Joint assembly

Abstract

A connection block (2) comprises: i) a slot (6) for receiving a connection end of a connection element along a first axis X-X, the slot having an inner wall (10); ii) a plurality of fingers (24) resiliently biased to extend inwardly in a substantially radial direction from an inner wall (10) of the socket (6) so as, in use, to conform to the connecting end of the connecting element when the connecting end of the element is received within the socket, the plurality of fingers (24) being spatially distributed around the inner wall of the socket so as to define a guide, the connecting block (20) comprises a guide (30) for guiding the connecting end of the connecting element towards the center of the slot, iii) an inlet (40) comprising an inlet aperture (42) extending along a second axis Y-Y from an opening (44) outside the connecting block to an opening (46) in the inner wall of the slot for injecting adhesive into the slot.

Description

Technical Field

[0001] The present invention relates to the field of assembly between a connection block and a connection element, and more particularly to the field of assembly between a slot in a connection block for arranging the connection element and the connection element. Background Art

[0002] As the use of lightweight materials with high strength-to-weight ratios (e.g., carbon fiber or composite materials) in the manufacture of various load-bearing structures or frameworks increases, people are increasingly looking to enhance the bonding between the various components of the structure or framework. Manufacturing such structures or frameworks involves assembling a plurality of connecting elements into a desired shape and / or size. Connecting the connecting elements together involves the assembly between a connecting block or connector and a connecting element (e.g., a tube or rod), and typically involves a connecting block with a slot into which the tube or rod is inserted. In order to bond the tube or rod to the connecting block, it is desirable to use an adhesive or glue to fix the tube or rod to the connecting block. Before the connecting end of the tube or rod is inserted into the slot of the connecting block, a layered adhesive is applied to the outer surface of the connecting end of the tube or rod. Similarly or additionally, the inner wall of the slot may also be coated with a layered adhesive, and the connecting end of the tube or rod is inserted into the slot. Subsequently, any excess glue or adhesive that overflows from the slot is wiped clean. The tube or rod and the connecting block are firmly held in the desired position (usually in an assembly tool) until the adhesive cures. The duration for which the connection block and the connection element remain together depends largely on the curing time of the glue or adhesive.

[0003] However, the problem of connecting the connecting block to the pipe or rod with this technology is that before the pipe or rod is inserted into the slot of the connecting block, there is no control over the amount of adhesive that can be applied to the connection end of the pipe or rod around. This lack of control may result in failure to apply sufficient adhesive to the connection end of the pipe or rod before the pipe or rod is inserted into the slot, thereby resulting in insufficient bonding between the connecting block and the connecting element. If the time spent by the adhesive curing is too long, the adhesive may accumulate into pieces at the bottom of the slot along the direction of the slot before curing. In some cases, part of the adhesive may overflow from the slot before the adhesive cures. This may make the coverage of the connection end of the pipe or rod different, resulting in insufficient coverage of the adhesive on the connection end of the pipe or rod, thereby resulting in poor bonding between the connecting block and the pipe or rod. When the framework or structure is a load-bearing structure comprising a plurality of connecting blocks and pipes or rods assembled together, the difference in this bonding between the various components of the framework may result in weak areas in the framework structure, particularly around the joint area that is easy to break between the connecting block and the connecting element.

[0004] Therefore, there is a need for a connection block that does not encounter the above problems. Summary of the invention

[0005] The present invention has alleviated the above problems by having a connection block including a slot, wherein, in order to bond a connection element to the connection block, the slot includes features that at least partially trap the adhesive within the slot but allow the adhesive to flow around the connection end of the connection element. This allows the adhesive to remain in the slot for more time before curing, increasing the coverage of the adhesive on the connection element, thereby enhancing the bond between the connection element and the connection block. More specifically, the present invention provides a connection block, the connection block comprising: i) a slot, the slot being used to receive the connecting end of the connecting element along the first axis, the slot having an inner wall; ii) a plurality of fingers resiliently biased to extend inwardly from the inner wall of the slot in a substantially radial direction so that, in use, the plurality of fingers conform to the connection end of the connecting element when the connection end of the element is received in the slot, the plurality of fingers being spatially distributed about the inner wall of the slot so as to define a guide for guiding the connection end of the connecting element towards a centre of the slot, iii) an inlet, the inlet comprising an inlet hole extending along the second axis from an opening outside the connection block to an opening in an inner wall of the slot for injecting adhesive into the slot.

[0006] For purposes of the present invention, the connecting element may be a tube, rod or pipe shaped to be placed in a slot in the connecting block. The slot may be a blind hole, or alternatively, a through hole. In one embodiment, the connecting block may include a plurality of slots, and wherein the first axis of each of the plurality of slots is at an acute angle or an obtuse angle relative to each other. Optionally, the angle is between 45° and 135°. Optionally, the angle is substantially 90° so that the first axis of each of the plurality of slots is perpendicular to each other. Optionally, the first axis of each of the plurality of slots intersects. For purposes of the present invention, the term "intersects" is intended to encompass any angle between the first axes of the respective plurality of slots.

[0007] The cross-sectional diameter of the slot is slightly larger than the cross-sectional diameter of the connecting element so as to allow the connecting end of the connecting element to be inserted into the slot. The plurality of fingers are elastically biased to extend inwardly from the inner wall of the slot in a radial direction, which can not only at least partially trap the adhesive injected into the slot in the slot, thereby preventing excessive adhesive from overflowing from the slot, but also allow the adhesive to flow between the plurality of elastically biased fingers and reach the slot area outside the elastically biased fingers. The present invention further provides an inlet including an inlet hole, the inlet hole extending from the opening outside the connection block to the opening in the inner wall of the slot along the second axis for injecting the adhesive into the slot. Preferably, the inner wall of the slot includes a side wall so that the inlet hole extends from the opening outside the connection block to the opening in the side wall of the slot. In order to inject the adhesive from the inlet into the slot, optionally, the first axis and the second axis are at an acute angle or an obtuse angle. For example, the angle between the first axis and the second axis can be in the range of 35° to 135°. Optionally, the first axis is substantially perpendicular to the second axis. This selection provides the most direct path from the inlet to the slot. Optionally, the first axis is substantially perpendicular to the second axis. Optionally, the first axis intersects the second axis.

[0008] A plurality of fingers act as barriers to at least partially trap the adhesive in the slot for a sufficient amount of time, thereby preventing the adhesive from overflowing too much from the slot before curing. In order to enable the plurality of fingers to conform to the connecting end of the connecting element, the plurality of fingers are optionally spaced apart along the inner wall of the slot. This enables one or more fingers to deform when the connecting end of the connecting element is inserted into the slot. The spacing between the plurality of fingers determines the degree of entrapment of the adhesive in the slot. Optionally, the spacing between adjacent fingers is in the range of 0.1 mm to 1 mm. The spacing between the fingers depends on the viscosity of the adhesive. For adhesives with relatively high viscosities, preferably, the spacing can be larger than that of adhesives with relatively low viscosities. The spacing between the plurality of fingers can be set as needed according to the viscosity of the adhesive so as to control the amount of adhesive that can be trapped in the slot before curing.

[0009] In order to maximize the coverage of the adhesive on the connection end of the connection element, it is necessary to fully evacuate any air accumulated upstream of the adhesive before the adhesive cures, otherwise the air trapped in the slot or in front of the adhesive will prevent a sufficient amount of adhesive from being injected into the slot. The plurality of fingers should not only evacuate the air upstream of the adhesive, but also at least trap the adhesive in the slot for a sufficient amount of time to prevent the adhesive from overflowing too much from the slot before curing. In the case where each of the plurality of fingers is a discrete finger with an elongated shape, the spacing between adjacent fingers may be too small to allow air to pass between the fingers. When the connection end of the connection element (such as a tube or a rod) is inserted into the slot, the spacing or gap between the fingers may close to the extent that air may be trapped in the slot. This prevents the adhesive from fully covering the connection end of the connection element when the adhesive is injected into the entrance of the slot. In order to provide a channel for evacuating air while also controlling the flow of adhesive around the connection end of the connection element, optionally, the plurality of fingers include a plurality of fins, and the plurality of fins are arranged so that each of the plurality of fins overlaps at least partially with an adjacent fin. At least partially overlapping fins provide a channel for exhausting air while also controlling the flow of glue around the connection end of the connecting element. When a plurality of fins are discrete fins, the spacing between adjacent fins at the root or bottom of the fin connected to the inner wall of the slot is such that when the fins are closed to each other and surround the connection end of the connecting element, the channel between adjacent fins at the root of the fin remains open. For the purposes of the present invention, a plurality of fins are closed when adjacent fins are in contact. Since a plurality of fins are arranged so that adjacent fins overlap at least partially, a plurality of fins are closed when at least part of the overlapping area of ​​the fins is in contact. The channel is large enough to allow air to be exhausted, but provides enough resistance to ensure that the adhesive fills the spacing between the connection end of the connecting element and the inner wall of the slot. An embodiment of the shape of a plurality of fins that can be arranged so that each fin in the plurality of fins overlaps at least partially with an adjacent fin is a blade. The blade can be square or triangular. In the case where the blade is triangular, a plurality of fins are arranged in the manner of a turbofan.

[0010] Other features of the present invention are that a plurality of fingers are spatially distributed around the inner wall of the slot so as to define a guide for guiding the connecting end of the connecting element towards the center of the slot. Once guided by the plurality of fingers, the elasticity of the plurality of fingers allows the connecting element to be repositioned in the slot. In all cases, the longitudinal axis of the connecting element defined by the first axis is at an acute or obtuse angle to the second axis of the entrance hole. When the connecting element is guided along the first axis of the slot, the second axis of the entrance is substantially perpendicular to the first axis. Optionally, the plurality of fingers are arranged around the circumferential wall or periphery of the inner wall of the slot so as to surround the connecting end of the connecting element when the connecting end of the connecting element is inserted into the slot. Preferably, the plurality of fingers extend from the inner wall of the slot and form an opening concentric with the opening or mouth of the slot so as to be able to guide the connecting end of the connecting element towards the center of the slot. Optionally, each of the plurality of fingers is inclined at an angle in the range of 5° to 90° relative to the inner wall of the slot. Preferably, the angle is an acute angle. A plurality of fingers are arranged circumferentially around the inner wall of the socket to form a frustoconical shape having an opening concentric with the opening or mouth of the socket.

[0011] In order to enable the plurality of fingers to move in the slot, optionally, each of the plurality of fingers includes a first end coupled to the inner wall of the slot in an articulated manner and a second end, wherein the second end is a free end. Since stress is concentrated at the junction where each of the plurality of fingers is hingedly coupled to the inner wall of the slot at the first end, there is a risk that one or more of the plurality of fingers will eventually break and fall off from the inner wall of the slot due to fatigue. In order to alleviate fatigue at the junction (where each of the plurality of fingers is hingedly attached to the inner wall of the slot), optionally, the inner wall includes a recess adjacent to the first end of each of the plurality of fingers so as to allow each of the plurality of fingers to rotate around the first end. The recess disperses stress over a larger area rather than concentrating it at a single point on the inner wall of the slot, i.e., reduces stress at the junction between each of the plurality of fingers and the inner wall of the slot. When the plurality of fingers include a plurality of fins, in order to enable the plurality of fins to at least partially overlap with adjacent fins, the shape of each of the plurality of fins may be designed such that the first end of the fin has a width wider than the second end, such as a triangle.

[0012] The second end or distal end of each of the plurality of fingers is a free end and is arranged to contact the connection end of the connection element when the connection element is inserted into the slot. The second ends of the plurality of fingers are arranged to form an opening in the slot that is concentric with the opening of the slot. To help guide the connection end of the connection element when the connection element is inserted into the slot, the second end optionally includes a tapered end or has a tapered surface.

[0013] The elasticity of the plurality of fingers enables the connection element to move in the slot when the connection element is inserted into the slot of the connection block. When the connection element is assembled with the connection block, this provides the connection element with a certain degree of deformation (give) or adjustment ability relative to the connection block. When a force is applied to one or more of the plurality of fingers, in order to elastically deform one or more of the plurality of fingers, optionally, at least a portion of each of the plurality of fingers is formed by a compliant material (a compliant material). Embodiments of compliant materials include but are not limited to elastic materials, such as plastic materials. When there is a certain degree of difference between similar parts and no two connection blocks can be replicated into exactly the same shape and / or size, the movement of the connection element in the slot of the connection block is particularly important. Especially when the connection block provides one or more functional characteristics of the construct, such as when it is used to install wheels or motors. Such differences may be inherent differences in the manufacturing process of the connection block. This includes but is not limited to various molding processes of the connection block, including but not limited to additive manufacturing, injection molding, casting or other molding techniques known in the art. Despite the stringent quality control procedures that have been implemented to ensure the reproducibility of the connecting blocks, there may still be certain variations in the exact shape and / or size of the connecting blocks. Such variations in size and / or shape between similar connecting blocks may manifest themselves when the connecting blocks are assembled together by means of connecting elements to form a frame or structure having predefined tolerances in terms of size and / or shape. If a certain degree of deformation or movement of the connecting elements within the slots of the connecting blocks is not provided, there is a risk that the assembled frame or structure will not meet the predefined tolerances in terms of size and / or shape. When the frame or structure forms part of a larger structure or frame, i.e. a sub-frame, such variations in the shape and / or size of the connecting blocks caused by the forming process may be magnified when the sub-frames are assembled together to form the frame. When the sub-frames are assembled together, in order to ensure that the assembled frame or sub-frame meets the specified tolerances, the connecting elements must be adjusted relative to the connecting blocks during the assembly stage of the connecting blocks to the connecting elements, when the connecting elements are inserted into the slots and before the adhesive is injected into the slots. Having the plurality of fingers resiliently biased to extend radially inwardly from the inner wall of the slot allows the connecting element to move within the slot, thereby allowing fine adjustment between the connecting element and the connecting block when predefined tolerances in shape and / or size are provided.

[0014] During the injection of adhesive into the slot via the inlet, the pressure of the fluid (e.g., air in front of or upstream of the adhesive) will gradually accumulate as the amount of adhesive in the slot increases. If not relieved, the accumulation of this pressure will prevent the adhesive from filling the slot. In order to relieve this pressure when the adhesive is injected into the slot via the inlet, optionally, the connection block further includes an outlet, the outlet includes an outlet hole, and the outlet hole extends along a third axis from an opening in the inner wall of the slot to a discharge opening outside the connection block for discharging fluid from the slot. Similar to the second axis, the third axis is at an acute angle or an obtuse angle to the first axis. Optionally, the third axis is substantially perpendicular to the first axis or the second axis. This selection is the most direct path from the slot or the gluing channel to the outlet. Optionally, the third axis may intersect with the first axis.

[0015] The air pressure at the adhesive front depends on the pressure applied to the adhesive when it is injected into the slot through the inlet. Therefore, the amount of adhesive required to bond the connecting element to the slot depends on a number of variables. This includes, but is not limited to: i) viscosity of the adhesive; ii) the curing time of the adhesive; iii) the pressure applied when injecting the adhesive into the slot; iv) Pressure buildup at the front of the adhesive within the slot.

[0016] By observation, low viscosity adhesive or thin adhesive is easier to flow than high viscosity adhesive or thick adhesive. When this accumulated pressure is relieved by the outlet, the adhesive discharged from the outlet can indicate that the adhesive has fully filled the slot, and the further injection of adhesive into the slot can be stopped to avoid wasting adhesive, but more importantly, to avoid excessive adhesive dripping on other areas of the framework or structure and / or installed on the parts of the framework or structure. Therefore, the cross-sectional area of ​​the outlet hole will affect the rate at which the adhesive fills the slot before solidification. For a given injection pressure applied, an outlet hole with a relatively large cross-sectional area allows more fluid to overflow from the outlet, thereby increasing the flow rate of the adhesive in the slot. For the purpose of limitation, the "flow rate" of the adhesive is intended to represent the volume flow rate of the fluid in the slot or the gluing channel, i.e. Q=V / t, where V is the volume of fluid passing through the slot of a given cross-sectional area, t is the time spent by the slot of a given cross-sectional area, and Q is the volume of fluid passing through the slot of a given cross-sectional area per unit time. Since the connecting end of the connecting element occupies part of the volume of the slot, it can be considered that the flow rate of the adhesive in the slot refers to the free space extending between the inner wall of the slot and the outer surface of the connecting element or being limited to the gluing channel. For adhesives with relatively long curing times, since more adhesive needs to be injected into the slot before the adhesive reaches the curing time, excessive adhesive may flow out from the outlet. On the contrary, an outlet hole with a relatively small cross-sectional area will have the opposite effect, because the outlet hole with a small cross-sectional area will cause the flow rate of the adhesive in the slot to decrease, resulting in the adhesive having almost no time to fill the slot before starting to cure because of the accumulated air pressure. This is especially true when the curing time of the adhesive is relatively short. Depending on the viscosity of the adhesive and its curing time, a compromise must be made between the flow rate of the adhesive in the slot and the cross-sectional area of ​​the outlet hole. Embodiments of the types of adhesives that can be used to bond the connecting element to the slot of the connecting block include, but are not limited to, adhesives containing acrylates, preferably containing methacrylates, and more preferably containing methyl methacrylate.

[0017] One way to influence the flow of adhesive in the slot is to control the cross-sectional size of the outlet hole. Optionally, the outlet hole includes a first portion having a first cross-sectional area and a second portion having a second cross-sectional area, the second cross-sectional area being different from the first cross-sectional area so that the speed at which the fluid passes through the first portion is different from the speed at which the fluid passes through the second portion. Having outlet holes with different cross-sectional areas can affect the speed of the fluid - and therefore the speed at which the adhesive passes through the outlet hole, which in turn affects the flow of adhesive in the slot because it restricts the fluid from overflowing from the outlet. In order to restrict more adhesive from overflowing from the outlet, optionally, the first cross-sectional area is smaller than the second cross-sectional area so that the speed at which the fluid passes through the first portion is greater than the speed at which it passes through the second portion. The first portion of the outlet hole with a smaller cross-sectional area restricts the speed of the flow of adhesive in the slot, while the second portion of the outlet hole with a larger cross-sectional area acts as a storage tank due to its larger volume capacity to accommodate any excess adhesive flowing out of the first portion. The second portion with a larger cross-sectional area helps prevent the adhesive from overflowing from the opening outside the connection block and contaminating other areas of the frame and / or components mounted to the frame.

[0018] In order to improve the degree of entrapment of the adhesive in the slot, optionally, the plurality of fingers comprises a first group of fingers and a second group of fingers, each of the first group of fingers and the second group of fingers comprising a plurality of fingers according to the present invention. Optionally, the first group of fingers is axially spaced from the second group of fingers along the longitudinal axis of the slot. Optionally, the inlet in the inner wall of the slot, more specifically the opening of the inlet, is arranged between the first group of fingers and the second group of fingers. The spacing between the first group of fingers and the second group of fingers defines the length of the gluing channel that entraps the adhesive between the first group of fingers and the second group of fingers. This enables different parts or portions of the connecting element to be coated with adhesive before the adhesive cures. Defining the length of the gluing channel between the first group of fingers and the second group of fingers also reduces the amount of adhesive required to bond the connecting element to the connecting block, because the adhesive can be prevented from reaching areas in the connecting element that have little effect on the bonding strength between the connecting element and the connecting block. In the case where the connecting element is hollow or a tube, reducing the amount of adhesive reaching the distal end of the tube can limit the amount of adhesive that enters the hollow part of the tube. The first set of fingers and the second set of fingers not only trap adhesive at different locations along the connecting element, but also provide more support to the connecting end of the connecting element when the connecting element is inserted into the slot.

[0019] While the plurality of fingers helps to trap the adhesive within the slot, depending on the viscosity of the adhesive, the spacing between the fingers in the plurality of fingers may also optionally enable the adhesive to flow between the plurality of fingers so as to reach areas of the slot outside the plurality of fingers. In order to enable the adhesive to flow through the plurality of fingers as the adhesive is injected into the slot and along the connecting end of the connecting element, the plurality of fingers are optionally arranged between the inlet and the outlet. Thus, adhesive injected into the slot via the inlet at one end of the slot may be forced to flow through the plurality of fingers toward the outlet. The presence of adhesive flowing into the outlet may indicate that the adhesive has flowed through the plurality of fingers.

[0020] Optionally, the plurality of fingers may be integrally formed in the connection block. For example, in the manufacture of the connection block, a complex shape with an internal structure may be manufactured as a single integral body using additive manufacturing.

[0021] The present invention provides a joint assembly, the joint assembly comprising: i) a connection block according to the invention; ii) A connecting element receivable in a slot of a connecting block.

[0022] Optionally, the connecting element comprises a tube or a rod.

[0023] An embodiment of an assembly in which a connection block according to the present invention is bonded to a connection element by an adhesive to form a framework for supporting or mounting various components to the framework is in the manufacture of 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 includes a grid structure, the grid structure includes a plurality of grid members, the plurality of grid members includes 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 robotic load handling device on the grid structure. Preferably, 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 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 or frame structure, the frame or frame structure 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 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; Therein, the frame comprises a plurality of modular sub-frames arranged in a vertical stack, wherein at least one modular sub-frame of the plurality of modular sub-frames comprises at least one connecting block according to the invention and a connecting element received in a slot of the at least one connecting block.

[0024] Optionally, the frame further supports a receiving portion for accommodating 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 including a charge receiving element for electrically coupling to a charge providing element of the power source to power the wheel positioning mechanism and the container lifting mechanism.

[0025] Optionally, at least one modular sub-frame of the plurality of modular sub-frames comprises at least four connecting blocks, and each connecting block of the at least four connecting blocks of each modular sub-frame is connected to other two connecting blocks via a plurality of connecting elements to form a rectangular modular sub-frame.

[0026] Optionally, each modular sub-frame of the plurality of modular sub-frames comprises at least four connecting blocks, each connecting block of the at least four connecting blocks of each modular sub-frame is connected to two other connecting blocks via a plurality of connecting elements to form a rectangular modular sub-frame, and wherein the connecting blocks of vertically adjacent modular sub-frames are connected together via connecting elements.

[0027] Therefore, a plurality of rectangular modular sub-frames can be connected to each other in a vertical stacked manner by one or more than one vertical connecting elements to form a frame or frame structure. Different functions of the loading and handling equipment, such as container lifting mechanism, wheel assembly, wheel positioning mechanism and / or electrical components are supported by the frame structure. The term "support" is broadly interpreted as including being physically supported by the frame structure, such as being mounted to the frame structure and / or being integrally formed with the frame structure. Optionally, at least one connecting block includes at least a portion of the container lifting mechanism and / or wheel assembly and / or wheel positioning mechanism and / or electrical components. Optionally, at least a portion of the container lifting mechanism and / or wheel assembly and / or wheel positioning mechanism and / or electrical components is integrally formed with at least one connecting block.

[0028] To facilitate the assembly of the frame or frame structure, optionally, one or more than one horizontal connecting element and / or vertical connecting element comprises a connecting rod or a connecting tube. The connecting rod can be easily grasped and assembled into the connecting block in different rotational orientations. Therefore, it is easier to assemble the load handling device using the connecting block and the connecting rod. The frame is a three-dimensional frame structure, which defines a space for accommodating at least part of the lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism. Individual modular sub-frames can be connected so as to vertically stack different functions of the load handling device.

[0029] Alternatively, the frame may comprise an open frame structure, wherein internal operating components of the load handling apparatus, such as any reel of a lifting tether for carrying the container lifting mechanism and / or a power supply and / or control unit, are visible from outside the load handling apparatus. The term open frame structure is understood to encompass a load handling apparatus without an external cladding so that internal components of the load handling apparatus are visible from outside, wherein the internal components provide the functional characteristics of the load handling apparatus.

[0030] 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 operable on a grid structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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: Figure 1 is a schematic diagram showing a connection block according to the present invention, wherein the connection block comprises a slot for receiving a connection element and a finger extending radially into the slot; Figure 2 is shown connecting the blocks along Figure 1 A schematic diagram of a cross section along line XX is shown; Figure 3 is a schematic diagram showing a cross-sectional view of a connection block and a connection element inserted into a slot; Figure 4 is a schematic diagram of a cross section of a connecting block and a connecting element inserted into a slot; Figure 5are (a) a schematic diagram of a cross section of a connection block showing a plurality of groups of fingers extending radially from an inner wall of a slot and spaced apart along a longitudinal axis of the slot; (b) a schematic diagram of a side view of a cross section of a connection block showing a plurality of groups of fingers spaced apart along a longitudinal axis YY; Figure 6 yes Figure 5 A schematic diagram of a joint between a connection block and a connection element, wherein the connection element engages with a plurality of fingers when inserted into a slot of the connection block; Figure 7 (a to d) are schematic diagrams showing different orientations of the connecting element in the connecting block, wherein (a) inclination, (b) eccentricity, (c) ovality, and (d) a combination of inclination and ovality are provided according to the cross-sectional shape of the slot and the orientation of the connecting element in the slot; Figure 8 is a schematic diagram of a front side view of a connection block showing a plurality of radially extending fingers and inlet and outlet holes extending into a slot; Fig. 9 yes Figure 8 A schematic diagram of a cross section of the cross-sectional profile of the outlet hole shown; Fig. 9 (b and c) are schematic diagrams of a cross section of a connecting block showing a plurality of sets of fingers / fins of the second type extending radially from the inner wall of the slot and spaced apart along the longitudinal axis XX of the slot; Figure 9d yes Fig. 9 (b and c) are schematic diagrams of front side views of a connection block showing a plurality of radially extending fingers and an entry hole extending into a slot; Fig.9e yes Fig. 9 (b to d) are cross-sectional views of the connection block shown, wherein the connection element is inserted into the slot of the connection block along the longitudinal axis XX of the slot; FIG10 is a schematic diagram of a grid framework structure according to a known system; FIG. 11 is a diagram showing a configuration in Figure 1 A schematic diagram of a top view of a stack of boxes within a frame structure; FIG12 is a schematic diagram of a known storage and retrieval system in which load handling equipment operates on a grid frame structure; 13 is a schematic perspective view of the loading and handling equipment, showing the lifting device clamping the container from above; 14( a ) and 12 ( b ) are schematic perspective cross-sectional views of the load handling apparatus of FIG. 11 , 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; Fig.15is a perspective view of a gripping device for engaging a storage container according to the present invention; Fig.16a is a schematic diagram of a loading and handling device according to a specific embodiment of the present invention; Fig.16b 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; Fig.17 (a and b) are (a) schematic diagrams of different modular sections of the load handling apparatus shown in FIG. 16 , and (b) schematic diagrams of analogs of different modular sections as a single rectangular frame formed by four connected blocks; Fig.18 (a and b) are (a) an open frame structure forming a load handling device Fig.17 (a) Schematic diagram of the assembly of modular parts, and (b) the open frame structure forming the load handling equipment Fig.17 (b) a schematic diagram of a simplified version of the components of the rectangular frame of modular parts; Fig.19 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. 20 is a schematic diagram of a face of the framework showing connections between the first, second and third modular sections; Fig.21 is a schematic diagram of a connecting block forming a corner bracket of a second modular section or an intermediate modular section; Fig. 22 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.23 is a schematic diagram of a face of the framework showing connections between the first, second and third modular sections; Fig.24 is a schematic diagram of a top view of a portion of a framework of a load handling apparatus in which connecting blocks and connecting elements are assembled in an assembly tool to provide; Fig.25 is a schematic diagram of a side view of a portion of a framework of a load handling apparatus in which connecting blocks and connecting elements are assembled in an assembly tool to provide the components. DETAILED DESCRIPTION

[0032] Frames or similar structures are used in various applications and are distinguished from shell structures or solid structures by design intent. Shell structures use external strength to maintain shape when subjected to internal loads, while frame structures are designed to withstand external loads and / or internal loads. The advantage of frame structures over solid structures is that they can be constructed with lightweight materials. When the frame forms part of a construct including various functional components (used for the operation of the construct), the frame must be load-bearing to support the various functional components of the construct. The frame should not only be load-bearing, but also rigid enough to ensure that the dimensional tolerances of the frame do not change when external forces are applied. Examples of constructs that require the use of a frame that is both load-bearing and rigid include, but are not limited to, bicycle frames and various other vehicle frames.

[0033] Typically, a framework or structure is constructed from individual load-bearing elements assembled together. Various fasteners and / or adhesives may be used to connect the individual load-bearing elements together. The physical properties of the load-bearing elements, such as bending stiffness, depend primarily on the application of the construct. An embodiment of a construct comprising a framework according to the present invention is a robotic load-handling device constructed for lifting and moving one or more containers that can be stacked in a storage and retrieval system. The storage and retrieval system typically includes a grid structure, the grid structure including a plurality of grid members, the plurality of grid members including 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 for guiding the movement of the load-handling device on the grid structure. More details about the storage and retrieval system will be discussed below.

[0034] In the construction of the framework, a connecting block is used to connect the load-bearing connecting elements together. The connecting element can be any straight connecting element, including but not limited to a rod, a tube or a pipe, and can include plastic materials, metal materials and / or ceramic materials and / or composite materials. An embodiment of a composite material with the necessary physical properties (lightweight, high stiffness, high tensile strength and high strength-to-weight ratio) is carbon fiber in a polymer matrix. Various techniques can be used to fasten the connecting block to the connecting element. This includes the use of adhesives or glues, fasteners or welding or a combination of any of these fastening methods. Using an adhesive to fasten the connecting block to the connecting element seems to be the most efficient and cost-effective way to assemble the framework together. Although various adhesives available on the market have the necessary bonding strength to fasten the connecting element to the connecting block, the ability of the adhesive to tightly connect the connecting block to the connecting element depends primarily on the surface contact area of ​​the adhesive between the connecting block and the connecting element. The greater the contact surface area of ​​the adhesive between the connecting block and the connecting element, the greater the bonding strength, because more adhesive can increase the bonding strength between the connecting block and the connecting element.

[0035] Figure 1 Schematic diagram of a connection block 2 for connecting connection elements according to the present invention is shown in FIG. The connection block 2 comprises a body 4, which comprises a connection element 8 for inserting the connection block 2 (see FIG. Figure 3 ) slot or opening 6. In the case where the connecting element is a rod, the bonding strength between the rod and the slot having an inner wall 10 depends mainly on the diffusion of the adhesive along the connecting end 12 of the rod. For the purpose of the present invention, the connecting end of the connecting element represents the length of the connecting element inserted into the slot of the connecting block. The problem encountered when only one end of the connecting element is coated with adhesive and the connecting element is inserted into the slot 6 of the connecting block 2 is that excess adhesive may be squeezed out of the entrance or mouth 14 of the slot 6, especially when the slot is a blind hole, resulting in the accumulation of adhesive at the entrance of the slot. This is not only unsightly, but may also cause other deformations when assembling the framework including the connecting block. Secondly, coating the connecting end 12 of the connecting element before fastening or bonding the connecting block to the connecting element with adhesive is not conducive to assembling a plurality of connecting blocks and connecting elements together. This is particularly true when a plurality of connecting blocks and connecting elements are assembled in an assembly tool or fixture to ensure that the connecting block is correctly positioned and aligned with the connecting element during assembly. The problem is more serious when the adhesive used to fasten the connecting block to the connecting element has a relatively short curing time after application. The problem is not limited to connecting blocks in constructing framework structures for supporting components that provide the functional properties of the construct, but can exist when connecting any type of connecting block to a connecting element, such as a rod.

[0036] Therefore, there is a need for a joint that can fasten a connecting block and a connecting element without the above-mentioned defects. For the avoidance of doubt, the term "joint" covers the bonding between the connecting block and the connecting element. Ideally, the adhesive in fluid form is introduced into the slot after the connecting end of the connecting element is inserted into the slot of the connecting block. This allows a plurality of connecting elements to be assembled together before the connecting elements are bonded or fastened to their respective connecting blocks. It also allows the use of assembly tools or fixtures to control the alignment accuracy or precision between the connecting elements and the connecting blocks, so that the framework can be constructed to predetermined dimensional tolerances. In a specific embodiment of the present invention, the cross-sectional dimensions of the slot or opening 6 in the connecting block are deliberately made slightly larger than the cross-sectional dimensions of the connecting element 8 so that when the connecting end 12 of the connecting element 8 is inserted into the slot, a space or gap 16 is formed between the outer surface of the connecting end 12 of the connecting element 8 and the inner wall 10 of the slot (see Figure 3 and Figure 4 When the connecting element is bonded to the connecting block, the space or gap 16 is filled with adhesive. In the case where the slot or opening 6 in the connecting block is cylindrical for receiving a rod or tube (such as Figure 3 and Figure 4In the particular embodiment shown, the diameter of the slot is slightly larger than the outer diameter of the rod or tube. For the purpose of definition, the space 16 between the outer surface of the connecting end of the connecting element and the inner wall of the slot is called a "glue channel" because this space is formed when the connecting end 12 of the connecting element 8 is inserted into the slot 6 and provides a channel for accommodating the adhesive.

[0037] In addition to forming a space for filling with adhesive, the space or gap 16 around the outer surface of the connecting element also allows the connecting end of the connecting element to move in different orientations within the slot or opening 6 of the connecting block when the connecting element is inserted into the slot of the connecting block. For the purposes of this definition, different orientations of the connecting element include any angles of deviation from the longitudinal axis of the slot when the connecting element is inserted into the slot of the connecting block. The different angles of deviation from the longitudinal axis XX of the slot are represented by Figure 4 The dashed lines AA and BB shown are illustrative. Typically, the connecting element is inserted into the slot in a direction along an axis, which corresponds to the longitudinal axis of the slot. This is considered to be the default position of the connecting element in the slot. However, since the inner diameter of the slot is slightly larger than the outer diameter of the connecting element, the connecting element can be moved at an angle that deviates from the longitudinal axis of the slot, thereby allowing the orientation of the connecting element relative to the connecting block to be adjusted when the structure is assembled in the assembly tool or fixture. When assembling a frame or sub-frame, if the connecting elements cannot be moved relative to each other in more than one orientation in the assembly tool or fixture, there is a risk that the components may not meet the specified dimensional tolerances and / or shapes when the frame is constructed. Adjustment of the connecting element relative to the connecting block allows the assembled structure to be adjusted to the specified size and / or shape tolerances.

[0038] When the components form part of a larger framework, such as a subframe, any differences in the size or geometry of the subframes will be apparent when the larger framework is assembled. Such differences in the size and / or geometry of the subframes may have an impact on the functional properties of the construct including the framework. For example, when the framework forms part of a construct including wheels (wheels are used to move the construct, such as a vehicle, on a surface), any differences in the size and / or geometry of the subframes may have an adverse effect on the alignment of the wheels mounted to the framework. In the worst case, the misalignment of the wheels (wheels have pairs of wheels at the front and rear of the vehicle) caused by the difference in the size of one of the subframes in the subframe may cause the vehicle to yaw, or be driven at an off-lead angle. Such differences in the size and / or geometry of the assembled framework may be mainly attributed to differences in the dimensional tolerances of the connecting block and / or the connecting elements. In the manufacture of the connecting block, various forming techniques can be used. This includes, but is not limited to, forming techniques, including, but not limited to, additive manufacturing (3D printing), injection molding, casting, etc. However, the repeatability of molded parts depends on several factors or conditions that are usually not precisely controlled. This includes, but is not limited to, environmental conditions (such as temperature), consistency of raw materials, etc. Although strict quality control measures are taken to ensure the repeatability of molded parts, there is still a certain degree of variation in the repeatability of similar parts, which will eventually manifest itself in differences in one or more dimensions or geometries of the framework comprising the molded part.

[0039] In order to reduce such variations in the assembly of a frame or sub-frame, typically, an assembly tool or fixture is used to ensure that the connecting elements are properly aligned and / or oriented in the sub-frame or frame. The assembly tool or fixture controls the position of the connecting blocks and connecting elements to provide repeatability, accuracy, and interchangeability in the manufacture of the frame or sub-frame. Fig.21 and Fig. 22 2 shows an embodiment of an assembly tool or fixture 18 for assembling a subframe in the construction of a robotic loading and handling device. Typically, the assembly tool or fixture 214 includes one or more mounting blocks 220 and / or fixtures 218, and one or more mounting blocks 220 and / or fixtures 218 include one or more reference points or guides, and one or more reference points or guides control the orientation of the connecting element relative to the connecting block of the present invention, that is, the assembly tool or fixture 214 is a workpiece fixing device that fixes, supports and positions the connecting block and / or connecting element during the assembly process. Use as Fig.21 and Fig. 22The assembly tool or fixture 214 shown to correctly position the connecting element 184 with the connecting block 140d may involve movement of the connecting element relative to the connecting block. As described above, in order to allow the orientation of the connecting element to change when the connecting element is inserted into the connecting block, the cross-sectional dimensions of the slot 6 are deliberately made larger than the outer cross-sectional dimensions of the connecting element, that is, larger than the diameter of the rod or tube in the case of a rod or tube. The movement of the connecting element within the slot makes different orientations of the connecting element relative to the connecting block possible, wherein the orientation depends on the reference point in the fixture or assembly tool. Figure 7 (a to d) show different embodiments of the orientation of the connecting element 8 in the slot 6 of the connecting block. The cross section of the assembled slot is shown in the corresponding Figure 7 (a and d). Embodiments include, but are not limited to, the connection element 8 being oriented at an angularity relative to the longitudinal axis of the slot 6 (see Figure 7 a) The eccentricity of the connecting element 8 from the center of the slot 6 (i.e., the lateral deviation from the longitudinal axis of the slot) (see Figure 7 b) The cross section of the slot adopts an elliptical or oblate shape (ovality) (see Figure 7 c), and any combination of the above (see Figure 7 d).

[0040] In order to initially center the connecting end of the connecting element in the slot or opening of the connecting block, i.e., along the longitudinal axis of the slot, but at the same time still allow the connecting end of the connecting element to move in the slot when adjustment is required during assembly in the assembly tool or fixture, a plurality of fingers or fins 24 are arranged in the slot 6, and the plurality of fingers or fins 24 are resiliently biased to extend inwardly from the inner wall 10 of the slot in a radial direction, such as Figure 2 More specifically, the inner wall includes a side wall 11, and a plurality of fingers or fins 24 are resiliently biased to extend inwardly from the side wall 11 of the slot 6 in a radial direction. Each of the plurality of fingers 24 has a first end 26 anchored to the inner wall 10 of the slot 6, and a second end 28 that is free to contact the outer surface of the connecting end 12 of the connecting element 8 when the connecting element 8 is inserted into the slot (see Figure 4 ).exist Figures 1 to 6 In the particular embodiment of the invention shown, each of the plurality of fingers is formed as a discrete elongated member extending radially from the inner wall of the slot 6. The plurality of fingers or fins are anchored to the inner wall of the slot so that each of the plurality of fingers or fins can pivot about its respective first end 26, which is anchored to the inner wall of the slot. The plurality of fingers 24 are configured to guide the connecting end of the connecting element toward the center of the slot when the connecting element is inserted into the slot, as shown in FIG. Figure 4As shown, the connecting end of the connecting element is inserted into the slot along an axis corresponding to the longitudinal axis of the slot.

[0041] Each of the plurality of fingers or fins is configured to bend under the action of an applied force when the connecting end of the connecting element is inserted into the slot. In a particular embodiment of the invention, the plurality of fingers are formed of a resilient material, such as a plastic material, that is deformable under the action of an applied force and returns to its current position when the applied force is removed. This is to allow one or more of the plurality of fingers or fins to conform to the outer shape of the connecting end of the connecting element.

[0042] Since the connection between each of the plurality of fingers 24 and the inner wall of the slot is susceptible to fatigue due to the concentration of stress around this area, there is a risk that the connection between each of the plurality of fingers and the inner wall may fail. In the worst case, fatigue at the connection may cause one or more fingers to break from the inner wall of the slot. In addition, fatigue at the junction between each of the plurality of fingers and the inner wall of the slot may limit the range of movement of the plurality of fingers. In order to alleviate this fatigue problem, the inner wall 10 of the slot 6 includes a recess 30 at the junction between each of the plurality of fingers and the inner wall of the slot to enable each of the plurality of fingers to pivot about its respective anchor point (see Figure 6 ). The role of the recess 30 is to disperse the stress around the junction rather than concentrating the stress at a single point.

[0043] like Figure 3 and Figure 4 As shown, a plurality of fingers 24 are arranged around the inner peripheral wall 10 of the slot and extend radially inward toward the center of the slot. Each of the plurality of fingers forms an acute angle α with the inner wall of the slot (see Figure 6 ), so that the plurality of fingers 24 are in the shape of a truncated cone with an opening 32 in the slot, wherein the opening 32 is substantially concentric with the opening 14 of the slot 6 (see Figure 2 and Figure 8 ). In other words, the plurality of fingers are arranged circumferentially around the inner wall of the slot so that their respective free or second ends form an opening 32 concentric with the opening or mouth of the slot. Thus, for purposes of definition, the term "radial" with respect to the plurality of fingers encompasses any angle less than 90° (including 90°) between each of the plurality of fingers and the inner wall of the slot. Figure 6 In the particular embodiment of the invention shown, each of the plurality of fingers or fins is at an acute angle relative to the inner wall of the slot. Figure 2As shown, the plurality of fingers 24 are arranged around the inner peripheral wall of the slot to define an opening 32 for receiving the connecting end of the connecting element and concentric with the opening 14 of the slot. The plurality of fingers 24 are angled with the inner wall of the slot so that the opening 32 defined by the second, free ends of the plurality of fingers has a diameter that is smaller than the cross-sectional diameter of the connecting element. In this way, the free second end 28 of each of the plurality of fingers or fins will engage or contact the outer surface of the connecting end 12 of the connecting element when the connecting end of the connecting element is inserted into the slot (see Figure 3 and Figure 4 The elastic properties of the plurality of fingers 24 enable the plurality of fingers to conform to the connection end 12 of the connection element 8 by bending at the connection with the inner wall of the slot, such as Figure 3 and Figure 4 As shown. The plurality of fingers help guide the connecting end of the connecting element toward the center of the slot when the connecting end of the connecting element is inserted into the slot along the longitudinal axis of the slot 6. In order to help guide the connecting end of the connecting element into the slot, the second end 28 of each of the plurality of fingers is tapered or has an inclined surface configured to cooperate with the outer surface of the connecting end of the connecting element, such as Figure 2 shown.

[0044] In order to provide further support to the connecting end of the connecting element when the connecting element is inserted into the slot, one or more groups of fingers may be arranged in the slot, each group of fingers of the one or more groups of fingers comprising the above-mentioned plurality of fingers. Figure 2 In the particular embodiment shown, the first set 34 and the second set 36 of fingers are shown as being spaced apart along the longitudinal axis of the slot. The first set 34 and the second set 36 of fingers guide the connecting end of the connecting element as it is inserted into the slot so that the axis XX extending longitudinally along the center of the connecting element is substantially coaxial with the axis extending longitudinally along the center of the slot (see Figure 3 and Figure 4 ). This is considered to be the default position or natural position of the connecting end of the connecting element when the connecting element is inserted into the slot 6. The elasticity of the plurality of fingers 24 enables the connecting end of the connecting element to move within the slot. However, the present invention is not limited to having such a Figure 2 The first and second groups of fingers shown may also be any number of groups of fingers. The number of groups of fingers depends primarily on the depth of the slot and the support required when the connecting end of the connecting element is inserted into the slot. A deeper slot may require a plurality of groups of fingers spaced longitudinally along the depth of the slot to stabilize the connecting end of the connecting element in the slot compared to a shallower slot. For example, Figure 5 (a and b) show a connection block 2 comprising three sets of fingers 34, 36, 38 spaced apart along the longitudinal axis XX of the slot, each set of fingers being arranged around the inner wall of the slot to provide an opening substantially concentric with the opening of the slot.

[0045] Once the connecting element has been correctly positioned in the slot of the respective connecting block under the guidance of the assembly tool or the fixing device, an adhesive is used to fix the position and / or orientation of the connecting element relative to its respective connecting block. In order to apply the adhesive to the connecting end of the connecting element as soon as the connecting element is inserted into the connecting block, the adhesive is injected into the slot from an opening on the outside of the connecting block. In a specific embodiment of the present invention, the connecting block includes an entry point or injection point 40, which includes an entry hole 42, which extends along the second axis YY from an opening 44 on the outside of the connecting block to an opening 46 in the inner wall of the slot for injecting the adhesive into the slot (see Figure 1 , Figure 2 and Figure 5 ). The first axis is an axis along the longitudinal axis of the slot. The second axis or inlet axis YY is angled so that the second axis is at an acute or obtuse angle to the first axis, the first axis corresponding to the longitudinal axis of the slot (see Figure 2 ). The angle between the second axis and the first axis can be any angle so as to enable the adhesive to be injected into the slot. Optionally, the angle between the first axis and the second axis can be in the range of 35° to 135°. Figure 2 In the particular embodiment of the invention shown, the second axis YY is substantially perpendicular to the first axis XX, corresponding to an angle of 90°. This allows the adhesive to be injected directly into the slot 6 (along the gluing channel) when the connecting end of the connecting element is already inserted into the slot. Figure 2 In the particular embodiment of the invention shown, the first axis intersects the second axis. However, the invention is not limited to having the first axis intersect the second axis.

[0046] Another problem with injecting adhesive into the slot of the connecting block is the need to retain the adhesive in the slot before the adhesive cures. Once cured, there is limited opportunity to make any adjustments to the orientation of the connecting element relative to its respective connecting block. When the adhesive is injected into the slot, if there is no retaining mechanism, some of the adhesive will flow out of the slot through the opening or mouth 14 of the slot, thereby reducing the risk of the adhesive in the slot covering the connecting end of the connecting element. This in turn will affect the bond strength between the connecting element and the connecting block. Therefore, in addition to guiding the connecting end of the connecting element towards the center of the slot (i.e. along the longitudinal axis of the slot), a plurality of radially extending fingers 24 arranged around the inner peripheral wall 10 of the slot cooperate with the connecting end of the connecting element to provide a certain resistance or barrier to prevent the adhesive from flowing out of the slot. This resistance can be determined by the degree of obstruction of the adhesive in the slot. Figure 2 and Figure 5 In the particular embodiment of the invention shown, the spacing or spacing between the individual fingers can be used to control the amount of adhesive that can be trapped within the slot. Figure 5 The relatively large spacing between adjacent fingers shown in (a and b) may provide minimal adhesive entrapment because the adhesive is able to flow between the individual fingers, while the relatively small spacing between adjacent fingers may provide maximum adhesive entrapment because the flow of most of the adhesive between the individual fingers is blocked. The spacing or gap between adjacent fingers also depends on the viscosity of the adhesive. For relatively high viscosity or thicker adhesives, a large spacing between adjacent fingers may be sufficient to trap most of the adhesive in the slot compared to relatively low viscosity or thinner adhesives. Depending on the viscosity range of the adhesive, the spacing or gap between adjacent fingers can be in the range of 0.1 mm to 1 mm, optionally in the range of 0.1 mm to 0.5 mm.

[0047] Although the specific embodiments of the present invention described above describe the plurality of fingers as discrete elongated members, the present invention is not limited to forming the plurality of fingers as elongated members. For example, the plurality of fingers may be arranged such that adjacent fingers at least partially overlap each other, such as Fig. 9 (b to e) are specific embodiments shown. Figures 1 to 5 The plurality of fingers are similar, Fig. 9 The plurality of fingers in the second embodiment shown in (b to e) are spaced apart to allow fluid (e.g. air) to pass between the plurality of fingers while still providing a barrier to at least prevent the adhesive from flowing outside the plurality of fingers, thereby helping to trap the adhesive in the slot. A problem with the plurality of fingers being formed as elongated members is that there is a tendency for the spacing between adjacent fingers to be too small to allow air to pass through the spacing between adjacent fingers. This problem is particularly acute when the connecting end of the connecting element is inserted into the slot of the connecting block. Due to the compliance of the plurality of fingers, the spacing between adjacent fingers tends to close to a large extent as the plurality of fingers conform to the outer shape of the connecting element when the connecting element is inserted into the slot. In the worst case, air pressure builds up upstream of the adhesive, preventing the adhesive from reaching the plurality of fingers and preventing the adhesive from adequately covering the connecting end of the connecting element, i.e., filling the gluing channel.

[0048] In a second embodiment of the connection block 102, Fig. 9 The plurality of fingers 124 shown in (b to e) are arranged circumferentially around the inner wall 10 of the slot 6 so that adjacent fingers 124 at least partially overlap. At least the overlapping area of ​​the plurality of fingers 124 enables the adjacent fingers to contact each other when the connecting end of the connecting element is inserted into the slot (see Fig.9e ), while still providing a path for exhausting air through the plurality of fingers. In other words, the at least partially overlapping fingers 124 prevent the spacing between adjacent fingers from completely closing. In order to maximize the degree of overlap between adjacent fingers, the Figures 1 to 5In the elongated member shown, the first or connecting end 125 of each of the plurality of fingers is further anchored to the inner wall 10 of the slot. Fig. 9 In the second embodiment shown in (b to d), the plurality of fingers 124 are formed as discrete fins or blades arranged in a "turbine" blade design. Each of the plurality of fingers is triangular in shape and is anchored to the inner wall of the slot so that the width of the first 'connected' end of the fin is greater than the second 'free' end of the fin. When the spacing between adjacent fins or blades is closed, i.e. when the connecting end of the connecting element is inserted into the slot 6, the spacing between adjacent fins at the bottom or first end 125 of each fin or blade of the plurality of fins or blades remains open to provide a channel for air to escape, but the overlapping fins (towards the second end 126 of the fin) minimize the flow of more viscous adhesive between the plurality of fins or blades. The exhaust of air through the plurality of fins allows more adhesive to be injected into the slot (i.e., the gluing channel) because the exhaust of air through the plurality of fins reduces the flow resistance of the adhesive in the gluing channel. The shape of each fin is not limited to being triangular in shape, and any other shape is allowed in the present invention as long as adjacent fins at least partially overlap. For example, each of the plurality of fins may be square in shape.

[0049] The position of the inlet 40 relative to the plurality of fingers also affects the entrapment of the adhesive within the slot. Ideally, the plurality of fingers are positioned at the entry or mouth 14 of the slot to maximize entrapment of the adhesive at the mouth of the slot. Figure 2 In the particular embodiment shown, the first set of fingers 26 are arranged at the entrance or mouth of the socket, and the inlet 40 is positioned deeper in the socket away from the first set of fingers, so that adhesive injected into the socket via the inlet 40 is forced to flow around the connecting end of the connecting element (because this is the path of least resistance) rather than flowing through the plurality of fingers, i.e., along the glue channel 16. In this way, the adhesive will be more inclined to fill the glue channel 16 before being blocked by the plurality of fingers, thereby providing a more effective bond between the connecting element and the connecting block.

[0050] Since the plurality of fingers can at least trap the adhesive in the slot, the plurality of fingers can also be used to control the coverage of the adhesive on the connecting end 12 of the connecting element 8 inserted into the slot, that is, to control the size or length of the gluing channel (see Figure 4). To achieve the predetermined bonding strength between the connecting end and the connecting block, it may be unnecessary to apply the entire connecting end of the connecting element. For example, the bonding strength between the connecting element and the connecting block depends largely on the amount of the adhesive injected into the slot, and when the adhesive injected into the slot has reached a predetermined amount, the increase in bonding strength will gradually slow down. Surprisingly, it is found that at the free end or distal end of the connecting end of the connecting element, there is no or almost no adhesive that has little effect on the bonding strength between the connecting element and the connecting block. The advantage of this discovery is that the amount of adhesive required for bonding the connecting element to the connecting block to achieve a predetermined bonding strength is reduced. Any adhesive that exceeds this amount will only cause a limited increase in bonding strength or gradually slow down. In the case where the connecting element is a tube or a hollow rod, the amount of adhesive that limits the free end or distal end of the connecting element also reduces the amount of adhesive that enters the hollow part of the connecting element. Considering that the assembly framework structure needs to have multiple joints between numerous connecting elements and the connecting block, reducing the amount of adhesive at each joint will affect the total amount of adhesive, and then affect the adhesive cost used in the construction of the framework of the loading and handling equipment. This is especially true when specialized adhesives with specific physical properties are used when constructing the frame.

[0051] exist Figure 4 In the particular embodiment of the invention shown, the second set of fingers 38 are spaced apart from the first set of fingers 36 by a length 'L' along the longitudinal axis of the slot such that the inlet 40 is positioned between the first and second sets of fingers 36, 38 (see Figure 2 ). The spacing between the first set 36 and the second set 38 of fingers defines the length 'L' of the glue channel and ultimately controls the bond strength (see Figure 4 ). The adhesive injected into the slot through the inlet will be trapped at least between the first set 36 and the second set 38 fingers to ensure that the adhesive fully covers the most important part of the connecting end of the connecting element between the first set of fingers and the second set of fingers, while there is no or little adhesive around the least important part of the connecting end of the connecting element (no or little effect on the bond strength). In the case where the slot is a blind hole with end walls, such as Figure 4 In the particular embodiment of the invention shown, the second set of fingers 38 are distal from the end wall of the slot so as to limit the amount of adhesive reaching the distal end of the connecting element adjacent the end wall of the slot (which has a limited effect on bond strength) thereby reducing the length 'L' of the glue channel.

[0052] With reference Figure 2 The first embodiment of the connecting block is similar, referring to Fig. 9The plurality of fins 124 described in (b to e) include a first set of fins 134 arranged at the entrance or mouth of the slot, and a second set of fins spaced apart in the direction along the longitudinal axis XX of the slot. The inlet 40 for injecting adhesive into the slot is arranged between the first set of fins and the second set of fins, so that the adhesive injected into the slot is trapped in the area of ​​the gluing channel between the first set of fins and the second set of fins. Since the at least partially overlapping fins can provide a channel for exhausting air while minimizing the flow of more viscous adhesive through the plurality of fins, more adhesive can flow between the first set of fins and the second set of fins, thereby allowing the adhesive to cover more of the connecting end of the connecting element.

[0053] Although the plurality of fingers are configured to cooperate with the connecting end of the connecting element to trap the adhesive in the slot, the spacing between the fingers should allow a thinner fluid (e.g., air) to pass through the plurality of fingers. When the adhesive is injected into the slot via the inlet 40, the pressure of the fluid (e.g., air) in the slot will accumulate when the adhesive fills the gluing channel 16, especially around the gluing channel. If there is no tool to relieve this pressure, the pressure accumulated at the front of the adhesive will affect the amount of adhesive injected into the slot 6, and thus affect the filling rate of the adhesive in the slot, that is, affect the gluing channel. In order to relieve this pressure, the connection block further includes an outlet or discharge hole 48 having an outlet hole 50, and the outlet hole 50 extends from the opening 54 in the inner wall (side wall) of the slot along the third axis OO to the discharge opening 52 outside the connection block for discharging fluid from the slot. Similar to the inlet, the third axis OO is oriented to be angled with the first axis XX, and the first axis corresponds to the longitudinal axis of the slot. The angle between the third axis and the first axis can be any angle so that the fluid is discharged from the slot. Optionally, the angle between the first axis and the third axis may be in the range of 35° to 135°. Figure 8 In the particular embodiment of the invention shown, the third axis OO is substantially perpendicular to the first axis XX, corresponding to an angle of 90°. This allows air trapped in the slot to be evacuated directly from the slot 6 (along the gluing channel) when the adhesive is injected into the gluing channel. Figure 8 Not shown, but the third axis may intersect the first axis of the slot.

[0054] The outlet or drain hole 48 can also indicate the filling status of the adhesive in the slot. In this way, the drain hole indicates the capacity of the slot (more specifically, the gluing channel) to accommodate the adhesive. Therefore, the adhesive escaping from the drain hole or drain hole 48 indicates that the adhesive has fully filled the gluing channel. One or more drain holes or drain holes 48 are strategically placed around the connection block and are in fluid communication with different parts of the slot to exhaust air trapped in the slot and indicate the filling status of different parts of the slot 6 or the gluing channel 16. Figure 1 In the particular embodiment of the present invention shown, four discharge holes 48 are shown to be arranged between the first group of fingers and the second group of fingers, and each of the four discharge holes 48 indicates the filling rate of adhesive in at least part of the slot or gluing channel. The pattern of the discharge holes depends on the filling rate of adhesive in different parts of the gluing channel. The four discharge holes 48 are shown to be arranged in a square or rectangular pattern, one at each corner, and the inlet opening 40 is arranged in the center, that is, a five-point plum blossom pattern. The adhesive that emerges from the discharge holes 48 depends mainly on the filling capacity of the slot or gluing channel 16 and the way in which the adhesive fills the slot or gluing channel. The adhesive will first emerge from the discharge hole that is fluidly connected to the corresponding part of the slot or gluing channel that is filled first, and then emerge in sequence as the adhesive fills the other parts of the slot or gluing channel. The discharge holes are also shown to be positioned in the same wall of the connecting block as the inlet 40. This is to ensure that the adhesive injected into the slot via the inlet can fully fill the gluing channel 16.

[0055] Another important consideration is the flow rate of the adhesive in the slot or gluing channel when the adhesive is injected into the slot. For the purpose of definition, the "flow rate" of the adhesive is intended to represent the volume flow rate of the fluid in the slot or gluing channel, that is, Q=V / t, where V is the volume of the fluid passing through the gluing channel of a given cross-sectional area, t is the time taken to pass through the gluing channel of a given cross-sectional area, and Q is the volume of the fluid passing through the gluing channel of a given cross-sectional area per unit time. The flow rate of the adhesive through the gluing channel is mainly controlled by the pressure applied to the adhesive when the adhesive is injected into the slot via the inlet 40, but it is also related to the rate at which the fluid (e.g., air) trapped in the gluing channel is discharged from the outlet 48. At a given injection rate of the adhesive into the slot, the greater the degree of restriction of the fluid that can be discharged from the discharge hole 48, the lower the rate at which the adhesive can flow in the slot or gluing channel, because the flow of the adhesive along the gluing channel is hindered by the pressure accumulated in the slot or gluing channel. Conversely, the less the degree of restriction of the fluid that can be discharged from the discharge hole, the higher the rate at which the adhesive can flow in the slot or gluing channel, because there is almost no resistance to the flow of the adhesive in the slot or gluing channel. The cross-sectional size (eg, diameter) of the outlet hole 50 can affect the rate at which the adhesive flows in or along the slot. By controlling the cross-sectional size of the outlet hole 50, the flow rate of the adhesive in or along the slot can be controlled.

[0056] However, although the outlet hole 50 with a smaller cross-sectional size will restrict the flow of fluid through the outlet or discharge port 48, due to the smaller volume capacity of the outlet hole, once the adhesive fills at least a portion of the gluing channel, the outlet hole tends to fill quickly with adhesive. In the worst case, the outlet hole with a smaller volume capacity tends to cause the adhesive to overfill the outlet hole 50. If there is no tool to capture the overflowing adhesive, the adhesive may drip into other areas of the framework. In order to alleviate this problem, the cross-sectional size of the outlet hole 50 is changed to change the capacity and, in turn, the speed of the fluid in the outlet hole. For example, the outlet hole may include a first portion 56 having a first cross-sectional size and a second portion 58 having a second cross-sectional size, the second cross-sectional size being different from the first cross-sectional size, so that at a given pressure applied to the adhesive, the speed of the fluid passing through the first portion 56 is different from the speed of the fluid passing through the second portion 58. The advantage of a discharge hole or outlet (where the outlet hole has a changeable cross-sectional size) is that the first portion of the outlet hole can be used to restrict the flow of fluid through the discharge hole, thereby allowing the adhesive to fully fill the gluing channel, while the second portion of the outlet hole can capture any adhesive that overflows from the first portion of the discharge hole due to its larger volume capacity. This can be done by using the following simplified fluid flow equation (Equation 1) and combining Fig. 9 Considering the fluid as an incompressible liquid, the volume flow rate of the fluid through the first portion 56 of the outlet orifice can be considered equal to the volume flow rate of the fluid through the second portion 58 of the outlet orifice.

[0057] Q1=Q2 (1) Where Q1 is the volume flow rate of the first portion of the liquid fluid through the outlet hole, and Q2 is the volume flow rate of the second portion of the liquid fluid through the outlet hole.

[0058] Assuming this is equivalent to: A1v1 = A2v2 (2) Where A1 is the cross-sectional area of ​​the fluid in the first part of the outlet orifice; A2 is the cross-sectional area of ​​the fluid in the second portion of the outlet orifice; v1 is the velocity of the fluid in the first part of the outlet orifice; and v2 is the velocity of the fluid in the second part of the outlet orifice.

[0059] exist Figure 8 and Fig. 9In the particular embodiment of the invention shown, the first portion 56 of the outlet hole extends from the opening 54 in the inner wall (side wall) of the slot and has a smaller cross-sectional dimension d1 than the second portion 56 of the outlet hole 50, which has a larger cross-sectional dimension d2 and leads to the opening 52 outside the connection block, that is, the outlet hole is funnel-shaped. The smaller cross-sectional dimension d1 of the first portion 56 of the outlet hole limits the speed of the fluid passing through the first portion of the outlet hole, and thus affects the filling rate of the adhesive in the gluing channel, thereby providing more time for the adhesive to fully fill the gluing channel. The larger cross-sectional dimension d2 of the second portion 58 of the outlet hole 50 captures any adhesive that overflows from the first portion 56, thereby providing sufficient delay time to prevent the adhesive from overfilling the second portion 58 of the outlet hole and overflowing from the outlet. The adhesive that emerges in the second portion 58 of the outlet hole indicates that the adhesive has basically filled the gluing channel, in which case further injection of adhesive into the inlet 40 can be stopped.

[0060] The slots in the connection block are not limited to Figures 1 to 7 The blind hole shown can also be a through hole, in which case at least one of the groups of fingers is arranged in the through hole. This can be a single group of multiple fingers, or Figure 2 or Figure 5 (a and b) illustrate a plurality of groups of fingers in the slots shown in the examples. In addition, the connection block according to the present invention is not limited to a single slot, but may also include a plurality of slots, each of the plurality of slots including at least one group of fingers, the at least one group of fingers being arranged in the slot for guiding the connection end of the connection element toward the respective slot. Each of the plurality of slots may be a blind hole or a through hole or a combination of a blind hole and a through hole. For example, the connection block may need a slot including a blind hole and a through hole, such as Fig.19 The connection blocks are shown in the figure. Fig.19 In the example (the function of the connection block will be described below), the connection block includes a plurality of blind holes and through holes, the plurality of blind holes are used to connect the connection block to two other connection blocks in the same horizontal plane to form a rectangular modular sub-frame, and the through holes are used to connect multiple rectangular modular sub-frames together in a vertical stacking manner. The modular sub-frame can be as follows Fig.19 The rectangular modular subframe shown. The first axis of each of the plurality of slots (corresponding to the longitudinal axis of the slot) may be arranged such that they are at an acute or obtuse angle relative to each other. This is particularly the case when the connection block comprises a first slot and a second slot, wherein the first slot is a blind hole and the second slot is a through hole. The angle of the respective first axis may be any angle so that the connection elements can be individually connected to the connection block at an angle of, for example, 35° to 135°. Fig.19In the particular embodiment of the present invention shown, the first axis of the first slot including the blind hole is substantially perpendicular to the first axis of the second slot including the through hole. Although this is not essential, the first axis of the first slot forming the blind hole can optionally intersect the first axis of the second slot forming the through hole (see Fig.19 ). In a given connection block, intersecting the first axes of the respective slots can provide symmetry to the modular sub-frame when at least four connection blocks are assembled together using the connection elements.

[0061] By using the connection block according to the present invention, the ability to adjust the orientation of one or more of the plurality of connection elements when the connection block is assembled together enables various frames or frame structures to be assembled together to specified dimensional tolerances. One particular construction that depends greatly on the dimensional tolerances of its frames or frame structures is the construction of robotic load handling equipment. In the field of storage and retrieval systems, the construction of robotic load handling equipment will be used as an example of constructing a frame based on the connection block according to the present invention as described above. Storage and retrieval systems

[0062] As is known, a storage and retrieval system 60 comprises a three-dimensional storage grid frame structure 66 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 robotic load handling device operating remotely on tracks located on top of the grid frame structure. Figures 10 to 12 of the accompanying drawings schematically illustrate this type of system.

[0063] As shown in Figures 10 and 11, stackable containers, called storage boxes or containers 62, are stacked on top of each other to form a stack 64. The stack 64 is arranged in a three-dimensional grid frame structure 66 in a warehousing or manufacturing environment. The grid frame structure 66 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 10 is a schematic perspective view of the grid frame structure 66, and Figure 11 is a top view showing a stack 64 of boxes 62 arranged in the frame structure 66. Each box 62 is usually filled with a plurality of product items (not shown), and the product items in the box 62 can be the same, or can be different product types, depending on the application. The box 62 can also be called a storage box or container or a storage container or box.

[0064] Specifically, the three-dimensional grid frame structure 66 includes a plurality of vertical columns or upright members or upright columns 68 supporting horizontal grid members 70, 72. The first group of parallel horizontal grid members 70 is arranged perpendicular to the second group of parallel horizontal grid members 72 to form a grid structure or grid 74 including a plurality of grid cells 76. The grid cells have openings to allow load handling equipment to lift containers or storage boxes through the grid cells. In the grid structure, the first group of parallel horizontal grid members 70 intersects with the second group of parallel horizontal grid members at nodes 69. The grid structure can be supported by upright members 68 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 68, 70, 72 are usually made of metal and are usually welded or bolted together or a combination of bolting and welding. The storage boxes or containers 62 are stacked between the upright members 68 of the grid frame structure 66 such that the upright members 68 prevent horizontal movement of the stack 64 of boxes 64 and guide vertical movement of the storage boxes 62 .

[0065] The top layer of the grid frame structure 66 includes rails or tracks 78 arranged in a grid pattern across the top of the stack 64. Figure 3 , the rails 78 support a plurality of load handling devices 80. A first set 78a of parallel rails 78 guide the movement of the robotic load handling devices 80 across the top of the grid frame structure 66 in a first direction (e.g., the X direction), while a second set 78b of parallel rails 78 arranged perpendicular to the first set 78a guides the movement of the load handling devices 80 in a second direction (e.g., the Y direction) perpendicular to the first direction. In this way, the rails 78 allow the robotic load handling devices 80 to move laterally in two dimensions within a horizontal XY plane, so that the load handling devices 80 can be moved to a position above any stack 64.

[0066] 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 80 including a carrier body 82 shown in Figures 13 and 14, wherein each load handling device 80 covers only a single grid space or grid cell of the grid frame structure 66. Here, the load handling device 80 includes a wheel assembly, the wheel assembly including a first set of wheels 84 and a second set of wheels 86, the first set of wheels 84 consisting of a pair of wheels at the front of the carrier body 82 and a pair of wheels 84 at the rear of the carrier 82, for engaging a first set of tracks or rails to guide the movement of the device in a first direction, and the second set of wheels 86 consisting of a pair of wheels 86 on each side of the carrier 82, for engaging a second set of tracks or rails to guide the movement of the device in a second direction. Each set of wheels in the set of wheels is driven by a wheel drive assembly to enable the carrier to move along the track in the X and Y directions respectively. The direction-changing mechanism is configured to lift one or both sets of wheels vertically off their respective tracks to allow the vehicle to move in a desired direction on the grid structure, such as the X or Y direction. For example, the direction-changing mechanism is configured to selectively lift the second set of wheels to move the load handling device in a first direction, and selectively lift the first set of wheels to move the load handling device in a second direction.

[0067] WO2017 / 153583 (Ocado Innovation Limited) teaches a load handling apparatus including a wheel positioning mechanism or direction changing mechanism that enables the apparatus 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 (62a or 62b). The wheel positioning mechanism includes a complex arrangement of linkages driven by linear actuators or motors 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.

[0068] The loading and handling equipment 80 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 tether or cable 88 wound on a reel or spool (not shown), and a gripping device or container clamping assembly 89 in the form of a lifting frame. The terms "gripping device" and "container clamping assembly" are used interchangeably throughout the patent specification to represent the same features. The lifting mechanism includes a group of lifting tethers 88, which extend in a vertical direction and are connected at or near the four corners of the lifting frame 89 (one tether near each of the four corners of the lifting frame) for releasable connection to the storage container 62. The gripping device 89 is configured to releasably clamp the top of the storage container 62 to lift it from a stack of containers in a storage system of the type shown in Figures 10 and 11.

[0069] The wheels 84, 86 are arranged at the periphery of a cavity or recess in the lower portion, referred to as a container receiving recess 91. The recess is sized to accommodate the container 62 when the container 62 is lifted by the crane mechanism, as shown in Figures 14 (a and b). When in the recess, the container is lifted off the track below, allowing the carrier to move laterally to a different location. Once the target location is reached, such as another stack, an access point in a storage system, or a conveyor belt, the box or container can be lowered from the container receiving portion and released from the gripping device. The container receiving space may include a cavity or recess 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 to the container receiving space below the cantilever.

[0070] 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. 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 74. Once at the storage column, the lifting mechanism then operates to grab the storage container and lift it into the container receiving space of the body of the loading handling equipment, where the container is then transported 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 item to be retrieved from the storage container. Movement of the loading handling equipment on the grid structure also includes the loading handling equipment being instructed to move to a charging station, 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.

[0071] Typically, the loading and handling equipment in the art includes a separate rigid frame or chassis, and the functional components of the loading and handling equipment are fixed or mounted to the frame, such as a container 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 involves various fasteners, such as bolts, screws, and / or welding. The frame is generally in the form of a tower with a height, wherein the height represents the height of the loading and handling equipment. In order to ensure that the structural integrity of the rigid frame or chassis can withstand the weight of the various functional components of the loading and handling equipment, 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 and handling equipment. The cumulative weight of the rigid frame and the various functional components of the loading and handling equipment makes the weight of the loading and handling equipment exceed 150kg. Due to the weight of the loading and handling equipment, the grid frame structure 66 needs to have sufficient structural integrity to withstand the weight of multiple loading and handling equipment that can be operated on the grid frame structure. Using various reinforcement elements to improve the strength of the grid frame structure will eventually increase the cost of the grid frame structure, and thus increase the overall cost of the storage and retrieval system. As the weight of the load handling equipment increases, the power required to drive the wheel motors to move the load handling equipment on the track at sufficient speed also increases, which in turn requires larger and more powerful electric motors as well as larger batteries to provide the required power to the drive motors.

[0072] Furthermore, given the number of components, including the various motors, pulleys, and electrical components (e.g., batteries and control boards) required for the load handling device to operate on the grid frame structure, assembling the individual components together is one of the largest costs in manufacturing the load handling device. Considering that there are hundreds or thousands of load handling devices that can operate on a grid frame structure, the cumulative cost of multiple load handling devices that can operate on a grid structure will account for a large portion of the cost of a traditional storage and retrieval system. Not only will the manufacturing cost of the load handling device account for a large portion of the cost of the retrieval and retrieval system, but the weight of the load handling device, which can weigh more than 150 kg, will also bring other additional costs. Therefore, there is a need for a load handling device that is easy to assemble, lightweight, and has a low manufacturing cost.

[0073] According to a specific embodiment of the present invention, the construction of the loading handling device 130 is based on the principle of having a modular system, which includes a plurality of modules or modular sub-frames, which can be connected in a vertical stacking manner to provide different functional characteristics of the loading handling device. Compared with the loading handling devices in the art, the loading handling device according to the specific embodiment of the present invention does not have any cladding and mainly includes an open frame structure 131. Figure 16 (a and b) shows an embodiment of the loading handling device 130 incorporating the inventive concept of the present invention, Fig.17(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.18 (a and b) Schematic diagrams showing the different modular sub-architectures that make up the load handling equipment. Fig.18 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.18 a is Fig.17 b shows the result of assembling the modular sub-frames 132a, 133a, and 134a. Fig.18 b is a more simplified diagram showing Fig.17 a Building block 140 of a loading handling device, Fig.18 b is Fig.17 b is the result of assembling the modular sub-frames 132b, 133b, 134b shown in FIG. Each of the modular parts 132 (a and b) to 134 (a and b) is provided by a modular sub-frame that 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, the frame in the specific embodiment shown in FIG. 16 (a and b) will be described as an open frame structure.

[0074] from Fig.23 In the exploded view of one face of the load handling apparatus shown, it can be appreciated that the different modular sub-frames 132c, 133c, 134c of the load handling apparatus include connection points 142 at the corners of the modules 132c, 133c, 134c to enable the different modular sub-frames 132c, 133c, 134c to be stacked vertically. Fig.17 (a and b) and Fig.18In a specific embodiment of the present invention shown in (a and b), three modular parts 132 (a, b, c), 133 (a, b, c) and 134 (a, b, c) are shown to be connectable in a vertical stacking manner to form a layer-based modular system. For ease of illustration of the present invention, starting from the bottom modular part 132 (a, b, c) and from bottom to top according to the height of the load handling equipment, the three modular parts are labeled as the first 132 (a, b, c), the second 133 (a, b, c) and the third 134 (a, b, c) modular parts, which are respectively provided by their respective modular sub-frames. The three modular parts provide different functional characteristics of the load handling equipment. In a specific embodiment of the present invention, the different functional characteristics of the load handling equipment can be shared among one or more modular parts 132 (a, b, c), 133 (a, b, c) and 134 (a, b, c) of the load handling equipment 130. For example, the wheel positioning mechanism and the wheel drive assembly may be shared among two or more modular parts of the load handling apparatus.The number of modular parts is not limited to three modular parts, and different functional characteristics of the load handling apparatus may be distributed among any number of modular parts.

[0075] The various functional features of the load handling equipment include, but are not limited to, a wheel assembly of the load handling equipment for allowing the load handling equipment to move on a grid structure or track, a wheel drive assembly for driving the wheel assembly to move the load handling equipment on the grid structure, a wheel positioning mechanism also known as a change of direction mechanism, a container lifting mechanism for picking up storage containers from grid cells of a grid frame structure and lowering storage containers to grid cells of a grid frame structure, and electrical or electronic components.

[0076] As shown in FIG. 16 (a and b), 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 the second direction, 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 Fig.18 a and Fig. 22 ) 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.

[0077] As described above, the electrical components may optionally include a control unit or controller 144a, which is used to control the operation of the lifting drive mechanism of the wheel drive assembly, the wheel positioning mechanism, and the container lifting mechanism. Typically, the drive mechanism of the wheel drive assembly, the wheel positioning mechanism, and the container lifting mechanism includes one or more motors. Other electrical components of the loading and handling equipment include, but are not limited to, a communication module for receiving instructions from an external central control system. The communication module includes a receiver for receiving instructions from an external control unit through a base station and a transmitter for transmitting signals through an antenna 145, the signal including data associated with the positioning and / or status of the loading and handling equipment on the grid structure. In response to receiving instructions from an external central control system, the controller 144a communicating with the communication module controls the movement of the loading and handling equipment on the grid structure.

[0078] In the embodiment of the robotic load handling device shown in FIG. 16 (a and b), 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 Fig.16b). 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 a 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. The receiving portion is depicted as having a cubic shape, but may also be 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 can be accessed from the outside above the loading and handling equipment to lower the power supply into the receiving portion. 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. The charge receiving element is configured to be connected to the charge providing element of the power source when the power source is vertically received in the receiving portion, and to be disconnected from the charge providing element when the power source is vertically removed from the receiving portion.

[0079] Specifically, each modular section can be conceived as a rectangular open frame or rectangular modular sub-frame formed by connecting or coupling together corner brackets (see Fig.18 (a and b)), where each corner bracket is shown as Fig.18 The modular section is constructed by connecting adjacent connecting blocks in the same horizontal plane by one or more connecting elements 187 to form an open rectangular frame or modular sub-frame 186. Thus, vertically adjacent rectangular modular sub-frames or modular sub-frames 186 are formed. Fig.17 (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 part, each connection block is connected to two other connection blocks in the same horizontal plane by one or more connecting elements 184. The connecting element can be a connecting rod or a connecting tube for connecting adjacent connection blocks (corner brackets) together in a single modular part. As described above, the connecting rod can be solid or hollow and depends on the connection with the connection block. In a specific embodiment of the present invention, the open frame structure is a three-dimensional structure that defines a capacity with an upper part and a lower part, the upper part includes a receiving portion 138 (see Figure 16 (a and b)), a control unit 144a and a reel 182 (a and b) carrying a lifting tether, and the lower part includes a container receiving space 137.

[0080] 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 connecting blocks together are optionally composed of carbon fibers embedded in a polymer matrix (referred to as carbon fiber rods). As described above with reference to Figures 1 to 9 As described above, the connecting rod is fixed to the connecting block by being received in a slot of the connecting block and then adhered to the connecting block by injecting an adhesive into the slot through the inlet.

[0081] 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 Fig.17 b. However, the corner brackets in a single modular section may be indirectly connected to the other two corner brackets via one or more corner brackets located in the middle of the corner brackets at the corners of the rectangular frame. Thus, the term "connected" in relation to the corner brackets in each modular section may be broadly interpreted as being directly and / or indirectly connected to the other two corner brackets.

[0082] To construct a load handling apparatus according to the invention, different modular sections can be connected together by simply connecting vertically adjacent rectangular modular sub-frames together via respective corner brackets 140 via one or more vertical connecting elements 188 to form a structure such as Fig.17 The open frame structure 131 is shown in simplified open frame structures in 17a and 17b. In other words, the same connecting block or corner bracket used to connect to two other connecting blocks or corner brackets in a single modular section can be used to vertically connect adjacent rectangular modular 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 slots in the corner brackets (connecting blocks) in the middle or between the bottom rectangular modular sub-frame and the top rectangular modular sub-frame are through holes to allow for vertically adjacent rectangular sub-frames 186 (see Fig.17The second modular part in a) is connected together so that the vertical connecting element extends through the corner bracket at each corner. The advantage of this is that Fig.17 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.23 This is apparent in the schematic diagram of one face of the open frame structure shown. Here, vertical connecting elements are shown extending through a plurality of connecting blocks at the corners of the open frame structure.

[0083] Alternatively, separate vertical connecting elements may be used to connect vertically adjacent rectangular sub-frames at each corner of the open frame structure. The length of the vertical connecting elements connecting the vertically adjacent rectangular modular sub-frames determines the height of the open frame structure. The connecting elements 188 that connect the vertically adjacent rectangular modular sub-frames together may be the same or different types of connecting elements as the connecting elements that connect adjacent corner brackets in a given modular sub-frame in the horizontal plane. For example, the connecting elements 188 that connect the vertically adjacent rectangular modular sub-frames together may be connecting rods used to connect corner brackets in a single modular section. Alternatively, the connecting elements 188 that connect the vertically adjacent rectangular modular sub-frames together may be solid connecting rods, and the connecting elements that connect the corner brackets in a given modular sub-frame in the horizontal plane may be hollow tubes. The corner brackets that form the connecting block are connected together by the horizontal 187 and vertical 188 connecting rods. Fig.19 The pre-assembly of the second modular section is shown for illustration purposes only and includes a support member or track 166 for the wheel positioning mechanism described above.

[0084] A similar process of connecting the connecting blocks with horizontal connecting rods can be applied to the assembly of the first modular section and the third modular section. Each corner bracket or connecting block 140 includes one or more slots 187, and the one or more slots 187 are shaped to receive one or more connecting rod elements 184, 188 for connecting the connecting blocks together to form a single modular section and for connecting vertically adjacent modular sections together in a vertical stack. Fig.19 The arrows in FIG. 1 show the direction of the connecting element 184 when inserted into the respective slot 187 in the connecting block or corner bracket 140 and correspond to the direction along the first axis of the respective slot. Fig.19In the particular embodiment shown, one or more slots in each connection block 140 are blind holes, and the remaining one or more slots are through holes. The blind holes are used to connect each connection block to the other two connection blocks in the same horizontal plane through connecting elements to form a single modular sub-frame, while the through holes in each connection block allow vertically adjacent modular sub-frames to be connected in a vertical stacking manner through one or more substantially vertical connecting elements.

[0085] Adhesive is injected into the slot to secure the connecting element to the respective connecting block. As described above, the cross-sectional dimensions of the slot 187 in the connecting block 140 are slightly enlarged during manufacture so that the orientation of the connecting rods 187, 188 can be adjusted relative to their respective connecting blocks 140. When the connecting element is secured to the connecting block, a plurality of radially extending fingers or fins arranged in the slot will at least trap the adhesive injected into the slot. This is particularly important when the connecting block is oriented in the frame so that the longitudinal axis of the slot is substantially vertical. This is because the adhesive injected into the slot has the risk of accumulating at the bottom of the slot or overflowing from the slot due to gravity, especially when the mouth of the slot faces downward. A plurality of fingers or fins distributed around the inner wall of the slot act as a barrier to at least prevent the adhesive from accumulating or flowing out of the slot before curing. In order to help align or properly orient the connecting elements to their respective connecting blocks during assembly, a method such as Fig.24 and Fig.25 More details regarding the assembly of at least part of the framework in an assembly tool or fixture of a robotic load handling apparatus will be discussed below.

[0086] 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 modular sub-frames, at least part of the wheel drive assembly is integrally formed with one or more rectangular modular sub-frames, at least part of the wheel positioning mechanism is integrally formed with one or more rectangular modular sub-frames, and / or at least part of the container lifting mechanism is integrally formed with one or more rectangular modular sub-frames.

[0087] In order to integrate at least part of the different functional characteristics of the load handling equipment into one or more rectangular 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. In order to integrate the different functional characteristics of the load handling equipment into one or more modular sub-frames, 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 modular sub-frames. For example, the one or more connecting blocks that connect the rectangular modular sub-frames together can be integrally formed with one or more mounting members for reels, pulleys and / or motors, rather than having separate mounting members to mount to the frame of the load handling equipment.

[0088] 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. Figure 20 to Figure 22 Various 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 rectangular modular sub-frames of different modular parts of load handling equipment.

[0089] 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 (e.g., aluminum), or various polymer materials (e.g., plastic materials), or composite materials (e.g., 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 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 load 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 load 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. In addition, additive manufacturing allows a plurality of fingers or fins to be integrally formed with the connection block. 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.

[0090] In handling different functional characteristics of the load handling equipment, the wheels of the wheel assembly are supported by a rectangular modular subframe 186 at the bottom modular part or the first modular part. To accommodate the wheels of the wheel assembly, each connecting block of the bottom modular part or the first modular part is integrally formed with one or more wheel mounting members 139, 141 of the first and second sets of wheels. Fig.18 a and Fig. 22 In the particular embodiment of the invention shown, each corner bracket 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 connecting blocks 140d, two wheel mounts for each of the four connecting blocks 140d, and arranged to support the open frame structure of the load handling equipment). In other words, each of the four connecting blocks 140d of the first modular section or bottom modular section is integrally formed with two wheel mounts (first and second wheel mounts 139, 141). In order to accommodate two wheel mounts in one connection block 140d, the two wheel mounts of a given connection block are assembled substantially perpendicular to each other, so 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. 22 In the particular embodiment of the invention shown, the first and second wheel mounting members 139, 141 of the connecting block include axles or pins 198 for rotatably mounting the respective wheels. Fig. 22 As shown, the shaft or latch 198 may be integrally formed with the connection block.

[0091] Each connecting block for mounting a wheel of the wheel assembly is connected to two other connecting blocks by one or more connecting elements 184 to form a rectangular modular subframe. Fig.17 a and Fig.18 In the particular embodiment of the invention shown in FIG. 1 a, each connection block 140d is connected to two other connection blocks in the same horizontal plane by two connection elements 184, which can be received in openings or slots 187 in the connection blocks (see FIG. Fig. 22 ). However, the number of connecting elements 184 used to connect adjacent connecting blocks in the same horizontal plane to form a rectangular modular sub-frame including the first modular part of the wheel assembly is not limited to two connecting elements, and can be any number of connecting elements that provide the required structural rigidity of the rectangular frame.

[0092] 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 a specific embodiment of the present invention, each of the first set of wheels and the second set of wheels is driven by one or more motors (not shown) via a drive belt assembly 143a described in PCT application PCT / EP2021 / 055372 in the name of Ocado Innovation Limited, the details of which are incorporated by reference into this application. In the specific embodiment shown in Figures 16 (a and b), the drive belt assembly 143a is provided for each set of wheels and includes a drive belt pulley gear arrangement 143b for engaging with the edges of the pair of wheels 135, 136 on one side of the load handling device. The edges of the pair of wheels include a plurality of gear teeth 147 for cooperating with the drive belt 146. The toothed drive belt 146 engages with both wheels. The drive belt 146 is guided by a driven wheel 148 mounted to the open frame structure 131 of the load handling device 130 and is mounted to a tensioning wheel arrangement 150. 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.23 ). The drive wheel 151 is driven by a pulley and gear arrangement 143b coupled to the shaft or drive shaft of the motor (shown in Fig.23 ). By connecting to the drive belt 146, the drive wheel 151 drives the paired wheels through the rotation of the motor. A wheel drive assembly is provided for each wheel of the paired wheels in the first set 135 and the second set 136 of wheels. Therefore, each wheel of the paired wheels in the first set 135 of wheels is synchronously driven by a respective drive assembly to move the load handling device in the X direction on the grid structure. Similarly, each wheel of the paired wheels in the second set 136 of wheels is synchronously driven by a respective drive assembly to move the load handling device in the Y direction on the grid structure.

[0093] The mounting members for the drive wheels and driven wheels (the drive wheels and driven wheels are used to carry the drive belt) can be connected to one or more connecting blocks 140d (see Fig.21 and Fig. 22 ) are integrally formed. For example, Fig. 22In the particular embodiment of the invention shown, each corner bracket 140d including wheel mountings 139, 141 for the wheel assemblies additionally includes mountings 200 for the driven wheels 148 of the drive belt assembly 143a so that the drive belt 146 travels around the outer periphery of the wheels 135, 136 mounted to the corner bracket 140d and around the driven wheels 148 on the same corner bracket 140d (see FIGS. 16 and 17). Fig. 22 Since each corner bracket 140d is integrally formed with two wheel mountings 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 mounting 200 for the respective driven wheel can be integrally formed with each wheel mounting 139, 141 of the corner bracket 140d.

[0094] A drive pulley 151 for driving the rotation of a pair of wheels of the first set of wheels or the second set of wheels is mounted to a corner bracket 140c of a rectangular modular subframe located higher in the vertical stack, so that a drive belt 146 extends around the pair of wheels at one side of the load handling device and around the drive wheel mounted to the higher modular section (see Fig.23 In a particular embodiment of the invention, the drive wheels for driving the drive belts of each wheel drive assembly are mounted to axles or latches 202 integrally formed with the corner brackets 140c, which form a rectangular modular subframe of the second modular section (see Fig.21 ). In this way, the pairs of wheels in each of the first set of wheels and the second set of wheels are driven by a drive belt connecting the driven wheels in the first modular section 132a and the driving wheels mounted to the corner brackets of the second modular section 133a. Fig.16a This process is repeated for the other drive assemblies at each side of the load handling apparatus as shown. Fig.16a Each wheel drive assembly 143a for driving a pair of wheels is also shown to additionally include the above-mentioned tensioning wheel arrangement 150 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 16, one or more corner brackets of the rectangular frame supporting the wheels also include a wheel tensioning arrangement.

[0095] 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 modular subframe can be integrated with the mounting member that carries the above-mentioned hub motor. Thus, each corner bracket of the rectangular modular subframe 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, one mounting member mounting a wheel traveling in the first direction and the other mounting member mounting a wheel traveling in the second direction.

[0096] 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 that sufficient force is required to vertically lift 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 16 (a and b) and Fig.19 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 Fig.17 a). The reinforcement of the intermediate eyelet is provided by one or more cross reinforcements 206 across the rectangular modular subframe. Fig.23 The specific embodiment of the wheel positioning mechanism shown is based on the cam mechanism 152 taught in PCT / EP2022 / 073670, the details of which are fully incorporated into the present application by reference. The cam mechanism 152 includes a cam 154, a cam follower 158 movable along the cam 154, a moving member 164 for moving the cam follower, and a cam motor 168 coupled to the moving member 164.

[0097] The moving member 164 is configured to move along a track 166 on one side of the load handling device to elevate the pair of wheels. The track 166 for supporting the moving member for elevating the pair of wheels includes a horizontal connecting element 184 extending between the connecting blocks of the rectangular modular subframe of the middle eyelet, so that the moving member moves along the connecting element 184 connecting the connecting blocks 140 on one side of the load handling device. The connecting element 184 of the middle eyelet for supporting the moving member 164 thus acts as an elevated track (see Fig.19 ).exist Fig.23 In the particular embodiment of the invention shown, the moving member 164 is slidably mounted to a connecting element that connects the connecting blocks in the same horizontal plane. This process is repeated for the other pairs of wheels at each side of the load handling device. To support the moving member, at least two connecting elements 184 extend between the connecting blocks 140 on one side of the load handling device. 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 element extending between the corner brackets 140, thereby preventing excessive bending of the connecting element when the moving member moves along the connecting element.

[0098] In a particular embodiment of the invention, the cam mechanism for each pair of wheels in the first and second sets of wheels is based on a double cam arrangement, wherein the moving member is configured to raise and lower a given pair of wheels via the double cam arrangement. The cam for cooperating with the cam follower may be mounted to a connection block supporting a wheel of the wheel assembly, or may be integrally formed with the connection block. As the cam follower moves along the cam, it applies an upward or downward force to the respective connection block (carrying a wheel in the first or second set of wheels), thereby causing the wheel to be raised or lowered depending on the direction of travel of the load handling device on the grid structure. The cam 154 for cooperating with the cam follower 158 may be integrally formed with its respective connection block 140d, which includes a wheel mounting member of the wheel assembly, as shown in Figures 16 (a and b) and Fig. 22 Two cams 154 are shown as being integrally formed with the corner bracket 140e, one cam for each of the wheel mounting members 139, 141. Fig. 22 In the related 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 modular sub-frames, and one or more rectangular modular sub-frames form different modular parts of the loading and handling equipment.

[0099] In a particular embodiment of the present invention, the cam motor 168 is configured to move the moving member 164 along one side of the load handling device via 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 the drive shaft of the cam motor 168 so that the cam reel provides a pulling force on the cam belt 170 through the rotation of the cam motor 168, thereby causing the moving member 164 anchored to the cam belt 170 to move along the track 166. To return the moving member 164 to its initial position, a second motor provides an opposite pulling force to the moving member 164 to pull the moving member in the opposite direction.

[0100] Fig.16aAlso shown in the figure is that the motor 168 for moving the moving member along the connecting element is mounted to the connecting block 140c of the rectangular modular sub-frame, which forms the middle hole ring 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 middle hole ring, more specifically with the corner bracket. Fig.21 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 for receiving the cam belt when the reel rotates, so that when the cam motor 168 rotates in a clockwise direction, the cam belt is wound on the reel, and when the cam motor 168 rotates in a counterclockwise direction, the cam belt is unwound from the reel. The clockwise and counterclockwise rotations of the reel respectively move the moving member along the cam, thereby achieving the raising or lowering of the paired wheels.

[0101] In addition to at least part of the wheel positioning mechanism being integrally formed with the connecting block or corner bracket (forming a rectangular sub-frame of one or more modular sections), at least part of the container lifting mechanism (more specifically the winch assembly) may be integrally formed in a rectangular sub-frame of one or more modular sections. The container lifting mechanism comprises a first lifting shaft and a second lifting shaft 183 (a and b) for driving the rotation of four reels carrying lifting tethers connected to the gripping device. Fig.15 The gripping device 172 shown includes four locating pins or guide pins 174 near or at each corner of the gripping device 172, and four clamping elements 176 arranged at the bottom side of the gripping device 172 to engage with the edge of the container, and the four locating pins 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 corresponding holes in the edge of the gripping element 176 and the container. Each gripping element 176 includes a retractable pair of wings 178 so that it can be received in the corresponding holes 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 that the open and enlarged configuration of the container can be locked. 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 gripping element 176 is actuated, the rotation of the drive gear rotates the paired wings from the retracted configuration to the open and enlarged configuration. 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 bottom 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.

[0102] The first and second lifting axes 183 (a and b) are rotatably mounted to the rectangular sub-frame of the modular section. Fig.17 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. Fig.17 a and Fig.18 a is shown across the rectangular modular 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 138. The opposite ends of the first lifting shaft and the second lifting shaft are shown through Fig. 20 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).

[0103] In a particular embodiment of the present invention, the container receiving space 137 (see FIG. 1 ) for accommodating the storage container when the storage container is lifted by the gripping device. Fig.18 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 Fig.15 The corners of the gripping device are shown.

[0104] 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).

[0105] The manufacture of the frame of the load handling equipment involves: inserting the connecting end of the connecting element into the Figure 20 to Figure 22The opening or slot 187 of the suitable connecting block shown in the figure is used to construct different modular sub-frames 186 separately to provide different functional characteristics of the loading and handling equipment. A typical modular sub-frame includes at least four connecting blocks, wherein each of the at least four connecting blocks in a single modular sub-frame is connected to other two connecting blocks by one or more connecting elements to form a substantially rectangular frame. Once the individual modular sub-frames are assembled to provide the different functional characteristics of the above-mentioned loading and handling equipment, the vertically adjacent modular sub-frames are connected together in a stacked manner by one or more vertical connecting elements to form a frame or frame structure. In order to help reduce the weight of the loading and handling equipment according to the present invention, the connecting element is usually hollow, such as a hollow pipe. A similar assembly process can be used to manufacture a receiving portion 138. Assembly tools can be used to assemble a single rectangular modular sub-frame together. By injecting an adhesive into the slot of the connecting block via each inlet, the connection between the connecting block and the connecting element is fastened together in situ in the assembly tool. Since the final structure formed by assembling the connecting elements and the connecting blocks must meet specified tolerances in terms of dimensions and / or size, the connecting elements need to be adjusted.

[0106] Fig.24 and Fig.25 is an embodiment of an assembly tool or fixture 214 for pre-assembling at least portions of the open frame structure 131 of the robotic load handling apparatus 130 prior to assembling the pre-assembled portions into modular sub-frames. Fig.24 and Fig.25 The pre-assembled portion shown represents a connection or coupling between two connection blocks 140d on one side of an open frame structure. The assembly tool or fixture 214 includes a mounting platform 216 and one or more clamps 218 for securing the connection blocks 140d to the mounting platform in a predefined orientation and at a predefined spacing relative to each other. Fig.24 and Fig.25 In the particular embodiment shown, the connection block 140d corresponds to the Fig. 22 The wheel mounting parts 139, 141.

[0107] One or more guides 220 are used to guide the connecting element 184 into the connecting block in a predefined orientation so that the preassembled parts have predefined tolerances in size and shape. The guides 220 may include one or more reference points, and the one or more reference points are used to guide the connecting element into the connecting block in the correct orientation. In the default position, a plurality of fingers in the slot of the connecting block guide the connecting end of the connecting element 184 toward the center of the slot so that the longitudinal axis of the connecting element and the slot are coaxial. The ability of the radially extending fingers to elastically deform within the slot allows the orientation of the connecting element 184 to be adjusted relative to the connecting block 140d. See above Figure 7 (a to d) illustrate different possible adjustments of the connecting element relative to the connecting block, including (a) inclination, (b) eccentricity, (c) ovality, and (d) a combination of inclination and ovality.

[0108] Once the connection blocks and connection elements have been preassembled together in the assembly tool or fixture 214 and adjusted, if necessary, so that the preassembled parts meet predetermined tolerances of size and / or shape, the connection elements are secured to their respective connection blocks in their correct positions to prevent further movement when the preassembled parts are removed from the assembly tool or fixture. While the preassembled parts are secured to the assembly tool or fixture, adhesive is injected in situ into the slots of the connection blocks through the respective inlets. As described above with reference to Figure 1 and Figure 2 As described, an inlet with an opening (outside the connection block) allows adhesive to be injected into the slot in situ when the pre-assembled part is fixed to an assembly tool or fixture. The amount of adhesive injected into the slot can be determined by the presence of adhesive emerging from the discharge hole or outlet. The presence of adhesive in the discharge hole indicates that the adhesive has fully filled the gluing channel, which is defined by the space between the outer surface of the connecting end of the connecting element and the inner wall of the slot. The above-mentioned one or more groups of fingers can be used to control the size of the gluing channel and thus control the coverage of the adhesive on the connecting end of the connecting element in the slot. The cross-sectional size of the outlet hole of the discharge hole can be changed to prevent excessive adhesive from flowing out of the discharge hole, that is, part of the outlet hole is enlarged to capture any excessive adhesive gushing out of the slot. When fixed in an assembly tool or fixture, once the adhesive is injected into the specified inlet of the connection block for fastening to the respective connecting elements, the adhesive can be cured before the pre-assembled part is separated from the assembly tool or fixture. Fig.24 and Fig.25 The pre-assembled parts shown in FIG. 1 represent portions of the frame structure of the robotic load handling apparatus. Fig.24 and Fig.25In the particular embodiment shown, the pre-assembled portion represents one face of a modular sub-frame (i.e., the first modular sub-frame 132 (a, b, c)) including wheel mountings 139, 141 for mounting a pair of wheels and a cam mechanism 152. Fig.17 This process is repeated for the other three of the four total faces of the rectangular modular subframe shown in a. Each of the four faces carries a pair of wheels of a wheel assembly. In order to enable each of the four faces carrying a pair of wheels to move independently of each other for changing aspects on the grid structure, the preassembled parts are held together in a rectangular arrangement by vertical connecting elements.

[0109] The process of preassembling different parts of the frame structure is repeated for other modular parts of the frame. In the case of the second 133 and third 134 modular parts, the preassembled parts include four connecting blocks arranged into a rectangular sub-frame by one or more horizontal connecting elements. Fig.17 As shown in Fig. 1, vertically adjacent modular sub-frames are connected together in a vertical stacking manner by one or more vertical connecting elements to form a frame. Different modular parts of the frame can be preassembled using different assembly tools or fixtures to provide different functional characteristics of the robotic load handling device.

Claims

1. A connection block, comprising: i) a slot, the slot being used to receive a connection end of the connection element along a first axis, the slot having an inner wall; ii) a plurality of fingers resiliently biased to extend inwardly from the inner wall of the slot in a substantially radial direction so that, in use, the plurality of fingers conform to the connection end of the connecting element when the connection end of the element is received in the slot, the plurality of fingers being spatially distributed about the inner wall of the slot so as to define a guide for guiding the connection end of the connecting element towards a centre of the slot, iii) an inlet comprising an inlet hole extending along a second axis from an opening on the exterior of the connection block to an opening in the inner wall of the socket for injecting adhesive into the socket.

2. The connection block according to claim 1, wherein: The first axis and the second axis form an acute angle or an obtuse angle.

3. The connection block according to claim 1 or 2, wherein: The first axis is substantially perpendicular to the second axis.

4. A connection block according to any preceding claim, wherein: The first axis intersects the second axis.

5. A connection block according to any preceding claim, wherein: The plurality of fingers are spaced apart around the inner wall of the slot.

6. The connection block according to claim 5, wherein: The spacing between adjacent fingers is in the range of 0.1 mm to 1 mm.

7. A connection block according to any preceding claim, wherein: The plurality of fingers include a plurality of fins arranged such that each of the plurality of fins at least partially overlaps an adjacent fin.

8. A connection block according to any preceding claim, further comprising an outlet comprising an outlet hole extending along a third axis from an opening in the inner wall of the socket to an outlet opening external to the connection block for discharging fluid from the socket.

9. The connection block according to claim 8, wherein: The third axis forms an acute angle or an obtuse angle with the first axis.

10. The connection block according to claim 8 or 9, wherein: The third axis is substantially perpendicular to the first axis or the second axis.

11. The connection block according to any one of claims 8 to 10, wherein: The third axis intersects the first axis.

12. The connection block according to any one of claims 7 to 11, wherein: At least part of the outlet aperture has a cross-sectional dimension in the range of 0.5 mm to 2 mm.

13. A connection block according to any one of claims 7 to 12, wherein: The exit aperture includes a first portion having a first cross-sectional dimension and a second portion having a second cross-sectional dimension that is different from the first cross-sectional dimension.

14. The connection block according to claim 13, wherein: The first cross-sectional dimension is smaller than the second cross-sectional dimension.

15. A connection block according to any preceding claim, wherein: Each of the plurality of fingers is inclined at an angle in a range of 5° to 90° relative to the inner wall of the slot.

16. The connection block according to claim 15, wherein: The angle is an acute angle.

17. A connection block according to any preceding claim, wherein: Each of the plurality of fingers includes a first end and a second end, wherein the first end is hingedly coupled to the inner wall of the slot via a flexible joint, wherein the second end is a free end.

18. The connection block according to claim 17, wherein: The second end is tapered.

19. The connection block according to claim 17 or 18, wherein: The inner wall includes a recess adjacent the first end of each of the plurality of fingers to allow each of the plurality of fingers to rotate about the first end.

20. A connection block according to any preceding claim, wherein: The plurality of fingers are arranged around the circumference of the inner wall of the slot so as to surround the connection end of the connection element when the connection end of the connection element is inserted into the slot.

21. The connection block according to claim 20, wherein: The plurality of fingers are arranged to form an opening concentric with the opening of the slot.

22. A connection block according to any preceding claim, wherein: At least a portion of each of the plurality of fingers is formed from a compliant material.

23. A connection block according to any preceding claim, wherein: The plurality of fingers comprises a first set of fingers and a second set of fingers, each set of fingers in the first set of fingers and the second set of fingers comprising the plurality of fingers as defined in any preceding claim.

24. The connection block according to claim 23, wherein: The first set of fingers are axially spaced apart from the second set of fingers along a longitudinal axis of the slot to define a glue channel between the first set of fingers and the second set of fingers.

25. A connection block according to claim 23 or 24, wherein: The inlet is disposed between the first set of fingers and the second set of fingers.

26. A connection block according to any preceding claim, wherein: The slot is a blind hole or a through hole.

27. A connection block according to any preceding claim, comprising a plurality of slots, and wherein the first axis of each of the plurality of slots is at an acute or obtuse angle relative to each other.

28. The connection block according to claim 27, wherein: The first axis of each slot in the plurality of slots is perpendicular to each other.

29. A connection block according to any preceding claim, wherein: The plurality of fingers are integrally formed with the connecting block.

30. A joint, comprising: i) a connection block as defined in any of claims 1 to 29; ii) a connection element receivable within the slot of the connection block.

31. The connector of claim 30, wherein: The connecting element comprises a tube or a rod.

32. 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 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; in, The frame comprises a plurality of modular sub-frames arranged in a vertically stacked manner, wherein at least one modular sub-frame of the plurality of modular sub-frames comprises at least one connecting block according to any of claims 1 to 29 and a connecting element received in the slot of at least one of the connecting blocks.

33. The robotic load handling apparatus of claim 32, wherein: The frame further supports a receiving portion for accommodating 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 including a charge receiving element for electrically coupling to a charge providing element of the power source to power the wheel positioning mechanism and the container lifting mechanism.

34. The robotic load handling apparatus of claim 32 or 33, wherein: The at least one modular sub-frame of the plurality of modular sub-frames comprises at least four connecting blocks, and each connecting block of the at least four connecting blocks of each modular sub-frame is connected to other two connecting blocks by a plurality of connecting elements to form a rectangular modular sub-frame.

35. The robotic load handling apparatus of claim 34, wherein: Each modular sub-frame of the plurality of modular sub-frames comprises at least four connecting blocks, each connecting block of the at least four connecting blocks of each modular sub-frame is connected to two other connecting blocks via a plurality of connecting elements to form a rectangular modular sub-frame, and wherein the connecting blocks of vertically adjacent modular sub-frames are connected together via connecting elements.

36. The robotic load handling apparatus of any of claims 32 to 35, wherein: At least one of the connection blocks comprises at least part of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism and / or electrical components.

37. The robotic load handling apparatus of claim 36, wherein: At least part of the container lifting mechanism and / or the wheel assembly and / or the wheel positioning mechanism and / or the electrical component is integrally formed with at least one connecting block.

38. 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 device according to any of claims 32 to 37 operable on said grid structure.

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