Container handling vehicle which can load and/or unload itself
A two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction. The first and second sets of parallel rails form a grid which divides the rail system into a plurality of grid cells. A container handling vehicle for operation on the two-dimensional rail system includes a base, a support structure, a container, and a support surface. The base includes moving guides for the container handling vehicle along the rail system in the first direction and the second direction respectively. The support structure is provided on the base and extends from a lower section at the base to an upper section. The container lifting device includes a lifting frame for lifting a storage container up from a storage position below the rail system. The lifting frame is suspended from a set of suspension points of the upper section of the support structure. The support surface supports the storage container and provides a first holding position arranged at a lower elevation than the lifting frame when the lifting frame is in a docked state adjacent the upper section of the support structure. The container handling vehicle includes a movement mechanism to translate horizontally the set of suspension points or the support surface with respect to the base, such that a lifted storage container can be placed on the support surface and the lifting frame disconnected from the lifted storage container.
1 . A container handling vehicle for operation on a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across a top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails forming a grid which divides the rail 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 rail system in the first direction and the second direction respectively;
a support structure provided on the base, the support structure extending from a lower section at the base to an upper section;
a container lifting device comprising a lifting frame for lifting a storage container up from a storage position below the rail 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 elevation than the lifting frame when the lifting frame is in a docked state adjacent the upper section of the support structure;
and a movement mechanism configured to move the set of suspension points with respect to the base, wherein the set of suspension points and the lifting frame are configured to place a lifted storage container on the support surface, and the lifting frame is configured to disconnect from the lifted storage container once it is placed on the support surface,
wherein the base is in the form of a wheel base unit where the moving means comprise a first set and a second set of wheels which form outer peripheries of a footprint of the wheel base unit;
a lower section which is provided on the wheel base unit, the lower section having a footprint with a horizontal extent which is equal to or less than the footprint of the wheel base unit, the lower section having an upper surface, wherein the upper surface provides the support surface;
a support section forming the support structure and extending vertically from the lower section, the support section having a footprint with a horizontal extent which is smaller than the footprint of the lower section; and
a cantilever section forming the upper section and extending horizontally from the support section beyond the footprint of the lower section; and
wherein the support section comprises a through-going opening for moving the support surface or the lifting frame therethrough.
2 . The container handling vehicle according to claim 1 , wherein at least one of the lifting frame and the support surface is configured for linear translational movement in a horizontal direction, and optionally linear translational movement parallel to one of the first or second directions.
3 . The container handling vehicle according to claim 1 , wherein the through-going opening is sized for the storage container to pass through.
4 . The container handling vehicle according to claim 1 , wherein the suspension points are linearly movable such that in a first position the lifting frame is arranged to retrieve the storage container from a storage position below the rail system and in a second position the lifting frame is arranged above the first holding position.
5 . The container handling vehicle according to claim 1 ,
wherein the lifting frame and the first holding position are arranged such that:
in a first position, a vertical projection of the lifting frame is arranged over the first holding position, and
in a second position, the vertical projection of the lifting frame avoids the first holding position.
6 . The container handling vehicle according to claim 1 , wherein the support surface is linearly movable relative to the base by actuation of a second movement mechanism such that in a first position the support surface is arranged within a vertical projection of the base and in a second position the support surface is arranged outside a vertical projection of the base.
7 . The container handling vehicle according to claim 6 , wherein the second movement mechanism is arranged in the base such that the support surface can be translated horizontally relative to the base.
8 . The container handling vehicle according to claim 1 , wherein the movement mechanism is arranged in the upper section such that the lifting frame can be moved horizontally relative to the base.
9 . The container handling vehicle according to claim 1 , wherein the container handling vehicle comprises a second movement mechanism to translate the support surface horizontally with respect to the base.
10 . The container handling vehicle according to claim 1 , further comprising a second support surface providing a second holding position arranged next to or above the first holding position.
11 . The container handling vehicle according to claim 1 , wherein the movement mechanism comprises a first linear guide system supporting the set of suspension points and/or a second movement mechanism comprises a second linear guide system supporting the support surface.
12 . The container handling vehicle according to claim 11 , wherein the first and/or second linear guide system is horizontally extendable.
13 . The container handling vehicle according to claim 11 , wherein the first and/or second linear guide system comprises at least two movement mechanisms, including:
a first movement mechanism for horizontal translational movement of the lifting frame or the support surface within an area defined by a vertical projection of the base, and a second movement mechanism for horizontal translational movement of the lifting frame or the support surface outside an area defined by the vertical projection of the base.
14 . The container handling vehicle according to claim 13 , wherein the first movement mechanism comprises linear bearings, rack and pinion, a linear actuator, and/or ball screw.
15 . The container handling vehicle according to claim 13 , wherein the second movement mechanism comprises linear bearings, rack and pinion, a linear actuator and/or ball screw.
16 . The container handling vehicle according to claim 1 , wherein at least a lifting device motor and a movement mechanism for moving the lifting frame horizontally are arranged at or above the lifting frame.
17 . The container handling vehicle according to claim 1 , wherein, when the storage container is positioned on the first holding position, an uppermost part of the storage container represents a first height; and the lifting frame, when in a docked state, has a lowermost part that represents a second height; and
wherein the second height is above the first height, such that the lowermost part of a docked lifting frame can pass over the uppermost part of the storage container positioned on the first support surface.
18 . The container handling vehicle according to claim 1 , wherein the container handling vehicle comprises a second support surface providing a second holding position arranged above the support surface forming the first holding position and wherein a cross-section area of the through-going opening is configured for passing of the support surfaces therethrough, both when any of the support surfaces hold the storage container and when not holding the storage container.
19 . The container handling vehicle according to claim 1 , comprising two lifting frames and at least two support surfaces, wherein the two lifting frames are arranged on opposite sides of the base and outside a vertical projection of the base, and the at least two support surfaces are arranged within a vertical projection of the base, and wherein each of the support surfaces are movable relative the base to a position outside the base and below one of the lifting frames, respectively.
20 . The container handling vehicle according to claim 1 , the container handling vehicle comprising two wheeled bases and at least two support surfaces, where the wheeled bases are provided on each side of the support structure, and wherein one lifting frame is suspended from the upper section of the support structure, wherein each of the support surfaces are movable relative the wheeled bases to a position below the lifting frame.
21 . The container handling vehicle according to claim 1 , wherein the container handling vehicle comprises a second movement mechanism to translate horizontally the set of suspension points with respect to the base in the first or the second direction.
22 . The container handling vehicle according to claim 1 , wherein a centre of gravity of the support surface is positioned over the base.
23 . The container handling vehicle according to claim 1 , further comprising a weight distribution system comprising a movable load and a load moving device for changing a center of gravity of the container handling vehicle dependent on the load of the storage container and optionally additional storage containers carried by the container handling vehicle.
24 . The container handling vehicle according to claim 23 , wherein the weight distribution system comprises:
a set of sensors for measuring weight of the storage container supported by the support surface and/or by the lifting frame, and a control system connected to both the set of sensors and the load moving device, wherein the control system is configured to, based on measured data from the set of sensors, sense a change in mass of at least two opposite sides of the container handling vehicle and calculate a travel distance for the movable load corresponding to the change in mass, and instruct the load moving device to move the movable load the calculated travel distance in an opposite direction of a relatively heavier side of the container handling vehicle.
25 . A method of loading a storage container between a stacked position in an automated storage and retrieval system and a storage position on a container handling vehicle for operation on a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across a top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails forming a grid which divides the rail 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 rail system in the first direction and the second direction respectively;
a support structure provided on the base, the support structure extending from a lower section at the base to an upper section;
a container lifting device comprising a lifting frame for lifting a storage container up from a storage position below the rail 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 elevation than the lifting frame when the lifting frame is in a docked state adjacent the upper section of the support structure;
and a movement mechanism configured to move the set of suspension points with respect to the base, wherein the set of suspension points and the lifting frame are configured to place a lifted storage container on the support surface, and the lifting frame is configured to disconnect from the lifted storage container once it is placed on the support surface, wherein the base is in the form of a wheel base unit where the moving means comprise a first set and a second set of wheels which form outer peripheries of a footprint of the wheel base unit;
a lower section which is provided on the wheel base unit, the lower section having a footprint with a horizontal extent which is equal to or less than the footprint of the wheel base unit, the lower section having an upper surface, wherein the upper surface provides the support surface;
a support section forming the support structure and extending vertically from the lower section, the support section having a footprint with a horizontal extent which is smaller than the footprint of the lower section; and
a cantilever section forming the upper section and extending horizontally from the support section beyond the footprint of the lower section;
wherein the support section comprises a through-going opening for moving the support surface or the lifting frame therethrough;
wherein the method comprises:
picking up the storage container from the stacked position that is located below the rail system using the lifting frame of the lifting device; and
placing the storage container onto the support surface of the container handling vehicle and disconnecting the lifting frame from the storage container.
26 . The method according to claim 25 , wherein the method further comprises:
moving the picked storage container by using the movement mechanism to translate horizontally the set of suspension points with respect to the base.
27 . An automated storage and retrieval system comprising a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across a top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction, the first and second sets of parallel rails forming a grid which divides the rail system into a plurality of grid cells, wherein the automated storage and retrieval system comprises at least one container handling vehicle, wherein the at least one container handling vehicle comprises:
a base comprising moving means for guiding the at least one container handling vehicle along the rail system in the first direction and the second direction respectively;
a support structure provided on the base, the support structure extending from a lower section at the base to an upper section;
a container lifting device comprising a lifting frame for lifting a storage container up from a storage position below the rail 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 elevation than the lifting frame when the lifting frame is in a docked state adjacent the upper section of the support structure;
and a movement mechanism configured to move the set of suspension points with respect to the base, wherein the set of suspension points and the lifting frame are configured to place a lifted storage container on the support surface, and the lifting frame is configured to disconnect from the lifted storage container once it is placed on the support surface, wherein the base is in the form of a wheel base unit where the moving means comprise a first set and a second set of wheels which form outer peripheries of a footprint of the wheel base unit;
a lower section which is provided on the wheel base unit, the lower section having a footprint with a horizontal extent which is equal to or less than the footprint of the wheel base unit, the lower section having an upper surface, wherein the upper surface provides the support surface;
a support section forming the support structure and extending vertically from the lower section, the support section having a footprint with a horizontal extent which is smaller than the footprint of the lower section; and
a cantilever section forming the upper section and extending horizontally from the support section beyond the footprint of the lower section;
wherein the support section comprises a through-going opening for moving the support surface or the lifting frame therethrough.
28 . The automated storage and retrieval system according to claim 27 , further comprising:
a plurality of stacks of storage containers below the grid cells.
29 . The automated storage and retrieval system according to claim 27 , wherein the system further comprises a control system configured to receive information concerning a footprint of the at least one container handling vehicle and use said information for controlling the system.