Raising and lowering containers

Abstract

The present invention provides a loading and handling device (31) for lifting and moving a container (9), the loading and handling device (31) comprising: a main body (33) having an upper portion (45) and a lower portion (47), the upper portion (45) being configured to accommodate one or more operating components, the lower portion (47) being arranged below the upper portion (45), the lower portion (47) comprising a container receiving space for receiving at least a portion of the container (9); and a container lifting mechanism (39) comprising a container clamping assembly (43) configured to releasably clamp the container (9) and a lifting assembly (51) configured to raise and lower the container clamping assembly (43), wherein the lifting assembly (51) comprises a single motor (52) configured to raise and lower the container clamping assembly (43). Corresponding methods, computer-readable storage media, and storage and retrieval systems are also provided.

Description

[0001] The present invention relates to raising and lowering containers. In particular, the present invention relates to load handling equipment, methods, computer-readable storage media, and storage and retrieval systems for raising and lowering containers relative to a body of the load handling equipment. Background Art

[0002] The claimed apparatus, methods, systems, and computer programs are directed to providing improvements related to raising and lowering containers relative to the body of a load handling apparatus. Specifically, but not necessarily exclusively, they are directed to providing improvements related to raising and lowering storage containers that can be used in conjunction with a storage structure where multiple load handling apparatuses can be moved atop the storage structure to collect or deposit the storage containers at different locations relative to the storage structure. Summary of the Invention

[0003] According to a specific embodiment, a load handling device according to claim 1 is provided.

[0004] According to another specific embodiment, a method as claimed in claim 20 is provided.

[0005] According to another specific embodiment, a computer-readable storage medium is provided.

[0006] According to another specific embodiment, a storage and retrieval system as claimed in claim 26 is provided.

[0007] This application claims priority to UK patent application No. GB2001012.0 filed on January 24, 2020 and UK patent application No. GB2003101.9 filed on March 4, 2020, the contents of which are incorporated herein by reference.

[0008] One object of the present application is to provide a load handling device that is error or fault tolerant. Another object of the present invention is to provide a load handling device that is capable of self-recovery or at least partial self-recovery when an error or fault is detected or occurs.

[0009] A loading and handling device for lifting and moving storage containers stacked in a grid frame structure is provided, the grid frame structure comprising: a first set of parallel rails or tracks on a substantially horizontal plane, and a second set of parallel rails or tracks substantially perpendicular to the first set of rails or tracks to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations below the grid for stacking containers between the uprights and being guided by the uprights in a vertical direction through the plurality of grid spaces, the loading and handling device comprising: a main body mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with the first set of parallel rails, the second set of wheels being arranged to engage with the second set of parallel rails, and a drive assembly for driving the loading and handling device in a first direction along the first set of parallel rails or in a second direction along the second set of parallel rails, wherein the drive assembly comprises: at least two motors for driving the first set of wheels; at least two motors for driving the second set of wheels; and a plurality of gears (Gears) corresponding to the number of motors. arrangements for transmitting drive from a motor to a wheel, wherein the motor is arranged on a plane perpendicular to a driven wheel and parallel to a rotation axis of the driving wheel, and a drive shaft of the motor extends along the plane.

[0010] In this way, by selectively pushing or driving the first and second sets of wheels to move in a first, or x-, direction or in a second, or y-direction, the load handling device can maneuver along the track to any grid space. The driven wheels can be driven in both forward and reverse directions. The flexibility of the travel direction and the grid pattern itself means that the load handling device does not need to follow a specific route to a specific grid location; instead, the load handling device can maneuver around obstacles on the grid, such as other load handling devices.

[0011] The drive motor is arranged perpendicular to the wheels it drives. This has the advantage that the motor can be placed in-plane, extending across the periphery of the load handling device. This arrangement means that the central portion of the main body is open, or the drive motor or drive shaft is absent, leaving an internal cavity. This cavity can be used to accommodate other components of the load handling device. Alternatively, the internal cavity can be used to receive a lifted storage container and hold it while the load handling device is maneuvered to another location on the grid.

[0012] Another advantage of the drive motor arrangement is that the drive shaft can be significantly longer than other motor arrangements that do not extend through the body of the load handling apparatus, such as direct drive hub motor arrangements.

[0013] It will be appreciated that by having at least two motors for driving the load handling equipment in a first, or x-, direction, and at least two motors for driving the load handling equipment in a second, or y-, direction, redundancy is provided for driving the load handling equipment in both directions. Advantageously, even if one of the motors for the wheel assembly fails, the load handling equipment can still "limp home" to the edge of the grid or a repair area. Advantageously, this means that the grid can continue to operate fully while the failed load handling equipment is recovered and repaired, and reduces the need to shut down the grid while the failed load handling equipment is restored. Advantageously, this helps ensure that the grid can operate efficiently.

[0014] The first set of wheels may include two wheels on a first side of the loading handling device and two wheels on a first opposite side of the loading handling device; the second set of wheels may include two wheels on a side of the loading handling device perpendicular to the first side of the loading handling device and two wheels on a second opposite side of the loading handling device; at least one wheel on each side of the loading handling device may be driven by a respective motor.

[0015] Wheels without drive motors, or non-driven wheels, can be idler wheels that are allowed to spin freely while the load handling equipment is driven by the other wheels in the wheel set. In this way, the number of motors required is reduced, thereby saving on capital costs to operate the load handling equipment to move around the grid, space costs for the load handling equipment, and the amount of communication and control required to synchronize parts.

[0016] It should be understood that one wheel on each side of the load handling device is a driven wheel. The driven wheels on opposite sides can be diagonally opposed to each other to advantageously limit any twisting forces that may occur on the load handling device when it is driven. This, in turn, makes the load handling device less likely to wobble on the track limits and less likely to tip over when driven.

[0017] Each wheel in the first set of wheels and the second set of wheels may be driven by a respective motor.

[0018] It will be appreciated that further redundancy is introduced when each wheel can be driven by its own motor. Furthermore, it will be appreciated that four motors can be used for each direction and the load handling device can be driven at twice the speed of using two motors for each direction. Furthermore, it will be appreciated that by driving all wheels in each direction, there is no longer the potential for torsional forces to be introduced into the load handling device when it is driven.

[0019] At least one of the first set of wheels and at least one of the second set of wheels can be driven by a motor powered by a first power source, and at least one of the first set of wheels and at least one of the second set of wheels can be driven by a motor powered by a second power source, the first power source and the second power source being independent or separate from each other.

[0020] In this way, only the wheels that need to be driven can be driven at any time. For example, if all wheels are engaged with the track, it will be understood that the load handling equipment can move neither in the first direction nor in the second direction, and therefore no wheels can be driven. In this arrangement, the load handling equipment can be considered to be in a "parked" configuration. Alternatively, the load handling equipment can be considered to be parked when one set of wheels is engaged with the track but the engaged set of wheels is not driven. Advantageously, in the parked configuration, the load handling equipment can be stopped when it is located on the grid. For example, in certain circumstances, it may be necessary to stop all load handling equipment operating on the grid to reduce the risk of performing work on the grid.

[0021] It will be appreciated that only the wheels required for a particular direction of travel can be driven. Advantageously, this can reduce the load on the power supply of the load handling equipment.

[0022] Two wheels in the first set of wheels and two wheels in the second set of wheels can be driven by a motor powered by a first power source, and two wheels in the first set of wheels and at least one wheel in the second set of wheels can be driven by a motor powered by a second power source. The first power source and / or the second power source are subdivided into at least two mutually independent components.

[0023] In this manner, the load handling equipment can continue to operate at a reduced capacity even if a power supply or subcomponent of a power supply fails.

[0024] The load handling apparatus further comprises means for selectively driving either the first set of wheels or the second set of wheels.Thus, it is not necessary for all wheels to be driven at a particular time.

[0025] The load handling apparatus further includes a reversing assembly for selectively engaging the first set of wheels and / or the second set of wheels with the first set of tracks and the second set of tracks, respectively.

[0026] Advantageously, each set of wheels is selectively engageable with the track to enable the load handling apparatus to move in the first and second directions.The load handling apparatus is also movable into a parked configuration in which both the first and second sets of wheels are engaged with the track.

[0027] The reversing assembly may include a first set of reversing pulleys for the first set of wheels and a second set of reversing pulleys for the second set of wheels, wherein the reversing pulleys operate to selectively lift the first set of wheels or the second set of wheels to disengage the first set of wheels or the second set of wheels from the track.

[0028] In this manner, a reversing assembly for each wheel can be positioned above the wheel and vertically move the wheel into and out of engagement with the track. The wheels can be moved relative to the main body of the load handling apparatus. It should be understood that at least some of the wheels will always be engaged with the track to support the main body of the load handling apparatus.

[0029] In this way, both the first set of wheels and the second set of wheels are arranged to move in a vertical or z-direction relative to the body of the load handling apparatus.

[0030] By reversing the motor to commutate for each wheel, the first set of pulleys and / or the second set of pulleys can be operated in unison for the first set of wheels or the second set of wheels.

[0031] It will be appreciated that in order for the load handling equipment to operate effectively and efficiently, all wheels in each set of wheels should be lowered and / or raised, or engaged and disengaged, in line with the track.

[0032] The first set of wheels and the second set of wheels are movable in sync relative to the body to selectively engage and disengage the wheels from the track.

[0033] Additionally, it will be appreciated that it may be advantageous to move the first and second sets of wheels synchronously so that the reversing operation can be completed in one step. Advantageously, this can reduce the time required to engage the first and / or second sets of wheels, thereby allowing the load handling equipment to operate more quickly.

[0034] The load handling apparatus further comprises a lifting assembly for lifting and / or lowering the storage containers from a storage position below the grid to a storage position below the grid.

[0035] Therefore, the load handling equipment is provided with a device for raising and lowering storage containers. The storage containers can be received within an internal cavity within the main body of the load handling equipment, allowing them to be moved to a new location on the grid. This new location can be a different storage location, or it can be an exit location on the grid. Alternatively, the storage containers can be picked up from an entry location on the grid and moved to a storage location. Accordingly, the load handling equipment is adapted to operate within a storage and retrieval system. This storage and retrieval system can be automated or semi-automated.

[0036] The load handling equipment further includes a sensing device for: determining a position on the grid; determining an error or failure in the drive assembly; determining engagement of the first set of wheels or the second set of wheels with the parallel tracks; determining an error or failure in the reversing assembly; and / or determining engagement and / or disengagement of the lifting assembly with the container.

[0037] For example, the sensor device may include an over-temperature gauge or over-temperature sensor, an over-current sensor, an open circuit sensor or detector and / or a short circuit detector on each of the drive motor, hoist, z-type hoist or lifting assembly motor, reversing motor and / or clamping motor; unbalanced torque on the TGA cable or mechanism; liquid level external TGA detected by a sensor on the cable winding mechanism; and / or liquid level external TGA detected by a liquid level sensor on the TGA assembly.

[0038] A method of operating a load handling apparatus on a lattice frame structure is provided, the method comprising the steps of selectively driving one or more motors to drive a first set of wheels or a second set of wheels in a forward direction or a reverse direction.

[0039] Optionally, the method further includes receiving a signal from a central control facility; selectively engaging the first set of wheels or the second set of wheels with the tracks; navigating the grid to a location specified by the central control facility, and / or receiving a signal from the central control facility; controlling a switching mechanism based on the received signal to: (a) engage the first set of wheels with the first set of parallel tracks; (b) engage the second set of wheels with the second set of parallel tracks; or (c) engage the first and second sets of wheels with the first and second sets of parallel tracks to park the loading handling equipment, and / or receiving a signal from the central control facility; moving to a specified location on the grid; and performing a lifting operation to lift a container from a storage location below the grid, or performing a lowering operation to lower a container to a storage location below the grid.

[0040] Thus, load handling equipment may be controlled to perform lifting and moving operations on a grid-based storage and retrieval system.

[0041] A grid-based storage and retrieval system is provided, comprising: a grid frame structure including: a first set of parallel rails or tracks in a substantially horizontal plane, and a second set of parallel rails or tracks extending substantially perpendicular to the first set of rails or tracks to form a grid pattern including a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for stacking containers between the uprights and being guided by the uprights in a vertical direction through the plurality of grid spaces, at least one load handling device operating on the grid frame structure; and a central control utility for controlling the at least one load handling device.

[0042] The at least one load handling device further comprises communication means; and the central control utility of the storage system comprises communication means for communicating with the communication means on the at least one load handling device.

[0043] The central control utility remotely monitors the condition of the at least one load handling device. If a malfunction and / or failure of a load handling device is detected, the load handling device may be instructed to move to a maintenance area or edge of the grid using non-malfunctioning and non-failed equipment.

[0044] The central control utility may communicate with the at least one load handling device operating on the grid to instruct the load handling device to move to a particular location on the grid.

[0045] Additionally, the load handling equipment may be instructed to lift the container from the stack and move the container to another location on the grid, and / or further instructed to lower the container into a stacked location below the grid.

[0046] A loading handling device is provided for lifting and moving storage containers stacked in a grid frame structure, the grid frame structure comprising: a first set of parallel rails or tracks in a substantially horizontal plane, and a second set of parallel rails or tracks extending substantially perpendicular to the first set of rails or tracks to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a number of vertical storage positions below the grid for stacking containers between the uprights and guided by the uprights in a vertical direction through the number of grid spaces, the loading handling device comprising: a main body mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with the first set of parallel rails and the second set of wheels being arranged to engage with the second set of parallel rails; and a lifting assembly comprising a sling assembly arranged to support, raise and lower a load, the sling assembly comprising: a sling extending between a support mountable to the main body of the loading handling device and a clamping plate for supporting the load, wherein a first end of the sling is attached to a lifting drum and a second end of the sling is attached to the lifting drum.

[0047] The lifting assembly, or TGA (Tote Gripper Assembly), includes a sling. The sling may comprise lifting tape or wire. In normal use, the ends of the sling are typically wound or reeled in and unwound or unreeled to raise and lower the load. Advantageously, only one end of the sling can be wound or unwound, allowing the lifting assembly to continue operating with only one hoist drum in operation.

[0048] A first end of the sling may be attached to a first hoist drum and a second end of the sling attached to a second hoist drum, with the first hoist drum being driven by a first motor and the second hoist drum being driven by a second motor.

[0049] The hoist drums can be operated independently to advantageously provide redundancy for the lifting assembly. Advantageously, this can allow the load handling equipment to continue operating even in the event of an error or power reduction. It will be appreciated that this may mean that the lifting and lowering operations take longer than normal, but it allows the lifting and lowering operations to be completed despite the error or power reduction.

[0050] The first end of the sling and the second end of the sling can both be attached to the same hoist drum, and the hoist drum is driven by one or more motors. The first motor and the second motor can be independently powered by respective power sources. The lifting assembly can include at least two sling assemblies.

[0051] In some arrangements, both ends of the sling can be attached to the same lifting drum. This arrangement has the advantage of taking up less space. Furthermore, less control and communication infrastructure / capacity is required. This can further make it easier to insert and remove the lifting assembly and / or remove other components of the load-handling equipment through or around the lifting assembly. In some arrangements, the drum can be operated by more than one motor to provide redundancy. In normal operation, this means that larger loads can be raised and lowered. In other situations, such as when a motor or power supply error occurs, the lifting assembly can continue to operate.

[0052] A loading and handling device is provided for lifting and moving storage containers stacked in a grid frame structure, the grid frame structure comprising: a first set of parallel rails or tracks in a substantially horizontal plane, and a second set of parallel rails or tracks extending substantially perpendicular to the first set of rails or tracks to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage positions below the grid for stacking containers between the uprights and guided by the uprights in a vertical direction through the plurality of grid spaces, the loading and handling device comprising: a main body mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with the first set of parallel rails and the second set of wheels being arranged to engage with the second set of parallel rails; and a lifting assembly comprising a dischoist drum mounted on a support member, the support member being mountable to the main body of the loading and handling device and being used to wind one or more webs; and a clamping plate for supporting a load, wherein the one or more webs extend between the dischoist drum and the clamping plate.

[0053] In some arrangements, the drum can be mounted so that it resembles a disk when viewed from above, with the drum axis oriented in the z-direction, or vertical direction. This arrangement allows the drum to accommodate a larger diameter than would be possible with an arrangement oriented along the axis in the x,y plane. The large drum diameter allows it to be driven directly by a small, high-RPM motor without the need for a reduction gear.

[0054] The reel may be driven by a single motor, which may be directly driven by a worm gear transmission to the reel, or wherein the single motor is directly driven by a pulley transmission to the reel.

[0055] Advantageously, using a single motor reduces costs (space and capital). Advantageously, using a worm gear means the drum can be driven directly, and the motor can be placed in the same plane as the drum. Furthermore, using a worm gear allows for more than one motor to be placed around the drum, advantageously providing redundancy.

[0056] A sling or one or more belts may be arranged in the pulley system.

[0057] Pulley systems can be used to reduce the force required to lift and lower a load. Advantageously, thinner belts or wires can be used to lift loads that would otherwise require stronger belts.

[0058] The lifting assembly further includes at least one guide or guide roller mounted on the clamping plate. One or more guide rollers may be power-assisted guide rollers. The clamping plate has at least one sensor for detecting the balance of the clamping plate and / or the load attached to the clamping plate.

[0059] Guides and rollers help ensure long-lasting operation of lifting assemblies and load handling equipment by ensuring that the lifting belt or wire remains in the correct position and that the winding is neat and compact.

[0060] Power assisted guide rollers can reduce the load requirements of the drum motor. In addition, for example, when the load is unevenly distributed, or for example when there are multiple drum motors and they are not evenly matched, power assisted guide rollers can be used to maintain the load level.

[0061] One or more guide rollers may be movable tension guide rollers.

[0062] Tension rollers can be used to keep the lifting web taut, especially when the rate or direction of lifting changes.

[0063] The lifting assembly can be controlled by the load handling device. The clamping plate has at least one sensor for detecting the balance of the clamping plate and / or the load attached to the clamping plate. The clamping plate may include at least one clamp assembly, or wherein the clamping plate includes two or more clamp assemblies, preferably wherein the clamping plate includes four clamp assemblies. The clamp assembly can be arranged to correspond in positioning to the latch groove on the storage container. The clamp assembly further includes a guide and / or guide roller mounted on the load handling device for guiding the sling or belt.

[0064] A method is provided for using a loading handling device according to any of the foregoing items for lifting and moving storage containers stacked in a grid frame, the method comprising the following steps: receiving a signal from a central control facility to perform a lifting operation, manipulating the loading handling device to a lifting position, lowering a clamping plate to insert a clamp into a mating groove of the container; causing the clamp to lock the container; and lifting the clamping plate and container into an inner cavity of the loading handling device, or lowering the clamping plate and container until the container is supported underneath; causing the clamp to release the container; and lifting the clamping plate into the inner cavity of the loading handling device.

[0065] A load handling apparatus for lifting and moving storage containers stacked in a grid frame structure is provided. The grid frame structure comprises a first set of parallel rails or tracks in a substantially horizontal plane, and a second set of parallel rails or tracks extending substantially perpendicular to the first set of rails or tracks to form a grid pattern including a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for stacking containers between the uprights and being guided by the uprights in a vertical direction through the plurality of grid spaces. The load handling apparatus comprises a body mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage the first set of parallel rails and the second set of wheels being arranged to engage the second set of parallel rails, and a gripper assembly for locking the storage container, wherein the gripper assembly comprises a deformable flexure mechanism movable between a locked configuration and a released configuration.

[0066] The clamp assembly may be self-locking.

[0067] The load handling device can grip and lift storage containers. The gripper assembly is stable in at least two configurations and self-locking in at least the locked configuration. The gripper operates below the fatigue limit of the material and can be repeatedly moved between different positions. In this way, the load handling device can securely and reliably grip storage containers, lift, and move them.

[0068] A bi-stable flexure may include: an actuator; two or more clamping arms having hooked ends; and a plurality of hinge devices, the number of hinge devices corresponding to the number of clamping arms, wherein each hinge device is deformable and connects a corresponding clamping arm to the actuator. The hinge device includes a fulcrum, and first and second deformable portions are connected to respective ends of the fulcrum. The fulcrum is substantially triangular. In a locked configuration, the fulcrum engages the clamping arms and the flexure is open or wide; and in a released configuration, the first and second portions of the hinge are bent and the flexure is closed or narrow.

[0069] The hooked end of the gripper arm allows the gripper to lock onto a mating portion of the storage container, and the fulcrum means the bend cannot move beyond a stable, locked position without causing gripper failure. Thus, the configuration of the gripper assembly itself ensures that the gripper is securely secured to the storage container, enabling the lifting and moving of the storage container.

[0070] The hinge device can be connected to the clamping arm spaced apart from the hook end, and the fulcrum can extend above the line between the first and second hinge devices, or the fulcrum can extend below the line between the first and second hinge devices. The clamp assembly can include two or more bending mechanisms. The clamp assembly can include four bending mechanisms.

[0071] It will be appreciated that the specific arrangement will depend on the intended use of the clamp assembly, and that the intended scope is not limited to the specific embodiments disclosed herein.

[0072] The load handling apparatus further includes a device for lifting the storage container, wherein the device for lifting the storage container includes a gripper plate and the gripper assembly is mounted on the gripper plate. The device for lifting the storage container may be releasably mounted on the main body of the load handling apparatus. The lifting web may be attached to the gripper arm.

[0073] The bending mechanism can be 3D printed.

[0074] A grid-based storage and retrieval system is provided, comprising: a grid frame structure including: a first set of parallel rails or tracks in a substantially horizontal plane, and a second set of parallel rails or tracks extending substantially perpendicular to the first set of rails or tracks to form a grid pattern including a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for stacking containers between the uprights and being guided by the uprights in a vertical direction through the plurality of grid spaces, at least one load handling device operating on the grid frame structure; and a central control utility for controlling the at least one load handling device.

[0075] The at least one load handling device further comprises communication means; and the central control utility of the storage system comprises communication means for communicating with the communication means on the at least one load handling device.

[0076] The central control utility remotely monitors the condition of the at least one load handling device.

[0077] If a malfunction and / or failure of load handling equipment is detected, the load handling equipment may be instructed to move to a maintenance area or edge of the grid using non-malfunctioning and non-failed equipment.

[0078] The central control utility may communicate with the at least one load handling device operating on the grid to instruct the load handling device to move to a particular location on the grid.

[0079] Additionally, the load handling equipment may be instructed to lift the container from the stack and move the container to another location on the grid, and / or further instructed to lower the container into a stacked location below the grid.

[0080] The lifting assembly may include several reels, each of the several reels carrying a lifting rope, the lifting rope having a first end anchored to the container clamping assembly and a second end anchored to the reel, the several reels being driven by a single motor via several timing pulleys, timing belts and / or transmission devices to raise and lower the container clamping assembly.

[0081] The plurality of reels may include a first group of reels and a second group of reels, wherein the first group of reels are mounted to a shaft so that the shaft is common to the first group of reels, wherein the shaft is connected to a single motor for rotation via at least one of a plurality of timing pulleys, timing belts and / or transmission devices, and wherein the second group of reels is connected to the shaft via one or more of a plurality of timing pulleys, timing belts and / or transmission devices and is driven by the single motor.

[0082] The plurality of timing pulleys may include a drive pulley and first and second sets of timing pulleys, the drive pulley and the first set of timing pulleys being mounted on a shaft common to the first set of spools such that rotation of the shaft by the single motor drives the first set of spools via the connection to the drive pulley. For purposes of the present invention, the term "drive" is to be interpreted as rotationally driven.

[0083] The first set of timing pulleys may be connected to the second set of timing pulleys via one or more of several timing belts such that rotation of the single motor shaft drives the second set of spools through the connection to the drive pulley.

[0084] The drive pulley may be one of the first set of pulleys. This eliminates the need to have a separate drive pulley as the drive pulley may form part of one of the first set of pulleys mounted on the rotatable shaft.

[0085] At least one of the plurality of timing pulleys may be mounted to at least one of the plurality of spools. At least one of the plurality of spools may include an adjustable mechanism for rotatably adjusting the at least one spool about its axis of rotation relative to the at least one of the plurality of timing pulleys. Alternatively, the at least one of the plurality of timing pulleys may be integral with the at least one of the plurality of spools, i.e. formed as a single body. However, an advantage of mounting the timing pulley to the spool is that the adjustable mechanism may be incorporated into the spool so as to fine-tune the spool relative to the timing pulley and / or the shaft to which it is mounted. For example, when the spool is bolted to the pulley, the adjustable mechanism may be in the form of a slot such that the mounting between the spool and the timing pulley can be rotatably adjusted relative to each other, thereby fine-tuning the angular position of the spool on the shaft. Because the container gripper assembly is suspended by several lifting ropes (e.g., reels), more specifically, each corner of the container gripper assembly, it is important that the container gripper assembly remain level when engaging a container; otherwise, the container gripper assembly may not properly engage the container. To ensure that the container gripper assembly remains level, the lengths of the lifting ropes extending between the several reels and the container gripper assembly should be substantially equal. An adjustable mechanism allows the angular position of one or more reels to be adjusted relative to their respective timing pulleys, thereby adjusting the lengths of the lifting ropes extending between the reels and the container gripper assembly.

[0086] A single motor can synchronously drive the first set of reels and the second set of reels. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The raising and lowering of the container will now be described in detail with reference to an embodiment, wherein:

[0088] Figure 1 The storage structure and container are schematically shown;

[0089] Figure 2 Schematically shows Figure 1 Tracks on top of the storage structure shown;

[0090] Figure 3 Schematically shows Figure 1 Load handling equipment atop the storage structure is shown;

[0091] Figure 4 A single load handling apparatus is schematically shown with the container lifting device in a lowered configuration;

[0092] Figure 5 schematically illustrates a cross-sectional view of a single load handling apparatus with a container lift in a raising and lowering configuration;

[0093] Figure 6One embodiment of a lifting assembly for loading handling equipment is schematically illustrated;

[0094] Figure 6a A second embodiment of a lifting assembly for loading and handling equipment is schematically shown;

[0095] Figure 6b Schematically shows Figure 6a Embodiments of the connection between the spool and the timing pulley; Figure 6c yes Figure 6a Different views of an embodiment of the present invention;

[0096] Figure 7 Another embodiment of a lifting assembly for loading and handling equipment is schematically shown;

[0097] Figure 8 A further embodiment of a lifting assembly for loading and handling equipment is schematically shown;

[0098] Figure 9 Schematically illustrating different embodiments of a lifting assembly for loading and handling equipment;

[0099] Figure 10 Additional embodiments of lifting assemblies for loading handling equipment are schematically illustrated;

[0100] Figure 11 schematically illustrates an additional embodiment of a lifting assembly for loading handling equipment; and

[0101] Figure 12 Schematically shows Figure 11 An exemplary lifting assembly of . DETAILED DESCRIPTION

[0102] The following detailed description represents applicant's preferred embodiment of how the raising and lowering of containers by load handling equipment may be accomplished, but is not necessarily the only embodiment for accomplishing this.

[0103] Figure 1 A storage structure 1 is shown, comprising upright members 3 and horizontal members 5, 7 supported by the upright members 3. The horizontal members 5 are parallel to one another and extend parallel to the x-axis shown. The horizontal members 7 are parallel to one another and to the y-axis shown, and extend transversely to the horizontal members 5. The upright members 3 are parallel to one another and to the z-axis shown, and extend transversely to the horizontal members 5, 7. The horizontal members 5, 7 form a grid pattern defining a plurality of grid cells. In the illustrated embodiment, the containers 9 are arranged in stacks 11 below the grid cells defined by the grid pattern, with one stack 11 of containers 9 per grid cell.

[0104] Figure 2A large scale plan view of a portion of the track structure 13 is shown, which forms Figure 1 7. The portion of the storage structure 1 shown is located on top of the horizontal members 5, 7 of the storage structure 1. The track structure 13 can be provided by the horizontal members 5, 7 themselves (e.g., formed in or on the surface of the horizontal members 5, 7) or by one or more additional components mounted on top of the horizontal members 5, 7. The track structure 13 shown includes x-direction rails 17 and y-direction rails 19, i.e., a first set of rails 17 extending in the x-direction, and a second set of rails 19 extending in the y-direction and transverse to the rails 17 of the first set of rails 17. The rails 17, 19 define an aperture 15 at the center of the grid cell. The aperture 15 is sized to allow a container 9 located below the grid cell to be raised and lowered through the aperture 15. The x-direction rails 17 are arranged in pairs separated by a channel 21, and the y-direction rails 19 are arranged in pairs separated by a channel 23.

[0105] Figure 3 Shown in Figure 1 Several load handling devices 31 are shown moving across the top of storage structure 1. Load handling devices 31 (also referred to as robots 31 or machines 31) are equipped with sets of wheels that engage corresponding x- or y-directional tracks 17, 19, enabling machines 31 to travel across track structure 13 and reach specific grid cells. The illustrated pairs of tracks 17, 19, separated by aisles 21, 23, allow machines 31 to occupy (or mutually pass through) adjacent grid cells without colliding with each other.

[0106] like Figure 4 As shown in detail, the machine 31 includes a body 33 in or on which are mounted one or more components that enable the machine 31 to perform its intended functions. These functions may include moving through the storage structure 1 on the track structure 13 and raising or lowering the containers 9 (e.g., from or to the stack 11) so that the machine 31 can retrieve or deposit the containers 9 in specific locations defined by the grid pattern.

[0107] The machine 31 shown includes first and second sets of wheels 35, 37 mounted on the body 33 of the machine 31 and enabling the machine 31 to move in the x and y directions along the tracks 17 and 19, respectively. Figure 4 On the shorter side of the machine 31 visible in FIG, and the other two wheels 35 are provided on the opposite side of the shorter side of the machine 31 (this side and the other two wheels 35 are in FIG. Figure 4 The wheels 35 are engaged with the track 17 and are rotatably mounted on the body 33 of the machine 31 to allow the machine 31 to move along the track 17. Similarly, two wheels 37 are provided on the Figure 4On the longer side of the machine 31 visible in FIG, and the other two wheels 37 are arranged on the opposite side of the longer side of the machine 31 (this side and the other two wheels 37 are in Figure 4 Wheels 37 engage with the tracks 19 and are rotatably mounted on the body 33 of the machine 31 to allow the machine 31 to move along the tracks 19.

[0108] The machine 31 also includes a container lifting mechanism 39 configured to raise and lower the container 9. The container lifting mechanism 39 shown includes four lifting reels or spools 41 connected to a container clamping assembly 43 at their lower ends. The container clamping assembly 43 includes a clamping device configured to engage with a feature of the container 9 (depending on the desired performance, for example, it can be set at a corner of the assembly 43, near the reel 41, or at another position on the container clamping assembly 43). For example, the container 9 can be provided with one or more holes on its upper side, and the clamping device can engage with the hole. The clamping device can be configured to hook under the edge or flange of the container 9 and / or clamp or grab the container 9. As needed, the reel 41 can be wound up or down to raise or lower the clamping assembly.

[0109] like Figure 5 As shown, the main body 33 of the machine 31 includes an upper portion 45 and a lower portion 47 disposed below the upper portion 45. The upper portion 45 is configured to house the operating components of the machine 31, such as one or more control components for controlling the movement of the one or more wheels 35, 37. The lower portion 47 provides a space or cavity for receiving a container 9. The cavity is large enough to fit the container 9 therein, enabling the machine 31 to move across the track structure 13 atop the storage structure 1 without the underside of the container 9 becoming stuck on the track structure 13 or another portion of the storage structure 1. When the machine 31 reaches its intended destination, the container lifting mechanism 39 controls the reel 41 to lower the container gripper assembly 43 and the corresponding container 9 from the cavity of the lower portion 47 to a desired location. The desired location may be a stack 11 of containers 9 or an exit point of the storage structure 1 (or, if the machine 31 has been moved to collect containers 9 for storage in the storage structure 1, an entry point to the storage structure 1). Although in the illustrated embodiment, the upper and lower portions 45 , 47 are separated by a physical divider, in other embodiments, the upper and lower portions 45 , 47 may not be physically separated by a particular component or part of the body 33 of the machine 31 .

[0110] Figure 6A lifting assembly 51 for the container lifting mechanism 39 of the machine 31 is shown. The lifting assembly 51 includes a single motor 52 configured to rotate the output of the motor 52. The motor 52 includes a single motor, and in the following description, the terms "motor" and "single motor" may be used interchangeably. For example, the output of the motor may be a shaft or spindle extending from the body of the motor 52 and rotatable by other components of the motor 52 (e.g., about the longitudinal axis of the motor 52).

[0111] The first timing pulley 53 is connected to the output end of the motor 52 so that the rotation of the output end of the motor 52 causes the rotation of the first timing pulley 53. For example, the first timing pulley 53 can be fixedly mounted on the output end of the motor 52.

[0112] Rotation of the first timing pulley 53 by the motor 52 causes corresponding rotation of the first timing belt 54, which is tensioned around the first timing pulley 53 and the second timing pulley 55. The rotation of the first timing belt 54, in turn, causes rotation of the second timing pulley 55 on the shaft 56 on which the second timing pulley 55 is mounted. The shaft 56 rotates with the second timing pulley 55.

[0113] Also mounted on shaft 56 is a first spool 57 for web 41. The first spool 57 rotates with the shaft 56, causing the web 41 to be unwound from or wound onto the first spool 57, depending on the direction of rotation of the shaft 56 and spool 57, thereby raising or lowering the distal end of the web 41.

[0114] like Figure 6 As shown, the distal end of the web 41 includes a member for connecting the web 41 to a container holding assembly (e.g., Figure 4 and Figure 5 The illustrated means include a tab on the end of the web 41 that includes an aperture into which a corresponding feature of the container holding assembly can be inserted. In other embodiments, the web 41 may include other or different means for attaching the web 41 to the container holding assembly, such as one or more apertures, hooks, or other fastening features that can engage with corresponding fastening features on the container holding assembly. Alternatively, the distal end of the web 41 may be configured to attach directly to the container 9 (i.e., without an intervening container holding assembly), or to another component that is attached to the container 9 (via the container holding assembly or otherwise). In such embodiments, the features at the end of the web 41 may be considered to be the container holding assembly.

[0115] A third timing pulley 59 is also mounted on the shaft 56. The third timing pulley 59 rotates with the shaft 56, causing rotation of a second timing belt 60 that is tensioned around the third timing pulley 59 and a fourth timing pulley 61. The fourth timing pulley 61 is mounted on a shaft that rotates with the fourth timing pulley 61 and also causes rotation of a second spool 62 of the belt takeup 41 that is mounted on the same shaft as the fourth timing pulley 61.

[0116] Similarly, the fifth timing pulley 63 and the third spool 67 of the take-up belt 41 are mounted on the shaft 56 and rotate together with the shaft 56, and are at the opposite end of the shaft 56 from the second timing pulley 55, the first spool 57 of the take-up belt 41, and the third timing pulley 59. When the fifth timing pulley 63 rotates together with the shaft 56, it causes rotation of the third timing belt 64, which is tensioned around the fifth timing pulley 63 and the sixth timing pulley 65. The sixth timing pulley 65 is mounted on a shaft that rotates together with the sixth timing pulley 65, and also causes rotation of the fourth spool 68 of the take-up belt 41, which is mounted on the same shaft as the sixth timing pulley 65.

[0117] In the particular embodiment shown, the second, third and fourth spools 62, 67, 68 are substantially identical to the first spool 57 and operate in substantially the same manner to wind or unwind the web 41 from the spools 62, 67, 68 as they rotate, depending on the direction of rotation.

[0118] In the illustrated embodiment, the timing pulleys 53, 55, 59, 61, 63, and 65 are substantially identical to one another. The timing pulleys 53, 55, 59, 61, 63, and 65 engage their respective timing belts 54, 60, and 64 via gear teeth and corresponding slots or grooves. In other embodiments, the timing pulleys may be sized differently, for example, to provide speed differentials or other features. Similarly, the timing pulleys and their respective timing belts may be provided with different features for engaging with one another, depending on the needs. The timing belts may also be replaced with other connectors (e.g., a timing chain), depending on the needs.

[0119] In the illustrated embodiment, tensioners are provided to help maintain and / or adjust the tension in timing belts 60, 64 (see, for example, tensioner 66). For example, additional tensioners may be provided as needed to help maintain or adjust the tension in timing belt 54. The tensioners are shown positioned below the axis of rotation of pulleys 59, 61, 63, and 65. In other embodiments, for example, if more space is needed below lift assembly 51, where the tensioners do not obstruct the space below, the tensioners may be positioned above the axis.

[0120] The components of the lift assembly 51 are supported on a frame structure 69 of the lift assembly 51. The frame structure 69 includes suitable apertures, slots, cross members, and other features to allow various components to be mounted directly or indirectly on the frame structure 69 and to provide a relatively rigid overall structure for the lift assembly 51. The frame structure 69 can be configured to releasably engage with the body 33 of the machine 31. For example, it can be arranged to slide in and out of the body 33 of the machine 31 and held in place relative to the body 33 by suitable securing means, such as nuts and bolts that engage with corresponding apertures, slots, or cross members in the frame structure 69 and the body 33 of the machine 31 (or one or more components mounted on the body 33 of the machine 31). The releasable engagement of the lift assembly 51 with the body 33 advantageously means that the lift assembly 51 can be easily removed and replaced with another assembly 51 (for example, if the first assembly 51 requires maintenance or repair), allowing the corresponding machine 31 to be returned to service relatively quickly.

[0121] The arrangement shown allows a single motor 52 to raise and lower the web 41 from all four spools 57 , 62 , 67 , 68 . The arrangement shown has various advantages, including: it saves cost and space within the main body 33 of the machine 31 relative to arrangements that incorporate more motors; the speeds at which the four different reels 57, 62, 67, 68 are wound and unwound do not need to be synchronized because they are all driven by the same motor, allowing them to be wound and unwound at the same speed without the need for additional gearing, controls, or other intervention; only a single brake is required to slow or stop the motor, thereby slowing or stopping the winding and unwinding of the different reels 57, 62, 67, 68; because a single control unit can control a single motor to achieve this raising and lowering control, only a single control unit is required to control the raising and lowering of the four different reels 57, 62, 67, 68; a large opening is defined within the frame structure 69 (i.e., between the third, fourth, fifth, and sixth timing pulleys 59, 61, 63, 65) to allow other components to be accommodated within the main body 33 of the machine 31, and / or to allow components to be more easily inserted into and removed from the main body 33 of the machine 31 when the lifting assembly 51 is in place. This can be particularly advantageous in allowing for more frequent replacement of components within the body 33 of the machine 31; for example, it can allow the rechargeable battery of the machine 31 to be easily removed from the body 33 of the machine 31 and replaced with another rechargeable battery. The fact that the single motor 52 is shown mounted outside the shaft 56 (i.e., outside of all the rotational axes of the reels 57, 62, 67, 68 of the web 41) helps provide one or more of these advantages, particularly with respect to defining a large opening within the frame structure 69. The outboard mounting of the single motor 52 can also help balance the center of mass of the machine 31, for example, balancing the mass of the frame structure 69 and other components of the lift assembly 51.

[0122] A single motor configured to control the raising and lowering of the multiple reels 57, 62, 67, and 68 can further allow for the use of advantageous transmissions. Using a single motor with such a transmission can advantageously help better match the motor inertia to the load inertia of the container 9 being lifted. For example, using a single motor can free up more space for an advantageous transmission mechanism than using multiple motors and corresponding transmission mechanisms, particularly allowing for the relative sizing of the transmissions in the illustrated single-motor and multi-motor configurations. In the illustrated embodiment, the output of the single motor 52 is connected to the first timing pulley 53 via a transmission mechanism.

[0123] A single motor with an advantageous gearing arrangement can also allow for more precise control of the raising and lowering of a load. For example, by allowing for a larger ratio between the number of motor rotations and the corresponding linear motion of the distal end of the web 41, finer control can be achieved over the distance traveled by a container 9 or other load being lifted using the lifting assembly 51. This can help minimize damage to the container 9, the body 33 of the machine 31, and / or other objects near the machine 31 by ensuring that the container 9 is not raised or lowered too much. Due to the advantages of the gearbox in terms of position and inertia, it can also allow for better dynamic servo systems. Since only one motor's rotation needs to be monitored and controlled, the number of sensors and encoders required to control the winding and unwinding of the spools 57, 62, 67, 68 using a single motor can be reduced, and the need for hard stops can be eliminated.

[0124] Advantageously, because different cables do not need to be routed to each of the multiple motors, the illustrated lift assembly 51 has a single motor to control the winding and unwinding of the four different reels 57, 62, 67, 68. This can also minimize the number and / or volume of cables required to connect the control unit to the lift assembly 51. Additionally, because only a single cable (or set of cables) needs to be disconnected to disconnect the lift assembly 51 from the control unit, it can be easier to insert and remove the lift assembly 51, and / or remove other components of the machine 31 through or around the lift assembly 51.

[0125] In the embodiment shown, a communications cable spool is also mounted on shaft 56, between the third timing pulley 59 and the fifth timing pulley 63. The communications cable transmits control commands from the control unit to the clamping device at the end of the reel 41. Advantageously, in the embodiment shown, when the communications cable spool is mounted on shaft 56 and rotates with the shaft 56, the communications cable is also raised and lowered by the action of the single motor 52. This means that the distal end of the communications cable is raised and lowered at the same rate as the end of the reel 41, and therefore no further synchronization is required to ensure that the communications cable is lowered and retracted together with the container clamping assembly 43. The outboard mounting of the single motor 52 allows for this mounting of the communications cable spool on shaft 56.

[0126] Before the single motor 52 raises or lowers the container gripping assembly 43 and any engaged containers 9, the wheel positioning mechanism preferably ensures that both the first set of wheels 35 and the second set of wheels 37 of the machine 31 are engaged with the tracks 17, 19 of the first and second sets of tracks 17, 19, respectively. This can advantageously provide additional stability as the container gripping assembly 43 is raised and lowered, and can additionally help ensure that any malfunction of one or more wheels 35, 37 that would cause the machine 31 to move along the tracks 17, 19 is counteracted by the other set of wheels in contact with the tracks. This can advantageously avoid damage to the storage structure 1 if the machine 31 attempts to move while the container gripping assembly 43 is in the lowered configuration.

[0127] Although in the illustrated embodiment, timing belts 54, 60, 64 are used to transfer rotation between various objects, in other embodiments, one or more transmissions may be used in place of one or more timing belts. In this case, the number of transmissions may be selected to ensure the proper direction of rotation transfer. Alternatively, the output of motor 52 may be reversed to accommodate, for example, an odd number of transmissions between timing pulleys 53, 55. For ease of reference Figure 6 Explaining a particular embodiment of the present invention, reel 57 is defined by a first reel 57, reel 62 is defined by a second reel 62, reel 67 is defined by a third reel 67, and reel 68 is defined by a fourth reel 68. The first reel 57 and the third reel 67 are mounted on shaft 56. The second reel 62 and the fourth reel 68 are mounted on separate shafts. The first reel 57 and the third reel 67 provide a first set of reels 57, 67, and the second reel 62 and the fourth reel 68 provide a second set of reels 62, 68. Figure 6 In the particular embodiment of the invention shown, each of the first and second sets of reels is mounted on a separate shaft and driven by a single motor 52 to raise and lower the container gripping assembly 43 via a number of timing pulleys and / or timing belts (54, 60, 64) and / or transmissions.

[0128] For easy reference Figure 6To explain a specific embodiment of the present invention, the timing pulley 53 is defined by the first timing pulley 53, the timing pulley 55 is defined by the second timing pulley 55, the timing pulley 59 is defined by the third timing pulley 59, the timing pulley 61 is defined by the fourth timing pulley 61, the timing pulley 63 is defined by the fifth timing pulley 63, and the timing pulley 65 is defined by the sixth timing pulley 65. The third timing pulley 59 and the fifth timing pulley 63 are mounted on the shaft 56. The third timing pulley 59 and the fifth timing pulley 63 provide a first set of timing pulleys 59 and 63. The fourth timing pulley 61 and the sixth timing pulley 65 are mounted on a separate shaft. The fourth timing pulley 61 and the sixth timing pulley 65 provide a second set of timing pulleys 61 and 65. The first timing pulley 53 is mounted to the output of the single motor 52, for example, on the drive rotor. The second timing pulley 55 provides the drive pulley. A second timing pulley or drive pulley 55 is mounted on the shaft 56 on which the first set of timing pulleys 59, 63 are mounted, and is connected to the first timing pulley 53 mounted on the drive rotor by a timing belt / chain 54, so that rotation of the first timing pulley 53 driven by the single motor 52 drives rotation of the second timing pulley or drive pulley 55 mounted on the shaft, thereby driving rotation of the first set of timing pulleys 59, 63 mounted on the shaft 56. This in turn causes rotation of the first set of spools 57, 67 mounted on the shaft 56.

[0129] Figure 6a A second embodiment of a lift assembly 51 for the container lift mechanism 39 of the machine 31 is shown. The lift assembly 51 includes a single motor 52 configured to rotate the output of the motor 52. The motor 52 comprises a single motor, and in the following description, the terms "motor" and "single motor" may be used interchangeably. For example, the output of the motor may be a rotor shaft or spindle extending from the body of the motor 52 and rotatable by other components of the motor 52 (e.g., about the longitudinal axis of the motor 52).

[0130] exist Figure 6a In this description, the Figure 6 The same reference numerals are used in the description of Figure 6 and Figure 6a Specific embodiments of include different numbers of timing pulleys and timing belts, which will be indicated by reference numerals rather than ordinal numbers (first, second, third, etc.). Figure 6a In FIG, the timing pulley 55 is a driving pulley and one of the first set of timing pulleys. Figure 6 As shown, a first set of pulleys 55, 63 are mounted on shaft 56 and a second set of timing pulleys 61, 65 are mounted on a separate shaft.

[0131] The timing pulley 53 is connected to the output of the motor 52 so that rotation of the output of the motor 52 causes rotation of the timing pulley 53. For example, the timing pulley 53 may be fixedly mounted on the output of the motor 52, such as a rotor shaft.

[0132] Rotation of timing pulley 53 by motor 52 causes corresponding rotation of timing belt 54, which is tensioned around three timing pulleys: timing pulley 53, drive pulley 55, and timing pulley 61 (one of the second set of timing pulleys). Rotation of timing belt 54, in turn, causes drive pulley 55 to rotate on shaft 56, to which drive pulley 55 is mounted. Shaft 56 rotates with drive pulley 55. Timing pulley 61 (one of the second set of timing pulleys) is mounted on a separate shaft that rotates with timing pulley 61.

[0133] A first spool 57 of the web 41 is also mounted on shaft 56. The first spool 57 rotates with shaft 56, causing the web 41 to be unwound from or wound onto the first spool 57, depending on the direction of rotation of shaft 56 and spool 57, thereby raising or lowering the distal end of the web 41. The distal end of the web 41 is anchored to the container gripper assembly. A timing pulley 61 (one of a second set of timing pulleys) causes rotation of a second spool 62 of the web 41, which is mounted on the same shaft as the timing pulley 61.

[0134] Similarly, a timing pulley 63 (one of the first set of timing pulleys) and a third spool 67 of the take-up belt 41 are mounted on and rotate with the shaft 56 and are located at the opposite end of the shaft 56 from the drive pulley 55 and the first spool 57 of the take-up belt 41. As the timing pulley 63 rotates with the shaft 56, it causes rotation of a timing belt 64, which is tensioned around the timing pulley 63 and the timing pulley 65. The timing pulley 65 (one of the second set of timing pulleys) is mounted on a separate shaft that rotates with the timing pulley 65 and also causes rotation of a fourth spool 68 of the take-up belt 41, which is mounted on the same shaft as the timing pulley 65. Therefore, the connection between the timing pulley 53 and the drive pulley 55 and the timing pulley 61 through the timing belt / chain 54, and the connection between the timing pulley 63 and the timing pulley 65 through the timing belt / chain 64 provide synchronous rotational movement of the first and second groups of reels 57, 62, 67, 68 driven by a single motor.

[0135] In the embodiment shown, a tensioner is provided to help maintain and / or adjust the tension in the timing belts 54, 64 (see, for example, tensioner 66). The tensioner is shown positioned above the rotational axis of the first set of timing pulleys 55, 63 and the second set of timing pulleys 61, 65, with the timing belts 54, 64 passing underneath the tensioner. Taking tensioner 66 as an example, the advantage of positioning tensioner 66 is that it increases the contact area between the timing belt 54 and the drive pulley 55. Figure 6 In the specific embodiment of the present invention, the timing belt 54 is tensioned around three pulleys 53, 55, 61. In the absence of a tensioner, the contact area between the central drive pulley 55 and the timing belt 54 is very small, thereby increasing the risk of the timing belt 54 slipping.

[0136] In accordance with the above reference Figure 6 In a similar arrangement to the embodiment of the present invention, a first set of reels including first and third reels 57, 67 are mounted on shaft 56. A second set of reels including second and fourth reels 62, 68 are shown mounted on separate shafts. Each of the first and second sets of reels mounted on separate shafts is driven by a single motor to raise and lower the container gripper assembly via a number of timing pulleys and / or timing belts (54, 60, 64) and / or transmissions.

[0137] exist Figure 6a In the specific embodiment, a single timing belt 54 is used to drive the rotation of the two reels 57 and 62 around three timing pulleys 53, 55, and 61. The advantage is that the number of parts is small, which is different from the Figure 6 In contrast, the embodiment of , which uses two timing belts 54, 60 for the same purpose. This reduces the cost, weight and complexity of the lifting assembly 51. Figure 6a The drive pulley 55 in the embodiment of the present invention is a single timing pulley, which realizes Figure 6 The function of the two timing pulleys (driving pulley 55 and third timing pulley 59) of the specific embodiment. Figure 6 Compared with the specific implementation method, Figure 6a In a specific embodiment, one timing belt and one timing pulley are thereby eliminated.

[0138] The components of the lifting assembly 51 are supported on the frame structure 69 of the lifting assembly 51. Figure 6a In a specific embodiment, the two timing belts 54, 64 are positioned outside the frame structure 69. The elimination of the timing pulley 59 enables the timing belts to be positioned outside the frame structure, as the number of parts is reduced, which facilitates packaging. An advantage of positioning the timing belts 54, 64 outside the frame structure 69 is that the timing belts 54, 64 are more easily accessible for maintenance (e.g., adjusting the tensioner) or replacement.

[0139] The four reels 57, 62, 67, 68 can be connected to their respective timing pulleys 55, 61, 63, 65 so that the timing belts 54, 64 cause the timing pulleys and reels to rotate together or synchronously. Each reel can be bolted to its respective timing pulley or attached by other means. The connection described here is with respect to the first reel 57 and the drive pulley 55, but it should be understood that the connection between each of the four reels 57, 62, 67, 68 and its respective timing pulley 55, 61, 63, 65 can be substantially the same.

[0140] Figure 6b and 6c Two views of a spool 57 bolted to a timing pulley 55 are shown. The spool 57 is connected to the timing pulley 55 with one or more bolts 58. The bolts 58 provide an adjustable connection between the spool 57 and the timing pulley 55. The bolts are one embodiment of an adjustment mechanism between the spool 57 and the timing pulley 55, but it will be appreciated that other forms of adjustment mechanisms are known to those skilled in the art.

[0141] The reel 57 may be provided with one or more slots through which the bolt 58 may pass. The slots allow for angular adjustment between the reel 57 and the timing pulley 55. The container holder assembly needs to remain level during use, so the ability to fine-tune the angular position of the reel is desirable. For example, if one of the webs 41 is stretched or twisted, resulting in the webs 41 being no longer of equal length, the angular position of the reel may need to be adjusted.

[0142] Connecting the spool 57 to the timing pulley 55 via an adjustment mechanism has the added advantage that the adjustment mechanism replaces a portion of the tolerance stackup that determines the angular position of the spool. A smaller tolerance stackup means that the tolerances of the parts in the lifting assembly 51 can be less precise, which saves costs in the manufacturing process. For example, the parts can be manufactured by welding rather than through precision machining of the parts.

[0143] Alternatively, the spool 57 and the timing pulley 55 can be manufactured as an integral component. This has the advantage of further reducing the number of parts and the complexity of the lifting assembly 51.

[0144] The timing pulley 55 and spool 57 are mounted to the frame structure 69 of the lift assembly 51 .

[0145] Figure 7 and Figure 8Alternative lifting assemblies (also called lift assemblies) 70, 80 are shown for use with the loading handler 31 for raising and lowering the container 9. Each lift assembly 70, 80 includes a motor 52 having an output connected to a timing pulley or transmission 55, 72 via a timing belt 54.

[0146] A common shaft or axle 56 extending through the transmission 55 extends to first and second take-up reels or lifting drums 71, 75 about which the lifting belt 41 is wound. A first end of the lifting belt 41 is attached to the lifting drums 71, 75. As previously described, a second distal end of the belt 41 can be connected to a container gripping assembly 43 (also known as a gripping plate), or can support the container gripping assembly to enable the container gripping assembly to be raised and lowered. Slave wheels 73 are used to guide the lifting belt 41 to the gripping plates attached to the ends of the lifting belt 41 and / or to adjust the tension in the lifting belt 41, similar to the above-described Figure 6 The tensioner 66 in the clamping plate is used to lock the load, and then the load is raised and lowered by the lifting components 70, 80.

[0147] As for Figure 7 In the illustrated assembly 70, two lifting belts 41 are alternately wound around each of the two drums 71. Thus, when the first and second drums 71 are rotated by the motor 52 to lower the clamping plate, all four belts 41 unwind simultaneously at the same speed. Conversely, the lifting belts 41 are wound or coiled around the lifting drums 71 at the same time and speed, thereby lifting the weight or payload supported by the clamping plate.

[0148] As for Figure 8 In the assembly 80 shown, the first and second ends of the lifting web 41 are wound around dual drums 75 at each end of an axle or shaft 56 .

[0149] For both assemblies 70 and 80, the web 41 is unwound from the top and bottom of reels 71 and 75, respectively, at each end of the axle 56 to balance the forces applied to the assembly. For both assemblies 70 and 80, the reels 71 and 75 are in the z,x plane. Alternatively, the reels 71 and 75 can be arranged in the z,y plane.

[0150] It will be appreciated that the diameter of drum 71 must be larger than the diameter of the corresponding drum 75 for a given length of lifting web 41. Accordingly, transmission 55 is larger than transmission 72 and is provided by Figure 7 The required torque generated by the motor 52 is greater than that generated by Figure 8 The motor 52 generates the required torque.

[0151] The advantage of the lifting assembly 70 is that it requires fewer parts. The advantage of the lifting assembly 80 is that Figure 8The drum 75, transmission 72 and motor 52 in the embodiment can be made smaller. In both cases, the space required for the lifting assembly 70, 80 in the main body of the load handling device 31 can be minimized.

[0152] It will be appreciated that where four belts are used, the clamping plate may be attached to the distal ends of the lifting belts 41. It will be appreciated that in other embodiments, alternative arrangements may be used. For example, in some embodiments, a sling arrangement may be provided in which only two belts 41 are used, which are passed between pulleys mounted on the clamping plate (e.g., in a manner similar to the embodiment of FIG. 1 ). Figure 12 The clamping plate is supported by a sling that passes through the belt 41 of the pulley. The clamping plate will have one or more clamper assemblies mounted thereon for locking the storage container 9.

[0153] Figure 7 and Figure 8 One or more of the components shown may be mounted on a frame, e.g. Figure 6 Frame 69 is shown. This may advantageously allow an alternative lift assembly 70, 80 to be removably mounted within the body of the load handling apparatus 31 and easily replaced with a spare lift assembly in the event of a failure.

[0154] Figure 9 and Figure 10 An alternative drum arrangement for lifting assemblies 90, 100 is shown. For both assemblies 90, 100, the lifting drums 221, 231 lie in the x,y plane. This arrangement has the advantage that the drums can be larger without taking up more space within the main body of the load handling device 31. Instead, the drums 221, 231 lie substantially coplanar with the upper surface or surface of the load handling device. The diameter of the drums 221, 231 can be substantially the length of the shorter x or y side of the load handling device.

[0155] Advantageously, the drums 221 and 231 are wound with much smaller motors 222 and 232. The drive shaft of motor 222 includes a worm gear 223 that directly drives the drum 221. This allows the motor 222 to be arranged in the same plane as the drum 221, and a large reduction ratio can be achieved without the need for additional transmission gears. The drive shaft of motor 232 is coupled to the drum 231 via a simple direct-drive pulley arrangement 233. Motor 232 is arranged vertically (pointing in the z-direction, perpendicular to the plane of the drum 231).

[0156] exist Figure 9 and Figure 10In the arrangement shown in FIG. 1 , four lifting webs 185 are wound around the same reel 221, 231. The four lifting webs 185 are guided to the four corners of the clamping plate 43. Therefore, when the reels 221, 231 are operated, each corner of the clamping plate 43 is raised and lowered synchronously, and the four webs 185 are wound or unwound simultaneously.

[0157] Figure 11 and Figure 12 Another embodiment of a lift assembly 100 is shown. Figure 11 A single z,x plane or z,y plane of the lift assembly 100 is shown, while Figure 12 The diagram shows two perspective views of the lifting assembly 100 in two z, x planes or z, y planes. The arrangement of the lifting mechanism is similar to that described above in conjunction with Figure 7 and Figure 8 The lifting assembly 100 is arranged in such a way that the lifting drums 71, 75 share a common axle 56. A first pair of belts 185 is wound around the first lifting drum 251, and a second pair of belts 185 is wound around the second lifting drum 251. The two pairs of belts 185 are guided to support each corner of the clamping plate 43. In addition, the belts 185 of the lifting assembly 100 include a pulley system sling arrangement.

[0158] Considering the paired belts 185 for a single lifting drum 251, the first ends of the belts 185 are secured to their respective drums 251. The belts 185 extend to opposite corners of the upper portion of the lifting assembly 100, where they are guided by guide pulleys toward the clamping plate 43. A first pulley 253 mounted on the clamping plate 43 guides the belts 185 along the clamping plate 43 to a second pulley 254 mounted on the clamping plate 43. From the second pulley 254, the belts 185 return to the upper portion of the lifting assembly 100, where the second ends of the belts 185 are secured. Thus, the paired belts 185 form a nested pair of slings.

[0159] It will be appreciated that because the single shaft 252 connecting the two drums 251 can be driven by a single motor, the lift assembly 100 has the advantages of the other single motor arrangements described and illustrated. The lift assembly 100 also has the advantages of a sling arrangement and the advantages of a pulley arrangement. For example, as shown, only one end of the sling can be wound or unwound, thereby allowing the lift assembly to operate with only one lifting drum operable (as opposed to other lift arrangements where multiple spools are wound and unwound separately by separate motors, and / or as opposed to other lift arrangements where multiple spools are wound and unwound by a common motor, such as a Figure 6(as shown). Furthermore, depending on the specific configuration, the pulley arrangement can advantageously reduce the force required to lift and lower a load. This can facilitate the use of thinner belts or wires for lifting loads that would otherwise require stronger belts. The pulley arrangement can also allow for finer control of lifting and lowering due to the efficient transmission provided by the lifting belt itself.

[0160] Despite Figure 11 and Figure 12 In the embodiment shown, pairs of webs 185 are wound onto and unwound from each reel 251, but in other embodiments, only a single web 185 may be wound and unwound from a reel 251, thereby reducing the length of web 185 required for raising and lowering.

[0161] In some embodiments, four take-up reels (e.g., Figure 6 The reels 57, 62, 67, 68 shown may be mounted on a single shaft (e.g. Figure 6 、 Figure 7 or Figure 8 The tape on the four tape reels can be taken up by pulleys or guide wheels or tracks (e.g. Figure 7 and Figure 8 The slave wheel or guide wheel 73 shown is guided to a suitable connection point on the clamping plate 43. This can advantageously reduce the number and / or mass of components forming part of the lifting assembly by reducing the number of mounting points for components of the lifting assembly.

[0162] One or more components of any of the described or illustrated lifting assemblies may be mounted directly or indirectly to a frame that is releasably mounted to the load handling apparatus. Thus, the lifting assembly is used to lift containers into the interior of the load handling apparatus. It will be appreciated that a reversed lifting assembly may be used to lower containers from the load handling apparatus into position in the stack below the grid.

[0163] Although lifting straps are described in many of the foregoing embodiments, other lifting connectors may be used in place of the straps, such as ropes, strings, wires, or other materials.

[0164] It is contemplated that any one or more of the variations described in the preceding paragraphs may be implemented in the same embodiment of the load handling apparatus.

[0165] As used herein, the term "motion in the n-direction" (and related expressions), where n is one of x, y, and z, is intended to mean motion in any direction substantially along or parallel to the n-axis (i.e., toward the positive end of the n-axis or toward the negative end of the n-axis).

[0166] As used herein, the term "connect" and its derivatives are intended to include the possibility of direct and indirect connection. For example, "x is connected to y" is intended to include the possibility of x being directly connected to y with no intervening components, as well as the possibility of x being indirectly connected to y with one or more intervening components. When direct connection is intended, "directly connected," "directly connected," or similar terms will be used. Similarly, the term "support" and its derivatives are intended to include the possibility of direct and indirect contact. For example, "x supports y" is intended to include the possibility of x directly supporting and directly contacting y with no intervening components, as well as the possibility of x indirectly supporting y with one or more intervening components contacting x and / or y. The term "mounted" and its derivatives are intended to include the possibility of direct and indirect mounting. For example, "x is mounted to y" is intended to include the possibility of x being directly mounted to y with no intervening components, as well as the possibility of x being indirectly mounted to y with one or more intervening components.

[0167] As used herein, the word "comprise" and its derivatives are intended to be inclusive rather than exclusive. For example, "x includes y" is intended to include the possibility that x includes one and only one y, several ys, or one or more ys and one or more other components. When intended to be exclusive, "x consists of y" will be used, which means that x includes only y and no other components.

Claims

1. A loading handling device (31) for lifting and moving containers (9) stacked in a stack (11) in a storage structure (1), the storage structure (1) comprising a first set of rails (17) extending in a first direction above the stack (11) of containers (9) and a second set of rails (19) extending in a second direction transverse to the first direction, the loading handling device (31) being configured to move on the rails (17, 19) above the stack (11), the loading handling device (31) comprising: a body (33) having an upper portion (45) and a lower portion (47), wherein the upper portion (45) is configured to accommodate one or more operating components, and the lower portion (47) is arranged below the upper portion (45), and the lower portion (47) includes a container receiving space for receiving at least a portion of a container (9); a wheel assembly arranged to support the body (33), the wheel assembly comprising a first set of wheels (35) and a second set of wheels (37), the first set of wheels (35) being adapted to engage with the first set of tracks (17) to guide the load handling device (31) to move in the first direction, and the second set of wheels (37) being adapted to engage with the second set of tracks (19) to guide the load handling device (31) to move in the second direction; a wheel positioning mechanism for selectively engaging the first set of wheels (35) with the first set of tracks (17) or the second set of wheels (37) with the second set of tracks (19), the wheel positioning mechanism being configured to raise or lower the first set of wheels (35) or the second set of wheels (37) relative to the body (33) to enable the load handling device (31) to selectively move in the first direction or the second direction across the tracks (17, 19) of the storage structure (1); A container lifting mechanism (39) comprising a container clamping assembly (43) configured to releasably clamp a container (9) and a lifting assembly (51, 70, 80, 90, 100) configured to raise and lower the container clamping assembly (43), Wherein, the lifting components (51, 70, 80, 90, 100) include: a single motor (52, 222, 232) configured to raise and lower the container gripping assembly (43); a first set of reels (57, 67) and a second set of reels (62, 68), each reel in the first set of reels (57, 67) and the second set of reels (62, 68) carrying a lifting rope having a first end anchored to the container gripping assembly (43) and a second end anchored to the reel; a rotatable shaft (56), wherein the first set of reels (57, 67) are mounted to the shaft (56) such that the shaft (56) is common to the first set of reels (57, 67); a drive pulley (55) and a first set (59, 63) of timing pulleys mounted on the shaft (56) common to the first set of reels (57, 67) such that rotation of the shaft (56) by the single motor (52) drives the first set of reels (57, 67) via connection to the drive pulley (55); and A second set (61, 65) of timing pulleys is connected to the first set (59, 63) of timing pulleys via one or more of a plurality of timing belts (54, 60, 64) such that rotation of the shaft (56) by the single motor (52) drives the second set of spools (62, 68) via connection to the drive pulley (55).

2. The loading handling device (31) according to claim 1, wherein The single motor (52) is mounted outside the shaft (56).

3. The loading handling device (31) according to claim 1, wherein: The drive pulley (55) is one of the first set of pulleys.

4. The loading handling device (31) according to claim 3, wherein: The connection between the single motor (52) and the drive pulley (55) includes a first timing pulley (53) and a single belt (54), wherein the single belt (54) is tensioned around the first timing pulley (53) and the drive pulley (55) and one of the second set of timing pulleys (61), thereby driving the first set of reels and the second set of reels to rotate.

5. The load handling device (31) according to claim 1, wherein At least one of the first and / or second sets of timing pulleys is mounted to at least one spool of the first and / or second sets of spools.

6. Load handling equipment (31) according to claim 5, wherein The at least one spool of the first and / or second set of spools comprises an adjustable mechanism for rotatably adjusting the at least one spool of the first and / or second set of spools about its axis of rotation relative to the at least one of the first and / or second set of timing pulleys.

7. The load handling device (31) according to claim 1, wherein The lifting assembly (51) includes one or more tensioners (66) configured to maintain or adjust tension in the timing belt (54, 60, 64).

8. The load handling device (31) according to claim 1, wherein The lifting assembly (51) includes a frame structure (69) releasably mounted on the body (33) of the load handling apparatus (31).

9. The load handling device (31) according to claim 1, wherein: The output end of the single motor (52, 222, 232) is connected to the container clamping assembly (43) via a transmission mechanism.

10. The load handling device (31) according to claim 1, wherein An aperture is defined by the lifting assembly (51), the aperture being sized to allow a component to be inserted into or removed from the body (33) of the load handling device (31) through the aperture.

11. The load handling device (31) according to claim 1, comprising one or more connectors (41, 185) configured to connect the output of the single motor (52, 222, 232) and the container gripping assembly (43), optionally, The one or more connectors (41, 185) pass around or over one or more guides or pulleys (73, 253, 254), optionally The one or more connectors (41, 185) are configured to be unwound or wound from one or more reels or drums (57, 62, 67, 68, 71, 75, 221, 231, 251) by a single motor (52, 222, 232).

12. The load handling device (31) according to claim 1, wherein The lifting assembly (51) includes a communication cable, and the single motor (52, 222, 232) is configured to raise and lower the distal end of the communication cable and the container clamping assembly (43).

13. The method for executing the load handling device (31) according to any one of claims 1 to 12, comprising: causing the output end of the single motor (52) to rotate in a first direction to lower the container gripping assembly (43) to a container (9) in a stack (11) of containers (9) stacked in the storage structure (1); causing the container gripping assembly (43) to engage the container (9) such that the container (9) can be raised and lowered by the container gripping assembly (43); The output end of the single motor (52) is rotated in a second direction, thereby raising the container gripping assembly (43) and the engaged container (9).

14. A storage and retrieval system comprising: A storage structure (1) configured to store containers (9) in a stack (11) beneath a first set of rails (17) extending in a first direction and a second set of rails (19) extending in a second direction; as well as Several load handling devices (31) according to any one of claims 1 to 12.

15. The storage and retrieval system of claim 14, wherein: The plurality of load handling devices (31) are configured to perform the method according to claim 13.

Images