Container handling vehicle with direct drive on lifting axle(s), associated methods and system

Abstract

An automated storage and retrieval system comprises a rail system comprising a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of tracks form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; and a plurality of stacks of storage containers arranged in storage columns located beneath the rail system. Each storage column is located vertically below a grid opening. A container handling vehicle comprises a transport mechanism for transport of the vehicle on the rail system, a lifting assembly for picking up storage containers from the storage columns to a position above the lowest level of the transport mechanism. The lifting assembly comprises a lifting frame connectable to a storage container, a first lifting shaft and a second lifting shaft, the first and second lifting shafts being mainly parallel, and each of the first and second lifting shafts being supported in an upper portion of the vehicle, two lifting elements extending from each of the first and second lifting shafts to the lifting frame, a motor drive assembly comprising at least a first motor, wherein the at least first motor encircles one of the lifting shafts, and a force transferring assembly rotatably connecting the first and second lifting shafts via a force transferring element.