WO2025157367A1

WO2025157367A1 - A lifting frame assembly, associated container handling vehicle and automated storage and retrieval system, and methods of use thereof

Info

Publication number: WO2025157367A1
Application number: PCT/EP2024/051335
Authority: WO
Inventors: Jørgen Heggebø
Original assignee: Autostore Technology AS
Current assignee: Autostore Technology AS
Priority date: 2024-01-22
Filing date: 2024-01-22
Publication date: 2025-07-31
Anticipated expiration: 2026-07-22

Abstract

The invention relates to a lifting frame assembly (23) for a container lift device (201, 301, 401) of an automated storage and retrieval system (1), wherein the lifting frame assembly (23) comprises: - a base (30) configured to be suspended from the container lift device (201, 301, 401) by suspension means (25); - a lifting frame (29) supported by the base (30); - a plurality of grippers (26), each gripper (26) being movable between a first position and second position relative to the lifting frame (29), wherein the second position is at a lower elevation than the first position, such that in the second position each gripper (26) is connectable to a storage container (106) The invention also relates to an associated container handling vehicle comprising the lifting frame assembly, an automated storage and retrieval system comprising the lifting frame assembly and methods of using the lifting frame assembly.

Description

A LIFTING FRAME ASSEMBLY, ASSOCIATED CONTAINER HANDLING VEHICLE AND AUTOMATED STORAGE AND RETRIEVAL SYSTEM, AND METHODS OF USE THEREOF

[001] The invention relates to the technical field of automated storage and retrieval systems (ASRS), and in particular to the type of ASRS comprising a framework structure supporting a rails system above and where container handling vehicle can travel on the rail system while retrieving and putting storage containers into stacks below the rail system.

BACKGROUND AND PRIOR ART

[002] Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.

[003] The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminum profiles.

[004] The framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails no arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108. The container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

[005] The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self-supporting.

[006] Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively. In Figs. 2, 3 and 4 two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set no of rails, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.

[007] Each prior art container handling vehicle 201,301,401 also comprises a lifting device for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201,301,401 so that the position of the gripping / engaging devices with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs. 3 and 4 indicated with reference number 304,404. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2 and is thus not shown.

[008] Conventionally, and also for the purpose of this application, Z=i identifies the uppermost layer available for storage containers below the rails 110,111, i.e. the layer immediately below the rail system 108, =2 the second layer below the rail system 108, =3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=i...n and Y=i...n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position X=i , Y=i, Z=6. The container handling vehicles 201,301,401 can be said to travel in layer Z=o, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in Fig. 1 extending above the rail system 108 are also said to be arranged in layer Z=o.

[009] The storage volume of the framework structure 100 has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y-direction, while each storage cell may be identified by a container number in the X-, Y- and Z-direction.

[0010] Each prior art container handling vehicle 201,301,401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a, 401a as shown in Figs. 2 and 4 and as described in e.g. WO2O15/ 193278A1 and

WO2O19/ 206487A1, the contents of which are incorporated herein by reference.

[0011] Fig. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

[0012] The cavity container handling vehicle 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2O15/ 193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

[0013] Alternatively, the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014/090684A1 or W02019/206487A1.

[0014] The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g. an X direction) may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

[0015] WO2O18/ 146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.

[0016] In the framework structure 100, a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. In addition to storage columns 105, there are special-purpose columns within the framework structure. In Fig. 1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located maybe referred to as a ‘port column’ 119,120. The transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical. For example, the storage containers 106 maybe placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station. The transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

[0017] In Fig. 1, the first port column 119 may for example be a dedicated dropoff port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 maybe a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.

[0018] The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are returned into the framework structure 100 again once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

[0019] A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.

[0020] If the port columns 119,120 and the access station are located at different levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.

[0021] The conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in WO2O14/ 075937A1, the contents of which are incorporated herein by reference.

[0022] When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201,301,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the abovepositioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, maybe performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105. [0023] When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105, or relocated to other storage columns 105.

[0024] For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

[0025] When putting a storage container into, and retrieving storage containers out from, a shelf in a neighboring storage cell/column, it is known to use a lifting frame which can be telescopically connected to a lifting frame holder arranged in a transfer column. The transfer column does not have storage and is a column where the lifting frame may move up and down in order to put and retrieve storage containers in one or more of the surrounding, i.e. neighboring, storage columns. The neighboring storage columns may comprise static shelves such that the storage containers are not supported on top of each other as described above but rather positioned on individual shelves. In order to be able to put and retrieve storage containers onto and off the shelves by a lifting frame, some clearance space is required between the top of a stored storage container and the next shelf to make space for the lifting frame. An example of such a solution is disclosed in. Figs. 15A and 15B in WO 2023088911 Al. The lifting frame 27 is vertically fixed relative to the lifting frame holder 29 in WO 2023088911 Al. Thus, in order to retract the telescopic part 21 with the lifting frame 27 in WO 2023088911 Al from the neighboring storage column into the transfer column, the lifting frame holder 29 has to be lifted up and in order for the gripping device 26 to be clear of the top of the storage container 106 positioned on the static shelf 51b. In order to make sufficient space for this movement to be possible, additional height is required between each static shelf 51b. [0026] An aim of the invention is to reduce the height required for putting and getting bins to and from a static shelf in a neighboring storage column when using a lifting frame assembly.

SUMMARY OF THE INVENTION

[0027] This summary is provided to introduce in simplified form a selection of concepts that are further described herein. The summary is not intended to identify key or essential features of the invention.

[0028] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other optional features.

[0029] An advantage of the lifting frame assembly described herein is that less vertical height is required when putting and retrieving bins in a neighboring storage cell/ column, i.e. a cell next to a “transfer column” where the lifting device move up and down. If using prior art lifting frame, the lifting frame has to be liftable to a position where the grippers are clear of the top of the storage container in the neighboring cell (i.e. the lowermost part of the grippers has to be above the top of the storage container in order to be able to retract the lifting frame sideways into the transfer column when not carrying a storage container. This is solved by making the grippers movable relative to the lifting frame. In alternative embodiments also the guiding members may be movable relative to the lifting frame.

[0030] The present invention relates to a lifting frame assembly for a container lift device of an automated storage system, wherein the lifting frame assembly comprises: a base configured to be suspended from the container lift device by suspension means; a lifting frame; a plurality of grippers, each gripper being movable between a first position and second position relative the lifting frame, wherein the second position is at a lower elevation than the first position, such that in the second position each gripper is connectable to a storage container.

[0031] In the first position, the lowermost part of the gripper is at a higher elevation than in the second position.

[0032] The lifting frame assembly takes up minimum space when in the neighboring column thereby allowing for taller bins. [0033] Another advantage is that the invention provides for the possibility of lifting taller so-called “top bins”. Top bins are storage containers positioned on top of a stack where at least a part of the uppermost storage container extends above the rails of the rail system.

[0034] The grippers can connect to a storage container from above or from a side.

[0035] The container lift device can e.g. be arranged on a container handling vehicle or a gantry arrangement.

[0036] The grippers may be movable at least partly into the lifting frame.

[0037] The grippers can be completely retracted into the lifting frame and, as such, not be a limiting factor at all for the bin height in a neighbor storage column. The grippers can be completely retracted into the lifting frame and, as such, not be a limiting factor at all for the bin height in a neighbor cell. The grippers may retract into a hole in the lifting frame or slide up on an outer edge of the lifting frame.

[0038] The lifting frame assembly may comprise at least one linear actuator for moving the grippers in a vertical direction.

[0039] The lifting frame assembly may comprise at least one actuator for rotating the grippers in a vertical plane between the first position and the second position.

[0040] There may one actuator per gripper or one actuator may operate two or more grippers when moving between the first position and the second position, respectively.

[0041] The grippers can be rotated between a position where a longitudinal axis of the grippers extends downwards from the lifting frame, i.e. the second position, and a position where the longitudinal axis of the grippers is parallel to the lifting frame, i.e. the first position. It is possible that the gripper is not protruding from the lifting frame at all and is flush with the lifting frame.

[0042] Rotating a gripper may comprise pivoting the gripper about a pivot point at an end of the gripper where the gripper attaches to the lifting frame.

[0043] The lifting frame assembly may comprise telescopic part for moving the lifting frame sideways relative to the base.

[0044] Sideways may also be seen as horizontally. In an extended state, the telescopic part may move the lifting frame into a neighboring storage column while the base is still in the transfer column. In a retracted state, the telescopic part and the lifting frame are within a vertical projection of the base.

[0045] The lifting frame assembly may comprise at least one gripper connection member and wherein the grippers may be connected to the gripper connection member.

[0046] The gripper connection member can be a mutual connection member for two or more of the grippers such that the grippers move synchronous relative the lifting frame during movement between the first position and the second position.

[0047] The gripper connection member may be movable relative to the lifting frame.

[0048] The grippers are connectable to the connection member. Since the connection member is movable relative to the base, the grippers will move relative to the lifting frame together with the connection member. The lifting frame assembly can comprise an actuator for moving the gripper connection member relative to the lifting frame.

[0049] A sum of a horizontal cross sectional area of the gripper connection member and lifting frame may be equal to or less than a horizontal cross sectional area of the base.

[0050] As such, no parts of the lifting frame assembly extends outside a vertical projection of the base when the telescopic part is in the retracted position.

[0051] The lifting frame assembly may comprise guiding members, and the guiding members may be movable relative to the lifting frame.

[0052] The guiding members may be configured to guide against the upright members. In order to guide sufficiently, a guiding surface of the upright member and a guiding surface of the guiding members are preferably complementary shaped.

[0053] The storage containers are preferably provided with gripping recesses for lifting the storage container from above.

[0054] In order for the grippers to align correctly with the gripping recesses on the storage containers, each corner of the storage containers are preferably provided with vertical recesses for guiding the guiding members of the lifting frame assembly. A surface of the vertical recesses and the surface of the guiding members are preferably complementary shaped.

[0055] The guiding members may be connected to the gripper connection member.

[0056] It is further described a container handling vehicle comprising a lifting frame assembly as defined above.

[0057] The suspension means may be lifting bands.

[0058] Alternatively, other suspension means may be used such as wire, rope, chain etc.

[0059] The lifting bands may comprise means for signal and communication transmission between the container handling vehicle and the lifting frame assembly.

[0060] The signal may be communication signal.

[0061] Communication with the grippers in terms of their vertical movement and engagement and disengagement to the storage containers maybe achieved through the lifting bands.

[0062] The present invention also relates to 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 framework 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 across the top of the framework structure which is perpendicular to the first direction, wherein a number of container handling vehicles operate on the rail system for storing and retrieving storage containers in the automated storage and retrieval system, and wherein the system comprises:

- a container handling vehicle as defined above.

[0063] If required in order to obtain stability when moving the lifting frame sideways, the lifting frame assembly may comprise guiding members for guiding against upright members of the framework structure of the automated storage system.

[0064] The present invention also relates to a method of picking up a target storage container stored in a neighboring storage column of an automated storage and retrieval system using a container lift device comprising a lifting frame assembly, the lifting frame assembly comprises:

- a base configured to be suspended from the container lift device by suspension means;

- a lifting frame movable sideways relative to the base;

- a plurality of grippers, each gripper being movable between a first position and second position relative the lifting frame, wherein the second position is at a lower elevation than the first position, such that in the second position each gripper is connectable to a storage container; wherein the method comprises the steps of:

- moving the lifting frame sideways from a transfer column to the neighboring storage column while the grippers are in the first position;

- when the lifting frame is above the target storage container, lowering the grippers to the second position and connecting the grippers to the storage container;

- lifting the target storage container;

- moving the lifting frame with the connected target storage container sideways into the transfer column.

[0065] The present invention also relates to a method of positioning a target storage container in a neighboring storage column of an automated storage and retrieval system using a container lift device comprising a lifting frame assembly, the lifting frame assembly comprises:

- a lifting frame movable sideways relative to the base;

- moving the lifting frame with the connected target storage container sideways from a transfer column to the neighboring storage column, while the grippers are in the second position;

- when the lifting frame is in the neighboring storage column, disengaging the grippers from the target storage container and raising the grippers to the first position until a lowermost part of the grippers is clear off the target storage container;

- moving the lifting frame sideways into the transfer column. [oo66] The present invention also relates to a method of retrieving a storage container which is extending above a rail system in an automated storage and retrieval system, the 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 framework 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 across the top of the framework structure which is perpendicular to the first direction, a container handling vehicle operating on the rail system for storing and retrieving storage containers in the automated storage and retrieval system, wherein the container handing vehicle comprises a lifting frame assembly as defined above, wherein the method comprises the steps of: controlling that the grippers are in the first position; moving the container handling vehicle to a position such that the lifting frame is above the storage container; lowering the grippers to the second position and connecting the grippers to the storage container; lifting the grippers to the first position thereby lifting the storage container; moving the lifting frame with the connected storage container to another position in the system.

[0067] An alternative area of use is to retrieve and position so-called top-bins, i.e. bins which extends above the rails. In order for the lifting frame to be clear of the top of a top bin, the grippers are movable upwardly relative the lifting frame and relative the top bin.

[0068] The present invention also relates to a method of positioning a storage container on top of a stack of storage containers such that when the storage container has been positioned on top of the stack it extends at least partly above a rail system in an automated storage and retrieval system, the 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 framework 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 across the top of the framework structure which is perpendicular to the first direction, a container handling vehicle operating on the rail system for storing and retrieving storage containers in the automated storage and retrieval system, wherein the container handing vehicle comprises a lifting frame assembly as defined above, wherein the method comprises the steps of: moving the container handling vehicle with a connected storage container to a position above a storage column with a maximum stack height of storage containers below the rail system; positioning the storage container on top of the stack; disengaging the grippers from the storage container and raising the grippers to the first position until a lowermost part of the grippers is clear off the storage container.

[0069] Maximum stack height is the maximum height of stacked storage containers while the uppermost part of the uppermost storage container is still not extending above the top of the rail system.

[0070] The automated storage and retrieval system may comprise a plurality of upright members and each storage column is defined by four of the upright members.

[0071] The rail system may be arranged on top of the upright members, the rail system comprising a first set of parallel rails and a second set of parallel rails arranged perpendicular to the first set of rails. The first and second set of rails providing a horizontal grid-based rail system defining a plurality of grid cells. The first and second set of rails of the rail system may comprise one or two tracks. Preferably both directions of rail comprise two tracks (double tracks), e.g., either as two parallel channels formed in a rail, or as a channel provided in each of a pair of rail members that have been fastened to the other to form a rail. In such arrangements the access opening (also named grid opening) and a track-width on each side defines the “grid cell”. In arrangements where one direction of rails has only a single track, the grid cell may extend a full rail -width on those sides.

[0072] In the present specification the term “storage container” is intended to mean any goods holder unit having a bottom plate and side portions suitable for releasable connection to the container lift device, e.g. a bin, a tote, a tray or similar. The side portions may preferably comprise gripping recesses. The side portions are preferably sidewalls. The height of the sidewalls may vary depending on the intended use of the automated storage and retrieval system and the goods to be stored. The gripping recesses may be arranged at an upper rim of the sidewalls. The outer horizontal periphery of the storage container is preferably rectangular. [0073] For monitoring and controlling the transporter, e.g. monitoring and controlling the location of the transporter, the respective storage containers within the transporter framework structure and the storage positions within the storage grid, the content of each storage container, and the movement of the transporter and any container handling vehicles such that a desired storage container can be delivered to the desired location at the desired time without the transporter and the container handling vehicles colliding with each other, the automated storage and retrieval system comprises a control system which typically is computerized and which typically comprises a database for keeping track of the storage containers.

[0074] The relative terms “upper”, “lower”, “below”, “above”, “higher” etc. shall be understood in their normal sense and as seen in a cartesian coordinate system.

[0075] The invention may be used in connection with storage containers and systems as described above. However, other areas where the disclosed automated storage and retrieval system and methods maybe used is within vertical farming, micro-fulfilment or grocery/ e-grocery.

BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

[0077] Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system;

[0078] Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein;

[0079] Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath;

[0080] Fig. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein;

[0081] Figs. 5A and 5B are side views of a container lift device in the form of a cantilever container handling vehicle comprising a lifting frame assembly with grippers in a first position, where Fig. 5A shows the lifting frame assembly in an upper position docked at the cantilever section whereas Fig. 5B shows the lifting frame assembly lowered from the cantilever section to a position below the container handling vehicle;

[0082] Fig. 6 is a side perspective view of a lifting frame assembly with grippers in a first position, the lifting frame assembly being suspended via suspension means and is arranged staggered relative to a storage container;

[0083] Figs. 7A-7C are different views of a lifting frame assembly with a horizontally movable telescopic part to which a lifting frame is connected, and where grippers of the lifting frame assembly are in a first position above a storage container;

[0084] Figs. 8A and 8B are different views of a lifting frame assembly with a horizontally movable telescopic part to which a lifting frame is connected, and where grippers of the lifting frame assembly are in a second position holding a storage container;

[0085] Figs. 9A-9D are different views of a lifting frame assembly with a horizontally movable telescopic part to which a lifting frame is connected, and where grippers of the lifting frame assembly are in a first position holding a storage container;

[0086] Fig. 10A is a perspective view of a storage system comprising prior art upright members forming storage columns where storage containers can be stacked on top of each other and a transfer column in center formed by upright members, wherein the transfer column is enclosed by four neighboring storage columns with stationary shelves for supporting a storage container on each of the shelves;

[0087] Fig. 10B is a similar view as Fig. 10A where the shelves have been omitted on purpose and is a perspective view of the lifting frame assembly guided against upright members and where the lifting frame assembly comprises a base and a telescopic part, and wherein the telescopic part is in an extended position outside a vertical projection of the base;

[0088] Figs. 11A-11J show a sequence of picking up a target storage container stored on a shelf in a neighboring storage column of an automated storage and retrieval system using a container handling vehicle comprising a lifting frame assembly with a telescopic part, where:

[0089] Fig. 11A is a side view and Fig. 11B is a perspective view of when the whole lifting frame assembly is arranged in the transfer column; [0090] Fig. 11C is a side view and Fig. 11D is a perspective view of when the telescopic part has extended and moved the lifting frame into the neighboring storage column with the grippers in the first position above the storage container;

[0091] Fig. 11E is a side view and Fig. nF is a perspective view of the grippers in the second position engaging the storage container;

[0092] Fig. 11G is a side view and Fig. 11H is a perspective view of the grippers in the first position holding the storage container and having lifted the storage container up from the shelf;

[0093] Fig. ill is a side view and Fig. 11J is a perspective view of when the telescopic part has retracted and moved the lifting frame and the storage container back into the transfer column;

[0094] Figs. 12A-12I show a sequence of positioning a storage container on top of a stack of storage containers such that when the storage container has been positioned on top of the stack it extends at least partly above a rail system in an automated storage and retrieval system, where:

[0095] Fig. 12A is a side view, Fig. 12B is a perspective view and Fig. 12C is a front view of a container handling vehicle with the grippers of the lifting frame assembly in a first position holding a storage container such that a lowermost part of the storage container is above the rail system;

[0096] Fig. 12D is a side view, Fig. 12E is a perspective view and Fig. 12F is a front view of a container handling vehicle with the grippers of the lifting frame assembly in a second position holding a storage container such that a lowermost part of the storage container is below the rail system;

[0097] Fig. 12G is a side view, Fig. 12H is a perspective view and Fig. 12I is a front view of a container handling vehicle with the grippers of the lifting frame assembly in a first position above an uppermost part of a storage container such that the container handling vehicle is free to move on the rail system without the storage container.

DETAILED DESCRIPTION OF THE INVENTION

[0098] In overview, a lifting frame assembly (23) for a container lift device (201,301,401) of an automated storage system (1) is provided. The lifting frame assembly (23) comprises a base (30) configured to be suspended from the container lift device (201,301,401) by suspension means (25), a lifting frame (29), and a plurality of grippers (26). Each gripper (26) is movable between a first position and second position relative to the lifting frame (29). The second position is at a lower elevation than the first position, such that in the second position each gripper (26) is connectable to a storage container (106).

[0099] In the following, embodiments of the invention will be discussed in more detail 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.

[00100] A framework structure 100 of the automated storage and retrieval system 1 may be constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure 100 may comprise a number of upright members 102, and comprise a first, upper rail system 108 extending in the X direction and Y direction.

[00101] The prior art framework structure 100 may further comprise storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 maybe stackable in stacks 107 within the storage columns 105.

[00102] 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. 1. For example, the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

[00103] Figs. 5A and 5B are side views of a container lift device 201,30,401 in the form of a cantilever container handling vehicle 301 comprising a lifting frame assembly 23 with grippers 26 (also denoted gripping devices 26) in a first position, where Fig. 5A shows the lifting frame assembly 23 in an upper position docked at the cantilever section of the container handling vehicle 301 whereas Fig. 5B shows the lifting frame assembly 23 lowered from the cantilever section to a position below the container handling vehicle 301.

[00104] Fig. 6 is a side perspective view of a lifting frame assembly 23 with grippers 26 in a first position, the lifting frame assembly 23 being suspended via suspension means 25 and is arranged staggered relative to a storage container 106. The lifting frame assembly 23 comprises a base 30 configured to be suspended from the container lift device (not shown in Fig. 6, see e.g. 201,301,401) by suspension means illustrated as lifting bands 25. The lifting frame assembly 23 further comprises a lifting frame 29 connected to the base 30 and a plurality of grippers 26. Each gripper 26 is movable between a first position and second position relative the lifting frame 29. The second position is at a lower elevation than the first position, such that in the second position each gripper 26 is connectable to a storage container 106. In Fig. 6 the grippers 26 are in the first position. The grippers 26 can be moved between the first position and the second position e.g. by means of an actuator 22. The actuator 22 can be a linear actuator or an actuator configured to rotate the grippers 26 in a vertical plane between the first position and the second position.

[00105] The lifting frame assembly 23 features a gripper connection member 27 and one or more of the grippers 26 maybe connected to gripper connection member 27 for synchronous movement of the grippers 26 between the first position and the second position.

[00106] All of the components of the lifting frame assembly 23, except from the base 30, fits within the cross-sectional area of the base 30. As such, the base 30 has the largest extent in the horizontal plane of all of the lifting frame assembly components. For example, as seen in Fig. 6, a sum of a horizontal cross sectional area of the gripper connection member 27 and the lifting frame 29 is equal to (or less) than a horizontal cross sectional area of the base 30. 1.e. all parts of the lifting frame assembly 23 are within a vertical projection of the base 30.

[00107] The storage container features gripping recesses 28 for lifting the storage container 106 from above using grippers 26. In order for the grippers 26 to align correctly with the gripping recesses 28 on the storage containers 106, each corner of the storage container 106 is provided with vertical recesses 32 for guiding the guiding members 31 of the lifting frame assembly 23. A surface of the vertical recesses 32 and the surface of the guiding members 31 are preferably complementary shaped.

[00108] Preferably, for the same reasons as for the grippers 26, the guiding members 31 can preferably also be moved between a first position and second position relative the lifting frame 29. As seen on Fig. 6, the guiding members 31 may be connected to the gripper connection member 27 such that the guiding members 31 follow any vertical movement of the gripper connection member 27 relative the lifting frame 29.

[00109] Figs. 7A-7C are different views of a lifting frame assembly 23 with a horizontally movable telescopic part 21 to which a lifting frame 29 is connected, and where grippers 26 of the lifting frame assembly 23 are in a first position above a storage container 106. In addition, a lowermost part of the guiding members 31 are above the storage container 106. Two actuators 22 are disclosed for moving the grippers 26 between the first position and the second position.

[00110] Figs. 8A and 8B are different views of a lifting frame assembly 23 with a horizontally movable telescopic part 21 to which a lifting frame 29 is connected, and where grippers 26 of the lifting frame assembly 23 are in a second position holding a storage container 106. Thus, the grippers 26 have moved from the first position (as shown in Figs 7A-7C) to the second position (as shown in Figs. 8A and 8B). Since the grippers 26 (and the guiding members 31) are connected to the gripper connection member 27, the movement of the gripper connection member 27 downwards relative to the lifting frame 29, has resulted in the different positions shown in Figs. 7A-7C and Figs. 8A and 8B, respectively. Actuator 22 has moved the gripper connection member 27 downwards relative the lifting frame 29.

[00111] Figs. 9A-9D are different views of a lifting frame assembly 23 with a horizontally movable telescopic part 21 to which a lifting frame 29 is connected, and where grippers 26 of the lifting frame assembly 23 are in a first position holding a storage container 106. When comparing the relative positions of the grippers 26 and the gripper connection member 27 relative the lifting frame 29 in Figs. 8A-8B and Figs. 9A-9D, it can be seen that in Figs. 9A-9D the grippers 26 and the gripper connection member 27 have moved upwards relative the lifting frame 29. This has been done e.g. by using the actuator 22 to move the gripper connection member 27 upwards relative the lifting frame 29.

[00112] Fig. 10A is a perspective view of a storage system 1 comprising upright members 102 forming storage columns 105 where storage containers 106 can be stacked on top of each other and a transfer column 60 in center formed by upright members 102, wherein the transfer column 60 is enclosed by four storage columns 70 with stationary shelves 51 for supporting a storage container 106 on each of the shelves 51. The lifting frame assembly 23 in Fig. 10A comprises a horizontally movable telescopic part 21 to which the lifting frame 27 is connected. The telescopic part 21 is configured to move between a retracted position below the base 30 and an extended position outside a vertical projection of the base 30. In Fig. 10A, the telescopic part 21 is in the extended position outside the vertical projection of the base 30. The telescopic part 21 renders possible that a storage container 106 can be transported horizontally between adjacent columns 60,70 through two adjacent upright members 102. The telescopic part 21 maybe powered through signal and communication via the lifting bands 25. The lifting bands 25 may further comprise means for signal and communication transmission between the container handling vehicle 301 and other parts of the lifting frame assembly 23, such as any actuators 22, grippers 22 etc.

[00113] Furthermore, if arranging individual shelves 51 in the columns as shown in Fig. 10A, the storage containers 106 are independently movable as they are supported on one dedicated shelf 51 and not supported by an underlying storage container 106 nor supporting an overlying storage container 106.

[00114] In addition, if arranging individual shelves 51 in the columns, such a “mini-load system arrangement” where the storage containers 106 have more space around them, allows the contents of the storage containers 106 to be chilled down much more easily than conventional stacks 107 of storage containers 106 where it is much harder to get air to circulate around the storage containers 106 (see. e.g. Fig. 1).

[00115] Fig. 10B is a similar view as Fig. 10A where the shelves have been omitted on purpose and is a perspective view of the lifting frame assembly 23 guided against upright members 102 and where the lifting frame assembly 23 comprises a base 30 and a telescopic part 21, and where the telescopic part 21 is in an extended position outside a vertical projection of the base 30. Fig. 10B is an example moving mechanism for moving the telescopic part 21 between the retracted position and the extended position. In addition, the figure show that the base 30 may comprise stabilizing means 20 for securing the base 30 in the transfer column 60 during extension of the telescopic part 21 to prevent tilting of the lifting frame assembly 23. In Fig. 10B the telescopic part 21 is in a fully extended position. The stabilizing means 20 maybe configured for guiding against upright members 102 of the framework structure 100 of the automated storage system 1 and is preferably operable between a retracted position (where the guiding members are retracted within the outer periphery of the base) and an extended position (where the guiding members extend outside the outer periphery of the base). The extension and retraction of the stabilizing means 20 may be powered via the lifting bands 25.

[00116] In the retracted position the cross-sectional area of the base is smaller than a cross-sectional area of the access opening 112 of the rail system 108, such that the base 30 can pass through the access opening 112 when the stabilizing means 20 are in the retracted position. [00117] When in the extended position, the stabilizing means 20 preferable extend into contact with the upright members 102 such as to obtain satisfactory guiding against the surface of the upright members 102.

[oon8] In order to be able to extend the telescopic part 21 sideways into a neighboring storage column, the distance between neighboring upright members 102 may be increased. This increased distance provides a larger opening such that storage containers 106 can be retrieved not only from above, but also sideways, easing retrieval of storage containers 106 from the storage system compared to the prior art solutions where the storage containers must be lifted to the top of the rail system prior to being transported to a port.

[00119] Figs. 11A-11J show a sequence of picking up a target storage container 106 stored on a shelf 51 in a neighboring storage column 70 of an automated storage and retrieval system 1 using a container handling vehicle (not shown) comprising a lifting frame assembly 23 with a telescopic part 21, where: Fig. 11A is a side view and Fig. 11B is a perspective view of when the whole lifting frame assembly 23 is arranged in the transfer column 60. Fig. 11C is a side view and Fig. 11D is a perspective view of when the telescopic part 21 has extended and moved the lifting frame 29 into the neighboring storage column 70 with the grippers 26 in the first position above the storage container 106. Fig. 11E is a side view and Fig. nF is a perspective view of the grippers 26 in the second position engaging the storage container 106. Fig. 11G is a side view and Fig. 11H is a perspective view of the grippers 26 in the first position holding the storage container 106 and having lifted the storage container 106 up from the shelf 51. Fig. ill is a side view and Fig. 11J is a perspective view of when the telescopic part 21 has retracted and moved the lifting frame 29 and the storage container 106 back into the transfer column 60.

[00120] Figs. 12A-12I show a sequence of positioning a storage container 106’ on top of a stack 107 of storage containers 106 such that when the storage container 106’ has been positioned on top of the stack 107 it extends at least partly above a rail system 108 (i.e. the upper most storage container 106’ is a so-called “top bin”).

[00121] Fig. 12A is a side view, Fig. 12B is a perspective view and Fig. 12C is a front view of a container handling vehicle 301 with the grippers 26 of the lifting frame assembly 23 in a first position holding a storage container 106’ such that a lowermost part of the storage container 106’ is above the rail system 108. When studying Fig. 12A closely it can be seen that there is a small gap Gi between the bottom of the storage container 106’ carried by the container handling vehicle 301 and the rail system 108. This means that the container handling vehicle 301 can move around on the rail system 108 while carrying the storage container 106’ when the grippers 26 are in the first position as shown in Figs. 12A-12C.

[00122] Fig. 12D is a side view, Fig. 12E is a perspective view and Fig. 12F is a front view of a container handling vehicle 301 with the grippers 26 of the lifting frame assembly 23 in a second position holding a storage container 106’ such that a lowermost part of the storage container 106’ is below the rail system 108. Going from Figs. 12A-12C to Figs. 12D-12F e.g. the actuator 22 has moved the grippers 26 (possibly by moving the grippers 26 independently or the gripper connection member 27) downwards such that the grippers 26 have moved from the first position to the second position. The gap Gi which was visible in Fig. 12A is not present in Fig. 12D. This means that the container handling vehicle 301 cannot move around on the rail system 108 while carrying the storage container 106’ when the grippers 26 are in the second position as shown in Figs. 12D-12F.

[00123] Fig. 12G is a side view, Fig. 12H is a perspective view and Fig. 12I is a front view of a container handling vehicle 301 with the grippers 26 of the lifting frame assembly 23 in a first position above an uppermost part of a storage container 106’ such that the container handling vehicle 301 is free to move on the rail system 108 without the storage container 106’. When studying Fig. 12G closely it can be seen that there is a small gap G2 between the top of the storage container 106’ and the grippers 26. The storage container 106’ (i.e. the “top bin”) is supported by the uppermost storage container 106 of the stack 107. At least a part of the storage container 106’ is below the rail system 106 and at least a part of the storage container 106’ is above the rail system 108.

[00124] With reference to Figs. 12A-12I it will be described a method of positioning a storage container 106’ on top of a stack 107 of storage containers 106 such that when the storage container 106’ has been positioned on top of the stack 107 it extends at least partly above a rail system 108 in an automated storage and retrieval system 1. Referring to Fig. 12B the automated storage and retrieval system 1 comprising a two-dimensional rail system 108 comprising a first set of parallel rails no arranged to guide movement of container handling vehicles 301 in a first direction X across the top of a framework structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 301 in a second direction Y across the top of the framework structure 100 which is perpendicular to the first direction X. A container handling vehicle 301 operating on the rail system 108 for storing and retrieving storage containers in the automated storage and retrieval system 1, wherein the container handing vehicle 301 comprises a lifting frame assembly 23 as defined above. The method comprises the steps of: moving the container handling vehicle 301 with a connected storage container 106’ to a position above a storage column with a maximum stack height of storage containers 106 below the rail system 108; positioning the storage container 106’ on top of the stack 107; disengaging the grippers 26 from the storage container 106’ and raising the grippers 26 to the first position until a lowermost part of the grippers 26 is clear off the storage container 106’.

[00125] When using the container handling vehiclesoi comprising a lifting frame assembly 23 as defined above in retrieving a storage container 106’ which is extending above a rail system 108 in an automated storage and retrieval system 1, the method steps are performed in reversed order (again referring to Figs. 12A-12I):

- controlling that the grippers 26 are in the first position;

- moving the container handling vehicle 301 to a position such that the lifting frame 29 is above the storage container 106’;

- lowering the grippers 26 to the second position and connecting the grippers to the storage container 106’;

- lifting the grippers 26 to the first position thereby lifting the storage container 106’;

- moving the lifting frame 29 with the connected storage container 106’ to another position in the system 1.

[00126] In the preceding description, various aspects of 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. [00127] List of reference numbers

Claims

1. A lifting frame assembly (23) for a container lift device (201,301,401) of an automated storage system (1), wherein the lifting frame assembly (23) comprises:

- a base (30) configured to be suspended from the container lift device (201,301,401) by suspension means (25);

- a lifting frame (29);

- a plurality of grippers (26), each gripper (26) being movable between a first position and second position relative to the lifting frame (29), wherein the second position is at a lower elevation than the first position, such that in the second position each gripper (26) is connectable to a storage container (106).

2. The lifting frame assembly (23) according to claim 1, wherein the grippers (26) are movable at least partly into the lifting frame (29).

3. The lifting frame assembly (23) according to any of the preceding claims, wherein the lifting frame assembly (23) comprises at least one linear actuator (22) for moving the grippers (26) in a vertical direction.

4. The lifting frame assembly (23) according to claim 1 or 2, wherein the lifting frame assembly (23) comprises at least one actuator for rotating the grippers (26) in a vertical plane between the first position and the second position.

5. The lifting frame assembly (23) according to any of the preceding claims, wherein the lifting frame assembly comprises a telescopic part (21) for moving the lifting frame (29) sideways relative to the base (30).

6. The lifting frame assembly (23) according to any of the preceding claims, wherein the lifting frame assembly (23) comprises at least one gripper connection member (27) and wherein the grippers (26) are connected to the gripper connection member (27).

7. The lifting frame assembly (23) according to claim 6, wherein the gripper connection member (27) is movable relative to the lifting frame (29).

8. The lifting frame assembly (23) according to claim 7, wherein a sum of a horizontal cross sectional area of the gripper connection member (27) and lifting frame (29) is equal to or less than a horizontal cross sectional area of the base (30).

9. The lifting frame assembly (23) according to any of the preceding claims, wherein the lifting frame assembly (23) comprises guiding members (31), and wherein the guiding members (31) are movable relative to the lifting frame (29).

10. The lifting frame assembly (23) according to claim 9 when dependent upon any of claims 5-7, wherein the guiding members (31) are connected to the gripper connection member (27).

11. A container handling vehicle (201,301,401) comprising a lifting frame assembly (23) according to any of claims 1-10.

12. The container handling vehicle according to claim 11, wherein the suspension means (25) are lifting bands (25).

13. The container handling vehicle according to claim 11 or 12, wherein the lifting bands (25) comprises means for signal and communication transmission between the container handling vehicle and the lifting frame assembly (23).

14. An automated storage and retrieval system (1) comprising a container handling vehicle (2O1;3O1;4O1) according to any of the preceding claims 11-13.

15. The automated storage and retrieval system (1) of claim 14, wherein the system comprises a two-dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide movement of container handling vehicles (20i;30i;40i) in a first direction (X) across the top of a framework structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide movement of the container handling vehicles (2O1;3O1;4O1) in a second direction (Y) across the top of the framework structure (100) which is perpendicular to the first direction (X), wherein a number of container handling vehicles (201,301,401) operate on the rail system (108) for storing and retrieving storage containers in the automated storage and retrieval system (1).

16. A method of picking up a target storage container (106) stored in a neighboring storage column (70) of an automated storage and retrieval system (1) using a container lift device comprising a lifting frame assembly (23), wherein the lifting frame assembly comprises: - a base (30) configured to be suspended from the container lift device (201,301,401) by suspension means (25);

- a lifting frame (29) movable sideways relative to the base (30);

- a plurality of grippers (26), each gripper (26) being movable between a first position and second position relative the lifting frame (29), wherein the second position is at a lower elevation than the first position, such that in the second position each gripper (26) is connectable to a storage container (106); wherein the method comprises:

- moving the lifting frame (29) sideways from a transfer column to the neighboring storage column while the grippers (26) are in the first position;

- when the lifting frame (29) is above the target storage container (106), lowering the grippers (26) to the second position and connecting the grippers to the storage container (106);

- lifting the target storage container (106);

- moving the lifting frame (29) with the connected target storage container (106) sideways into the transfer column.

17. A method of positioning a target storage container (106) in a neighboring storage column (70) of an automated storage and retrieval system (1) using a container lift device comprising a lifting frame assembly (23), wherein the lifting frame assembly (23) comprises:

- a lifting frame (29) movable sideways relative to the base (30);

- moving the lifting frame (29) with the connected target storage container (106) sideways from a transfer column (60) to the neighboring storage column (70), while the grippers (26) are in the second position;

- when the lifting frame (29) is in the neighboring storage column (70), disengaging the grippers (26) from the target storage container (106) and raising the grippers (26) to the first position until a lowermost part of the grippers (26) is clear off the target storage container (106);

- moving the lifting frame (29) sideways into the transfer column (60).

18. A method of retrieving a storage container (106’) which is extending above a rail system (108) in an automated storage and retrieval system (1), the automated storage and retrieval system (1) comprising a two-dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide movement of container handling vehicles (20i;30i;40i) in a first direction (X) across the top of a framework structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (no) to guide movement of the container handling vehicles (20i;30i;40i) in a second direction (Y) across the top of the framework structure (100) which is perpendicular to the first direction (X), a container handling vehicle (201,301,401) operating on the rail system (108) for storing and retrieving storage containers in the automated storage and retrieval system (1), wherein the container handing vehicle (201,301,401) comprises a lifting frame assembly (23) according to claims 1-10, wherein the method comprises:

- controlling that the grippers (26) are in the first position;

- moving the container handling vehicle (201,301,401) to a position such that the lifting frame (29) is above the storage container (106’);

- lowering the grippers (26) to the second position and connecting the grippers to the storage container (106’);

- lifting the grippers (26) to the first position thereby lifting the storage container (106’);

- moving the lifting frame (29) with the connected storage container (106’) to another position in the system (1).

19. A method of positioning a storage container (106’) on top of a stack (107) of storage containers (106) such that when the storage container (106’) has been positioned on top of the stack (107) it extends at least partly above a rail system (108) in an automated storage and retrieval system (1), the automated storage and retrieval system (1) comprising a two- dimensional rail system (108) comprising a first set of parallel rails (110) arranged to guide movement of container handling vehicles (20i;30i;40i) in a first direction (X) across the top of a framework structure (100), and a second set of parallel rails (111) arranged perpendicular to the first set of rails (110) to guide movement of the container handling vehicles (20i;30i;40i) in a second direction (Y) across the top of the framework structure (100) which is perpendicular to the first direction (X), a container handling vehicle (201,301,401) operating on the rail system (108) for storing and retrieving storage containers in the automated storage and retrieval system (1), wherein the container handing vehicle (201,301,401) comprises a lifting frame assembly according to any of claims 1-10, wherein the method comprises the steps of: - moving the container handling vehicle (201,301,401) with a connected storage container (106’) to a position above a storage column with a maximum stack height of storage containers (106) below the rail system (108);

- positioning the storage container (106’) on top of the stack (107);

- disengaging the grippers (26) from the storage container (106’) and raising the grippers (26) to the first position until a lowermost part of the grippers (26) is clear off the storage container (106’).