IP Library › Granted Patent US 12,275,585
Granted Patent B2
US 12,275,585 · App. 18/480,848 · Granted Apr 15, 2025

Container handling vehicle with first and second sections and motor in second section

Inventor: Trond Austrheim (Etne, NO)
Assignee: AutoStore Technology AS
B65G1/0464B65G1/1378B65G1/0492B65G2201/0258
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Quick Facts
Patent No.
US 12,275,585
App. No.
18/480,848
Granted
Apr 15, 2025
Kind
B2
Abstract

A container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system, includes: a vehicle body having a first section and a second section arranged side-by-side; a first set of wheels for moving the container handling vehicle along a first direction on a rail system of the grid; and a second set of wheels for moving the container handling vehicle along the second direction on the rail system of the grid. The first section is configured to accommodate a storage container and has a footprint that is substantially equal to a cross-sectional area of one grid cell of the grid. The second section comprises an assembly of motors for driving at least one wheel of each of the sets of wheels and has a second footprint that is equal to or smaller than half of the first footprint.

Claims (59)

1. A container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system, comprising:

a vehicle body having a first section and a second section arranged side-by-side;

a first set of wheels for moving the container handling vehicle along a first direction on a rail system of the grid,

wherein the rail system includes a first set of tracks extending in the first direction and a second set of tracks extending in a second direction that is perpendicular to the first direction, and the grid includes a plurality of grid cells; and

a second set of wheels for moving the container handling vehicle along the second direction on the rail system of the grid,

wherein

the first section is configured to accommodate a storage container and has a footprint that is substantially equal to a cross-sectional area of one grid cell of the grid,

the second section comprises an assembly of motors for driving at least one wheel of each of the sets of wheels and has a second footprint that is equal to or smaller than half of the first footprint, and

the first section accommodates a first, second, third and fourth wheel of the first set of wheels and a first and second wheel of the second set of wheels, and the second section accommodates a third and fourth wheel of the second set of wheels.

2. A container handling vehicle according to claim 1 , wherein the assembly of motors comprises at least one first motor for driving the first set of wheels and at least one second motor for driving the second set of wheels.

3. A container handling vehicle according to claim 2 , wherein

the at least one first motor comprises a hub motor for each of a first and fourth wheel of the first set of wheels, and

the at least one second motor comprises a hub motor for each of a third and fourth wheel of the second set of wheels.

4. A container handling vehicle according to claim 3 , wherein the hub motors of the first and fourth wheel of the first set of wheels, and the third and fourth wheel of the second set of wheels, extend into the second section.

5. A container handling vehicle according to claim 1 , comprising a lifting device for picking up storage containers from the three-dimensional grid, wherein the assembly of motors comprises a lifting device motor connected to the lifting device.

6. A container handling vehicle according to claim 1 , wherein the first section comprises four corners, and wherein rims of a first, second, third and fourth wheel of the first set of wheels, and of a first and second wheel of the second set of wheels, are arranged at the corners of the first section.

7. A container handling vehicle according to claim 1 , wherein the first and second sets of wheels are arranged at or within a lateral extent of the vehicle body.

8. A container handling vehicle according to claim 1 , wherein, during use, when the container handling vehicle is in a position to lift or lower a storage container, the second section is horizontally displaced relative the grid cell and extends partly into a neighboring grid cell.

9. A container handling vehicle according to claim 1 , wherein the assembly of motors comprises multiple hub motors and each of a first and fourth wheel of the first set of wheels, and of a third and fourth wheel of the second set of wheels, comprises a separate hub motor.

10. An automated storage and retrieval system comprising:

a three-dimensional grid; and

at least one container handling vehicle,

wherein the grid comprises:

a rail system, on which the container handling vehicle moves, and

a plurality of grid cells accommodating a plurality of storage containers;

wherein the rail system comprises a first set of tracks extending in a first direction on a rail system of the grid and a second set of tracks extending in a second direction that is perpendicular to the first direction;

wherein the container handling vehicle comprises:

a vehicle body having a first section and a second section arranged side-by-side,

a first set of wheels for moving the container handling vehicle along the first direction on a rail system of the grid, and

a second set of wheels for moving the container handling vehicle along the second direction on the rail system of the grid,

wherein

the first section is configured to accommodate a storage container and has a first footprint that is substantially equal to a cross-sectional area of one grid cell of the grid,

the second section comprises an assembly of motors for driving at least one wheel of each of the sets of wheels and has a second footprint that is equal to or smaller than half of the first footprint, and

the first section accommodates a first, second, third and fourth wheel of the first set of wheels and a first and second wheel of the second set of wheels, and the second section accommodates a third and fourth wheel of the second set of wheels.

11. An automated storage and retrieval system according to claim 10 , wherein the assembly of motors comprises multiple hub motors and each of a first and fourth wheel of the first set of wheels, and each of a third and fourth wheel of the second set of wheels, comprises a separate hub motor extending into the second section.

12. A container handling vehicle for picking up storage containers from a three-dimensional grid of a storage system, comprising:

a vehicle body having a first section and a second section arranged side-by-side;

a first set of wheels for moving the container handling vehicle along a first direction on a rail system of the grid,

wherein the rail system includes a first set of tracks extending in the first direction and a second set of tracks extending in a second direction that is perpendicular to the first direction, and the grid includes a plurality of grid cells; and

a second set of wheels for moving the container handling vehicle along the second direction on the rail system of the grid,

wherein

the first section is configured to accommodate a storage container and has a footprint that is substantially equal to a cross-sectional area of one grid cell of the grid,

the second section comprises an assembly of motors for driving at least one wheel of each of the sets of wheels and has a second footprint that is equal to or smaller than half of the first footprint, and

the first section accommodates a first and third wheel of the first set of wheels and a first and second wheel of the second set of wheels, and the second section accommodates a second and a fourth wheel of the first set of wheels and a third and a fourth wheel of the second set of wheels.

13. An automated storage and retrieval system comprising:

a three-dimensional grid; and

at least one container handling vehicle,

wherein the grid comprises:

a rail system, on which the container handling vehicle moves, and

a plurality of grid cells accommodating a plurality of storage containers;

wherein the rail system comprises a first set of tracks extending in a first direction on a rail system of the grid and a second set of tracks extending in a second direction that is perpendicular to the first direction;

wherein the container handling vehicle comprises:

a vehicle body having a first section and a second section arranged side-by-side,

a first set of wheels for moving the container handling vehicle along the first direction on a rail system of the grid, and

a second set of wheels for moving the container handling vehicle along the second direction on the rail system of the grid,

wherein

the first section is configured to accommodate a storage container and has a first footprint that is substantially equal to a cross-sectional area of one grid cell of the grid,

the second section comprises an assembly of motors for driving at least one wheel of each of the sets of wheels and has a second footprint that is equal to or smaller than half of the first footprint, and

the first section accommodates a first and third wheel of the first set of wheels and a first and second wheel of the second set of wheels, and the second section accommodates a second and a fourth wheel of the first set of wheels and a third and a fourth wheel of the second set of wheels.