NO20230646A1

NO20230646A1 - Container handling vehicle and storage system

Info

Publication number: NO20230646A1
Application number: NO20230646A
Authority: NO
Inventors: Trond Austrheim; Ivar Fjeldheim
Original assignee: Autostore Tech As
Priority date: 2023-06-06
Filing date: 2023-06-06
Publication date: 2024-12-09
Also published as: WO2024251571A1; NO349281B1

Description

Container handling vehicle and storage system

Field of the invention

The present invention relates to a container handling vehicle and a storage system comprising the container handling vehicle.

Background and prior art

Fig. 1 discloses a prior art automated storage and retrieval system 1 (i.e. a storage system), with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.

The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminium profiles.

The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 (i.e. a rail grid) arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108. The container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically selfsupportive.

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

Each prior art container handling vehicle 201,301,401 also comprises a lift device 404, see fig. 4, for vertical transportation of storage containers 106 (i.e. a container lift device), e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lift device 404 features a lifting frame 2 comprising container connectors 3, adapted to engage connecting recesses 13 at an upper rim of the sidewalls 14 of a storage container 106, see fig. 5, and guiding pins 4. The guiding pins 4 are arranged to interact with guiding pin recesses 7 at the corners of the storage container and ensure a correct alignment of the lifting frame 2 and container connectors 3 relative to the storage container. The guiding pins 4 will also assist in guiding the lifting frame 2 relative to the upright members of the storage column 105. The lifting frame 2 can be lowered from the vehicle 201,301,401 so that the position of the lifting frame 2 with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. The lifting device of the container handling vehicle 201 is located within the vehicle body 201a in Fig. 2.

To raise or lower the lifting frame 2 (and optionally a connected storage container 106), the lifting frame 2 is suspended from a band drive assembly by lifting bands 5. In the band drive assembly, the lifting bands are commonly spooled on/off at least one rotating lifting shaft or reel arranged in the container handling vehicle. Various designs of band drive assemblies are described in for instance WO 2015/193278 A1, WO 2017/129384 A1 and WO 2019/206438 A1.

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

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

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

Fig. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

The cavity container handling vehicles 201 shown in Fig. 2 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 105, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term 'lateral' used herein may mean 'horizontal'.

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

The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail may comprise two parallel tracks.

WO2018/146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions forming a rail grid.

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

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

The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1 but are returned into the framework structure 100 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.

A conveyor system comprising conveyors is normally employed to transport the 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 levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.

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

When a storage container 106 stored in one of the storage columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201,301,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lifting device 404, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

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

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

A disadvantage of the prior art container handling vehicle 301 shown in fig. 3 is that horizontal movement of the lifting frame 2 is not prevented until the lifting frame is fully raised and in contact with an underside of the cantilevered section 6 from which the lifting frame 2 depends. When fully raised, the lifting frame 2 interacts with the cantilever section 6 to restrain horizontal movement between the lifting frame 2 and the cantilever section 6. To avoid potential errors caused by horizontal movement in the lifting frame 2, the container handling vehicle 301 in fig. 3 should not move upon the rail system 108 until the lifting frame is fully raised. The time delay of having the container handling vehicle 301 standing still until the lifting frame is fully raised is minor when viewed on an individual basis. However, a storage system will commonly have a plurality of container handling vehicles, wherein each vehicle performs many lifting operations and actions of one must often be completed before another vehicle can perform its actions.

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.

Summary of the invention

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

In a first aspect, the present invention provides a container handling vehicle for lifting a storage container from an underlying framework structure,

the vehicle comprises a container lifting assembly for lifting the storage container and a vehicle body;

the container lifting assembly comprises a lifting frame for releasable connection to a storage container, a lifting shaft assembly and a plurality of lifting bands, the lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly; and

the vehicle body comprises a sidewall and a cantilevered section from which the lifting frame depends, the cantilevered section extends laterally from an upper end of the sidewall; wherein

the container handling vehicle features a lifting frame guide assembly comprising a vertical guide surface arranged at each of two opposite sides of the sidewall; and

the vertical guide surfaces are arranged to interact with two opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall (i.e. the vertical guide surfaces are arranged on opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall), such that horizontal movement of the lifting frame relative to the vehicle body is restricted.

The lifting bands have a width and a thickness, the ratio between width and thickness may be at least 10.

In an embodiment of the vehicle according to the invention, the vertical guide surfaces and a width of the lifting bands extend in the same horizontal direction.

In other words, the vertical guide surfaces and vertical lengths of the lifting bands, i.e. the vertical length of the lifting bands extending between the lifting frame and the lifting shaft assembly, are arranged in parallel vertical planes.

In an embodiment of the vehicle according to the invention, each of the vertical guide surfaces may be configured to provide a corresponding vertically extending corner section. Each of the corner sections may be configured to accommodate a respective corner of the lifting frame and be arranged to interact with the lifting frame when the lifting frame is adjacent to the sidewall.

In an embodiment of the vehicle according to the invention, the vertical guide surfaces may be provided by vertically extending guide profiles arranged at each of two opposite sides of the sidewall, each of the vertically extending guide profiles providing one of the vertical guide surfaces.

In an embodiment of the vehicle according to the invention each of the vertically extending guide profiles may be configured to provide a vertically extending corner section featuring one of the guide surfaces, each of the corner sections being configured to accommodate a respective corner of the lifting frame and arranged to interact with the lifting frame when the lifting frame is adjacent to the sidewall.

In an embodiment of the vehicle according to the invention, the vertically extending corner sections may be configured to interact with two opposite corners of the lifting frame, the opposite corners being adjacent to the sidewall.

In an embodiment of the vehicle according to the invention, each vertical guide profile may comprise a vertically extending corner section. In other words, each of the vertical guide profiles may have an L-shaped horizontal cross-section.

In an embodiment of the vehicle according to the invention, the lifting frame may comprise vertical guide pins, and each of the vertically extending corner sections may be configured to accommodate one of the guide pins when the lifting frame is adjacent to the sidewall.

In an embodiment of the vehicle according to the invention, each of the vertically extending corner sections may extend from a lower position on the sidewall towards the cantilevered section, such that the lifting frame may be guided during movement in a vertical direction between a lower position adjacent to the sidewall and an upper position in which the lifting frame docks with the cantilevered section.

In an embodiment, the vehicle according to the invention may comprise

- a first set of wheels arranged on opposite sides of the vehicle body, for moving the vehicle along a first direction on a rail system of the underlying framework structure;

- a second set of wheels arranged on other opposite sides of the vehicle body, for moving the vehicle along a second direction on the rail system, the second direction being perpendicular to the first direction; and - at least one of the sets of wheels being displaceable in a vertical direction between a first position, wherein the first set of wheels allows movement of the vehicle along the first direction, and a second position, wherein the second set of wheels allows movement of the vehicle along the second direction.

In an embodiment of the container handling vehicle, the vertical guide surfaces and the lifting frame 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 a second aspect, the present invention provides a storage system comprising a framework structure and at least one container-handling vehicle according to any embodiment of 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.

In a third aspect, the present invention provides a method of operating a container handling vehicle in a storage system,

the storage system comprising a framework structure and at least one container-handling vehicle, 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 an upper 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 container handling vehicle comprises a container lifting assembly for lifting the storage container and a vehicle body;

the container handling vehicle features a lifting frame guide assembly comprising a vertical guide surface arranged at each of two opposite sides of the sidewall;

the vertical guide surfaces arranged to interact with two opposite sides of the lifting frame when the lifting frame is adjacent to the sidewall, such that horizontal movement of the lifting frame relative to the vehicle body is restricted; wherein

the method comprises the steps of:

- lowering a storage container into a storage column by use of the container lifting assembly;

- releasing the storage container from the lifting frame;

- raising the lifting frame until the vertical guide surfaces interact with the lifting frame; and

- moving the container handling vehicle horizontally across the rail system when a lowermost level of the lifting frame is above an uppermost level of the rail system and before the lifting frame has reached an upper position.

In a fourth aspect, the present invention provides a method of preventing horizontal movement of a lifting frame of a container handling vehicle,

the method comprises the steps of:

- raising the lifting frame from a level below the container handling vehicle to a first position in which interaction between the lifting frame and the vertical guide surfaces is initiated; and

- raising the lifting frame from the first position to a second position in which the lifting frame and the vertical guide surfaces interact with each other and horizontal movement of the lifting frame relative to the vehicle body is restricted or prevented.

In an embodiment, the container handling vehicle may comprise wheels for moving the vehicle along any of a first direction and a second direction on a rail system of the underlying framework structure, the first direction being perpendicular to the second direction.

In the third and fourth aspect of the invention, the container handling vehicle may be according to any of the embodiments of the first aspect.

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 both lateral and rotational horizontal movement.

Brief description of the drawings

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

Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

Fig. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein.

Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilevered section for carrying storage containers underneath.

Fig. 4 is a perspective view of a prior art container handling vehicle, wherein a container lifting assembly is shown.

Fig. 5 is a perspective view of a storage container as used in the storage system in fig. 1.

Fig. 6 is a perspective side view of an exemplary container handling vehicle according to the invention.

Figs. 7 to 9 are side views of the container handling vehicle in fig. 6.

Fig. 10 is a perspective view from below of the container handling vehicle in fig. 6.

Fig. 11 is an enlarged view of details in fig. 10.

Fig. 12 is a perspective side view of the container handling vehicle in fig. 6, wherein parts of the bodywork are not shown for ease of understanding.

Fig. 13 is an enlarged view of details shown in fig. 12.

Detailed description of the invention

In the following, embodiments of the invention will be discussed in more detail with reference to the appended 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 storage columns 105 for accommodating a stack of storage containers and a rail system 108, as discussed for the prior art storage system disclosed in fig. 1.

An exemplary embodiment of a container handling vehicle according to the invention is shown in figs. 6-13. The vehicle is for picking up storage containers 106 in an automated storage system 1, e.g. as shown in fig. 1, by use of a container lifting assembly 2,5,8a,8b. The container lifting assembly features a lifting frame 2 for releasable connection to a storage container 106, a lifting shaft assembly 8a,8b (see fig. 12) and four lifting bands 5. The lifting bands 5 are connected to the lifting frame 2 and the lifting shaft assembly 8a,8b such that the lifting frame 2 may be raised or lowered by operating the lifting shaft assembly 8a,8b.

The container handling vehicle have a vehicle body 9 comprising a sidewall 10 and a cantilevered section 6. The lifting frame 2 is suspended from the cantilevered section 6 which extends laterally from an upper end 11 of the sidewall 10. The lifting frame features contact sensors 12 arranged on a top side of the lifting frame 2 (see fig. 12). The contact sensors 12 interact with a part of the cantilever section 6 when the lifting frame is fully raised. When fully raised, horizontal movement between the lifting frame 2 and the cantilever section 6 is restrained.

The lifting bands 5 suspending the lifting frame 2 are tape-shaped. The width W of the lifting bands is commonly in the range of 1-5 cm, i.e. substantially larger than their thickness. The thickness of the lifting bands is usually about 0.15 mm. When suspending the lifting frame below the cantilever section 6, the shape of the lifting bands 5 provides an inherent restriction of horizontal movement of the lifting frame in the direction of their width W. Movement of the lifting frame in the thickness direction, i.e. a direction perpendicular to the direction in which the lifting band width W extends, is not substantially restricted.

As discussed above, errors may be caused by horizontal movement in the lifting frame 2 and the prior art cantilevered container handling vehicle 301 in fig. 3 should not move upon the rail system 108 until the lifting frame 2 is fully raised.

To restrict horizontal movement of the lifting frame 2 during movement of the inventive container handling vehicle, the vehicle comprises a lifting frame guide assembly having a vertical guide surface 19 arranged at each of two opposite sides of the sidewall 10. The vertical guide surfaces 19 are arranged to interact with two opposite sides of the lifting frame 2 when the lifting frame is adjacent to the sidewall 10, such that horizontal movement of the lifting frame 2 relative to the vehicle body 9 is restricted. In addition to their vertical extent the guide surfaces 19 also extend in the same horizontal direction as the width W of the lifting bands, such that horizontal movement of the lifting frame is restricted in a direction being perpendicular to the width W of the lifting bands 5.

The vertical guide surfaces 19 are provided by vertically extending guide profiles 17 arranged at each of two opposite sides of the sidewall 10, each of the vertically extending guide profiles 17 provides a vertically extending corner section 18 featuring one of the vertical guide surfaces 19. Each of the corner sections is configured to accommodate a respective corner and guide pin 4 of the lifting frame 2 and arranged to interact with the lifting frame when the lifting frame is adjacent to the sidewall 10.

When positioned within a storage column 105, horizontal movement of the lifting frame 2 is restricted by the inner periphery of the storage column 105. When the lifting frame 2 emerges from the storage column 105, horizontal restraint of the lifting frame 2 is provided by the vertical guide surfaces 19.

By having the lifting frame guide assembly 17,18,19, the lifting frame 2 can be raised from a lower position close to the rail system 108 where it emerges from the lateral constraints of the storage column 105, to a higher position adjacent the sidewall 9 while horizontal movement of the lifting frame 2 is restricted or prevented. The lowermost level of the lifting frame 2 when in the lower position is above an uppermost level of a rail system 108 upon which the container handling vehicle is arranged, see fig. 7. In the upper position, the lifting frame is fully raised towards the cantilevered section 6.

Thus, due to the lifting frame guide assembly 17,18,19, the container handling vehicle according to the invention may start to move upon the rail system 108 as soon as the lifting frame is in the lower position, e.g. after storing a storage container 106 in a storage column 105. When the lifting frame 2 is not connected to a storage container 106, the lifting frame may be kept in the lower position while the container handling vehicle 20 moves upon the rail system 108. In this manner time and energy is also saved by not requiring the lifting frame 2 to be lifted between the cantilever section 6 and the lower position when a storage container is to be retrieved. The lifting frame guide assembly will also ensure that the container handling vehicle 20 can move upon the rail system 108 as soon as a storage container connected to the lifting frame 2 is lifted above the rail system 108. 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 301, as shown in fig.

3, the container handling vehicle 20 of the invention is more efficient in that less time is required to perform multiple container lifting/storage operations. A prior art container vehicle 301 is not allowed to move upon a rail system 108 until its lifting frame 3 is fully raised into contact with the cantilevered section.

To allow movement of the container handling vehicle 20 upon the rail system 108, the vehicle features a first set of wheels 21a arranged to allow movement of the vehicle along a first direction of the rail system 108 as shown in fig. 1, 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.

List of reference numbers

1 Prior art automated storage and retrieval system 2 Lifting frame

3 Container connector, container gripper

4 Guiding pin

5 Lifting bands

6 Cantilever section

7 Guiding pin recess

8a Rotatable lifting shaft, lifting shaft assembly

8b Shaft featuring lifting band sheaves, lifting shaft assembly 9 Vehicle body

10 Sidewall

11 Upper end (of sidewall)

12 Contact sensor

13 Connecting recess in upper rim of storage container 14 Sidewall of storage container

15 Lower bottom surface of lifting frame

16 Upper rim of storage container

17 Vertical guide profile

18 Vertically extending corner section

19 Vertical guide surface

20 Container handling vehicle according to the invention 21a,21b First and second set of wheels

100 Framework structure

102 Upright members of framework structure

103 Horizontal members of framework structure

104 Storage grid

105 Storage column

106 Storage container

106’ Particular position of storage container

107 Stack

108 Rail system

110 Parallel rails in first direction (X)

110a First rail in first direction (X)

110b Second rail in first direction (X)

111 Parallel rail in second direction (Y)

111a First rail of second direction (Y)

111b Second rail of second direction (Y)

112 Access opening

119 First port column

120 Second port column

201 Prior art container handling vehicle

201a Vehicle body of the container handling vehicle 201 201b Drive means / wheel arrangement, first direction (X) 201c Drive means / wheel arrangement, second direction (Y) 301 Prior art cantilever container handling vehicle 301a Vehicle body of the container handling vehicle 301 301b Drive means in first direction (X)

301c Drive means in second direction (Y)

401 Prior art container handling vehicle

401a Vehicle body of the container handling vehicle 401 401b Drive means in first direction (X)

401c Drive means in second direction (Y)

Y Second direction

Z Third direction

Claims

1. A container handling vehicle (20) for lifting a storage container (106) from an underlying framework structure (100),

the vehicle comprises a container lifting assembly (2,5,8) for lifting the storage container and a vehicle body (9);

the container lifting assembly comprises a lifting frame (2) for releasable connection to a storage container (106), a lifting shaft assembly (8) and a plurality of lifting bands (5), the lifting bands (5) are connected to the lifting frame (2) and the lifting shaft assembly (8) such that the lifting frame (2) may be raised or lowered by operating the lifting shaft assembly; and

the vehicle body (9) comprises a sidewall (10) and a cantilevered section (6) from which the lifting frame (2) depends, the cantilevered section (6) extends laterally from an upper end (11) of the sidewall (10); wherein

the container handling vehicle features a lifting frame guide assembly comprising a vertical guide surface (19) arranged at each of two opposite sides of the sidewall (10); and

the vertical guide surfaces (19) are arranged to interact with two opposite sides of the lifting frame (2) when the lifting frame is adjacent to the sidewall, such that horizontal movement of the lifting frame relative to the vehicle body is restricted.

2. A vehicle according to claim 1, wherein the vertical guide surfaces (19) and a width (W) of the lifting bands extend in the same horizontal direction.

3. A vehicle according to claim 1 or 2, wherein each of the vertical guide surfaces (19) are configured to provide a corresponding vertically extending corner section (18).

4. A vehicle according to any of the preceding claims, wherein the vertical guide surfaces are provided by vertically extending guide profiles (17) arranged at each of two opposite sides of the sidewall (10), each of the vertically extending guide profiles (17) providing one of the vertical guide surfaces ( 19).

5. A vehicle according to claim 4, wherein each of the vertically extending guide profiles (17) is configured to provide a vertically extending corner section (18) featuring one of the guide surfaces (19), each of the corner sections being configured to accommodate a respective corner of the lifting frame (2) and arranged to interact with the lifting frame when the lifting frame is adjacent to the sidewall (10).

6. A vehicle according to claim 3, wherein the lifting frame (2) comprises a vertical guide pin (4) at each corner of the lifting frame, and each of the vertically extending corner sections (18) is configured to accommodate one of the guide pins (4) when the lifting frame is adjacent to the sidewall (10).

7. A vehicle according to any of claims 3-6, wherein each of the vertically extending corner sections extends from a lower position on the sidewall (10) towards the cantilevered section (6), such that the lifting frame (2) may be guided during movement in a vertical direction between a lower position adjacent to the sidewall (10) and an upper position in which the lifting frame docks with the cantilevered section (6).

8. A vehicle according to any of the preceding claims, comprising

- a first set of wheels (21a) arranged on opposite sides of the vehicle body (9), for moving the vehicle (20) along a first direction (X) on a rail system (108) of the underlying framework structure (100);

- a second set of wheels (21b) arranged on other opposite sides of the vehicle body (9), for moving the vehicle (20) along a second direction (Y) on the rail system (108), the second direction (Y) being perpendicular to the first direction (X); and

- at least one of the sets of wheels being displaceable in a vertical direction (Z) between a first position, wherein the first set of wheels allows movement of the vehicle (20) along the first direction (X), and a second position, wherein the second set of wheels allows movement of the vehicle (20) along the second direction (Y).

9. A storage system comprising a framework structure (100) and at least one container-handling vehicle (20) according to any of the preceding claims, wherein the framework structure (100) comprises multiple storage columns (105), in which storage containers (106) may be stored on top of one another in vertical stacks (107), and the container handling vehicle is operated on a rail system (108) at a top level of the framework structure for retrieving storage containers (106) from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the rail system (108).

10. A method of operating a container handling vehicle in a storage system, the storage system comprising a framework structure (100) and at least one container-handling vehicle (20), wherein the framework structure (100) comprises multiple storage columns (105), in which storage containers (106) may be stored on top of one another in vertical stacks (107), and the container handling vehicle is operated on a rail system (108) at an upper level of the framework structure for retrieving storage containers (106) from, and storing storage containers in, the storage columns, and for transporting the storage containers horizontally across the rail system (108),

the container handling vehicle comprises a container lifting assembly (2,5,8a,8b) for lifting the storage container and a vehicle body (9);

the container lifting assembly comprises a lifting frame (2) for releasable connection to a storage container (106), a lifting shaft assembly (8a,8b) and a plurality of lifting bands (5), the lifting bands (5) are connected to the lifting frame (2) and the lifting shaft assembly (8a,8b) such that the lifting frame (2) may be raised or lowered by operating the lifting shaft assembly; and

the container handling vehicle features a lifting frame guide assembly comprising a vertical guide surface (19) arranged at each of two opposite sides of the sidewall (10);

the vertical guide surfaces (19) arranged to interact with two opposite sides of the lifting frame (2) when the lifting frame is adjacent to the sidewall, such that horizontal movement of the lifting frame relative to the vehicle body is restricted; wherein

the method comprises the steps of:

- lowering a storage container (106) into a storage column (105) by use of the container lifting assembly;

- releasing the storage container (106) from the lifting frame (2);

- raising the lifting frame (2) until the vertical guide surfaces (19) interact with the lifting frame (2); and

- moving the container handling vehicle horizontally across the rail system (108) when a lowermost level of the lifting frame (2) is above an uppermost level of the rail system (108) and before the lifting frame (3) has reached an upper position.