Cam mechanism for a diverter assembly of a load handling device and related methods and uses

Abstract

A load handling device for lifting and moving storage containers stacked in a grid-based storage system framework structure includes a skeleton including a frame defining a volume space having an upper portion, a lower portion, and a mid-ring between the upper and lower portions; a first set of wheels disposed on the lower portion of the skeleton and a second set of wheels disposed on the lower portion of the skeleton. The first set of wheels is configured to engage a first set of parallel tracks and the second set of wheels is configured to engage a second set of parallel tracks. A direction changing assembly is configured to raise and lower the first set of wheels relative to the skeleton and / or lower or raise the second set of wheels relative to the skeleton to engage or disengage the first and second sets of wheels with the parallel tracks. The direction changing assembly is located between the mid-ring and the first set of wheels or the second set of wheels. The direction changing mechanism includes a cam mechanism (190a, 190b, 191, 192).

Description

Technical Field

[0001] This invention relates to the arrangement of directional components. More specifically, the invention relates, non-exclusively, to cam mechanisms. Background Technology

[0002] A robotic load handling device is described in UK Patent Application No. GB2520104A (Okado Innovation Ltd.). Such a load handling device moves controllably on a track system that forms a grid above a stack of boxes or containers. The specified load handling device lifts a target container from the top of the stack, the target container containing inventory items required to fulfill a customer order. The load handling device includes a first set of wheels and a second set of wheels for engaging with x-direction tracks and y-direction tracks, respectively. For movement in the x-direction, the x-direction wheels engage with the tracks when the y-direction wheels are lifted. Similarly, for movement in the y-direction, the y-direction wheels engage with the tracks when the x-direction wheels are lifted. The transition between movement in the x and y directions is controlled by a reversing mechanism.

[0003] WO2017153583A1 (Okado Innovation Ltd.) describes a mechanism that enables a load handling device to move laterally in the lateral direction by selectively engaging the x-axis wheel or the y-axis wheel.

[0004] The reversing mechanism must be robust, reliable, and able to support the weight of the load handling unit and the target container, and must be able to withstand repeated use.

[0005] This invention was designed in response to this background. Summary of the Invention

[0006] Various aspects of the invention are set forth in the appended claims.

[0007] One objective is to provide lightweight load handling units. Another objective is to provide low-cost load handling units. Yet another objective is to provide modular load handling units that are easy or inexpensive to assemble and maintain. A further objective is to provide load handling units primarily made of recyclable or environmentally friendly materials.

[0008] In one aspect of the invention, a load handling device is provided for lifting and moving stacked storage containers in a grid-based storage system frame structure. The frame structure includes: a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicular to the first set of rails or tracks in a generally horizontal plane to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a set of pillars to form a plurality of vertical storage positions below the grid for containers to be stacked between the pillars and guided by the pillars to pass vertically through the plurality of grid spaces. The load handling device includes: a skeleton comprising a frame defining a volume space having an upper and a lower portion. The frame includes a central ring between the upper and lower parts; a first set of wheels and a second set of wheels disposed on the lower part of the frame, the first set of wheels being configured to engage with a first set of parallel tracks and the second set of wheels being configured to engage with a second set of parallel tracks; and a reversing assembly configured to raise or lower the first set of wheels relative to the frame and / or lower or raise the second set of wheels relative to the frame to engage or disengage the first and second sets of wheels from the parallel tracks, the reversing assembly being located between the central ring and the first and / or second sets of wheels, and wherein the reversing assembly includes a cam mechanism.

[0009] Storage systems can be automated or semi-automated storage and retrieval systems. Grid-based storage system architectures can be high-density cubic storage systems.

[0010] The load handling device or robot can be an autonomous or semi-autonomous device that operates on a grid.

[0011] In the load handling device, the first set of wheels and the second set of wheels can be driven independently of each other. When the load handling device is driven, only one set of wheels engages with the grid, thus enabling the load handling device to move along the track to any point on the grid by driving the set of wheels engaged with the track. The steering assembly can select which wheels engage with the track.

[0012] It should be understood that engaging or disengaging the first or second set of wheels from the track requires the vertical movement of that set of wheels, while the other set of wheels supports the load handling device.

[0013] The frame can be viewed as the main body of the load handling device and may be essentially without cladding or sides. For convenience, it may be useful to consider the frame in sections: an upper section for supporting or housing components such as batteries, communication, control systems, and motors, and a lower section primarily for the drive system and essentially an empty space for receiving containers. A central ring connects the lower and upper sections and can provide additional rigidity to the frame.

[0014] Instead, consider a reversing mechanism, typically a cam or linear cam, which is a simple mechanism for transferring a linear input and converting it into different motions. The cam profile may be formed on one or more edges or surfaces and may include slots, grooves, or surface profiles. Accordingly, the cam can be configured to convert horizontal motion into vertical motion by including vertical and horizontal elements.

[0015] Cam mechanisms allow for reliable engagement between a selected set of wheels and rails.

[0016] The cam mechanism profile may be seamless; for example, the cam profile can be shaped to provide a sinusoidal acceleration curve. In this way, the transition between engagement and disengagement can be smooth or fluid. Alternatively, the transition may require a smooth force input.

[0017] The position of the steering assembly between the center ring and each set of wheels—that is, inside the lower part of the frame—means that the force transfer from the steering assembly to the wheels is essentially direct, i.e., there are no long connections that could at least partially result in mechanical losses due to bending and torque.

[0018] It should be understood that the cam path or profile can be directly related to the vertical movement required for the engagement and disengagement of the wheel and rail. Accordingly, the cam-based reversing assembly can be compact in the vertical direction. Therefore, the reversing mechanism can be positioned so that it does not extend vertically beyond the center ring and is substantially shorter than the vertical height of the center ring. This allows for greater flexibility in the positioning of other components of the load handling device. For example, reducing the height of the reversing assembly allows the center ring to be widened, thereby increasing the overall rigidity of the frame. Additionally, reducing the height allows the center of mass of the load handling device to be kept as low as possible, thereby improving the stability of the load handling device, particularly when operating on a grid.

[0019] It should be understood that the y-direction side of the load processing device may require a horizontally mirrored cam profile compared to the x-direction side of the load processing device.

[0020] It should be understood that because cams are relatively simple mechanical devices, the number of parts required for steering assemblies can be kept to a minimum. With fewer parts, steering assemblies can advantageously have better tolerances. It should be understood that, typically, due to the increased number of parts, more precisely manufactured parts are needed to ensure they assemble together, or to ensure that the overall tolerances of the assembly do not become unacceptable.

[0021] The cam mechanism may include: a movable element; a fixed support element, wherein the movable element is configured to move relative to the fixed support element under the action of an applied horizontal force; a cam; and a follower element, wherein the follower element may engage with the cam to convert the movement of the movable element into vertical movement.

[0022] It should be understood that these can be typical components of a cam mechanism.

[0023] The driven member can be attached to a fixed support while the cam is connected to a moving member, or the driven member can be attached to a moving member while the cam is connected to a fixed support.

[0024] It should be understood that both arrangements can result in an equivalent transfer of horizontal motion to vertical motion. It should also be understood that, depending on the arrangement chosen, a vertically mirrored cam profile may be required.

[0025] The fixed support may include a wheel chassis for mounting a pair of corresponding first or second sets of wheels.

[0026] The wheel can be directly or substantially directly attached to the steering assembly. This eliminates the need for additional components and minimizes mechanical losses between the steering assembly and the wheel.

[0027] Fixed supports can be restricted to the frame by one or more mounting components to move only in the vertical direction.

[0028] In this way, out-of-plane vertical movement of the cam mechanism and / or wheel chassis is prevented to ensure that substantially all horizontal input is used to convert into vertical movement for engaging and disengaging the wheels.

[0029] The cam can be a linear cam. The cam may include a slot, or the cam may include a surface.

[0030] It should be understood that linear cams can be configured to follow a single edge, such as a surface, or the follower can be constrained between two edges—such as a slot.

[0031] The slot arrangement can ensure that the follower continues to follow the cam profile in both forward and backward directions.

[0032] The driven element may include a rolling element or a sliding element supported by a cover.

[0033] In the case of a sliding cam, the follower can be a rigid protrusion with no degrees of freedom. Friction loss between the follower and the cam can be reduced by selecting a low-friction material or by using a lubricant.

[0034] In the case of rolling elements or rolling tools, the driven element may include a bearing.

[0035] The driven component can be supported by a cover on the corresponding side.

[0036] It should be understood that holding the follower between the two covers allows a slight compressive force to be applied to the follower. This helps to keep the follower perpendicularly aligned with the cam.

[0037] The cam mechanism may include a single cam arrangement or a double cam arrangement.

[0038] The cam mechanism may include an engagement tool between the moving part and the fixed support. For example, the moving part may include an engaging foot to engage with a corresponding base on the fixed support or wheel mount. Typically, the foot is configured to engage with the base when in the drive position. The engagement between the foot and the base provides greater rigidity to the sides. Greater rigidity provides stability and controllability to the load handling device. This configuration is particularly useful in single-cam arrangements.

[0039] In a dual-cam arrangement, the cam mechanism may include two linked, horizontally spaced cam surfaces, and corresponding followers located on the moving and fixed supports. In this way, each wheel in a pair can have a corresponding cam. This provides the advantage of ensuring better balance and / or support for the wheel base or floor, as the pair of wheels rises and falls at two points. It should be understood that this reduces any rotation of the wheel base.

[0040] Cam mechanisms may include a three-cam arrangement.

[0041] It should be understood that any number of cam arrangements can be provided on the entire side of the device.

[0042] A three-cam arrangement may be advantageous when the load handling device is heavier and the wheel supports a larger load. It should be understood that the load can be distributed to each cam.

[0043] The cam mechanism can be set in a single vertical plane between the central ring and the corresponding pair of wheels.

[0044] It should be understood that the moving part, fixed support, cam, and follower can be located in the same vertical plane. In this way, the cam mechanism can occupy only the horizontal space required for the width or depth of the component. Accordingly, the required horizontal space can be minimized, and thus the empty volume space of the skeleton can be significantly maximized. Maximizing the horizontal available space of the load processing unit can be important for grid-based storage systems designed so that the load processing unit essentially occupies only a single grid space, allowing other load processing units operating on the grid to pass through adjacent grid spaces and thereby maximizing system efficiency.

[0045] In this way, the cam mechanism can essentially comprise the side surfaces of the skeleton structure. It should be understood that other components may also exist on the side surfaces of the skeleton; however, the skeleton can remain essentially open.

[0046] The corresponding pairs of the first and second sets of wheels can be driven by a drive belt, and the cam mechanism can be located within the area defined by the path of the drive belt.

[0047] In this way, the cam mechanism can essentially mesh, interleave, or overlap with other systems in the load handling unit. It should be understood that this arrangement reduces the volume required for internal components and systems within the frame.

[0048] The cam mechanism may further include a spring tool between the moving part and the fixed support.

[0049] A spring-loaded tool can assist in biasing the fixed support to a preferred vertical position. For example, the spring-loaded tool can resist the effect of gravity to bias the moving part and the fixed support together. This arrangement is particularly useful when the cam includes a single edge or surface rather than a slot. In this way, the spring-loaded tool ensures that the follower remains substantially engaged with the cam profile.

[0050] The first constraint of the cam mechanism can limit the position of the raised wheel, while the second constraint of the cam mechanism can limit the position of the lowered wheel.

[0051] It should be understood that the cam mechanism can extend between the first and second limits. For example, in the case where the cam profile is a slot, the first limit can be the first end of the slot, while the second limit can be the distal end of the slot. In the case of a single-sided surface or edge, the cam profile can be limited by a protrusion or a discontinuity.

[0052] During use, the driven member can move freely between the first and second limits. When a cam mechanism is used as part of the reversing assembly, the first limit may correspond to the wheel raised or retracted position, while the second limit may correspond to the wheel lowered or lowered position. In the raised position, the wheel may be disconnected from or isolated from the rail, while in the lowered position, the wheel may be engaged with the rail.

[0053] The steering assembly can be configured to raise or lower the first set of wheels relative to the frame and simultaneously and accordingly lower or raise the second set of wheels.

[0054] In order for the load handling device to move on the grid in the x or y direction, it may be necessary to engage only one set of wheels with the track. Accordingly, it may be advantageous to raise the first set of wheels substantially simultaneously with lowering the second set of wheels, and vice versa.

[0055] In other arrangements, it may be advantageous to ensure that the load handling device is supported throughout the transition between the engagement of the first and second sets of wheels. In this way, when changing from the first to the second set of wheels, the second set of wheels is lowered while the first set of wheels remains in the lowered position. Once the second set of wheels engages with the track, the first set of wheels is raised. Accordingly, the robot's center of gravity is maintained throughout the direction-changing operation, and the direction-changing motor does not need to work against the weight of the load it is carrying.

[0056] The corresponding cam mechanism can be mechanically connected to move in unison between the wheel retraction and wheel detraction configurations.

[0057] It should be understood that the steering assembly may include corresponding cam mechanisms for each pair of wheels, disposed on each side of the load handling device. By mechanically interlocking the corresponding cam mechanisms, it is possible to substantially coordinate the vertical movement of the first and second sets of wheels. Furthermore, it is possible to operate the vertical movement with a single start.

[0058] Mechanical connections or interlocks can be belts or chains. A belt can essentially run around the circumference of the frame and be attached to the moving parts of the corresponding cam mechanism. In this way, when the belt is rotated or driven, the moving parts move together to provide horizontal input to the cam mechanism. Belt arrangements can be relatively inexpensive and relatively lightweight.

[0059] In another arrangement, the mechanical connection can be a lead screw located on each side of the load handling unit. Each screw can be connected by a 90-degree bevel gear. This arrangement eliminates the need for a gearbox, as the transmission is achieved through the screw pitch. Screws on opposite sides of the load handling unit can be configured to operate in the same direction, or screws on opposite sides can be configured to operate in opposite directions.

[0060] The reversing assembly can be operated by a single motor, or it can be operated by more than one motor.

[0061] In this way, a single motor can be used to change the direction of movement of the load handling unit. It should be understood that the motor can be replaced with any starting tool, such as a solenoid, hydraulic tool, pneumatic tool, servo tool, solid-state starting tool, etc. This can advantageously reduce the overall cost and weight of the load handling unit.

[0062] When using more than one motor, the load processing unit can have some redundancy, allowing it to continue operating even in the event of partial failure, thus preventing a complete loss of operability of the load processing unit on the grid. Advantageously, this provides a more robust reversing mechanism. Advantageously, this reduces downtime for individual load processing units and the entire storage and retrieval system.

[0063] The load handling device may further include a sensing tool for determining the engagement of the first set of wheels or the second set of wheels with the parallel track.

[0064] Accordingly, it is possible to detect whether the reversing components are working properly.

[0065] The load processing device may further include sensing tools for determining a fault or malfunction of the reversing component.

[0066] In the event of a directional component failure, if a set of wheels is engaged with the rails, the load handling unit can be moved to the edge of the grid for recovery and repair. If the load handling unit cannot be moved, recovery and repair communications can be sent to the control facilities of the storage system.

[0067] At least one component of the cam mechanism can be 3D printed, and / or at least one component of the cam mechanism can be substantially topologically optimized.

[0068] In this way, it may be possible to achieve shapes or complex forms that are impossible to achieve with more traditional types of manufacturing. Advantageously, the cam mechanism can be printed on demand or in a 3D printing facility near the location where the part is needed, thereby minimizing logistical costs of delivering the component to the desired location. It should be understood that the 3D printing mentioned in this invention can be more generally referred to as additive manufacturing, which involves adding materials to build up layers.

[0069] It may be possible to print parts that incorporate more than one type of material. In this way, some areas can have lower friction for sliding or rolling efficiency, while other areas can have materials with selected properties for hardness and strength. Accordingly, cam mechanisms can be load-bearing and can include part of complex components. For example, cam mechanisms, chassis, and other side features can be printed as a single part.

[0070] It may be possible to print multiple components of a cam mechanism together into a single printout with multiple components. In this way, tolerance errors between components can be minimized.

[0071] Cam mechanisms can be essentially topologically optimized. In this way, cam mechanisms can be optimized to reduce the total amount of material used and its mass. Alternatively, cam mechanisms can be optimized to remain within certain stress limits to ensure that the cam mechanism operates below fatigue limits within the operating temperature range.

[0072] The load handling device may further include a lifting device supported by the upper part of the frame for lifting the container into the volumetric space.

[0073] Accordingly, the load processing device can be used to retrieve the storage container.

[0074] The load processing device may further include a tool for sensing positions on the grid. The load processing device may further include a tool for lifting and lowering storage containers. The load processing device may further include a tool for transporting the lifted storage containers to their positions on the grid. The load processing device may further include a tool for identifying individual storage containers. The load processing device may further include a tool for identifying a specific storage container. The load processing device can move autonomously without continuous instructions from a centralized control facility. The load processing device can be remotely operated under the control of the storage system. The load processing device may further include a tool for sending signals to the centralized control facility and can move under the control of the centralized control facility. The load processing device may further include a tool for powering the reversing assembly. The load processing device may further include a drive assembly. The load processing device may have drive wheels. The load processing device may further include an identification tool.

[0075] In another aspect, a method is provided for altering the engagement of each set of wheels with a track in a load handling device according to any of the preceding claims, wherein the load handling device operates on a grid frame (14) structure including the track. The method includes the steps of: applying a force F1 to a moving member of a reversing assembly in a first direction to move a cam mechanism to a first limit, or applying a force F2 to a moving member of a reversing assembly in a second direction to move a cam mechanism to a second limit.

[0076] In another aspect, a component kit is provided for modular assembly of a load handling device, the kit comprising: a frame, a first set of wheels and a second set of wheels, wherein the frame is mountable on the first set of wheels and the second set of wheels; and at least one steering assembly, the at least one steering assembly comprising at least one cam mechanism, each cam mechanism having a moving element, a fixed support element, a follower element and a cam path.

[0077] Accordingly, the load handling unit can be largely modular. The systems and components of the load handling unit are largely interchangeable.

[0078] The component kit may further include: at least two cam mechanisms and a transfer belt.

[0079] The component kit may further include: at least one reversing motor.

[0080] At least one component is 3D printed.

[0081] The component kit may further include at least one of the following components: a set of wheels, a drive assembly, a gripper assembly, a lifting assembly, a communication system, and / or a sensor tool.

[0082] Other variations and advantages will be explained in the following description. Attached Figure Description

[0083] These and other aspects of the invention will now be described by way of example only, in conjunction with the accompanying drawings, wherein: Figure 1 The storage structure was demonstrated; Figure 2 The track structure was shown; Figure 3 Showing Figure 1 The storage structure shown cannot accommodate the robot's workload processing device. Figure 4 The robot load handling device or robot was demonstrated; Figure 5 The robot load handling device or robot was demonstrated; Figure 6 The load handling unit and reversing component were demonstrated, in which... Figure 6 The load processing unit in section a has been docked. Figure 6 In step b, the x-axis wheel is raised while the y-axis wheel is lowered for movement in the y-direction, and... Figure 6 In C, the y-direction wheel is raised while the x-direction wheel is lowered for movement in the x-direction; Figure 7 The directional cam mechanism was demonstrated; Figure 8 ac shows the positions of lowered, docked, and raised. Figure 7 Cam mechanism; Figure 9 The double cam mechanism was demonstrated; Figure 10 ac shows the positions of lowered, docked, and raised. Figure 9 Double cam mechanism; Figure 11 A three-cam mechanism was demonstrated; Figure 12 ab illustrates an inverted cam mechanism in which (a) the follower is attached to the moving member and the cam is defined on the fixed support and (b) the cam is defined on the moving member and the follower is attached to the fixed support. Figure 13 ac demonstrates edge or surface cam mechanisms in lowered, docked, and raised positions; Figure 14 Showing Figure 13 The inverted version of the surface cam mechanism shown; Figure 15 A side view showing the arrangement of the cam and wheel mount components; Figure 16 A front view showing the arrangement of the cam and wheel mount components; Figure 17ab illustrates a cam mechanism with an anti-rotation foot, which (a) attaches the cam to a moving part and (b) attaches the cam to a fixed support. Figure 18 af showcased with Figure 17 The cam mechanism shown is similar to a cam mechanism with an anti-rotation foot and cams with different displacements of the moving parts: Figure 18 (a)-(c) Attach the cam to the moving part, while Figure 18 (d)-(f) Attach the cam to the fixed support; and Figure 19 AF showcased a cam mechanism with an anti-rotation foot ( Figure 19 (ac)) and a cam mechanism without anti-rotation feet ( Figure 19 The difference between (df)); when the robot is moving and accelerating ( Figure 19 (a,d)), when the robot does not accelerate during its movement ( Figure 19 (b,e) and when the robot is in motion and decelerating ( Figure 19 (c,f)).

[0084] In the accompanying drawings, the same features are indicated by the same reference numerals where appropriate. Detailed Implementation

[0085] The following detailed descriptions represent preferred embodiments of how the invention can be implemented, but they are not necessarily the only embodiments for achieving this objective. These embodiments are described in sufficient detail to enable those skilled in the art to implement the invention. Other embodiments may be utilized and structural changes may be made without departing from the scope of the invention as defined by the claims. Furthermore, references to direction and any other terms implying orientation are given by way of example to aid the reader in understanding the specific embodiments described herein. They should not be considered as requirements or limitations, particularly regarding location, orientation, or the use of the invention, unless specifically stated in the claims. Similarly, references to connection (e.g., attachment, coupling, connection, linkage, fixation, etc.) are intended to be interpreted broadly and include intermediate members between element connections and relative movement between elements. Therefore, a reference to connection does not necessarily mean that two elements are directly connected and fixed to each other, unless specifically stated in the claims. Similarly, terms such as "movement in the n-direction" and any similar usage, where n is one of x, y, or z, are intended to indicate bidirectional movement 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).

[0086] Figure 1Storage structure 1 is shown, comprising an upright member 3 and horizontal members 5 and 7 supported by the upright member 3. Horizontal member 5 extends parallel to another horizontal member 5 and the illustrated x-axis, while horizontal member 7 extends parallel to another horizontal member 7 and the illustrated y-axis, and is transverse to the horizontal member 7. Upright member 3 extends parallel to another upright member 3 and the illustrated z-axis. Horizontal members 5 and 7 form a grid pattern defining a plurality of grid cells. In the illustrated embodiment, containers 9 are disposed in a stack 11 below the grid cells defined by the grid pattern, each grid cell having a stack 11 of containers 9.

[0087] Figure 2 A large-scale plan view of the partitions of track structure 13 is shown, which is located on top of horizontal members 5 and 7 and forms... Figure 1 This is a portion of the storage structure 1 shown. 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 to the top of the horizontal members 5, 7. The illustrated track structure 13 includes x-direction tracks 17 and y-direction tracks 19. In this case, the first set of tracks 17 extends in the x-direction, while the second set of tracks 19 extends in the y-direction, traversing the first set of tracks 17. Tracks 17, 19 define an aperture 15 at the center of the grid cell. The aperture 15 is sized to allow the storage container 9 located below the grid cell to be raised and lowered through the aperture 15. The first set of tracks 17 is arranged in pairs separated by ridges 21, while the second set of tracks 19 is arranged in pairs separated by ridges 23. Other arrangements of track structures are also possible.

[0088] Figure 3 Shown in Figure 1 A plurality of robotic load handling devices 31 move on top of the storage structure 1 shown. Each load handling device 31, also referred to as a robot 31, is equipped with a direction-changing component (not shown) and a set of wheels to engage with a corresponding x or y direction track 17, 19, thereby enabling the robot 31 to travel across the track structure 13 and reach a specific grid cell. As described above, the set of tracks 17, 19 are spaced apart by ridges 21, 23, which allows a pair of robots 31 to occupy adjacent grid cells or pass through another without colliding.

[0089] like Figure 4 As shown in detail, robot 31 includes a body 33, on which one or more components are mounted to enable the robot to perform its intended functions. These functions may include moving across storage structure 1 on track structure 13, and lowering container 9 to or raising container 9 from stack 11, thereby allowing robot 31 to store or retrieve container 9 at specific locations defined by the grid pattern.

[0090] To perform the former function, robot 31 includes first and second sets of wheels 35 and 37, which are mounted on the main body 33 and enable robot 31 to move along tracks 17 and 19 in the x and y directions, respectively. Specifically, the two wheels 35 are set... Figure 4 Two wheels 35 are located on the visible short side of robot 31, while two other wheels 35 are located on the opposite short side 36 of robot 31. The wheels 35 are rotatably mounted on the body 33 and configured to engage the track 17 to allow robot 31 to move along the track 17. Similarly, two wheels 37 are located on... Figure 4 Two additional wheels 37 are located on the long side of the visible robot 31, while two other wheels 37 are located on the opposite long side 38 of the robot 31. The wheels 37 engage with the track 19 and are rotatably mounted on the body 33 of the robot 31 to allow the robot 31 to move along the track 19.

[0091] To enable the robot 31 to move on different wheels 35, 37 in the first and second directions, the robot 31 includes a wheel positioning mechanism for selectively engaging the first set of wheels 35 with the first set of tracks 17 or engaging the second set of wheels 37 with the second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 35 and / or the second set of wheels 37 relative to the body 33, thereby enabling the load handling device 31 to selectively move across the tracks 17, 19 of the storage structure 1 in the first or second direction.

[0092] The wheel positioning mechanism may include one or more linear actuators, rotating components, or other tools for raising and lowering at least one set of wheels 35, 37 relative to the robot body 33 to disconnect or engage the at least one set of wheels 35, 37 with or without engaging the tracks 17, 19. In some embodiments, only one set of wheels is configured to be raised and lowered, and the action of lowering that set of wheels effectively lifts another set of wheels away from the corresponding track, while the action of raising that set of wheels effectively lowers the other set of wheels into contact with the corresponding track. In other embodiments, both sets of wheels can be raised and lowered, which advantageously means that the body 33 of the robot 31 remains substantially at the same height and therefore the weight of the body 33 and its mounted components does not need to be raised and lowered by the wheel positioning mechanism.

[0093] To facilitate the latter function, robot 31 further includes a container lifting tool, generally designated 39, configured to lift container 9 from stack 11 into the container receiving space or cavity of robot 31, and to lower container 9 from the container receiving space onto stack 11. The illustrated container lifting tool 39 includes four belts or reels 41 connected at their lower ends to container engagement assembly 43. The belts 41 can be wound up or down as needed to raise or lower container engagement assembly 43. One or more motors or other tools may be provided to achieve or control the winding or unwinding of the belts 41.

[0094] like Figure 5 As shown, the main body 33 of the illustrated robot 31 has an upper portion 45 and a lower portion 47. The upper portion 45 is configured to enclose one or more operating components (not shown). The lower portion 47 is located below the upper portion 45 and includes a container receiving space or cavity for accommodating at least a portion of a container 9 to be lifted by a container lifting tool 39. The container receiving space is sized such that the container 9 is sufficiently placed within the cavity to allow the robot 31 to move across the track structure 13 on top of the storage structure 1 without the lower side of the container 9 getting stuck on the track structure 13 or another part of the storage structure 1. When the robot 31 has reached its intended destination, the container lifting tool 39 controls the belt 41 to lower the container engagement assembly 43 and the corresponding container 9 out of the cavity in the lower portion 47 and into the intended position. This intended position may be the exit point of the container stack 11 or the storage structure 1 (or, if the robot 31 has moved to collect the container 9 for storage in the storage structure 1, then it may be the inlet point of the storage structure 1). Although in the illustrated embodiment the upper and lower portions 45, 47 are separated by a physical separator, in other embodiments the upper and lower portions 45, 47 may not be separated by a physical component or a part of the body 33 of the robot 31.

[0095] It should be understood that although the load handling device is illustrated using a single (mesh) space robot (load handling device) as an example, automated or semi-automated storage and retrieval systems are not limited to systems designed to use a single space robot.

[0096] In some embodiments, the container receiving space of robot 31 may not be located within the body 33 of robot 31. For example, in some embodiments, the container receiving space may be adjacent to the body 33 of robot 31 (e.g., in a cantilever arrangement where the weight of the container to be lifted is balanced by the weight of the body 33 of robot 31). In such embodiments, the frame or arm of container lifting tool 39 may protrude horizontally from the body 33 of robot 31, and the belt / reel 41 may be positioned at corresponding locations on the protruding frame and configured to rise and fall from these locations to lift and lower containers into the container receiving space adjacent to the body 33. The height at which the frame is mounted on the body 33 of robot 31 and protrudes from the body 33 of robot 31 can be selected to provide the desired effect. For example, a high horizontal protrusion of the frame on the body 33 of robot 31 is preferred to allow relatively large containers or multiple containers to be lifted into the container receiving space below the frame. Alternatively, the frame may be configured to protrude lower along the body 33 (but still high enough to accommodate at least one container between the frame and the track structure 13) to keep the center of mass of the robot 31 lower when the robot 31 is loaded with the container.

[0097] Unlike cantilever robots, by placing the large components of the load handling device above the container receiving space, the coverage area of ​​the load handling device is reduced compared to the cantilever design described in NO317366, where the large components are housed within a carrier module placed on one side of the container receiving space. Advantageously, the load handling device according to the invention occupies the same space above a corresponding number of stacks in the frame as the carrier module and the container to be lifted.

[0098] Compared to cantilever load handling devices in the prior art, single-space load handling devices can also provide better stability, larger load handling volume and smaller weight because, in this invention, the load of the container is suspended between pairs of wheels on each side of the carrier.

[0099] exist Figure 4 and 5 In the specific embodiment shown, the container engagement assembly 43 includes a clamping plate 49 attached to the lower end of the strap 41 and one or more clamping assemblies (not shown) mounted thereon for latching to the container 9. The clamping assemblies may be located, for example, at a corner of the clamping plate 49, near the strap 41, and are configured to align with a recess or opening in the container 9 and interact with it when activated to latch to the container 9.

[0100] Returning to the more detailed aspects of wheel alignment mechanisms or steering components, Figure 6 A perspective view of a load handling device 102 with a reversing component 110 is shown in three positions: docked, moving in the y direction, and moving in the x direction.

[0101] exist Figure 6 In step a, if the load handling device is positioned on the grid structure as described above, then both the x-direction wheel chassis 116 and the y-direction wheel chassis 118 are lowered, thereby engaging all the wheels with the track. Figure 6 In step b, the x-direction wheel chassis 116 rises while the y-direction wheel chassis 118 lowers to move in the y-direction, and... Figure 6 In step c, the y-direction wheel chassis 118 rises while the x-direction wheel chassis lowers to move in the x-direction. Each of the wheel chassis 116, 118 is connected to the steering assembly 110 for vertical movement, as detailed below. The wheel chassis 116, 118 are in the same vertical or z-direction horizontal position when parked.

[0102] The reversing assembly includes mechanisms on each side surface of the load handling device 102. Figure 6In the diagram, the mechanism is shown on the visible x-direction side, while a similar mechanism is located on the opposite x-direction side (not shown). Similarly, the mechanism is shown on the visible y-direction side, while a similar mechanism is located on the opposite y-direction side (not shown). Each interlocking assembly or steering component 110 is connected to a corresponding wheel chassis 116, 118 for a specific side.

[0103] Figure 7 It demonstrates the use of, for example, joining. Figure 6 The cam mechanism 120 in the deflection assembly of the described type. The cam mechanism 120 includes a movable member 121, a fixed support member 122, a cam profile 123 provided as a slot in the surface of the movable member 121, and a follower 124 engaging the cam 123 and extending between the opposite surface or cover of the fixed support member 122. It should be understood that the fixed support member 122 may be made of a single piece or monolith having sufficient depth to have a slot to accommodate the depth of the movable member 121 and configured to hold the follower 124 in place, or the fixed support member 122 may be made of two planes of material sandwiched together, with the follower fixed therebetween.

[0104] The cam or slot profile 123 extends between the first limit 125 and the second limit 126. Between the limits, as shown, the slot extends substantially horizontally from the first limit 125, slopes upward, and then continues substantially horizontally to the second limit 126, with sufficient space to accommodate the follower 124.

[0105] In the first arrangement of the cam mechanism 120 shown, the movable member 121 is horizontally movable and fixed in the vertical direction, while the fixed support member 122 is horizontally fixed and vertically movable. Accordingly, as the cam 123 moves horizontally from the first limit 125 to the second limit 126 across the follower, the fixed support member 122 will be raised by an amount equal to the vertical change in the cam profile 123. It should be understood that, optionally in the second arrangement, the fixed support member 122 may be able to move horizontally while being fixed in the vertical direction, while the movable member 121 may be fixed in the horizontal direction and vertically movable. The relative positions between the movable member 121 and the fixed support member 122 according to the first arrangement are as follows: Figure 8 As shown in the attached figure, the cam 120 is in various positions.

[0106] Figure 8 ac demonstrated Figure 7 The cam mechanism has its front surface of the fixed support 122 removed, making it easier to see and understand the position of the follower 124. Vertical dashed lines are positioned through the follower 124 to aid in understanding the relative position of the cam mechanism 120 between the views.

[0107] exist Figure 8In step a, the movable member 121 has been horizontally positioned to the right. The follower connected to the fixed support member 122 is positioned at the first limit 125 of the cam 123.

[0108] exist Figure 8 In step b, the movable component 121 has been positioned at the center, located... Figure 8 The left side of position a. From Figure 8 Starting from the position shown in Figure a, cam 123 has moved relative to follower 124, causing follower 124 to be located at the first inflection point of the cam slot. Fixed support 122 relative to its position... Figure 8 The position in 'a' has not yet been moved.

[0109] exist Figure 8 In step c, the movable member 122 has been horizontally positioned to the left. The cam 123 has moved relative to the follower 124, which forces the follower to move vertically uphill to be positioned at the second limit 126. Since the follower 124 is fixed to the fixed support 122 and since the fixed support is horizontally fixed, the fixed support 122 must move vertically.

[0110] exist Figure 8 In a and 8b, the fixed support 122 is in a lowered position relative to the moving member 121, while Figure 8 In c, the fixed support 122 is in the raised position relative to the moving part 121.

[0111] It should be understood that if a pair of wheels are fixedly attached to the fixed support 122, then the cam mechanism 120 can be used to raise and lower the wheels as needed by applying a horizontal force to the moving part 121. Figure 8 The position of cam 120 shown in b can be used as a "parking" position, where the wheel is ready to move into engagement. Figure 8 a) or disconnect ( Figure 8 (position c).

[0112] It should be understood that the cam profile can be designed to provide any desired horizontal to vertical movement profile.

[0113] Figure 9 Another cam mechanism 130 is shown, which employs a double cam arrangement. A first cam 133a and a second cam 133b are arranged horizontally adjacent to each other. The profiles of the first cam and the second cam profile 133b are substantially identical. Similarly, a pair of followers 124a and 124b are configured to engage with the corresponding cams 133a and 133b.

[0114] This arrangement and Figure 8A further difference in the arrangement shown in ac is that the first cam 133a and the second cam 133b are mounted on the fixed supports 132a and 132b, while the first follower 124a and the second follower 124b are attached to the movable member 131, i.e., they are inverted. The fixed support portions 132a and 132b are connected by a pair of bars.

[0115] The operation of cam mechanism 130 is similar to that of cam mechanism 120. When a horizontal force is applied to the moving member 131, the followers 124a and 124b move uniformly along the first cam path 133a and the second cam path 133b between the first limit 125a, 125b and the second limit 136a, 136b, respectively. Assuming that the fixed supports 132a and 132b are limited to moving in the vertical direction, the horizontal movement of the moving member 131 causes the fixed supports 132a and 132b to be lifted, similar to the function of cam mechanism 120. Figure 10 ac demonstrates being in relation to Figure 8 The positions shown in the single cam mechanism 120 of ac correspond to the positions of the inverted double cam mechanism 130.

[0116] Figure 11 Another cam mechanism 140 is shown, which employs a three-cam arrangement. The first cam 143a and first follower 144a, the second cam 143b and second follower 144b, and the third cam 143c and third follower 144c are arranged horizontally adjacent to each other. Fixed support portions 142a, 142b, and 142c are connected. Otherwise, the arrangement of the three-cam mechanism 140 is similar to that of the double-cam mechanism 130. The operation of the three-cam mechanism 140 is similar to that of the cam mechanisms 120 and 130.

[0117] As discussed above, the cam profile can be defined on the moving part while the driven part is attached to the fixed support. Figure 7 and 8 ), or the driven member can be attached to the moving member, wherein the cam profile is defined on the fixed support ( Figure 9-11 Such inverted or 'mirror' arrangements are as follows: Figure 12 As shown in a and 12b, Figure 12 a and Figure 9-11 Similar Figure 12 b and Figure 7 and 8 Similarity. It should be understood that the single cam mechanism is shown for simplicity, while this inversion or mirroring can be applied to cam mechanisms with any number (two, three, etc.) of similar cams.

[0118] exist Figure 12In the configuration, cam mechanisms 150a and 150b are respectively equipped with moving parts 151a and 151b, fixed support parts 152a and 152b, cams 153a and 153b, and followers 154a and 154b. Figure 12 In part a, the follower 154a is attached to the movable member 151a, while the cam 153a is defined on the fixed support 152a. Figure 12 Conversely, in the middle. It should be understood that cam path 153a is a mirror reflection of cam path 153b around an imaginary horizontal line, so as to achieve the same vertical movement of fixed supports 152a and 152b for a specified horizontal input on the corresponding moving parts 151a and 151b.

[0119] Another cam mechanism 160 arrangement is shown. Figure 13 In AC, unlike the previous cam mechanisms 120, 130, 140, and 150, the cam profile is not defined by a slot, but by the lower edge 163 of the moving member 161. The moving member 161 is capable of horizontal movement between the corner blocks. The follower 164 is fixed in place to the fixed support frame 162, and the fixed support frame 162 is restricted to sliding only on the vertical corner bar for vertical movement. Otherwise, the operation of the cam mechanism 160 is similar to the previous arrangement.

[0120] exist Figure 13 In the arrangement shown, it should be understood that when the follower 164 is in a position that would cause the fixed support 162 to rise relative to the moving member 161, the fixed support 162 is prone to fall due to gravity, thereby detaching the follower from the cam surface or lower edge 163. This tendency is mitigated by a spring 167, which can be biased to pull the fixed support 162 toward the moving member 161.

[0121] It should be understood that the springs of the bias cam mechanism entering a particular configuration can be used in any of the aforementioned arrangements.

[0122] Again, as with the embodiments discussed above, especially with Figure 12 Regarding aspects a and 12b, it should be understood that the surface or edge cam arrangement can be relative to... Figure 13 The arrangement shown is set up in a mirror or inverted manner, such as Figure 14 As shown, the cam mechanism 170 includes a moving member 171, a fixed support member 172, a cam surface 173, and a follower 174, and further includes a spring 177.

[0123] It should be understood that the cam mechanism described in this invention can be used as a combination Figure 1-6 Part of the reversing component of any load processing device described or any load processing device intended to operate by bidirectional movement in a Cartesian coordinate system.

[0124] The cam mechanism described in this invention is suitable for arrangement as a reversing component on each face of a load handling device. For some load handling devices, it may only be necessary to have reversing components on a pair of opposite faces—i.e., the x-direction face or the y-direction face.

[0125] As mentioned above Figure 6 In some load handling devices, the deflection assembly includes, on each face of the load handling device, pairs of wheels for raising and lowering for movement in the x-direction, and similarly (sometimes simultaneously) pairs of wheels for movement in the y-direction.

[0126] The cam mechanisms on each face of the load handling device can be interlocked via belts, chains, or other mechanical tools to coordinate the movement of the wheelset. It should be understood that for each individual face, a vertically or horizontally mirrored cam profile may be required to ensure proper coordinated movement of the wheelset.

[0127] Figure 17 ab showcased cam mechanisms 190a and 190b with anti-rotation feet: Figure 17 The cam of a is attached to the moving part, and Figure 17 b is the cam attached to the fixed support. Figure 17 The inverted version of the institution shown in a.

[0128] In the appendix Figure 17 In each of figures a and 17b, the cam mechanism includes an engagement tool between a moving member and a fixed support. As shown, the moving member has a protruding anti-rotation foot 191, while the fixed support has a corresponding protruding base 192. Figure 17 As shown in 17a and 17b, the cam mechanisms 190a and 190b are in the engaged or driven position, in which the wheel is in contact with the surface. The foot 191 and the base 192 are in contact, so that the base 192 supports the anti-rotation foot 191.

[0129] Figure 18 af indicates that it is in the rising state ( Figure 18 a, 18d), docking ( Figure 18 b, 18e) and drive ( Figure 18 c, 18f) positions Figure 17 Cam mechanisms 190a and 190b. As shown in the figure, when the foot 191 is in the drive position, it engages only with the base 192.

[0130] Figure 15 and 16 This paper illustrates a possible wheel mount arrangement that includes a cam mechanism steering component, as discussed herein. This wheel mount arrangement is adaptable to any of the cam mechanisms disclosed. Figure 15 a and 15b show side views of the arrangement of the cam and wheel mounts, while Figure 16A front view showing the arrangement of the cam and wheel mounts. From Figure 15 and 16 It should be understood that the cam mechanism essentially occupies a single vertical plane and is compact.

[0131] For each face of the load handling device, a double cam mechanism 180 is mounted between the central ring and the wheel chassis of the load handling device. The cam mechanism 180 can be any cam mechanism described in this invention, and is not necessarily limited to the exemplified double cam mechanism.

[0132] Each cam mechanism 180 has a movable element 181 mounted to a rod 182 of a central ring defining the load handling device. It should be understood that the movable element 181 is mounted in a manner that allows it to slide or glide freely between the corner blocks on the central ring. Substantially vertically below the movable element 181 is a block 183 with a slot defining the cam profile. The block 183 can be assembled in two halves, clamping a rolling element (or follower) 184 between them. The block 183 is directly connected to a wheel mount block 185.

[0133] Figure 15 a shows the side profile of the x-direction wheel mount, while Figure 15 b shows the side profile of the wheel mount in the y-direction. It should be understood that the wheel mount blocks are interlocked around the vertical rod 186 of the load handling device frame.

[0134] Figure 19 af shows the load processing device being driven to the right in the direction indicated by the arrow, as shown in the figure. Figure 19 The cam mechanism 190a shown in ac is Figure 17 The cam mechanisms shown in a and 18a-c are similar. Figure 19 The cam mechanism shown in df is missing its foot and corresponding base. In each illustration, the cam mechanism is in the driven position where the wheel engages with the surface.

[0135] like Figure 19 As shown in diagram d, the load processing device is moving to the right and accelerating. In this situation, the load processing device is prone to tilting backward or to the left, making it unstable.

[0136] like Figure 19 As shown in figure e, the load handling device is moving to the right at a constant speed. After moving at a constant speed, it should not tilt even without feet. However, since the load handling device tends to tilt backward when it accelerates, there may be a slight backward and slight forward swaying or wobbling during the tilt as the load handling device returns to a constant speed before it stabilizes.

[0137] like Figure 19As shown in figure f, the load handling device is moving to the right and decelerating. In this situation, the load handling device is prone to tilting forward, making it unstable.

[0138] In contrast, when a load handling device with a cam mechanism such as 190a is driven under the same conditions, the foot 191 engages with the base 192. The support provided by the base 192 to the foot 191 helps stabilize the load handling device by making the mechanism more rigid and reducing tilting.

[0139] like Figure 19 As shown in diagram a, the load processing unit is moving to the right and accelerating; as... Figure 19 As shown in b, the load processing device is moving to the right at a constant speed; as Figure 19 As shown in diagram c, the load handling device is moving to the right and decelerating. In each case, the load handling device remains essentially horizontal because the engagement of the feet with the base makes the structure more rigid.

[0140] It should be understood that, given that the load handling device may carry different loads, it is advantageous for the load handling device to remain substantially horizontal while traveling, as this will improve the accuracy of control.

[0141] It should be understood that when the cam is positioned on the wheel mount, the symmetry can be selected to be symmetrical when the wheel is fully lowered to provide optimal stability when the load handling device is driven. Therefore, the lifting may not be perfectly symmetrical when lifting the front and rear wheels. It should be understood that symmetry points can be selected to optimize other aspects of the assembly.

[0142] It should be understood that the wheel mounting subassemblies tilt as they are lifted (via a single cam), and one wheel is lifted before the other, which can lead to errors, potentially uneven wear on other components (such as the sliding bearings between the moving part and the center ring, or between the vertical mounting rod and the corner block), and potentially greater stress on specific areas of the load handling device during reversing operations. Accordingly, some advantages of the single cam mechanism can be achieved through supports or engagement tools.

[0143] With the cam located on the moving part, the wheel can be lifted symmetrically, regardless of whether the arrangement has a single cam or a double cam, because the rolling element is stationary relative to the driven wheel. However, a double cam on the moving part may not be feasible due to space constraints and considerations for other components.

[0144] It should be understood that while this invention describes a load handling device operating on a grid-based cubic storage system with the grid positioned on top of a storage stack, the reversing assembly and / or cam mechanism can be adapted to other autonomous or semi-autonomous devices. For example, the reversing assembly or cam mechanism can be adapted to Kiva (RTM) or similar autonomous mobile robot (AMR) type robots with a low overall height to allow positioning below container stacks or transfer containers to lift the stacks from below. It should be understood that the components described in this invention are suitable for this type of robot due to the relatively small vertical space required by the component.

[0145] While efforts have been made in the foregoing description to focus on features of particular importance of the invention, it should be understood that the applicant claims protection for any patentable feature or combination of features mentioned in this specification and / or shown in the drawings, whether or not they have been specifically emphasized.

[0146] It should be understood that the cam mechanism can be designed for specific applications utilizing the various combinations and arrangements of the devices described above. It should be understood that the features described above can all be used together in a single system. In other specific embodiments of the invention, some features may be omitted. These features can be used in any compatible arrangement. Many variations and modifications are possible that are not explicitly stated above but do not depart from the scope of the invention as defined in the claims.

Claims

1. A load handling device for lifting and moving stacked storage containers in a grid-based storage system framework, comprising: A first set of parallel tracks or rails and a second set of parallel tracks or rails, the second set extending approximately perpendicular to the first set in a generally horizontal plane to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a set of pillars to form a plurality of vertical storage locations below the grid for containers to be stacked between the pillars and guided by the pillars in a vertical direction through the plurality of grid spaces. The load handling device includes: a frame comprising a frame defining a volume space having an upper portion, a lower portion, and a central ring between the upper portion and the lower portion; a first set of wheels disposed on the lower portion of the frame and a second set of wheels disposed on the lower portion of the frame, the first set of wheels being configured to engage with a first set of parallel tracks and the second set of wheels being configured to engage with a second set of parallel tracks; and A reversing assembly, the reversing assembly being configured to raise or lower the first set of wheels relative to the frame and / or lower or raise the second set of wheels relative to the frame to engage or disengage the first and second sets of wheels with a parallel track, the reversing assembly being located between the central ring and the first set of wheels and / or the second set of wheels, and wherein the reversing assembly includes a cam mechanism; The steering component is configured to raise or lower the first set of wheels relative to the frame and simultaneously lower or raise the second set of wheels relative to the frame.

2. The load processing apparatus according to any of the preceding claims, wherein, The cam mechanism is directly fixed to the wheel chassis and is used to install a pair of corresponding first or second sets of wheels.

3. The load processing apparatus according to any of the preceding claims, wherein, The fixed support is restricted by one or more mounting elements on the frame to move only in the vertical direction.

4. The load processing apparatus according to claim 1 or 2, wherein, The cam mechanism includes a coupling tool between a moving part and a fixed support part.

5. The load processing apparatus according to claim 1 or 2, wherein, The cam mechanism includes a single cam arrangement, or the cam mechanism includes a double cam arrangement, or the cam mechanism includes a three-cam arrangement.

6. The load processing apparatus according to claim 1 or 2, wherein, The cam mechanism is disposed in a single vertical plane between the central ring and the corresponding pair of wheels.

7. The load processing apparatus according to claim 1 or 2, wherein, The steering assembly may be operated by a single motor, or by more than one motor.

8. The load processing apparatus according to claim 1 or 2, wherein, The first set of wheels and the corresponding pairs of wheels in the second set of wheels are driven by a drive belt, and the cam mechanism is located within the area defined by the path of the drive belt.

9. The load handling apparatus according to claim 1 or 2, further comprising a sensing tool for determining engagement between the first set of wheels or the second set of wheels and the parallel track.

10. The load processing apparatus of claim 1 or 2, further comprising a sensing tool for determining a fault or failure of the reversing component.

11. The load processing apparatus according to claim 1 or 2, wherein, At least a portion of the cam mechanism is 3D printed, and / or at least a portion of the cam mechanism is substantially topology optimized.

12. The load processing apparatus according to claim 1 or 2, wherein, The load handling device further includes a lifting device supported by the upper part of the frame for lifting the container into the volume space.

13. A method for engaging the wheels and tracks of the load handling device according to any of the preceding claims, wherein the load handling device operates on a grid frame (14) structure including the tracks, the method comprising the steps of: A force F1 is applied to the moving part of the reversing assembly in the first direction, causing the cam mechanism to move to the first limit, or A force F2 is applied to the moving part of the reversing assembly in the second direction, causing the cam mechanism to move to the second limit.

14. A component kit for modularly assembling a load processing apparatus according to any one of claims 1-12, the kit comprising: A frame, a first set of wheels, and a second set of wheels, wherein the frame can be mounted on the first set of wheels and the second set of wheels; and At least one reversing component, the at least one reversing component including at least one cam mechanism, each cam mechanism having a moving member, a fixed support member, a follower member and a cam path.

15. The component kit of claim 14, further comprising at least two cam mechanisms and a transfer belt.

16. The component kit according to any one of claims 14-15, further comprising at least one reversing motor.

17. The component kit according to any one of claims 14-15, wherein at least one component is 3D printed.

18. The component kit according to any one of claims 14-15, further comprising at least one of the following components: a set of wheels, a drive assembly, a gripper assembly, a lifting assembly, a communication system, and / or a sensor tool.

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