Container handling vehicle with increased stability

Patent metadata

Field	Value
Publication number	US-12473144-B2
Application number	US-202118247947-A
Country	US
Kind code	B2
Filing date	Oct 18, 2021
Priority date	Oct 22, 2020
Publication date	Nov 18, 2025
Grant date	Nov 18, 2025

Abstract

A container handling vehicle operates on a two-dimensional rail system. The 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 container handling vehicle includes a wheel base unit, a support section, a cantilever section, a lifting frame, four guiding sheaves, four lifting bands, a lifting shaft, and a lifting device motor. The wheel base unit includes first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively. The support section extends vertically from the wheel base unit. The support section has a footprint with a horizontal extent. The cantilever section extends from the support section. The lifting frame is suspended in a horizontal orientation from the cantilever section by a plurality of lifting bands. The lifting frame includes a releasable connection for connecting to a storage container. The guiding sheaves are provided in the cantilever section. Each of the guiding sheaves are arranged for guiding and supporting one of the four plurality of lifting bands and the lifting frame. The lifting shaft for winding up and unwinding the plurality of lifting bands. The lifting device motor rotates the at least one lifting shaft. A first and second wheel in a first pair of wheels in the first set of wheels are arranged closer to the cantilever section than a third and fourth wheel in a second pair of wheels of the first set of wheels. At least one of the lifting shaft and the lifting device motor are arranged closer to the third and fourth wheel than the first and second wheel in the first set of wheels. At least one of the lifting shaft and the lifting device motor is arranged within the wheel base unit.

First claim

The invention claimed is:

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 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, wherein the container handling vehicle comprises:
a wheel base unit comprising first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively; a support section extending vertically from the wheel base unit, the support section having a footprint with a horizontal extent; and a cantilever section extending from the support section; a lifting frame suspended in a horizontal orientation from the cantilever section by a plurality of lifting bands, wherein the lifting frame comprises a releasable connection for connecting to a storage container; four guiding sheaves, wherein the guiding sheaves are provided in the cantilever section and wherein each of the guiding sheaves is arranged for guiding and supporting one of the plurality of lifting bands and the lifting frame; a lifting shaft for winding up and unwinding the plurality of lifting bands; and a lifting device motor for rotating the lifting shaft; wherein a first wheel and a second wheel in a first pair of wheels in the first set of wheels are arranged closer to the cantilever section than a third wheel and a fourth wheel in a second pair of wheels of the first set of wheels, and wherein at least one of the lifting shaft and the lifting device motor is arranged closer to the third and fourth wheels than the first and second wheels in the first set of wheels, and wherein at least one of the lifting shaft and the lifting device motor is arranged within the wheel base unit.

2 . The container handling vehicle according to claim 1 , wherein the first and second wheels are positioned in a first third of the wheel base unit closest to the cantilever section, while the third and fourth wheels are positioned in a second third of the wheel base unit farthest from the cantilever section.

3 . The container handling vehicle according to claim 2 , wherein the lifting shaft and the lifting device motor are arranged in the second third of the wheel base unit.

4 . The container handling vehicle according to claim 1 , wherein the cantilever section is connected to an upper part of the support section.

5 . The container handling vehicle according to claim 1 , wherein a horizontal extent of the support section in the first and second directions is less than a horizontal extent of the wheel base unit in the first and second directions.

6 . The container handling vehicle according to claim 1 , wherein the lifting bands extend between the plurality of lifting shaft and the four guiding sheaves in the cantilever section via the support section and a number of guiding devices.

7 . The container handling vehicle according to claim 1 , wherein all of the lifting bands are winded up and un-winded on the same lifting shaft.

8 . The container handling vehicle according to claim 1 , wherein the support section comprises a storage container support platform for supporting a storage container from below, wherein the support platform has a smaller horizontal extent than the wheel base unit.

9 . The container handling vehicle according to claim 1 , wherein the cantilever section comprises an opening.

10 . The container handling vehicle according to claim 9 , wherein the opening defines an access perimeter, and wherein the lifting frame has an opening defining an access perimeter, and wherein the access perimeter of the opening in the cantilever section corresponds in shape and alignment to the access perimeter of the opening in the lifting frame to allow access to items in the storage container through the respective openings when the lifting frame carrying a storage container is in a docked state adjacent the cantilever section.

11 . The container handling vehicle according to claim 10 , wherein the cantilever section comprises a pair of arms and wherein at least one of the guiding sheaves is connected at or close to a distal end of each arm at the end facing away from the wheel base unit.

12 . The container handling vehicle according to claim 11 , wherein the cantilever section comprises a crosspiece connected at the distal end of each of the arms.

13 . The container handling vehicle according to claim 10 , wherein the opening in the cantilever section, the opening in the lifting frame and an opening in the top of a storage container carried by the lifting frame have substantially equal vertical projections, thereby securing access from above the container handling vehicle to an interior of the storage container.

14 . 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 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, wherein the automated storage and retrieval system further comprises a container handling vehicle comprising:
a wheel base unit comprising first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively; a support section extending vertically from the wheel base unit, the support section having a footprint with a horizontal extent; and a cantilever section extending from the support section; a lifting frame suspended in a horizontal orientation from the cantilever section by a plurality of lifting bands, wherein the lifting frame comprises a releasable connection for connecting to a storage container; four guiding sheaves, wherein the guiding sheaves are provided in the cantilever section and wherein each of the guiding sheaves is arranged for guiding and supporting one of the plurality of lifting bands and the lifting frame; a lifting shaft for winding up and unwinding the plurality of lifting bands; and a lifting device motor for rotating the at least one lifting shaft; wherein a first wheel and a second wheel in a first pair of wheels in the first set of wheels are arranged closer to the cantilever section than a third wheel and a fourth wheel in a second pair of wheels of the first set of wheels, and wherein at least one of the lifting shaft and the lifting device motor is arranged closer to the third and fourth wheels than the first and second wheels in the first set of wheels, and wherein at least one of the lifting shaft and the lifting device motor is arranged within the wheel base unit.

15 . The automated storage and retrieval system according to claim 14 , wherein the framework structure further comprises storage compartments in the form of storage columns provided between members, wherein storage containers are stackable in stacks within the storage columns, and wherein access perimeters of openings in the cantilever section and the lifting frame are substantially equal to an access perimeter of an opening in a storage container.

16 . A container handling vehicle for operation on a two-dimensional rail system comprising a first set of parallel rails arra

Assignees

• Autostore Tech As

Inventors

• Heggebø Jørgen Djuve
• Müller Kenneth

Classifications

• B65G2201/0235

  Containers · CPC title

• B65G1/0478

  for matrix-arrangements · CPC title

• B65G1/0492

  with cars adapted to travel in storage aisles · CPC title

• B66C1/663

  for containers (fastening of containers on vehicles B60P7/13, B60P7/132) · CPC title

• B66F9/063

  Automatically guided · CPC title