A container handling device and automated storage system thereof

Abstract

A container handling device (100) for transporting a plurality of containers (20) stored within a grid storage structure (10), comprises: a wheel assembly (110, 120) configured to engage with a plurality of tracks (31, 32) and facilitate lateral movement of the container handling device (100) above a horizontal rail system (30); a container receiving cavity (103); and a lifting device (140) configured to lift one container (20) from the grid storage structure (10) into the container receiving cavity (103) and unload the lifted container (20) from the container receiving cavity (103) back into the grid storage structure (10), wherein at least two first opposing sides of the container receiving cavity (103) each comprises an opening (104) defining a clearance space that permits the container handling device (100) to pass through one or more of the containers (20) that are at least partially stacked above the horizontal rail system (30).

Description

[0001]

[0002] A CONTAINER HANDLING DEVICE AND AUTOMATED STORAGE SYSTEM THEREOF

[0003] FIELD OF INVENTION

[0004] The invention relates to a storage system. More particularly, the invention relates to an automated storage and retrieval system for storage and retrieval of containers into or from a grid storage structure.

[0005] BACKGROUND OF THE INVENTION

[0006] For decades, warehouse storage has played an important role in various industries. In order for businesses to thrive, it is essential to maintain a seamless operation within their storage system. As the scale of operations grows, the need for more sophisticated and innovative storage solutions has become increasingly apparent. To address this need, some industries have adopted systems that allow for the storage and retrieval of a large number of different products. One known system involves arranging storage containers on rows of shelves arranged in aisles, where each container holds a plurality of products of either identical product type or different product types. However, this system has a relatively low storage density due to the need to provide aisle space to access the products.

[0007] In recent years, automated storage and retrieval systems have emerged as a promising solution to the issue of efficient and effective storage. An example of such systems is disclosed in Patent document W02015 / 019055A and illustrated in Fig. 1. This patent document describes a storage system that allows containers 4 to be stored in a high-density manner within a grid storage structure 1, where the containers 4 are stacked vertically on top of one another. The system also features a plurality of automated container handling devices 9 that operate on top of the grid storage structure 1 to lift

[0008]

[0009] and lower the containers 4 as required.

[0010] As shown in Fig. 1, the grid storage structure 1 comprises a plurality of vertical support members 2 arranged in such a way that form a plurality of container storage columns 3. Each container storage column 3 is defined by a volume space bounded by at least two of the adjacent vertical support members 2. The volume space of each container storage column 3 is sized only sufficient for receiving a single stack of containers 4 and the vertical support members 2 can prevent the containers 4 from horizontal movement, guide the containers 4 in vertical movement, and support the containers 4 when stacked.

[0011] Located at the upper section of the grid storage structure 1, there is provided a horizontal rail system 5 comprises a plurality of tracks 6, 7 arranged in a grid pattern. This grid pattern comprises a plurality of rectangular grid spaces 8, each of which is aligned with a container storage column 3 beneath the corresponding grid space 8. As previously stated, each container storage column 3 can contain only one stack of containers, meaning that a stack of containers 4 occupies a single grid space 8.

[0012] The plurality of tracks 6, 7 includes a first set of parallel tracks members 6 for guiding movements of the container handling devices 9 laterally in a first direction, a second set of parallel track members 7 for guiding movements of the container handling devices 9 laterally in a second direction, and the first set of parallel track members 6 is arranged at a right angle to the second set of parallel track members 7 to form the grid pattern. This enables the container handling devices 9 to move horizontally across the grid storage structure 1 while remaining above it.

[0013] The container handling device 9 is described as occupying a single grid space, thereby minimizing its footprint and increasing system efficiency by allowing more container handling devices 9 to operate simultaneously while reducing pathway conflicts.

[0014]

[0015] However, the single-grid-space arrangement of the container handling device 9 introduces other operational challenges. For example, when containers are stacked above the horizontal rail system 5, they can obstruct the moving pathway of the container handling device 9.

[0016] Furthermore, the footprint of the container handling device 9 is reduced by arranging its bulky components above a container receiving space. While this configuration achieves compactness, it concurrently elevates the centre of gravity of the container handling device 9, resulting in a destabilized weight distribution. To mitigate instability risks such as tipping during operation, the maximum traveling speed of the container handling device 9 is limited, thereby reducing the maximum achievable throughput efficiency. The present invention provides a container handling device and system thereof that effectively addresses these issues.

[0017] SUMMARY OF INVENTION

[0018] In a first aspect of the invention, there is provided a container handling device for transporting a plurality of containers stored within a grid storage structure of a storage system, the container handling device comprises a wheel assembly configured to engage with the plurality of tracks and facilitate lateral movement of the container handling device above a horizontal rail system, a container receiving cavity, and a lifting device, located above the container receiving cavity, configured to lift one container from the grid storage structure into the container receiving cavity and unload the lifted container from the container receiving cavity back into the grid storage structure, wherein at least two first opposing sides of the container receiving cavity each comprises an opening defining a clearance space that permits the container handling device to pass through one or more of the containers that are at least partially stacked above the horizontal rail system.

[0019]

[0020] In this aspect of the invention, the grid storage structure may have a plurality of container storage columns for the containers to be stored in vertical stacks.

[0021] In this aspect of the invention, the grid storage structure may have a horizontal rail system positioned at a top section of the grid storage structure. The horizontal rail system may include a plurality of tracks arranged in a grid pattern.

[0022] In this aspect of the invention, each of the first sides of the container receiving cavity may be supported by at least one frame body, the frame body may position at a predetermined height such that the space beneath it defines the opening .

[0023] In this aspect of the invention, the container receiving cavity may comprise at least two second opposing sides, each including a side extension portion configured to accommodate at least one wheel drive mechanism, at least one wheel lifting mechanism, at least one wheel lifting drive mechanism, at least one power supply unit, or any combination thereof.

[0024] In this aspect of the invention, an actuating member of the wheel lifting mechanism may be arranged within one of the side extension portion and the power supply unit may be arranged within the other side extension portion.

[0025] In this aspect of the invention, the container handling device may further comprise an electric terminal, disposed beneath the side extension portion, configured to serve as a connection point between the power supply unit and an external charging circuit.

[0026] In this aspect of the invention, the electric terminal may comprise one or more arrays of conductive elements arranged in a way such that an exposing surface of the conductive elements faces downwardly to engage with respective conductive elements of the external charging circuit.

[0027]

[0028] In this aspect of the invention, the electric terminal may further comprise means for biasing the conductive elements of the electric terminal toward the external charging circuit to ensure secure engagement.

[0029] In this aspect of the invention, the wheel assembly may comprise a first set of wheels that engage with a first set of parallel track members to move in a first direction, and a second set of wheels that engage with a second set of parallel track members to move in a second direction.

[0030] In this aspect of the invention, each set of wheels may comprise at least four wheels, at least two of which are electrically or mechanically driven and the remaining wheels are free driven.

[0031] In this aspect of the invention, the electrically or mechanically driven wheels may be arranged on a same lateral side of the container handling device.

[0032] In this aspect of the invention, the electrically or mechanically driven wheels may be arranged on opposite lateral sides of the container handling device.

[0033] In this aspect of the invention, each side extension may include a wheel lifting mechanism comprises a movable panel having one set of wheels connected thereto; a vertical guide member; and an actuating member; wherein the movable panel is slidably connected to the vertical guide member and is movable therealong, and the actuating member is operatively connected to the movable panel and the wheel lifting drive mechanism to drive the movement of the movable panel along the vertical guide member, thereby controlling the position of the connected wheels.

[0034] In a second aspect of the invention, there is provided a storage system comprising: a

[0035]

[0036] grid storage structure having a plurality of container storage columns for a plurality of containers to be stored in vertical stacks; a horizontal rail system, positioned at atop section of the grid storage structure, includes a plurality of tracks arranged in a grid pattern; and one or more container handling devices operable above the grid storage structure and configured to transport one or more of the containers.

[0037] In this aspect of the invention, the horizontal rail system may comprise a first set of parallel track members and a second set of parallel track members arranged at a right angle to the first set of parallel track members.

[0038] In this aspect of the invention, the first set of parallel track members may have a double rail configuration and the second set of parallel track members may have a single rail configuration.

[0039] In this aspect of the invention, the grid storage structure may further comprise at least one external charging circuit configured to engage with an electric terminal of the load handling device. The external charging circuit may comprise a plurality of conductive elements arranged in a way such that an exposing surface of the plurality of conductive elements faces upwardly to engage with respective conductive elements of the electric terminal.

[0040] In this aspect of the invention, the external charging circuit may further comprise means for biasing the conductive elements of the external charging circuit toward the electric terminal to ensure secure engagement.

[0041] In this aspect of the invention, the external charging circuit may be disposed at and / or beneath the horizontal rail system, with its conductive elements arranged substantially flush with an upper surface of the horizontal rail system.

[0042]

[0043] In this aspect of the invention, the external charging circuit may be disposed at a side of the grid storage structure.

[0044] In this aspect of the invention, the grid storage structure may include a plurality of vertical support members and each container storage column is defined by a volume space bounded by at least two adjacent vertical support members.

[0045] In this aspect of the invention, the grid storage structure may include a plurality of horizontal support members interconnected with the plurality of vertical support members and configured to support the vertical support members above ground.

[0046] One skilled in the art will readily appreciate that the invention is well adapted to carry out the objects and obtain the ends and advantages mentioned, as well as those inherent therein. The embodiments described herein are not intended as limitations on the scope of the invention.

[0047] BRIEF DESCRIPTION OF THE DRAWINGS

[0048] For the purpose of facilitating an understanding of the invention, there is illustrated in the accompanying drawing the preferred embodiments from an inspection of which when considered in connection with the following description, the invention, its construction and operation and many of its advantages would be readily understood and appreciated.

[0049] Fig. 1 is a schematic perspective diagram illustrating a prior art storage system.

[0050] Fig. 2 is a top plan view diagram illustrating a part of a prior art grid storage structure.

[0051]

[0052] Fig. 3 is a schematic perspective diagram illustrating a storage system.

[0053] Fig. 4 is a schematic perspective diagram illustrating a container handling device operated on a grid storage structure.

[0054] Fig. 5 is a schematic perspective diagram illustrating the container handling device passing through one or more containers which are stacked above a horizontal rail system.

[0055] Fig. 6 is a top perspective diagram of the container handling device.

[0056] Fig. 7 is a bottom perspective diagram of the container handling device.

[0057] Fig. 8 is another top perspective diagram of the container handling device .

[0058] Fig. 9 is another bottom perspective diagram of the container handling device.

[0059] Fig. 10 is a side view diagram of the container handling device in contact with an external charging circuit.

[0060] Fig. 11 is another side view diagram of the container handling device in contact with the external charging circuit.

[0061] DETAILED DESCRIPTION OF THE INVENTION

[0062] The invention will now be described in greater detail, by way of example, with reference to the drawings.

[0063]

[0064] Referring to Fig. 3, a storage system as illustrated therein generally comprises a grid storage structure 10, a horizontal rail system 30 and at least one container handling device 100. The grid storage structure 10 comprises a plurality of vertical support members 11 arranged in such a way that form a plurality of container storage columns 13. The vertical support members 11 are preferably made of metal such as steel, aluminium or titanium, but it should be noted that the vertical support members 11 can also be constructed using any other type of material that provides suitable strength, durability, and versatility for the grid storage structure 10. Each container storage column 13 is preferably defined by a volume space bounded by at least two, preferably four, of the adjacent vertical support members 11. Preferably, each container storage columns 13 is defined by a volume space bounded by four adjacent vertical support members 11. The volume space of each container storage column 13 is sized to contain or store at least one stack of containers 20.

[0065] Preferably, the grid storage structure 10 may further comprise a plurality of horizontal support members 12 that are interconnected with the plurality of vertical support members 11. The horizontal support members 12 can be made of the same or similar materials as the vertical support members 11. This configuration provides added stability and support to the grid storage structure 10, allowing for increased load capacity and improved safety. As shown in Fig. 3, the horizontal support members 12 can be arranged at the bottom section of the grid storage structure 10. Nevertheless, it should be noted that the specific location of the horizontal support members 12 may vary depending on the intended usage of the grid storage structure 10. As the volume of each container storage column 13 increases, a corresponding increase in the number of the horizontal support members 12 may be necessary to ensure the structural stability and load-bearing capacity of the grid storage structure 10.

[0066] In the invention, achieving precise accuracy in the dimension of the grid space 33

[0067]

[0068] presents a significant challenge. The accuracy diminishes as the dimension of the grid space 33 increases, mainly due to cumulative errors. To address this challenge, the horizontal support members 12 are configured to support the vertical support members 11 above ground. These bottom horizontal support members 12 serve as guides for the placement of the vertical support members 11. By utilizing the bottom horizontal support member 12 as pivot points during the assembly of the grid storage structure 10, it becomes possible to ensure precision and accuracy in the dimension of the grid space 33. Furthermore, the containers 20 are placed on top of the bottom horizontal support members 12, in contrast to the existing grid storage system where containers 20 are placed directly on the floor. This arrangement guarantees that the placement of containers are precise and accurate for facilitating smooth container moving operation to be carried out.

[0069] The bottom horizontal support members 12 also offer distinct advantages over the conventional grid storage system, where the vertical support members 11 are directly placed on the floor. It is widely recognized that the floor surface in a storage system can be uneven, requiring time-consuming and costly efforts to level it. When the vertical support members 11 are positioned on uneven floor, there is no clear reference for determining the necessary height adjustments. In contrast, the bottom horizontal support members 12 provide clear reference points, facilitating the introduction of height -adjusting components into the gaps created when laying the bottom horizontal support members 12 on uneven flooring. This allows for precise height adjustments, ensuring stability and alignment in the grid storage structure. By utilizing the bottom horizontal support members 12, the need for extensive floor levelling procedures is eliminated, leading to improved efficiency and reduced costs.

[0070] Preferably, the horizontal rail system 30 is positioned at the top section of the grid storage structure 10, having a plurality of tracks 31, 32 arranged in a grid pattern. The grid pattern includes a plurality of grid spaces 33, preferably of a rectangular shape,

[0071]

[0072] each of which is aligned with a container storage column 13 located directly beneath the corresponding grid space 33. Preferably, the plurality of tracks 31, 32 includes a first set of parallel track members 31 for guiding movements of the container handling devices 100 laterally in a first direction, and a second set of parallel track members 32 for guiding movements of the container handling devices 100 laterally in a second direction. Additionally, the first set of parallel track members 31 is arranged at a right angle to the second set of parallel track members 32, thereby forming the grid pattern. This arrangement enables the container handling devices 100 to move horizontally across the grid storage structure 10 while remaining above it. Since each container storage column 13 can contain at least one stack of containers 20, the stack of containers 20 collectively occupy a substantial footprint of a single grid space 33 as shown in Figs. 3 to 5. In certain conditions, the stacked containers 20 may reach above the height of the horizontal rail system 30.

[0073] Alternatively, the tracks 31, 32 can be an integrated part of or as an additional components that are fixed on top of the grid storage structure 10. Preferably, the horizontal rail system 30 can be supported at a top level of the grid storage structure 10 by the vertical support member 11. In one embodiment, the first set of parallel track members 31 has a double rail configuration, and the second set of parallel track members 32 has a single rail configuration. Alternatively, the different sets of track members 31, 32 can both have either the double rail configuration or the single rail configuration. The double rail configuration enables two adjacent container handling devices 100 to pass one another while at least one side of their respective wheels travels along the same track 31.

[0074] Referring to Figs. 4 & 5, an example of a container handling device 100 as illustrated therein comprises a wheel assembly 110, 120, a container receiving cavity 103, a lifting device (not shown) located above the container receiving cavity 103 to carry out a lifting operation, and a pair of side extension portions 101, 102 extended from

[0075]

[0076] opposing sides of the container receiving cavity 103.

[0077] The container receiving cavity 103 is preferably dimensioned and shaped to substantially match a single grid space 33. This configuration allows a top most container 20 from the container storage column 13 to be lifted into and accommodated within the container receiving cavity 103 while the container handling device 100 travels laterally. In an alternative embodiment, the container receiving cavity 103 may be dimensioned and shaped to correspond substantially to two or four adjacent grid spaces 33, including the wide of tracks 31, 32 between the adjacent grid spaces 33. In such embodiments, the container handling device 100 may comprise a number of lifting devices 140 corresponding to the number of adjacent grid spaces 33 occupied. Alternatively, the container handling device 100 may include a single, repositionable lifting device 140 that can move its position within the container receiving cavity 103 to align with one of the adjacent grid spaces 33.

[0078] The container receiving cavity 103 can be defined by two sets of opposing sides. The first opposing sides includes openings 104 that define a clearance space, permitting the container handling device 100 to pass through one or more of the containers 20 that are at least partially stacked above the horizontal rail system 30. Each of the first sides of the container receiving cavity 103 can be supported by at least one elongate frame body 105. The frame body 105 is positioned at a predetermined height such that the space beneath it defines the opening 104. In the embodiment where the container receiving cavity 103 has a rectangular shape, each edge of the container receiving cavity 103 is provided with a vertical guide unit 106 for aligning and guiding the movement of the lifted container 20 within the container receiving cavity 103.

[0079] Preferably, each vertical guide unit 106 has an L-shape cross-section and a length that ensures it does not obstruct the clearance space.

[0080] The pair of side extension portions 101, 102 extend from the second opposing sides of

[0081]

[0082] the container receiving cavity 103, increasing the footprint of the container handling device 100 to be substantially larger than a single grid space 33 but preferably less than two grid spaces 33. These side extension portions 101, 102 are configured to house various components of the container handling device 100, such as power components, drive components, wheel lifting components, and / or control components. In one specific embodiment, at least one power supply unit 130 is arranged within the first side extension portion 101, while the wheel lifting drive mechanism is housed within the second side extension portion 102. This arrangement distributes the weight of the components evenly, ensuring the stability of the container handling device 100 during operation.

[0083] Preferably, the wheel assembly 110, 120 includes a first set of wheels 110, which engage with the first set of parallel track members 31 to enable movement in a first direction, and a second set of wheels 120, which engage with the second set of parallel track members 32 to enable movement in a second direction. The wheel assembly 110, 120 is preferably positioned within the side extension portions 101, 102, with the first set of wheels 110 located at or adjacent to the exposed peripheries of the side extension portions 101, 102, and the second set of wheels 120 positioned near or at the second side of the container receiving cavity 103.

[0084] In one embodiment, each set of wheels 110, 120 comprises at least four wheels, with at least two being electrically or mechanically driven while the remaining wheels are free-spinning wheels. The driven wheels may be arranged on the same lateral side or on opposite lateral sides of the container handling device 100. Each electrically or mechanically driven wheel is independently coupled to a gear and wheel drive mechanism 111, 121, enabling movement of the container handling device 100 in the first and / or second directions.

[0085] The first set of wheels 110, the second set of wheels 120, or both can be displaced by

[0086]

[0087] at least one wheel lifting mechanism to engage or disengage from the tracks 31, 32, enabling the container handling device 100 to change its traveling direction. In one specific embodiment, the second set of wheels 120 can be raised above or lowered onto the tracks 32 using the wheel lifting mechanism. Preferably, the container handling device includes a pair of wheel lifting mechanisms respectively positioned near or at the second sides of the container receiving cavity 103. Each wheel lifting mechanism may comprise a movable panel 122 supporting two of the second set of wheels 120, a vertical guide member 123 to which the movable panel 122 is slidably connected, and an actuating member 124 operatively linked to the movable panel 122, the vertical guide member 123, or both, to drive the movement of the movable panel 122 along the vertical guide member 123, thereby adjusting the position of the connected wheels 120. In one specific embodiment, the container handling device 100 includes only a single actuating member 124 that synchronously moves both movable panels 122. In this configuration, the movable panels 122 are coupled via a linkage member to ensure coordinated movement.

[0088] The lifting device 140 is preferably located above the container receiving cavity 103.

[0089] The lifting device 140 may include a gripper device that is connected to at least one winch mechanism via a plurality of strips. The gripper device can include a plurality of grippers arranged around an edge of the gripper device for releasably holding one container 20 from its upper side. Preferably, the at least one winch mechanism includes a spool with rotatable inner side walls to reduce friction between the spool and the plurality of strips during the winding or unwinding processes to lift or unload the container 20. The lifting operation may include the step of raising one container 20 from the container storage column 13 into the container receiving cavity 103, or lowering the container 20 from the container receiving cavity 103 into the container storage column 13. Once the container 20 is lifted into the container receiving cavity 103, it is transported horizontally across the grid storage structure 10 by the container handling device 100 to a designed container storage column 13 for deposition.

[0090]

[0091] The winch mechanism are also oriented in such a way that one edge of each strips faces towards the longitudinal side of the container 20. Such arrangement ensures that the gripper devices, the container 20 or both, can move smoothly within the container receiving cavity with minimal horizontal displacement during the lifting operation. While the gripper devices travels within the container storage columns 13, the vertical guide unit 106 can also guide and restrict their horizontal movements.

[0092] Preferably, the container handling device 100 may comprise a plurality of sensor units configured to detect the presence of the tracks 31, 32. More specifically, the sensor units are configured to detect the presence of an edge of the tracks 31, 32, subsequently initiating a signal to a processing unit of the container handling device 100. This enables the processing unit to analyze and determine whether the container receiving cavity 103 are aligned with the grid space 33. The sensor unit is but not limited to a proximity sensor, a photoelectric sensor, an ultrasonic sensor, a laser sensor, a hall effect sensor, a magnetic sensor, a vision sensor or any combination thereof.

[0093] Referring to Figs. 10 & 11, the container handling device 100 may further comprise an electric terminal 160 disposed beneath one of the side extension portions 101, 102, preferably beneath the first side extension portion 101, where the power supply unit 130 is housed. The electric terminal 160 is configured to serve as a connection interface between the power supply unit 130 and an external charging circuit 170 to carry out a charging operation. Preferably, the electric terminal 160 comprises one or more arrays of conductive elements arranged such that their exposed contact surfaces face downwardly to engage with corresponding conductive elements of the external charging circuit 170. Although Figs. 6 to 9 illustrate the electric terminal 160 occupying only a section of the underside of the side extension portion 101, it should be understood that the electric terminal 160 may alternatively extend across the entire

[0094]

[0095] underside of the side extension portion 101. Alternatively, the electric terminal 160 may further comprise biasing means configured to urge the conductive elements toward the external charging circuit 170, thereby ensuring secure electrical contact. Such biasing means may include, but are not limited to, spring units, elastic members, or rubber components.

[0096] Preferably, the external charging circuit 170 is mounted within a container storage column 13 of the grid storage structure 10, at a height not exceeding the horizontal rail system 30. The external charging circuit 170 includes a plurality of conductive elements arranged such that their exposed surfaces face upward to engage with the corresponding conductive elements of the electric terminal 160. These conductive elements may be positioned substantially flush with the upper surface of the horizontal rail system 30 to facilitate direct contact with those of the electric terminal 160. Additionally, the external charging circuit 170 may include biasing means to urge its conductive elements toward the electric terminal 160, ensuring a secure electrical connection. Such biasing means may be similar to those used in the electric terminal 160.

[0097] Conventional charging stations are typically positioned above the horizontal rail system and occupy at least one grid space. When a conventional container handling device engages with such a charging station, the combined footprint occupies at least two grid spaces. On the other hand, the integration of the external charging circuit 170 beneath the horizontal rail system 30 allows the container handling device 100 to position itself directly above the external charging circuit 170, thereby minimizing grid space occupancy.

[0098] In one embodiment, the external charging circuit 170 is mounted at a side of the grid storage structure 10. This configuration enables the container handling device 100 to move slightly outward from the grid storage structure 10, such that the first side

[0099]

[0100] extension portion 101 is supported by the external charging circuit 170, while the remaining body of the container handling device 100 remains supported by the grid storage structure 10. As a result, the container handling device 100 occupies only a single grid space 33.

[0101] The present disclosure includes as contained in the appended claims, as well as that of the foregoing description. Although this invention has been described in its preferred form with a degree of particularity, it is understood that the present disclosure of the preferred form has been made only by way of example and that numerous changes in the details of construction and the combination and arrangements of parts may be resorted to without departing from the scope of the invention.

Claims

CLAIMS1. A container handling device (100) for transporting a plurality of containers (20) stored within a grid storage structure (10) of a storage system, the grid storage structure (10) having a plurality of container storage columns (13) for the containers (20) to be stored in vertical stacks, a horizontal rail system (30), positioned at a top section of the grid storage structure (10), the horizontal rail system (30) includes a plurality of tracks (31, 32) arranged in a grid pattern, the container handling device (100) comprising:a wheel assembly (110, 120) configured to engage with the plurality of tracks (31, 32) and facilitate lateral movement of the container handling device (100) above the horizontal rail system (30);a container receiving cavity (103); anda lifting device (140), located above the container receiving cavity (103), configured to lift one container (20) from the grid storage structure (10) into the container receiving cavity (103) and unload the lifted container (20) from the container receiving cavity (103) back into the grid storage structure (10);wherein at least two first opposing sides of the container receiving cavity (103) each comprises an opening (104) defining a clearance space that permits the container handling device (100) to pass through one or more of the containers (20) that are at least partially stacked above the horizontal rail system (30).

2. The container handling device (100) according to claim 1, wherein each of the first sides of the container receiving cavity (103) is supported by at least one frame body (105), the frame body (105) being positioned at a predetermined height such that the space beneath it defines the opening (104).

3. The container handling device (100) according to claim 1, wherein the container receiving cavity (103) comprises at least two second opposing sides, each including aside extension portion (101, 102) configured to accommodate at least one wheel drive mechanism (111, 121), at least one wheel lifting mechanism, at least one power supply unit (130), or any combination thereof.

4. The container handling device (100) according to claim 3, wherein an actuating member (124) of the wheel lifting mechanism is arranged within one of the side extension portion (102) and the power supply unit is arranged within the other extension portion (101).

5. The container handling device (100) according to claim 3, further comprises an electric terminal (160), disposed beneath the side extension portion (101, 102), configured to serve as a connection point between the power supply unit (130) and an external charging circuit (170).

6. The container handling device (100) according to claim 5, wherein the electric terminal (160) comprises one or more arrays of conductive elements arranged in a way such that an exposing surface of the conductive elements faces downwardly to engage with respective conductive elements of the external charging circuit (170).

7. The container handling device (100) according to claim 6, wherein the electric terminal (160) further comprises means for biasing the conductive elements of the electric terminal (160) toward the external charging circuit (170) to ensure secure engagement.

8. The container handling device (100) according to claim 3, wherein the wheel assembly (110, 120) comprises a first set of wheels (110) that engage with a first set of parallel track members (31) to move in a first direction, and a second set of wheels (120) that engage with a second set of parallel track members (32) to move in a second direction.

9. The container handling device (100) according to claim 8, wherein each set of wheels (110, 120) comprises at least four wheels, at least two of which are electrically or mechanically driven and the remaining wheels are free driven.

10. The container handling device (100) according to claim 9, wherein the electrically or mechanically driven wheels are arranged on a same lateral side of the container handling device (100).

11. The container handling device (100) according to claim 9, wherein the electrically or mechanically driven wheels are arranged on opposite lateral sides of the container handling device (100).

12. The container handling device (100) according to claim 8, wherein each side extension (101, 102) includes awheel lifting mechanism comprising:a movable panel (122) having one set of wheels (110, 120) connected thereto;a vertical guide member (123); andan actuating member (124);wherein the movable panel (122) is slidably connected to the vertical guide member (123) and is movable therealong, and the actuating member (124) is operatively connected to the movable panel (122) to drive the movement of the movable panel (122) along the vertical guide member (123), thereby controlling the position of the connected wheels.

13. A storage system comprising:a grid storage structure (10) having a plurality of container storage columns (13) for a plurality of containers (20) to be stored in vertical stacks;a horizontal rail system (30), positioned at a top section of the grid storage structure (10), includes a plurality of tracks (31, 32) arranged in a grid pattern; andone or more container handling devices (100) according to any one of claims 1 to 14, operable above the grid storage structure (10) and configured to transport the containers (20).

14. The storage system according to claim 13, wherein the horizontal rail system (30) comprises a first set of parallel track members (31) and a second set of parallel track members (32) arranged at a right angle to the first set of parallel track members (31).

15. The storage system according to claim 14, wherein the first set of parallel track members (31) has a double rail configuration and the second set of parallel track members (32) has a single rail configuration.

16. The storage system according to claim 13, wherein the grid storage structure (10) further comprises at least one external charging circuit (170) configured to engage with an electric terminal (160) of the container handling device (100), whereby the external charging circuit (170) comprises a plurality of conductive elements arranged in a way such that an exposing surface of the plurality of conductive elements faces upwardly to engage with respective conductive elements of the electric terminal (160)17. The storage system according to claim 16, wherein the external charging circuit (170) further comprises means for biasing the conductive elements of the external charging circuit (170) toward the electric terminal (160) to ensure secure engagement.

18. The storage system according to claim 16, wherein the external charging circuit (170) is disposed at and / or beneath the horizontal rail system (30), with its conductive elements arranged substantially flush with an upper surface of the horizontal rail system (30).

19. The storage system according to claim 18, wherein the external charging circuit(170) is disposed at a side of the grid storage structure (10).

20. The storage system according to claim 13, wherein the grid storage structure (10) includes a plurality of vertical support members (11) and each container storage column (13) is defined by a volume space bounded by at least two adjacent vertical support members (11).

21. The storage system according to claim 20, wherein the grid storage structure (10) includes a plurality of horizontal support members (12) interconnected with the plurality of vertical support members (11) and configured to support the vertical support members (11) above ground.

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