Power supply holding system

Abstract

A power supply retention system (100) includes a power supply (110) having a housing (112) and a locking member (122) mounted on top of the housing (112) for rotation relative to the housing (112) about a vertical axis (V). The system further includes a power supply compartment (150) configured to removably receive the power supply (110) in the power supply receiving space (155) in a vertical direction and including a retention member (158) adjacent the power supply receiving space (155). The locking member (122) is rotatable about the vertical axis (V) in a locking direction to a locking position in which the locking member (122) engages the retaining member (158) to prevent upward movement of the power source (110) out of the power supply compartment (150), and the locking member (122) is further rotatable about the vertical axis (V) in an opposite unlocking direction to an unlocking position in which the locking member (122) is disengaged from the retaining member to prevent upward movement of the power source (110) out of the power supply compartment (150). To allow the power supply (110) to move upward out of the power supply compartment (150).

Description

Technical Field

[0001] The present invention relates to a power supply retention system for securely securing a power supply in a power supply compartment. Background Art

[0002] Some industrial and commercial activities require a system that can store and retrieve a large number of different products. WO2015019055A1 describes a storage and retrieval system in which a stack of storage containers is arranged in a grid storage structure. The system further includes a remotely operated loading and handling device, which is configured to move on a track located on the top of the grid storage structure. In order to access the containers in the grid storage structure, the loading and handling device is equipped with a container fixing device for releasably clamping the container on the top of the stack and a lifting mechanism for raising or lowering the container.

[0003] Each load handling device is powered by a rechargeable battery. The rechargeable batteries are typically charged in situ by driving the load handling device to a charging station located at the edge of the grid storage structure. The load handling device remains stationary at the charging station while the battery is recharged. Charging time is a significant cause of downtime for the load handling device and can be as long as several hours.

[0004] To alleviate the problem of charging downtime, the load handling equipment can be powered by replaceable batteries. When the battery power of the load handling equipment is exhausted, the exhausted battery will be replaced with a fully charged battery, so the charging downtime will be reduced to the time required to replace the battery instead of the time to charge the battery.

[0005] When operating on the rails of a grid storage structure, the load handling equipment may experience bumps, vibrations, and even collisions. For load handling equipment powered by replaceable batteries, it is desirable to securely hold the batteries in the load handling equipment so that the batteries cannot be accidentally ejected from the load handling equipment. Therefore, a battery retention system for securely holding the batteries in the battery compartment is desired. Summary of the invention

[0006] The invention is defined by the appended claims. Power retention system

[0007] The present invention provides a power supply retention system, which includes: a power supply, the power supply includes a shell and a locking member, the locking member is installed on the top of the shell for rotating relative to the shell body around a vertical axis; a power supply compartment, the power supply compartment is configured to allow the power supply to be removably received in a power supply receiving space in a vertical direction, and the power supply compartment includes a retaining member adjacent to the power supply receiving space; wherein, when the power supply is in the power supply receiving space, the locking member can be rotated around the vertical axis in the locking direction to a locking position where the locking member engages with the retaining member to prevent the power supply from moving upward out of the power supply compartment, and the locking member can be further rotated around the vertical axis in the opposite unlocking direction to an unlocking position where the locking member disengages from the retaining member to allow the power supply to move upward out of the power supply compartment.

[0008] The locking member may include an arm portion that protrudes horizontally outward from the housing. The retaining member may be configured to engage with the arm portion when the locking member is rotated to the locking position, and to disengage from the arm portion when the locking member is rotated to the unlocking position.

[0009] The retaining member may include a retaining channel configured to receive the arm when the locking member is rotated to the locking position. The retaining channel may be partially defined by a top retaining wall configured to substantially prevent the upward movement of the arm to prevent the power supply from being removed from the power supply compartment.

[0010] The retaining channel may be further defined by an end retaining wall configured to prevent further rotation of the arm in the locking direction when the locking member is in the locked position.

[0011] The top retaining wall may include a retaining protrusion extending downwardly into the retaining channel. The retaining protrusion is configured to block rotation of the locking member in an unlocking direction when the arm is in the locked position. The retaining protrusion may be vertically deflected so that the arm can move over the retaining protrusion when the torque applied to the locking member exceeds a torque threshold.

[0012] The arm may include a recessed portion configured to receive the retaining projection when the locking member is in the locked position.

[0013] At least a portion of the top retaining wall may be vertically deflectable so that the retaining tab may be vertically deflectable.

[0014] The power retention system may further include a stop wall extending above the top retention wall. The stop wall may be vertically spaced apart from the top retention wall to prevent vertical deflection of the top retention wall from exceeding a threshold deflection. The stop wall may constitute part of the retention member. The stop wall may be separate from the retention member.

[0015] The locking member can be moved vertically relative to the housing between a fixed position and a released position, wherein in the fixed position, a portion of the locking member engages with a portion of the housing to prevent the locking member from rotating relative to the housing about a vertical axis, and in the released position, the portion of the locking member disengages from the portion of the housing to allow the locking member to rotate relative to the housing about the vertical axis.

[0016] The locking member may include an upper portion and a lower portion. The housing may include a top wall sandwiched between the upper portion and the lower portion. The upper portion and the lower portion may be rigidly connected together by the top wall. The upper portion may be outside the housing. The lower portion may be inside the housing. The vertical distance between the upper portion and the lower portion of the locking member may be configured to allow the locking member to move vertically relative to the top wall of the housing. The lower portion may be configured to engage with the top wall when the locking member is in a fixed position and disengage from the top wall when the locking member is in a released position. The locking member may move upward toward the fixed position and downward toward the released position. When stationary, the locking member may be in the released position due to gravity.

[0017] The downward facing surface of the top wall of the housing and the relative upward facing surface of the lower portion of the locking member may include interlockable features, which are configured to interlock when the locking member is in a fixed position to prevent the locking member from rotating relative to the housing around the vertical axis, and disengage when the locking member is in a released position to allow the locking member to rotate relative to the housing around the vertical axis. The interlockable features may be arranged circumferentially around the vertical axis. The interlockable features may be configured to engage with each other in a circumferential direction relative to the vertical axis when the interlockable features are interlocked to prevent the locking member from rotating relative to the housing. The interlockable features may include a protrusion and a corresponding groove, such as a protrusion on the downward facing surface of the top wall of the housing and a corresponding groove in the upward facing surface of the lower portion of the locking member, or vice versa, or each of the top wall of the housing and the lower portion of the locking member has a protrusion and a groove. The interlockable features may include a toothed portion, such as a downward facing surface of the top wall of the housing may include a toothed portion, and the upward facing surface of the lower portion of the locking member may include a matching toothed portion. The housing may include a mounting member removably mounted on an outer wall (eg, a top outer wall) of the housing. The mounting member may include the top wall of the housing mentioned above.

[0018] The housing may include a top wall. The locking member may include an upper portion rigidly connected to a lower portion. The top wall may be sandwiched between the upper portion and the lower portion so that the locking member can rotate relative to the housing and the housing can be lifted by lifting the locking member.

[0019] The vertical distance between the upper and lower portions of the locking member can be configured so that the locking member can move vertically relative to the top wall of the housing. The downwardly facing surface of the top wall of the housing and the relative upwardly facing surface of the lower portion of the locking member can include interlockable features that are configured to interlock when the locking member is in an upper position relative to the housing to prevent rotation of the locking member relative to the housing, and disengage when the locking member is in a lower position relative to the housing to allow rotation of the locking member relative to the housing. When stationary, the locking member can be in the lower position due to gravity. The interlocking feature can include a toothed portion.

[0020] The locking member may include a plurality of arms, and the power supply compartment may include a plurality of retaining members. Each retaining member may be configured to engage with a corresponding arm when the locking member is rotated to a locked position. The plurality of arms may be symmetrically arranged around a vertical axis. The plurality of retaining members may be symmetrically arranged around the power supply receiving space. The housing of the power supply may be substantially cubic. The power supply compartment may be substantially cubic. The power supply receiving space may be substantially cubic. The housing of the power supply compartment and / or the power supply may be a shape other than cylindrical (i.e., the shape is non-cylindrical).

[0021] The power source may be a battery, such as a rechargeable battery.

[0022] The power supply may be configured to be electrically coupled to the power compartment. The power supply may be configured to be electrically coupled to the power compartment when the power supply is vertically inserted into the power compartment. The power supply may include an electrical connector or contact configured to be electrically coupled to a corresponding electrical connector or contact of the power compartment. Loading and handling equipment

[0023] The present invention also provides a loading and handling device for lifting and moving containers arranged in stacks of a storage structure, the storage structure comprising a track structure, the track structure comprising a first group of tracks and a second group of tracks, the first group of tracks extending in a first direction, and the second group of tracks extending in a second direction, the second direction being substantially perpendicular to the first direction to form a grid pattern defining a plurality of grid units above the container stack, the loading and handling device comprising: a drive assembly configured to horizontally move the loading and handling device on the track structure; a container fixing device configured to releasably fix the container from above; a lifting mechanism configured to raise and lower a container clamping device; and a power supply retention system defined above, the power supply being configured to be electrically coupled to a power supply compartment to power one or more components of the loading and handling device.

[0024] The drive assembly and / or the container securing device and / or the lifting mechanism may be powered by a power source.

[0025] The power supply compartment can be externally accessible from above the load handling device so that the power supply can be inserted downwardly into the power supply compartment from a position above the load handling device. When the power supply is in the power supply compartment, the locking member can be exposed externally.

[0026] The load handling apparatus may include an external opening in communication with the top of the power receiving space to allow the power supply to be received vertically in the power receiving space via the external opening. Alternatively, the power supply compartment may extend through the external opening. Power Station

[0027] The invention also provides a power supply station comprising at least one of the power retention systems defined above.The or each power supply compartment may be arranged so that the or each power supply compartment is accessible from above for vertical insertion or removal of a power supply.

[0028] The power station may include a charging system configured to charge the power source when the power source is received in any of the power supply compartments. Power Replacement System

[0029] The present invention also provides a power supply replacement system, comprising: the power supply retention system defined above and a power supply processing device including an end actuator, the end actuator being configured to releasably engage a locking member and being further configured to rotate about a vertical axis to rotate the locking member between a locked position and an unlocked position and to move vertically relative to a power supply compartment, thereby lowering the power supply into the power supply compartment and lifting the power supply out of the power supply compartment.

[0030] The locking member may include a first handling feature, and the end effector may include a second handling feature. The end effector may be vertically movable between an engaged position and a disengaged position, wherein in the engaged position, when the end effector is rotated in a locked direction and an unlocked direction, the second handling feature engages with the first handling feature to allow the end effector to rotate the locking member between the locked position and the unlocked position, and in the disengaged position, the second handling feature is released from the second handling feature, so that the end effector is free to rotate relative to the locking member in the locked direction or the unlocked direction.

[0031] The first handling feature may include a groove and the second handling feature may include a protrusion, or vice versa, wherein the groove is configured to receive the protrusion in a circumferential direction in the disengaged position.

[0032] The second handling feature can be moved to an engagement position to engage with the first handling feature in the locking direction and the unlocking direction, thereby allowing the end effector to rotate the locking member in the locking direction and the unlocking direction. The first handling feature and the second handling feature can be configured so that the second handling feature can be moved to the engagement position by first moving in a circumferential direction toward the first handling feature and then moving upward.

[0033] The locking member may include a plurality of first processing features symmetrically arranged around a vertical axis. The end effector may include a plurality of second processing features symmetrically arranged around a rotation axis of the end effector. Each of the second processing features may be configured to engage with a corresponding first processing feature when the second processing feature is in an engaged position.

[0034] The power processing device may be a robotic arm.

[0035] The power supply replacement system may further include a load handling device for lifting and moving containers arranged in a stack of a storage structure, the storage structure including a track structure, the track structure including a first set of tracks and a second set of tracks, the first set of tracks extending in a first direction, the second set of tracks extending in a second direction, the second direction being substantially perpendicular to the first direction to form a grid pattern defining a plurality of grid cells above the stack of containers, the load handling device comprising: a drive assembly configured to horizontally move the load handling device on the track structure; a container securing device configured to releasably secure the container from above; a lifting mechanism configured to raise and lower the container securing device; and Power retention system; Therein, a power source is configured to be electrically coupled to the power compartment to provide power to one or more components of the load handling device.

[0036] The power replacement system may further comprise a power station as defined above.The power handling device may be further configured to move power between the power compartment of the loading handling device and any one of the power compartments of the power station. Storage and retrieval systems

[0037] The present invention further provides a storage and retrieval system, comprising: a storage structure, the storage structure comprising: a track structure, the track structure comprising a first set of tracks and a second set of tracks, the first set of tracks extending in a first direction, the second set of tracks extending in a second direction, the second direction being substantially perpendicular to the first direction, to form a grid pattern defining a plurality of grid cells; a plurality of upright members. The plurality of upright members support the track structure from below to define a storage area below the track structure for storing a plurality of container stacks below each grid cell; the storage and retrieval system further comprises the load handling device or the power supply replacement system defined above.

[0038] The load handling device may be located on the track structure, and the power handling device may be located on or adjacent to the track structure to allow the power handling device to engage a power source of the load handling device on the track structure.

[0039] The storage and retrieval system may further comprise a power supply station as defined above.

[0040] The storage and retrieval system may further include a plurality of stacks of containers, each stack being arranged beneath a respective grid cell. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will now be described by way of example only with reference to the accompanying drawings, in which: Figure 1 is a perspective view of a battery wherein the locking member is rotatable relative to the housing; Figure 2 yes Figure 1 a cross-sectional side view of a locking member of a battery; Figure 3 yes Figure 1 Top view of the battery; Figure 4 yes Figure 1 a perspective view of an arm portion of a locking member of a battery; Figure 5 It is used to receive and hold vertically. Figure 1 a perspective view of the battery compartment of the battery; Figure 6 is located in Figure 5 Inside the battery compartment Figure 1 a perspective view of the battery with the locking member in an unlocked position; Figure 7 is located in Figure 5 Inside the battery compartment Figure 1 a perspective view of the battery with the locking member in a locked position; Figure 8 yes Figure 5 a perspective view of a retaining member of a battery compartment; Fig. 9 yes Figure 8 a cross-sectional side view of the retaining member; Fig.10 For lifting and rotating Figure 1 a bottom perspective view of the end effector of the battery locking member; Fig.11 It shows that Figure 1 Vertically aligned above the battery Fig.10 A stereogram of the end effector; Fig.12 yes Fig.10 A perspective view of a processing protrusion of an end effector, wherein the processing protrusion is received in Figure 1 a first position in a handling recess of a locking member of the battery; Fig.13 yes Fig.10 A perspective view of a processing protrusion of an end effector, wherein the processing protrusion is received in Figure 1 a second position in the handling recess of the locking member of the battery; Figures 14A-14F is a series of diagrams showing how to use Fig.10 The end effector is used to unlock Figure 1 the battery and remove it from Figure 5 The battery compartment is raised; Fig.15 yes Figure 1 A partial perspective view of an alternative arrangement of a locking member and housing of a battery; Fig.16 yes Fig.15 a perspective bottom view of the arrangement showing the locking member in a lower, disengaged position relative to the housing; Fig.17 yes Fig.15 a perspective bottom view of the arrangement showing the locking member in an upper, engaged position relative to the housing to prevent relative rotational movement between the locking member and the housing; Fig.18 's perspective view shows an alternative arrangement of the locking member and housing of the battery, and variations of the locking member and end effector; Fig.19 yes Fig.18 Schematic cross-section of the arrangement; Fig. 20 is a three-dimensional schematic diagram of a grid storage structure and containers arranged in the grid storage structure; Fig.21 is Fig. 20 A schematic plan view of a track structure on top of a storage structure; Fig. 22 Shown in Fig. 20 load handling equipment on top of the track structure of the storage structure; Fig.23 is a three-dimensional schematic diagram of a loading and handling device, wherein the container fixing device is located below the bottom of the loading and handling device; Fig.24 yes Fig.23 a perspective schematic diagram of a load handling apparatus with side panels removed to illustrate a container receiving space; Fig.25 yes Fig.24 A perspective schematic diagram of a load handling apparatus is shown, wherein a container occupies a container receiving space; Fig.26 yes Fig.25 A perspective schematic diagram of a loading and handling device is shown, wherein a Figure 5 Example locations of battery compartments; Fig. 27 is a three-dimensional diagram of a gantry-type robot arm, which is arranged in Fig.18 The grid storage structure is above the track structure and includes Fig.10 The end effector allows the robot arm to replace the Fig.24 Batteries for load handling equipment; Fig.28 is a perspective view of an articulated robot arm arranged with Fig. 20 The track structure of the grid storage structure is adjacent to and includes Fig. 9 The end effector allows the robot arm to replace the Fig.23 Batteries for load handling equipment; Fig.29 Includes battery compartment to store Figure 1 A perspective view of a battery station with batteries. DETAILED DESCRIPTION

[0042] The power retention system 100 according to the present invention includes a power supply 110 and a power supply compartment 150 configured to removably receive the power supply 110 .

[0043] The power source 110 may be a battery, such as a rechargeable battery. In the remainder of this specification, the present invention will be described in the context of a battery holding system 100 having a battery 110 and a battery compartment 150. However, the power source 110 is not limited to a battery, and any other suitable form of packaged power source may be used to provide power, such as a supercapacitor.

[0044] Figure 1 A battery 110 is shown including a housing 112 that contains a battery cell. The housing 112 includes a base 112, side walls 116, and a top wall 118 that define a generally cuboid shape. The battery 110 further includes a locking member 122 having a center disk 124 mounted on the top wall 118 for rotation relative to the housing 112 about a vertical rotation axis V that passes through the center of the center disk 122.

[0045] Figure 2A cross section of the battery 110 along a vertical plane passing through the center of the center disk 122 is shown. The center disk 122 includes an upper disk 126 located above the top wall 118 of the housing 112 (i.e., outside the housing 112), and a lower disk 128 located below the top wall 118 (i.e., inside the housing 112). The upper disk 126 is connected to the lower disk 128 by a connecting portion 127 and using any suitable connecting means (e.g., a screw or bolt). The top wall 118 includes an opening, and the connecting portion 127 extends through the opening. The top wall 118 is sandwiched between the upper disk 126 and the lower disk 128, so that the center disk 124 can rotate freely relative to the top wall 118 around a vertical axis, and lifting the center disk 124 will lift the housing 112 together.

[0046] Figure 3 1 shows a top view of the locking member 122. The locking member 122 further includes a pair of arms 132 that are radially opposed about the center of the central disk 124 and have two-fold rotational symmetry with respect to the vertical axis. The arms 132 are connected to the upper disk 124 or are integrally formed with the upper disk 124 so that when the central disk 124 rotates about the vertical axis, the arms 132 rotate together with the central disk 124. Figure 1 As shown, when the locking member 122 is mounted on the housing 112 , the arm portion is located above the top wall 118 and projects horizontally outward beyond the side wall 116 of the housing 112 .

[0047] The locking member 122 further includes a locating feature 125 in the form of a locating groove 125, wherein the locating groove 125 is located at the center of the central disk 124, and each arm portion 132 includes a handling feature 138 in the form of a handling groove 138. The locating groove 125 and the handling groove 138 are provided to allow an end effector of a robotic arm to interact with the locking member 122, which will be described in detail below.

[0048] Figure 4 A perspective view of one arm 132 is shown. Each arm 132 includes a distal portion 133 that extends beyond the side wall 116 of the housing 112. The distal portion 133 includes a recess 136 extending downward in a contact portion of the distal portion 133 and a tapered surface 134 that tapers tangentially upward from a circumferential edge of the distal portion 133 toward the recess 136. As described below, the recess 136 and the tapered surface 134 help retain the battery 110 in the power compartment.

[0049] Figure 5A battery compartment 150 is shown for removably receiving a battery 110 in a downward direction. The battery compartment 150 includes a base 152 and sidewalls 154 extending upward from the base 152 to at least partially define a generally cuboid battery receiving space 155 with a top opening 156, wherein the battery 110 is received in the battery compartment 150 in a vertical direction through the top opening 156 and removed from the battery compartment 150 in a vertical direction. The battery compartment 150 may include one or more contacts or connectors (not shown) configured to connect to corresponding contacts or connectors (not shown) on the battery 110 when the battery 110 is inserted into the battery compartment 150 to transmit power from the battery 110 to the battery compartment 150 and any electrical or electronic components coupled to the battery compartment. For example, the battery compartment 150 may include upward-facing contacts configured to couple to downward-facing contacts on the battery 110 when the battery 110 is vertically stowed in the power compartment 150 .

[0050] The battery compartment 150 further includes a pair of retaining members 158 mounted to a pair of opposing side walls 154 of the battery compartment 150 such that the retaining members 158 are located on opposing lateral sides of the battery receiving space 155 near or at the top of the battery receiving space 155 .

[0051] Figure 6 The battery 110 is shown received in the battery receiving space 155 of the battery compartment 150. Figure 6 , the arm 132 of the locking member 122 is in the unlocked position, so that the battery 110 can be freely inserted into and removed from the battery compartment 150 in the vertical direction.

[0052] Figure 7 The arm 132 is shown in a locked position, wherein the distal end portion 133 of the arm 132 has been received by the retaining member 158. The retaining member 158 is configured to prevent the arm 132 from moving in an upward direction, thereby preventing the battery 110 from being lifted out of the battery compartment 150.

[0053] In use, the arm 132 is moved from the unlocked position to the locked position by rotating the locking member 122 about the rotation axis in the locking direction, and the arm 132 is moved from the locked position to the unlocked position by rotating the locking member 122 about the rotation axis in the opposite unlocking direction. In this illustrated embodiment, the locking direction is counterclockwise, and the unlocking direction is clockwise.

[0054] Figure 8A perspective view of the retaining member 158 is shown. The retaining member 158 includes a horizontally extending retaining channel 160 defined between a top retaining wall 162 and a bottom retaining wall 161. The retaining channel 160 is open at one lateral end to receive the distal end portion 133 of one of the arms 132 when the arms 132 are rotated in the locking direction. The retaining channel 160 is bounded at the other end by an end retaining wall 166. The retaining member 158 is configured so that the end retaining wall 166 extends upward from the bottom retaining wall 161, and the top retaining wall 162 extends horizontally from the end retaining wall 166. The top retaining wall 162 includes a retaining protrusion 164 that protrudes downward into the retaining channel 160. The retaining protrusion 164 is positioned within the retaining channel 160 so that the distal end portion 133 of the arm 132 must forcefully pass over the retaining protrusion 164 when moving between the locked position and the unlocked position.

[0055] Fig. 9 A cross-sectional side view of the retaining member 158 is shown with the arm 132 in the locked position (i.e., fully received in the retaining channel 160). As can be seen, in the locked position, the distal portion 133 of the arm 132 is blocked from upward movement by the top retaining wall 162, blocked from further movement in the locking direction by the end retaining wall 166, and blocked from movement in the downward direction by the bottom retaining wall 161. In addition, it can be seen that in the locked position, the retaining projection 164 of the top retaining wall 162 is located at the recess 136 of the distal portion 133 of the arm 132 to prevent rotation of the arm 132 in the unlocking direction.

[0056] In order to enable the distal end portion 133 of the arm portion 132 to pass over the retaining protrusion 164 when moving between the locked position and the unlocked position, the connecting portion 163 between the top retaining wall 162 and the end retaining wall 166 has a certain elasticity, so that the top retaining wall 162 and the retaining protrusion 164 can be vertically deflected around the connecting portion 163. Alternatively, another portion of the top retaining wall 162 and / or the retaining protrusion 164 may have a certain elasticity, so that the top retaining wall 162 and / or the retaining protrusion 164 can be elastically deflected away from the bottom retaining wall 161. Thus, when the arm 132 is in the locked position and a torque greater than the torque threshold is applied to the locking member, the arm 132 can deflect the retaining protrusion 164 upward out of the recess 136 to allow the arm 132 to leave the retaining channel 160 in the unlocking direction, but if the torque applied to the locking member 122 is less than the torque threshold, the retaining protrusion 164 will remain in the recess 136 to prevent the arm 132 from leaving the retaining channel 160 in the unlocking direction. In this way, when the battery holding system 100 is subjected to slight bumps and vibrations, the battery 110 may still remain locked in the battery compartment 150, but can be unlocked by intentionally rotating the locking member 122 in the unlocking direction.

[0057] Similarly, when the locking member 122 is rotated from the unlocked position to the locked position, this resiliency allows the arm 132 to be forced over the retaining protrusion 164 and into the retaining channel 160. The tapered portion 134 of the distal portion 133 of the arm 132 (which tapers upward to the recess 136) also helps to slide the distal portion 133 over the retaining protrusion 164 and push it upward before the retaining protrusion 164 enters the recess 136. Alternatively or additionally, the retaining protrusion 164 may include a tapered or rounded surface.

[0058] To further prevent the arm 132 from accidentally moving out of the locked position from the retaining channel 160, the retaining member 158 further includes a top stop wall 168 extending above the top retaining wall 162. The retaining member 158 is configured so that the stop wall 168 extends horizontally from the end retaining wall 166. The retaining member 158 further includes a rear retaining wall 167 located outside the retaining member 158 (relative to the center of the battery compartment 150) and extending between the stop wall 168, the bottom retaining wall 161 and the end retaining wall 166. The end retaining wall 166, the rear retaining wall 167 and the stop wall 168 constitute a rigid structure extending above the top of the top retaining wall 162. The stop wall 168 is vertically spaced apart from the top retaining wall 162 so that the stop wall 168 prevents the top retaining wall 162 from deflecting upward beyond a specific vertical distance (i.e., the stop wall 168 provides a hard limit to the upward deflection of the top retaining wall 162). In this way, when the battery retention system 100 is subjected to strong bumps or vibrations, the risk of the top retaining wall 162 (for example, at the connection portion 163) breaking or excessively deflecting from the bottom retaining wall 161, thereby causing the arm 132 to "jump out" of the retention channel 160, is reduced.

[0059] In addition to being part of the retaining member 158, the stop wall 168 can also be a separate component (i.e., not integrally formed with the other walls of the retaining member, or not connected to any wall of the retaining member 158) that also extends above the top retaining wall 162 to perform the same function of providing a hard limit to the upward deflection of the top retaining wall 162. In this case, the stop wall 168 can be mounted separately to the retaining member 158 on the side wall 154 of the battery compartment 150, or mounted on another structure, wherein the other structure is not part of the battery compartment 150.

[0060] Back to Figure 6 and Figure 7It can be seen that the retaining members 158 are oriented so that the arrangement of the retaining members 158 has a two-fold symmetry relative to the center of the battery compartment 150 (or the center of the battery receiving space 155). Therefore, when the locking member 122 is rotated in the locking direction, each arm 132 is substantially simultaneously received in the corresponding retaining member 158.

[0061] The battery holding system 100 may form part of an automated battery replacement system in which a robotic arm or other automated handling equipment may be used to insert or remove the battery 110 into or from the battery compartment 150. For example, the robotic arm may be a gantry robot, or a Cartesian robot with an end effector that can move in three orthogonal directions, or the robotic arm may be an articulated robot that includes a rotary joint, thereby providing a greater number of axes and degrees of freedom.

[0062] Fig.10 A perspective bottom view of an end effector 170 is shown, wherein the end effector 170 can be used with a robotic arm to engage the locking member 122 from above to lift and rotate the battery 110. The end effector 170 includes a disc-shaped head 171 mounted at the end of the robotic arm for rotational movement about a rotation axis passing through the center of the head 171. The bottom of the head 171 includes a downwardly extending center locating protrusion 172, and a pair of downwardly extending and diametrically opposed handling protrusions 178, which are arranged at an equal distance from the center of the head 171. Each handling protrusion 178 includes a trunk portion 176 leading to a distal bulbous portion 178, and the width (diameter) of the distal bulbous portion 178 is greater than the trunk portion 176.

[0063] Fig.11 The end effector 170 is shown positioned above the locking member 122 of the battery 110, wherein the rotation axis of the end effector 170 is aligned with the rotation axis of the locking member 122. As shown by the dashed lines in the figure, the positioning protrusion 172 and the processing protrusion 174 are arranged on the head 171 so that when the positioning protrusion 172 of the end effector 170 is vertically aligned with the positioning groove 125, the processing protrusion 174 can be vertically aligned with the processing groove 138, that is, the radial distance from the processing protrusion 174 to the center of the head 171 is the same as the radial distance from the processing groove 138 to the center of the locking member 122. The positioning protrusion 172 and / or the positioning groove 125 can be gradually narrowed (e.g., conical or frustoconical) so that when the end effector 170 is lowered toward the locking member 122, the positioning protrusion can align itself with the positioning groove 125 through sliding contact.

[0064] The positioning groove 125 of the locking member 122 is configured to receive the positioning protrusion 172 of the end effector 170 in a downward direction, while the handling groove 138 is configured to receive the handling protrusion 174 in a circumferential direction (a locking direction in this embodiment).

[0065] Fig.12 and Fig.13 A perspective close-up view of one of the processing grooves 138 is shown. Each processing groove 138 includes a lower processing groove 140 that is connected to an upper processing groove 144. The lower processing groove 140 is sized and configured so that it can receive the ball portion 178 of the processing protrusion 174 in the first circumferential direction. Specifically, the width of the entrance into the lower processing groove 140 in the first circumferential direction is greater than the width (diameter) of the ball portion 178. The upper processing groove 144 is sized and configured so that it can receive the trunk portion 176 of the processing protrusion 174 in the first circumferential direction, but cannot receive the ball portion 178. Specifically, the width of the entrance into the upper processing groove 144 in the first circumferential direction is greater than the width (diameter) of the trunk portion 176, but less than the width (diameter) of the ball portion 178. The upper processing groove 144 and the lower processing groove 140 are connected so that the ball portion 178 can move upward from the lower processing groove 140 into the upper processing groove 144. Specifically, the end effector 170 is vertically movable between a lower disengaged position, in which the ball portion 178 is in the lower handling groove 140, and an upper engaged position, in which the ball portion 178 is in the upper handling groove 144. The upper handling groove 144 is further sized and configured such that once the ball portion 178 has been received in the upper handling groove 144, the walls defining the upper handling groove 144 substantially prevent further movement of the ball portion 178 in an upward direction, which enables the end effector 170 to lift the locking member 122, and thereby lift the battery 110. In addition, the arms defining the upper handling groove 144 substantially prevent movement of the ball portion 178 in the first circumferential direction and the second circumferential direction, thereby allowing the end effector 170 to rotate the locking member 122 in either circumferential direction.

[0066] An advantage of this arrangement is that the end effector 170 is able to engage and disengage the locking member 122 to achieve locking, unlocking, raising and lowering of the battery by using a mechanically simple end effector that performs a series of simple rotations and vertical movements, rather than using a more complex end effector (such as a clamping end effector).

[0067] Figures 14A-14F The series of figures show how the end effector 170 is unlocked and the battery is removed from the battery compartment. Fig.14A, the battery is in the battery compartment and the locking member is in the locked position. The end effector 170 is positioned above the locking member 122, wherein the positioning protrusion 172 is generally located above the positioning groove 125, and the processing protrusion 174 is located at a circumferential position that is not above the processing groove 138 (i.e., the processing protrusion 174 is located at an angular position between the processing grooves 138 in the circumferential direction relative to the rotation axis). Subsequently, the end effector 170 is lowered in the direction of arrow M1 to Fig. 14B The status shown. Fig. 14B , the end effector 170 has been lowered to the extent that the positioning protrusion 172 engages with the positioning groove 125, and the ball portion 178 of the processing protrusion is located in the same horizontal plane as the lower processing groove 140 (i.e., the ball portion 178 is substantially horizontally aligned with the lower processing groove 138). Subsequently, the end effector 170 is rotated in the locking direction indicated by the arrow M2 to Fig. 14C The status shown. Fig. 14C In the embodiment, the end effector 170 has been rotated in the locking direction to the disengaged position, that is, the trunk portion 176 and the ball portion 178 have been received in the upper processing groove 144 and the lower processing groove 140, respectively. Subsequently, the end effector 170 is raised in the direction of arrow M3 to Fig.14D The status shown. Fig.14D , the end effector 170 has been raised to the engaged position so that the ball portion 178 is now in the upper processing groove 144. Subsequently, the end effector 170 is rotated in the unlocking direction indicated by the arrow M4 to Fig.14E The status shown. Fig.14E , rotation of the end effector 170 in the unlocking direction in the upper position causes the locking member 122 to rotate in the unlocking direction until the arm 132 disengages the retaining member 158, i.e., the arm 132 has exited the retaining channel 160 and is no longer blocked from moving in the upward direction. Subsequently, the end effector 170 is raised in the direction of arrow M5 to Fig.14F The status shown. Fig.14F , the end effector 170 has been raised so that the battery 110 has been lifted out of the battery compartment 150 .

[0068] The above steps can be performed in reverse to insert and lock the battery 110 in the battery compartment 150. The above method can be used to replace the battery 110 in the battery compartment 150 by performing the above method to release and remove the battery 110 from the battery compartment 150, and then performing the above method in reverse to insert and lock another battery 110 in the battery compartment 150. For example, a depleted battery 110 can be replaced with a charged battery 110.

[0069] The battery 110 and battery compartment 150 can be positioned in a predictable and repeatable position relative to the robotic arm so that the robotic arm can be programmed to perform predetermined actions and move and orient the end effector relative to the locking member 122 to move the battery 110 into or out of the battery compartment 150. Alternatively or additionally, the robotic arm can include a sensor or machine vision system to enable the robotic arm to determine the position and orientation of the locking member 122 using methods known in the art.

[0070] Although the battery compartment 150 is defined by the base 152 and the side walls 154 as described above, and the retaining member 122 is mounted to the side walls, the battery compartment 150 is not limited to this configuration. Instead, the battery compartment 150 can be simply a spatial area that receives the battery 110, where the electrical connectors or contacts are appropriately positioned to connect to corresponding connectors or contacts on the battery 110. In this case, the retaining member 122 can be mounted on another structure adjacent to the top of the battery receiving space 155.

[0071] In the above-described exemplary battery holding system 100 , when the battery 110 is lifted by the locking member 122 , the locking member 122 may be undesirably rotated relative to the housing 112 of the battery 110 . Figure 15-17 An arrangement of the locking member 122 and the housing 112 is shown that helps prevent relative rotation between the locking member 122 and the housing 112 when the battery 110 is lifted by the locking member 122. This helps ensure that the housing 112 maintains the same orientation when the battery 110 is transported between two different locations (e.g., between two battery compartments), thereby making it more likely that the robotic arm will place the battery 110 accurately and reliably.

[0072] Fig.15 The top wall 118 of the housing 112 and the upper and lower discs 126, 128 of the locking member 122 are shown. For clarity, other features of the battery retention system 100 have been omitted. In this embodiment, the connecting portion 127 between the upper and lower discs 126, 128 is configured to enable the locking member 122 to move vertically relative to the top wall 118 (i.e., in an axial direction parallel to the axis of rotation of the locking member). Specifically, the length of the connecting portion 127 is greater than the thickness of the top wall 118.

[0073] Fig.16 and Fig.17 The top wall 118 is shown as viewed from below. Fig.15The contact portion of the lower disk 128 includes teeth 130 (i.e., a series of alternating protrusions and grooves) extending around the periphery of the lower disk 128. In other words, the teeth are circumferentially arranged around the rotation axis of the locking member 122. Similarly, the opposite bottom surface of the top wall 118 includes matching teeth 120, which are circumferentially arranged around the rotation axis of the locking member 122. Fig.16 The locking member 122 is shown in a released position when it is stationary due to gravity. The length of the connecting portion 127 is configured so that when the locking member 122 is in the released position, the teeth 130 of the lower disc 128 and the teeth 120 of the top wall 118 are vertically spaced apart so that they do not engage (i.e., they do not interlock). Fig.17 The locking member is shown in a fixed position, when the end effector 170 has lifted the battery 110 by the locking member 122 so that the locking member 122 has moved upward toward the top wall 118. In the fixed position, the teeth 130, 120 interlock with each other, so that the teeth 130, 120 can engage with each other in the circumferential direction, thereby preventing relative rotational movement between the locking member 122 and the housing 112 about the vertical rotation axis of the locking member 112.

[0074] Fig.18 A variation of the battery retention system 100 is shown in which the housing 112 further includes a mount 119 mounted on the aforementioned top wall 118 of the housing 112. In this variation, the top wall 121 of the mount 119 is configured and interacts with the locking member 122 in the same manner as the top wall 118 of the previous variation. Fig.19 yes Fig.18 A schematic vertical cross-section of the assembly shown. The top wall 121 of the mounting member 119 is sandwiched between the upper disk 126 and the lower disk 128 of the locking member 122. The upper disk 126 is rigidly connected to the lower disk 128 by a connecting portion 127, wherein the connecting portion 127 extends through an opening in the top wall 121 of the mounting member 119, so that the locking member 122 can be vertically moved relative to the top wall 121 of the mounting member 119 between a fixed position and a released position. The top surface of the lower disk 128 and the bottom surface of the top wall 121 of the mounting member 119 include matching teeth (not shown), which are configured to interlock in the fixed position and disengage in the released position to prevent and allow relative rotation of the locking member and the housing 112, respectively, as previously described.

[0075] The locking member 122 and the mounting member 119 can be easily retrofitted into an existing battery housing by assembling the locking member 122 and the mounting member 119 together and then mounting the assembled locking member 122 and the mounting member 119 to the top wall of the housing of the existing battery.

[0076] Fig.18 A variation of the locking member 122 and the end effector 170 is also shown, wherein the locking member 122 includes four processing grooves 138 symmetrically arranged about the rotation axis of the locking member 122, and the end effector 170 includes four processing protrusions 174 symmetrically arranged about the rotation axis of the end effector 170. The processing grooves 138 and processing protrusions 174 of this variation have similar shapes to the processing grooves 138 and processing protrusions 174 in the previous embodiment, and are configured to function and interact in the same direction to allow the end effector 170 to lift and release the battery 110 and rotate the locking member 122.

[0077] The battery retention system 100 may be used in one or more battery-powered robotic load handling devices operating in a storage and retrieval system.

[0078] Fig. 20 An exemplary storage structure 1 is shown that can be used in a storage and retrieval system to store storage containers 9. The storage structure 1 includes a frame including upright members 3 and horizontal members 5, 7 supported by the upright members 3. The horizontal members 5 extend parallel to each other and to the x-axis as shown. The horizontal members 7 extend parallel to each other and to the y-axis as shown, and extend transversely to the horizontal members 5. The upright members 3 extend parallel to each other and to the z-axis as 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 14. In the illustrated embodiment, the storage containers 9 are arranged in stacks 11 below the grid cells 14 defined by the grid pattern, with each grid cell 14 having a stack 11 of containers 9.

[0079] As a reference Fig. 20 As an alternative to the upright members 3 supporting the horizontal members 5 and 7, in other embodiments, the horizontal members may be supported by a supporting frame structure, wherein the supporting frame structure includes a plurality of prefabricated modular panels arranged in a grid pattern, and details of the plurality of prefabricated modular panels are described in PCT application WO2022034195A1. The storage structure described in WO2022034195A1 solves the problem of time and cost required for assembly by providing a supporting frame structure, which includes a plurality of prefabricated modular panels arranged in a three-dimensional grid pattern to define a plurality of grid cells. The size of each grid cell of the supporting frame structure is designed to support two or more grid cells of the track system. Although the storage structure is formed by fewer structural components, it can still maintain the same structural integrity as the conventional "stick-built" storage structure 1 described above, and it is faster to build and less expensive. Any suitable supporting frame structure can be used in the current invention.

[0080] Fig.21 A large-scale plan view of a portion of the track structure 13 is shown, wherein the track structure 13 constitutes Fig. 20 A portion of the storage structure 1 is shown and is located Fig. 20 The top of the horizontal members 5, 7 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 on the top of the horizontal members 5, 7. The track structure 13 shown includes x-direction tracks 17 and y-direction tracks 19, i.e., a first set of tracks 17 extending in the x-direction, and a second set of tracks 19 extending in the y-direction and transverse to the tracks 17 of the first set of tracks 17. The tracks 17, 19 define a hole 15 located at the center of the grid unit 14. The size of the hole 15 is designed to allow the storage container 9 located below the grid unit 14 to be lifted and lowered through the hole 15. The x-direction tracks 17 are separated and arranged in pairs by channels 21, and the y-direction tracks 19 are separated and arranged in pairs by channels 23. Other arrangements of the track structure are also possible.

[0081] Fig. 22 Shown in Fig. 20 A plurality of load handling devices 25 are shown moving on top of the storage structure 1. The load handling devices 25, hereinafter referred to as "robots", are provided with sets of wheels to engage with corresponding x-direction or y-direction tracks 17, 19 to enable the robots 25 to travel through the track structure 13 and reach specific grid cells 14. The pairs of tracks 17, 19 shown separated by channels 21, 23 enable the robots 25 to occupy (or pass each other) adjacent grid cells 14 without colliding with each other.

[0082] like Fig.23 As shown, the robot 25 includes a body 27 in or on which one or more components that enable the robot 25 to perform its intended functions are mounted. These functions may include moving across the storage structure 1 on the track structure 13 and raising or lowering the storage container 9 (e.g., from the stack 11 to the stack 11) so that the robot 25 can retrieve or deposit the storage container 9 at a specific location defined by the grid pattern.

[0083] The robot 25 shown includes a drive assembly including first and second sets of wheels 29, 31, which are mounted on the body 27 of the robot 25 and enable the robot 25 to move along the tracks 17 and 19 in the x and y directions, respectively. Specifically, the two wheels 29 are arranged at Fig.23The wheels 29 are arranged on the shorter side of the robot 25 visible in the figure, while the other two wheels 29 are arranged on the opposite shorter side of the robot 25. The wheels 29 engage with the track 17 and are rotatably mounted on the body 27 of the robot 25 to allow the robot 25 to move along the track 17. Similarly, two wheels 31 are arranged on the Fig.23 The wheels 31 are on the longer side of the robot 25 visible in the figure, while the other two wheels 31 are arranged on the opposite longer sides of the robot 25. The wheels 31 engage with the track 19 and are rotatably mounted on the body 27 of the robot 25 to allow the robot 25 to move along the track 19.

[0084] In order to enable the robot 25 to move on different wheels 29, 31 in the first and second directions, the drive assembly further includes a wheel positioning mechanism (not shown) for selectively engaging the first set of wheels 29 with the first set of tracks 17 or the second set of wheels 31 with the second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 29 and / or the second set of wheels 31 relative to the body 27, thereby enabling the load handling device 25 to selectively move in the first direction or the second direction across the tracks 17, 19 of the storage structure 1.

[0085] The wheel positioning mechanism may include one or more linear actuators, rotating components or other means for raising and lowering at least one set of wheels 29, 31 relative to the body 27 of the robot 25 to bring at least one set of wheels 29, 31 into and out of contact with the tracks 17, 19. In some embodiments, only one set of wheels is configured to be raised and lowered, and the act of lowering one set of wheels may effectively lift the other set of wheels off the corresponding tracks, while the act of raising one set of wheels may effectively lower the other set of wheels into contact with the corresponding tracks. In other embodiments, both sets of wheels may be raised and lowered, which advantageously means that the body 27 of the robot 25 remains substantially at the same height, so the weight of the body 27 and the weight of components mounted on the body do not need to be raised and lowered by the wheel positioning mechanism.

[0086] The robot 25 also includes a lifting mechanism 33 and a container securing device 37 configured to raise and lower the storage container 9. The lifting mechanism 33 shown includes four tethers 35 connected to the container securing device 37 at their lower ends. The tethers 35 can be in the form of cables, ropes, belts, or any other form having the physical characteristics required to lift the storage container 9. The container securing device 37 includes a clamping mechanism 39 configured to engage with a feature of the storage container 9 to releasably secure the container 9 from above. In the illustrated embodiment, the clamping mechanism 39 includes legs that can be received in corresponding holes 10 in the rim of the storage container 9 and then moved upward to engage with the underside of the rim of the storage container 9. The tethers 35 can be wound up or down to raise or lower the container securing device 37 as needed. One or more motors or winches or other means can be provided to achieve or control the upward or downward winding of the tethers 35.

[0087] exist Fig.24 , the side panels of the robot 25 are omitted so that the interior of the robot 25 can be seen. The body 27 of the robot 25 shown has an upper portion 41 and a lower portion 43. The upper portion 41 is configured to accommodate or support one or more operating components (not shown), such as components of the lifting mechanism 33 (e.g., motors), wireless communication components, one or more processors for controlling the operation of the robot 25, etc. The lower portion 43 is arranged below the upper portion 41. The lower portion 43 is open to the outside at the bottom and defines a container receiving space 45 for accommodating at least a portion of the storage container 9 that has been raised to the container receiving space 45 by the lifting mechanism 33. Fig.24 The container receiving space 45 is shown before being occupied by a storage container 9, and Fig.25 A container receiving space 45 is shown already occupied by a storage container 9. The size of the container receiving space 45 is designed so that the container 9 can be fully loaded inside the space 45 so that the robot 25 can move across the track structure 13 on the top of the storage structure 1 without the underside of the storage container 9 getting stuck on the track structure 13 or on another part of the storage structure 1. When the robot 25 reaches its intended destination, the lifting mechanism 33 controls the tether 35 to lower the container fixing device 37 and the corresponding storage container 9 from the space 45 to the intended location. The intended location can be a stack 11 of storage containers 9 or an exit point of the storage structure 1 (or, if the robot 25 has moved and retrieved a storage container 9 for storage in the storage structure 1, an entry point of the storage structure 1). Although in the illustrated embodiment, the upper and lower portions 41, 43 are separated by a physical divider, in other embodiments, the upper and lower portions 41, 43 may not be physically separated by a particular component or portion of the body 27 of the robot 25. The up-and-down configuration of the robot 25 enables the robot 25 to occupy only a single grid cell 14 of the track structure 13 of the storage system 1 .

[0088] In alternative embodiments, the container receiving space 49 of the robot 25 may not be within the body 27 of the robot 25. For example, the container receiving space 49 may instead be adjacent to the body 27 of the robot 25, such as in a cantilever arrangement, with the weight of the container 9 to be lifted being balanced by the weight of the body 27 of the robot 25. In such a specific embodiment, the frame or arm of the lifting mechanism 33 may protrude horizontally from the body 27 of the robot 25, and the tether 35 may be arranged at various locations of the protruding frame / arm and configured to be raised and lowered from these locations to raise and lower the storage container 9 to the container receiving space 45 adjacent to the body 27.

[0089] The robot 25 can accommodate the above-described battery retention system 100 by providing a battery compartment 150 within the body 27 of the robot 25, such that the battery compartment 150 is externally accessible from above the body 27 of the robot 25 and receives the battery 110 in a downward direction. Once received in the battery compartment 150, the battery 110 can provide power to one or more electrical or electronic components of the robot 25, such as the lifting mechanism 33 and / or the drive assembly.

[0090] Fig.26 Shows Fig.2525, wherein an exemplary area 48 of space indicated by dashed lines in the upper portion 41 of the robot 25 may be used as the location of a battery compartment 150 (not shown), although other areas within the robot 25 that are externally accessible from above the body 27 of the robot 25 may also be used. The top side 28 of the body 27 of the robot 25 includes an opening 47 that communicates with or serves as the top opening 156 of the battery compartment 150 so that the battery 110 may be directly lowered into the battery compartment 150 from a location above the top side 28 of the body 27 of the robot 25 via the opening 47, and the battery 110 may be directly lifted from the battery compartment 150 to a location above the top side 28 of the body 27 of the robot 25 via the opening 47. The battery compartment retaining members 158 may be mounted on the body 27 of the robot 25, such as on the top side 28 of the body 27, or they may be mounted to the side walls 154 that define the battery compartment 150. As previously mentioned, the battery compartment 150 need not necessarily be defined by the side walls 154 and base 152 within the body 27 of the robot 25. Rather, the battery compartment 150 may simply be a spatial region within the body 27 of the robot 25 with appropriately positioned electrical connectors or contacts for transferring power from the battery 110 to the electrical and electronic components of the robot 25. Furthermore, the battery compartment 150 need not be located entirely within the body 27 of the robot 25, but may extend through the top of the body 27 of the robot 25 (e.g., via the opening 47), or be located entirely above the top of the body 27 of the robot 25.

[0091] Furthermore, the body 27 of the robot 25 need not necessarily be defined by the top plate and side plates as shown, and therefore, the opening 47 in the top side 28 of the body 27 of the robot 25 need not necessarily be an opening formed in the plate. Instead, the body 27 of the robot 25 may be composed of a frame structure, wherein the top of the body 27 is defined by corner portions connected by rods. The space enclosed by the corner portions and the rods may be considered as the opening 47 in the top side 28 of the body 27.

[0092] The use of the battery retention system 100 within the robot 25 helps ensure that the battery 110 is substantially secured within the battery compartment 150 when the robot 25 is operating on the track structure 13 of the storage structure 1. For example, when the robot 25 encounters minor bumps or vibrations during normal operation, or in the event of a more serious event such as a collision or tipping of the robot 25, the retention member 158 helps prevent the battery 110 from vertically moving out of the battery compartment 150. By ensuring that the battery 110 is secured within the battery compartment 150 during operation of the robot 25, power interruptions caused by the battery 110 being disconnected from the battery compartment 150, or safety hazards caused by the battery 110 being ejected from the battery compartment 150, can be minimized.

[0093] The storage and retrieval system may include one or more robotic arms 50 including the above-mentioned end effector 170. The robotic arms 50 may be located on, above, or adjacent to the track structure 13 of the storage structure 1 to allow the battery 110 of the robot 25 to be replaced while the robot 25 is resting on the track structure 13.

[0094] Fig. 27 An embodiment of a gantry robot 50A is shown in which the end effector is mounted on a gantry that extends above a portion of the track structure 13 so that the end effector can access the battery compartment 150 of at least one robot 25 on the track structure 13 below. Fig.28 An embodiment of an articulated robot 50B is shown, wherein the articulated robot 50B is adjacent to the track structure 13 and is able to reach the battery compartment 150 of at least one robot 25 at the edge of the track structure 13. However, the articulated arm 50B may also be located on the track structure 13, for example on the grid unit 14.

[0095] The storage and retrieval system may further include one or more battery stations 180 for storing batteries 110 that have been removed from the robot 25 . Fig.29 An exemplary battery station 180 is shown, which includes a plurality of battery station compartments 182 arranged in a horizontal plane. Each battery station compartment 182 is open to the top surface 181 of the battery station to allow each battery station compartment 182 to receive a battery 110 in a downward direction. The battery station compartment 182 may include the same features as the battery compartment 150 of the battery retention system 110, but since the battery station 180 is generally stationary when in use, the retention member 158 is optional. However, in countries or more specific areas where there is a risk of seismic activity, it may be beneficial to provide a battery station compartment 182 with a retention member 158. The battery station 180 preferably includes a charging system configured to charge the battery 110 when the battery 110 is received in the battery station compartment 182. For example, the battery station compartment 182 may include an electrical contact portion that is configured to couple to an electrical contact portion of the battery 110 to transmit power from a power source to charge the battery 110. Since charging systems for charging the battery 110 are well known in the art, they will not be described in detail.

[0096] Each battery storage station 180 may be located within the reachable vicinity of one or more robotic arms 50. For example, a battery station 180 may be located Fig.28 and Fig.2952. In use, the robot arm 50 can remove a depleted battery 110 from the battery compartment 150 of the robot 25 and place it in a battery station compartment 182 at the battery station 180 for charging. Subsequently, the robot arm 50 can remove a charged battery 110 from a different battery compartment 182 at the battery station 180 and place it in the power compartment 150 of the robot. In this way, the robot 25 can continue to operate with minimal downtime while the depleted battery 110 is recharged at the battery station 182 and can be used in a subsequent battery replacement operation.

[0097] Thus, the present invention provides a mechanically simple system for retaining the battery 110 in the battery compartment 150. By providing a locking member 122 that is rotatable relative to the housing 112 of the battery 110, rather than a locking member 122 that is integrated with the housing 112 of the battery 110, the shape of the battery 110 and the battery compartment 150 no longer requires relative rotation between the battery 110 and the battery compartment 150 to lock and unlock the battery 110, and therefore a more convenient shape, such as a cubic shape, can be selected.

[0098] The present invention is not limited to the exact forms described above and various modifications and variations will be apparent to those skilled in the art without departing from the scope of the invention as defined in the appended claims.

[0099] For example, the locking member 122 is not limited to having two arms 132. Instead, the locking member 122 may include only one arm, or include more than two arms symmetrically arranged around the vertical axis, while providing a corresponding number of retaining members 158 symmetrically arranged around the battery receiving space 155.

[0100] The end effector 170 and the locking member 122 are also not limited to having two processing protrusions 174 and two processing grooves 138, respectively. Instead, one or more processing protrusions 174 and processing grooves 138 may be provided, as shown in FIG. Fig.18 1 , wherein four processing protrusions 174 and four processing grooves 138 are shown. The processing protrusions 174 and the processing grooves 138 can be symmetrically arranged around the rotation axis of the end effector 170 and the locking member 122, respectively. In addition, the processing protrusions 174 of the end effector 170 and the processing grooves 138 of the locking member 122 can be interchanged, so that the end effector 170 includes the processing grooves 138, and the locking member 122 includes the processing protrusions 174. In this case, the orientation of the processing protrusions 174 and the processing grooves 138 is reversed in the vertical direction.

[0101] Although the battery retention system 100 has been described as having a vertical orientation, wherein the battery compartment 150 receives the battery 110 in a downward direction, and the locking member 122 and the end effector 170 rotate about the vertical rotation axis V, the battery retention system 100 is not limited to this orientation. In general, the battery compartment 150 is configured to receive the battery 110 in an embedding orientation, the locking member 122 is mounted to rotate about a rotation axis parallel to the embedding orientation, and the end effector 170 is configured to rotate about a rotation axis parallel to the embedding orientation. Therefore, in the above description of the battery retention system 100, any directional terms and orientation terms used (e.g., "top", "bottom", "up", "down", "vertical", "horizontal", "lift", "lower", etc.) are not meant to be limiting, but should be understood relative to the embedding orientation of the battery. For example, the above-described battery retention system 100 (including the battery compartment 150, the battery 110, and the end effector 170) can be rotated 90 degrees to a horizontal orientation, so that the battery compartment 150 is configured to receive the battery 110 in a horizontal direction, the rotation axis of the locking member 122 is horizontal, and the end effector is configured to move the battery 110 into and out of the battery compartment 150 in a horizontal direction. Such a battery retention system can be used with the above-described robot 25. Specifically, in addition to moving the battery 110 into and out of the battery compartment 150 from above the robot 25, the battery 110 can also be moved into and out of the battery compartment 150 from the lateral side of the robot 25, such as via an external opening in the lateral side of the robot 25.

Claims

1. A power supply maintenance system (100), the power supply maintenance system (100) include: A power supply (110) comprising a housing (112) and a locking member (122) mounted on the top of the housing (112) for rotation relative to the housing (112) about a vertical axis (V); A power compartment (150) configured to removably receive the power supply (110) in a power receiving space (155) in a vertical direction, the power compartment (150) comprising a retaining member (158) adjacent to the power receiving space (155); Wherein, when the power supply (110) is in the power supply receiving space (155), the locking member (122) can be rotated in a locking direction around the vertical axis (V) to a locking position where the locking member (122) engages with the retaining member (158) to prevent the power supply (110) from moving upward out of the power supply compartment (150), and the locking member (122) can be further rotated in an opposite unlocking direction around the vertical axis (V) to an unlocking position where the locking member (122) is disengaged from the retaining member (158) to allow the power supply (110) to move upward out of the power supply compartment (150).

2. The power supply maintenance system (100) according to claim 1, in, The locking member (122) includes an arm portion (132) that protrudes horizontally outward from the housing (112), and wherein the retaining member (158) is configured to engage with the arm portion (132) when the locking member (122) is rotated to the locking position, and to disengage from the arm portion (132) when the locking member (122) is rotated to the unlocking position.

3. The power supply maintenance system (100) according to claim 2, in, The retaining member (158) includes a retaining channel (160) configured to receive the arm (132) when the locking member (122) is rotated to the locked position, the retaining channel (160) being partially defined by a top retaining wall (162), the top retaining wall (162) being configured to substantially prevent upward movement of the arm (132) to prevent the power supply (110) from being removed from the power supply compartment (150).

4. The power supply maintenance system (100) according to claim 3, in, The retaining channel (160) is further defined by an end retaining wall (166) configured to prevent further rotation of the arm (132) in the locking direction when the locking member (122) is in the locked position.

5. The power supply maintenance system (100) according to claim 3 or claim 4, in, The top retaining wall (162) includes a retaining protrusion (164) extending downwardly into the retaining channel (160), wherein the retaining protrusion (164) is configured to block rotation of the locking member (122) in the unlocking direction when the arm (132) is in the locked position, and wherein the retaining protrusion (164) can be vertically deflected so that the arm (132) can move past the retaining protrusion (164) when the torque applied to the locking member (122) exceeds a torque threshold.

6. The power supply maintenance system (100) according to claim 5, in, The arm portion (132) includes a recessed portion (136) configured to receive the retaining projection when the locking member (122) is in the locked position.

7. The power supply maintenance system (100) according to claim 5 or claim 6, in, At least a portion of the top retaining wall (162) is vertically deflectable so that the retaining projection (164) is vertically deflectable.

8. The power retention system (100) of claim 7, further comprising a stop wall (168) extending above the top retention wall (162), the stop wall (168) being vertically spaced apart from the top retention wall (162) to prevent vertical deflection of the top retention wall (162) from exceeding a threshold deflection.

9. The power supply retention system (100) according to any one of the preceding claims, in, The locking member (122) can be vertically moved relative to the housing (112) between a fixed position and a released position, wherein in the fixed position, a portion of the locking member (122) engages with a portion of the housing (112) to prevent the locking member (122) from rotating relative to the housing (112) about the vertical axis (V), and in the released position, the portion of the locking member (122) disengages from the portion of the housing (112) to allow the locking member (122) to rotate relative to the housing (112) about the vertical axis (V).

10. The power supply maintenance system (100) according to claim 9, in, The locking member (122) includes an upper portion and a lower portion, the housing (112) includes a top wall (118) sandwiched between the upper portion and the lower portion, and the upper portion and the lower portion are rigidly connected together through the top wall; and wherein the lower portion is configured to engage with the top wall (118) when the locking member (122) is in the fixed position, and to disengage from the top wall (118) when the locking member (122) is in the released position.

11. The power supply maintenance system (100) according to claim 10, in, The downwardly facing surface of the top wall of the housing (112) and the opposite upwardly facing surface of the lower portion of the locking member (122) include interlockable features, which are configured to interlock when the locking member (122) is in the fixed position to prevent the locking member (122) from rotating relative to the housing (112) about the vertical axis (V), and to disengage when the locking member (122) is in the released position to allow the locking member (122) to rotate relative to the housing (112) about the vertical axis (V).

12. The power supply maintenance system (100) according to claim 11, in, The interlockable features are circumferentially arranged around the vertical axis (V) and are configured to engage each other in a circumferential direction when the interlockable features are interlocked to prevent the locking member (122) from rotating relative to the housing (112).

13. The power supply maintenance system (100) according to claim 11 or claim 12, in, The interlockable features include teeth (120, 130).

14. The power supply maintenance system (100) according to any one of claims 10 to 13, in, The housing (112) includes a mounting member (119) removably mounted on an outer wall of the housing (112), and the mounting member (119) includes the top wall (118).

15. The power retention system (100) according to any one of the preceding claims, in, The locking member (122) includes a plurality of arms (132), and the power compartment (150) includes a plurality of retaining members (158), wherein each retaining member (158) is configured to engage with a corresponding arm (132) when the locking member (122) is rotated to the locked position.

16. The power supply maintenance system (100) according to claim 15, in, The plurality of arms (132) are symmetrically arranged around the vertical axis (V).

17. The power retention system (100) according to any one of the preceding claims, in, The power compartment (150) and the housing (112) of the power supply (110) are substantially cubical.

18. The power retention system (100) according to any one of the preceding claims, in, The power source (110) is a battery.

19. A loading handling device (25) for lifting and moving containers (9) arranged in a stack (11) of a storage structure (1), the storage structure (1) comprising a track structure (13), the track structure (13) comprising a first set of tracks (17) and a second set of tracks (19), the first set of tracks (17) extending in a first direction and the second set of tracks (19) extending in a second direction, the second direction being substantially perpendicular to the first direction, so as to form a grid pattern defining a plurality of grid cells (14) above the stack (11) of containers (9), the loading handling device (25) include: a drive assembly configured to horizontally move the load handling device (25) on the track structure (13); a container fixing device (37) configured to releasably fix the container (9) from above; a lifting mechanism configured to raise and lower the container securing device (37); and The power retention system (100) of any preceding claim, wherein the power source (110) is configured to be electrically coupled to the power compartment (150) to provide power to one or more components of the load handling equipment (25).

20. Load handling device (25) according to claim 19, in, When the power source (110) is in the power source compartment (150), the locking member (122) is exposed to the outside.

21. A power station (180), comprising at least one power retention system (100) according to any one of claims 1 to 18, and a charging system configured to charge the power source (110) when the power source (110) is received in the power compartment (150).

22. A power supply replacement system, the power supply replacement system include: The power supply retention system (100) according to any one of claims 1 to 18; as well as A power handling device comprising an end effector (170), the end effector (170) being configured to releasably engage the locking member (122) and further configured to rotate about the vertical axis (V) to rotate the locking member (122) between the locked position and the unlocked position and to move vertically relative to the power compartment (150), thereby lowering the power supply (110) into the power compartment (150) and lifting the power supply (110) out of the power compartment (150).

23. The power supply replacement system according to claim 22, in, The locking member (122) includes a first handling feature and the end effector (170) includes a second handling feature, wherein the second handling feature is movable to an engagement position for engaging with the first handling feature in the locking direction and the unlocking direction, thereby allowing the end effector (170) to rotate the locking member (122) in the locking direction and the unlocking direction, and wherein the first and second handling features are configured so that the second handling feature can be moved to the engagement position by first moving in a circumferential direction toward the first handling feature and then moving upward.

24. The power supply replacement system according to claim 23, in, The locking member (122) includes a plurality of first processing features symmetrically arranged around the vertical axis (V), and the end effector (170) includes a plurality of second processing features symmetrically arranged around the rotation axis of the end effector (170), wherein each of the second processing features is configured to engage with a corresponding first processing feature when the second processing feature is in the engaged position.

25. The power replacement system according to any one of claims 22 to 24, further comprising a loading handling device (25) for lifting and moving containers (9) arranged in a stack (11) of a storage structure (1), the storage structure (1) comprising a track structure (13), the track structure (13) comprising a first set of tracks (17) and a second set of tracks (19), the first set of tracks (17) extending in a first direction and the second set of tracks (19) extending in a second direction, the second direction being substantially perpendicular to the first direction to form a grid pattern defining a plurality of grid cells (14) above the stack (11) of containers (9), the loading handling device (25) include: a drive assembly configured to horizontally move the load handling device (25) on the track structure (13); a container fixing device (37) configured to releasably fix the container (9) from above; a lifting mechanism configured to raise and lower the container securing device (37); and The power supply maintenance system (100); Wherein, the power source (110) is configured to be electrically coupled to the power compartment (150) to provide power to one or more components of the load handling device (25).

26. A storage and retrieval system, the storage and retrieval system include: A storage structure (1), wherein the storage structure (1) comprises: A track structure (13), the track structure (13) comprising a first set of tracks (17) and a second set of tracks (19), the first set of tracks (17) extending along a first direction and the second set of tracks (19) extending along a second direction, the second direction being substantially perpendicular to the first direction, so as to form a grid pattern defining a plurality of grid cells (14); and A plurality of upright members (3), the plurality of upright members (3) supporting the track structure (13) from below to define a storage area below the track structure (13), the storage area being used to store a stack (11) of a plurality of containers (9) below each grid unit (14); The storage and retrieval system further comprises a load handling device (25) as claimed in claim 19 or claim 20 and a power supply replacement system as claimed in claim 25.

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