Apparatus for retrieving storage containers from storage and retrieval system

Abstract

A robotic load handling apparatus (130) for lifting and moving one or more containers stackable in a storage and retrieval system, the storage and retrieval system comprising a grid structure comprising a plurality of grid members, the plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of mesh members is substantially perpendicular to the first set of mesh members such that the plurality of mesh members are arranged in a mesh pattern to guide movement of the load handling device over the mesh structure, the load handling device comprising a framework, the frame supports: a) a container lifting mechanism comprising a container gripping assembly configured to releasably grip a container, and a lifting drive mechanism configured to raise and lower the container gripping assembly; b) a wheel assembly (135), (136), the wheel assembly (135), (136) comprising a first set of wheels for engaging with the first set of mesh members to guide movement of the load handling device in a first direction and a second set of wheels for engaging with the second set of mesh members to guide movement of the load handling device in a second direction, wherein the second direction is transverse to the first direction; c) a wheel positioning mechanism configured to selectively lower or raise the first set of wheels or the second set of wheels to engage with or disengage from the first set of mesh members or the second set of mesh members; d) a receiving portion (138) for receiving a power source, the receiving portion having an externally accessible open top end for receiving the power source in a substantially vertical direction and comprising a charge receiving element for electrically coupling with a charge providing element of the power source for powering the wheel positioning mechanism and the container lifting mechanism, the framework comprises a plurality of modular sub-frameworks 132 (a, b), 133 (a, b), 134 (a, b) arranged in a vertically stacked manner, and wherein the receiving portion extends vertically through at least one modular sub-framework of the plurality of modular sub-frameworks.

Description

Technical Field

[0001] The present invention relates to apparatus for retrieving storage containers from a storage and retrieval system. In particular, but not exclusively, the present invention relates to a robotic load handling apparatus (also referred to as load handling apparatus) for handling storage containers in a storage and retrieval system comprising a grid frame structure. Background Art

[0002] As is known, storage and retrieval systems 1 include a three-dimensional storage grid frame structure in which storage containers / boxes are stacked on top of each other. PCT Publication No. WO2015 / 185628A (Ocado) describes a known storage and fulfillment or distribution system in which stacks of boxes or containers are arranged within a grid frame structure. The boxes or containers are accessed by a load handling device that operates remotely on tracks on top of the grid frame structure. Figures 1 to 3 of the accompanying drawings schematically illustrate a system of this type.

[0003] As shown in Figures 1 and 2, stackable containers, called storage boxes or containers 10, are stacked on top of each other to form a stack 12. The stack 12 is arranged in a three-dimensional grid frame structure 14 in a warehousing or manufacturing environment. The grid frame structure is composed of a plurality of storage columns or grid columns. Each grid in the grid frame structure has at least one grid column for stacking of storage containers. Figure 1 is a schematic perspective view of the grid frame structure 14, and Figure 2 is a top view showing a stack 12 of boxes 10 arranged in the frame structure 14. Each box 10 typically holds a plurality of product items (not shown), and the product items in the box 10 can be the same, or can be different product types, depending on the application. The box 10 can also be called a storage box or container or a storage container or box.

[0004] Specifically, the three-dimensional grid frame structure 14 includes a plurality of vertical columns or upright members or upright columns 16 supporting horizontal grid members 18, 20. The first group of parallel horizontal grid members 18 is arranged perpendicular to the second group of parallel horizontal grid members 20 to form a grid structure or grid 15 including a plurality of grid cells 17. The grid cells have openings to allow the load handling equipment to lift containers or storage boxes through the grid cells. Within the grid structure, the first group of parallel horizontal grid members 18 intersects with the second group of parallel horizontal grid members at the nodes. The grid structure is supported by the upright members 16 at each node or at the point where the grid members intersect, so that the upright members are connected to each other at their top ends by the intersecting grid members. The grid members 16, 18, 20 are generally made of metal and are generally welded or bolted together or a combination of bolts and welds. The storage boxes or containers 10 are stacked between the upright members 16 of the grid frame structure 14 so that the upright members 16 prevent horizontal movement of the stack 12 of the boxes 10 and guide vertical movement of the storage boxes 10.

[0005] The top layer of the grid frame structure 14 includes rails 22 arranged in a grid pattern on top of the stack 12. Referring also to FIG. 3, the rails 22 support a plurality of load handling devices 30. A first set 22a of parallel rails 22 guide the movement of the robotic load handling devices 30 along a first direction (e.g., X direction) on top of the grid frame structure 14, while a second set 22b of parallel rails 22 arranged perpendicular to the first set 22a guides the movement of the load handling devices 30 along a second direction (e.g., Y direction) perpendicular to the first direction. In this manner, the rails 22 allow the robotic load handling devices 30 to move laterally in two dimensions within a horizontal XY plane, so that the load handling devices 30 can be moved to a position above any stack 12.

[0006] PCT Patent Publication No. WO2015 / 019055 (Ocado), which is incorporated herein by reference, describes a known load handling device or robotic load handling device, also referred to as a robot 30, including a carrier body 32 shown in Figures 4 and 5, wherein each load handling device 30 covers only a single grid space or grid cell of the grid frame structure 14. Here, the load handling device 30 includes a wheel assembly, the wheel assembly including a first set of wheels 34 and a second set of wheels 36, the first set of wheels 34 consisting of a pair of wheels at the front of the carrier body 32 and a pair of wheels 34 at the rear of the carrier 32, for engaging a first set of tracks or rails to guide movement of the device in a first direction, and a second set of wheels 36 consisting of a pair of wheels 36 on each side of the carrier 32, for engaging a second set of tracks or rails to guide movement of the device in a second direction. Each set of wheels in the set of wheels is driven to enable the carrier to move along the track in the X and Y directions respectively. One or both sets of wheels may be moved vertically to lift each set of wheels off of their respective tracks, thereby allowing the vehicle to move in a desired direction, such as the X or Y direction, on the grid structure.

[0007] WO2017 / 153583 (Ocado Innovation Limited) teaches a load handling device including a wheel positioning mechanism or a direction changing mechanism that enables the device to move laterally in one of two lateral directions by enabling a first or second set of wheels to selectively engage a first or second set of tracks or rails (22a or 22b). The wheel positioning mechanism includes a complex arrangement of links driven by a linear actuator or motor to selectively lower or raise the first or second set of wheels to engage or disengage the first or second set of tracks or rails.

[0008] The loading handling device 30 is equipped with a lifting mechanism or a container lifting mechanism or a crane mechanism to lift the storage container from above. The crane mechanism includes a winch tether or cable 38 wound on a spool or reel (not shown), and a gripping device or container clamping assembly 39 in the form of a lifting frame. The terms "gripping device" and "container clamping assembly" are used interchangeably throughout this patent specification to represent the same features. The gripping device includes a set of lifting tethers 38, which extend in a vertical direction and are connected near or at four corners of a lifting frame 39, also known as a gripping device (one tether near each of the four corners of the gripping device) for releasable connection to the storage container 10. The gripping device 39 is configured to releasably clamp the top of the storage container 10 to lift it from a stack of containers in a storage system of the type shown in Figures 1 and 2.

[0009] The wheels 34, 36 are arranged in the lower part of the cavity or groove called the container receiving groove 41. The size of the groove is designed to accommodate the container 10 when the container 10 is lifted by the crane mechanism, as shown in Figures 5 (a and b). When in the groove, the container is lifted off the track below, so that the carrier can be moved laterally to a different location. Once the target location is reached, such as another stack, an access point in the storage system or a conveyor belt, the box or container can be lowered from the container receiving part and released from the gripping device. The container receiving space may include a cavity or groove arranged in the carrier body, for example, as described in WO 2015 / 019055 (Ocado Innovation Limited). Alternatively, the carrier body of the loading handling device may include a cantilever as taught in WO2019 / 238702 (Autostore Technology AS), in which case the container receiving space is located below the cantilever of the loading handling device. In this case, the gripping device is lifted by the cantilever so that the gripping device can engage the container and lift the container from the stack into the container receiving space below the cantilever.

[0010] The power for operating the drive unit of the lifting mechanism and the wheel positioning mechanism is provided by the rechargeable power source. The loading handling device further includes one or more auxiliary electrical components, such as a controller, one or more wiring harnesses, and one or more wiring harnesses are used to transmit information from the controller and / or power from the rechargeable power source to the drive unit of the loading handling device. For example, one or more loading handling devices that can be remotely operated on the grid structure are configured to receive instructions from the main controller to retrieve storage containers from specific storage locations within the grid frame structure. Wireless communications and networks can be used to provide a communication infrastructure from the main controller via one or more base stations to one or more loading handling devices operating on the grid structure. The controller in the loading handling device in response to receiving the instructions is configured to control various drive mechanisms to control the movement of the loading handling device. For example, the loading handling device can be instructed to retrieve a container from a storage column at a specific location on the grid structure. The instructions may include various movements along the XY direction on the grid structure. Once at the storage column, the lifting mechanism then operates to grab the storage container and lift it into the container receiving space within the body of the loading handling equipment, and then transport the container to another location on the grid structure, typically referred to as a drop port. The container is lowered to a suitable picking station to allow the goods to be retrieved from the storage container. The movement of the loading handling equipment on the grid structure also includes the loading handling equipment being instructed to move to a charging station, which is typically located at the periphery of the grid structure. The loading handling equipment remains stationary at the charging station while the battery is recharged. Charging time is a significant cause of downtime for the loading handling equipment and can be as long as several hours. The rechargeable power source and auxiliary electrical components of the loading handling equipment are typically housed within the body of the loading handling equipment.

[0011] Given the number of components - including the various motors, pulleys, rechargeable power supplies, and auxiliary electrical components (e.g., control boards) required for the load handling equipment to operate on the grid frame structure, the assembly of the individual components can be one of the largest costs in manufacturing the load handling equipment. Since hundreds or thousands of load handling equipment are required to operate on the grid frame structure, there is an increasing need to optimize the mass manufacturing of load handling equipment to achieve maximum economies of scale on a given production line. One of the factors that maximize economies of scale in the mass manufacturing of load handling equipment is the number of operations required to assemble the load handling equipment, where efficiency gains can be achieved by assembling the load handling equipment in the minimum number of operations. This will involve using fewer components and / or having components that can be easily assembled together. Having the components of the load handling equipment that can be easily assembled together makes the load handling equipment well suited for automation because fewer complex tasks are required to assemble the different components of the load handling equipment together.

[0012] Therefore, there is a need for a load handling device that is easy to assemble, lightweight and inexpensive to manufacture. Summary of the invention

[0013] The present invention has alleviated the above-mentioned problems by providing a robot loading and handling device (also referred to as loading and handling device) with a frame structure, wherein the frame structure includes a plurality of modular sub-frames arranged in a vertical stack, each of the plurality of modular sub-frames can be connected to another modular sub-frame in a vertical stack, and each provides the functional characteristics of the loading and handling device. This includes but is not limited to wheel assemblies, wheel positioning mechanisms, container lifting mechanisms, and electrical components. Individual modular sub-frames can be connected so that modular sub-frames that provide different functions of the loading and handling device are vertically stacked. In order to reduce the number of operations in assembling or manufacturing the loading and handling device, it is desirable to reduce the number of modular sub-frames when assembling the modular sub-frames together. The advantage of doing so is that the stability of the loading and handling device is improved, because the components of the loading and handling device (some of which are located higher in the upper part of the loading and handling device) can be supported at a lower part of the frame, thereby reducing the center of gravity of the loading and handling device. This is particularly important for load handling equipment having a footprint that occupies only a single grid space, where, as taught in WO 2015 / 019055 (Ocado Innovation Limited), the lower portion of the robotic load handling equipment includes a container receiving space. This also provides a load handling equipment that is more compact and makes full use of the space within the frame structure. However, in the manufacture of load handling equipment, reducing the number of modular sub-frames brings new problems. This includes but is not limited to the structural integrity of the frame and the ability of the frame to accommodate all functional features of the load handling equipment. Reducing the number of modular sub-frames also limits the number of mounting points for supporting electrical components (such as wiring harnesses and / or rechargeable power supplies from a controller). This problem has been alleviated by providing a receiving portion supported by the frame, wherein the receiving portion acts as both a battery slot for accommodating a power supply and a mounting member or mounting post for one or more components of the robotic load handling equipment. Thus, the present invention provides a robotic load handling apparatus for lifting and moving one or more containers stackable in a storage and retrieval system, the storage and retrieval system comprising a grid structure, the grid structure comprising a plurality of grid members, the plurality of grid members comprising a first set of grid members extending in a first direction and a second set of grid members extending in a second direction, the second direction being substantially perpendicular to the first direction, such that the plurality of grid members are arranged in a grid pattern to guide movement of the load handling apparatus on the grid structure, the load handling apparatus comprising a frame, the frame supporting: a) a container lifting mechanism, the container lifting mechanism comprising a container clamping assembly configured to releasably clamp the container, and a drive mechanism configured to raise and lower the container clamping assembly; b) a wheel assembly, the wheel assembly comprising a first set of wheels and a second set of wheels, the first set of wheels being used to engage with the first set of grid members to guide movement of the load handling device along a first direction, and the second set of wheels being used to engage with the second set of grid members to guide movement of the load handling device along a second direction, wherein the second direction is substantially perpendicular to the first direction; c) a wheel positioning mechanism configured to selectively lower or raise the first set of wheels or the second set of wheels to engage or disengage the first set of grid members or the second set of grid members; d) a receiving portion, the receiving portion being used to receive the power source, the receiving portion having an open top end accessible to the outside for receiving the power source in a substantially vertical direction, and comprising a charge receiving element for electrically coupling with a charge providing element of the power source to supply power to the wheel positioning mechanism and the container lifting mechanism, Wherein, the frame comprises a plurality of modular sub-frames arranged in a vertical stack, and wherein the receiving portion extends vertically through at least one modular sub-frame of the plurality of modular sub-frames.

[0014] Components that are critical to the movement of the robot loading and handling equipment (such as wheel assemblies, wheel positioning mechanisms, and container lifting mechanisms) are often confined to specific areas of the robot loading and handling equipment. For example, the wheel assembly must be mounted to the lower portion of the frame for the robot loading and handling equipment to move on the grid structure, and the container lifting mechanism must be positioned in the upper portion of the robot loading and handling equipment so that the container clamping assembly or gripping device can be lowered and raised through the container receiving space. However, although some components of the robot loading and handling equipment are critical to the operation of the robot loading and handling equipment, they do not necessarily have to be in a specific position in the robot loading and handling equipment for their operation. This includes but is not limited to electrical components, such as controllers for controlling the container lifting mechanism and power supply. Optionally, the frame further supports electrical components, which include controllers for controlling the container lifting mechanism and the wheel positioning mechanism. The term "support" covers direct support and / or indirect support by the frame, that is, indirect support via another component.

[0015] In the present invention, an area for mounting components is provided in a robotic load handling device, wherein the functional characteristics of the components do not depend entirely on their position in the robotic load handling device. Since the position of the power supply in the load handling device is not critical to the operation of the load handling device on the grid structure, the present invention provides a receiving portion for accommodating the power supply and keeping the power supply in an independent area of ​​the frame. The receiving portion has an open top accessible to the outside for receiving the power supply, and has a charge receiving element for electrically coupling with the charge providing element of the power supply when the power supply is lowered into the receiving portion via the open top. Although the operation of the load handling device is not dominated by the position of the power supply, the stability of the load handling device depends on the position of the power supply because the power supply occupies most of the weight of the load handling device. In order to improve the stability of the robotic load handling device on the grid structure, especially when the footprint of the robotic load handling device occupies the space of a single grid unit, it is critical that the center of the robotic load handling device is as low as possible in the body of the robotic load handling device. In order to improve the stability of the robotic load handling device and provide a mounting area for the electrical components of the robotic load handling device, the receiving portion is partially buried deep in the frame of the robotic load handling device so that the receiving portion extends vertically through at least one modular sub-frame of a plurality of modular sub-frames. For the purpose of definition, the term "extending vertically through" also includes extending vertically through a horizontal plane in which at least one modular sub-frame of the plurality of modular sub-frames is located.

[0016] Since the receiving portion is partially buried deep within the frame of the load handling device, the receiving portion may also form the core or battery well of the load handling device. In this way, the receiving portion may be beneficial to the construction of the load handling device because the outer surface of the receiving portion helps to locate the one or more modular sub-frames relative to the receiving portion, i.e. the receiving portion may help to ensure that the one or more modular sub-frames are correctly assembled in the construction of the load handling device.

[0017] Preferably, each modular sub-frame of the plurality of modular sub-frames comprises at least four connecting blocks, each of the at least four connecting blocks being connected to other two connecting blocks of a single modular sub-frame by one or more horizontal connecting elements to form a rectangular frame structure, and wherein at least four connecting blocks of vertically adjacent modular parts can be connected in a vertically stacked manner by one or more substantially vertical connecting elements to form a frame comprising a plurality of rectangular frames.

[0018] Preferably, the frame is an open frame structure. The open frame structure is a three-dimensional open frame structure that defines a capacity for accommodating at least part of the lifting mechanism and / or wheel assembly and / or wheel positioning mechanism. For the purposes of the present invention, the term "open frame structure" is defined as a structure in which the internal operating components of the loading and handling equipment (such as any reel of the lifting tether for carrying the container lifting mechanism and / or the power supply and / or control unit) are visible from the outside of the loading and handling equipment, i.e. there is no external cladding so that the internal components that provide the functional characteristics of the loading and handling equipment are visible from the outside. The vertically adjacent rectangular frames of the open frame structure define the capacity area of ​​the loading and handling equipment, for example the open frame structure is a three-dimensional open frame structure.

[0019] Therefore, the open frame structure defines a plurality of modular sub-frames, wherein the plurality of modular sub-frames support lifting mechanisms, wheel assemblies, wheel positioning mechanisms and electrical components. Each of the plurality of modular sub-frames includes at least four connecting blocks, and each of the at least four connecting blocks is connected to the other two connecting blocks in a single modular sub-frame by one or more horizontal connecting elements to form a rectangular frame structure. The connection between the connecting block and the other two corner connecting blocks in the single modular sub-frame can be directly connected to two adjacent connecting blocks, or indirectly connected via another connecting block. Each of the at least four connecting blocks is connected to the other two connecting blocks in a single modular sub-frame by one or more horizontal connecting elements, and not only that, the at least four connecting blocks also allow different modular sub-frames to be easily connected in a vertically stacked manner. Therefore, a plurality of rectangular frames can be connected to each other in a vertically stacked manner by one or more vertical connecting elements to form an open frame structure.

[0020] Different functions of the load handling apparatus, such as the container lifting mechanism, the wheel assembly, the wheel positioning mechanism and / or the electrical components are supported by the frame. The term "supported" is understood to cover direct support by the frame and / or indirect support by the frame via another component. For example, one or more electrical components may be supported by the frame by being mounted to the receiving portion.

[0021] To facilitate the assembly of the framework, optionally, one or more of the horizontal and / or vertical connecting elements comprise a connecting rod or a connecting tube. The connecting rod can be easily gripped and assembled into the block in different rotational orientations. Thus, the assembly of the load handling device is made easier using the connecting blocks and the connecting rod. To help reduce the weight of the load handling device, optionally, the connecting rod comprises carbon fibers in a polymer matrix. Preferably, one or more of the at least four connecting blocks in one or more of the plurality of modular parts are connected to one or more of the horizontal and / or vertical connecting elements via a joint. The connection between the horizontal connecting element and the connecting block via the joint optionally comprises a gluing channel. To improve the functionality of one or more of the four connecting blocks, the gluing channel is integrated into one or more of the at least four connecting blocks. Preferably, one or more of the at least four connecting blocks comprises one or more injection points in fluid communication with the gluing channel for injecting adhesive into the gluing channel. Optionally, one or more of the connecting blocks comprises a socket for receiving the end of the connecting rod or the connecting tube. Preferably, the socket is integrally formed with the connection block. In order to fasten the connection rod or the connection pipe to the connection block, preferably, the socket has a substantially cylindrical inner wall, which is configured to form a gluing channel when the receiving end of the connection rod is inserted into the socket. Preferably, one or more of the at least four connection blocks include one or more injection points in fluid communication with the socket for injecting adhesive into the gluing channel. This helps to facilitate the connection of one or more blocks of one or more of the plurality of modular parts to the horizontal and / or vertical connection elements.

[0022] In order to improve the structural integrity of the framework, optionally, at least one of the plurality of modular sub-frames is reinforced by one or more reinforcing members. Preferably, the one or more reinforcing elements include cross reinforcing elements. In addition to the horizontal connecting elements and the vertical connecting elements providing structural support for the framework, the one or more reinforcing elements may extend across at least one modular sub-frame. The one or more reinforcing elements may also provide additional support to anchor one or more components of the lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism and / or the electrical components. Optionally, the receiving portion is supported by cross reinforcing members of at least one of the plurality of modular sub-frames. The cross reinforcing members may provide mounting members for the receiving portion. The cross reinforcing members may represent a separation between an upper portion of the robotic load handling device and a lower portion of the robotic load handling device, the upper portion including the receiving portion and the lower portion including the wheel assembly and the container receiving space.

[0023] To alleviate the problem of charging downtime, the load handling device can be powered by a replaceable power source. When the power source of the load handling device is exhausted, the exhausted power source will be replaced with a fully charged power source, so that the charging downtime will be reduced to the time required to replace the power source, rather than the time to charge the power source. By providing a receiving portion that allows the power source to be inserted and removed in a vertical direction, the load handling device has at least the following advantages, especially relative to robotic load handling devices in the art (especially those robotic load handling devices whose power source is replaced in a horizontal direction).

[0024] • The receiving section is accessible from the outside, so the power supply can be replaced easily and efficiently without opening the body of the load handling device. This also allows the power supply to be replaced while the load handling device remains on the track structure.

[0025] •The robotic load handling equipment does not need to present a specific side to replace the power supply, which provides flexibility in how the load handling equipment is oriented on the track structure, as well as flexibility in the location of peripheral equipment used to replace the power supply.

[0026] •The robotic load handling equipment does not need to move horizontally to change the power supply, which frees up space on the track structure and eliminates the need for the load handling equipment to have auxiliary power to power the drive components after the power supply is removed.

[0027] • When inserting or removing power, the robotic load handling device does not need to provide a horizontal reaction force (such as using a braking mechanism) to prevent the load handling device from moving because the reaction force is in the vertical direction and is provided by the track structure below the load handling device.

[0028] The power source may be a battery. The battery may be a rechargeable battery.

[0029] The receiving portion can be accessed from the outside from above the loading and handling equipment. The receiving portion can include an upward opening, and the receiving portion can be configured to removably receive the power supply in a downward direction via the upward opening. In this way, the insertion of the power supply into the receiving portion and the charge receiving element between the power supply and the receiving portion are naturally assisted by the weight of the power supply and gravity. The receiving portion can be configured to couple to the power supply when the power supply is vertically received in the receiving portion, and to decouple from the power supply when the power supply is vertically removed from the receiving portion. The receiving portion can include a charge receiving element, which is configured to electrically couple with a corresponding charge providing element of the power supply when the power supply is vertically received in the receiving portion, and to decouple from the charge providing element of the power supply when the power supply is vertically moved out of the receiving portion. The charge receiving element of the receiving portion can include a male connector, and the charge providing element of the power supply can include a female connector, or vice versa. The charge providing element and the charge receiving element can alternatively include electrical contact pads.

[0030] To facilitate the removal of the power source from the receiving portion, the receiving portion is optionally extended vertically above the height of the frame, i.e., the receiving portion protrudes above the frame. Extending the receiving portion vertically above the frame exposes more of the power source than other parts of the robotic load handling device. In addition, this also enables the frame to be easily removed, because it enables at least one modular sub-frame surrounding the receiving portion to be easily removed from the load handling device to be repaired or replaced without removing other modular sub-frames. For example, the modular sub-frame surrounding the receiving portion can be easily lifted around the receiving portion. Optionally, the receiving portion is removably attached to at least one modular sub-frame of a plurality of modular sub-frames. The ability to removably attach the receiving portion to at least one modular frame of a plurality of modular frames enables more access to the interior of the load handling device when the receiving portion is removed from the frame, so as to repair or replace one or more components of the load handling device. This is particularly true in the area of ​​one or more modular sub-frames occupied by the receiving portion.

[0031] Since the power supply takes up most of the weight of the robotic load handling device and the receiver is in the upper part of the robotic load handling device, it is important that the receiver is firmly attached to the frame of the robotic load handling device. This is because the robotic load handling device can be up to 2m / s on the grid structure. 2 Accelerations of this magnitude may cause the power source to recoil in the receiving part and, in turn, generate unwanted recoil forces on the receiving part. Considering that the weight of the power source may be up to 10 kg, recoil of the power source in the receiving part may cause fatigue in the attachment between the receiving part and the frame, and more specifically, in the attachment between the receiving part and one or more supporting modular sub-frames. In extreme cases, this may cause the attachment between the receiving part and the frame to loosen. In order to provide more support to the receiving part to prevent the receiving part from falling off in the frame, the receiving part is optionally integrated into at least one modular sub-frame of the plurality of modular sub-frames. Optionally, the receiving part is connected to at least one modular sub-frame of the plurality of modular sub-frames via at least one strut.

[0032] Preferably, the receiving portion provides one or more mounting points for mounting one or more electrical components. The electrical components include, but are not limited to, a control unit for controlling the wheel assembly, the container lifting mechanism, and the wheel positioning mechanism, and / or a communication module including a transmitter and a receiver, the transmitter and the receiver being respectively used to transmit data through one or more antennas mounted to the receiving portion and receive data from a base station. For example, the receiver may be configured to receive a wireless signal through the antenna, the wireless signal including data associated with an instruction from an external control unit, the instruction relating to the positioning or trajectory of the robotic load handling device on the grid structure. A controller in the load handling device in response to receiving the instruction is configured to control various drive mechanisms to control the movement of the load handling device. For example, the load handling device may be instructed to retrieve a container from a storage column at a specific location on the grid structure. The instruction may include various movements along the XY direction on the grid structure. Once in the storage column, the lifting mechanism is then operated to grab the storage container and lift it into the container receiving space within the body of the load handling device, where the container is then transported to another location on the grid structure, generally referred to as a drop port. The storage container is lowered to a suitable pickup station to allow the goods to be removed from the storage container. Movement of the load handling equipment on the grid structure also includes the load handling equipment being instructed to move to a charging station typically located at the periphery of the grid structure. The position of the robotic load handling equipment on the grid structure (used to generate the trajectory of the robotic load handling equipment on the grid structure) is provided by signals generated by one or more sensors on the robotic load handling equipment, which are wirelessly transmitted to an external control unit via a transmitter mounted to the receiving portion. Other electrical components that may be mounted to the receiving portion include a J-switch, which is a receiver independent of the receiver (which is used to receive instructions associated with the trajectory of the robotic load handling equipment on the grid structure) and provides safety instructions to the robotic load handling equipment to terminate movement of the robotic load handling equipment on the grid structure when externally actuated. This is to prevent the robotic load handling equipment operating on the grid structure from causing harm to personnel on the grid structure.

[0033] In order to safely route cables from electrical components to relevant operating components of the robotic loading and handling equipment (e.g., a container lifting mechanism, a lifting drive mechanism for operating a wheel assembly, a wheel positioning mechanism), and to prevent any cables from being entangled in any operating component, the robotic loading and handling equipment further includes a cable tray mounted to the receiving portion for routing one or more cables from electrical components (e.g., a controller) mounted to the receiving portion to the container lifting mechanism and the wheel positioning mechanism. The cable tray provides a guide surface for routing the cables to the respective components, and provides protection to minimize the cables from being entangled in any component. In order to prevent the movement of the cables on the cable tray, the cable tray further includes one or more cable retaining clamps for holding one or more cables to the cable tray. Optionally, the one or more cable retaining clamps include a plurality of anchoring elements configured to engage with the cable tray.

[0034] In order to accommodate the receiving portion within the frame so that the receiving portion extends vertically through at least one of the plurality of modular sub-frames while not affecting the functional characteristics provided by the at least one of the plurality of modular sub-frames, the container lifting mechanism optionally includes: i) a first set of reels and a second set of reels, each of the first and second sets of reels carrying a lifting tether having a first end anchored to the container gripping assembly and a second end anchored to the respective reel, ii) a first lifting shaft and a second lifting shaft, the first set of reels being mounted on the first lifting shaft for rotation, the second set of reels being mounted on the second lifting shaft for rotation, the first lifting shaft and the second lifting shaft being connected to the lifting drive mechanism to transmit the rotation output by the lifting drive mechanism to raise and lower the container clamping assembly; The first lifting shaft and the second lifting shaft are spaced apart so that the receiving portion is arranged between the first lifting shaft and the second lifting shaft.

[0035] Mounting the plurality of reels carrying the lifting tethers on separate first and second lifting shafts for rotation allows the receiving portion to extend between the first and second lifting shafts of the container lifting mechanism, thereby allowing the receiving portion to be partially "buried" in the frame. In this way, the stability of the robotic load handling device is improved because the power supply can be placed lower in the frame. Partially "buried" in the frame by being placed between the first and second lifting shafts allows easy access to the plurality of reels by simply removing the receiving portion from the frame, especially when it is necessary to untie the lifting tethers on the reels.

[0036] In order to enable the receiving portion to be partially "buried" in the frame, preferably, the first lifting shaft and the second lifting shaft are mounted to at least one of the plurality of modular sub-frames surrounding the receiving portion for rotation. For example, the first lifting shaft and the second lifting shaft can be mounted to the connecting block of the modular sub-frame for rotation. In other words, the installation of the first group of reels and the second group of reels to the first shaft and the second shaft forms a space for accommodating at least part of the receiving portion. Optionally, the lifting drive mechanism includes a drive pulley, and a plurality of timing pulleys connected to the first group of reels and the second group of reels for rotation through an endless belt. Preferably, the drive pulley is driven by a single motor. The single motor, the plurality of timing pulleys and the timing belt are configured to transmit the rotation output by the single motor to raise and lower the container clamping assembly.

[0037] In order to simplify the construction of the receiving part and minimize the weight of the frame, the receiving part includes a plurality of connection blocks connected by a plurality of connection elements to define an open frame structure. Optionally, the receiving part includes at least eight connection blocks, each of the eight connection blocks is connected to the other two connection blocks in the horizontal plane by one or more horizontal connection elements, and is connected to the other connection block in the vertical plane by one or more vertical connection elements to form a cubic frame structure. Alternatively, the receiving part can be made of metal, preferably made of a folded metal sheet including a bottom wall (base), upwardly rising side walls and end walls. Optionally, the receiving part includes a metal box having an open top end for receiving a power source in a substantially vertical direction. Preferably, the metal includes aluminum. The advantage of using metal in the manufacture of the receiving part is that it can prevent or reduce the electromagnetic signals emitted by the battery and / or the battery management electronic equipment from interfering with the signals from the controller of the loading and handling equipment, that is, acting as a Faraday cage and shielding cover. Compared to making the receiving portion from a plurality of connection blocks connected by a plurality of connection elements, making the receiving portion from a metal sheet provides a continuous guide surface for receiving the power source (e.g., a battery) when it is lowered into the receiving portion. This helps to correctly position the power source into the receiving portion and correctly guide the power source to the electrical connector. Preferably, the receiving portion includes a base for supporting the power source, and upwardly rising side walls and end walls extending from the base.

[0038] In order for the footprint of the load handling equipment to occupy substantially only the footprint of a single grid space or unit, preferably the framework defines a volume for accommodating a container receiving space. A container receiving space is a space for accommodating a container in the framework of the load handling equipment so that the load handling equipment can be moved on a track or grid structure. The three-dimensional framework defines a volume having an upper portion and a lower portion, the upper portion accommodating a receiving portion of the load handling equipment and the lower portion accommodating the container receiving space.

[0039] One of the advantages of a load handling device constructed from a plurality of connecting blocks (a plurality of connecting blocks connected together to form a plurality of rectangular frames and stacked vertically to form a frame) is that the connecting blocks provide not only structural components of the load handling device, but also functional components. In other words, each of the at least four connecting blocks of each modular sub-frame of a plurality of modular sub-frames is a separate connecting block that provides both structural components and functional components of the load handling device. In this way, separate structural components are no longer required to provide the structural characteristics of the load handling device, and separate functional components mounted to the structural components are no longer required for the operation of the load handling device in a grid structure, because one or more connecting blocks can combine the structural aspects and functional aspects of the load handling device. Making one or more connecting blocks of the frame include both the structural components and the functional components of the load handling device also reduces the weight of the load handling device because the number of components used to construct the load handling device of the present invention is reduced.

[0040] Preferably, one or more of the plurality of modular sub-frames comprises at least part of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism. For example, one or more of the at least four connecting blocks of one or more of the plurality of modular sub-frames comprises one or more mountings for pulleys. Optionally, one or more of the at least four connecting blocks of one or more of the plurality of modular sub-frames comprises one or more mountings for motors.

[0041] Optionally, at least part of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism is integrated into one or more modular sub-frames of the plurality of modular sub-frames. For example, the mounting member for mounting each wheel in the wheel assembly may be integrally formed with one or more of the at least four connecting blocks.

[0042] Optionally, any one of the lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism and / or the electrical component can be shared in two or more modular parts of the plurality of modular parts. For example, the wheel positioning mechanism includes a cam mechanism, the cam mechanism includes a cam having a cam profile, a cam follower, and a moving member, the cam profile having a high ground portion and a valley portion, and the moving member is used to move the cam follower along the cam profile so as to convert the movement of the cam along the cam profile into a vertical movement. The cooperation between the cam, the cam follower and the moving member can be shared in two or more modular parts of the plurality of modular parts.

[0043] The present invention provides a method of constructing a robotic load handling apparatus including a framework supporting: a) a container lifting mechanism, the container lifting mechanism comprising a container clamping assembly configured to releasably clamp the container, and a lifting drive mechanism configured to raise and lower the container clamping assembly; b) a wheel assembly, the wheel assembly comprising a first set of wheels and a second set of wheels, the first set of wheels being used to engage with the first set of grid members to guide movement of the load handling device along a first direction, and the second set of wheels being used to engage with the second set of grid members to guide movement of the load handling device along a second direction, wherein the second direction is substantially perpendicular to the first direction; c) a wheel positioning mechanism configured to selectively lower or raise the first set of wheels or the second set of wheels to engage or disengage the first set of grid members or the second set of grid members; d) a charge receiving element for electrically coupling with a charge providing element of a rechargeable power source to supply power to the wheel positioning mechanism and the container lifting mechanism, The method comprises the following steps: i) forming a plurality of modular sub-frames, each modular frame of the plurality of modular frames being formed by connecting at least four connecting blocks together by one or more horizontal connecting elements; ii) connecting a plurality of modular sub-frames together in a vertical stack by connecting connecting blocks of vertically adjacent modular sub-frames by one or more vertical connecting elements to form a frame, iii) mounting a receiving portion for accommodating a power source to the frame such that the receiving portion extends vertically through at least one of the plurality of modular sub-frames, the receiving portion comprising a charge receiving element and an externally accessible open top end, the charge receiving element being used to electrically couple with a charge providing element of the power source, the open top end being used to receive the power source in a substantially vertical direction.

[0044] Mounting the receiving portion to the framework comprises mounting the receiving portion to at least one of the plurality of modular sub-frames. Optionally, the method further comprises the step of attaching the receiving portion to at least one of the plurality of modular sub-frames. To further secure the receiving portion to the framework, the method further comprises the step of reinforcing the receiving portion to the framework by one or more reinforcing members or braces.

[0045] Preferably, each modular sub-frame is formed by inserting one or more than one of a plurality of horizontal connecting elements into an opening of one or more than one of the at least four connecting blocks. Preferably, a plurality of modular sub-frames are connected together in a vertical stack by inserting one or more than one vertical connecting elements into an opening of one or more than one of the at least four connecting blocks of vertically adjacent modular sub-frames. In order to improve the manufacturability of the load handling apparatus, preferably, the method further comprises the step of integrally forming at least part of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism with one or more than one of the at least four connecting blocks of one or more than one of the plurality of modular sub-frames. By integrally forming at least part of the functional components of the load handling apparatus with the open frame structure, more specifically with one or more than one of the connecting blocks of the open frame structure, the number of components required to construct a load handling apparatus having the desired functional characteristics of a load handling apparatus operable on a grid frame structure is reduced. In order to capture different complex shapes of at least parts of the container lifting mechanism, the wheel assembly and the wheel positioning mechanism, optionally, one or more connecting blocks of at least four connecting blocks of one or more of the plurality of rectangular frames are formed by 3D printing or additive manufacturing.

[0046] The present invention further provides a method for replacing a power supply in a receiving portion of a robotic load handling device as defined above. The method comprises the following steps: (i) vertically removing the first power source from the receiving portion; and (ii) Insert the second power supply vertically into the receiving portion.

[0047] The load handling device may remain stationary in at least a horizontal direction (eg, on the same grid unit of the track structure) during the period from the removal of the first power source to the insertion of the second power source.

[0048] To prevent the power source from recoil when the load handling device is accelerated on the track of the grid structure, the frame is configured so that the power source can be lowered into the frame and thereby housed within the frame. To house the power source within the frame and thereby provide support to the power source when forces are generated by the power source attempting to recoil when the robotic load handling device is accelerated on the track, the present invention further provides a robotic load handling device for lifting and moving one or more containers stackable in a storage and retrieval system, the storage and retrieval system comprising a grid structure, the grid structure comprising a plurality of grid members, the plurality of grid members comprising a first group of grid members and a second group of grid members, the second group of grid members being substantially perpendicular to the first group of grid members, such that the plurality of grid members are arranged in a grid pattern to guide movement of the load handling device on the grid structure, the load handling device comprising a frame, the frame comprising: a) a container lifting mechanism, the container lifting mechanism comprising a container clamping assembly configured to releasably clamp the container, and a lifting drive mechanism configured to raise and lower the container clamping assembly; b) a wheel assembly, the wheel assembly comprising a first set of wheels and a second set of wheels, the first set of wheels being used to engage with the first set of grid members to guide movement of the load handling device in a first direction, the second set of wheels being used to engage with the second set of grid members to guide movement of the load handling device in a second direction, wherein the second direction is substantially transverse to the first direction; c) a wheel positioning mechanism configured to selectively lower or raise the first set of wheels or the second set of wheels to engage or disengage the first set of grid members or the second set of grid members; d) a power supply compartment having an externally accessible open top end for receiving a power supply in a substantially vertical orientation and having a base for supporting the power supply, the power supply compartment including a charge receiving element for electrically coupling to a charge providing element of the power supply to supply power to the wheel positioning mechanism and the container lifting mechanism, wherein the frame comprises a plurality of modular sub-frames arranged in a vertically stacked manner, and wherein a lifting drive mechanism is mounted to at least one of the plurality of modular sub-frames, and wherein an externally accessible open top end of the power compartment is formed within the at least one modular sub-frame of the plurality of modular sub-frames on which the lifting drive mechanism is mounted.

[0049] By forming an externally accessible top end of the power compartment within at least one of the plurality of modular sub-frames, the power supply can be lowered into the frame of the robotic load handling device. Therefore, by "burying" the receiving portion forming the power compartment within the frame, the receiving portion can optionally extend below the height of the frame, or at least partially flush with the height of the frame, rather than extending above the height of the frame. In order to accommodate the externally accessible open top end of the power compartment, the externally accessible open top end of the power compartment is formed within at least one of the plurality of modular sub-frames on which the lifting drive mechanism is installed. In order to form the open top end of the power compartment within at least one of the plurality of modular sub-frames on which the lifting drive mechanism is installed, the container lifting mechanism includes: i) a first set of reels and a second set of reels, each of the first and second sets of reels carrying a lifting tether having a first end anchored to the container gripping assembly and a second end anchored to the respective reel, ii) a first lifting shaft and a second lifting shaft, the first set of reels being mounted on the first lifting shaft for rotation, the second set of reels being mounted on the second lifting shaft for rotation, the first lifting shaft and the second lifting shaft being connected to the lifting drive mechanism to transmit the rotation output by the lifting drive mechanism to raise and lower the container clamping assembly; The first lifting shaft and the second lifting shaft are spaced apart so that an externally accessible open top end of the power compartment is arranged between the first lifting shaft and the second lifting shaft.

[0050] Preferably, each modular sub-frame of the plurality of modular sub-frames comprises at least four connecting blocks, each of the at least four connecting blocks being connected to other two connecting blocks of a single modular sub-frame by one or more horizontal connecting elements to form a rectangular frame, and wherein at least four connecting blocks of vertically adjacent modular parts can be connected in a vertically stacked manner by one or more substantially vertical connecting elements to form a frame comprising a plurality of rectangular frames. Preferably, the first lifting axis and the second lifting axis are mounted to the at least four modular connecting blocks of at least one modular sub-frame of the plurality of modular sub-frames on which the lifting drive mechanism is mounted for rotation. Preferably, the externally accessible open top end of the power compartment is formed by four corner pieces, and the four corner pieces are mounted to at least one modular sub-frame of the plurality of modular sub-frames on which the lifting drive mechanism is mounted.

[0051] In order to support the power supply when it is lowered into the frame of the robot load handling device, preferably, the base is mounted to at least one of the plurality of modular sub-frames, and the at least one modular sub-frame is located below at least one of the plurality of modular sub-frames on which the lifting drive mechanism is mounted. Therefore, the power compartment is distributed between two modular sub-frames of the plurality of modular sub-frames, i.e., the top modular sub-frame forms the open top of the power compartment, and the modular sub-frame below the top modular sub-frame supports the base of the power compartment. Optionally, the base includes a charge receiving element, which is used to electrically couple with the charge providing element of the power supply when the power supply is lowered into the power compartment. The charge receiving element is electrically coupled with the charge providing element of the power supply when the power supply is placed on the base. Preferably, the base is mounted to at least one of the plurality of modular sub-frames by a cross reinforcement. Optionally, the frame defines a volume having an upper portion and a lower portion, the upper portion including the power compartment and the lower portion including the container receiving space.

[0052] The present invention further provides an automatic storage and retrieval system, the system comprising: a grid structure comprising a plurality of grid members, the plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members, such that the plurality of grid members are arranged in a grid pattern for guiding movement of one or more load handling devices operating on the grid structure; and At least one robotic load handling device according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Further features and aspects of the present invention will become apparent from the following detailed description of illustrative embodiments with reference to the accompanying drawings, in which: FIG1 is a schematic diagram of a grid framework structure according to a known system; 2 is a schematic diagram showing a top view of a stack of boxes arranged within the frame structure of FIG. 1 ; FIG3 is a schematic diagram of a known storage system in which load handling equipment operates on a grid frame structure; FIG4 is a schematic perspective view of the loading and handling equipment, showing the lifting device gripping the container from above; 5( a ) and 5 ( b ) are schematic perspective cross-sectional views of the load handling apparatus of FIG. 4 , showing (a) a container accommodated in a container receiving space of the load handling apparatus and (b) the container receiving space of the load handling apparatus; Figure 6 is a perspective view of a gripping device for engaging a storage container according to the present invention; Figure 7a is a schematic diagram of a loading and handling device according to a specific embodiment of the present invention; Figure 7b is a schematic diagram of a load handling apparatus according to a specific embodiment of the present invention, showing the lowering of a power supply into a receiving portion; Figure 8 (a and b) are (a) schematic diagrams of different modular sections of the load handling apparatus shown in FIG. 7 , and (b) schematic diagrams of analogs of different modular sections as a single rectangular frame formed by four connected blocks; Fig. 9 (a and b) are (a) an open frame structure forming a load handling device Figure 8 (a) Schematic diagram of the assembly of modular parts, and (b) the open frame structure forming the load handling equipment Figure 8 (b) a schematic diagram of a simplified version of the components of the rectangular frame of modular parts; Fig.10 is a schematic diagram showing the assembly of connecting blocks to form a rectangular frame which is reinforced to represent a central hole ring of an open frame structure; Fig.11is a schematic diagram showing a receiving portion for accommodating a power source in a frame of a load handling device according to a specific embodiment of the present invention; Fig.12 is a schematic diagram showing an electrical component mounted to a receiving portion according to a specific embodiment of the present invention; Figure 12b is a schematic diagram showing a heat sink mounted to a receiving portion according to a specific embodiment of the present invention; Fig.12c is a schematic diagram of a power supply fastened in a receiving portion according to the present invention; Fig.12d is a schematic diagram of a top portion of a load handling apparatus showing a receiving portion extending through at least one modular sub-frame of the load handling apparatus; Fig.12e is a schematic diagram of a snap-on cable mount for securing one or more cables to a frame of load handling equipment; Fig.12f yes Fig.12f A schematic diagram of the rear side of the snap-on cable mount shown; Fig.13 is a schematic diagram of a connecting block forming a corner bracket of a top modular section or a third modular section; Fig.14 is a schematic diagram of a connecting block forming a corner bracket of a second modular section or an intermediate modular section; Fig.15 is a schematic diagram of a connecting block forming a corner bracket of a first modular section or a bottom modular section, the first modular section or the bottom modular section including a wheel mounting; Fig.16 is a schematic diagram of a face of the framework showing connections between the first, second and third modular sections; Fig.17 (a and b) are (a) schematic diagrams of the assembly of modular sections of an open frame structure forming an alternative load handling apparatus, and (b) schematic diagrams of a simplified version of the assembly of rectangular frames of modular sections of an open frame structure forming an alternative load handling apparatus; Fig.18 (a and b) are (a) Fig.17 (a) Schematic diagram of different modular sections of an alternative load handling apparatus, and (b) a schematic diagram of the analogy of different modular sections as a single rectangular frame formed by four connected blocks. DETAILED DESCRIPTION

[0054] The present invention is designed with respect to the known features of storage systems, such as the grid frame structure and load handling equipment described above with reference to Figures 1 to 5. Figure 7ais a schematic diagram of an embodiment of a loading handling device 130 according to the present invention. Typical loading handling devices in the art include a separate rigid frame or frame, and the functional components of the loading handling device are fixed or mounted to the frame, such as a lifting mechanism, a wheel positioning mechanism, a wheel assembly, a wheel drive assembly, and electrical components, such as a rechargeable power supply and / or a control unit. The fixing includes various fasteners, such as bolts, screws and / or welding. The frame is generally in the form of a tower having a height, and the height represents the height of the loading handling device. In order to ensure that the structural integrity of the rigid frame can withstand the weight of the various functional components of the loading handling device, the rigid frame is generally made of metal, such as aluminum or stainless steel. The cladding is fixed to the outside of the frame to form a carrier body to accommodate the functional features of the loading handling device. The cumulative weight of the rigid frame and the various functional components of the loading handling device makes the weight of the loading handling device exceed 150kg. Compared with the loading handling devices in the art, Figure 7a The load handling apparatus according to the embodiment of the present invention shown is devoid of any cladding and primarily comprises an open frame structure 131. A plurality of modular subframes may be connected together in a vertical stack to form the open frame structure. Details regarding the assembly of the open frame structure of the load handling apparatus will be further discussed below.

[0055] According to a specific embodiment of the present invention, the construction of the loading and handling equipment 130 according to the present invention is based on the principle of a modular system, which includes a plurality of modules or modular sub-frames, which can be connected in a vertically stacked manner to provide different functional characteristics of the loading and handling equipment. Figure 7a An embodiment of a load handling device 130 incorporating the inventive concept of the present invention is shown. Figure 8 (a and b) show different modular parts 132 (a and b) to 134 (a and b) providing different functional characteristics of the load handling equipment, Fig. 9 (a and b) Schematic diagrams showing the different modular sub-architectures that make up the load handling equipment. Fig. 9 a is a schematic diagram showing a simplified version of a frame 131 which supports the main operating components of the load handling apparatus, Fig. 9 a is Figure 8 a is the result of assembling the modular sub-frames 132a, 133a, and 134a. Fig. 9 b is a more simplified diagram showing Fig. 9 a Building block 140 of a loading handling device, Fig. 9 b is Figure 8b is the result of assembling the modular sub-frames 132b, 133b, 134b shown in FIG. In a further aspect of the present invention, a modular system is integrated into a frame or skeleton 131 such that the frame is assembled from a plurality of modular sub-frames, which can be connected to each other in a vertically stacked manner to provide different functional characteristics of the loading and handling equipment. Each of the modular parts 132 (a and b) to 134 (a and b) is provided by a modular sub-frame, which can be connected together to form the frame 131 of the present invention. In a specific embodiment of the present invention, the frame 131 is configured as an open frame structure. However, the present invention is not limited to the frame as an open frame structure, and the frame may optionally include a cladding mounted to the outside of the frame. For ease of description of the present invention, Figure 7a The architecture of the particular embodiment shown will be described as an open architecture.

[0056] In yet another aspect of the invention, at least a portion of the functional components of the load handling apparatus are integrally formed with the open frame structure of the load handling apparatus. Fig.16 The exploded view of one side of the loading handling equipment shown, it can be understood that Fig.16 The different modular sub-frames 132c, 134c, 136c of the illustrated load handling apparatus include connection points 142 at the corners of the modules 132c, 133c and 134c to enable the different modular sub-frames 132c, 133c, 134c to be stacked vertically. Thus, each connection block used to assemble the modular sub-frames together can be conceived as a corner bracket. Figure 8 (a and b) and Fig.16In the particular embodiment of the invention shown, four modular sections 132 (a, b, c), 133 (a, b, c) and 134 (a, b, c) are shown as being connectable in a vertically stacked manner to form a layer-based modular system. Starting from the bottom modular section 132 (a, b, c) and moving upward in accordance with the height of the load handling apparatus, three modular sections (for ease of illustration of the invention) are labeled as the first 132 (a, b, c), the second 133 (a, b, c) and the third 134 (a, b, c) modular sections, which are provided by respective modular sub-frames. The three modular sections provide different functional characteristics of the load handling apparatus. In a particular embodiment of the invention, different functional characteristics of the load handling apparatus may be shared among one or more modular sections 132 (a, b, c), 133 (a, b, c) and 134 (a, b, c) of the load handling apparatus 130. For example, a wheel positioning mechanism and a wheel drive assembly may be shared among two or more modular sections of the load handling apparatus. The number of modular sections is not limited to three modular sections, and different functional characteristics of the load handling equipment may be divided among any number of modular sections.

[0057] Different functional characteristics of the loading handling equipment include, but are not limited to, a wheel assembly of the loading handling equipment for allowing the loading handling equipment to move on a grid structure or track, a wheel drive assembly that drives the wheel assembly to move the loading handling equipment on the grid structure, a wheel positioning mechanism also known as a turning mechanism, a container lifting mechanism for picking up storage containers from a grid unit of a grid frame structure and lowering storage containers to a grid unit of a grid frame structure, and electrical or electronic components. As described in the introductory part of this patent specification, the electrical components may optionally include a control unit or controller 144a, which is used to control the operation of the wheel drive assembly, the wheel positioning mechanism, and the lifting drive mechanism of the container lifting mechanism. Typically, the wheel drive assembly, the wheel positioning mechanism, and the drive mechanism of the container lifting mechanism include one or more motors. Other electrical components of the loading handling equipment include, but are not limited to, a communication module for receiving instructions from an external central control system. The communication module 144b includes a receiver for receiving instructions from an external control unit via a base station and a transmitter for transmitting a signal via an antenna 145, the signal including data associated with the positioning and / or status of the loading handling equipment on the grid structure. In response to receiving instructions from an external central control system, a controller 144a in communication with a communication module 144b controls the movement of the load handling device on the grid structure. The electrical components may also include a J-switch 144c, which is a receiver separate from the communication module 144b and is configured to receive a safety signal from an external J-switch transmitter when a breach occurs in the area occupied by the grid structure. In order to prevent one or more load handling devices operating on the grid structure from accidentally hitting a person on the grid structure and causing injury, it is necessary to prohibit the operation of the load handling device on the grid structure before entering the grid structure. Typically, a separate signal is sent to the load handling device, which is independent of the signal sent to the communication module so that it can override the instructions from the external control unit. When the J-switch 144c is actuated, the J-switch 144c cuts off the power to the drive mechanism that powers the wheel assembly and / or the container lifting mechanism, thereby forcing the load handling device to stop operating on the grid structure.

[0058] The open frame structure 131 of the robotic load handling device is configured to carry a power source (not shown) to power one or more components of the load handling device, such as the wheel assembly of the load handling device on the grid, the wheel positioning mechanism for changing the direction on the grid, and the container lifting mechanism for operating the container clamping assembly and the electrical components. Typically, the power source is a rechargeable power source or battery. Examples of rechargeable batteries include lithium-ion batteries, nickel-cadmium batteries, nickel-metal hydride batteries, lithium-ion polymer batteries, thin-film batteries, and smart battery carbon foam-based lead-acid batteries. Numerous components of the load handling device are supported by the open frame structure 131. If the numerous components (some of which are integrally formed with one or more modular sub-frames) are not properly arranged, the open frame structure may be too large or too bulky due to the inefficient filling of the components, resulting in a large amount of unused empty space in the open frame structure. Therefore, it is necessary to optimize the arrangement of the various components of the load handling device so as to optimize the use of the available space in the open frame structure and still provide different functional characteristics of the load handling device. This in turn will also optimize the shape and / or size of the open frame structure of the load handling device. In the present invention, this is addressed in part by integrating some of the functional characteristics of the components of the load handling equipment into one or more modular subframes, as further described below. Although this optimization of available space helps to reduce the size of the load handling equipment, there is still open empty space within the open frame structure that is not fully optimized.

[0059] Compared to the power supply and electrical components of the robotic load handling device (especially the controller, communication module and J-switch), the design freedom of other components of the load handling device is very limited without affecting the normal operation of the load handling device on the grid structure. For example, the wheel assembly must be located at the base or lower portion of the frame 131 so that the load handling device can move on the grid structure, and the container clamping assembly must be located above the container receiving space in order to clamp the storage container and lift the storage container from the stack of the grid frame structure to the container receiving portion of the load handling device. Therefore, a balance must be achieved between these components of the load handling device (which have less design freedom in the open frame structure) and optimizing the shape and / or size of the open frame structure in order to provide a compact load handling device.

[0060] The one or more electrical components and the power supply have greater design freedom because they are not constrained to any particular location in the robotic load handling device to enable the load handling device to operate on the grid structure. However, since the power supply accounts for a large portion of the total weight of the robotic load handling device, the location of the power supply can affect the stability of the load handling device on the grid structure. The lower the power supply is located in the frame 131 of the load handling device, the more stable the load handling device. In order to improve the stability of the load handling device, in the case of Figure 7aIn the illustrated embodiment of the present invention, the load handling device 130 further includes a receiving portion 138 serving as a battery slot within the open frame structure 131, the receiving portion 138 being used to accommodate a power source 138b (see Figure 7b , Figure 8 and Fig. 9 ) In other words, the receiving portion 138 is "buried" within the open frame structure 131 so that the receiving portion 138 extends vertically through at least one of the modular sub-frames 132, 133, 134 of the open frame structure 131. For the purpose of definition, the term "extending vertically through" also includes extending vertically through the horizontal plane in which at least one of the plurality of modular sub-frames is located. The receiving portion 138 provides a separate area within the open frame structure to lower the power supply 138b into the open frame structure without interfering with other components of the loading and handling equipment (see Figure 7b ). In other words, the receiving portion 138 provides a secure power supply compartment or "well" within the open frame structure that is accessible from the outside from above the loading handling equipment to lower the power supply into the open frame structure of the loading handling equipment. The receiving portion is depicted as having a cubic shape, but may also have other shapes, such as cylindrical, depending primarily on the shape of the power supply or its housing. The top end of the receiving portion is open and accessible from the outside from above the loading handling equipment to lower the power supply into the receiving portion. The receiving portion 138 includes one or more electrical components or charge receiving elements configured to be electrically coupled to the charge providing element of the power supply. The charge receiving element is configured to be connected to the charge providing element of the power supply when the power supply is vertically received in the receiving portion, and to be disconnected from the charge providing element when the power supply is vertically removed from the receiving portion.

[0061] In addition to providing an opening for the power supply to be lowered into the open frame structure of the load handling device, the receiving portion also provides one or more mounting points for components of the load handling device (independent of the position of the load handling device). For example, in addition to accommodating the power supply, the receiving portion may also provide a mounting point for mounting one or more electrical components that are independent of the position (see Fig.12 ) one or more mounting points. In certain embodiments, the controller 144a, the communication module 144b and the J switch 144c are shown in FIG. Fig.12 1 is shown mounted to a receiving portion 138. The presence of the receiving portion makes the load handling apparatus more compact and easier to assemble, wherein the receiving portion extends vertically through at least one modular sub-frame and not only serves as a receiving portion for accommodating a power source, but also provides one or more mounting points for mounting one or more components of the load handling apparatus.

[0062] In order to facilitate the description of the present invention, especially the description of the architecture of the open frame structure, the different functional characteristics of the loading handling device shown in Figure 7 are first described. However, the present invention is not limited to the embodiments of the different functional characteristics of the loading handling device described below, and other embodiments that can provide the same functional characteristics of the loading handling device are also applicable to the present invention. The description of the functional characteristics of the loading handling device is to provide an example of the functional characteristics of the loading handling device. Wheel assembly

[0063] As shown in FIG. 7 , the wheel assembly includes a pair of wheels 135 at the front and a pair of wheels at the rear of the load handling device 130. For ease of explanation, the wheel assembly includes a pair of wheels 135 at the front of the load handling device and a pair of wheels at the rear of the load handling device, collectively referred to as the first set of wheels 135. The first set of wheels 135 is oriented so that the load handling device can move in a first direction, i.e., the X Cartesian direction. Similar to the first direction, in order to move in a second direction (the second direction is substantially perpendicular to the first direction, i.e., the Y Cartesian direction), so that the load handling device can move in the XY direction on the grid structure, the wheel assembly includes a pair of wheels 136 on both sides of the load handling device, and for ease of explanation, these wheels are referred to as the second set of wheels 136. Therefore, in order to move in the first direction on the grid structure, the first set of wheels 135 engages with the grid structure, and the second set of wheels 136 disengages from the grid structure. Similarly, to move in a second direction on the grid structure, the first set of wheels 135 are disengaged from the grid structure and the second set of wheels 136 are engaged with the grid structure. The wheels are mounted via one or more wheel mounts 139, 141 (see Figure 8 and Fig.15 ) is rotatably mounted to the open frame structure 131 and is configured to engage with the grid structure to allow the load handling device to move along the grid structure in both the X and Y directions.

[0064] To enable the load handling apparatus to move in the first and second directions on the grid structure, the load handling apparatus further comprises a wheel drive assembly configured to drive each wheel of the wheel assembly. Wheel drive components

[0065] In a particular embodiment of the invention, each of the first and second sets of wheels is driven by one or more motors (not shown) via a drive belt assembly 140 described in PCT application PCT / EP2021 / 055372 in the name of Ocado Innovation Limited, the details of which are incorporated herein by reference. In a particular embodiment shown in Figure 7, a drive belt assembly 143a is provided for each set of wheels and includes a drive belt pulley gear arrangement 143b for engaging the edges of a pair of wheels 135, 136 on one side of the load handling device. The edges of the paired wheels include a plurality of gear teeth 147 for engaging a drive belt 146. The toothed drive belt engages the wheels. The drive belt 146 is guided by a driven wheel 148 and a tensioning wheel arrangement 150, and the driven wheel 148 is mounted to the open frame structure 131 of the load handling device 130. The tensioning wheel arrangement 150 is movably mounted to the open frame structure 131 by a spring (not shown) to keep the drive belt 146 taut and maintain engagement of the drive belt 146 with the wheel. The drive wheel 151 is arranged to be mounted to the open frame structure 131 (see Fig.16 ). The drive wheel 151 is driven by a pulley and gear arrangement 143a coupled to a shaft or drive shaft of the motor (not shown in FIG. 7 ). The rotation of the drive wheel 151 by the motor drives a pair of wheels connected to the drive belt 146. A wheel drive assembly is provided for each wheel of a pair of wheels in the first set 135 and the second set 136 of wheels. Therefore, each wheel of a pair of wheels in the first set 135 of wheels is synchronously driven by a respective drive assembly to move the loading and handling equipment in the X direction on the grid structure. Similarly, each wheel of a pair of wheels in the second set 136 of wheels is synchronously driven by a respective drive assembly to move the loading and handling equipment in the Y direction on the grid structure.

[0066] The drive wheels 151 on opposite sides of the load handling device 131 can share a common motor shaft so that each pair of drive wheels 151 is driven at the same speed at the same time. In this way, only a single motor is required to drive the load handling device 130 forward and reverse in the first x-direction, and only a single motor is required to drive the load handling device 130 forward and reverse in the second y-direction. This arrangement can help reduce the cost of space in the load handling device and the number of components required. The first set of wheels 135 and the second set of wheels 136 can be selectively driven under the control of the load handling device.

[0067] Although the specific embodiment of the wheel drive assembly in FIG. 7 includes a drive belt assembly 14a driven by a motor, other arrangements for driving the first and second groups of wheels are also applicable to the present invention. For example, it should be understood that four motors can be used to drive the loading and handling equipment for each of the first and second directions. For example, all wheels in the first and second groups of wheels can be driven by a separate hub motor, which includes an outer rotor configured to rotate around an inner hub. Specifically, the outer rotor includes an outer surface arranged to engage with a grid structure (e.g., a track) and an inner surface including an annular permanent magnet, which is arranged to rotate around a hub or an inner hub, and the hub or inner hub includes a stator of the hub motor. Typically, the stator includes a coil of the hub motor. In order to drive each wheel in the first group 135 or the second group 136 of wheels, and thereby move the loading and handling equipment in the first direction or the second direction on the grid structure, the outer rotor of the hub motor is arranged to rotate around a rotation axis, which corresponds to the central axis of each wheel. The outer surface of the rotor may optionally include a wheel hoop for engaging with a track or rail. Wheel positioning mechanism

[0068] In order to enable the load handling device 130 to move on different wheels 135, 136 in the first direction and the second direction, the load handling device 130 includes a wheel positioning mechanism or a direction changing mechanism for selectively engaging the first set of wheels 135 with the first set of tracks 22a or engaging the second set of wheels 136 with the second set of tracks 22b. The wheel positioning mechanism is configured to raise and lower the first set of wheels 135 and / or the second set of wheels 136 relative to the open frame structure 131 of the load handling device 130, thereby enabling the load handling device 130 to selectively move on the tracks of the grid frame structure 1 in the first direction or the second direction.

[0069] 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 135, 136 relative to the open frame structure 131 of the load handling device 130 so that at least one set of wheels 135, 136 is in contact with 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 raise 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 or open frame structure 131 of the load handling device 130 remains substantially at the same height, so the weight of the body or open frame structure 131 and the weight of the components mounted thereon do not need to be raised and lowered by the wheel positioning mechanism.

[0070] In a particular embodiment of the present invention, the wheel positioning mechanism includes a cam mechanism 152 on each side of the load handling device 130. Fig.15 , the cam mechanism 152 is shown on the visible X-direction side, and a similar cam mechanism 152 is arranged on the opposite X-direction side (not shown). Similarly, the cam mechanism 152 is shown on the visible y-direction side, and a similar cam mechanism 152 is arranged on the opposite y-direction side (not shown). In other words, the cam mechanism 152 on each side of the loading handling device 130 is configured to raise and lower the pair of wheels relative to the open frame structure 131 of the loading handling device 130. Each cam mechanism 152 on the opposite side of the loading handling device is configured to synchronously raise and lower the corresponding pair of wheels in the first group 135 or the second group 136 of wheels relative to the open frame structure 131 of the loading handling device 130 so as to move the loading handling device in the X or Y direction on the grid structure. Specifically, the cam mechanism 152 includes a cam 154 having a cam profile 156 and a cam follower 158 that can engage with the cam profile 156. 7 , the cam follower 158 is a roller that is free to rotate about a rotation axis or a plug. The cam follower 158 is configured to move along the longitudinal direction of the cam profile 156 .

[0071] The cam 154 includes a slot having a profile 156 that extends longitudinally along the slot between a first or lower limit 160 (a valley portion) and a second or upper limit 162 (a plateau portion). Between the limits, the slot extends substantially horizontally from the lower limit 160, slopes upward, and continues to extend substantially horizontally to the upper limit 162 with a space sufficient to accommodate a cam follower 158. Movement of the cam follower 158 from the lower limit 160 to the upper limit 162 causes one or more of the first set 135 or second set 136 wheels to move in an upward direction to disengage the track. Similarly, movement of the cam follower 158 from the upper limit 162 to the lower limit 160 causes one or more of the first set 135 or second set 136 wheels to move in a downward direction to engage the track. One or more wheels in the first set 135 or the second set 136 of wheels may be coupled to the cam 154 or the cam follower 156 via respective wheel mounts such that movement of the cam follower 156 relative to the cam 154 can lower and raise one or more wheels in the first set 135 or the second set 136 of wheels.

[0072] Pairs of wheels on one side of the loading handling device can share the same cam and cam followers, so that the cam followers can simultaneously raise or lower the paired wheels along the movement of the cam. The paired wheels at the opposite side of the loading handling device represent the first set of wheels for moving the loading handling device in the X direction, and the paired wheels at the other opposite side of the loading handling device represent the second set of wheels for moving the loading handling device in the Y direction. In other words, the cam mechanism provides a single cam arrangement, wherein the paired wheels at the side of the loading handling device in the first set of wheels or the second set of wheels are lowered or raised by the same cam and cam followers. However, in a specific embodiment of the present invention shown in Figure 7, the cam mechanism 152 adopts a double cam arrangement on each side of the loading handling device, rather than a single cam arrangement. The first cam and the second cam are arranged to be adjacent to each other horizontally. The first cam profile and the second cam profile are substantially the same. Similarly, paired followers and are arranged to engage with their respective cams. Thus, a dual cam arrangement on one side of the load handling device (rather than a single cam arrangement to raise and lower the pair of wheels) enables the pair of wheels on one side of the load handling device to move between a raised position and a lowered position. Using a dual cam arrangement on each side of the load handling device rather than a single cam arrangement can maintain the horizontal orientation of the pair of wheels of the first set of wheels or the second set of wheels as they move between a raised position or a lowered position. However, the cam mechanism is not limited to a dual cam arrangement on each side of the load handling device, and may include a single cam arrangement on each side of the load handling device.

[0073] To move the cam follower 158 relative to the cam 154, in certain embodiments of the present invention, the cam mechanism 152 includes a moving member 164 configured to move along the side of the load handling device. The cam follower 158 is coupled to the moving member 164 so that movement of the moving member 164 along the side of the load handling device 130 raises and lowers one or more wheels in the first set 135 or the second set 136 of wheels. The moving member 164 can be configured to move along the track 166 (see FIG. 1 ) on each side of the load handling device. Figure 8 ) so that movement of the moving member 164 along the track 166 can move the cam follower 158 along the cam 154, thereby raising the pair of wheels of the first set or the second set of wheels when the cam follower is at the upper limit 162, and lowering one or more wheels when the cam follower is at the lower limit 160 of the cam 154. In a specific embodiment of the present invention, the track 166 for supporting the moving member 164 is integrally formed with the open frame structure 131 of the load handling device 130, and more specifically, integrally formed with one of the modular sub-frames of the open frame structure.

[0074] The moving member 164 is configured to move along the track 166 by a cam drive mechanism including a cam motor 168 coupled to the moving member 164 via one or more pulleys, reels, belts and / or gears to move the moving member along one side of the load handling device. In a particular embodiment of the present invention, the motor 168 is configured to move the moving member 164 along one side of the load handling device by a cam belt 170 having one end anchored to the cam motor 168 and another end anchored to the moving member 164. The cam belt 170 is wound on a cam reel mounted to a drive shaft of the cam motor 168 so that the cam reel provides a pulling force on the cam belt 170 through rotation of the cam motor 168, thereby causing the moving member 164 anchored to the cam belt 170 to move along the track 166. In order to return the moving member 164 to its initial position, a second motor can provide an opposing pulling force on the moving member 164 to pull the moving member in an opposing direction. Alternatively, the moving member may be biased toward a first position by a biasing force (e.g., a spring), the first position corresponding to the lower or upper limit of the cam profile, and the motor is configured to provide a pulling force on the moving member that overcomes the biasing force to move the moving member toward a second position, the second position corresponding to the upper or lower limit of the cam profile. In order to provide the necessary anchoring to raise and lower the pair of wheels relative to the open frame structure of the load handling equipment, the cam motor 168 is preferably mounted to the open frame structure 131.

[0075] In order to provide synchronized movement of the first or second set of wheels to move in the X or Y direction on the grid structure, the corresponding moving parts for the first or second set of wheels on the opposite side of the loading and handling equipment can be moved by one or more cam motors. For example, a single cam motor can provide a pulling force to raise or lower the first set of wheels 135. Similarly, a single cam motor can provide a pulling force to raise or lower the second set of wheels 136. Alternatively, two cam motors can provide relative pulling forces on the moving parts to raise and lower the respective pairs of wheels in the first or second set of wheels. In a specific embodiment of the present invention shown in Figure 7, two cam motors are used to synchronously raise and lower the first and second sets of wheels. In order to provide synchronized movement of the first and second sets of wheels, each of the two cam motors is configured to rotate in both counterclockwise and clockwise directions. A plurality of cam belts 170 are wrapped around or extend around the periphery or outer circumference of the open frame structure 131 of the load handling device 130 by being connected to the moving parts and cam motors 168, so that rotation of the two cam motors in a clockwise direction raises the first set of wheels 135 and lowers the second set of wheels 136. Conversely, rotation of the two cam motors 168 in a counterclockwise direction raises the first set of wheels 135 and lowers the second set of wheels 136.

[0076] Although the specific embodiment of the wheel positioning mechanism shown in Figure 7 includes a cam mechanism driven by a cam motor, other arrangements of wheel positioning mechanisms are also applicable to the present invention. For example, the wheel positioning mechanism may include a compliant mechanism as taught in PCT application PCT / EP2021 / 055335 under the name of OcadoInnovation, the compliant mechanism having at least one elastically deformable member, at least one elastically deformable member being arranged to move under the action of an applied force (e.g., a motor) to raise or lower the wheel, the details of which are incorporated herein by reference. Specifically, the first set of wheels and the second set of wheels can be lifted off the track or lowered to the track or track by a compliant mechanism (one or more) or a linkage assembly mounted to the open frame structure on opposite sides of the loading and handling equipment.

[0077] The change-of-direction compliant mechanism is deformable in a first and second direction. When there is no input force, the compliant mechanism is in a static or neutral position, i.e., the compliant mechanism is not elastically deformed, and the two sets of wheels are horizontal and resting on a surface. In this arrangement, the load handling device cannot move in the x-direction or y-direction, and the load handling device is parked. The elastic deformation of the compliant mechanism is coupled to the arms that secure each wheel, and can move in the vertical (or z) direction to raise and lower the wheels.

[0078] When the first input force F1 is provided, the compliant mechanism body is deformed in the first direction. The displacement of the mechanism body is converted to the vertical direction to lower the first set of wheels 135 and raise the second set of wheels 136. The wheels of the first set of wheels move downward to engage with the track or rail and support the carrier, while the wheels of the second set of wheels move upward to leave the track. Thus, the load handling device 130 can be driven in the X direction.

[0079] When a second input force F2 is provided in the direction opposite to the first input force, the compliant mechanism body is deformed in the second direction. The displacement of the mechanism body is converted into operation in the vertical direction to raise the first set of wheels 135 and lower the second set of wheels 136 so that the load handling device is supported by the second set of wheels 118 and can be driven in the y direction.

[0080] The compliance mechanism is connected to the set of wheels 135, 136 by a drive link. Thus, in this manner, the compliance mechanism provides a means for changing the direction of travel of the load handling apparatus 130. Container lifting mechanism

[0081] In order to retrieve the storage containers stored in the grid frame structure, the load handling device includes a container lifting mechanism or container lifting assembly, which includes a gripping device or container gripping assembly 172 (see FIG. 1 ) for releasably grasping the storage container from the stack and lifting the storage container into the container receiving space of the load handling device. Figure 6 ). A winch assembly or crane assembly is used to raise and lower the grabbing device, the winch assembly or crane assembly including a plurality of lifting tethers wound on a separate reel and fixed at one end to the grabbing device. The container receiving space is sized to accommodate the size of the storage container. The container receiving space may be within the open frame structure of the load handling device as shown in FIG7 , or adjacent to the open frame structure by a cantilever arrangement, wherein the weight of the components accommodated within the open frame structure is offset by the weight of the storage container lifted by the container lifting mechanism.

[0082] like Figure 6 The gripping device 172 shown is formed as a frame with four corner portions, a top side and a low side. A lifting mechanism is used to lift the container into the container receiving space of the loading and handling device. In order to maximize stability and loading capacity, four lifting tethers 38 (see Figure 5b) are usually used to lift the gripping device 172, wherein one tether is arranged near or at each corner of the gripping device 172, however, if necessary, different arrangements can also be used, such as using fewer tethers. One end (e.g., the first end) of each tether is wound on a reel of the loading and handling device, and the other end (e.g., the second end) is usually fixed to the gripping device 172 at each corner of the gripping device by a suitable bracket (not shown). The number of tethers attached to the gripping device depends on the ability to keep the gripping device horizontal when picking up the container 10 during operation, and the ability to withstand the tension applied to the tether when lifting a container that can weigh up to 40 kg without extension or stretching (i.e., inextensibility under a predetermined applied tensile stress). In order to have the necessary physical properties (Young's modulus), the tether is typically in the form of a cable, such as a rope or even a belt, but other tethers that have the necessary physical properties to lift the container may also be used in the present invention.

[0083] To grasp the container 10, the grasping device 172 includes four locating or guide pins 174 near or at each corner of the grasping device 172 and four gripping elements 176 arranged at the bottom of the grasping device 172 to engage with the rim of the container. The four locating or guide pins 174 cooperate with corresponding cutouts or holes formed at the four corners of the container 10. The locating pins 172 help to properly align the gripping elements 176 with the corresponding holes in the rim of the container.

[0084] Each clamping element 176 includes a pair of retractable wings 178 so as to be received in a corresponding hole in the edge of the container and includes a hole in the edge of the container that is larger than the size of the container in at least one dimension so as to be able to lock the container in an open and enlarged configuration. The wings 178 can be driven to the open configuration by a drive gear. More specifically, the head of at least one wing includes a plurality of teeth that mesh with the drive gear so that when the clamping element 176 is actuated, the rotation of the drive gear rotates the pair of wings from the retracted configuration to the open and enlarged configuration.

[0085] The gripping elements 176 are sized to be received in corresponding holes in the rim of the container when in the retracted or closed configuration. The foot of each wing of the pair of wings includes a stop 180, such as a boss, so that when the wing is received in the corresponding hole in the rim of the container, the stop engages with the bottom side of the rim when in the expanded open configuration, thereby locking the container when the gripping device 172 is lifted upward toward the container receiving portion of the loading and handling device.

[0086] Next is the winch assembly of the container lifting mechanism, which includes a lifting drive mechanism and four tethers wound on separate reels 182 (a and b) (see Figures 7 (a and b)). The four tethers extend downward from the four reels 182 (a and b), respectively, so that the lower end of each tether is connected to the gripping device 172. The four reels 182 (a and b) can be mounted to separate lifting shafts, or alternatively, mounted on the same or common rotatable lifting shaft 183. In a specific embodiment of the present invention shown in Figures 7 (a and b), the raising and lowering mechanism is based on four separate reels 182 (a and b) mounted on separate lifting shafts 183 (a and b). More specifically, the four separate reels are divided into a first group of reels 182a and a second group of reels 182b, each of the first group of reels and the second group of reels comprising a pair of reels. The lifting tether 38 wound on the first set of reels 182a is anchored to one side of the container clamping assembly 172, while the lifting tether 38 wound on the second set of reels 182b is anchored to the other side of the container clamping assembly 172. The first set of reels and the second set of reels are mounted on separate first and second lifting shafts 183 (a and b) for rotation. The first and second lifting shafts are spaced apart to accommodate at least a portion of the above-mentioned receiving portion 138, that is, the receiving portion is disposed between the first and second lifting shafts 183a and 183b. The first and second lifting shafts 183 (a and b) are arranged on the first and second lifting shafts 183 (a and b). Figure 8 (a and b) are shown mounted to one of the modular sub-frames for rotation, more specifically to the upper modular sub-frames 134a, b. Figure 8 In (a and b), the upper modular sub-frame is defined as the third modular sub-frame 134a, b.

[0087] The first lifting shaft and the second lifting shaft 183a, b are driven by a lifting drive mechanism to rotate the first and second groups of reels 182a, b. In a specific embodiment of the present invention, the first lifting shaft and the second lifting shaft 183a, b are driven by a single motor through a plurality of timing pulleys, timing belts and / or gears to rotate the first and second groups of reels, and the plurality of timing pulleys, timing belts and / or gears are configured to transmit the rotation output by a single motor to raise and lower the container clamping assembly. In a specific embodiment, the first lifting shaft and the second lifting shaft are synchronously and rotatably driven by being connected to a single motor via a single timing belt, and the single timing belt extends around the first and second timing pulleys respectively mounted on the first lifting shaft and the second lifting shaft to form an endless loop. The timing belt can be arranged so that the first lifting shaft and the second lifting shaft are connected to the inner surface of the timing belt via their respective first and second timing pulleys. Doing so can rotate the first and second groups of reels in the same direction of rotation. Alternatively, the inner and outer surfaces of the timing belt may be arranged to contact the timing pulleys on the first lifting shaft and the second lifting shaft, so that the first timing pulley is connected to the inner surface of the timing belt and the second timing pulley is connected to the outer surface of the timing belt. This allows the first lifting shaft and the second lifting shaft to rotate in opposite directions when the single motor rotates, i.e., the first lifting shaft and the second lifting shaft rotate in opposite directions.

[0088] Alternatively, as taught in PCT / EP2021 / 051531 to Ocado Innovation Limited, the first and second groups of reels may be driven to rotate in the same direction as a single motor, the details of which are incorporated herein by reference. In PCT / EP2021 / 051531, a drive pulley and a first group of timing pulleys are mounted on a rotatable shaft and shared with the first group of reels, so that the rotation of the rotatable shaft generated by the single motor connected to the drive pulley drives the first group of reels. The second group of timing pulleys is connected to the first group of timing pulleys via one or more timing belts in a plurality of timing belts, so that the rotation of the rotatable shaft generated by the single motor connected to the drive pulley drives the second group of reels.

[0089] Various mechanisms may be used to couple the motor to the lifting shaft, including but not limited to one of a plurality of timing pulleys, timing belts and / or gears, so as to transfer the rotation output by the motor to the lifting shaft. Figure 6 The container lifting mechanism described, and other container lifting mechanisms for retrieving storage containers from a grid frame structure of a storage and retrieval system are also applicable to the present invention.

[0090] However, in all of the various embodiments of the winch assembly described above, the lifting shaft (one or more than one) carrying the plurality of reels is arranged to provide a space or gap for accommodating at least part of the receiving portion between the first set of reels and the second set of reels. Since the first set of reels and the second set of reels are mounted to at least one modular sub-frame for rotation, the mounting of the first set of reels and the second set of reels is arranged such that at least part of the receiving portion extends vertically through the at least one modular sub-frame. Framework structure

[0091] Back to Load Handling Equipment Fig. 9 The modular construction of the different functional characteristics of the load handling equipment shown in a can be constructed by simplified modular blocks 132b, 133b, 134b (forming Fig. 9 b) to envision different modular parts 132a, 133a, 134a of the loading handling equipment. In a specific embodiment of the present invention, three modular parts 132 (a and b), 133 (a and b), 134 (a and b) are shown as being vertically stacked, and each of the three modular parts provides one or more functional characteristics of the loading handling equipment. For the convenience of explaining the present invention, the three modular parts marked from bottom to top according to the height of the loading handling equipment include a first, a second and a third modular part, and the first modular part 132 (a and b) is in the lower part of the loading handling equipment, and the third modular part 134 (a and b) is in the upper part of the loading handling equipment. As Figure 8 (a and b), each of the three modular parts carries at least part of one or more functional components of the load handling equipment. The number and position of the different modular parts within the hierarchical structure are not limited to Figure 8 (a and b) show three modular sections, and include any number of modular sections that provide additional functional features of the load handling equipment, or the additional functional features of the load handling equipment can be shared between any number of modular sections 44.

[0092] Each modular section can be conceived as a rectangular open frame formed by connecting or coupling together corner brackets (see Fig. 9 a), where each corner bracket is shown as Fig. 9 The modular section is constructed by connecting adjacent connecting blocks in the same horizontal plane by one or more connecting elements 184 to form an open rectangular frame or modular sub-frame 186. Thus, vertically adjacent rectangular frames or modular sub-frames 186 are formed. Figure 8(a and b) are connected together by connecting vertically adjacent connection blocks 140 to form an open frame structure 131. An embodiment of the connection block 140 is a corner bracket. In a single modular section, each corner bracket is connected to the other two corner brackets in the same horizontal plane by one or more connecting elements 184. The connecting elements can be connecting rods or connecting tubes for connecting adjacent connection blocks (corner brackets) together in a single modular section. The connecting rods can be solid or hollow and depend on the connection with the connection blocks, which will be further described below. In a specific embodiment of the present invention, the open frame structure is a three-dimensional structure that defines a volume having an upper portion and a lower portion, the upper portion including a receiving portion 138 (see Figure 7b ), a control unit 144a and a reel 182 (a and b) carrying a lifting rope, the lower part includes a container receiving space 137.

[0093] The structural integrity of the open frame structure should not only be sufficient to support the different functional characteristics of the load handling equipment, but also have sufficient bending stiffness when the load handling equipment operates on the grid structure. Various materials can be used in the manufacture of the connecting rods or connecting tubes. This includes but is not limited to metals or polymers (such as plastics) or ceramics or combinations thereof. In order to reduce the weight of the load handling equipment and have the necessary structural performance to support the different functional components of the load handling equipment, the connecting rods connecting adjacent corner brackets together are optionally composed of a polymer matrix combined with carbon fibers (referred to as carbon fiber rods). In order to assist in constructing the rectangular frame forming modular sections, each connecting block in one or more modular sections includes an opening or socket 187 (see Fig.10 ) for the insertion of the connecting rod. The connecting rod is fixed to the connecting block by means of a joint. In modular sections, various joints can be used to fix the connecting rod to the corner bracket. This includes various fasteners, glue, welding, etc.

[0094] In a simplified modular section, the connecting block 140 is a corner bracket, so that the modular section includes four corner brackets. Each of the four corner brackets is directly connected to the other two corner brackets in the same horizontal plane to form a Figure 8 b. However, a corner bracket in a single modular section may be indirectly connected to two other corner brackets via one or more connecting blocks, one or more connecting blocks being intermediate the corner brackets at the corners of the rectangular frame. Thus, the term "connected" in relation to a corner bracket in each modular section may be broadly interpreted as being directly and / or indirectly connected to two other corner brackets.

[0095] To construct a load handling apparatus according to the invention, the different modular parts can be connected together by simply connecting vertically adjacent rectangular modular sub-frames together via respective corner brackets 140 by one or more vertical connecting elements 188 to form a Figure 8 The open frame structure 131 is shown as a simplified open frame structure in 8a and 8b. In other words, the same corner bracket used to connect to two other corner brackets in a single modular section can be used to vertically connect adjacent rectangular sub-frames together. The corner brackets of vertically adjacent rectangular sub-frames can be mounted to the same vertical connecting element 188 at each corner of the open frame structure, so that the vertical connecting element extends through the corner brackets of multiple vertically adjacent rectangular modular sub-frames. In this way, each corner of the open frame structure can share the same or common vertical connecting element. In order to connect multiple rectangular sub-frames to the same vertical connecting element via their respective corner brackets at each corner of the open frame structure, the corner brackets in the middle or between the bottom rectangular sub-frame and the top rectangular sub-frame have one or more through holes so that the vertical connecting elements can be connected when connecting vertically adjacent rectangular sub-frames 186 (see Figure 8 The second modular part in a) extends through the corner bracket when connected together. This has the advantage that Figure 8 As shown in (a and b), multiple rectangular sub-frames 186 can be vertically connected together in a stacked manner to form a load handling device simply by mounting multiple rectangular sub-frames to the same vertical connecting elements at each corner of the open frame structure. Fig.16 This is apparent in the schematic diagram of one face of the open frame structure shown. In this figure, vertical connecting elements are shown extending through a number of blocks at the corners of the open frame structure.

[0096] Alternatively, a separate vertical connecting element may be used to connect vertically adjacent rectangular sub-frames at each corner of the open frame structure. The length of the vertical connecting element connecting the vertically adjacent rectangular sub-frames determines the height of the open frame structure. The connecting elements 188 that connect the vertically adjacent rectangular sub-frames together may be the same or different types of connecting elements than the connecting elements that connect adjacent corner brackets in the same horizontal plane. For example, the connecting elements 188 that connect the vertically adjacent rectangular frames together may be connecting rods used to connect corner brackets in a single modular section. The corner brackets that form the connecting block are connected together by horizontal 184 and vertical 188 connecting rods, through Fig.10184, 188, for connecting the connecting blocks together to form a single modular section, and vertically adjacent modular sections are connected together in a vertically stacked manner. Fig.10 The arrow in illustratively shows the direction of the connecting rod or connecting tube 184 when being inserted into the respective sockets 187 in the connecting block or corner bracket 140 .

[0097] In order to simplify the construction of the load handling apparatus while still accommodating the different functional characteristics of the load handling apparatus, at least part of the functional components of the load handling apparatus are integrated into the open frame structure 131 of the load handling apparatus 130, that is, at least part of the functional components of the load handling apparatus 30 are integrally formed with one or more rectangular frames or modular sub-frames of the load handling apparatus. For example, at least part of the wheel assembly is integrally formed with one or more rectangular frame modular sub-frames, at least part of the wheel drive assembly is integrally formed with one or more rectangular frame modular sub-frames, at least part of the wheel positioning mechanism is integrally formed with one or more rectangular frame modular sub-frames, and / or at least part of the container lifting mechanism is integrally formed with one or more rectangular frame modular sub-frames.

[0098] In order to integrate at least part of the different functional characteristics of the load handling equipment into one or more rectangular frame modular sub-frames that constitute the open frame structure of the load handling equipment, one or more connecting blocks 140 in one or more rectangular sub-frames 186 are manufactured with the functional characteristics of the load handling equipment in mind. At least part of one or more functional components of the load handling equipment are integrated into one or more connecting blocks of one or more rectangular frames. For example, one or more corner brackets that connect the rectangular frames together can be integrally formed with one or more mountings for reels, pulleys and / or motors, rather than having separate mountings to mount to the frame of the load handling equipment.

[0099] Different connecting blocks can be used to build different modular parts, and the selection of connecting blocks mainly depends on the different functional characteristics of the load handling equipment. As the complexity of the functional characteristics of the load handling equipment increases, the shape of the connecting blocks also becomes more complex. Figures 13 to 15Various embodiments of connecting blocks 140 (b to d) are shown in simplified form (the connecting blocks form corner brackets of an open frame structure) and represent different corner brackets for assembling Fig.16 Rectangular sub-frames showing the different modular parts of a loading handling plant.

[0100] Various lightweight materials can be used in the manufacture of the connection block. Embodiments of lightweight materials include, but are not limited to, various lightweight metals, such as aluminum, or various polymer materials, such as plastic materials, or composite materials (such as carbon fiber / polymer composite materials). Various methods can be used to manufacture the connection block. This includes, but is not limited to, machining, injection molding, or casting the connection block. However, as the complexity of the connection block increases, more advanced manufacturing methods can also be used, especially when at least part of the functional components of the loading and handling equipment are integrally formed with the connection blocks 140, 140 (b to d). Complex connection blocks can be manufactured using additive manufacturing, such as 3D printing, so that at least part of the functional components of the loading and handling equipment can be integrally formed with one or more connection blocks. The use of additive manufacturing in the manufacture of the connection block, especially the corner bracket, enables one or more connection blocks to be topologically optimized to take into account the stresses that the connection block will be subjected to in the open frame structure. This is because additive manufacturing or 3D printing can form complex shapes that cannot be achieved by machining alone. This is particularly true when topology optimization is performed on the connection block, as topology optimization often results in complex shapes to account for the various loading constraints that the connection block will encounter when applied to the open frame structure of the load handling equipment.

[0101] The wheels of the wheel assembly are supported by a rectangular modular subframe 186 at the bottom modular section or the first modular section. To accommodate the wheels of the wheel assembly, each connecting block (more specifically, a corner bracket) of the bottom modular section or the first modular section is integrally formed with one or more wheel mounting members 139, 141 of the first set of wheels and the second set of wheels. Fig.15In the particular embodiment of the invention shown, each corner bracket 140d of the bottom modular section is formed in two sections for receiving two wheel mounts, namely, first and second wheel mounts 139, 141. The first wheel mount 139 is configured for mounting a wheel of the first set of wheels 135, and the second wheel mount 141 is configured for mounting a wheel of the second set of wheels 136 (thus, a total of eight wheels are mounted to four corner brackets 140d, two wheel mounts for each of the four corner brackets 140d, and arranged to support the open frame structure of the load handling equipment). In other words, each of the four corner brackets 140d of the first modular section or bottom modular section is integrally formed with two wheel mounts, namely, first and second wheel mounts 139, 141. In order to accommodate two wheel mounts in one corner bracket 140d, the two wheel mounts of a given corner bracket are assembled substantially perpendicular to each other, such that the first wheel mount 139 provides a mount for a wheel used to move the load handling device in a first direction and the second wheel mount 141 provides a mount for a wheel used to move the load handling device in a substantially perpendicular direction. Fig. 9 In the particular embodiment of the invention shown in Figures 1a and 15, the first and second wheel mounting members 139, 141 of the corner bracket include axles or latches 198 for rotatably mounting the respective wheels.

[0102] like Fig. 9 a and Fig.15 As clearly shown, the edge or end of each wheel mount of the first and second wheel mounts in a given corner bracket 140d includes one or more bosses or fingers 196 with vertically aligned or concentric openings to receive the connecting element 188 through the openings of the one or more bosses 196. The one or more bosses 196 at the edges of the first and second wheel mounts 139, 141 are spaced apart so that the bosses 196 of the first and second wheel mounts of a given corner bracket are staggered. And the openings in the respective bosses are axially aligned along the wheel locating axis WW (see Fig.15 ) for use in the bottom modular section or the first modular section such as Fig.16 The wheel positioning axis WW is the axis along which the respective first set of wheels or second set of wheels is raised or lowered depending on the direction of movement on the grid structure. Fig.15 In FIG. 1 , the wheel positioning axis WW is shown as a vertical axis along which the first set of wheels and the second set of wheels are raised and lowered.

[0103] In operation, the first and second wheel mounts are arranged to move along a common vertical connection element via their respective bosses. For a given corner bracket, the bosses 196 at the edges of the first and second wheel mounts 139, 141 of the corner bracket 140d are sufficiently spaced apart so that when the spaced apart bosses are staggered, each of the first 139 or second 141 wheel mounts of the corner bracket 140e can move along its vertical connection element (i.e. along the wheel locating axis WW) independently of the other second 141 or first 139 wheel mount. This is to allow the pairs of wheels of the first set of wheels to be raised or lowered independently of the pairs of wheels of the second set of wheels when mounted to the corner bracket. This process is repeated for the other corner brackets of the bottom modular section so that all four corner brackets of the bottom modular section provide wheel mounts for supporting all wheels of the first and second sets of wheels (i.e. eight wheels). In order to enable the first wheel mount and the second wheel mount to move along the vertical connecting element, the boss 196 at the edge of the first wheel mount and the second wheel mount may include one or more sliding bearings to assist the movement of the first wheel mount and the second wheel mount along their respective vertical connecting elements. Various sliding bearings known in the art may be used to assist the sliding of the first wheel mount and the second wheel mount. This includes, but is not limited to, the use of PTFE-based sliding bearings.

[0104] Each wheel mounting member of the corner bracket includes an integrally formed wheel axle 198 for rotatably mounting the wheel on the axle. Each corner bracket 140d for mounting a wheel of the wheel assembly is connected to two other corner brackets by one or more connecting elements 184 to form a rectangular sub-frame. Figure 8 a and Fig. 9 In the particular embodiment of the invention shown in FIG. 1 a, each corner bracket 140d is connected to two other corner brackets in the same horizontal plane by two connecting rods 184, which are receivable in openings or sockets 187 in the corner brackets (see FIG. Fig.16 ). However, the number of connecting elements 184 used to connect adjacent corner brackets in the same horizontal plane to form a rectangular frame of the first modular portion (the first modular portion including the wheel assembly) is not limited to two connecting elements, and can be any number of connecting elements that provide the desired structural rigidity of the rectangular frame.

[0105] In order to drive the rotation of the first set of wheels and the second set of wheels, at least part of the above-mentioned wheel drive assembly can be integrated into one or more rectangular sub-frames of the open frame structure of the load handling device. In the case where the wheel drive assembly includes the above-mentioned drive belt assembly 143a at each side of the load handling device, the mounting parts for the driving wheels and the driven wheels (the driving wheels and the driven wheels are used to carry the drive belts) can be connected to one or more connecting blocks 140d (see Fig.15 ) are integrally formed. For example, Fig.15 In the particular embodiment of the invention shown, each corner bracket 140d that includes wheel mounts 139, 141 for the wheel assemblies additionally includes mounts 200 for the driven wheels 148 of the drive belt assembly so that the drive belt travels around the periphery of the wheels 135, 126 mounted to the corner bracket 140d and around the driven wheels 148 on the same corner bracket 140d. Since each corner bracket 140d is integrally formed with two wheel mounts 139, 141 for wheels (oriented perpendicularly to each other to cover the direction of travel of the load handling equipment on the grid structure), the mounts 200 for the respective driven wheels can be integrally formed with each wheel mount 139, 141 of the corner bracket 140d.

[0106] The drive pulley for driving the rotation of the paired wheels of the first set of wheels or the second set of wheels is mounted to the corner bracket 140c of the rectangular sub-frame located higher in the vertical stack, so that the drive belt extends around the paired wheels at one side of the load handling equipment and around the drive wheel mounted to the higher modular section. In a specific embodiment of the present invention, the drive wheel for driving the drive belt of each wheel drive assembly is mounted to an axle or latch 202 integrally formed with the corner bracket 140c, and the corner bracket 140c forms the rectangular sub-frame of the second modular section. In this way, the paired wheels of each set of wheels in the first set of wheels and the second set of wheels are driven by the drive belt, which connects the driven wheels in the first modular section 132a and the drive wheels mounted to the corner bracket of the second modular section 133a. This process is repeated for the other drive assemblies at each side of the load handling equipment shown in Figure 7. Also shown in Figure 7 is that each wheel drive assembly for driving a pair of wheels additionally includes the above-mentioned tensioning wheel arrangement to ensure that the drive belt around a given pair of wheels remains taut. In the specific embodiment of the load handling apparatus shown in Figure 7, one or more corner brackets of the rectangular frame supporting the wheels also include a wheel tensioning arrangement.

[0107] The drive assembly is not limited to the above-mentioned drive belt assembly, and the connecting block of the wheel of the wheel assembly in the rectangular frame can be integrated with the mounting member that carries the above-mentioned hub motor. Thus, each corner bracket of the rectangular frame of the first modular part or the bottom modular part can be integrally formed with the mounting member for the drive assembly (including the hub motor), wherein the inner hub of the hub motor is mounted to the corner bracket. Since each corner bracket of the first modular part or the bottom modular part is composed of two wheel mounting members for mounting two wheels, each corner bracket is integrally formed with two mounting members for mounting two hub motors, wherein one mounting member mounts the wheel in the first direction and the other mounting member mounts the wheel in the second direction.

[0108] In order to change direction on the grid structure, the load handling device includes a wheel positioning mechanism. Various wheel positioning mechanisms are known in the art, some of which are discussed above. Considering the need for sufficient force to vertically lift a pair of wheels of a given set of wheels relative to the open frame structure, at least part of the wheel positioning mechanism is mounted to a rectangular subframe of the open frame structure, and this rectangular subframe has been reinforced to bear the weight of the pair of wheels at each side of the load handling device. In Figures 7 and Fig.10 In the particular embodiment of the load handling apparatus shown, the rectangular subframe of the second modular section is reinforced by one or more struts or reinforcements 206 and, since this rectangular subframe is located substantially in the middle of the height of the load handling apparatus, i.e. between the first and third modular subframes, it is referred to as the "middle annular ring" (see Figure 8a). The reinforcement of the middle eyelet is provided by one or more cross reinforcements 206 extending across the rectangular frame. The specific embodiment of the wheel positioning mechanism shown in FIG. 7 is based on the cam mechanism described above, the cam mechanism comprising a cam, a cam follower movable along the cam, and a moving member for moving the cam follower. The moving member is configured to move along a track 166 on one side of the loading and handling equipment to raise the paired wheels. The track 166 for supporting the moving member for raising the paired wheels includes a horizontal connecting element extending between the corner brackets of the rectangular frame of the middle eyelet, so that the moving member moves along the connecting element 184 connecting the corner bracket 140 on one side of the loading and handling equipment. The connecting element of the middle eyelet for supporting the moving member thus acts as an elevated track. In the specific embodiment of the present invention shown in FIG. 7, the moving member is slidably mounted to the connecting element, which connects the corner brackets in the same horizontal plane. This process is repeated for other pairs of wheels at each side of the loading and handling equipment. In order to support the moving part, at least two connecting elements 184 extend between the corner brackets 140 on one side of the loading and handling equipment. One or more inserts 208 are sandwiched between the two connecting elements 184 extending between the corner brackets 140 to provide bending stiffness to the connecting elements extending between the corner brackets 140, thereby avoiding excessive bending of the connecting elements when the moving part moves along the connecting elements. In a specific embodiment of the present invention, the cam mechanism for each pair of wheels in the first and second groups of wheels is based on the double cam arrangement described above, wherein the moving part is configured to raise and lower a given pair of wheels through the double cam arrangement. The cam for cooperating with the cam follower can be mounted to the corner bracket of the wheel supporting the wheel assembly, or it can be integrally formed with the corner bracket. A double cam arrangement is adopted at each side of the loading and handling equipment, and two cams 154 cooperating with two respective cam followers are mounted to each corner bracket to meet the vertical movement of the wheels oriented in the first direction and the second direction (see Fig.15 ). Thus, for a given corner bracket, a first cam 154 is mounted to or integrally formed with the first wheel mounting member 139 of the corner bracket, and a second cam 154 is mounted to or integrally formed with the second wheel mounting member 141 of the corner bracket 140d, so that when the first wheel mounting member and the second wheel mounting member of the corner bracket are brought together, the cams 154 on different sides of the load handling device cooperate with their respective cam followers. Similar corner brackets are used to mount the other wheels of the wheel assembly.

[0109] As the cam followers travel along the cam, they exert an upward or downward force on the respective corner brackets (carrying wheels from the first set of wheels or the second set of wheels), thereby causing the wheels to be raised or lowered depending on the direction of travel of the load handling equipment on the grid structure. As described above, each corner bracket for mounting a wheel of the wheel assembly is composed of two interlaced portions, namely a first portion 139 and a second portion 141, each of which includes a wheel mounting member for a wheel. The first portion provides wheel mounting members for wheels of the first set of wheels, and the second portion provides wheel mounting members for wheels of the second set of wheels, which are defined as first wheel mounting members 139 and second wheel mounting members 141, respectively. The bosses or fingers 196 at the edges of the first wheel mounting members and the second wheel mounting members are sufficiently spaced apart so that when the bosses are interlaced, the first wheel mounting member can move axially along its connecting vertical connecting element independently of the second wheel mounting member. When the vertical connecting element is a connecting rod, the diameter of the opening in the one or more bosses 196 of each of the first 139 and second 141 wheel mounting members of the corner bracket is slightly larger than the diameter of the connecting rod 188 so that the first and second wheel mounting members 139, 141 of the corner bracket can move vertically when a force is applied in the vertical direction. The cam 154 for engaging with the cam follower 158 can be integrally formed with its respective corner bracket 140d, and the corner bracket 140d includes a wheel mounting member of the wheel assembly, such as Fig.15 Two cams 154 are shown as being integrally formed with the corner bracket 140e, one cam for each of the wheel mounts 139, 141. Figure 6 and Fig.15 In the relevant description, it can be understood that at least part of the wheel positioning mechanism is integrally formed with the connecting block of one or more rectangular sub-frames, more specifically with the corner brackets, and one or more rectangular sub-frames form different modular parts of the loading and handling equipment.

[0110] Also shown in FIG. 7 is a motor 168 for moving the moving member along the connecting element mounted to a corner bracket 140c of a rectangular frame forming a central eyelet of the open frame structure. One or more mounting members for one or more motors are integrally formed with the connecting block of the rectangular frame of the central eyelet, more specifically with the corner bracket. Fig.14 As shown, one or more openings 210 are integrally formed in the corner bracket 140c for receiving the motor shaft of the motor. The corner bracket 140c also supports the reel when the reel rotates, and the reel is used to receive the belt connected to the moving member so that when the motor rotates in a clockwise direction, the belt is wound on the reel, and when the motor rotates in a counterclockwise direction, the belt is unwound from the spool.

[0111] In addition to at least part of the wheel positioning mechanism being integrally formed with the connecting blocks or corner brackets (forming a rectangular sub-frame of one or more modular sections), at least part of the container lifting mechanism (more specifically the winch assembly) is integrally formed in the rectangular sub-frame of one or more modular sections. The first and second lifting shafts 183 (a and b) for driving the rotation of the four reels (carrying the lifting tethers connected to the gripping device) are rotatably mounted to the rectangular sub-frame of the modular sections. Figure 8 In the embodiment shown in a, the first and second lifting shafts 183 (a and b) are rotatably mounted to the rectangular sub-frames of the third modular parts 134a, b, c. The first and second lifting shafts 183 (a and b) are rotatably mounted to the rectangular sub-frames of the third modular parts 134a, b, c. Figure 8 a and Fig. 9 a is shown extending across the rectangular subframe. The first lifting shaft and the second lifting shaft are substantially parallel and spaced apart to define a space for accommodating the receiving portion. The opposite ends of the first lifting shaft and the second lifting shaft are shown through Fig.13 The shaft openings 212 in the illustrated connection blocks are rotatably mounted to the respective connection blocks 140b. The shaft openings 212 in the connection blocks are sized to rotatably receive the ends of the lift shafts 183 (a and b). Bearings may be fused into the shaft openings 212 for mounting to the ends of the lift shafts 183 (a and b).

[0112] In a particular embodiment of the present invention, the container receiving space 137 (see Fig. 9 a) is placed within the open frame structure of the loading handling equipment, more specifically in the area of ​​the first modular part, the second modular part and the third modular part (the third modular part supports the reel carrying the lifting rope). However, since the vertically adjacent modular parts are connected together by vertical connecting rods through their respective connecting blocks, the grasping device needs to be guided when it is raised and lowered in and out of the container receiving space to prevent the grasping device from hitting the connecting blocks. In a specific embodiment of the present invention, downwardly extending guides (not shown) are mounted to the connecting blocks 140c of the second modular part of the loading handling equipment, one at each corner of the rectangular frame, so as to guide the grasping device when it is lowered or raised to the container receiving space 137. Each guide extends downwardly inside the container receiving space and is shaped to include two vertical guide plates for accommodating Figure 6 The corners of the gripping device are shown.

[0113] Since the container lifting mechanism is configured to lift and lower storage containers that may weigh up to 40 kg, the connecting elements extending between the corner brackets may be reinforced by one or more reinforcement elements 206 to strengthen the rectangular frame of the modular part supporting the reel (carrying the lifting tethers).

[0114] A plurality of rectangular frames 186 are assembled together in a vertical stack to provide different functional characteristics of the above-mentioned load handling equipment. Vertically adjacent rectangular frames are connected together by vertical connecting elements 188 to form an open frame structure 131 supporting different functional characteristics of the load handling equipment. The receiving portion 138 for receiving power is provided at Figure 8 The cross reinforcement 206 shown in (a and b) as mounted to the second modular part extends upwardly from the open frame structure so that the receiving portion 138 extends vertically through at least one modular sub-frame of the plurality of modular sub-frames 186. The receiving portion 138 includes a base and side walls / end walls extending upwardly from the base and is arranged to form a housing with an open top end for receiving and accommodating a power source in a vertical direction from above the receiving portion. In order to ensure that the receiving portion 138 does not significantly increase the weight of the loading and handling equipment, similar to the construction of the open frame structure 131, the receiving portion 138 is shown as a frame, which is similar to a structure composed of a plurality of connecting blocks connected together by a plurality of connecting elements to define a power supply compartment for receiving a power source. Figure 8 The more simplified structure of the receiving portion 138 in (a and b) shows that the receiving portion includes eight connection blocks, each of which is connected to the other two connection blocks in the same horizontal plane by one or more horizontal connection elements, and is connected to the other connection blocks in the vertical plane by one or more vertical connection elements to form a cubic frame structure. As described above, the receiving portion 138 includes one or more electrical connectors or charge receiving elements configured to be electrically coupled to the charge providing element of the power supply when the power supply is lowered into the receiving portion. The electrical connector of the power supply compartment may include a male connector, while the electrical connector of the power supply may include a female connector, or vice versa. The electrical connector may alternatively include an electrical contact portion.

[0115] The receiving unit 138 Fig.11 The receiving portion 138 is depicted as having a cubic shape, but may also be other shapes, such as a cylindrical shape, depending on the shape of the power source. The receiving portion 138 has an open top end 214 for receiving the power source in a substantially vertical direction (see Figure 7b). The open top end 214 is shown as including four connection blocks or brackets 216, each of which is connected to the other two connection blocks 216 by horizontal connection elements 218 to form a generally rectangular open frame for receiving a power source. In order to support the power source, the receiving portion 138 includes a base 220, which is sized to accommodate the power source when it is placed in the receiving portion 138. The vertical connection element 222 extending upward from the base 220 has one end connected to the corner of the base 216 through a suitable opening or socket in the base, and the other end connected to the rectangular open frame. The base 220 may optionally include a charge receiving element for electrically coupling with a charge providing element of the power source when the power source is placed on the base 220. The structure of the receiving portion 138 is not limited to Figure 8 (a and b), Fig. 9 (a and b), Fig.11 and Fig.12 The open structure shown in the figure can be a solid structure, and the side walls of the receiving portion can be solid to form a closed member. Fig.11b As shown, the receiving portion 338 may be made of metal, such as aluminum, steel, etc. The advantage of using metal rather than other materials in the manufacture of the receiving portion is that it can prevent electromagnetic signals emitted by the power supply 138b and / or the battery management system from interfering with signals from one or more electronic components, that is, acting as a Faraday cage and shielding cover, and one or more electronic components are critical to the operation of the load handling device, such as the controller 144a, the communication module 144b, and the J switch 144c (see Figures 7 and Fig.12 ).

[0116] Various methods can be used in the manufacture of the metal receiving portion. This includes, but is not limited to, casting, folding a sheet metal blank, and the like. In a preferred embodiment, the receiving portion is formed by folding a sheet metal blank along one or more folding lines to form a battery box 340, which includes a bottom wall (or base), an upwardly rising side wall, and an end wall. Alternatively, the bottom wall and / or the upwardly rising side wall and / or the end wall can be fixed together by various fasteners, respectively. Embodiments of fasteners include, but are not limited to, riveting, welding, adhesives, and / or simple bolts. In order to reduce the weight of the receiving portion while still being able to act as a Faraday cage, the upwardly rising wall and / or the end wall include one or more openings 342. The opening can be cut in the upwardly rising wall and / or the end wall of the battery box 340, and the size is designed to shield the electromagnetic waves emitted by the power source contained in the receiving portion. Making the receiving portion by metal (preferably a metal plate) not only helps to reduce or shield interference signals from the power supply 138b, but also provides a continuous guide surface for guiding the power supply 138b when the power supply 138b is lowered into the receiving portion 338 through the open top end 314 of the receiving portion. This helps to correctly guide the power supply 138b to engage with the electrical component. In order to help guide the power supply 138b into the receiving portion, the power supply 138b includes one or more guide members 344 configured to cooperate with the corners of the receiving portion in a sliding manner. Since the receiving portion is a cubic shape, the guide members 344 are mounted to the corners of the power supply. In order to help place the power supply in the receiving portion 138, 338, each guide member 334 includes a positioning portion 346. In a specific embodiment of the present invention, a portion of the guide member 344 is cavity-shaped or tapered to form a positioning portion 346 for correctly positioning the power supply 138b into the receiving portion 138, 338. The continuous guide surface at the corner of the battery box 340 enables the power source to be lowered into the receiving portion 338 with little or no resistance, compared to a receiving portion formed by a plurality of connection blocks connected by a plurality of connection elements.

[0117] When the power source is received in the receiving portion 138, one or more electrical components (e.g. Fig.12The control unit, communication module and J switch shown are mounted to the receiving portion 138, more specifically to one or more outer sides of the receiving portion 138. The signals generated by the one or more electrical components are transmitted from the respective electrical components to various components of the load handling device, namely the motor drive for the drive mechanism of the wheel, the wheel positioning mechanism and / or the container lifting mechanism, via one or more cables. In order to prevent the one or more cables from getting stuck in one or more moving parts of the load handling device, a cable tray 224 is mounted to the receiving portion 138 to guide the one or more cables to the relevant components (e.g., the motor) in the load handling device and to support the one or more cables. One or more cable retainers 226 (e.g., cable ties) can be used to secure the cables to the cable tray 224. The cable tray 224 is shown to include a plurality of holes, the size of the plurality of holes being designed to engage with a plurality of anchoring elements (not shown) of the cable retainer 226 to retain the cables to the cable tray 224. The cable tray 224 is a plate having one or more bent portions to guide one or more cables from the electrical components mounted to the receiving portion 138 to drive respective components in the loading handling device.

[0118] In addition to or as an alternative to the cable tray, one or more cables may be secured to the frame or frame structure 231 of the load handling equipment. Fig.12d In the embodiment shown and as Fig.12e and 12f As clearly shown, the cable mount includes one or more cable retainers 326 for securing one or more cables to the cable mount 356, and the cable mount 356 is attachable to at least one modular sub-frame. The cable mount provides an area on the frame 231 for securing one or more cables to the frame itself. Fig.12d The illustrated embodiment shows a cable mount 356 attached to the horizontal connecting element 184 of the third modular section 134a of the frame via a snap-fit ​​joint 358. Portions of the cable mount have a cross-sectional profile configured to snap onto the horizontal connecting element 184 of the modular sub-frame. Fig.12e and Fig.12f In the particular embodiment of the invention shown, the snap connector has a substantially semicircular cross-sectional profile shaped to snap onto the horizontal connecting element 184 of the frame of the load handling apparatus. However, the invention is not limited to attaching the cable mount to the modular sub-frame by a snap connector and may alternatively or additionally be fastened to the connection block 140 by fasteners known in the art, such as screws or bolts.

[0119] Fig.12e and Fig.12f3. Also shown in FIG. 3, each of the one or more cable retainers 326 may include a cable tie for securing the one or more cables to the cable mount 356. The cable tie may be integrally formed with the cable mount 356, or alternatively, the cable mount 356 includes a mounting surface including one or more openings for securing the cable tie to the cable mount 356. The cable mount has an advantage over the cable tray 224 described above in that the cable mount can be mounted to any portion of the frame, since the cable mount can be snapped onto the connecting element 184 of the frame, thereby enabling one or more cables to be secured to different portions of the frame. The cable mount 356 may include one or more branches 360 extending from the snap joint for guiding the one or more cables to one or more electrical components in different portions of the load handling equipment. The one or more branches 360 may include one or more cable retainers 326 for securing the one or more cables to the branches. The cable mount may be integrally formed from a plastic material as a single body, such as by additive manufacturing or injection molding. The plastic material provides electrical insulation and enables the snap-fit ​​connector to be integrated into the cable mount.

[0120] Considering that the weight of the power source accounts for a large part of the weight of the load handling device, the receiving portion must be properly fastened to the open frame structure of the load handling device to withstand the forces generated by the recoil of the power source when the load handling device is accelerated on the grid structure. In a specific embodiment of the present invention, the receiving portion 138 is fastened to the cross reinforcement 206 of the second modular part 133a. For example, the receiving portion 138 is fastened to the open frame structure by a cross reinforcement member that extends through one or more openings in the base 220 of the receiving portion 138. One or more struts 228 can also be used to further support the receiving portion 138 to the open frame structure. In Figures 7, Fig.11 and Fig.12 In the particular embodiment shown, one or more struts 228 are anchored to a fixing point on the receiving portion 138 and extend to a fixing point of the modular sub-frame of the second modular section. In the particular embodiment of the invention shown in FIG. 7 , one or more struts comprise rods or tubes that are fixed to the horizontal connecting element 218 forming the opening of the receiving portion 138 and to a fixing point on the horizontal connecting element forming the modular sub-frame of the third modular section 134a, b, c. Alternatively, the receiving portion 138 may be integrally formed with at least one modular sub-frame.

[0121] for Fig.11b The bottom wall of the receiving portion 338 includes mounting feet or brackets 341 for mounting or supporting the receiving portion 338 on the cross reinforcement 206 of the second modular section (see Fig.11b ).

[0122] Because the receiving portion 138 is exposed above the open frame structure, other electrical components that need to be directly accessible from outside the load handling equipment can be mounted to the receiving portion. This includes, but is not limited to, various switches and / or electrical isolators 230 associated with the power supply. Because the receiving portion 138 represents the highest point of the load handling equipment, one or more antennas 145 can be mounted to the receiving portion 138 to receive signals from one or more base stations. In addition to providing one or more mounting points for mounting one or more electrical components, the receiving portion can optionally provide for Figure 12b Mounting points for heat sink 348 are shown. Heat sink 348 helps keep one or more electrical components mounted to the receiving portion cool by absorbing and dissipating heat from the one or more electrical components.

[0123] The receiving portion 138 is not limited to mounting one or more than one electrical component, but can also be used to provide insulation to the power source. In the case where the power source is a battery, the operating temperature of the battery affects the life of the battery. One of the factors that cause the battery to heat up when charging or discharging is its internal resistance. A higher internal resistance of a battery causes the battery to heat up when charging or discharging, and the heat can cause damage, causing safety issues. Low internal resistance allows the battery to deliver high currents on demand, while high internal resistance causes the current to be limited and causes the voltage at the load end to drop. The internal resistance of the battery depends largely on temperature and increases as the ambient temperature decreases. This is because low temperatures slow down the electrochemical reactions occurring within the battery and, as a result, reduce the mobility of the ions in the electrolyte. Since the load handling equipment can operate in a refrigerated or frozen area of ​​the fulfillment center, the heating of the battery during charging or discharging is becoming an increasingly serious problem when operating on a grid structure, resulting in a shortened effective cycle life of the battery. To mitigate the problem of shortened battery life when the load handling equipment is operated at low temperatures (e.g., in a refrigerated or frozen area), the receiving portion 138 may optionally be covered with an insulating panel to reduce heat loss and help maintain or regulate the temperature within the space occupied by the battery. For example, one or more insulating panels may be mounted to the exterior surface of the receiving portion 138 to provide insulation to the power source contained within the receiving portion 138. Examples of insulating materials include, but are not limited to, foam materials, glass fiber materials including silicon, polyurethane, and the like.

[0124] In order to secure the power supply 138b to the receiving portion 138, 338 when the power supply is received in the receiving portion, the receiving portion 138, 338 optionally includes a locking mechanism 350, the locking mechanism 350 including a locking member 354 movable between a locked position and an unlocked position, the locked position being used to prevent the power supply from being removed from the receiving portion, and the unlocked position being used to allow the power supply to be removed from the receiving portion (see Fig.12c ).exist Figure 12b and Fig.12c In the particular embodiment of the invention shown, the locking mechanism includes one or more latches or retaining members 352, which are formed at the edges of the upwardly rising side walls and / or end walls of the receiving portion 338, and the receiving portion 338 cooperates with a locking member 354 that is rotatably mounted to the power source. The one or more latches or retaining members 352 can be integrated into the receiving portion or mounted separately to the receiving portion. Rotation of the locking member 354 in one direction will lock the power source to the receiving portion, while rotation of the locking member in the opposite direction will unlock the power source from the receiving portion. The latch or retaining member 352 is Figure 12b 314 is shown formed at the edge of the open top end 314 of the receiving portion.

[0125] Although certain embodiments of the present invention show a receiving portion 138 having an open frame structure, the receiving portion is not limited to having an open frame structure and may be in the form of a container having solid side walls and a base.

[0126] The manufacture of the frame of the load handling device involves inserting the ends of the connecting rods into the openings or sockets of the connecting blocks to connect the connecting blocks together. In order to help reduce the weight of the load handling device according to the present invention, the connecting rods are usually hollow, such as hollow tubes. A jig can be used to assemble the individual rectangular frames together, while the connection between the connecting blocks and / or corner brackets and the connecting elements is tightened by suitable joints. Similar manufacturing processes can be used to manufacture the load handling device. Figure 8 (a and b) The receiving section is clearly shown.

[0127] In a particular embodiment of the invention, the receiving portion is mounted to the frame 131 of the load handling equipment when the frame is constructed. The process of mounting the receiving portion to the frame involves lowering the receiving portion into the frame so that the receiving portion extends vertically through at least one modular sub-frame. The receiving portion 138, 338 is mounted on the frame 131 of the load handling equipment. Fig.12d 1 and 2 as shown in FIG. 1 as the third or topmost modular sub-frame 134a extending vertically through the frame. Fig.12d It is also shown that the receiving part 123 is fastened to the modular sub-frame by one or more struts 228. In the frame, in particular, an area is provided between the first and second lifting shafts 183a, 183b to accommodate the receiving part between the first and second lifting shafts 183a, 183b (see Fig. 9a). To support the receiving portion within the framework, the receiving portion rests or rests on a cross stiffener 206 that extends across the modular sub-frame of the second modular portion (also referred to as the middle eyelet) 133a, b, c. In some embodiments, the base of the receiving portion is attached to the cross stiffener 206 of the second modular portion 133a, b, c. The receiving portion 138 may be further supported to the framework by securing one or more struts that extend between the receiving portion and the framework (particularly the modular sub-frame of the second modular portion 133a, b, c). The receiving portion provides an unobstructed area within the framework to lower a power source into the load handling device (i.e., the battery slot) to engage with the charge receiving element and thereby power the electrical components of the load handling device. One or more electrical components, such as a controller and / or a communication module and / or a J-switch, may then be mounted to the receiving portion to draw power from the power source housed within the receiving portion. One or more cables are routed from one or more electrical components 144a, 144b, 144c mounted to the receiving portion to various components operating the load handling equipment on the grid structure, such as drive motors. Fig.12 One or more electrical components are shown mounted to the receiving portion. Alternatively, one or more electrical components may be mounted to the receiving portion 138 prior to mounting the receiving portion to the frame.

[0128] In an alternative robotic load handling device, the receiving portion 238 for receiving power may be optionally integrated into the frame 231 of the robotic load handling device to define a receiving portion 238 for receiving power, as opposed to having a separate receiving portion mounted separately to the frame 131 of the load handling device. Fig.17 (a and b) The power compartment shown. Fig.17 a is a schematic diagram of an assembly of modular parts of an alternative robotic load handling apparatus, Fig.17 b is a simplified version of the assembly of a rectangular frame of modular parts depicting the connection block 140. Fig.17 In the particular embodiment shown in (a and b), an externally accessible open top end 242 (for receiving power in a substantially vertical orientation) is formed or integrated into one of the plurality of modular sub-frames of the frame structure 231. Fig. 9 131 ), in an alternative robotic load handling device, the receiving portion forming the power compartment 238 may extend partially above the height of the frame 231, or at least be flush with the height of the frame, or below the height of the frame 231. The assembly of the different modular parts of the frame structure 231 forming the alternative robotic load handling device is similar to that described above with reference to Figure 8 (a and b) and Fig. 9The components of the modular parts described in (a and b) are very similar in that the different modular sub-frames 232a, b, 233a, b, 234a, b are arranged in a vertical stack. Figure 8 (a and b) show an assembly of modular subframes (where the receiving portion is mounted separately to the frame structure), the receiving portion 238 in an alternative robotic load handling device such as Fig.18 (a and b) are integrated into the frame structure 231 to define the power compartment 238. An advantage of integrating the receiving portion into the frame structure 231 of the robotic load handling apparatus, as opposed to separately mounting the receiving portion to the frame structure when the frame structure is constructed, is that it does not require forming a separate receiving portion having a plurality of substantially vertical connecting elements connecting the upper and lower portions of the receiving portion (i.e., connecting the open top end and the base of the receiving portion).

[0129] In order to accommodate the open top end 242 of the power supply compartment so that the power supply can be received within the frame structure 231 of the robotic loading and handling equipment, the open top end 242 is formed within at least one of the plurality of modular sub-frames 234a, b on which a lifting drive mechanism is installed. As described above, the lifting drive mechanism is configured to drive the first and second lifting shafts 183a, 183b. The first and second lifting shafts 183a, 183b are mounted to respective connecting blocks of the modular sub-frames 234a, b (i.e., the third modular part) on which the lifting drive mechanism is installed. Since the first 183a and second 183b lifting shafts are spaced apart to respectively mount the first group 182a and second group 182b of reels, the spacing between the first 183a and second 183b lifting shafts defines an externally accessible open top end 242 for lowering the power supply into the frame structure 231 through this spacing, as shown in FIG. Fig.18 (a and b). Fig.18 In the particular embodiment shown in FIG. 1 , four corner pieces 244 are mounted to the modular subframe to which the first 183a and second 183b lifting shafts are mounted to define an externally accessible open top end 242 of the power compartment. The four corner pieces are arranged to provide a substantially rectangular open top end of the power compartment, but other shapes of open top ends are also suitable for the present invention, such as a circular shape for receiving a cylindrical power supply, depending on the shape of the power supply to be received in the power compartment. Each of the four corner pieces 244 includes a guide surface for guiding the power supply into the power compartment (see FIG. 1 ). Fig.18 a). For a cubic power supply, each of the four corner pieces 244 includes two vertical guide surfaces for accommodating the corners of the power supply.

[0130] On the other hand, the base 240 of the power supply compartment 238 for supporting the power supply can be formed or integrated in the modular sub-frame 233a, b below the modular sub-frame 234a, b accommodating the open top end 242, i.e., the second modular part or the middle modular part 233a, b (see Fig.18 a, b). As described above, the base 240 of the power compartment 238 can be supported by the cross reinforcements 206 of the middle modular sub-frames 233a, b, which support at least a portion of the wheel positioning mechanism (e.g., a cam mechanism), that is, the modular sub-frame 234a equipped with the lifting drive mechanism cooperates with the modular sub-frames 233a, b below the modular sub-frame to form the power compartment 238. The vertical spacing between the top, third modular sub-frame 234a, b and the second, middle modular sub-frame 233a, b is sufficient to accommodate the height of the power supply when the power supply is received in the power compartment. Fig.18 In the particular embodiment shown in (a and b), the reinforcement members of the cross reinforcement 206 extend through the base 240 of the power compartment 238. Alternatively, if the height of the connection block 140 of the top, third modular sub-frame 234a, b is high enough to accommodate the power supply, the base 240 can be supported by the same modular sub-frame 234a, b that accommodates the open top end of the power compartment, i.e., the lifting drive mechanism is mounted on the modular sub-frame 234a, b.

[0131] Fig.17 (a and b) and Fig.18 The assembly of the frame of the robotic load handling device according to the alternative design shown in (a and b) is similar to that of the above referenced Figure 8 (a and b) and Fig. 9 The assembly of the frames described in (a and b) is similar. Here, each of the modular sub-frames 232a, b, 233a, b, 234a, b is assembled together by connecting at least four connecting blocks by horizontal connecting elements to form a substantially rectangular frame, and the modular sub-frames are arranged in a vertical stack by connecting vertically adjacent modular sub-frames by vertical connecting elements. Figure 8 The receiving portion 138 in the previous embodiment shown in (a and b) is formed by the horizontal connecting member and the vertical connecting member alone, while in Fig.17The receiving portion 238 in the alternative robotic load handling device shown in (a and b) is then integrated into one or more modular sub-frames of the frame structure, eliminating the need for vertical connecting elements forming the receiving portion. The vertical connecting elements of the receiving portion are provided by vertical connecting elements that connect vertically adjacent modular sub-frames 232a, b, 233a, b, 234a, b together. Another advantage of integrating the receiving portion into the frame or frame structure of the robotic load handling device is that it does not require the receiving portion to be reinforced to the frame by one or more pillars, because the receiving portion is "buried" in the frame and is therefore enclosed in the frame 231. This also makes the robotic load handling device more compact. Similar to the first embodiment of the robotic load handling device, the frame 231 forms a three-dimensional structure defining a volume, the volume having an upper portion including the power compartment 238 and a lower portion including the container receiving space 137.

[0132] During the operation of the load handling equipment on the grid structure, the stresses to which the open frame structure is subjected are concentrated around the joints between the connecting blocks and the connecting rods. If the connecting rods are not properly fastened to the connecting blocks, there is a risk that one or more connecting rods will fall off from their corresponding connecting blocks and eventually cause the rectangular frame associated with the connecting blocks to break (in the worst case, causing the open frame structure to break). In order to ensure the structural integrity of the final open frame structure, the joints used to fasten the ends of the connecting rods to the connecting blocks should be strong enough to avoid the ends of the connecting rods from falling off from the connecting blocks, more specifically from the sockets 187 in the connecting blocks. Various joints can be used to fasten the ends of the connecting rods to the connecting blocks, which mainly depends on the materials used when manufacturing the connecting blocks and the connecting rods. Various joints include, but are not limited to, gluing or welding or a combination of any one of the fastening methods.

[0133] During the time that the load handling equipment is operating on the grid structure, energy from the power source is consumed until it is necessary to replace the depleted power source with a replacement power source to enable the load handling equipment to continue operating on the grid structure.

[0134] The power supply can be replaced manually, but for convenience and efficiency, it is preferred to provide a power supply replacement device to allow the power supply to be replaced while the load handling equipment remains on the grid structure. The power supply replacement device can be any form of suitable "pick and place" robot capable of picking up an object and placing it down in the desired location and manner. Replacing the power supply involves such Figure 7b138 by vertically lifting the power source from the receiving portion. The second or charged power source is then lowered into the receiving portion in a vertical direction to engage with the charge receiving element of the receiving portion. Since the vertical removal and insertion of the power source does not require the load handling device to move horizontally, the load handling device can remain on a designated grid cell during the power source replacement period, which includes the period of removing the exhausted power source, the period of inserting the replacement power source, and the period in between.

Claims

1. A robotic load handling device for lifting and moving one or more containers stackable in a storage and retrieval system, the storage and retrieval system comprising a grid structure, the grid structure comprising a plurality of grid members, the plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members are arranged in a grid pattern to guide movement of the load handling device on the grid structure, the load handling device comprising a frame, the frame supporting: a) a container lifting mechanism, the container lifting mechanism comprising a container clamping assembly configured to releasably clamp a container, and a lifting drive mechanism configured to raise and lower the container clamping assembly; b) a wheel assembly, the wheel assembly comprising a first set of wheels and a second set of wheels, the first set of wheels being used to engage with the first set of grid members to guide movement of the load handling device in a first direction, the second set of wheels being used to engage with the second set of grid members to guide movement of the load handling device in a second direction, wherein the second direction is transverse to the first direction; c) a wheel positioning mechanism configured to selectively lower or raise the first set of wheels or the second set of wheels to engage or disengage with the first set of grid members or the second set of grid members; d) a receiving portion, the receiving portion being used to receive a power source, the receiving portion having an open top end accessible to the outside for receiving the power source in a substantially vertical orientation and comprising a charge receiving element for electrically coupling with a charge providing element of the power source to supply power to the wheel positioning mechanism and the container lifting mechanism, Wherein, the frame comprises a plurality of modular sub-frames arranged in a vertical stack, and wherein the receiving portion extends vertically through at least one modular sub-frame of the plurality of modular sub-frames.

2. The robotic load handling apparatus of claim 1, wherein: The frame further supports electrical components including a controller for controlling the container lifting mechanism and the wheel positioning mechanism.

3. The robotic load handling apparatus of claim 2, wherein: The electrical component further comprises a communication module for receiving instructions from an external central control system, and wherein, in response to the instructions from the communication module, the controller controls the movement of the load handling equipment on the grid structure.

4. The robotic load handling apparatus according to claim 2 or 3, wherein: The electrical component is mounted to the receiving portion.

5. The robotic load handling apparatus of any of claims 2 to 4, further comprising a cable tray mounted to the receiving portion for routing one or more cables from the electrical components to the container lifting mechanism and the wheel positioning mechanism.

6. The robotic load handling apparatus of any of claims 2 to 5, further comprising one or more cable retaining clips for retaining the one or more cables to the cable tray.

7. The robotic load handling apparatus of claim 6, wherein: The one or more cable retention clips include a plurality of anchor elements configured for engagement with the cable tray.

8. The robotic load handling apparatus according to any of the preceding claims, wherein: Each modular sub-frame of the plurality of modular sub-frames comprises at least four connecting blocks, each of the at least four connecting blocks is connected to other two connecting blocks in a single modular sub-frame by one or more horizontal connecting elements to form a rectangular frame structure, and wherein the at least four connecting blocks of vertically adjacent modular parts can be connected in a vertically stacked manner by one or more substantially vertical connecting elements to form the frame comprising a plurality of the rectangular frames.

9. The robotic load handling apparatus of claim 8, wherein: The framework is an open framework structure.

10. The robotic load handling apparatus of claim 8 or 9, wherein: At least one modular sub-frame of the plurality of modular sub-frames is reinforced by one or more reinforcement members.

11. The robotic load handling apparatus of claim 10, wherein: One or more of the reinforcement members comprises two reinforcement members arranged to form a cross reinforcement extending across the rectangular frame structure of the at least one modular sub-frame of the plurality of modular sub-frames.

12. The robotic load handling apparatus of claim 11, wherein: The receiving portion is supported by the cross reinforcement of the at least one modular sub-frame of the plurality of modular sub-frames.

13. The robotic load handling apparatus according to any of the preceding claims, wherein: The receiving portion extends vertically above the height of the frame.

14. Load handling equipment according to any preceding claim, wherein: The charge receiving element is configured to be electrically coupled to the power source when the power source is vertically received in the receiving portion, and to be electrically decoupled from the charge receiving element when the power source is vertically lifted from the receiving portion.

15. The robotic load handling apparatus according to any of the preceding claims, wherein: The receiving portion is removably attached to at least one modular sub-frame of the plurality of modular sub-frames.

16. The robotic load handling apparatus of any preceding claim, wherein: The receiving portion is integrated into at least one modular sub-frame of the plurality of modular sub-frames.

17. The robotic load handling apparatus of any preceding claim, wherein: The receiving portion is connected to at least one modular sub-frame of the plurality of modular sub-frames via at least one strut.

18. The robotic load handling apparatus of any preceding claim, wherein: The container lifting mechanism comprises: i) a first set of reels and a second set of reels, each of the first set of reels and the second set of reels carrying a lifting tether having a first end anchored to the container gripping assembly and a second end anchored to the respective reel, ii) a first lifting shaft and a second lifting shaft, the first set of reels being mounted on the first lifting shaft for rotation, the second set of reels being mounted on the second lifting shaft for rotation, the first lifting shaft and the second lifting shaft being connected to the lifting drive mechanism to transmit the rotation output by the lifting drive mechanism to raise and lower the container clamping assembly; The first lifting shaft and the second lifting shaft are spaced apart so that the receiving portion is arranged between the first lifting shaft and the second lifting shaft.

19. The robotic load handling apparatus of claim 18, wherein: The lifting drive mechanism includes a driving pulley, and a plurality of timing pulleys connected to the first group of reels and the second group of reels for rotation through an endless belt.

20. The robotic load handling apparatus of claim 18 or 19, wherein: The first lifting shaft and the second lifting shaft are mounted to the at least one modular sub-frame of the plurality of modular sub-frames surrounding the receiving portion for rotation.

21. The robotic load handling apparatus of any preceding claim, wherein: The receiving portion includes a base and an upwardly standing side wall extending from the base.

22. The robotic load handling apparatus of any preceding claim, wherein: The receiving portion includes a plurality of connection blocks connected by a plurality of connection elements to define an open frame structure.

23. The robotic load handling apparatus of any preceding claim, wherein: The receiving portion includes at least eight connection blocks, each of which is connected to other two connection blocks in a horizontal plane through one or more horizontal connection elements, and is connected to other one connection block in a vertical plane through one or more vertical connection elements to form a cubic frame structure.

24. The robotic load handling apparatus of any preceding claim, wherein: The frame defines a volume having an upper portion including the receiving portion and a lower portion including the container receiving space.

25. The robotic load handling apparatus of any preceding claim, wherein: One or more than one of the plurality of modular sub-frames comprises at least a portion of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism.

26. The robotic load handling apparatus of claim 24, wherein: At least part of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism is integrated into one or more than one of the plurality of modular sub-frames.

27. The robotic load handling apparatus of claim 25 or 26, wherein: Any one of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism is shared by two or more modular sub-frames among the plurality of modular sub-frames.

28. A method of constructing a robotic load handling apparatus comprising a frame supporting: a) a container lifting mechanism, the container lifting mechanism comprising a container clamping assembly configured to releasably clamp a container, and a lifting drive mechanism configured to raise and lower the container clamping assembly; b) a wheel assembly, the wheel assembly comprising a first set of wheels and a second set of wheels, the first set of wheels being used to engage with the first set of grid members to guide the movement of the load handling device along a first direction, the second set of wheels being used to engage with the second set of grid members to guide the movement of the load handling device along a second direction, wherein: the second direction is substantially perpendicular to the first direction; c) a wheel positioning mechanism configured to selectively lower or raise the first set of wheels or the second set of wheels to engage or disengage with the first set of grid members or the second set of grid members; d) a charge receiving element for electrically coupling with a charge providing element of a rechargeable power source to supply power to the wheel positioning mechanism and the container lifting mechanism, Wherein, the method comprises the following steps: i) forming a plurality of modular sub-frames, each modular frame of the plurality of modular frames being formed by connecting at least four connecting blocks together by one or more horizontal connecting elements; ii) coupling together said plurality of modular sub-frames in a vertical stack by connecting connecting blocks of vertically adjacent modular sub-frames by one or more vertical connecting elements to form said frame, iii) mounting a receiving portion for accommodating a power source to the frame such that the receiving portion extends vertically through at least one of the plurality of modular sub-frames, the receiving portion comprising a charge receiving element and an externally accessible open top end, the charge receiving element being used to electrically couple with a charge providing element of the power source, the open top end being used to receive the power source in a substantially vertical direction.

29. The method of claim 28, further comprising the step of attaching the receiving portion to at least one modular sub-frame of the plurality of modular sub-frames.

30. A method according to claim 28 or 29, further comprising the step of securing the receiving portion to the framework by one or more reinforcing members or braces.

31. A method according to any of claims 28 to 30, wherein: Each of the modular sub-frames is formed by inserting one or more of the plurality of horizontal connecting elements into an opening of one or more of the at least four connecting blocks.

32. The method according to claim 31, wherein: The plurality of modular sub-frames are connected together in a vertical stack by inserting one or more vertical connecting elements into openings of one or more connecting blocks of the at least four connecting blocks of vertically adjacent modular sub-frames.

33. The method according to any of claims 28 to 32 further comprises the step of integrally forming at least a portion of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism with one or more of the at least four connecting blocks of one or more of the plurality of modular sub-frames.

34. The method according to any of claims 28 to 33, further comprising the step of additive manufacturing or 3D printing one or more of the at least four connecting blocks of one or more of the plurality of modular sub-frames.

35. A method of replacing the power supply in the receiving portion of the robotic load handling apparatus according to any of claims 1 to 27, the method comprising the steps of: (i) vertically removing the first power source from the receiving portion; as well as (ii) Insert the second power source vertically into the receiving portion.

36. The method of claim 35, wherein: The robotic load handling device remains stationary in at least a horizontal direction from the time the first power source is removed to the time the second power source is inserted.

37. A robotic load handling apparatus for lifting and moving one or more containers stackable in a storage and retrieval system, the storage and retrieval system comprising a grid structure, the grid structure comprising a plurality of grid members, the plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members such that the plurality of grid members are arranged in a grid pattern to guide movement of the load handling apparatus on the grid structure, the load handling apparatus comprising a frame, the frame supporting: a) a container lifting mechanism, the container lifting mechanism comprising a container clamping assembly configured to releasably clamp a container, and a lifting drive mechanism configured to raise and lower the container clamping assembly; b) a wheel assembly, the wheel assembly comprising a first set of wheels and a second set of wheels, the first set of wheels being used to engage with the first set of grid members to guide the movement of the load handling device along a first direction, the second set of wheels being used to engage with the second set of grid members to guide the movement of the load handling device along a second direction, wherein: the second direction is substantially transverse to the first direction; c) a wheel positioning mechanism configured to selectively lower or raise the first set of wheels or the second set of wheels to engage or disengage with the first set of grid members or the second set of grid members; d) a power supply compartment having an externally accessible open top end for receiving the power supply in a substantially vertical orientation and having a base for supporting the power supply, the power supply compartment including a charge receiving element for electrically coupling to a charge providing element of the power supply to supply power to the wheel positioning mechanism and the container lifting mechanism, wherein the frame comprises a plurality of modular sub-frames arranged in a vertically stacked manner, and wherein the lifting drive mechanism is mounted to at least one of the plurality of modular sub-frames, and wherein the externally accessible open top end of the power compartment is formed within the at least one modular sub-frame of the plurality of modular sub-frames on which the lifting drive mechanism is mounted.

38. The robotic load handling apparatus of claim 37, wherein: The container lifting mechanism comprises: i) a first set of reels and a second set of reels, each of the first set of reels and the second set of reels carrying a lifting tether having a first end anchored to the container gripping assembly and a second end anchored to the respective reel, ii) a first lifting shaft and a second lifting shaft, the first set of reels being mounted on the first lifting shaft for rotation, the second set of reels being mounted on the second lifting shaft for rotation, the first lifting shaft and the second lifting shaft being connected to the lifting drive mechanism to transmit the rotation output by the lifting drive mechanism to raise and lower the container clamping assembly; The first lifting shaft and the second lifting shaft are spaced apart so that the externally accessible open top end of the power compartment is arranged between the first lifting shaft and the second lifting shaft.

39. The robotic load handling apparatus of claim 38, wherein: Each modular sub-frame of the plurality of modular sub-frames comprises at least four connecting blocks, each of the at least four connecting blocks is connected to other two connecting blocks in a single modular sub-frame by one or more horizontal connecting elements to form a rectangular frame structure, and wherein the at least four connecting blocks of vertically adjacent modular parts can be connected in a vertically stacked manner by one or more substantially vertical connecting elements to form the frame comprising a plurality of the rectangular frames.

40. The robotic load handling apparatus of claim 39, wherein: The first lifting shaft and the second lifting shaft are mounted to the at least four modular connecting blocks of the at least one modular sub-frame among the plurality of modular sub-frames on which the lifting drive mechanism is mounted, for rotation.

41. The robotic load handling apparatus of any of claims 37 to 40, wherein: The externally accessible open top end of the power compartment is formed by four corner pieces mounted to the at least one modular sub-frame of the plurality of modular sub-frames on which the lifting drive mechanism is mounted.

42. The robotic load handling apparatus of any of claims 37 to 41, wherein: The base is mounted to the at least one modular sub-frame among the plurality of modular sub-frames on which the lifting drive mechanism is mounted.

43. The robotic load handling apparatus of any of claims 37 to 41, wherein: The base is mounted to at least one modular sub-frame among the plurality of modular sub-frames, and the at least one modular sub-frame is located below the at least one modular sub-frame among the plurality of modular sub-frames on which the lifting drive mechanism is mounted.

44. The robotic load handling apparatus of claim 42 or 43, wherein: The base is mounted to the at least one modular sub-frame of the plurality of modular sub-frames via cross reinforcements.

45. The robotic load handling apparatus of any of claims 37 to 44, wherein: The frame defines a volume having an upper portion including the power supply compartment and a lower portion including a container receiving space.

46. ​​An automated storage and retrieval system, the system comprising: a grid structure comprising a plurality of grid members, the plurality of grid members comprising a first set of grid members and a second set of grid members, the second set of grid members being substantially perpendicular to the first set of grid members, such that the plurality of grid members are arranged in a grid pattern for guiding movement of one or more of the load handling devices operating on the grid structure; as well as At least one robotic load handling apparatus according to any of claims 1 to 45.

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