HK40085181A - Container handling vehicle which can load and/or unload itself - Google Patents

Description

Container handling vehicle capable of self-loading and/or unloading

Technical Field

The present invention relates to an automated storage and retrieval system for storing and retrieving containers, and in particular to a container handling vehicle for use in such a system, and a method of transferring a storage container from a storage location to a support surface on a container handling vehicle.

Background

Fig. 1A discloses a typical prior art automated storage and retrieval system 1 having a frame structure 100, and fig. 2 and 3 disclose two different prior art container handling vehicles 201, 301 adapted to operate on such a system 1.

The frame structure 100 includes an upright member 102, a horizontal member 103, and a storage space including storage columns 105 arranged in rows between the upright member 102 and the horizontal member 103. In these storage columns 105, storage containers 106, also called bins, are stacked one on top of the other to form stacks 107. The members 102, 103 may typically be made of metal, such as extruded aluminum profiles.

The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 disposed across the top of the frame structure 100, on which track system 108 a plurality of container handling vehicles 201, 301 are operated to lift and lower storage containers 106 from and into the storage columns 105, and also to transport the storage containers 106 over the storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301 to move through the top of the frame structure 100 in a first direction X, and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the column 105 are accessed by the container handling vehicle through an access opening 115 in the track system 108. The container handling vehicles 201, 301 are movable laterally over the storage columns 105, i.e., in a plane parallel to the horizontal X-Y plane.

The horizontal extent of one of the grid cells 122 constituting the grid pattern is marked with a bold line in fig. 1A.

Each grid cell 122 has a width typically in the interval of 30 to 150cm and a length typically in the interval of 50 to 200 cm. Due to the horizontal extension of the tracks 110, 111, the width and length of each access opening 115 is typically 2 to 10cm smaller than the width and length of the grid cells 122, respectively.

The track system 108 may be a single track system, as shown in FIG. 1B. Alternatively, the track system 108 may be a dual track system, as shown in fig. 1C, allowing container handling vehicles 201 having a footprint generally corresponding to the lateral area defined by the storage columns 105 to travel along one row of grid columns even though another container handling vehicle 201 is located above the grid column adjacent the row. Both the single track system and the double track system, or a combination of the single track arrangement and the double track arrangement included in the single track system 108, form a grid pattern in the horizontal plane P, the grid pattern comprising a plurality of rectangular and uniform grid positions or grid cells 122, wherein each grid cell 122 comprises a grid opening 115 defined by a pair of tracks 110a, 110b of the first set of tracks 110 and a pair of tracks 111a, 111b of the second set of tracks 111. In fig. 2B, the grid cell 122 is represented by a dashed box.

Thus, the tracks 110a and 110b form track pairs defining parallel grid cell rows extending in the X-direction, and the tracks 111a and 111b form track pairs defining parallel grid cell rows extending in the Y-direction.

As shown in fig. 1D, each grid cell 122 has a width Wc typically within a spacing of 30 to 150cm and a length Lc typically within a spacing of 50 to 200 cm. The width Wo and length Lo of each grid opening 115 are typically 2 to 10cm less than the width Wc and length Lc of the grid cell 122, respectively.

In the X-direction and the Y-direction, adjacent grid cells are arranged in contact with each other such that there is no space therebetween.

The upstanding members 102 of the frame structure 100 may be used to guide the storage containers during lifting of the containers out of the column 105 and lowering of the containers into the column. The stack 107 of containers 106 is typically self-supporting.

Each prior art container handling vehicle 201, 301 includes a vehicle body 201a, 301a, and a first set of wheels 201b, 301b and a second set of wheels 201c, 301c that enable lateral movement of the container handling vehicle 201, 301 in the X-direction and the Y-direction, respectively. In fig. 2 and 3, the two wheels in each group are fully visible. The first set of wheels 201b, 301b are arranged to engage with two adjacent tracks of the first set of tracks 110 and the second set of wheels 201c, 301c are arranged to engage with two adjacent tracks of the second set of tracks 111. At least one of the wheel sets 201b, 301b, 201c, 301c may be raised and lowered such that the first set of wheels 201b, 301b and/or the second set of wheels 201c, 301c may engage a corresponding set of tracks 110, 111 at any one time.

Each prior art container handling vehicle 201, 301 also includes a lifting device (not shown) for vertically transporting the storage containers 106, such as lifting the storage containers 106 from the storage column 105 and lowering the storage containers 106 into the storage column 105. The lifting means comprises one or more gripping/engagement means adapted to engage the storage container 106 and which may be lowered from the vehicle 201, 301 such that the position of the gripping/engagement means relative to the vehicle 201, 301 may be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. A portion of the gripping device of the container handling vehicle 301 is indicated in fig. 3 with reference numeral 304. The gripping device of the container handling device 201 is located within the vehicle body 201a in fig. 2.

Typically, and also for the purposes of this application, z=1 represents the uppermost layer of the storage container, i.e., the layer directly below the track system 108, z=2 represents the second layer below the track system 108, z=3 represents the third layer, and so on. In the exemplary prior art disclosed in fig. 1, z=8 represents the lowermost bottom layer of the storage container. Similarly, x= … n and y= … n denote the position of each storage column 105 in the horizontal plane. Thus, 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 positions x=10, y=2, z=3. The container handling vehicles 201, 301 can be said to travel in layer z=0, and each storage column 105 can be represented by its X and Y coordinates.

The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage locations within this grid are referred to as storage units. Each storage column may be represented by a position in the X and Y directions, and each storage unit may be represented by X, Y and a container number in the Z direction.

Each prior art container handling vehicle 201, 301 includes a storage compartment or space for receiving and loading the storage containers 106 as the storage containers 106 are transported through the track system 108. The storage space may comprise a cavity centrally arranged within the body 201a, as shown in fig. 2, and as described for example in WO2015/193278A1, the contents of which are incorporated herein by reference.

Fig. 3 shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such a vehicle is described in detail in, for example, NO317366, the contents of which are also incorporated herein by reference.

The cavity center container handling vehicle 201 shown in fig. 2 may have a footprint that covers an area having dimensions in the X and Y directions that are approximately equal to the lateral extent of the storage column 105, such as described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may refer to "horizontal".

Alternatively, the cavity center container handling vehicle 101 may have a footprint that is greater than the lateral area defined by the storage columns 105, for example as disclosed in WO2014/090684 A1.

The track system 108 generally includes a track having a groove in which the wheels of the vehicle run. Alternatively, the track may comprise an upwardly projecting element, wherein the wheels of the vehicle comprise flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as rails. Each track may comprise one rail or each track may comprise two parallel rails.

WO2018/146304, the contents of which are incorporated herein by reference, shows a typical construction of a rail system 108 comprising rails and parallel guide rails in the X and Y directions.

In the frame structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In fig. 1, columns 119 and 120 are dedicated columns that are used by container handling vehicles 201, 301 to discharge and/or pick up storage containers 106 so that they may be transported to an access station (not shown) where storage containers 106 may be accessed from outside of frame structure 100 or transferred out of or into frame structure 100. Such locations are commonly referred to in the art as "ports" and the column in which the ports are located may be referred to as "port columns" 119, 120. The transport to the access station may be in any direction, i.e. horizontal, inclined and/or vertical. For example, the storage containers 106 may be placed in random or dedicated columns 105 within the frame structure 100, then picked up by any container handling vehicle, and transported to the port columns 119, 120 for further transport to an access station. It should be noted that the term "inclined" means that the storage container 106 is transported with a general transport direction somewhere between horizontal and vertical.

In fig. 1A, the first port row 119 may be, for example, a dedicated discharge port row in which the container handling vehicles 201, 301 may discharge the storage containers 106 to be transported to an access station or transfer station, and the second port row 120 may be a dedicated pick-up port row in which the container handling vehicles 201, 301 may pick up the storage containers 106 that have been transported from the access station or transfer station.

The access station may generally be a pick-up station or a storage station in which product items are removed from or placed into the storage container 106. In the pick-up station or storage station, the storage containers 106 are typically not removed from the automated storage and retrieval system 1, but are returned to the frame structure 100 once accessed. The ports may also be used to transfer the storage 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 truck), or to a production facility.

A conveyor system including a conveyor is typically used to transport storage containers between the port columns 119, 120 and the access station.

If the port columns 119, 120 and the access station are located at different elevations, the conveyor system may include a lifting device having vertical members for transporting the storage containers 106 vertically between the port columns 119, 120 and the access station.

The conveyor system may be arranged to transfer the storage containers 106 between different frame structures, for example as described in WO2014/075937A1, the contents of which are incorporated herein by reference.

When a storage container 106 stored in one column 105 disclosed in fig. 1A is to be accessed, one of the container handling vehicles 201, 301 is instructed to retrieve the target storage container 106 from its location and transport it to the discharge port column 119. This operation includes moving the container handling vehicles 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicles 201, 301, and transporting the storage container 106 to the discharge port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, the operations further include temporarily moving the storage container located above prior to lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed with the same container handling vehicle 201, 301 that is subsequently used to transport the target storage container 106 to the discharge port column 119, or with one or more other cooperating container handling vehicles 201, 301. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301 dedicated to the task of temporarily removing storage containers 106 from the storage columns 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 may be repositioned into the original storage column 105. However, the removed storage containers 106 may be alternatively repositioned to other storage columns 105.

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

To monitor and control the automated storage and retrieval system 1, for example, the location of the respective storage containers 106 within the frame structure 100, the contents of each storage container 106; and movement of the container handling vehicles 201, 301 such that the desired storage containers 106 may be transported to the desired locations at the desired times without the container handling vehicles 201, 301 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and which typically includes a database for tracking the storage containers 106.

It is an object of the present invention to provide a container handling vehicle that can carry a plurality of storage containers.

It is another object of the present invention to provide a container handling vehicle that can load and unload storage containers onto and from itself.

Disclosure of Invention

The invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention.

According to the present invention, there is provided a container handling vehicle that can be loaded and unloaded by itself. The container handling vehicle includes a base, such as a wheeled base or a belt base, a lifting frame, and a support surface. In order to enable the lifting frame to move the storage container from a storage position in the frame structure (i.e. a storage position below the rail system) onto the support surface and vice versa, at least one of the lifting frame and the support surface is movable relative to the base. Thus, movement of the storage containers between the stack and the support surface may be achieved by:

1) The lifting frame is movable between a position of the container handling vehicle in which the lifting frame can enter a storage position below the track system and at least one support surface from which the lifting frame can load and/or unload a storage container, or

2) The at least one support surface is movable relative to the base between at least one position in which the at least one support surface is located directly below the lifting frame and a position in which the at least one support surface is arranged beyond the lifting frame such that the lifting frame can enter a storage position below the track system.

A container handling vehicle is described for operation on a two-dimensional track system comprising a first set of parallel tracks arranged to guide the container handling vehicle through a top of a frame structure in a first direction X and a second set of parallel tracks arranged perpendicular to the first set of tracks to guide the container handling vehicle to move in a second direction Y perpendicular to the first direction, the first and second sets of parallel tracks forming a grid dividing the track system into a plurality of grid cells, wherein the container handling vehicle comprises:

-a base comprising moving means for guiding the container handling vehicle along the track system in a first direction X and a second direction, respectively;

-a support structure provided on the base, the support structure extending from a lower section to an upper section at the base;

-a container lifting device comprising a lifting frame for lifting the storage container upwards from a storage position below the track system, the lifting frame being suspended from a set of suspension points of the upper section of the support structure;

a support surface for supporting the storage container, the support surface providing a first holding position arranged at a lower level than the lifting frame when the lifting frame is in the docked state, adjacent to the upper section of the support structure,

-wherein the container handling vehicle comprises a movement mechanism to horizontally translate the set of suspension points or support surfaces relative to the base such that the lifted storage container can be placed on the support surfaces and the lifting frame separated therefrom.

The base is preferably a wheeled base comprising a first set of wheels and a second set of wheels for guiding the container handling vehicle along the rail system in a first direction X and a second direction, respectively.

Alternatively, the base may be a belt-type base including first and second belts for guiding the container handling vehicle along the track system in first and second directions, respectively.

The term "horizontal translation" of the set of suspension points or support surface with respect to the base may be a movement having only a horizontal component (i.e. only in a horizontal direction), or it may be a movement having both a horizontal component and a vertical component (i.e. in a horizontal direction and a vertical direction). The latter may be a rotational movement in a vertical plane.

The container handling vehicle includes a set of suspension points for suspending the lifting frame. The set of suspension points may be pulleys or spools. The set of suspension points may be movable, for example it may be part of a frame extending along a guide of a stationary boom or other horizontal surface, or it may be the entire boom through which it slides.

The support surface may be provided by any device or surface that provides a shelving function, such as a plate, a pair of arms forming a forklift, a vehicle, or the like.

The base (hereinafter referred to as wheeled base) serves as a reference for the movement of the set of suspension points (and thus the lifting frame) and the support surface. The support surface will typically be in a position above or flush with the upper portion of the wheeled base.

The motion mechanism is configured for horizontal translational movement, either linear (e.g., along the X and Y directions) or rotational.

In addition to the lifting frame and suspension points, the container lifting device may also comprise one or more lifting shafts, lifting belts, guide pulleys for the lifting belts, etc.

The container handling vehicle is operable on a two-dimensional track system comprising a first set of parallel tracks arranged to guide the container handling vehicle across the top of the frame structure in a first direction X and a second set of parallel tracks arranged perpendicular to the first set of tracks to guide the movement of the container handling vehicle in a second direction Y perpendicular to the first direction X.

In one aspect, at least one of the lifting frame and the support surface may be configured for linear translational movement in a horizontal direction. The horizontal direction may be a direction parallel to a set of tracks.

The suspension point may be linearly movable such that in a first position the lifting frame is arranged to retrieve the storage container from a storage position below the track system and in a second position the lifting frame is arranged above the first holding position.

In the first position, the lifting frame may be arranged to retrieve the storage container from a storage position below the track system on which the container handling vehicle operates, and in the second position, the lifting frame may be arranged above the support surface.

The lifting frame and the first holding position may be arranged such that:

in the first position, the vertical projection of the lifting frame is arranged above the first holding position, and

in the second position, the vertical projection of the lifting frame avoids the first holding position.

By actuating the movement mechanism, the support surface can be moved linearly with respect to the wheeled base such that in a first position the support surface is arranged within the vertical projection of the wheeled base and in a second position the support surface is arranged outside the vertical projection of the wheeled base. Thus, in the first position, the lifting device may be arranged to retrieve the storage container from a storage position below the container handling vehicle. The support surface may receive the storage container at a first location (e.g., container receiving location) below the lifting device and then transfer the storage container to a second location, which is the first holding location.

The first and second positions of the support surface may correspond to a grid layout of the first and second sets of rails such that the lifting device lifts the container in the first position corresponding to the grid space to one side of the wheeled base, lowers the container onto the support surface, and then the support surface transfers the storage container to the first holding position by moving to the second position corresponding to the grid space below the wheeled base.

The movement mechanism may be arranged in the wheeled base such that the support surface is horizontally translatable relative to the wheeled base.

The movement mechanism may be arranged in the upper section such that the lifting frame surface is horizontally translatable relative to the wheeled base.

The container handling vehicle may include a second motion mechanism to translate the other of the set of suspension points or the support surface horizontally relative to the wheeled base. Thus, in this embodiment, both the set of suspension points and the support surface are movable relative to the wheeled base.

The container handling vehicle may include a second support surface that provides a second holding position disposed beside or above the first holding position.

The movement mechanism may comprise a linear guide system supporting the set of suspension points or the support surface.

The linear guide system may be horizontally extendable.

The linear guide system may include at least two moving mechanisms including:

-a first movement mechanism for horizontally translating the lifting frame or the support surface within an area defined by the vertical projection of the wheeled base, and

-a second motion mechanism for horizontally translating the lifting frame or the support surface outside the area defined by the vertical projection of the wheeled base.

The first motion mechanism may include a linear bearing, a rack and pinion, a linear actuator, and/or a ball screw.

The second motion mechanism may include a linear bearing, a rack and pinion, a linear actuator, and/or a ball screw.

In one aspect, the at least one lifting device motor and the movement mechanism for moving the lifting frame horizontally may be arranged at or above the lifting frame, preferably close to or above the lifting frame, so as not to be within the operating area necessary for vertical/horizontal movement of the lifting frame. In addition, it is also possible that one or more batteries are arranged at or above the lifting frame, however, the batteries may be arranged in the wheeled base and the cable may extend to the lifting device motor.

When the storage container is positioned in the first holding position, an uppermost portion of the storage container may represent a first height; a kind of electronic device with a high-performance liquid crystal display

When in the docked state, the lifting frame may have a lowermost portion at a second height; and

the second height is higher than the first height such that a lowermost portion of the docked lifting frame may pass over an uppermost portion of the storage container positioned in the first holding position.

The container handling vehicle may include:

-a wheeled base in the form of a wheel-seat unit, wherein the first set of wheels and the second set of wheels form the periphery of the footprint of the wheel-seat unit;

a lower section disposed on the wheel-seating unit, the lower section having a footprint with a horizontal extent equal to or less than the footprint of the wheel-seating unit, the lower section having an upper surface, wherein the upper surface provides a support surface;

a support section forming a support structure and extending vertically from the lower section, the support section having a footprint with a horizontal extent less than the footprint of the lower section; and

a cantilever section forming an upper section and extending horizontally from the support section beyond the footprint of the lower section; wherein the method comprises the steps of

The support section comprises a through opening for moving the support surface or lifting frame therethrough.

The through opening may be sized for the storage container to pass through. Thus, it may have a width dimension that is greater than the width dimension of the storage container (optionally, the greater of the width dimensions of the storage container) and a height dimension that is greater than the height dimension of the storage container. The through opening may be large enough to accommodate the lifting device and/or the support structure. The through opening may comprise a substantially rectangular opening.

The footprint of the wheel-seat unit may correspond in size to a single grid unit of the underlying grid provided by the two sets of tracks (i.e., the area corresponding to the opening in the grid plus the area surrounding the opening corresponding to the width of the rail of the track). In other embodiments, the wheel-seating units may correspond to an integer number of grid units, where the integer is greater than one.

The container handling vehicle may include a second support surface providing a second holding position disposed above the support surface forming the first holding position, and the cross-sectional area of the through opening may be configured to pass through both when either of the support surfaces holds the storage container and when the storage container is not held. When the support surface is arranged directly above the wheel-seating unit, the second support surface may be arranged within a vertical projection of the (first) support surface.

The container handling vehicle may comprise two lifting frames and at least two support surfaces, and the two lifting frames may be arranged on opposite sides of the wheeled base and outside the vertical projection of the wheeled base, and the at least two support surfaces may be arranged within the vertical projection of the wheeled base, and wherein each of the support surfaces may be respectively movable relative to the wheeled base to a position outside the wheeled base and below one of the lifting frames.

The container handling vehicle may comprise two wheeled bases and at least two support surfaces, wherein the wheeled bases may be provided on each side of the support structure, and wherein one of the lifting frames may be suspended from an upper section of the support structure, and each of the support surfaces may be movable relative to the wheeled bases to a position below the lifting frame. When the support surface is not provided below the lifting frame, the lifting frame may be arranged to retrieve the storage container from a storage position below the track system.

The container handling vehicle may include a second motion mechanism to translate the set of suspension points horizontally relative to the wheeled base in the other of the first or second directions (X, Y) such that the lifting frame is movable in the X and Y directions. The second movement mechanism may be a separate movement mechanism from the (first) movement mechanism or form part of the (first) movement mechanism.

The container handling vehicle may further include:

a wheeled base in the form of a wheel-seating unit, wherein the first set of wheels and the second set of wheels form the periphery of the footprint of the wheel-seating unit;

a lower section which may be disposed on the wheel-seating unit, the lower section having a coverage area with a horizontal extent equal to or less than the coverage area of the wheel-seating unit, wherein the upper surface provides a support surface;

A support section forming a support structure and extending vertically from the lower section, the support section having a footprint with a horizontal extent less than the footprint of the lower section; and

a cantilever section forming an upper section and extending horizontally from the support section beyond the footprint of the lower section;

wherein the movement mechanism may comprise rotation means adapted to rotate the support section and thereby the cantilever section relative to the wheeled base such that in a first state the lifting frame may lift the container upwards from a storage position below the track system and in a second state the lifting frame may place the storage container on the support surface.

When in the second state, the support section and the cantilever section may be within the footprint of the wheel-seating unit. In the first state, the container handling vehicle may occupy two grid cells, while in the second state, the container handling vehicle may occupy only one grid cell.

The center of gravity of the support surface may be positioned above the wheeled base.

The container handling vehicle may also include a weight distribution system including a movable load and a load moving device for changing the center of gravity of the container handling vehicle in accordance with the load of one or more storage containers carried by the container handling vehicle. The load moving means may be an actuator, a ball screw or the like. In a container handling vehicle, the movable load may be arranged relatively high or relatively low. In one aspect, it may be arranged above the lifting device. In another aspect, it may be disposed within a wheeled base.

The weight distribution system may include:

-a set of sensors for measuring the weight of any storage container supported by the support surface and the lifting frame, and

-a control system connected to both the set of sensors and the load moving device, wherein the control system senses a change in mass of at least two opposite sides of the container handling vehicle based on measurement data from the set of sensors, calculates a travel distance of the movable load corresponding to the change in mass, and instructs the load moving device to move the movable load by the calculated travel distance in opposite directions of the relatively heavy sides of the container handling vehicle. The control system may perform real-time (i.e., on-the-fly) calculations of the dynamic center of gravity of the container handling vehicle during movements such as acceleration and deceleration, and instruct the load moving device to move the movable load in a direction such that the center of gravity is forced to a more favorable point while reducing the risk of tilting of the container handling vehicle, for example.

Also described is a method of loading storage containers between a stacking position in an automated storage and retrieval system and a storage position on a container handling vehicle as described above, wherein the method comprises the steps of:

Picking up the storage containers from a stacking position below the track system using a lifting frame of the lifting device,

-placing the storage container on a support surface of the container handling vehicle and separating the lifting frame from the storage container.

The method may further comprise the steps of:

-moving the picked up storage containers by using a motion mechanism to translate the set of suspension points or support surfaces horizontally with respect to the wheeled base.

An automated storage and retrieval system is also described, comprising a two-dimensional track system comprising a first set of parallel tracks arranged to guide a container handling vehicle through the top of a frame structure in a first direction X and a second set of parallel tracks arranged perpendicular to the first set of tracks to guide the container handling vehicle in a second direction perpendicular to the first direction, the first set of parallel tracks and the second set of parallel tracks forming a grid dividing the track system into a plurality of grid cells, wherein the automated storage and retrieval system further comprises at least one container handling vehicle as described above.

The system may also include a stack of a plurality of storage containers under the grid cells.

The system may also include a control system configured to receive information regarding the footprint of the container handling vehicle and use the information to control the system.

The invention can be used in concepts related to storage container systems, as well as in vertical farm and electronic grocery applications.

The relative terms "upper", "lower", "below", "over" and the like should be understood in their normal sense and as seen in a cartesian coordinate system. When referring to a well, the terms "upper" or "above" are to be understood as positions closer to the surface of the well (relative to another component), as opposed to the terms "lower" or "below" which are to be understood as positions farther from the surface of the well (relative to another component).

In summary, the present invention provides a container handling vehicle that can be self-loading and unloading.

Drawings

The following drawings are provided to facilitate understanding of the invention. The embodiments of the invention are illustrated in the drawings and will now be described, by way of example only, in which:

fig. 1A-1D illustrate aspects of a prior art storage and retrieval system, wherein:

FIG. 1A is a perspective view of a prior art frame structure of an automated storage and retrieval system;

FIG. 1B is a plan view of two sets of single-rail tracks;

FIG. 1C is a plan view of two sets of dual rail tracks;

FIG. 1D is a plan view showing the dimensions of a single grid cell;

FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for carrying a storage container therein;

FIG. 3 is a perspective view of a prior art container handling vehicle having a boom for carrying a storage container thereunder;

FIGS. 4A and 4B illustrate an exemplary wheeled base in the form of a wheel base unit for a container handling vehicle;

fig. 5A to 5H show different examples of container handling vehicles having a through opening in the support section, and wherein the support surface is linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frame, wherein:

FIG. 5A is a front perspective view of a storage container disposed on a support surface directly below a lifting frame;

FIG. 5B is a rear perspective view of FIG. 5A;

in fig. 5C, the storage container is arranged on the support surface, and the support surface on which the storage container is arranged is located at an intermediate transition between a position directly below the lifting frame to a position directly above the wheeled base;

FIG. 5D is a rear perspective view of FIG. 5C;

FIG. 5E is a front perspective view of the storage container disposed on a support surface directly above the wheeled base;

FIG. 5F is a rear side view of FIG. 5E;

FIG. 5G is a front perspective view of a container handling vehicle holding two storage containers, one of which is lifted by a lifting frame and the other of which is disposed on a support surface directly above a wheeled base;

FIG. 5H is a rear perspective view of FIG. 5G;

fig. 6A to 6F are examples of container handling vehicles having a through opening in a support section, in which two support surfaces are arranged, which are linearly movable relative to a wheeled base between a position directly above the wheeled base and a position directly below a lifting frame, and in which:

FIG. 6A is a side view of a container handling vehicle holding a storage container with a lifting frame and a support surface empty;

FIG. 6B is a side view of a container handling vehicle holding a storage container by a lifting frame with an upper support surface holding the storage container while a lower support surface is empty;

FIG. 6C is a rear side view of the container handling vehicle holding one storage container on the upper and lower support surfaces, respectively, with the lifting frame not holding the storage container;

FIG. 6D is a side view of a container handling vehicle holding a storage container by a lifting frame with an upper support surface holding the storage container;

FIG. 6E is a side view of the container handling vehicle with one storage container carried by an upper support surface disposed directly above the wheeled base and one storage container carried by a lower support surface disposed directly below the lifting frame;

FIG. 6F is a rear side view of FIG. 6E;

fig. 7A to 7E are examples of a container handling vehicle having two lifting frames arranged on opposite sides of a wheeled base, an opening being provided in a support section, and a total of four support surfaces being arranged two side by side at two heights, wherein all support surfaces are linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frames, and wherein:

FIG. 7A is a side view of a container handling vehicle in which a storage container is carried by two lifting frames and in which all support surfaces are in a position directly above a wheeled base, wherein all support surfaces are empty;

FIG. 7B is a side view of the container handling vehicle wherein the storage container is carried by two lifting frames and wherein the two upper support surfaces are moved to respective positions directly below each lifting frame and the two lower support surfaces are positioned directly above the wheeled base;

FIG. 7C is a side view of the container handling vehicle with the storage container carried by two lifting frames, and with two upper support surfaces disposed directly above the wheeled base, with both upper support surfaces holding the storage container and two lower support surfaces disposed directly below the lifting frames, which are shown as not holding the storage container;

FIG. 7D is a side view of the container handling vehicle wherein the lifting frame does not hold a storage container, and wherein two upper support surfaces are disposed directly above the wheeled base, wherein both upper support surfaces hold a storage container, and two lower support surfaces are disposed directly below the lifting frame holding a storage container;

FIG. 7E is a side view of the container handling vehicle wherein the lifting frame does not hold a storage container, and wherein all support surfaces are disposed directly above the wheeled base, wherein all support surfaces hold a storage container;

fig. 8A to 8G are examples of a container handling vehicle having one lifting frame arranged in the center between two wheel bases, an opening being provided in a support section, and a total of four support surfaces being arranged two on each side of the lifting frame, the support surfaces being linearly movable relative to the respective wheel bases between a position directly above the wheel bases and a position directly below the lifting frame, and wherein:

FIG. 8A is a side view of the container handling vehicle in which the lifting frame does not hold a storage container, and the remaining three support surfaces are disposed directly above the respective wheeled base, all of which are empty;

FIG. 8B is a side view of the container handling vehicle wherein the lifting frame does not hold a storage container, and wherein three support surfaces are disposed directly above the respective wheeled base, and wherein one support surface is directly below the lifting frame and holds a storage container, and the remaining three support surfaces are empty;

FIG. 8C is a side view of the container handling vehicle wherein the lifting frame does not hold a storage container, and wherein all support surfaces are disposed directly above their respective wheeled bases, with one support surface holding a storage container and the remaining three support surfaces being empty;

FIG. 8D is a side view of the container handling vehicle with the lifting frame holding the storage container and with one of the support surfaces disposed directly below the lifting frame and the remaining three support surfaces disposed directly above the wheeled base, with one of the support surfaces holding the storage container and the remaining two support surfaces being empty;

FIG. 8E is a side view of the container handling vehicle with the lifting frame holding the storage container and with all support surfaces disposed directly above the wheeled base with two support surfaces holding the storage container and two support surfaces being empty;

FIG. 8F is a side view of the container handling vehicle in which the lifting frame does not hold a storage container and one of the support surfaces is disposed directly below the lifting frame and the remaining three support surfaces are disposed directly above the wheeled base, with two of the support surfaces holding a storage container and one of the support surfaces being empty;

FIG. 8G is a side view of the container handling vehicle wherein the lifting frame does not hold a storage container, and wherein all support surfaces are disposed directly above the wheeled base, wherein three support surfaces hold a storage container and one support surface is empty;

fig. 9A to 9E are examples of container handling vehicles having one lifting frame suspended from a set of suspension points, wherein the set of suspension points and thus the lifting frame are configured for translational movement from a position directly above a stationary support surface arranged on a wheeled base of the container handling vehicle and a position directly above a storage position below the rail system, and wherein the figures show sequential movement of the storage containers from their respective storage positions below the rail system onto a support surface in the container handling vehicle, and wherein:

FIG. 9A is a side view of the container handling vehicle with the lifting frame in a position directly above the storage location below the track system;

FIG. 9B is a side view of the container handling vehicle in which the lifting frame has been moved a distance equal to one grid cell relative to its position in FIG. 9A and in a position directly above one support surface and has been dropped from the storage container onto the support surface;

FIG. 9C is a side view of the container handling vehicle with the lifting frame lowered below the track system and the storage container having been picked up from the storage location below the track system;

FIG. 9D is a side view of the container handling vehicle in which the lifting frame has been moved a distance equal to two grid cells relative to its position in FIG. 9C and is in a position directly above another support surface as compared to FIG. 9B and has been dropped from the storage container onto the support surface;

FIG. 9E is a side view of the container handling vehicle after a total of four storage containers have been positioned on the support surface, with stacks of two storage containers, with two storage containers in each stack;

FIG. 10A illustrates a container handling vehicle having one lifting frame suspended from a set of suspension points, wherein the set of suspension points, and thus the lifting frame, is configured for translational movement from two positions directly above a location disposed on a wheeled base of the container handling vehicle directly above a stationary support surface and a storage location below a track system, wherein the two positions are on opposite sides of the wheeled base, and wherein the container handling vehicle in FIG. 10A occupies two grid cells because the lifting frame is directly above one of the stationary support surfaces;

FIG. 10B illustrates the container handling vehicle 901 of FIG. 10A, wherein the lift frame 415 has been moved to a position above the storage location below the track system 108;

fig. 11A-11C are examples of a container handling vehicle disposed on a track system, the container handling vehicle including one lifting frame suspended from a set of suspension points, wherein the set of suspension points and thus the lifting frame are configured for translational movement from two positions directly above a stationary support surface disposed on a wheeled base of the container handling vehicle and directly above a storage position below the track system, wherein the two positions are on opposite sides of the wheeled base, and wherein:

FIG. 11A shows a container handling vehicle with a lifting frame disposed directly above a storage location below a track system and holding storage containers, in this configuration, the container handling vehicle occupies three grid cells;

fig. 11B shows a container handling vehicle in which, in comparison to fig. 11A, lifting frames are arranged on opposite sides of the wheeled base, arranged directly above the storage locations below the rail system and holding the storage containers, in this configuration the container handling vehicle occupies three grid cells;

FIG. 11C shows a container handling vehicle with a lifting frame disposed directly above one support surface, in this configuration, the container handling vehicle occupies two grid cells;

fig. 12A-12D are examples of a container handling vehicle having one lifting frame suspended from a set of suspension points, wherein the set of suspension points and thus the lifting frame are configured for translational movement from a position directly above a movable support surface arranged on a wheeled base of the container handling vehicle and a position directly above a storage position below a rail system, and wherein the figures show different relative positions of the lifting frame and the movable support surface, and wherein:

FIG. 12A shows the container handling vehicle with the lifting frame in a position directly above the wheeled base and the empty support surface in a position outside (beyond) the wheeled base;

FIG. 12B shows the container handling vehicle with the lifting frame in a position directly above the wheeled base and holding the support surface of the storage container in a position outside (beyond) the wheeled base;

FIG. 12C illustrates a container handling vehicle with the lifting frame in a position outside (beyond) the wheeled base, maintaining the support surface of the storage container in a position outside (beyond) the wheeled base directly below the lifting frame;

Fig. 12D shows the container handling vehicle in which the lifting frame is in a position outside (beyond) the wheeled base and holds the storage container, the support surface being arranged directly above the wheeled base;

FIG. 13A is a top view of a container handling vehicle having two linear motion mechanisms for a suspension point and thus for a lifting frame, the motion mechanisms including an extendable linear guide system, wherein a first motion mechanism is used for horizontal translational movement of the lifting frame or support surface within an area defined by a vertical projection of the wheeled base, and a second motion mechanism is used for horizontal translational movement of the lifting frame or support surface outside (beyond) the area defined by the vertical projection of the wheeled base;

fig. 13B is an enlarged view of section a in fig. 13A;

FIG. 13C shows a detail of a linear motion mechanism in the form of a ball screw for moving a suspension point or movable support surface;

fig. 13D is an enlarged view of section B in fig. 13C;

in fig. 13E, the lateral support element has been removed to better show the threaded shaft portion and a nut comprising a ball bearing that engages the lateral support element to interact with the threaded shaft portion;

Fig. 14A-14D are examples of container handling vehicles having a wheeled base, a support section, and a cantilever section, wherein a lifting frame is suspended from a set of suspension points in the cantilever section, and wherein the movement mechanism comprises a rotation device adapted to rotate the support section, and thus the cantilever section, relative to the wheeled base, such that in a first state the lifting frame can lift the container upwards from a storage position below the rail system, and in a second state the lifting frame can place the storage container on a support surface, wherein:

FIG. 14A shows a container handling vehicle in which the lifting frame is disposed directly above the storage location below the track system, with the support surface empty;

fig. 14B is a rear view of fig. 14A;

FIG. 14C shows the container handling vehicle in which the lifting frame has been rotated 180 degrees as compared to FIGS. 14A and 14B, both the lifting frame and the support surface are empty, i.e., no storage containers are held;

FIG. 14D is a container handling vehicle with a lifting frame disposed directly above a storage location below a track system, both the lifting frame and the support surface holding a storage container;

FIG. 15 is a top view of an example of components of a container handling vehicle that may be disposed in a lifting device;

16A-16B illustrate different examples of container handling vehicles having a weight distribution system that includes a movable load and a load moving device for changing the center of gravity of the container handling vehicle based on the load of one or more storage containers carried by the container handling vehicle; wherein:

FIG. 16A illustrates an example of a container handling vehicle having a cantilever design and a movable support surface;

FIG. 16B is an example of the container handling vehicle of FIGS. 5A-5H with a weight distribution system;

fig. 17A-17C show different examples of container handling vehicles having through openings in the support sections, and wherein the support surface is linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frame, the container handling vehicle further comprising a weight distribution system, wherein:

FIG. 17A is a front perspective view of a storage container disposed on a support surface directly above a wheeled base;

FIG. 17B is a top perspective view of FIG. 17A;

fig. 17C is a detailed view of the dotted line area in fig. 17B;

fig. 18A to 18E show a detail of the container handling vehicle in fig. 17A to 17C, having a wheeled base, a support section and a boom section, wherein the lifting frame is suspended from a set of suspension points in the boom section, and wherein the support surface is movable relative to the wheeled base by rotational movement in a vertical plane between a position directly above the wheeled base and a position directly below the lifting frame, wherein:

FIG. 18A is a side perspective view of the container handling vehicle with the lifting frame holding the storage container and the empty support surface directly above the wheeled base;

in fig. 18B, the lifting frame still holds the storage container and the support surface will move from its initial position directly above the wheeled base to a position directly below the lifting frame;

in fig. 18C, the support surface has been moved to a position directly below the lifting frame, and the lifting frame does not hold the storage container as it has fallen onto the support surface;

in fig. 18D, the lifting frame does not hold the storage container, and the support surface and the storage container disposed thereon will move from a position directly below the lifting frame to a position directly above the wheeled base;

in fig. 18E, the lifting frame does not hold the storage container, and the support surface and the storage container disposed thereon have been moved to a position directly above the wheeled base;

FIGS. 19A and 19B illustrate in detail a vertical planar motion mechanism for moving a support surface between a position directly above a wheeled base and a position directly below a lifting frame;

fig. 20A-20B show an example of a container handling vehicle having three linear motion mechanisms for suspension points and thus for lifting frames, the motion mechanisms comprising an extendable linear guide system, wherein a first motion mechanism is used for horizontal translational movement of the lifting frame in a first direction within an area defined by a vertical projection of the wheeled base, a second motion mechanism is used for horizontal translational movement of the lifting frame in the first direction outside (beyond) the area defined by the vertical projection of the wheeled base, and a third motion mechanism is used for movement in a direction perpendicular to the first direction; wherein:

In fig. 20A, the lifting frame is arranged within an area defined by the vertical projection of the wheeled base;

in fig. 20B, the lifting frame has been moved to a position outside the area defined by the vertical projection of the wheeled base;

fig. 21A to 21C show an example of a container handling vehicle having three linear movement mechanisms for a suspension point and thus for a lifting frame and a rotation mechanism for rotating the suspension point and thus the lifting frame;

in fig. 21A, the lifting frame is in a position outside the area defined by the vertical projection of the wheeled base;

in fig. 21B, an example of a rotation mechanism for rotating the suspension point and thus the lifting frame is shown;

in fig. 21C, the lifting frame is in a position within the area defined by the vertical projection of the wheeled base, and the lifting frame has been rotated 90 degrees compared to the lifting device in fig. 21A;

Detailed Description

Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject matter depicted in the drawings.

The frame structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art frame structure 100 described above in connection with fig. 1-3, i.e., a plurality of upright members 102 and a plurality of horizontal members 103 supported by the upright members 102, and the frame structure 100 further includes a first upper track system 108 in the X-direction and the Y-direction.

The frame structure 100 further comprises storage compartments arranged between the members 102, 103 in the form of storage columns 105, wherein the storage containers 106 may be stacked in the storage columns 105 in stacks 107.

The frame structure 100 may be of any size. In particular, it should be appreciated that the frame structure may be much wider and/or much longer and/or much deeper than that disclosed in fig. 1A. For example, the frame structure 100 may have a horizontal extent of over 700 x 700 columns and a storage depth of over twelve containers.

An exemplary wheeled base (wheeled base) in the form of a wheel-seating unit for a remotely operated vehicle according to the present invention is shown in fig. 4A and 4B. The wheel base unit (wheelbase unit) 2 is characterized by a wheel arrangement 32a, 32b having a first set of wheels 32a for movement on a rail system in a first direction and a second set of wheels 32b for movement in a second direction perpendicular to the first direction. Each set of wheels comprises two pairs of wheels arranged on opposite sides of the wheel-seating unit 2. In order to change the direction in which the wheel-seating unit can travel on the rail system, a set of wheels 32b is connected to the wheel-displacement assembly 7. The wheel-shifting assembly is capable of raising and lowering the connected set of wheels 32b relative to the other set of wheels 32a such that only the set of wheels traveling in the desired direction is in contact with the rail system. The wheel-shifting assembly 7 is driven by a motor 8. Furthermore, two motors 4, 4' powered by rechargeable batteries 6 are connected to the set of wheels 32a, 32b to move the wheel-seat unit in the desired direction.

With further reference to fig. 4A and 4B, the horizontal perimeter of the wheel-seating units 2 is sized to fit within the horizontal area defined by the grid cells such that two wheel-seating units 2 may pass over each other on any adjacent grid cell of the rail system 108, 308. In other words, the wheel-seating unit 2 may have a footprint, i.e. a range in the X and Y directions, which is substantially equal to the horizontal area of the grid unit, i.e. the range of the grid unit in the X and Y directions, as described for example in WO2015/193278A1, the content of which is hereby incorporated by reference.

Referring to fig. 4B, the wheel-seating unit 2 has a top panel/flange 9 (i.e., upper surface) configured as a connecting interface for the container carrier. The top panel 9 has a central opening 20 and features a plurality of through holes 10 (i.e. connecting elements) adapted to be bolted via corresponding through holes in the lower section of the container carrier. In other embodiments, the connecting element of the top panel 9 may be, for example, a threaded pin for interacting with the through hole of the lower section. The presence of the central opening 20 is advantageous in that it provides access to the internal components of the wheel-seating unit 2, such as the rechargeable battery 6 and the electronic control system 21.

Fig. 5A to 5H show different examples of container handling vehicles 401 having a through opening 422 in the support section 402, and wherein the support surface 425 is linearly movable through the through opening 422 relative to the wheeled base 2 between a position directly above the wheeled base 2 and a position directly below the lifting frame 415. A container handling vehicle 401 is disclosed having a wheeled base 2 comprising a first set of wheels 32a and a second set of wheels 32b for guiding the container handling vehicle 401 along a track system 108 in a vertical first direction X and a second direction Y, respectively. The container handling vehicle further comprises a support structure 402 arranged on the wheel base 2, which support structure 402 extends from a lower section at the wheel base 2 to an upper section connected to the cantilever section 413. The container handling vehicle 401 further includes a container lifting device 414 that includes a lifting frame 415 for lifting the storage containers 106 upwardly from a storage position below an underlying track system (the track system is not shown in fig. 5A-5H). The lifting frame 415 is suspended from a set of suspension points (not shown in fig. 5A-5H) of the cantilever section 413 via lifting straps (also not shown in fig. 5A-5H) and includes a bin guide 424 in each corner for assisting in guiding the lifting frame 415 relative to the storage container 106 when the storage container 415 is accessed from above. The lifting frame 415 further comprises releasable connectors or grippers 421 for connection with corresponding holes in the storage container. The container handling vehicle 401 further includes a support surface 425 for supporting the storage containers 106, the support surface 425 providing a first holding position disposed at a lower elevation than the lift frame 415 when the lift frame 415 is in a docked state adjacent the cantilever portion 413. The container handling vehicle 401 includes a linear motion mechanism 426 to translate the support surface 425 horizontally relative to the wheeled base 2 so that the lifted storage containers 106 may be placed on the support surface 425 and the lifting frame 415 separated therefrom. The footprint of the wheeled base 2 is one grid cell and the footprint of the container handling vehicle is two grid cells.

Fig. 5A is a front perspective view of the storage container 106 disposed on the support surface 425 directly below the lifting frame 415 of the container handling vehicle 401.

Fig. 5B is a rear perspective view of fig. 5A.

In fig. 5C, the storage container 106 is arranged on the support surface 425, and the support surface 425 on which the storage container 106 is arranged is located at an intermediate transition between a position directly below the lifting frame 415 to a position directly above the wheel base 2.

Fig. 5D is a rear perspective view of fig. 5C.

Fig. 5E is a front perspective view of the storage container 106 disposed on a support surface 425 that has been moved from a position directly below the lifting frame (as shown in fig. 5A and 5B) to a position directly above the wheeled base 2.

Fig. 5F is a rear perspective side view of fig. 5E.

Fig. 5G is a front perspective view of the container handling vehicle 401 holding two storage containers 106, one of the storage containers 106 being lifted by the lifting frame 106, and the other storage container 401 being arranged on the movable support surface 425 located directly above the wheel base 2.

Fig. 5H is a rear perspective view of fig. 5G.

Fig. 6A to 6F are examples of container handling vehicles 501 having through openings 422 in the support section 402, in which two support surfaces 425 are arranged, which are linearly movable with respect to the wheeled base 2 between a position directly above the wheeled base 2 and a position directly below the lifting frame 415. The footprint of the wheeled base 2 is one grid cell and the footprint of the container handling vehicle is two grid cells. Accordingly, the container handling vehicle 501 in fig. 6A-6F may carry three storage containers 106 while occupying two grid cells. The remaining features of the container handling vehicle 501 are similar to those of the container handling vehicle 401 described with respect to fig. 5A-5H and will not be repeated here.

Fig. 6A is a side view of a container handling vehicle 501 holding a storage container 106 by lifting frame 415, while the support surface 425 is empty.

Fig. 6B is a side view of a container handling vehicle 501 holding one storage container 106 by lifting frame 415, while upper support surface 425 holds storage container 106 while lower support surface 425 is empty. The lower support surface 425 is shown in a position directly below the lifting frame 415, while the upper support surface is arranged directly above the wheel base 2.

Fig. 6C is a rear side view of the container handling vehicle 501 holding one storage container 106 on each of the upper and lower support surfaces 425, respectively, while the lift frame 415 does not hold the storage container 106 at this time. Both support surfaces 425 are arranged directly above the wheel base 2.

Fig. 6D is a side view of a container handling vehicle 501 holding one storage container 106 by lifting frame 415, while upper support surface 425 holds storage container 106. The lower support surface is not visible in fig. 6D.

Fig. 6E is a side view of the container handling vehicle 501, with one storage container 106 carried by an upper support surface 425 disposed directly above the wheeled base 2, and one storage container 106 carried by a lower support surface 425 disposed directly below the lifting frame 425. The lower support surface 426 is not visible in fig. 6E, but may carry another storage container 106 as shown in fig. 6F.

Fig. 6F is a rear side view of fig. 6E.

Fig. 7A to 7E are examples of a container handling vehicle 601 having two lifting frames 415 arranged on opposite sides of the wheeled base 2, openings being provided in the support sections, and a total of four support surfaces 425 being arranged in two side-by-side arrangement at two heights. The container handling vehicle 601 of fig. 7A to 7E is of a double cantilever type, i.e. it comprises two cantilevers 413. All support surfaces 425 are linearly movable relative to wheeled base 2 between a position directly above wheeled base 2 and a position directly below lifting frame 415. The footprint of the wheeled base 2 is two grid cells and the footprint of the container handling vehicle is four grid cells. Thus, the container handling vehicle 601 in fig. 7A to 7E can carry six storage containers 106 while occupying only four grid cells. The remaining features of the container handling vehicle 601 are similar to those of the container handling vehicles 401, 501 described with respect to fig. 5A-5H and 6A-6F, and will not be repeated here.

Fig. 7A is a side view of a container handling vehicle 601 in which the storage container 106 is carried by two lifting frames 415 with all support surfaces 425 in a position directly above the wheeled base 2 and all support surfaces empty.

Fig. 7B is a side view of the container handling vehicle 601 in which the storage container 106 is carried by two lifting frames 415, and in which two upper support surfaces 425 are moved to respective positions directly below each lifting frame 425, while two lower support surfaces 425 are in positions directly above the wheeled base 2.

Fig. 7C is a side view of the container handling vehicle 601 in which the storage container 106 is carried by two lifting frames 415, and in which two upper support surfaces 425 are arranged directly above the wheeled base 2, which hold the storage container 106, while two lower support surfaces 106 are arranged directly below the lifting frames 415 that do not hold the storage container 106.

Fig. 7D is a side view of the container handling vehicle 601 in which the lifting frame 415 does not hold the storage container 415, and in which two upper support surfaces 425 are arranged directly above the wheeled base 2, which hold the storage container 106, and two lower support surfaces 425 are arranged directly below the lifting frame 415 holding the storage container 106.

Fig. 7E is a side view of the container handling vehicle 601, wherein the lifting frame 415 does not hold the storage container 106, and wherein all support surfaces 425 are arranged directly above the wheeled base 2, all support surfaces holding the storage container 106.

Fig. 8A to 8G are examples of a container handling vehicle 701 in which one lifting frame is arranged in the center between two wheel bases 2, an opening is provided in the support section, and a total of four support surfaces 425 are arranged on each side of the lifting frame 415, two on each side. The body of the container handling vehicle 701 thus has a central cavity design in which the storage container may be lifted into a storage space in the center of the container handling vehicle 701. The main body of the container transfer vehicle 701 is connected to two wheel bases 2. On each side of the body, openings (not shown) are provided for allowing respective four support surfaces 425 to move with the storage containers 106 through between a position above one wheeled base 2 and a position directly below the lifting frame 415. All support surfaces 425 are linearly movable with respect to the respective wheeled base 2 between a position directly above the wheeled base 2 and a position directly below the lifting frame 415. The footprint of the two wheeled base 2 is two grid cells and the footprint of the container handling vehicle is three grid cells. Thus, in this arrangement, the container handling vehicle 701 in fig. 8A-8G may carry five storage containers 106 while occupying only three grid cells. The remaining features of the container handling vehicle 601 are similar to those of the container handling vehicles 401, 501 described with respect to fig. 5A-5H and 6A-F and fig. 7A-7E, and will not be repeated here.

Fig. 8A is a side view of the container handling vehicle 701 in which the lifting frame 415 does not hold the storage containers 106, and the remaining three support surfaces 425 are arranged directly above the respective wheeled base 2, all of which are empty.

Fig. 8B is a side view of the container handling vehicle 701, wherein the lifting frame 415 does not hold the storage container 106, and wherein three support surfaces 425 are arranged directly above the respective wheeled base 2, one of which is located directly below the lifting frame 415, and holds the storage container 106, while the remaining three support surfaces are empty.

Fig. 8C is a side view of the container handling vehicle 701, wherein the lifting frame 415 does not hold the storage containers 106, and wherein all support surfaces 425 are arranged directly above their respective wheeled base 2, one of the support surfaces holding the storage containers 106 and the remaining three support surfaces being empty.

Fig. 8D is a side view of the container handling vehicle 701 in which the lifting frame 415 holds the storage container 106, and one of the support surfaces 425 is arranged directly below the lifting frame 415, and the remaining three support surfaces 425 are arranged directly above the wheel base 2, with one support surface holding the storage container 106 and the remaining two support surfaces being empty.

Fig. 8E is a side view of the container handling vehicle 701, wherein the lifting frame 415 holds the storage container 106, and wherein all support surfaces 425 are arranged directly above the wheeled base 2, wherein two support surfaces hold the storage container 106, while two support surfaces are empty.

Fig. 8F is a side view of the container handling vehicle 701, in which the lifting frame 415 does not hold the storage container 106, and in which one of the support surfaces 425 is arranged directly below the lifting frame 415, and the remaining three support surfaces 425 are arranged directly above the wheel base 2, in which two support surfaces hold the storage container 106, and one support surface is empty.

Fig. 8G is a side view of the container handling vehicle 701, wherein the lifting frame 451 does not hold the storage container 106, and wherein all the support surfaces 425 are arranged directly above the wheel base 2, wherein three support surfaces hold the storage container 106 and one support surface is empty.

Fig. 9A to 9E are examples of container handling vehicles 801 having one lifting frame 415 suspended from a set of suspension points 423 (not shown in detail in fig. 9A to 9E, see fig. 10 to 13), wherein the set of suspension points and thus the lifting frame 415 are configured for translational movement from a position directly above a fixed support surface 425 arranged on the wheeled base 2 of the container handling vehicle 801 and a position directly above a storage position below the rail system. The figures illustrate the sequential movement of the storage containers 106 from their respective storage positions below the track system onto the support surface 425 in the container handling vehicle 801. The container handling vehicle 801 may have two support surfaces 425 as shown in fig. 9A-9E. However, although not shown, the container handling vehicle 801 may also have four or even more support surfaces 425, for example arranged in a straight line or arranged in a 2 x 2 forming a cube. In the latter, the set of suspension points needs to be able to translate the lifting frame 415 in the X-direction and the Y-direction. The container handling vehicle 801 has a varying footprint depending on whether the lifting frame 415 is disposed directly above a storage location below the track system 108 (see, e.g., fig. 9A) or directly above one of the support surfaces 425 within the container handling vehicle 801 (see, e.g., fig. 9B). In order to move the suspension point 423 and thus the lifting frame 415 between a position directly above the fixed support surface 425 arranged on the wheeled base 2 of the container handling vehicle 801 and a position directly above the storage position below the rail system 108, the container handling vehicle may comprise a first movement mechanism for a horizontal translational movement of the lifting frame 415 within the area defined by the vertical projection of the wheeled base 2 and a second movement mechanism for a horizontal translational movement of the lifting frame 415 or the support surface outside the area defined by the vertical projection of the wheeled base 2.

Fig. 9A is a side view of the container handling vehicle 801 with the lifting frame 415 in a position directly above the storage position below the track system 108. The container handling vehicle 801 occupies three grid cells 122 in fig. 9A.

Fig. 9B is a side view of the container handling vehicle 801 in which the lifting frame 415 has been moved a distance equal to one grid cell relative to its position in fig. 9A and is in a position directly above one of the support surfaces 425 and has been dropped from the storage container 106 onto the support surface 425. The container handling vehicle 801 occupies two grid cells 122 in fig. 9B.

Fig. 9C is a side view of the container handling vehicle 801 in which lifting frames 415 are suspended downwardly below the track system 108 using lifting straps 417a, 417b and the storage containers 108 have been picked up from storage locations below the track system 108.

Fig. 9D is a side view of the container handling vehicle 801 in which the lifting frame 415 has been moved a distance equal to two grid cells relative to its position in fig. 9C and is in a position directly above another support surface 425 as compared to fig. 9B and has been dropped from the storage container 106 onto the support surface 425.

Fig. 9E is a side view of the container handling vehicle 801 after a total of four storage containers 106 have been positioned on the support surface 425, with stacks of two storage containers 106, with two storage containers 106 in each stack.

Fig. 10A shows a container handling vehicle 901 having one lifting frame 415 suspended from a set of suspension points 423. The set of suspension points 423 and thus the lifting frame 415 are configured to move translationally from a position directly above the fixed support surface 425 arranged on the wheeled base 2 of the container handling vehicle 901 to one of two positions directly above the storage position 425 below the track system 108 by using a linear movement mechanism 427. Said two positions being on opposite sides of the wheeled base 2. The container handling vehicle in fig. 10A occupies two grid cells 122 because the lifting frame 415 is located directly above one of the fixed support surfaces 425. The movement mechanism in fig. 10A is in the form of a linear guide system, wherein a lifting device 414 with a lifting frame 415 is arranged in an upper part of the container handling vehicle 901 and is movable along the guide system via a complementary connection, such as a linear bearing, rack and pinion, linear actuator and/or ball screw. In order to move the suspension point 423 and thus the lifting frame 415 between a position directly above one of the fixed support surfaces 425 arranged on the wheeled base 2 of the container handling vehicle 801 and a position directly above the storage position below the rail system 108, the container handling vehicle 901 may comprise a first movement mechanism 427' for horizontally translating the lifting frame 415 within an area defined by the vertical projection of the wheeled base 2 and a second movement mechanism 427″ for horizontally translating the lifting frame 415 outside (beyond) the area defined by the vertical projection of the wheeled base 2. An example and more detailed illustration of different movement mechanisms 427, 427', 427″ for the set of suspension points 423 (and movable support surfaces 425 of the exemplary container handling vehicle described above) is shown in fig. 13.

Fig. 10B shows the container handling vehicle 901 of fig. 10A, wherein the lifting frame 415 has been moved to a position above the storage position below the track system 108. The container handling vehicle in fig. 10B occupies three grid cells 122 because the lifting frame 415 is external to the wheeled base 2 and directly above the storage location below the track system 108.

Fig. 11A to 11C are examples of a container handling vehicle 1001 arranged on a track system 1001. The container handling vehicle 1001 comprises one lifting frame 415 suspended from a set of suspension points 423, wherein the set of suspension points 423 and thus the lifting frame 415 is configured to move in translation from a position directly above a fixed support surface 425 arranged on the wheeled base 2 of the container handling vehicle 1001 and two positions directly above a storage position below the rail system 108, wherein the two positions are on opposite sides of the wheeled base 2. The container handling vehicle 1001 has many features similar to the container handling vehicle 901 in fig. 10A and 10B, and these features will not be repeated here. Similar to the example container handling vehicles 801, 901 in fig. 9 and 10, the container handling vehicles in fig. 11A-11C may include a first motion mechanism 427' (shown as a rack and pinion system) and a second motion mechanism 427 "(shown as a ball screw system).

Fig. 11A shows a container handling vehicle 1001 in which a lifting frame 415 is disposed directly above a storage location 425 below a track system 108 and holds a storage container 108. The container handling vehicle 1001 in fig. 11A occupies three grid cells in this configuration.

Fig. 11B shows a container handling vehicle 1001 in which, compared to fig. 11A, a lifting frame 415 is arranged on the opposite side of the wheeled base 2 and is arranged directly above a storage position below the rail system 108 and holds the storage container 108. The container handling vehicle 1001 occupies three grid cells 122 in this configuration.

Fig. 11C shows a container handling vehicle 1001 in which the lifting frame 415 is disposed directly above one of the support surfaces 425. The container handling vehicle 1001 occupies two grid cells 122.

Fig. 12A-12D are examples of container handling vehicles 1101 having one lifting frame 415 suspended from a set of suspension points 423, wherein the set of suspension points 423 and thus the lifting frame 415 are configured for translational movement from a position directly above a movable support surface 425 arranged on a wheeled base 2 of the container handling vehicle 1101 and a position directly above a storage position below a rail system. The figures show different relative positions of the lifting frame 415 and the movable support surface 425. The container handling vehicle 1101 of fig. 12A-12D is similar to the container handling vehicle described with respect to fig. 10A and 10B, except that the container handling vehicle 1101 in fig. 12A-12D has a movable support surface 425 as compared to the fixed support surface 425 of fig. 10A and 10B, and will not be described in greater detail herein. In order to move the support surface 425 between a position directly above the wheeled base 2 and a position outside the wheeled base 2, the container handling vehicle 901 may include a first movement mechanism 426' for horizontally translating the support surface 425 within an area defined by the vertical projection of the wheeled base 2 and a second movement mechanism 426″ for horizontally translating the support surface 425 outside (i.e., beyond) the area defined by the vertical projection of the wheeled base 2. Examples and more detailed illustrations of the set of suspension points 423 and the different movement mechanisms 426, 426', 426", 427', 427" of the movable support surface 425 for the exemplary container handling vehicle described above are shown in fig. 13A-13E.

Fig. 12A shows a container handling vehicle 1101 in which the lifting frame 415 is in a position directly above the wheeled base 2 and the empty support surface 425 is in a position outside the wheeled base 2.

Fig. 12B shows the container handling vehicle 1101 in which the lifting frame 415 is in a position directly above the wheeled base 2 and the movable support surface 415 holding the storage container 106 is in a position outside the wheeled base 2.

Fig. 12C shows a container handling vehicle 1101 in which the lifting frame 415 is in a position outside the wheeled base 2, and the support surface 425 of the storage container 106 is held in a position outside the wheeled base 2 directly below the lifting frame 415.

Fig. 12D shows a container handling vehicle 1101 in which the lifting frame 415 is in a position outside the wheel base 2 and holds the storage container 106, and the support surface 425 is arranged directly above the wheel base 2.

Fig. 13A is a top view of a container handling vehicle having two linear motion mechanisms 427', 427″ for a suspension point 423 and thus for a lifting frame 415. The first movement mechanism 427 'comprises an extendable linear guiding system, wherein the first movement mechanism 427' is in the form of a rack and pinion system for horizontally translating the lifting frame (or the support surface 425 if supporting the support surface) within an area defined by the vertical projection of the wheeled base 2. The second movement mechanism 427 "is used to move the lifting frame 415 (or the support surface 425 if the support surface is supported) horizontally in translation outside the area defined by the vertical projection of the wheeled base 2. The second movement mechanism 427 "is in the form of a ball screw. The rack and pinion system includes one or more rollers 440 movable along guide rails 441 disposed on opposite sides of the container handling vehicle. The ball screw 442 mechanism converts the rotational movement of a threaded shaft portion 443 disposed on the container handling vehicle into a linear movement of a ball bearing 444 on a lateral support 445 for the hanging point 423. The lateral support 445 extends between threaded shaft portions 443 on opposite sides of the container handling vehicle. The principle of the ball screw 442, i.e. converting rotational motion into linear motion, is known to the person skilled in the art and will not be further described herein.

The driving of the movement mechanisms 426, 427 may be provided by suitable driving motors or actuation mechanisms known to those skilled in the art and will not be described in more detail herein.

Fig. 13B is an enlarged view of a section a in fig. 13A.

Fig. 13C shows linear motion mechanisms 426, 427 in the form of a ball screw 442 arrangement for moving the suspension point 423 or the movable support surface 425. The exemplary ball screw 442 arrangement in fig. 13C-13E may be used as the first 426', 427' and second 426", 427" motion mechanisms for both the movable suspension point 423 and the movable support surface 425. In the exemplary embodiment of fig. 13C, two parallel threaded shaft portions 443 are disclosed. Two transverse support elements 445 extend between the parallel threaded shaft portions 443. The lateral support member 445 is provided with ball bearings 444 for linear movement as the threaded shaft portion 443 rotates.

Fig. 13D is an enlarged view of a section B in fig. 13C.

In fig. 13E, the lateral support element 445 has been removed to better illustrate the threaded shaft portion 443 and the ball bearings on the lateral support element 445 for interaction with the threaded shaft portion 443.

Fig. 14A to 14D are examples of a container handling vehicle 1201 having a wheeled base 2, a support section 402, and a cantilever section 413. The lifting frame 415 is suspended from a set of suspension points 423 in the cantilever section 413. The movement mechanism 427 comprises rotation means 446 (see fig. 14C) adapted to rotate the support section 402 and thus the cantilever section 413 relative to the wheeled base 2, such that in a first state (fig. 14A and 14B) the lifting frame 413 may lift the container upwards from the storage position below the rail system 108, and in a second state (fig. 14C) the lifting frame 415 may place the storage container 106 on the support surface 425. As shown in fig. 14A to 14D, in the first state, the container handling vehicle 1201 occupies two grid cells 122, and in the second state, the container handling vehicle 1201 occupies only one grid cell 122.

Fig. 14A shows a container handling vehicle 1201 in which the lifting frame 415 is disposed directly above a storage location below the rail system 108, with the support surface 425 empty.

Fig. 14B is a rear view of fig. 14A.

Fig. 14C shows a container handling vehicle 1201 in which the support section 402 and thus the cantilever section 413 and the lifting frame 415 have been rotated 180 degrees by the rotation device 446 compared to fig. 14A and 14B. Both the lifting frame 415 and the support surface 425 are empty, i.e. the storage container 106 is not held in the figure.

Fig. 14D is a container handling vehicle 1201 in which the lifting frame 415 is disposed directly above a storage location below the rail system 108. Both the lifting frame 415 and the support surface 425 are shown as holding the storage container 106.

Fig. 15 is a top view of an example in which components of a container handling vehicle may be disposed in a lifting device. Thus, a possible arrangement of the lifting device 414 is disclosed, wherein in addition to the lifting shaft 418 and the lifting belt 417 which can be wound onto and off from the common or separate lifting shaft 418, there is also a lifting device motor 416. The lift motor 416 in fig. 15 may be a brushless dc motor surrounding one of the lift shafts 418 as shown. In the example of fig. 15, two lift motors 416 are shown, one on each side of the lift controller 419. Instead of winding the lifting belt 417 onto the same lifting shaft 418, a synchronous operation of the lifting shaft 418 can be obtained by means of a synchronizing element, such as the force transmitting element disclosed in fig. 5A to 5E and fig. 6A to 6H in WO 2019/137870A1 (applicant: automated storage technologies inc.), the contents of which are incorporated by reference.

Fig. 16A-16B illustrate different examples of different container handling vehicles having a weight distribution system 450. The weight distribution system 450 includes a movable load 452 and a load moving device 451 for changing the center of gravity of the container handling vehicle in accordance with the load of one or more storage containers 106 carried by the container handling vehicle, for example, in the event of uneven loading or preferably providing more balance. The weight distribution system 450 may also include a control system 454 for instructing the load moving device 451 to move the movable load 452 (as indicated by the arrow in the figure) in a direction to counteract the weight of the storage container 106 held by the support surface 425 or by the lifting frame 415.

Fig. 16A shows an example of a container handling vehicle having a cantilever design and a linearly movable support surface 425. The movable load 452 in fig. 16A is arranged in the upper part of the container handling vehicle and is movable along the entire length of the container handling vehicle, which corresponds to the total length of the wheel base 2 and the cantilever section 413. The container handling vehicle of fig. 16A also discloses a set of sensors 456 for measuring the weight of any storage containers 106 supported by the support surface 425 and by the lifting frame 415. The control system 454 may be connected to the set of sensors 456 and the load moving device 452, may sense a change in mass of at least two opposite sides of the container handling vehicle based on measurement data from the set of sensors 456, calculate a travel distance of the movable load 452 corresponding to the change in mass, and instruct the load moving device 451 to move the movable load 452 the calculated travel distance in an opposite direction of the relatively heavy side of the container handling vehicle.

Fig. 16B is an example of the container handling vehicle of fig. 5A-5H with the weight distribution system 450 as described above with respect to fig. 16A. The movable load 452 in fig. 16B is arranged in the upper portion of the cantilever section 413 and is movable along a range equal to the length of the cantilever section 413. The container handling vehicle of fig. 16B has a Z-shaped and linearly movable support surface 425. The function of the weight distribution system 450 with the set of sensors 456 and control system 454 for the load moving device 453 is similar to that already described with respect to fig. 16A and will not be repeated here.

Fig. 17A-17C show different examples of a container handling vehicle 1301 having a through opening in the support section, and wherein the support surface is linearly movable relative to the wheeled base between a position directly above the wheeled base and a position directly below the lifting frame, the container handling vehicle further comprising a weight distribution system. The container handling vehicle in fig. 17A-17C has similar features to the container handling vehicle 401 shown and described above with respect to fig. 5A-5H, except that the container handling vehicle in fig. 17A-17C has walls and covers surrounding the support surface 425 when the support surface 425 is directly above the wheeled base 2. Furthermore, the system for moving the support surface 425 relative to the wheeled base 2 is different. This will be described in more detail with reference to fig. 18A to 18E, 19A and 19B.

Fig. 17A is a front perspective view of the storage container 106 disposed on the support surface 425 directly above the wheel base 2. In the cantilever section 413, a weight distribution system 450 is disclosed. The movable load 452 in fig. 17A is arranged in the upper part of the container handling vehicle and is movable along the entire length of the container handling vehicle, which corresponds to the total length of the wheel base 2 and the cantilever section 413. A control system for the load moving apparatus 454 as described above with respect to fig. 16B is also disclosed and will not be described in more detail herein.

Fig. 17B is a top perspective view of fig. 17A. As shown in fig. 17B, the load moving device 451 may be guided along the load guide 453 in the cantilever section 413. The load moving device 451 is in the form of a ball screw, wherein the rotation of the ball screw is converted into a linear movement of the movable load 452 along the load guide 453.

Fig. 17C is a detailed view of the dashed area in fig. 17B and shows more details of the weight distribution system 450. In addition to the features described with respect to fig. 17A and 17C, a load moving device motor 457 driven by a battery or the like (not shown) is disclosed having a rotational arrangement 458 in the form of a belt for transferring rotational motion from the load moving device motor 457 to the load moving device 451. Although a rotational arrangement 458 in the form of a belt that transfers motion to the load moving device 451 in the form of a ball screw 451 is disclosed, other arrangements for moving the load moving device are possible as long as it performs the desired function.

Fig. 18A-18E show details of the container handling vehicle 1301 of fig. 17A-17C, the container handling vehicle 1301 having a wheeled base 2, a support section 402 and a boom section 413, wherein the lifting frame 415 is suspended from a set of suspension points in the boom section 413. The support surface 425 is movable relative to the wheeled base 2 through a vertical planar motion mechanism 460 between a position directly above the wheeled base 2 and a position directly below the lifting frame 425. The vertical plane motion mechanism 460 has a horizontal component and a vertical component (i.e., in the horizontal direction and in the vertical direction). This means that the movement of the support surface 425 between a position directly above the wheeled base 2 and a position directly below the lifting frame 425 is by rotation in a vertical plane. To be able to allow this movement, the vertical distance from the support surface 425 relative to the track system 108 is not constant during movement between the positions. The vertical distance is greatest when the support surface 425 is in the middle of the motion and is smallest when the support surface 425 is in both end positions (directly above the wheeled base and directly below the lifting frame 415). The functions and components forming part of the vertical plane motion mechanism 460 are described in more detail with reference to fig. 19A and 19B.

Fig. 18A is a side perspective view of a container handling vehicle 1301 in which a lifting frame 415 holds a storage container 106 and an empty support surface 425 is located directly above the wheeled base 2. Container handling vehicle 1301 is shown with weight distribution system 450. This weight distribution system 450 may be similar to the weight distribution system 450 described and illustrated above with respect to fig. 17A-17C, and will not be described in further detail herein.

In fig. 18B, the lifting frame 415 still holds the storage container 106, and the support surface 425 will move from its initial position directly above the wheeled base 2 to a position directly below the lifting frame 425.

In fig. 18C, the vertical planar motion mechanism 460 has moved the support surface 425 to a position directly below the lifting frame 415. As can be seen from the figures, the lifting frame 415 no longer holds the storage container 106 because it has fallen from the storage container 106 onto the support surface 425.

In fig. 18D, the lifting frame 415 does not hold the storage container 106. The support surface 425 and the storage container 106 disposed thereon will move from a position directly below the lifting frame 425 to a position directly above the wheeled base 2.

In fig. 18E, the lifting frame 415 does not hold the storage container 106. The support surface 425 and the storage container 106 disposed thereon have been moved to a position directly above the wheeled base 2. The lifting frame 415 may now pick up a new storage container from a storage location below the track system 108.

Fig. 19A and 19B show details of a vertical planar motion mechanism 460 for moving the support surface 425 between a position directly above the wheeled base 2 and a position directly below the lifting frame 415. As described above, the vertical plane movement mechanism 460 has a horizontal component and a vertical component (i.e., in the horizontal direction and the vertical direction). This means that the movement of the support surface 425 between a position directly above the wheeled base 2 and a position directly below the lifting frame 425 is by rotation in a vertical plane. To be able to allow this movement, the vertical distance from the support surface 425 relative to the track system 108 is not constant during movement between the positions. The vertical distance is greatest when the support surface 425 is in the middle of the motion and is smallest when the support surface 425 is in both end positions (directly above the wheeled base and directly below the lifting frame 415). The support surface 425 is connected to the wheel base 2 via two bars 461', 461 ". The respective rods 461', 461 "are rotatably connected at one end thereof to the wheel base 2, and the bracket 462 is connected at the opposite end thereof to the underside of the support surface 425 by fastening means 463 (e.g. pins, bolts or the like). A rotary motion motor 464 driven by a battery or similar (not shown) provides rotation of the belt arrangement connected to the levers 461', 461 "such that the motor 464 can rotate the levers 461', 461" and thus the support surface 425 in a vertical plane between a position directly above the wheel base 2 and a position directly below the lifting frame 415 via the belt 465 and the shaft 466. The provision of the belt 465 and the shaft 466 provides synchronous movement of the levers 461', 461 ".

In order for the support surface 425 to have a horizontal orientation throughout the movement, the two rotatable rods 461', 461 "are offset from each other in the vertical plane. As shown in fig. 19A and 19B, the respective levers 461', 461 "are connected to the shaft 465 in the wheel base 2 at different heights. Similarly, as best shown in fig. 19B, the respective shafts 461', 461 "are connected to the brackets 462 on the underside of the support surface 425 at different heights. However, the rods 461', 461 "have equal lengths such that they have the same arc length (i.e., the same semicircular path of movement) when moved the same number of degrees. However, because they are connected to the shaft and the bracket at different heights, the semi-circular movement paths are offset relative to each other.

Fig. 20A and 20B show an example of a container handling vehicle 1401 having three linear movement mechanisms for a suspension point 423 and thus for lifting a frame 415, the movement mechanisms comprising an extendable linear guide system, wherein a first movement mechanism is used for a horizontal translational movement of the lifting frame 415 in a first direction within an area defined by a vertical projection of the wheeled base 2, a second movement mechanism is used for a horizontal translational movement of the lifting frame 415 outside (beyond) the area defined by the vertical projection of the wheeled base 2, and a third movement mechanism is used for a movement in a direction perpendicular to the first direction. The functional arrangement of the first and second movement mechanisms is similar to the two linear movement mechanisms 427', 427″ for the suspension points and thus for the lifting frame 415, as described above with respect to fig. 13A to 13E, and will not be described in detail here. However, see fig. 21A for a description of a movement mechanism in a third direction with respect to the direction explained above with reference to fig. 13A to 13E.

In fig. 20A, the lifting frame 415 is arranged within an area defined by the vertical projection of the wheeled base 2. The support surface 425 in fig. 20A and 20B may support a total of four storage containers 106 thereon. Each storage container 106 supported by the support surface 425 may support at least one storage container 106 at the top. Although not shown, the container handling vehicle 1401 may have a cover or wall to ensure that the storage container 106 remains in a dedicated position on the support surface 425. Doing so may either prevent the storage containers 106 from sliding off the support surface 425 or ensure that the bin guides on the lifting frame 425 are aligned with the corners of each storage container 106 if the storage containers 106 are to be retrieved by the lifting frame 415 while positioned on the support surface 425.

In fig. 20B, the lifting frame 415 has been moved to a position outside the area defined by the vertical projection of the wheeled base 2.

Fig. 21A-21C illustrate one example of a container handling vehicle 1501 having three linear motion mechanisms for a suspension point 423 and thus for a lifting frame 415, and a rotation mechanism 470 for rotating the suspension point and thus the lifting frame 415.

In fig. 21A, the lifting frame is in a position outside the area defined by the vertical projection of the wheeled base 2. The functional arrangement of the first and second movement mechanisms is similar to the two linear movement mechanisms 427', 427 "for the suspension point 423 and thus for the lifting frame 415 described above with respect to fig. 13A to 13E. As described above with respect to fig. 13A, a third linear motion mechanism in a direction perpendicular to the first linear motion mechanism may be provided by a rack and pinion 440 'in combination with the roller 441', i.e., the rack and pinion system includes one or more rollers 440 'movable along guide rails 441' disposed on opposite sides of the container handling vehicle 1501.

In fig. 21B, an example of a rotation mechanism 470 for rotating the suspension point 423 and thus the lifting frame 415 is shown. The rotation mechanism 470 includes a rotating motor 471 driven by a battery or the like (not shown) having external gear teeth 472 for interacting with a cogwheel 473 connected to the lifting frame 415. This arrangement ensures that when the rotary motor 471 is rotated, the lifting frame 415 is rotated so that the storage containers 106 can be arranged in any direction on the support surface 425 (i.e., the tray as shown in fig. 21C) of the container handling vehicle 1501.

In fig. 21C, the lifting frame 415 is in a position within the area defined by the vertical projection of the wheeled base 2, and the lifting frame 415 has been rotated 90 degrees using the rotation mechanism 470 in fig. 21B, as compared to the lifting device in fig. 21A. The support surface 425 is in the form of a tray. The tray may be of standard industrial dimensions, such as an European standard tray (120 cm. Times.80 cm).

In the foregoing description, various aspects of a container handling vehicle and automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its operation. However, the description is not intended to be construed in a limiting sense. For example, while the term wheeled base having a first set of wheels and a second set of wheels is used as an example throughout the specification, a belt base having a first belt and a second belt for guiding along a track system may be used instead. Various modifications and variations of the illustrative embodiments, 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 invention.

List of reference numerals

1. Automated storage and retrieval systems of the prior art

2. Wheeled base/wheel seat unit

4. 4' motor

6. Rechargeable battery

7. Wheel shifting assembly

8. Motor for wheel shifting assembly

9. Top panel/flange

10. Through hole

20. A central opening

21. Electronic control system

29. Switch module

32a wheel arrangement, first set of wheels

32a' -32a "" "first wheel, second wheel, third wheel, fourth wheel of the first set of wheels

39 support

41 lifting belt clip

68 spring loaded pin

69 control module

70 control the gripper motor

70b gripper bar

71 wire

100 frame structure

102 upright members of frame structure

103 horizontal member of frame structure

104 storage grid

105 storage columns

106 storage container

106' specific location of storage container

107 stacks

108 track system

110 parallel tracks in a first direction (X)

110a first track in a first direction (X)

110b first direction (X)

111 in the second direction (Y)

111a first track in a second direction (Y)

111b second track in a second direction (Y)

115 access opening

119 first port row

120 second port row

122 grid cell

201 prior art storage container vehicle

201a vehicle body of storage container vehicle 201

201b drive/wheel arrangement, first direction (X)

201c drive/wheel arrangement, second direction (Y)

301 prior art cantilever storage container vehicle

301a storage container vehicle 301 body

301b drive means in a first direction (X)

301c in a second direction (Y)

304 part of a clamping device

401 container handling vehicle having a cantilever arm and a linearly movable support surface

402 support section

413 cantilever section

414 container lifting device

415 lifting frame

416 lifting device motor

417a, 417b lifting belt

418 lifting shaft

419 lifting device controller

421 releasable connection, holder

422 through opening

423 set of suspension points

424 case guide

425 support surface/holding position

426. 426', 426 "linear motion mechanism for supporting surfaces

427. 427', 427 "linear movement mechanism for suspension point

440. Roller in 440' rack and pinion system

441. 441' guide rail in rack and pinion system

442 ball screw

443 threaded shaft portion

444 transverse support member

445 transverse support element

446 rotary device

450 weight distribution system

451 load moving device

452 movable load

453 load guide

454 control system load moving device

455 pivot connection support surface

456 group of sensors for measuring weight

457 load mobile device motor

458 rotating arrangement/belt

460 vertical plane movement mechanism

461', 461' pole

462 stand

463', 463' securing means

464 rotary motion motor

465 belt

470 rotary mechanism

471 rotary electric machine

472 external gear teeth

500 control system

501 container handling with two cantilevers and two movable support surfaces

601 container handling using cantilever arms and four movable support platforms

701 container handling with two wheel mounts, a central cavity and four movable support surfaces

801 handling of containers with a movable lifting frame and two support surfaces

901 container handling with moveable lifting frame and two support surfaces

1001 container handling with movable lifting frame and two support surfaces

Container handling 1101 with movable lifting frame and movable support surface

1201 container handling vehicle having rotatable support sections

1301 container handling vehicle having a fixed lifting frame and a movable support surface in vertical and horizontal directions

1401 container handling vehicle with three linear motion mechanisms for lifting the frame

1501 of a container handling vehicle with three linear motion mechanisms for lifting a frame and a rotating device for rotating the lifting frame

X first direction

Y second direction

And Z is in the third direction.

Claims (33)

1. A container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) for operation on a two-dimensional track system (108), comprising a first set of parallel tracks (110) arranged to guide the container handling vehicle to move across a top of a frame structure (100) in a first direction (X), and a second set of parallel tracks (111) arranged perpendicular to the first set of tracks (110) to guide the container handling vehicle (401) to move in a second direction (Y) perpendicular to the first direction, the first and second sets of parallel tracks (110, 111) forming a grid dividing the track system (108) into a plurality of grid cells (122), wherein the container handling vehicle comprises:

-a base (2) comprising moving means for guiding the container handling vehicle along the track system (108) in the first direction (X) and the second direction (Y), respectively;

-a support structure (402) provided on the base (2), the support structure (402) extending from a lower section to an upper section at the base (2);

-a container lifting device (414) comprising a lifting frame (415) for lifting a storage container (106) upwards from a storage position below the rail system (108), the lifting frame (415) being suspended from a set of suspension points (423) of an upper section of the support structure (402);

-a support surface (425) for supporting the storage container (106), the support surface (425) providing a first holding position when the lifting frame (415) is in a docked state adjacent to the upper section of the support structure (402), the first holding position being arranged at a lower height than the lifting frame (415);

-wherein the container handling vehicle comprises a movement mechanism (426, 426', 426", 427', 427", 446, 460) to horizontally translate the set of suspension points (423) or the support surface (425) with respect to the base (2) such that the lifted storage container (106) can be placed on the support surface (425) and the lifting frame (415) separated from the storage container.

2. Container handling vehicle (401, 501, 601, 701, 801, 901, 1001, 1101, 1201, 1301, 1401, 1501) according to claim 1, wherein the base is a wheeled base (2) and the moving means are a first set of wheels (32 a) and a second set of wheels (32 b).

3. Container handling vehicle according to claim 1 or 2, wherein at least one of the lifting frame (415) and the support surface (425) is configured for linear translational movement in a horizontal direction, preferably parallel to one of the first direction (X) or the second direction (Y).

4. The container handling vehicle of any of the preceding claims, further comprising a through opening sized for the storage container (106) to pass through.

5. Container handling vehicle according to any of the preceding claims, wherein the suspension point (423) is linearly movable such that in a first position the lifting frame (415) is arranged to retrieve the storage container (106) from a storage position below the rail system (108) and in a second position the lifting frame (415) is arranged above the first holding position (425).

6. Container handling vehicle according to any of the preceding claims, wherein the lifting frame (415) and the first holding position (425) are arranged such that:

-in a first position, a vertical projection of the lifting frame (415) is arranged above the first holding position (425), and

-in a second position, the vertical projection of the lifting frame (415) avoids the first holding position (425).

7. Container handling vehicle according to any of the preceding claims, wherein the support surface (425) is linearly movable relative to the base (2) by actuation of the movement mechanism (426, 426', 426 ") such that in a first position the support surface (425) is arranged within the vertical projection of the base (2) and in a second position the support surface (425) is arranged outside the vertical projection of the base (2).

8. The container handling vehicle of claim 7, wherein the movement mechanism (426) is arranged in the base (2) such that the support surface (425) is horizontally translatable relative to the base (2).

9. Container handling vehicle according to claims 1 to 6, wherein the movement mechanism (427, 427', 427 ") is arranged in the upper section such that the lifting frame (415) can translate horizontally with respect to the base (2).

10. Container handling vehicle according to any of the preceding claims, wherein the container handling vehicle comprises a second movement mechanism (427 ") to translate the other of the set of suspension points (423) or the support surface (425) horizontally with respect to the base (2).

11. The container handling vehicle of any of the preceding claims, further comprising a second support surface (425) providing a second holding position arranged near or above the first holding position (425).

12. Container handling vehicle according to any preceding claim, wherein the movement mechanism (426, 426', 426", 427', 427") comprises a linear guiding system supporting the set of suspension points (423) or the support surface (425).

13. The container handling vehicle of claim 12, wherein the linear guide system is horizontally extendable.

14. The containerized handling vehicle of any of claims 12-13, wherein the linear guide system includes at least two motion mechanisms (426, 426', 426", 427', 427"), comprising:

-a first movement mechanism (426 ', 427') for a horizontal translational movement of the lifting frame (415) or of the support surface (425) within an area defined by a vertical projection of the base (2), and

-a second movement mechanism (426 ", 427") for a horizontal translational movement of the lifting frame (415) or the support surface (425) outside the area defined by the vertical projection of the base (2).

15. Container handling vehicle according to any of the preceding claims 13 to 14, wherein the first movement mechanism (426 ', 427') comprises a linear bearing, a rack and pinion, a linear actuator and/or a ball screw.

16. Container handling vehicle according to claim 14 or 15, wherein the second movement mechanism (426 ", 427") comprises a linear bearing, a rack and pinion, a linear actuator and/or a ball screw.

17. Container handling vehicle according to any of the preceding claims, wherein at least one lifting device motor (416) and a movement mechanism for horizontally moving the lifting frame (415) are arranged at or above the lifting frame (415).

18. The container handling vehicle of any of the preceding claims, wherein an uppermost portion of the storage container (106) represents a first height when the storage container (106) is in the first holding position; and

the lifting frame (415) has a lowermost portion representing a second height when in a docked state; and is also provided with

Wherein the second height is higher than the first height such that a lowermost portion of the docked lifting frame (415) can pass an uppermost portion of the storage container (106) on the first support surface (425).

19. The container handling vehicle of any of the preceding claims, wherein the container handling vehicle comprises:

-said base in the form of a wheel-seating unit (2), wherein said first and second sets of wheels (32 a, 32 b) form the periphery of the footprint of said wheel-seating unit (2);

-a lower section provided on the wheel-seating unit (2), the horizontal extent of the footprint of the lower section being equal to or smaller than the footprint of the wheel-seating unit (2), the lower section having an upper surface, wherein the upper surface provides the support surface (425);

-a support section (402) forming the support structure and extending vertically from the lower section, the support section (402) having a footprint with a horizontal extent smaller than the footprint of the lower section; and

a cantilever section (413) forming the upper section and extending horizontally from the support section (402) beyond the footprint of the lower section; wherein, the liquid crystal display device comprises a liquid crystal display device,

the support section (402) comprises a through opening (422) for moving the support surface (425) or the lifting frame (415) through the through opening.

20. The container handling vehicle of claim 19, wherein the container handling vehicle includes a second support surface (425) providing a second holding position disposed above the support surface (425) forming the first holding position, and wherein a cross-sectional area of the through opening (422) is configured to pass the support surface (425) through the through opening when any of the support surfaces (425) holds the storage container (106) and when no storage container (106) is held.

21. Container handling vehicle according to any of the preceding claims 1 to 17, comprising two lifting frames (415) and at least two support surfaces (425), wherein the two lifting frames (415) are arranged on opposite sides of the base (2) and outside a vertical projection of the base (2), and the at least two support surfaces (425) are arranged within a vertical projection of the base (2), and wherein each of the support surfaces (425) is movable with respect to the base (2) to a position outside the base (2) and below one of the lifting frames (415), respectively.

22. Container handling vehicle according to any of claims 2 to 17, comprising two wheeled bases (2) and at least two support surfaces (425), wherein the wheeled bases (2) are provided on each side of the support structure (402), and wherein one lifting frame (415) is suspended from the upper section of the support structure (402), wherein each of the support surfaces (425) is movable relative to the wheeled bases (2) to a position below the lifting frame (415).

23. The container handling vehicle of any of the preceding claims, wherein the container handling vehicle comprises a second motion mechanism (426 ", 427") to translate the set of suspension points (423) horizontally relative to the base (2) in the other of the first or second directions (X, Y).

24. The container handling vehicle of claim 2, comprising:

a wheeled base (2) in the form of a wheel-seating unit (2), wherein the first and second sets of wheels (32 a, 32 b) form the periphery of the footprint of the wheel-seating unit (2);

-a lower section provided on the wheel-seating unit (2), the horizontal extent of the footprint of the lower section being equal to or smaller than the footprint of the wheel-seating unit (2), the lower section having an upper surface, wherein the upper surface (425) provides the support surface (425);

a support section (402) forming the support structure and extending vertically from the lower section, the support section (412) having a footprint with a horizontal extent less than the footprint of the lower section; and

a cantilever section (413) forming the upper section and extending horizontally from the support section (412) beyond the footprint of the lower section;

wherein the movement mechanism comprises a rotation device (446) adapted to rotate the support section (402) and thus the cantilever section (413) relative to the base (2) such that in a first state the lifting frame (415) is able to lift a storage container (106) from a storage position below the rail system (108) and in a second state the lifting frame (415) is able to place the storage container on the support surface (425).

25. Container handling vehicle according to claim 24, wherein the support section (402) and the cantilever section (413) are within the footprint of the wheel carriage unit (2) when in the second state.

26. Container handling vehicle according to any of the preceding claims, wherein the centre of gravity of the support surface (425) is positioned above the base (2).

27. The container handling vehicle of any of the preceding claims, further comprising a weight distribution system (450) comprising a movable load (452) and a load moving device (451) for changing the center of gravity of the container handling vehicle in accordance with the load of one or more storage containers (106) carried by the container handling vehicle.

28. The container handling vehicle of claim 27, wherein the weight distribution system (450) comprises:

-a set of sensors (456) for measuring the weight of any storage container (106) supported by the support surface (425) and by the lifting frame (415), and

-a control system (454) connected to both the set of sensors (456) and the load moving device (453), wherein the control system (454) senses a mass change of at least two opposite sides of the container handling vehicle based on measurement data from the set of sensors (456), calculates a travel distance of the movable load (452) corresponding to the mass change, and instructs the load moving device (453) to move the movable load (452) by the calculated travel distance in a direction opposite to a relatively heavier side of the container handling vehicle.

29. A method of loading storage containers (106) between a stacking position in an automated storage and retrieval system and a storage position on a container handling vehicle according to any of the preceding claims 1 to 28, wherein the method comprises the steps of:

picking up storage containers from the stacking position below the rail system (108) using the lifting frame (415) of the lifting device (414),

-placing the storage container (106) on the support surface (425) of the container handling vehicle and separating the lifting frame (415) from the storage container (106).

30. The method of claim 29, wherein the method further comprises the steps of:

-moving the picked-up storage containers (106) by using a movement mechanism (426, 426', 426", 427', 427") to translate the set of suspension points (423) or the support surface (425) horizontally with respect to the base (2).

31. An automated storage and retrieval system (1) comprising a two-dimensional track system (108) comprising a first set of parallel tracks (110) arranged to guide movement of a container handling vehicle across the top of a frame structure (100) in a first direction (X) and a second set of parallel tracks (111) arranged perpendicular to the first set of tracks (110) to guide movement of the container handling vehicle (401) in a second direction (Y) perpendicular to the first direction, the first and second sets of parallel tracks (110, 111) forming a grid dividing the track system (108) into a plurality of grid cells (122), wherein the automated storage and retrieval system comprises at least one container handling vehicle according to any of the preceding claims 1 to 28.

32. The automated storage and retrieval system (1) of claim 31, further comprising:

-a stack of a plurality of storage containers under the grid cells (122).

33. The automated storage and retrieval system (1) of any one of claims 31 to 32, wherein the system (1) further comprises a control system (500) configured to receive information about the footprint of the container handling vehicle and use the information to control the system.