DELIVERY VEHICLE, SYSTEM AND METHOD FOR MOVING STORAGE CONTAINERS BETWEEN A FIRST CONVEYOR ON THE DELIVERY VEHICLE AND AN EXTERNAL CONVEYOR

Abstract

A delivery vehicle operates on a two-dimensional rail system with rails extending in a first direction and a second direction. The second direction is perpendicular to the first direction. The delivery vehicle includes a vehicle body; two sets of wheels connected to the vehicle body for engagement with the underlying rail system and for moving the delivery vehicle in the first and second directions; a container carrier for supporting a container from below, wherein the container carrier comprises a first conveyor; a conveyor drive shaft for driving the first conveyor; and at least one drive coupling. The at least one drive coupling includes a connection interface accessible from an outer side portion of the vehicle body. The drive coupling is rotatably connected to a motor drive shaft such that when the motor drive shaft is rotated the drive coupling and the connection interface are rotated.

Claims

1. A delivery vehicle for operation on a two-dimensional rail system with rails extending in a first direction and a second direction, wherein the second direction is perpendicular to the first direction, the delivery vehicle comprising: a vehicle body; two sets of wheels connected to the vehicle body for engagement with the underlying rail system and for moving the delivery vehicle in the first and second directions; a container carrier for supporting a container from below, wherein the container carrier comprises a first conveyor; a conveyor drive shaft for driving the first conveyor; and at least one drive coupling comprising a connection interface accessible from an outer side portion of the vehicle body, wherein the drive coupling is rotatably connected to a motor drive shaft such that when the motor drive shaft is rotated the drive coupling and the connection interface are rotated.

2. The delivery vehicle according to claim 1, further comprising a motor connected to the motor drive shaft, wherein the motor drive shaft is rotatably connected to the conveyor drive shaft.

3. The delivery vehicle according to claim 1, wherein a rotational axis of the connection interface is perpendicular to a rotational axis of the conveyor drive shaft.

4. The delivery vehicle according to claim 2, wherein the drive coupling comprises an angled transmission for transferring rotational motion about the motor drive shaft to rotational motion about the connection interface.

5. The delivery vehicle according to claim 4, wherein the drive coupling comprises: a first connection shaft parallel to the motor drive shaft, and a second connection shaft rotatably connected to the first connection shaft via the angled transmission, and wherein the connection interface is connected on the second connection shaft.

6. The delivery vehicle according to claim 1, wherein the connection interface comprises a cog-wheel mounted on the conveyor drive shaft for transferring rotational movement from the first conveyor to an external cog-wheel connected to a second conveyor drive shaft of a second conveyor.

7. The delivery vehicle according to claim 1, wherein the motor drive shaft and the conveyor drive shaft are parallel.

8. The delivery vehicle according to claim 1, wherein the motor drive shaft and the conveyor drive shaft have a common axis of rotation.

9. The delivery vehicle according to claim 1, comprising two connection interfaces, each of the connection interfaces being arranged on an opposite outer side portion of the vehicle body.

10. The delivery vehicle according to claim 1, wherein the connection interface comprises an intermediate roller arranged parallel to the first conveyor, and which rotates together with the first conveyor.

11. The delivery vehicle according to claim 10, wherein the first conveyor and the intermediate roller are in frictional contact.

12. A system for horizontal movement of storage containers between a first conveyor and a second conveyor, wherein the system comprises: a two-dimensional rail system with rails extending in a first direction and a second direction, wherein the second direction is perpendicular to the first direction, a delivery vehicle comprising a vehicle body and two sets of wheels connected to the vehicle body for engagement with the underlying rail system and for moving the delivery vehicle in the first and second directions, wherein the delivery vehicle comprises a first conveyor for supporting a storage container from below; a second conveyor separate from the first conveyor; a motor assembly for driving the first and/or second conveyor; and at least one drive coupling comprising a connection interface accessible from an outer side portion of the vehicle body for transferring rotational movement between the first conveyor and the second conveyor.

13. The system according to claim 12, wherein a connection interface of the second conveyor comprises a complementary connection interface for engagement with the connection interface of the delivery vehicle.

14. The system according to claim 12, wherein delivery vehicle comprises the motor assembly for driving the first conveyor.

15. The system according to claim 14, wherein the second conveyor is non-motorized.

16. The system according to claim 12, wherein the first conveyor is non-motorized and the motor assembly is connected to the second conveyor.

17. The system according to claim 12, wherein the delivery vehicle is a delivery vehicle for operation on a two-dimensional rail system with rails extending in a first direction and a second direction, wherein the second direction is perpendicular to the first direction, the delivery vehicle comprising: a vehicle body; two sets of wheels connected to the vehicle body for engagement with the underlying rail system and for moving the delivery vehicle in the first and second directions; a container carrier for supporting a container from below, wherein the container carrier comprises a first conveyor; a conveyor drive shaft for driving the first conveyor; and at least one drive coupling comprising a connection interface accessible from an outer side portion of the vehicle body, wherein the drive coupling is rotatably connected to a motor drive shaft such that when the motor drive shaft is rotated the drive coupling and the connection interface are rotated.

18. The system according to claim 12, wherein the complementary connection interface comprises an intermediate roller associated with the second conveyor, and which rotates together with the second conveyor, and wherein the intermediate roller is arranged such that, when the first conveyor on the delivery vehicle is in contact with the intermediate roller, rotational movement of the first conveyor is transferred to the second conveyor via the intermediate roller.

19. The system according to claim 12, wherein the connection interface and complementary connection interface comprise a cog-wheel associated with the first and second conveyors and arranged such that when a cog-wheel associated with the first conveyor is in contact with a cog-wheel of the second conveyor, rotational movement of the first conveyor is transferred to the second conveyor via the cog-wheels, or vice versa.

20. A method of horizontal movement of storage containers between a first conveyor and a second conveyor in an automated storage and retrieval system, wherein the system comprises: a two-dimensional rail system with rails extending in a first direction and a second direction, wherein the second direction is perpendicular to the first direction, a delivery vehicle comprising a vehicle body and two sets of wheels connected to the vehicle body for engagement with the underlying rail system and for moving the delivery vehicle in the first and second directions, wherein the delivery vehicle comprises a first conveyor for supporting a storage container from below; a second conveyor separate from the first conveyor; a motor assembly for driving the first or second conveyor; wherein the method comprises the steps of: instructing the delivery vehicle to enter a position next to the second conveyor (66) such that a connection interface of the delivery vehicle is in contact with a complementary connection interface of the second conveyor which represent a position where an upper surface of the first conveyor is in the same plane or substantially in the same plane as an upper surface of the second conveyor, wherein the connection interface of the delivery vehicle is configured for engagement with the complementary connection interface of the second conveyor; operating the motor assembly to drive the first or second conveyor, wherein rotational movement is transferred between the first and second conveyors, thereby moving the storage container between the upper surface of the first conveyor and the second conveyor.

21. The method according to claim 20, wherein the motor assembly is connected to the first conveyor of the delivery vehicle, such that, upon rotation of the first conveyor, the second conveyor is rotated via the connection interface and the complementary connection interface.

22. The method according to claim 20, wherein the motor assembly is connected to the second conveyor, such that, upon rotation of the second conveyor, the first conveyor is rotated via the connection interface and the complementary connection interface.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0105] FIG. 1A is a perspective view of a framework structure of a prior art automated storage and retrieval system;

[0106] FIGS. 1B-D is a top view of a container handling vehicle rail system, where FIG. 1B shows a single rail system, FIG. 1C shows a double rail system and FIG. 1D shows a double rail system with the width and length of a container handling vehicle grid cell indicated

[0107] FIG. 2 is a perspective view of a prior art container handling vehicle having a centrally arranged cavity for carrying storage containers therein;

[0108] FIG. 3A is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath;

[0109] FIGS. 3B and 3C are perspective views of a prior art automated storage and retrieval system, where FIG. 3B shows a part of the system having a delivery rail system with container delivery vehicles operating below the rail system of container handling vehicles and FIG. 3C shows an example of a container delivery vehicle having a storage container stored within;

[0110] FIGS. 3D and 3E are perspective views of another prior art remotely operated delivery vehicle having a container carrier provided with conveyors;

[0111] FIGS. 3F and 3G show an exemplary wheel base unit for the delivery vehicle;

[0112] FIGS. 4A-C show different perspective views of a delivery vehicle in a first embodiment with a connection interface for connection to an external second conveyor, where FIGS. 4A and 4B show a delivery vehicle with a container carrier and first conveyor, and FIG. 4C a view with where the first conveyor has been removed to better illustrate a possible setup of a drive coupling for transferring rotational movement from a motor drive shaft to a connection interface on the vehicle body,

[0113] FIGS. 5A-5C show examples of an external non-motorized second conveyor to be driven by the drive coupling of the delivery vehicle, and in particular: in FIG. 5A the second conveyor has been removed, in FIG. 5B it is shown a cross section along the centre of the second conveyor in the moving direction of the second conveyor and the mechanical connection comprising mitre gears and rods to transfer the rotational movement from the delivery vehicle to rotational movement of the second conveyor, and in FIG. 5C an opposite view where the connection facilitating movement of the second conveyor using a belt connecting a rotational axis of the second conveyor with the mitre gears and rods for transferring the rotational movement between the delivery vehicle and the second conveyor;

[0114] FIG. 6A shows an example of a delivery vehicle with a connection interface on one side of the vehicle body, wherein the connection interface is in the form of an intermediate roller arranged parallel to the first conveyor, and which rotates together with the first conveyor;

[0115] FIG. 6B shows an example of a delivery vehicle with a connection interface on one side of the vehicle body, and a second conveyor with a complementary connection interface in the form of an intermediate roller, and which rotates together with the second conveyor;

[0116] FIG. 7A shows an example of a delivery vehicle with a connection interface on two sides of the vehicle body, and a second conveyor with a complementary connection interface in the form of an intermediate roller, and which rotates together with the second conveyor, and where the delivery vehicle and the second conveyor are arranged separate from each other;

[0117] FIG. 7B is a similar view as FIG. 7A, however in FIG. 7B the delivery vehicle and the second conveyor are arranged adjacent each other in a position where rotational movement can be transferred between the first conveyor and the second conveyor;

[0118] FIG. 8A is a side view of a delivery vehicle carrying a storage container, where the delivery vehicle has a connection interface in the form of a cog-wheel on one side of the vehicle body, and a second conveyor with a complementary connection interface in the form of an external cog-wheel, where the delivery vehicle and the second conveyor are arranged in contact with each other;

[0119] FIG. 8B is a top view of FIG. 8A;

[0120] FIG. 9A is a side view of a delivery vehicle, where the delivery vehicle has a connection interface in the form of a cog-wheel on two sides of the vehicle body, and a second conveyor carrying a storage container, the second conveyor having a complementary connection interface in the form of an external cog-wheel, where the delivery vehicle and the second conveyor are arranged separate from each other;

[0121] FIG. 9B is a top view of FIG. 9A;

[0122] FIGS. 10A and 10B are perspective views from opposite sides of a system comprising a storage and retrieval system with a rail system where container handling vehicles for lifting storage containers from below operates, a delivery rail system with delivery vehicles and second conveyors arranged at a lower elevation than the rail system where the container handling vehicles operate, and a multi-level delivery rail system in three levels with delivery vehicles and second conveyors arranged on the different levels;

DETAILED DESCRIPTION OF THE INVENTION

[0123] In the following, embodiments of the invention will be discussed in more detail by way of example only and with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

[0124] The framework structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art framework structure 100 described above in connection with FIGS. 1-3, i.e. a number of upright members 102 and a number of horizontal members 103, which are supported by the upright members 102, and further that the framework structure 100 comprises a first, upper rail system 108 in the X direction and Y direction.

[0125] The framework structure 100 further comprises storage compartments in the form of storage columns 105 provided between the members 102, 103, where storage containers 106 are stackable in stacks 107 within the storage columns 105.

[0126] The framework structure 100 can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in FIG. 1A. For example, the framework structure 100 may have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

[0127] The rail system 108 may be a single rail (also denoted single track) system, as is shown in FIG. 1B. Alternatively, the rail system 108 may be a double rail (also denoted double track) system, as is shown in FIG. 1C, thus allowing a container handling vehicle 201 having a footprint generally corresponding to the lateral area defined by an access opening/grid column 112 to travel along a row of grid columns even if another container handling vehicle 201 is positioned above a grid column neighboring that row. Both the single and double rail system, or a combination comprising a single and double rail arrangement in a single rail system 108, forms a grid pattern in the horizontal plane P comprising a plurality of rectangular and uniform grid locations or grid cells 122, where each grid cell 122 comprises a grid opening 115 being delimited by a pair of rails 110a,110b of the first rails 110 and a pair of rails 111a,111b of the second set of rails 111. In FIG. 1C the grid cell 122 is indicated by a dashed box. For example, the sections of the rail-based system being made of aluminium are the rails, and on the upper surface of the rails, there are a pair of tracks that the wheels of the vehicle run in. However, the sections could be separate rails each with a track.

[0128] Consequently, rails 110a and 110b form pairs of rails defining parallel rows of grid cells running in the X direction, and rails 111a and 111b form pairs of rails defining parallel rows of grid cells running in the Y direction. Similarly, on a delivery rail system 308, rails 310a and 310b form pairs of rails defining parallel rows of grid cells running in the X direction, and rails 311a and 311b form pairs of rails defining parallel rows of grid cells running in the Y direction.

[0129] As shown in FIG. 1D, each grid cell 122 has a width W.sub.c which is typically within the interval of 30 to 150 cm, and a length L.sub.c which is typically within the interval of 50 to 200 cm. Each grid opening 115 has a width W.sub.o and a length L.sub.o which is typically 2 to 10 cm less than the width W.sub.c and the length L.sub.c of the grid cell 122.

[0130] In the X and Y directions, neighboring grid cells are arranged in contact with each other such that there is no space therebetween.

[0131] FIG. 3A is a perspective view of a prior art container handling vehicle 301 having a cantilever for carrying storage containers underneath.

[0132] A different automated storage and retrieval system 1 is shown in part in FIG. 3B. The upright members 102 constitute part of a framework structure 100 onto which a transport rail system 108 with a plurality of container handling vehicles 201,301 are operating.

[0133] Below this transport rail system 108, near the floor level, another framework structure 300 is shown which partly extends below some of the storage columns 105 of the framework structure 100. As for the other framework structure 100, a plurality of vehicles 30 may operate on a rail system 308 comprising a first set of parallel rails 310 directed in a first direction X and a second set of parallel rails 311 directed in a second direction Y perpendicular to the first direction X, thereby forming a grid pattern in the horizontal plane P.sub.L comprising a plurality of rectangular and uniform grid locations or grid cells 322. Each grid cell of this lower rail system 308 comprises a grid opening 315 being delimited by a pair of neighboring rails 310a,310b of the first set of rails 310 and a pair of neighboring rails 311a,311b of the second set of rails 311.

[0134] The part of the lower rail system 308 that extends below the storage columns 105 are aligned such that its grid cells 322 are in the horizontal plane P.sub.L coincident with the grid cells 122 of the upper rail system 108 in the horizontal plane P.

[0135] Hence, with this particular alignment of the two rail systems 108,308, a storage container 106 being lowered down into a storage column 105 by a container handling vehicle 250 can be received by a prior art delivery vehicle 30 configured to run on the rail system 308 and to receive storage containers 106 down from the storage column 105. In other words, the delivery vehicle 30 is configured to receive storage containers 106 from above, preferably directly from the container handling vehicle 201,301.

[0136] FIG. 3C shows an example of such a prior art delivery vehicle 30 comprising a wheel assembly 32a, 32b similar to the wheel assembly 251 described for the prior art container handling vehicle 250 and a storage container support 352 for receiving and supporting a storage container 106 delivered by an above container handling vehicle 201,301.

[0137] After having received a storage container 106, the delivery vehicle 30 may drive to a port or access station adjacent to the rail system 308 (not shown) for delivery of the storage container 106 for further handling and shipping.

[0138] Referring to FIGS. 3D and 3E, it is shown perspective views another prior art remotely operated delivery vehicle having a container carrier 35 provided with a conveyor 36 arranged to convey the container 106 on and off the container carrier 35 in a horizontal direction. In this configuration, the container carrier 35 comprises a base plate, a conveyor 36 arranged on the base plate and two parallel side walls protruding upwards from the base plate. The rolling devices 32a,32b and the vehicle body 31 are equal or similar to the rolling device 32 and the vehicle body 31 described in relation to FIG. 3F and FIG. 3G below.

[0139] The conveyor 36 may be set up by, inter alia, a plurality of parallel oriented rolls 36 having a common longitudinal direction perpendicular to the two side walls. In this way the rolls 36 allow one or more storage containers 106 to be shifted onto or off the container carrier 35 while being guided by the side walls. The conveyor may be connected to a conveyor motor allowing rotation of one or more of the rolls.

[0140] Alternatively, the side walls are omitted, allowing the storage containers 106 to have a horizontal offset relative to a vertical center plane oriented perpendicular to the rolls longitudinal direction. Hence, the storage containers 106 may be arranged such that it extends beyond the end of the rolls in the rolls longitudinal direction.

[0141] In yet another alternative configuration, the conveyor may comprise a plurality of rolling balls within or on the base plate of the container carrier 35 allowing the one or more storage containers 106 to roll on top of the balls. With this configuration, and with no side walls present, the storage container 106 may be moved in any direction above the base plate.

[0142] As is seen in FIG. 3E, the container carrier 35 may be tilted by means of a dedicated displacement device 41. The tilting may be around a pivot axis directed in the principal moving direction of the delivery vehicle 30. If the delivery vehicle 30 is moving on perpendicular rails (see below), these principal directions would be in either the X direction or the Y direction.

[0143] The tilting of the displacement device 41 may for example be obtained by a lifting arm 45 coupled to the vehicle body 31 and the container carrier 35. Further, the lifting arm 45 may be driven by a dedicated tilt motor (not shown) or the rolling device motor or both.

[0144] An exemplary wheel base unit for the delivery vehicle 30 is shown in FIGS. 3F and 3G. The wheel base unit 2 features a wheel arrangement 32a,32b having a first set of wheels 32a for movement in a first direction upon a rail system (i.e. any of the top rail system 108 and the delivery rail system 308) and a second set of wheels 32b for movement in a second direction perpendicular to the first direction. Each set of wheels comprises two pairs of wheels arranged on opposite sides of the wheel base unit 2. To change the direction in which the wheel base unit may travel upon the rail system, one of the sets of wheels 32b is connected to a wheel displacement assembly 7. The wheel displacement assembly is able to lift and lower the connected set of wheels 32b relative to the other set of wheels 32a such that only the set of wheels travelling in a desired direction is in contact with the rail system. The wheel displacement assembly 7 is driven by an electric motor 8. Further, two electric motors 4,4′, powered by a rechargeable battery 6, are connected to the set of wheels 32a,32b to move the wheel base unit in the desired direction.

[0145] Further referring to FIGS. 3F and 3G, the horizontal periphery of the wheel base unit 2 is dimensioned to fit within the horizontal area defined by a grid cell, such that two wheel base units may pass each other on any adjacent grid cells of the rail system 108, 308. In other words, the wheel base unit 2 may have a footprint, i.e. an extent in the X and Y directions, which is generally equal to the horizontal area of a grid cell, i.e. the extent of a grid cell in the X and Y directions, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference.

[0146] The wheel base unit 2 has a top panel/flange 9 (i.e. an upper surface) configured as a connecting interface for connection to a connecting interface of a first conveyor. The top panel 9 have a centre opening 20 and features multiple through-holes 10 (i.e. connecting elements) suitable for a bolt connection via corresponding through-holes in the first conveyor 36. In other embodiments, the connecting elements of the top panel 9 may for instance be threaded pins for interaction with the through-holes of the first conveyor. The presence of a centre opening 20 is advantageous as it provides access to internal components of the wheel base unit, such as the rechargeable battery 6 and an electronic control system 21.

[0147] FIGS. 4A-4C show different perspective views of a delivery vehicle 30 in a first embodiment with a connection interface 46 for connection to an external second conveyor (see e.g. FIGS. 5A-5C), where FIGS. 4A and 4B show a delivery vehicle 30 with a container carrier 35 and first conveyor 36, and FIG. 4C a view with where the first conveyor has been removed to better illustrate a possible setup of a drive coupling 40 for transferring rotational movement from a motor drive shaft 47 (which is connected to a motor 48) to a connection interface 46 on the vehicle body 31. The delivery vehicle 30 comprising two sets of wheels 32a,32b connected to the vehicle body 31 for engagement with an underlying rail system (not shown) and for moving the delivery vehicle 30 in the first and second directions X, Y. The rolling devices 32a,32b and the vehicle body 31 are similar to the rolling devices 32a,32b and the vehicle body 31 described in relation to FIGS. 3F and 3G above. The delivery vehicle 30 is suitable for operation on a two-dimensional rail system with rails extending in a first direction X and a second direction Y, where the second direction is perpendicular to the first direction. The delivery vehicle 30 further comprising a container carrier 35 with a first conveyor 36 for supporting a storage container (not shown) from below. A conveyor drive shaft 42 for rotating the first conveyor 36 is arranged parallel to a motor drive shaft 47. The conveyor drive shaft 42 and the motor drive shaft 47 are rotationally coupled via a flexible force transferring means (e.g. a drive belt) 70, which may be arranged on an outside of the vehicle body 31 as shown. Alternatively, the flexible force transferring means could be arranged at a centre of the roll if the conveyor belt was provided as a twin belt arrangement on the roller. In the embodiment of FIGS. 4A-4C, the drive coupling 40 comprises a first connection shaft 43 parallel to the motor drive shaft 47 and a second connection shaft 49 perpendicular to the first connection shaft 43. The second connection shaft 49 is rotatably connected to the first connection shaft 43 via an angled transmission 50, wherein the connection interface 46 is connected in both ends of the second connection shaft 49. The connection interfaces 46 are accessible from an outer side portion of the vehicle body 31 and are disclosed as a screw coupling. The setup enables that the drive coupling 40, and thus the connection interface(s) 46, is rotatably connected to the motor drive shaft 47 such that when the motor drive shaft 47 is rotated, the drive coupling 40 and the connection interface(s) 46 are rotated. When the connection interface 46 is in connection with a complementary connection interface 68 on an external second conveyor 66 (see FIGS. 5A-5C) this setup enables that rotation can be transferred to rotational movement of the second conveyor 66 at the same speed as the first conveyor 36 for transferring storage containers 106 between the first conveyor 36 and the second conveyor 66 as well as between the second conveyor 66 and the first conveyor 36.

[0148] FIGS. 5A-5C show examples of an external non-motorized second conveyor 66 to be driven by the drive coupling 40 and connection interface 46 of the delivery vehicle 30 in FIGS. 4A-4C. In FIG. 5A the second conveyor 66 has been removed, in FIG. 5B it is shown a cross section along the centre of the second conveyor 66 in the moving direction of the second conveyor 66 as well as the mechanical connection comprising mitre gears and connection shafts to transfer the rotational movement from the delivery vehicle 30 to rotational movement of the second conveyor 66, and in FIG. 5C an opposite view where the connection facilitating movement of the second conveyor 66 using a belt connecting a rotational axis of the second conveyor with the mitre gears and connection shafts for transferring the rotational movement between the delivery vehicle 30 and the second conveyor 66.

[0149] In the illustrated embodiment there are two complementary connection interface(s) 68 in the form of a toothed sprocket which can cooperate with the connection interface 46 in the form of a flat plate on the delivery vehicle 30 (see e.g. FIGS. 4A-4C) such that they can couple torque from the delivery vehicle to the remote/external second conveyor. The complementary connection interfaces 68 are connected in each end of a first shaft 71.

[0150] While two complementary connection interface(s) 68 are shown at opposite ends of the first shaft 71, the non-motorised second conveyor may comprise only a single connection interface 68.

[0151] The connection interface(s) 68 may comprise a toothed sprocket as shown, comprising a set of axially extending teeth which can mesh with a corresponding formation of the connection interface 46 on the delivery vehicle 30, or it could comprise other shapes that are capable of transmitting torque from the connection interface 46 on the delivery vehicle 30 to the first shaft 71 of the non-motorised second conveyor 66. For example, the connection interfaces 46, 68 could comprise complimentary cogs with radially or generally radially extending splines, protrusion and socket arrangements (e.g., a hexagonal or other shaped protrusion having axially extending corner edges or teeth that engage with a splined or profiled recess), or other similar connection to provide a mechanical torque connection.

[0152] In some embodiments, the second connection shaft 49 and the associated connection interfaces 46 could be arranged with an axis parallel to but displaced from the first shaft 71, so that circumferential surfaces of the connection interfaces 46, 68 engage with one another to transmit torque from the delivery vehicle 30 to the non-motorised second conveyor. For example, the connection interfaces could be in the form of cogs or splined shafts.

[0153] The connection interfaces 46, 68 could also comprise a frictional coupling, for example, through friction pads arranged to couple torque from one end of one shaft to an end of the other, e.g., when the delivery vehicle 30 urges itself against a connection interface 68 of the non-motorised second conveyor under drive provided by a set of the delivery vehicles' wheels 32a,32b. The friction pads, in comparison to the connection interfaces 46,68 described above, may be in the form of flat discs or have planar engagement portions which are flat in a radial plane perpendicular to the shaft axis. Additional assistance could be provided to the torque coupling using electromagnetic clamps or suction devices which help to clamp the friction pads together during transmission of the torque.

[0154] The first shaft 71 is connected to one end of a perpendicularly arranged second shaft 72, where rotational movement between the first and second shafts 71,72 is provided via mitre gears 73. An opposite end of the second shaft 72 may extend beyond the width of the second conveyor 66. The second shaft 72 is parallel to a second conveyor drive shaft 74. The opposite end of the second shaft 72 is rotationally connected to the second conveyor drive shaft 74 via a flexible force transferring means (e.g. drive belt) 75.

[0155] Although it is disclosed in FIGS. 4A-4C and 5A-5C that the motor 48 and motor drive shaft 47 are arranged as part of the delivery vehicle 30, it is clear that the motor 48 and drive shaft 47 can be arranged in the connection with the second conveyor 66 such that rotational movement can be transferred from the complementary connection interface 68 on the second conveyor 66 to the connection interface 46 on the delivery vehicle instead.

[0156] FIG. 6A shows an example of a delivery vehicle 30 with a connection interface on one side of the vehicle body 31, wherein the connection interface is in the form of an intermediate roller 67 arranged parallel to the first conveyor 36. The intermediate roller 67 rotates together with the first conveyor 36. The intermediate roller 67 is thus connected to the first conveyor 36 and rotation can be achieved by either friction between the surface of the first conveyor 36 and the intermediate roller 67 or by a mechanical connection such as a belt running between a conveyor drive shaft and a rotary shaft of the intermediate roller 67 (not shown). When the delivery vehicle 31 has positioned itself next to the second conveyor 66, rotational movement is transferred from the first conveyor 36 via the intermediate roller 67 and to the second conveyor 66. The surface of the intermediate roller 67 and the surface of the second conveyor 66 are frictionally connected such that the transfer of the rotational movement is achieved. In order to provide sufficient friction between the surfaces of the intermediate roller 67 and the second conveyor 66, preferably all wheels in both sets of wheels 32a,32b are in contact with the underlying rail system 108,308 thereby ensuring a stable transfer of the storage containers between the first and second conveyors 36,66 with reduced risk that the delivery vehicle 30 unintentionally moves.

[0157] FIG. 6B shows an example of a delivery vehicle 30 with a connection interface on one side of the vehicle body 31, and a second conveyor 66 with a complementary connection interface in the form of an intermediate roller 67. The intermediate roller 67 is connected to the second conveyor 66 and rotates together with the second conveyor 66 and rotation can be achieved by either friction between the surface of the first conveyor 36 and the intermediate roller 67 or by a mechanical connection such as a belt running between a second conveyor drive shaft and a rotary shaft of the intermediate roller 67 (not shown). When the delivery vehicle 31 has positioned itself next to the second conveyor 66, rotational movement is transferred from the second conveyor 36 via the intermediate roller 67 and to the first conveyor 66. The surface of the intermediate roller 67 and the surface of the first conveyor 66 are frictionally connected such that the transfer of the rotational movement is achieved. In order to provide sufficient friction between the surfaces of the intermediate roller 67 and the first conveyor 66, the delivery vehicle 31 can lower itself onto the intermediate roller 67. Furthermore, preferably all wheels in both sets of wheels 32a,32b are in contact with the underlying rail system 108,308 thereby ensuring a stable transfer of the storage containers between the first and second conveyors 36,66 with reduced risk that the delivery vehicle 30 unintentionally moves.

[0158] The vehicle body 31 may comprise a recess 69 for accommodating the intermediate roller 67, regardless whether the intermediate roller 67 is connected to the first conveyor 36 or the second conveyor 66.

[0159] FIG. 7A shows an example of a delivery vehicle 30 with a connection interface on two sides of the vehicle body 31, and a second conveyor 66 with a complementary connection interface in the form of an intermediate roller 67. The remaining features are similar to the embodiment described with reference to FIG. 6B and will not be repeated herein.

[0160] FIG. 7B is a similar view as FIG. 7A, however in FIG. 7B the delivery vehicle 31 and the second conveyor 66 are arranged adjacent each other in a position where rotational movement can be transferred between the first conveyor 36 and the second conveyor 66. In order to provide sufficient friction between the surfaces of the intermediate roller 67 and the first conveyor 66, the delivery vehicle 31 can lower itself onto the intermediate roller 67. Furthermore, preferably all wheels in both sets of wheels 32a,32b are in contact with the underlying rail system 108,308 thereby ensuring a stable transfer of the storage containers between the first and second conveyors 36,66 with reduced risk that the delivery vehicle 30 unintentionally moves.

[0161] FIG. 8A is a side view of a delivery vehicle 30 carrying a storage container 106, where the delivery vehicle 30 has a connection interface in the form of a cog-wheel 51 on one side of the vehicle body 31. The second conveyor 36 has a complementary connection interface in the form of an external cog-wheel 52. In FIG. 8A the delivery vehicle 30 and the second conveyor 66 are arranged in contact with each other. As disclosed in the Figure, the cog-wheel 51 is arranged at the end of the first conveyor 36, e.g., mounted on the drive shaft 42 of the first conveyor to engage with the external cog-wheel 52 of the second conveyor 66. A drive gear (not shown) can be mounted on the second conveyor drive shaft 74 to transfer the rotational movement. An idler gear or similar may be arranged to reverse the rotation such that the first and second conveyors 36, 66 rotate in the same direction.

[0162] FIG. 8B is a top view of FIG. 8A showing two cog-wheels 51 arranged on opposite ends of the conveyor drive shaft 42 to cooperate with two external cog-wheels 52 on opposite ends of the second conveyor 66 to transfer rotational movement between the first cog-wheels 51 and the external cog-wheels 52. This setup enables that when a cog-wheel 51 of the first conveyor 36 is in contact with a cog-wheel 52 of the second conveyor 66, rotational movement of the first conveyor 36 is transferred to the second conveyor 66 via the cog-wheels 51,52, or vice versa. As such, storage containers 106 can be transferred between the first conveyor 36 and the second conveyor 66 as well as between the second conveyor 66 and the first conveyor 36.

[0163] FIG. 9A is a side view of a delivery vehicle 30, where the delivery vehicle 30 has a connection interface in the form of a cog-wheel 51 on two sides of the vehicle body 31 (i.e. on both ends of the first conveyor 36) and a second conveyor 66 carrying a storage container 106. This setup enables the possibility that the delivery vehicle 31 can connect to external cog-wheels 52 on both ends of the delivery vehicle 31. Furthermore, if arranging a number of delivery vehicles 31 with this particular configuration with the conveyors 36 one after the other, a continuous conveyor may extend all the way from the delivery vehicle 31 at one end to a delivery vehicle 31 or second conveyor 66 at an opposite end. In the disclosed example, the second conveyor 66 has a complementary connection interface in the form of an external cog-wheel 52. The delivery vehicle 30 and the second conveyor 66 are connected to each other. When the delivery vehicle 30 is positioned next to the second conveyor 66, preferably all wheels in both sets of wheels 32a,32b are in contact with the underlying rail system 108,308 thereby ensuring a stable transfer of the storage containers between the first and second conveyors 36,66 with reduced risk that the delivery vehicle 30 unintentionally moves.

[0164] FIG. 9B is a top view of FIG. 9A.

[0165] In one embodiment the connection interfaces 44 do not protrude beyond the footprint of the wheel base unit 2. The delivery vehicles 30 may then pass each other on adjacent tracks (i.e. double tracks), without the connection interfaces 44 engaging one another or without the connection interfaces 44 colliding with adjacent delivery vehicles 30. Conceivably, if the connection interfaces 44 did protrude to some extent they could be arranged at different heights on opposite sides of the delivery vehicle 30 and grooves could be provided to allow the connection interfaces 44 to sweep past without contact.

[0166] Alternatively, if the second conveyor 66 is non-motorized, the connection interface 44 may protrude in order to engage the connection interface 44 of the delivery vehicle 30. However, depending on the positioning of the second conveyor 66 with respect to the ail system 108,308, that might require a direct on approach towards the second conveyor 66 by the delivery vehicle 30 so that the connection interfaces 44,46,47,68 engage properly, and that may mean that the grid cell 122 in front of it can only be used in one direction of travel towards and away from the second conveyor 66. Alternatively, the second conveyor 66 could be stepped back a distance, e.g., a few centimeters or so, so that its connection interface 68 does not protrude into the neighboring grid cell, in which case, the delivery vehicle 30 would need to move a similar distance into the grid cell with the second conveyor 66 (so that the connection interfaces can be engaged and torque transmitted from one to the other).

[0167] FIGS. 10A and 10B are perspective views from opposite sides of a system where a delivery vehicle 30 according to the invention can be used. The system comprising a storage and retrieval system with a rail system where container handling vehicles 301 for lifting storage containers 106 from below operates. A delivery rail system 308 with delivery vehicles 30 and second conveyors 66 are arranged at a lower elevation than the rail system where the container handling vehicles 301 operate. A multi-level delivery rail system 308 in three levels are disclosed with delivery vehicles 30 and second conveyors 66 arranged on the different levels. The delivery vehicles 30 can pick up storage containers 106 from a buffer in a lower end of a port column 119. The storage containers 106 can be transferred into the buffer by being lowered onto, or retrieved from, the second conveyor 66 either by container handling vehicles 301 operating on the rail system 108 in a plane above the second conveyor 66 or by delivery vehicles with a first conveyor 36 in the same plane as the second conveyor 66. Possibly, two or more storage containers 106 can be placed on top of one another on the second conveyor 66.

[0168] It is further disclosed several access stations 65 or picking station arranged adjacent a second conveyor 66 from which a human or robotic operator may pick one or more items from the storage container 106. In order to increase safety for the operator, the second conveyor 66 may be of sufficient length such that the operator's distance from the rail system 308 is sufficient to perform safe handling of the items in the storage containers 106 or boxes.

[0169] The delivery vehicles 30, with or without storage container(s) 106 or box(es), can move between the different levels of the delivery rail system 308 using a dedicated delivery vehicle lift (not shown).

[0170] If using delivery vehicles 30 with an external torque or power output, i.e. a connection interface 46 which can cooperate with a complementary connection interface 68 on the second conveyor 66, provides for modularity in terms of where to arrange the second conveyors 66 as there is not need for software nor power to operate the second conveyor 66 and the second conveyors 66 can be easily re-arranged to other locations dependent on the pending requirements.

[0171] In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.

TABLE-US-00001 List of reference numbers  1 Prior art storage and retrieval system  2 Wheel base unit  3 Container supporting unit .sup. 4, 4′ Electric motor  6 Rechargeable battery  7 Wheel displacement assembly  8 Electric motor for wheel displacement assembly  9 Top panel/flange 10 Through-holes 20 Centre opening 21 Electronic control system 30 Delivery vehicle 31 Vehicle body 32a, 32b Wheel arrangement, first and second set of wheels 35 Container carrier 36 First conveyor 40 Drive coupling 41 Displacement device/Tilting device 42 Conveyor drive shaft 43 First connection shaft 44 Connection interface 45 Lifting arm 46 Connection interface (first and second) 47 Motor drive shaft 48 Motor 49 Second connection shaft 50 Angled transmission 51 Cog wheel 52 External cog wheel (in connection with second conveyor) 65 Access station 66 Second conveyor/external conveyor/Conveyor line 67 Intermediate roller 68 Complementary connection interface 69 Recess in vehicle body 70 Flexible force transferring means/Drive belt of first conveyor 71 First shaft 72 Second shaft 73 Mitre gears 74 Second conveyor drive shaft 75 Flexible force transferring means/Drive belt of second conveyor 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, 110a, 110b Parallel rails in first direction (X) 111, 111a, 111b Parallel rail in second direction (Y) 112  Access opening 115  Grid opening 119  First port column 120  Second port column 122  Grid cell 201  Prior art storage container vehicle 201a Vehicle body of the storage container vehicle 201 201b Drive means/wheel arrangement, first direction (X) 201c Drive means/wheel arrangement, second direction (Y) 300  Delivery framework structure 301  Prior art cantilever storage container vehicle 301a Vehicle body of the storage container vehicle 301 301b Drive means in first direction (X) 301c Drive means in second direction (Y) 308  Delivery rail system 310, 310a, 310b First set of parallel rails in first direction (X) on delivery rail system 311, 311a, 311b Second set of parallel rails in second direction (Y) on delivery rail system 315  Grid opening in delivery rail system 322  Grid cell of delivery rail system 352  Storage container support 500  Control system X First direction Y Second direction Z Third direction