Patent Description:
The members <NUM>, <NUM> may typically be made of metal, e.g. extruded aluminium profiles.

Each prior art container handling vehicle <NUM>,<NUM> also comprises a lifting device <NUM> (shown in <FIG>) for vertical transportation of storage containers <NUM>, e.g. raising a storage container <NUM> from, and lowering a storage container <NUM> into, a storage column <NUM>. The lifting device <NUM> comprises a lifting frame <NUM> having one or more gripping/engaging devices <NUM> adapted to engage a storage container <NUM> and guide pins <NUM> for correct positioning of the lifting frame <NUM> relative to the storage container <NUM>. The lifting frame <NUM> can be lowered from the vehicle <NUM>,<NUM> by lifting bands <NUM> so that the position of the lifting frame with respect to the vehicle <NUM>,<NUM> can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y.

The lifting frame <NUM> (not shown) of the container handling vehicle <NUM> in <FIG> is located within the vehicle body 201a. An advantage of this arrangement is that horizontal movement of the lifting frame <NUM>, due to movement and acceleration of the vehicle, is prevented by interaction with inner surfaces of the vehicle body when the lifting frame enters the vehicle body.

The storage volume of the framework structure <NUM> has often been referred to as a grid <NUM>, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y-direction, while each storage cell may be identified by a container number in the X-, Y and Z-direction.

The central cavity container handling vehicles <NUM> shown in <FIG> may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column <NUM>, e.g. as is described in <CIT>.

The term 'lateral' used herein may mean 'horizontal'.

<CIT>, illustrates a typical configuration of rail system <NUM> comprising rails and parallel tracks in both X and Y directions.

The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers <NUM>. In a picking or a stocking station, the storage containers <NUM> are normally not removed from the automated storage and retrieval system <NUM> but are returned into the framework structure <NUM> again once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

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

A disadvantage of the prior art container handling vehicle <NUM> shown in <FIG> and <FIG> is that horizontal movement of the lifting frame <NUM> is not prevented until the lifting frame <NUM> is fully raised and in contact with an underside of the cantilevered section <NUM> from which the lifting frame <NUM> depends. When fully raised, combined guiding pins/contact sensors <NUM> provided on the top side of the lifting frame <NUM> interact with the cantilever section <NUM> and restrain horizontal movement between the lifting frame <NUM> and the cantilever section <NUM>. To avoid potential errors caused by a horizontally moving lifting frame <NUM>, the container handling vehicle <NUM> in <FIG> and <FIG> should not move upon the rail system <NUM> until the lifting frame is fully raised. The time delay of having the container handling vehicle <NUM> standing still until the lifting frame is fully raised is minor. However, a storage system will commonly have a plurality of container handling vehicles, wherein each vehicle performs many lifting operations. Consequently, a slight time delay for each operation will add up and contribute to a less than optimal efficiency of the storage system.

The object of the present invention is to provide an improved container handling vehicle, wherein some of the disadvantages of the prior art vehicles featuring a cantilevered section are avoided or alleviated. <CIT>, which is the closest prior art, describes an automated storage and retrieval system, a storage container handling vehicle and a method for operating such a system. The system comprises one or more vehicles configured to lift and move storage containers stacked in the system. Each vehicle comprises a storage container lifting device, a drive system with a wheel arrangement configured to drive and maneuver the vehicle along the track system, a base onto which the wheel arrangement is connected, a rotational part rotationally connected via a swivel device to the base and a rotational drive system for rotating the rotational part relative to the base.

The present invention is defined by the attached claims and in the following:.

In an embodiment of the container handling vehicle, the first guide device and the second guide device may be arranged to interact with each other when the lifting frame is adjacent the sidewall, such that horizontal movement of the lifting frame relative to the vehicle body is restricted or prevented.

The lifting bands may provide a lifting band end connected at one of four corner sections of the lifting frame. In an embodiment, the container handling vehicle may comprise four lifting bands.

In other words, the lifting bands may be connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered relative to the cantilevered section by operating the lifting shaft assembly.

In other words, the lifting frame is suspended, or depends, from an underside of the cantilevered section.

In an embodiment of the container handling vehicle, the first guide device may extend upwards from the lifting frame, e.g. as a pin, or into a topside of the lifting frame, e.g. a hole.

In an embodiment of the container handling vehicle, the first guide device may be provided on a top side of the lifting frame. The first guide device may extend upwards from the top side of the lifting frame, e.g. as a pin, or into the topside of the lifting frame, e.g. a hole.

In an embodiment of the container handling vehicle, the first guide device may be connected to the lifting frame such that horizontal movement of the first guide device relative to the lifting frame is prevented. In other words, the first guide device may be fixed or rigidly connected to the lifting frame.

In other words, the first guide device and the second guide device may be arranged to interact and restrict or prevent horizontal movement between them when the lifting frame is adjacent the sidewall such that horizontal movement of the lifting frame relative to the vehicle body is restricted or prevented.

In other words, the first guide device and the second guide device may be arranged to interact with each other when the lifting frame is moving in a vertical direction adjacent the sidewall, such that horizontal movement of the lifting frame relative to the vehicle body is restricted or prevented.

In an embodiment of the container handling vehicle, the first guide device and the second guide device may be arranged to interact such that horizontal movement between them is restricted or prevented.

In an embodiment of the container handling vehicle, the second guide device may be slidably connected to the sidewall, such that horizontal movement of the second guide element relative to the sidewall is restricted or prevented.

In an embodiment of the container handling vehicle, the vertically extending rail may extend from a lower position on the sidewall towards the cantilevered section, such that the second guide device may move in a vertical direction between a lower position adjacent to the sidewall and an upper position adjacent to the sidewall in which upper position the lifting frame is in contact with the cantilevered section.

In an embodiment of the container handling vehicle, the at least one vertically extending rail may be at least one vertical rail.

In an embodiment of the container handling vehicle, the first guide device may comprise at least one first guide element and the second guide device may comprise at least one second guide element, wherein the first guide element and the second guide element have complementary shapes such that horizontal movement between the first guide element and the second guide element is restricted when the first guide element interact with the second guide element. The complementary shapes of a first guide element and a second guide element may have respective opposite facing surfaces which restrict or prevent horizontal movement of the complementary shapes relative to each other when the complementary shapes interact.

In an embodiment of the container handling vehicle, a part of the second guide device may be arranged at a position between the cantilevered section and the lifting frame. The part may comprise at least one second guide element.

In an embodiment of the container handling vehicle, the second guide device may be a carriage. The carriage may comprise a first part slidably connected to the sidewall by the at least one rail and a second part arranged at a position between the cantilevered section and the lifting frame. The second part may comprise at least one second guide element.

In an embodiment of the container handling vehicle, one of the first guide device and the second guide device may comprise at least one guide element being a pin, protrusion, recess or hole and the other one of the first guide device and the second guide device may comprise a complementary guide element for interacting with the at least one pin, protrusion, recess or hole, such that horizontal movement of the first guide device relative to the second guide device is restricted or prevented.

In an embodiment of the container handling vehicle, the first guide device may comprise two first guide elements being horizontally spaced, and the second guide device may comprise two second guide elements, each of the first guide elements arranged to interact with a corresponding second guide element. The spacing of the guide devices can help to react torque on the lifting frame during vehicle movements, such as during acceleration or deceleration. In another embodiment, the numbers of first and second guide elements could be different. For example, there could be two first guide elements in the form of guide pins and a second guide element in the form of a slot.

In an embodiment of the container handling vehicle, the first guide element may be a pin, vertical recess or hole, and the second guide element may be a hole, horizontal protrusion or pin, respectively.

In an embodiment of the container handling vehicle, at least one of the first guide element and the second guide element may comprise inclined surfaces for guiding the first and second guide device into interaction.

In an embodiment of the container handling vehicle, one of the first guide device and the second guide device may comprise at least one pin or vertical recess, and one of the first guide device and the second guide device comprises a cooperating hole or protrusion, respectively, such that horizontal movement of the first guide device relative to the second guide device is restricted or prevented.

In an embodiment of the container handling vehicle, one of the first guide device and the second guide device may comprise a spring or other compliant device arranged to dampen the interaction between the first guide device and the second guide device in a vertical direction.

In an embodiment, the container handling vehicle may comprise.

In a second aspect, the present invention provides a storage system according to claim <NUM> comprising a framework structure and at least one container handling vehicle according to the first aspect of the invention, wherein the framework structure comprises multiple storage columns, in which storage containers may be stored on top of one another in vertical stacks, and the container handling vehicle is operated on a rail system at a top level of the framework structure for retrieving storage containers from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the rail system. The rail system may be a rail grid system allowing movement of the container handling vehicle in two perpendicular directions.

In a third aspect, the present invention provides a method according to claim <NUM> of operating a container handling vehicle in a storage system,.

In a fourth aspect, the present invention provides a method according to claim <NUM> of preventing horizontal movement of a lifting frame of a container handling vehicle, wherein the method comprises the steps of:.

In an embodiment, the method according to the fourth aspect comprises a step of:.

In the second and third positions, and in positions between the second and third positions, the lifting frame may be at a level allowing horizontal movement of the container handling vehicle. In the third position, the lifting frame may be in contact, or docking, with the cantilevered section.

The term "sidewall" is intended to mean a side section of the vehicle body. The side section may comprise a cover plate but may also be a framework structure. The side section may be substantially vertical.

The term "horizontal movement" is intended to comprise bot lateral and rotational horizontal movement.

Embodiments of the invention is described in detail by reference to the following drawings:.

However, the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

The present invention is a remotely operated container handling vehicle for use in an automated storage system featuring at least one rail system, e.g. a rail system <NUM> as discussed for the prior art storage system disclosed in <FIG>.

Different exemplary embodiments of a container handling vehicle <NUM>-<NUM>'' according to the invention are shown in <FIG>. The vehicles <NUM>-<NUM>" are for picking up storage containers <NUM> in an automated storage system <NUM>, e.g. as shown in <FIG>, by use of a container lifting assembly <NUM>,<NUM>,7a,7b. The container lifting assembly features a lifting frame <NUM> for releasable connection to a storage container <NUM>, a lifting shaft assembly 7a,7b (see <FIG>) and four lifting bands <NUM>. The lifting bands <NUM> are connected to the lifting frame <NUM> and the lifting shaft assembly 7a,7b such that the lifting frame <NUM> may be raised or lowered by operating the lifting shaft assembly.

The container handling vehicles <NUM>-<NUM>" have a vehicle body <NUM> comprising a sidewall <NUM> and a cantilevered section <NUM>. The lifting frame <NUM> is suspended from the cantilevered section <NUM> which extends laterally from an upper end <NUM> of the sidewall <NUM>. As in the prior art vehicles, the lifting frame features combined guiding pins/contact sensors <NUM> arranged on the top side of the lifting frame <NUM> (see <FIG>). The guiding pins/contact sensors <NUM> interact with the cantilever section <NUM> when the lifting frame is fully raised and restrain horizontal movement between the lifting frame <NUM> and the cantilever section <NUM>.

To restrict horizontal movement of the lifting frame <NUM> during movement of the container handling vehicles <NUM>-<NUM>", each of the container handling vehicle <NUM>-<NUM>" features a lifting frame guide assembly having a first guide device <NUM>-<NUM>'' and a cooperating second guide device <NUM>-<NUM>". The first guide device <NUM>-<NUM>" features at least one first guide element <NUM>,<NUM>,<NUM>, and the second guide device <NUM>-<NUM>" features at least one second guide element <NUM>,<NUM>,<NUM>, wherein the first and second guide elements have complementary shapes. The complimentary shapes are designed to restrict horizontal movement, i.e. both lateral and rotational horizontal movement, between the first and the second guide element when the guide elements interact with each other.

The second guide device <NUM>-<NUM>'' of the lifting frame guide assembly may be described as a carriage (e.g. made up of plate sections 22a,22b, see below) slidably connected to the sidewall <NUM>, e.g. via at least one rail <NUM>,<NUM>'. The carriage couples with the lifting frame <NUM> via the first guide device <NUM>-<NUM>'' and moves with the lifting frame <NUM> as the lifting frame <NUM> moves from a position below the halfway point up to where the lifting frame docks with the cantilever section.

The complimentary shapes of the first guide element <NUM>,<NUM>,<NUM> and the second guide element <NUM>,<NUM>,<NUM> serve to locate the first guide device <NUM>-<NUM>" and the second guide device <NUM>-<NUM>" together as the lifting frame <NUM> is raised and emerges from the storage grid, e.g. from a storage column <NUM> as shown in <FIG>. The complimentary shapes may be of any shape or form provided the first and second guide device are restrained from horizontal movement relative to each other when located together. When positioned within the storage column <NUM>, horizontal movement of the lifting frame <NUM> is restricted by the inner periphery of the storage column <NUM>. When the lifting frame <NUM> emerges from the storage column <NUM>, horizontal restraint of the lifting frame <NUM> is provided by the second guide device <NUM>-<NUM>'' locking down the horizontal movement through connection with the first guide device <NUM>-<NUM>''.

A first exemplary embodiment of a container handling vehicle <NUM> according to the invention is shown in <FIG>.

The first guide device <NUM> of the first exemplary embodiment comprise two vertical pins <NUM> (i.e. first guide elements) arranged on a top side <NUM> of the lifting frame <NUM>. The two pins <NUM> are connected to the lifting frame <NUM> such that horizontal movement of the pins relative to the lifting frame <NUM> is prevented.

The second guide device <NUM> comprises two holes <NUM> (i.e. second guide elements), each hole being sized to accommodate one of the vertical pins <NUM> of the first guide device <NUM>. The second guide device <NUM> is slidably connected to the sidewall <NUM> via two rails <NUM> and can move in a vertical direction relative to the sidewall <NUM>. A part of the second guide device <NUM> featuring the two holes <NUM> extends laterally from the sidewall <NUM> and at a position between the cantilevered section <NUM> and the lifting frame <NUM>. In this embodiment, the second guide device is made up of a first plate section 22a and a second plate section 22b. The first plate section 22a is connected to the rails <NUM>, and the second plate section 22b features the two holes <NUM> and extends from an upper end of the first plate section 22a and between the cantilevered section <NUM> and the lifting frame <NUM>.

The pins <NUM> and holes <NUM> are arranged to interact with each other, i.e. each of the pins <NUM> is accommodated in a corresponding hole <NUM>, when the lifting frame <NUM> is adjacent the sidewall <NUM> such that horizontal movement of the lifting frame <NUM> relative to the vehicle body <NUM> is restricted. By having two pins <NUM> and complimentary holes <NUM> rotational horizontal movement, i.e. twisting, of the lifting frame relative to the vehicle body <NUM> is restricted.

It is noted that the circular peripheries (i.e. the complimentary shapes) of the pins <NUM> and the holes <NUM> necessitate the solution of having two of each to restrict rotational movement of the lifting frame relative to the vehicle body <NUM>. However, in other embodiments of the invention, having at least two first guide elements and at least two complimentary second guide elements are not essential for restricting the rotational movement. In other embodiments, rotational movement may for instance be restricted by designing the first guide element as a pin/protrusion having a square or rectangular peripheral shape, and the second guide element as a cooperating hole having a complimentary square or rectangular peripheral shape. In general, to restrict rotational horizontal movement between the lifting frame and the vehicle body while having a single first guide element and a single second guide element it may be sufficient to provide the first and second guide elements with complimentary non-circular peripheral shapes.

To avoid excessive noise and wear, and potentially reduce any risk of the first and second guide device being jammed, a spring <NUM> or other compliant device is arranged around each of the pins <NUM> to dampen the interaction between the first and the second guide device <NUM>,<NUM> and the lifting frame <NUM>.

By having the second guide device <NUM> slidably connected to the sidewall <NUM> of the vehicle body <NUM>, the lifting frame <NUM> can be raised from a lower position close to the rail system <NUM> where it emerges from the lateral constraints of the grid, to a higher position adjacent the sidewall <NUM> while horizontal movement of the lifting frame <NUM> is restricted or prevented. The lowermost level of the lifting frame <NUM> when in the lower position is above an uppermost level of a rail system <NUM> upon which the container handling vehicle is arranged, see <FIG>. In the upper position, the lifting frame is fully raised towards the cantilevered section <NUM>.

Thus, due to the lifting frame guide assembly <NUM>,<NUM>, the container handling vehicle according to the invention may start to move upon the rail system <NUM> as soon as the lifting frame is in the lower position, e.g. after storing a storage container <NUM> in a storage column <NUM>. In most instances when the lifting frame is not connected to a storage container <NUM>, the lifting frame is kept in the lower position while the container handling vehicle moves upon the rail system <NUM>. In this manner time and energy is also saved by not requiring the lifting frame to be lifted between the cantilever section and the lower position when a storage container is to be retrieved. The lifting frame guide assembly <NUM>,<NUM> will also ensure that the container handling vehicle <NUM> can move upon the rail system <NUM> as soon as a storage container connected to the lifting frame <NUM> is lifted above the rail system <NUM>, see <FIG>. The latter feature is advantageous when the container handling vehicle is used in a storage system comprising storage containers of different heights, since a storage container being lower than the maximum storage container height may be lifted clear of the rail system before the lifting frame is at its upper position in contact with the cantilever section.

In view of the prior art cantilevered container handling vehicle <NUM>, as shown in <FIG> and <FIG>, the container handling vehicle <NUM> of the invention is more efficient in that less time is required to perform multiple container lifting/storage operations. A prior art container vehicle <NUM> is not allowed to move upon a rail system <NUM> until its lifting frame <NUM> is fully raised into contact with the cantilevered section.

To allow movement of the container handling vehicle <NUM> upon the rail system <NUM>, the vehicle <NUM> features a first set of wheels 21a arranged to allow movement of the vehicle along a first direction of the rail system <NUM> as shown in <FIG>, e.g. along rails extending in a first direction X, and a second set of wheels 21b arranged to allow movement of the vehicle in a second direction, e.g. along rails extending in a second direction Y.

A second exemplary embodiment of a container handling vehicle <NUM>' according to the invention is shown in <FIG>.

The container handling vehicle <NUM>' is identical to the first exemplary container handling vehicle <NUM> in <FIG> apart from the design of the first guide device <NUM>' and the cooperating second guide device <NUM>'.

The first guide device <NUM>' comprises two vertical recesses <NUM> (i.e. first guide elements) arranged at a top side <NUM> of the lifting frame <NUM>. The second guide device <NUM>' comprises two protrusions <NUM> (i.e. second guide elements), each protrusion <NUM> being sized to be accommodated in one of the vertical recesses <NUM> of the first guide device <NUM>'. The second guide device <NUM>' is slidably connected to the sidewall <NUM> via two rails <NUM> and can move in a vertical direction relative to the sidewall <NUM>. A part of the second guide device <NUM>' featuring the two protrusions <NUM> extends laterally from the sidewall <NUM> and is positioned between the cantilevered section <NUM> and the lifting frame <NUM>. A spring <NUM>' or other compliant device is arranged in each of the recesses <NUM> to dampen the interaction between the first and the second guide device <NUM>',<NUM>' and the lifting frame <NUM>.

A third exemplary embodiment of a container handling vehicle <NUM>" according to the invention is shown in <FIG>.

The container handling vehicle <NUM>'' is identical to the first and second exemplary container handling vehicles <NUM>, <NUM>' in <FIG> apart from the design of the first guide device <NUM>'' and the cooperating second guide device <NUM>''. The first guide device <NUM>'' comprises two vertical sleeves <NUM> positioned in the lifting frame <NUM> providing two holes <NUM> (i.e. first guide elements) at the top side <NUM> of the lifting frame <NUM>. The second guide device <NUM>'' comprises two pins <NUM> (i.e. second guide elements), each pin <NUM> being sized to be accommodated in one of the complementary holes <NUM> of the first guide device <NUM>''. The second guide device <NUM>'' is slidably connected to the sidewall <NUM> via a rail <NUM> and can move in a vertical direction relative to the sidewall <NUM> while restricted from horizontal movement relative to the sidewall <NUM>. A part of the second guide device <NUM>'' featuring the two pins <NUM> extends laterally from the sidewall <NUM> and is positioned between the cantilevered section <NUM> and the lifting frame <NUM>. A spring (not shown) may be arranged around each of the pins <NUM>, or alternatively within each of the sleeves <NUM>, to dampen the interaction between the first and the second guide device <NUM>'',<NUM>'' and the lifting frame <NUM>.

Claim 1:
A container handling vehicle (<NUM>) for lifting a storage container (<NUM>) from an underlying framework structure (<NUM>), the vehicle comprises a container lifting assembly (<NUM>,<NUM>,7a,7b) for lifting the storage container and a vehicle body (<NUM>);
the container lifting assembly (<NUM>, <NUM>, 7a, 7b) comprises a lifting frame (<NUM>) for releasable connection to a storage container (<NUM>), a lifting shaft assembly (7a,7b) and a plurality of lifting bands (<NUM>), the lifting bands (<NUM>) are connected to the lifting frame (<NUM>) and the lifting shaft assembly (7a,7b) such that the lifting frame (<NUM>) may be raised or lowered by operating the lifting shaft assembly (7a,7b); and
the vehicle body (<NUM>) comprises a sidewall (<NUM>) and a cantilevered section (<NUM>) from which the lifting frame (<NUM>) depends, the cantilevered section (<NUM>) extends laterally from an upper end (<NUM>) of the sidewall (<NUM>); wherein
the container lifting assembly (<NUM>, <NUM>, 7a, 7b) features a lifting frame guide assembly comprising a first guide device (<NUM>) and a cooperating second guide device (<NUM>); the first guide device (<NUM>) is provided on the lifting frame (<NUM>);
characterized in that:
the second guide device (<NUM>) is slidably connected to the sidewall (<NUM>) via at least one vertically extending rail (<NUM>), such that the second guide device (<NUM>) can move in a vertical direction relative to the sidewall (<NUM>);
the first guide device (<NUM>) and the second guide device (<NUM>) are arranged to interact with each other when the lifting frame (<NUM>) is adjacent the sidewall (<NUM>), such that horizontal movement of the lifting frame (<NUM>) relative to the vehicle body (<NUM>) is restricted.