Container handling vehicle with increased stability

An automated storage and retrieval system comprising a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction, wherein the automated storage and retrieval system further comprises a container handling vehicle comprising:

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

A container handling vehicle for operation on a two-dimensional rail system comprising a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction, wherein the container handling vehicle comprises:

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