lifting shaft may be performed by pivoting the second pivotable bracket.

[0063] The first electric motor and the second electric motor may be rotated inopposite directions about the shared common mount to tension the force transferring devices correctly.

[0064] The first electric motor and the second electric motor may be arrangedon either side of a center line of the common mount in order to increase stability.

[0065] The first pivotable bracket and the second pivotable bracket may besimilar, i.e. identical, items.

[0066] The force transferring devices may be similar items.

[0067] The first and second electric motors may be similar items.

[0068] Using similar items will reduce the range of different componentsrequired.

[0069] Since both the first electric motor and the second electric motor may beconnected to the same lifting shaft, both the motor drive shaft of the first motor and the motor drive shaft of the second electric motor may rotate when the lifting shaft rotates. Since both motor drive shafts rotate, it is sufficient with one common brake for the lifting assembly, i.e. on one of the motor drive shafts only in order to brake the downward movement of the lifting frame.

[0070] The first force transferring device and the second force transferringdevice may be drive belts.

[0071] The drive assembly may comprise only one electric motor, the electricmotor may have a motor drive shaft, the motor drive shaft may comprise a first motor gear and a second motor gear. P224552WO 11

[0072] The transmission may comprise a first force transferring deviceconnected between the first motor gear and the first gear and a second force transferring device connected between the second motor gear and the second gear, and a clutch device, wherein the clutch device may be configured to change between first gear ratio and the second gear ratio.

[0073] The clutch device may comprise a first electric coupling for engagingthe first force transferring device and the first gear to the lifting shaft and a second electric coupling for engaging the second force transferring device and the second gear to the lifting shaft.

[0074] The one electric motor may have a motor drive shaft. The motor driveshaft may extend from one side of the electric motor, through the electric motor, and to the other side of the electric motor. The respective first motor gear and second motor gear may be arranged on opposite sides of the electric motor and may both be securely connected to the motor drive shaft such that they always rotate together with the motor drive shaft.

[0075] The first force transferring device of the transmission may beconnected between the first motor gear and the first gear. The second force transferring device may be connected between the second motor gear and the second gear. The clutch device may be configured to change between first gear ratio and the second gear ratio, i.e. to change between operational engagement between the first gear and the lifting shaft and between the second gear and the lifting shaft, respectively.

[0076] A clutch shaft may extend through the clutch device. The clutch shaftmay form an extension of the lifting shaft in a first end thereof and may have the same center axis as the lifting shaft. The clutch shaft and the lifting shaft preferably always rotate together and may as such be seen as one single shaft. The brake may be arranged at the second end of the clutch shaft.

[0077] A securely connected connection plate may encircle the clutch shaft.The connection does not rotate with the clutch shaft. The first gear may encircle the clutch shaft. A first magnetic spool may be connected to the connection plate. A first electric coupling may be arranged next to the first magnetic spool. A first axially movable clutch plate may be securely connected to the first gear and may be positioned between the first electric coupling and the first gear. P224552WO 12

[0078] When it is decided that the first gear shall engage with the clutch shaftsuch that the first gear ratio for a first category of lifting operations shall be used, the first magnetic spool may be set under electrical current thereby forcing the first clutch plate, which first clutch plate is magnetic, and the first gear towards the first magnetic spool such that the first electric coupling transfers rotation from the first gear to the clutch shaft and, consequently, the lifting shaft.

[0079] A similar operation is performed when it is decided that the secondgear shall engage with the clutch shaft such that the second gear ratio for a second category of lifting operations shall be used. The second gear may encircle the clutch shaft. A second magnetic spool may be connected to the connection plate. A second electric coupling may be arranged next to the second magnetic spool. A second axially movable clutch plate may be securely connected to the second gear and may be positioned between the second electric coupling and the second gear.

[0080] When it is decided that the second gear shall engage with the clutchshaft such that the second gear ratio for a second category of lifting operations shall be used, the second magnetic spool is set under electrical current thereby forcing the second clutch plate, which second clutch plate is magnetic, and the second gear towards the second magnetic spool such that the second electric coupling transfers rotation from the first gear to the clutch shaft, and consequently, the lifting shaft.

[0081] As such, it may be shifted between the different first and second gearratios.

[0082] The container handling vehicle may comprise a receiver incommunication with a control system of the automated storage and retrieval system such that the container handling vehicle may be configured to receive instructions from the control system regarding when to use the first gear ratio or the second gear ratio.

[0083] The lifting assembly may comprise an electronics modulecommunicating with the drive assembly, wherein the electronics module may be configured to determine whether the first gear ratio or the second gear ratio may be to be used.

[0084] The electronics module may be configured to measure power (forexample Ampere) used by the drive assembly when lifting a storage container and, if the measured power may be below a predetermined threshold value, use the first gear ratio. P224552WO 13

[0085] Similarly, if the measured power is above a predetermined thresholdvalue, use the second gear ratio.

[0086] The electronics module may receive wireless data representing thepower used by the electric motor in use or be connected to any of the electric motors to measure the power used by the electric motor in use.

[0087] The container handling vehicle may comprise a weighing device formeasuring the weight of a lifted storage container and the weighing device may be in communication with the electronics module and the electronics module may be configured to determine whether the first gear ratio or the second gear ratio may be to be used based on the measured weight communicated from the weighing device.

[0088] The weighing device may e.g. be arranged at or close to the lifting shaftabove the lifting frame to measure the weight of the lifting frame and connected storage container.

[0089] The first gear ratio may be used when a storage container is notconnected to the lifting frame.

[0090] The second gear ratio may be used when a storage container isconnected to the lifting frame.

[0091] It is described an automated storage and retrieval system comprising arail system extending in a horizontal plane supported by a plurality of upright members to provide a frame structure, the rail system comprising a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction perpendicular to the first set of parallel rails to guide movement of container handling vehicles in the first direction and the second direction across the frame structure, wherein the automated storage and retrieval system comprises one or more container handling vehicles as defined above.

[0092] The automated storage and retrieval system may comprise a controlsystem which stores weight data of each storage container, and the control system may be configured to determine whether the first gear ratio or the second gear ratio shall be used based on the stored weight data and instruct the container handling vehicle accordingly.

[0093] The automated storage and retrieval system may comprise a controlsystem and a port with a weighing device for measuring weight of a storage container when in the port, wherein the control system may be configured to receive the P224552WO 14measured weight and determine whether the first gear ratio or the second gear ratio may be to be used based on the measured weight and instruct the container handling vehicle accordingly.

[0094] It is described a method of changing between a first gear ratio and asecond gear ratio of a lifting assembly of a container handling vehicle operating in an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a rail system extending in a horizontal plane supported by a plurality of upright members to provide a frame structure, the rail system comprising a first set of parallel rails extending in a first direction and a second set of parallel rails in the horizontal plane arranged in a second direction perpendicular to the first set of parallel rails to guide movement of container handling vehicles in the first direction and the second direction across the frame structure, the container handling vehicle comprises: - a vehicle body; - a first set of wheels for movement in the first direction and a second set of wheels for movement in the second direction; - a lifting assembly comprising: a lifting frame for lifting storage containers from above; a lifting shaft connected to the vehicle body, wherein the lifting frame is suspended from the lifting shaft; a drive assembly comprising at least one electric motor having a motor drive shaft to output rotational drive; a transmission connected between the drive assembly and the lifting shaft, wherein the transmission is configured to transfer the rotational drive from the drive assembly to the lifting shaft at a first gear ratio for a first category of lifting operations and at a second gear ratio for a second category of lifting operations, wherein the first gear ratio is higher than the second gear ratio; and wherein the method comprises a step of: changing to the first gear ratio when a storage container is not connected to the lifting frame.

[0095] The second gear ratio may be used when a storage container may beconnected to the lifting frame.

[0096] The lifting assembly may comprise an electronics modulecommunicating with the drive assembly, wherein the method comprises: using the electronics module to determine whether the first gear ratio or the second gear ratio may be to be used. P224552WO 15

[0097] The electronics module may be configured to measure power used bythe drive assembly when lifting a storage container and the method may comprise: determining whether the first gear ratio or the second gear ratio may be to be used based on whether the measured power may be above or below a predetermined threshold value.

[0098] The automated storage and retrieval system may comprise a controlsystem which stores weight data of each storage container, and the method may comprise: using the control system to determine whether the first gear ratio or the second gear ratio may be to be used based on the stored weight; and instructing the container handling vehicle accordingly.

[0099] The automated storage and retrieval system may comprise a controlsystem and a port with a weighing device for measuring weight of a storage container when in the port, and the control system may be configured to receive the measured weight; and the method may comprise: using the control system to determine whether the first gear ratio or the second gear ratio may be to be used based on the measured weight; and instructing the container handling vehicle accordingly.

[0100] In the present specification the term “storage container” is intended tomean any goods holder unit having a bottom plate and side portions suitable for releasable connection to the container lift device, e.g. a bin, a tote, a tray or similar. The side portions may preferably comprise gripping recesses. The side portions are preferably sidewalls. The height of the sidewalls may vary depending on the intended use of the automated storage and retrieval system and the goods to be stored. The gripping recesses may be arranged at an upper rim of the sidewalls. The outer horizontal periphery of the storage container is preferably rectangular.

[0101] The relative terms “upper”, “lower”, “below”, “above”, “higher” etc.shall be understood in their normal sense and as seen in a cartesian coordinate system.

[0102] The invention may be used in connection with storage containers andsystems as described above. However, other areas where the disclosed automated storage and retrieval system and methods may be used is within vertical farming, micro-fulfilment or grocery / e-grocery. P224552WO 16BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Following drawings are appended to facilitate the understanding of theinvention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

[0104] Fig. 1 is a perspective view of a frame structure of a prior art automatedstorage and retrieval system;

[0105] Fig. 2 is a perspective view of a prior art container handling vehiclehaving an internally arranged cavity for carrying storage containers therein;

[0106] Fig. 3 is a perspective view of a prior art container handling vehiclehaving a cantilever construction for carrying storage containers underneath;

[0107] Fig. 4 is a perspective view, seen from below, of a prior art containerhandling vehicle having an internally arranged cavity for carrying storage containers therein;

[0108] Fig. 5 is a perspective view of the container handling vehicle in Fig. 4without side and top panels;

[0109] Figs. 6A and 6B are different side views of a container handling vehiclehaving a cantilever construction, where Fig.6A is a side view and Fig.6B is a front view;

[0110] Figs. 7A-7D are different views of the container handling vehicle inFigs.6A and 6B with some of the covers removed, the container handling vehicle comprising a lifting assembly according to a first embodiment, where the lifting assembly comprises a drive assembly comprising a first electric motor and a second electric motor;

[0111] Fig. 8 is a similar view as Figs. 7A-7D but where the container handlingvehicle body has been omitted on purposed to better show details of the lifting assembly according to the first embodiment;

[0112] Figs. 9A and 9B are different views of the container handling vehicle inFigs.6A and 6B with some of the covers removed, the container handling vehicle comprising a lifting assembly according to a second embodiment, where the drive assembly comprises only one electric motor; P224552WO 17

[0113] Figs. 10A-10F are similar views as Figs. 9A and 9B but where thecontainer handling vehicle body has been omitted on purpose to better show details of the lifting assembly according to the second embodiment;

[0114] Fig. 11 shows an automated storage and retrieval system comprising arail system where a container handling vehicle operates, and a port arranged at a lower level than a top of the rail system; DETAILED DESCRIPTION OF THE INVENTION

[0115] In overview, a container handling vehicle (501) comprises a vehiclebody (501a) and a lifting assembly (502). The lifting frame comprises: a lifting frame (508) for lifting storage containers (106) from above; a lifting shaft (509) rotatably mounted in the vehicle body (501a), wherein the lifting frame (508) is suspended from the lifting shaft (509); a drive assembly (510) comprising at least one electric motor (511;511’,511’’) having a motor drive shaft (513;513’,513’’) to output rotational drive; and a transmission (515) connected between the motor drive shaft (513; 513’,513’’) of the at least one electric motor (511;511’,511’’) and the lifting shaft (509), wherein the transmission (515) is configured to transfer the rotational drive from the drive assembly to the lifting shaft (509) at a first gear ratio for a first category of lifting operations and at a second gear ratio for a second category of lifting operations, wherein the first gear ratio is higher than the second gear ratio.

[0116] In the following, embodiments of the invention will be discussed inmore detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject- matter depicted in the drawings.

[0117] A frame structure 100 of the automated storage and retrieval system 1may be constructed in a similar manner to the prior art frame structure 100 described above in connection with Fig.1. That is, the frame structure 100 may comprise a number of upright members 102, and comprise a rail system 108 extending in the first direction (X direction) and the second direction (Y direction). I.e. the rail system 108 may be arranged on top of the upright members 102, the rail system 108 comprising a first set of parallel rails 110 and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110. The first and second set of rails 110,111 providing a horizontal grid-based rail system 108 defining a plurality of grid cells 130. The first and second set of rails 110,111 of the rail system 108 may comprise one or two tracks. Preferably both directions of rail comprise two tracks (double tracks), e.g., either as two parallel channels formed in a rail, or as a channel provided P224552WO 18in each of a pair of rail members that have been fastened to the other to form a rail. In such arrangements the access opening (also named grid opening) and a track- width on each side defines the “grid cell” 130. In arrangements where one direction of rails has only a single track, the grid cell 130 may extend a full rail-width on those sides.

[0118] The frame structure 100 may comprise storage compartments in theform of storage columns 105 provided between the members 102 wherein storage containers 106 may be stackable in stacks 107 within the storage columns 105.

[0119] The frame structure 100 can be of any size. In particular, it isunderstood that the frame structure can be considerably wider and / or longer and / or deeper than disclosed in Fig.1. For example, the frame structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[0120] The prior art container handling vehicles comprising a cavity foraccommodating a storage container (cavity-type container handling vehicles), see Figs.2, 4 and 5, have certain advantageous features. In particular, the guidance / support provided to a storage container when accommodated in the cavity entails that the cavity-type container handling vehicles may have increased acceleration / deceleration relative to the cantilever-type container handling vehicle 301 shown in Fig.3. However, the potential increase in acceleration / deceleration is not fully realized due to instability of the cavity-type container handling vehicles. The instability is caused by the cavity-type container handling vehicles 201,401 having most of the drive, power, control and lifting components arranged above the cavity, providing a high centre of gravity.

[0121] Figs. 6A-6B are different side views of a container handling vehicle 501having a cantilever construction 503, where Fig.6A is a side view and Fig.6B is a front view. I.e. the views in Figs.6A and 6B are perpendicular relative each other.

[0122] The container handling vehicles 501 in Figs. 6A and 6B are shown withall protective covers etc., however the vehicle body 501a, the first and second sets of wheels 501b,501c are visible.

[0123] In Fig. 6A, a guide pin 507 of the lifting frame (not shown) is visible. InFig.6B, two guide pins 507 and two grippers 506 of the lifting frame (not shown) are visible. P224552WO 19

[0124] Figs. 7A-7D are different views of the container handling vehicle inFigs.6A and 6B with some of the covers removed. The container handling vehicle 501 comprising a lifting assembly 502 according to a first embodiment, where the lifting assembly 502 comprises a drive assembly 510 comprising a first electric motor 511’ and a second electric motor 511’’. Fig.7A is a side view of the container handling vehicle 501 from an opposite side relative where the cantilever construction 503 is arranged, Fig.7B is a side perspective view, Fig.7C is a perspective view from above, and Fig.7D is a perspective vie form a side of the container handling vehicle 501.

[0125] The container handling vehicle 501 in Figs. 7A-7D is configured tooperate on an automated storage and retrieval system 1 as described above in relation to Fig.1. The container handling vehicle 501 is disclosed with a vehicle body 501a, a first set of wheels 501b for movement in the first direction X on the rail system 108 and a second set of wheels 501c for movement in the second direction Y on the rail system 108. The lifting assembly 502 according to the first embodiment of Figs.7A-7D comprises a lifting frame 508 for lifting storage containers 106 from above, a lifting shaft 509 rotatably mounted in the vehicle body 501a, wherein the lifting frame 508 is suspended from the lifting shaft 509, a drive assembly 510 comprising a first electric motor 511’ and a second electric motor 511’’. The first electric motor 511’ has a motor drive shaft 513’ to output rotational drive. The second electric motor has a motor drive shaft 513’’ to output rotational drive.

[0126] A first force transferring device 521 of a transmission 515 is connectedbetween the motor drive shaft 513’ of the first electric motor 511’ and the lifting shaft 509 via the first gear 516.

[0127] A second force transferring device 522 of the transmission 515 isconnected between the motor drive shaft 513’’ of the second electric motor 511’’ and the lifting shaft 509 via the second gear 517.

[0128] The respective first force transferring device 521 and second forcetransferring device 522 are configured to transfer the rotational drive from the drive assembly 510 to the lifting shaft 509 at a first gear ratio for a first category of lifting operations and at a second gear ratio for a second category of lifting operations, wherein the first gear ratio is higher than the second gear ratio.

[0129] The transmission 515 is disclosed with a first gear 516 providing thefirst gear ratio and a second gear 517 providing the second gear ratio. The first gear 516 operates the lifting shaft 509 at the first gear ratio, i.e. a first rotational speed, and the second gear 517 operates the lifting shaft 509 at the second gear ratio, i.e. a P224552WO 20second rotational speed, for a given input rotational speed. The second gear 517 has a larger diameter than the first gear 516. The first gear 516, i.e. the gear with relatively smaller diameter, is disclosed closest to the cantilever construction 503.

[0130] As is seen from Figs 7A and 7B, the first gear 516 and the second gear517 are arranged on the same axis as the lifting shaft 509. Consequently, the center axis 516C of the first gear 516 and the center axis 517C of the second gear 517 are coinciding with a center axis 509C of the lifting shaft 509.

[0131] As seen in Fig. 7C, the lifting frame 508 is suspended from the liftingshaft 509 via a plurality of lifting bands 505’;505’’;505’’’;505’’’’. Preferably, four lifting bands are used, one lifting band connected to each corner of the lifting frame 508.

[0132] The lifting shaft 509 is disclosed with a plurality of reels518’;518’’;518’’’;518’’’’ corresponding to the number of lifting bands 505’;505’’;505’’’;505’’’’. Each of the lifting bands 505’;505’’;505’’’;505’’’’ is reeled onto one of the reels 518’;518’’;518’’’;518’’’’ of the lifting shaft 509. The reels are disclosed as being identical. This minimizes the risk of skewed lifting of the lifting frame 508. All lifting bands 505’;505’’;505’’’;505’’’’, e.g. all four lifting bands, are reeled on to the same lifting shaft 509 in the embodiment of Figs.7A-7D.

[0133] As best seen in Fig. 7C, the lifting assembly 502 is disclosed with a firstguide device 519’ arranged on a first side of the lifting shaft 509 and a second guide device 519’’ arranged on a second side of the lifting shaft 509. The second side is arranged opposite to the first side. The first guide device 519’ and the second guide device 519’’ are each configured to guide one or more of the lifting bands 505’;505’’;505’’’;505’’’’. The lifting frame 508 is shown as being rectangular and each of the number of lifting bands 505’;505’’;505’’’;505’’’’ are connected at or close to each corner of the lifting frame 508.

[0134] As shown, the drive assembly 510 is disclosed with a brake 520 forbraking downward movement of the lifting frame 508. The brake 520 is common to both the first electric motor 511’ and the second electric motor 511’’ (i.e. the drive assembly 510 comprises only one brake 520 in total). This is due to that since both the first electric motor 511’ and the second electric motor 511’’ are connected to the same lifting shaft 509, both the motor drive shaft 513’ of the first motor 5111’ and the motor drive shaft 513’’ of the second electric motor 511’’ rotate when the lifting shaft 509 rotates. Since both motor drive shafts 513’.513’’ rotate, it is sufficient with one P224552WO 21common brake 520 for the lifting assembly, i.e. on one of the motor drive shafts 513’,513’’ only in order to brake the downward movement of the lifting frame 508.

[0135] The first electric motor and the second electric motor may be connectedto a common mount 535 (best seen e.g. in Figs.7B and 7C). The common mount 535 may be secured to a wall 537 of the vehicle body facing the cantilever construction 503 immediately below a protruding end of the lifting shaft 509 (i.e. below the first gear 516 and the second gear 517). As such, the distance between the first electric motor 511’ and the lifting shaft 509 and the distance between the second electric motor 511’’ and the lifting shaft 509 is substantially the same.

[0136] The common mount 535 may comprise spacers 538 that correspond inwidth to the width of the first gear 516 and the second gear 517. This results in that the first gear 516, the motor drive shaft 513’ of the first electric motor 511’ and the first force transferring device 521 are in the same vertical plane. Similarly, the second gear 517, the motor drive shaft 513’’ of the second electric motor 511’’ and the second force transferring device 522 are in the same vertical plane. This ensures proper guiding of the force transferring devices 521,522.

[0137] The first electric motor 511’ and the second electric motor 511’’ arearranged at a lower level than the lifting shaft 509 and at a distance from the lifting shaft 509 to make space for the force transferring devices 521,522.

[0138] The first electric motor 511’ may be connected to a first pivotablebracket 536’.

[0139] The second electric motor 511’’ may be connected to a second pivotablebracket 536’’.

[0140] Tensioning of the force transferring device 521 connecting the firstelectric motor 511’ to the lifting shaft 509 may be performed by pivoting the first pivotable bracket 536’.

[0141] Tensioning of the force transferring device 522 connecting the secondelectric motor 511’’ to the lifting shaft 509 may be performed by pivoting the second pivotable bracket 536’’.

[0142] The first pivotable bracket 536’, where the first electric motor 511’ isconnected, and the second pivotable bracket 536’’, where the second electric motor 511’’ is connected, may be rotated in opposite directions about the shared common mount 535 to tension the force transferring devices 521,522 correctly. P224552WO 22

[0143] The first electric motor 511’ and the second electric motor 511’’ may bearranged on either side of a center line (not shown) of the common mount 535 in order to increase stability.

[0144] The first pivotable bracket 536’ and the second pivotable bracket 536’’may be similar, i.e. identical, items.

[0145] The force transferring devices 521,522 may be similar items.

[0146] The first and second electric motors 511’,511’’ may be similar items.

[0147] Using similar items will reduce the range of different componentsrequired to assemble and manufacture the container handling vehicle 501.

[0148] Fig. 8 is a similar view as Figs. 7A-7D but where the container handlingvehicle body 501a has been omitted on purposed to better show details of the lifting assembly 502 according to the first embodiment.

[0149] Figs. 9A and 9B are different views of the container handling vehicle501 in Figs.6A and 6B with some of the covers removed. The container handling vehicle 501 comprising a lifting assembly 502 according to a second embodiment, where the drive assembly 510 comprises only one electric motor 511. The remaining components such as the vehicle body 501a, the cantilever construction 503, the wall 537 of the vehicle body 501a facing the cantilever construction 503, the first set of wheels 501b and the second set of wheels 501c are similar to the container handling vehicle 501 in Figs.7A-7D, and will not be repeated herein.

[0150] In Figs. 10A-10F the container handling vehicle body 501a has beenomitted to better show details of the lifting assembly according to the second embodiment.

[0151] Referring to Figs. 10A-10C, it is shown a lifting frame 508 suspendedfrom the lifting shaft 509 via a plurality of lifting bands 505’;505’’;505’’’;505’’’’. Preferably, four lifting bands are used, one lifting band connected to each corner of the lifting frame 508.

[0152] The lifting shaft 509 is disclosed with a plurality of reels518’;518’’;518’’’;518’’’’ corresponding to the number of lifting bands 505’;505’’;505’’’;505’’’’. Each of the lifting bands 505’;505’’;505’’’;505’’’’ is reeled onto one of the reels 518’;518’’;518’’’;518’’’’ on the lifting shaft 509. The reels are disclosed as being identical. This minimizes the risk of skewed lifting of the lifting frame 508. P224552WO 23All lifting bands 505’;505’’;505’’’;505’’’’, e.g. all four lifting bands, are reeled on to the same lifting shaft 509 in the embodiment of Figs.7A-7D.

[0153] The lifting assembly 502 is disclosed with a first guide device 519’arranged on a first side of the lifting shaft 509 and a second guide device 519’’ arranged on a second side of the lifting shaft 509. The second side is arranged opposite to the first side. The first guide device 519’ and the second guide device 519’’ are each configured to guide one or more of the lifting bands 505’;505’’;505’’’;505’’’’. The lifting frame 508 is shown as being rectangular and each of the number of lifting bands 505’;505’’;505’’’;505’’’’ are connected at or close to each corner of the lifting frame 508.

[0154] As shown, the drive assembly 510 is disclosed with a brake 520connected to an extension of the lifting shaft 509 running through a clutch device 524 of the lifting assembly 502 for braking downward movement of the lifting frame 508.

[0155] The drive assembly 510 comprises only one electric motor 511.

[0156] As best shown in Figs. 10D and 10E, the electric motor 511 has a motordrive shaft 513. The motor drive shaft 513 extends from one side of the electric motor 511, through the electric motor 511, and to the other side of the electric motor 511. The respective first motor gear 523’ and second motor gear 523’’ are arranged on opposite sides of the electric motor 511 and are both securely connected to the motor drive shaft 513 such that they always rotate together with the motor drive shaft 513.

[0157] The transmission 515 is disclosed with the first force transferring device521 connected between the first motor gear 523’ and the first gear 516. The transmission 515 is further disclosed with the second force transferring device 522 connected between the second motor gear 523’’ and the second gear 517. The transmission 515 is further disclosed with a clutch device 524 which is configured to change between first gear ratio and the second gear ratio, i.e. to change between operational engagement between the first gear 516 and the lifting shaft 509 and between the second gear 517 and the lifting shaft 509, respectively.

[0158] Details of the clutch device 524 will be described in greater detail in thefollowing with reference to Figs.10D and 10E, where Fig, 10E is an exploded view of section A in Fig.10D. A clutch shaft 531 extends through the clutch device 524. The clutch shaft 531 forms an extension of the lifting shaft 509 in a first end thereof and has the same center axis (not shown) as the lifting shaft 509. The clutch shaft 531 and P224552WO 24the lifting shaft 509 always rotate together and may as such be seen as one single shaft. The brake 520 is arranged at the second end of the clutch shaft 531.

[0159] A securely connected connection plate 530 encircles the clutch shaft531. The connection plate 530 does not rotate with the clutch shaft 531. The first gear 516 encircles the clutch shaft 531. A first magnetic spool 529’ is connected to the connection plate 530. A first electric coupling 525’ is arranged next to the first magnetic spool 529’. A first axially movable clutch plate 528’ is securely connected to the first gear 516 and is positioned between the first electric coupling 525’ and the first gear 516.

[0160] When it is decided that the first gear 516 shall engage with the clutchshaft 531 such that the first gear ratio for a first category of lifting operations shall be used, the first magnetic spool 529’ is set under electrical current thereby forcing the first clutch plate 528’ (which is magnetic) and the first gear 516 towards the first magnetic spool 529’ such that the first electric coupling 525’ transfers rotation from the first gear 516 to the clutch shaft 531 (and consequently the lifting shaft 509).

[0161] A similar operation is performed when it is decided that the secondgear 517 shall engage with the clutch shaft 531 such that the second gear ratio for a second category of lifting operations shall be used.

[0162] The second gear 516 encircles the clutch shaft 531. A second magneticspool 529’’ is connected to the connection plate 530. A second electric coupling 525’’ is arranged next to the second magnetic spool 529’’. A second axially movable clutch plate 528’’ is securely connected to the second gear 517 and is positioned between the second electric coupling 525’’ and the second gear 517.

[0163] When it is decided that the second gear 517 shall engage with the clutchshaft 531 such that the second gear ratio for a second category of lifting operations shall be used, the second magnetic spool 529’’ is set under electrical current thereby forcing the second clutch plate 528’’ (which is magnetic) and the second gear 517 towards the second magnetic spool 529’’ such that the second electric coupling 525’’ transfers rotation from the second gear 517 to the clutch shaft 531 (and consequently the lifting shaft 509).

[0164] As such, it may be shifted between the different first and second gearratios.

[0165] Fig. 10F is an exploded view of the electric motor 511 and transmission515 with the clutch device 524 of Figs.10A-10E. P224552WO 25

[0166] Common to both the lifting assembly 502 in the first embodiment ofFigs.7A-7D and 8 and the second embodiment of Figs.9A-9B and 10A-10F, when the lifting assembly 502 is lifting a storage container 106 with a weight which is above a threshold value, the container handling vehicle 501 may use the second gear ratio. When the weight of the storage container 106, and any product items therein, is below the threshold value, the lifting assembly 502may use the first gear ratio. The threshold value may for example be between 10 – 20 kg, preferably substantially 15 kg. There may be different ways of measuring and deciding which of the first gear ration and second gear ratio that shall be used.

[0167] For example, the container handling vehicle 501 may comprise areceiver 539 (see Figs.7A and 9A) in communication with a control system 500 of the automated storage and retrieval system 1 such that the container handling vehicle 501 is configured to receive instructions from the control system 500 regarding when to use the first gear ratio or the second gear ratio.

[0168] Alternatively, or additionally, the lifting assembly 502 may comprise anelectronics module 533 communicating with the drive assembly 510 The electronics module 533 may be configured to determine whether the first gear ratio or the second gear ratio is to be used. For example, the electronics module 533 may be configured to measure power used by the drive assembly 510 when lifting a storage container 106 and, if the measured power is below a predetermined threshold value, use the first gear ratio. Similarly, if the measured power is above a predetermined threshold value, use the second gear ratio.

[0169] The electronics module may receive wireless data representing thepower used by the electric motor in use or be connected to any of the electric motors to measure the power used by the electric motor in use.

[0170] Alternatively, the container handling vehicle 501 may comprise aweighing device 534 for measuring the weight of a lifted storage container 106. The weighing device 534 may be in communication with the electronics module 533 and the electronics module 533 may be configured to determine whether the first gear ratio or the second gear ratio is to be used based on the measured weight communicated from the weighing device 534.

[0171] The weighing device may e.g. be arranged at or close to the lifting shaft509 above the lifting frame 508 to measure the weight of the lifting frame 508 (and any connected storage container 106). P224552WO 26

[0172] If weighing or measuring is not desired and a simpler setup is required,the lifting assembly 502 may be configured such that the first gear ratio is always used when a storage container 106 is not connected to the lifting frame 508 and the second gear ratio is always used when a storage container 106 is connected to the lifting frame 508.

[0173] Fig. 11 shows an automated storage and retrieval system 1 comprising arail system 108 where a container handling vehicle 501 operates, and a port 526 arranged at a lower level than a top of the rail system 108. Although only one container handling vehicle 501 is shown in Fig.11, it is clear that there may be more than one container handling vehicle 501. The additional container handling vehicles may be of the same type as the container handling vehicle 501 in Fig.11 or they may be different, e.g. as shown in prior art container handling vehicles denoted 201, 301 or 401. As indicated above, the automated storage and retrieval system 1 may comprise a rail system 108 extending in a horizontal plane supported by a plurality of upright members 102 to provide a frame structure 100. The rail system 108 may comprise a first set of parallel rails 110 extending in a first direction X and a second set of parallel rails 111 extending in a second direction Y perpendicular to the first set of parallel rails 110 to guide movement of container handling vehicles 201;301;401;501 in the first direction X and the second direction Y across the frame structure 100.

[0174] The port 526 may comprise a weighing device therein (not shown) formeasuring weight of a storage container 106 when in the port 526. The weighing device may be configured to measure the weight and transmit a value representing the measured weight of the storage container 106 in port to the control system 500. The control system 500 may be configured to receive the measured weight. Based on the measured weight, the control system 500 may determine whether the first gear ratio or the second gear ratio is to be used and instruct the container handling vehicle 501 accordingly.

[0175] In the preceding description, various features of the embodiments havebeen described. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Although the figures show the lifting assembly arranged in a container handling vehicle having a cantilever construction 503, e.g. a container handling vehicle as shown in Figs.3 and 6A and 6B, it is clear that the lifting assembly can also be used in other container handling vehicles such as: a prior art P224552WO 27container handling vehicle having an internally arranged cavity for carrying storage containers therein as shown in Fig.2, or a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein as shown in Figs.4 and 5. Various other modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention as defined in the attached claims. P224552WO 28LIST OF REFERENCE NUMBERS Prior art automated storage and retrieval system Parking position Means for locking the transport vehicle 0 Frame structure 2 Upright member 4 Storage volume 5 Storage column 6 Storage container 6’ Particular position of storage container 7 Stack 8 Rail system First set of parallel rails (in first direction (X)) Second set of parallel rails (in second direction (Y)) Access opening Lifting device Delivery column 0 Delivery column 0 Grid cell 1 Prior art container handling vehicle 1a Vehicle body of the container handling vehicle 201 1b Drive means / wheel arrangement / first set of wheels in first direction (X)1c Drive means / wheel arrangement / second set of wheels in second direction (Y) 1 Prior art cantilever container handling vehicle 1a Vehicle body of the container handling vehicle 301 1b Drive means / first set of wheels in first direction (X) 1c Drive means / second set of wheels in second direction (Y) 2 Cantilever 4 Guide pin 1 Prior art container handling vehicle 1a Vehicle body of the container handling vehicle 401 1b Drive means / first set of wheels in first direction (X)1c Drive means / second set of wheels in second direction (Y)4 Gripping device 4a Lifting band 4b Gripper 4c Guide pin 4d Lifting frame 0 Control system 1 Container handling vehicle 1a Vehicle body of the container handling vehicle 501 1b Drive means / wheel arrangement / first set of wheels in first direction (X)1c Drive means / wheel arrangement / second set of wheels in second direction (Y) 2 Lifting assembly 3 Cantilever construction 4 Gripping device 5’,505’’,505’’’,505’’’’ Lifting band 6 Gripper 7 Guide pin 8 Lifting frame P224552WO 29509 Lifting shaft 509C Center axis of lifting shaft 509 510 Drive assembly 511 Electric motor 511’ First electric motor 511’’ Second electric motor 512 Gear 513 Motor drive shaft of electric motor 513’ Motor drive shaft of first electric motor 511’ 513’’ Motor drive shaft of second electric motor 511’’ 515 Transmission 516 First gear 516C Center axis of first gear 516 517 Second gear 517C Center axis of second gear 517 518’,518’’,518’’’,518’’’’ Reel 519’ First guide device / First guide shaft 519’’ Second guide device / Second guide shaft 520 Brake 521 First force transferring device / First drive belt 522 Second force transferring device / Second drive belt 523’ First motor gear 523’’ Second motor gear 524 Clutch device 525’ First electric coupling 525’’ Second electric coupling 526 Port 527 Human operator 528’ First clutch plate 528’’ Second clutch plate 529’ First magnetic spool 529’’ Second magnetic spool 530 Connection plate 531 Clutch shaft 533 Electronics module 534 Weighing device 535 Mount for first and second electric motors 536’ First pivotable bracket 536’’ Second pivotable bracket 537 Wall of vehicle body facing cantilever construction 538 Spacers 539 Receiver X First direction Y Second direction Z Third direction P224552WO 30

Claims

CLAIMS1. A container handling vehicle (501) for an automated storage and retrievalsystem (1), the container handling vehicle (501) comprises: a vehicle body (501a); and a lifting assembly (502) comprising: a lifting frame (508) for lifting storage containers (106) from above; a lifting shaft (509) rotatably mounted in the vehicle body (501a), wherein the lifting frame (508) is suspended from the lifting shaft (509); a drive assembly (510) comprising at least one electric motor (511;511’,511’’) having a motor drive shaft (513;513’,513’’) to output rotational drive; and a transmission (515) connected between the motor drive shaft (513; 513’,513’’) of the at least one electric motor (511;511’,511’’) and the lifting shaft (509), wherein the transmission (515) is configured to transfer the rotational drive from the drive assembly to the lifting shaft (509) at a first gear ratio for a first category of lifting operations and at a second gear ratio for a second category of lifting operations, wherein the first gear ratio is higher than the second gear ratio.

2. The container handling vehicle (501) according to claim 1, wherein theautomated storage and retrieval system (1) comprises a rail system (108) extending in a horizontal plane supported by a plurality of upright members (102) to provide a frame structure (100), the rail system (108) comprising a first set of parallel rails (110) extending in a first direction (X) and a second set of parallel rails (111) extending in a second direction (Y) perpendicular to the first set of parallel rails (110) to guide movement of container handling vehicles (201;301;401;501) in the first direction (X) and the second direction (Y) across the frame structure (100), the container handling vehicle (501) further comprising: a first set of wheels (501b) for movement in the first direction (X) and a second set of wheels (501c) for movement in the second direction (Y).

3. The container handling vehicle (501) according to claim 1 or claim 2, whereinthe transmission (515) comprises a first gear (516) providing the first gear ratio and a second gear (517) providing the second gear ratio. P224552WO 314. The container handling vehicle (501) according to any of the precedingclaims, wherein the first gear (516) and the second gear (517) have a center axis (516C;517C) coinciding with a center axis (509C) of the lifting shaft (509).

5. The container handling vehicle (501) according to claim 3 or 4, wherein thesecond gear (517) has a larger diameter than the first gear (516).

6. The container handling vehicle (501) according to any of the precedingclaims, wherein the lifting frame (508) is suspended from the lifting shaft (509) via a plurality of lifting bands (505’;505’’;505’’’;505’’’’).

7. The container handling vehicle (501) according to claim 6, wherein the liftingshaft (509) comprises a plurality of reels (518’;518’’;518’’’;518’’’’) corresponding to the number of lifting bands (505’;505’’;505’’’;505’’’’), and wherein each of the lifting bands (505’;505’’;505’’’;505’’’’) is reeled onto one of the reels (518’;518’’;518’’’;518’’’’) of the lifting shaft (509).

8. The container handling vehicle (501) according to claim 7, wherein the liftingassembly (502) comprises a first guide device (519’) arranged on a first side of the lifting shaft (509) and a second guide device (519’’) arranged on a second side of the lifting shaft (509), wherein the second side is arranged opposite to the first side, and wherein the first guide device (519’) and the second guide device (519’’) are each configured to guide one or more of the lifting bands (505’;505’’;505’’’;505’’’’).

9. The container handling vehicle (501) according to claim 7 or 8 wherein thelifting frame (508) is rectangular and wherein each of the number of lifting bands (505’;505’’;505’’’;505’’’’) are connected at or close to each corner of the lifting frame (508).

10. The container handling vehicle (501) according to any of the precedingclaims, wherein the drive assembly (510) comprises a brake (520) for braking downward movement of the lifting frame (508).

11. The container handling vehicle (501) according to any of the preceding claims2-9, wherein the at least one electric motor of the drive assembly (510) are a first electric motor (511’) and a second electric motor (511’’), wherein: the first electric motor (511’) has a motor drive shaft (513’), and the transmission (515) comprises a first force transferring device (521), wherein the motor drive shaft (513’) of the first electric motor (511’) is connected to the first gear (516) via the first force transferring device (521); and the second electric motor (511’’) has a motor drive shaft (513’’), and the transmission (515) comprises a second force transferring device (522), wherein the motor drive shaft (513’’) of the second electric motor (511’’) is P224552WO 32connected to the second gear (517) via the second force transferring device (522).

12. The container handling vehicle (501) according to claim 11, wherein the firstforce transferring device (521) and the second force transferring device (522) are drive belts (521;522).

13. The container handling vehicle (501) according to any of the preceding claims3-10, wherein: the drive assembly (510) comprises only one electric motor (511), the electric motor (511) having a motor drive shaft (513), the motor drive shaft (513) comprises a first motor gear (523’) and a second motor gear (523’’); the transmission (515) comprises a first force transferring device (521) connected between the first motor gear (523’) and the first gear (516) and a second force transferring device (522) connected between the second motor gear (523’’) and the second gear (517), and a clutch device (524), wherein the clutch device (524) is configured to change between first gear ratio and the second gear ratio.

14. The container handling vehicle according to claim 13, wherein the clutchdevice (524) comprises a first electric coupling (525’) for engaging the first force transferring device (521) and the first gear (516) to the lifting shaft (509) and a second electric coupling (525’’) for engaging the second force transferring device (522) and the second gear (517) to the lifting shaft (509).

15. The container handling vehicle (501) according to any of the precedingclaims, wherein the container handling vehicle (501) comprises a receiver (539) in communication with a control system (500) of the automated storage and retrieval system (1) such that the container handling vehicle (501) is configured to receive instructions from the control system (500) regarding when to use the first gear ratio or the second gear ratio.

16. The container handling vehicle (501) according to any of the precedingclaims, wherein the lifting assembly (502) comprises an electronics module (533) communicating with the drive assembly (510), wherein the electronics module (533) is configured to determine whether the first gear ratio or the second gear ratio is to be used.

17. The container handling vehicle (501) according to claim 16, wherein theelectronics module (533) is configured to measure power used by the drive assembly (510) when lifting a storage container (106) and, if the measured power is below a predetermined threshold value, use the first gear ratio.

18. The container handling vehicle (501) according to claim 16 or 17, wherein thecontainer handling vehicle (501) comprises a weighing device (534) for P224552WO 33measuring the weight of a lifted storage container (106) and wherein the weighing device (534) is in communication with the electronics module (533) and wherein the electronics module (533) is configured to determine whether the first gear ratio or the second gear ratio is to be used based on the measured weight communicated from the weighing device (534).

19. The container handling vehicle (501) according to any of the precedingclaims, wherein the first gear ratio is used when a storage container (106) is not connected to the lifting frame (508).

20. The container handling vehicle (501) according to any of the precedingclaims, wherein the second gear ratio is used when a storage container (106) is connected to the lifting frame (508).

21. An automated storage and retrieval system (1), wherein the automatedstorage and retrieval system (1) comprises one or more container handling vehicles (501) according to any of the preceding claims. 22.An automated storage and retrieval system (1) according to claim 21, wherein the automated storage and retrieval system (1) comprises a rail system (108) extending in a horizontal plane supported by a plurality of upright members (102) to provide a frame structure (100), the rail system (108) comprising a first set of parallel rails (110) extending in a first direction (X) and a second set of parallel rails (111) extending in a second direction (Y) perpendicular to the first set of parallel rails (110) to guide movement of container handling vehicles (201;301;401;501) in the first direction (X) and the second direction (Y) across the frame structure (100), 23.The automated storage and retrieval system (1) according to claim 21 or claim 22, wherein the automated storage and retrieval system (1) comprises a control system (500) which stores weight data of each storage container (106), and wherein the control system (500) is configured to determine whether the first gear ratio or the second gear ratio is to be used based on the stored weight data and instruct the container handling vehicle (501) accordingly. 24.The automated storage and retrieval system (1) according to any of claims 21 to 23, wherein the automated storage and retrieval system (1) comprises a control system (500) and a port (526) with a weighing device for measuring weight of a storage container (106) when in the port (526), wherein the control system (500) is configured to receive the measured weight and determine whether the first gear ratio or the second gear ratio is to be used based on the measured weight and instruct the container handling vehicle (501) accordingly. P224552WO 3425.A method of changing between a first gear ratio and a second gear ratio of a lifting assembly (502) of a container handling vehicle (501) operating in an automated storage and retrieval system (1), wherein the container handling vehicle (501) comprises: a vehicle body (501a); and a lifting assembly (502) comprising: a lifting frame (508) for lifting storage containers (106) from above; a lifting shaft (509) connected to the vehicle body (501a), wherein the lifting frame (508) is suspended from the lifting shaft (509); a drive assembly (510) comprising at least one electric motor (511;512) having a motor drive shaft (513;514) to output rotational drive; and a transmission (515) connected between the drive assembly (510) and the lifting shaft (509), wherein the transmission (515) is configured to transfer the rotational drive from the drive assembly (510) to the lifting shaft (509) at a first gear ratio for a first category of lifting operations and at a second gear ratio for a second category of lifting operations, wherein the first gear ratio is higher than the second gear ratio, the method comprising: changing to the first gear ratio when a storage container (106) is not connected to the lifting frame (508). 26.A method according to claim 25, wherein the automated storage and retrieval system (1) comprises a rail system (108) extending in a horizontal plane supported by a plurality of upright members to provide a frame structure, the rail system comprising a first set of parallel rails (110) extending in a first direction (X) and a second set of parallel rails (111) in the horizontal plane arranged in a second direction (Y) perpendicular to the first set of parallel rails (110) to guide movement of container handling vehicles (201;301;401;501) in the first direction (X) and the second direction (Y) across the frame structure (100), and wherein the container handling vehicle (501) further comprises a first set of wheels (501b) for movement in the first direction (X) and a second set of wheels (501b) for movement in the second direction (Y). 27.The method according to claim 25 or 26, wherein the second gear ratio is used when a storage container (106) is connected to the lifting frame (508). 28.The method according to any of claims 25 to 27, wherein the lifting assembly (502) comprises an electronics module (533) communicating with the drive assembly (510), wherein the method comprises: using the electronics module (533) to determine whether the first gear ratio or the second gear ratio is to be used. 29.The method according to claim 28, wherein the electronics module (533) is configured to measure power used by the drive assembly (510) when lifting a storage container (106) and wherein the method comprises: P224552WO 35determine whether the first gear ratio or the second gear ratio is to be used based on whether the measured power is above or below a predetermined threshold value.

30. The method according to any of claims 25 to 27, wherein the automatedstorage and retrieval system (1) comprises a control system (500) which stores weight data of each storage container (106), and wherein the method comprises: using the control system (500) to determine whether the first gear ratio or the second gear ratio is to be used based on the stored weight; and instructing the container handling vehicle (501) accordingly.

31. The method according to any of claims 25 to 27, wherein the automatedstorage and retrieval system (1) comprises a control system (500) and a port (526) with a weighing device for measuring weight of a storage container (106) when in the port (526), wherein the control system (500) is configured to receive the measured weight; and wherein the method comprises: using the control system (500) to determine whether the first gear ratio or the second gear ratio is to be used based on the measured weight; and instructing the container handling vehicle (501) accordingly. P224552WO 36

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