Container handling vehicle
A container handling vehicle for an automated storage and retrieval system includes a three-dimensional grid having multiple storage columns, in which containers are stored one on top of another in vertical stacks. The container handling vehicle is arrangeable above a top level of the grid for retrieving a container from, and storing a container in, at least some of the storage columns, and/or for transporting a container horizontally across the top level of the grid. The container handling vehicle has a lifting device including a lifting frame for releasable connection to a container, and lifting bands arranged to lower and raise the lifting frame relative to the storage columns. The lifting device includes a container centring device arranged to extend around portions of the lifting frame. The container centring device having a lower open end including at least one edge element for interaction with a peripheral part of the upper end of a storage column. The edge element is arranged such that a container connected to the lifting frame is centred relative said upper end when the edge element interacts with the peripheral part.
1. A container handling vehicle for an automated storage and retrieval system comprising a three-dimensional grid having multiple storage columns, in which containers are stored one on top of another in vertical stacks;
the container handling vehicle being arrangeable above a top level of the grid for retrieving a container from, and storing a container in, at least some of the storage columns, and/or for transporting a container horizontally across the top level of the grid;
the container handling vehicle having a lifting device comprising a lifting frame for releasable connection to a container, and lifting bands arranged to lower and raise the lifting frame relative to the storage columns, wherein
the lifting device comprises a container centring device arranged to extend around portions of the lifting frame,
the container centring device having a lower open end comprising at least one edge element for interaction with a peripheral part of the upper end of a storage column, the edge element being arranged such that a container connected to the lifting frame is centred relative said upper end when the edge element interacts with the peripheral part.
2. A container handling vehicle according to claim 1 , wherein the container centring device is supported by the lifting frame, such that the lifting frame may be lowered relative the centring device when the edge element of the container centring device interacts with the peripheral part of the upper end of the storage column.
3. A container handling vehicle according to claim 2 , wherein the container centring device comprises a vertical side element and a top element, the side element comprising the at least one edge element; and wherein the top element is arranged above the lifting frame, such that the top element is supported by the lifting frame when the edge element is not interacting with the peripheral part of the upper end of the storage column.
4. A container handling vehicle according to claim 3 , wherein the container centring device comprises multiple vertical side elements interconnected by the top element, each of the side elements comprising an edge element, preferably wherein the container centring device comprises four vertical side elements, each element arranged to be parallel to a respective side wall of a container connected to the lifting frame.
5. A container handling vehicle according to claim 1 , wherein the container centring device comprises a vertical side element and a top element, the side element comprising the at least one edge element; and wherein the top element is arranged above the lifting frame, such that the top element is supported by the lifting frame when the edge element is not interacting with the peripheral part of the upper end of the storage column.
6. A container handling vehicle according to claim 5 , wherein the container centring device comprises multiple vertical side elements interconnected by the top element, each of the side elements comprising an edge element, preferably wherein the container centring device comprises four vertical side elements, each element arranged to be parallel to a respective side wall of a container connected to the lifting frame.
7. A container handling vehicle according to claim 5 , wherein the top element comprises the at least one projection or recess of the container centring device, preferably wherein the top element comprises at least two projections or recesses.
8. A container handling vehicle according to claim 5 , wherein the top element comprises openings or recesses through which the lifting bands are arranged.
9. A container handling vehicle according to claim 1 , wherein the at least one edge element is arranged to extend below a container connected to the lifting frame when the edge element is not interacting with the peripheral part of the upper end of the storage column.
10. A container handling vehicle according to claim 1 , wherein the at least one edge element is arranged to interact with rails forming the peripheral part of the upper end of the storage column, preferably the at least one edge element is arranged to interact with longitudinal tracks arranged in the rails.
11. A container handling vehicle according to claim 1 , wherein the container centring device comprises at least one of a projection or recess for interaction with a cooperating recess or projection, respectively, on the lifting frame, such that a horizontal movement of the container centring device relative to the lifting frame is prevented when the container centring device is supported by the lifting frame.
12. A container handling vehicle according to claim 11 , wherein the top element comprises the at least one projection or recess of the container centring device, preferably wherein the top element comprises at least two projections or recesses.
13. An automated storage and retrieval system comprising at least one first container handling vehicle according to claim 1 , wherein the storage and retrieval system comprises a three-dimensional grid having multiple storage columns, in which containers are stored one on top of another in vertical stacks, and the first container handling vehicle is movably arranged above a top level of the grid, such that the first container handling vehicle may pass directly above a second container handling vehicle arranged on the top level of the grid, during operation of the system.
14. An automated storage and retrieval system according to claim 13 , comprising at least one horizontal beam arranged above the top level of the grid, on which beam the first container handling vehicle is movably arranged.
15. An automated storage and retrieval system according to 14 , wherein the at least one horizontal beam is part of a gantry, monorail or rail grid, arranged such that the first container handling vehicle may move in at least one horizontal direction relative the top level of the grid.
16. An automated storage and retrieval system according to claim 13 , wherein the at least one horizontal beam is part of a gantry, monorail or rail grid, arranged such that the first container handling vehicle may move in at least one horizontal direction relative the top level of the grid.